YASKAWA MP900 Series User Manual Download

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Sample Programs

B.1 Sample Program No. 1

B-2

B.1 Sample Program No. 1

260IF Module I/O Communications Example

This section describes the settings for actual I/O communications between 260IF Modules.

Configuration

The following diagram shows the system configuration for DeviceNet communications.

One 260IF Module is set as the 260IF Module CIR1 Master, one is set as a 260IF Module

CIR2 Slave and I/O communications are performed. Message communications are also per-

formed between the two 260IF Modules.

MP920

260IF

CIR1

260IF

CIR2

Terminating
resistance

Tap

24-VDC communications
power supply

24-VDC power supply cable

DeviceNet cable

Mounting
Base

24-VDC power supply
cable

Summary of Contents for MP900 Series

Page 1: ...www dadehpardazan ir 88594014 15 YASKAWA MANUAL NO SIEZ C887 5 2 YASKAWA USER S MANUAL Machine Controller MP900 Series 260IF DeviceNet System...

Page 2: ...Motion Controller PLC Yaskawa PLC HMI Servo Sensor Inverter Industrial Network 15 88594014 88594013 www dphi ir www indus ir...

Page 3: ...n loss of life or seri ous injury Indicates precautions that if not heeded could result in relatively serious or minor injury damage to the product or faulty operation In some situations the precautio...

Page 4: ...orporation 2000 All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording o...

Page 5: ...dule 2 3 2 3 Switch Specifications 2 4 2 4 LED Indicator Specifications 2 5 3 Network Specifications 3 1 3 1 Network Configuration 3 2 3 1 1 Basic Network Configuration 3 2 3 1 2 Branching Methods 3 3...

Page 6: ...esponse Messages 5 11 6 Network Maintenance 6 1 6 1 Reading Network Configuration Information 6 2 6 1 1 Outline 6 2 6 1 2 Using the Network Configuration Information Read Function 6 2 6 2 I O Status 6...

Page 7: ...www dadehpardazan ir 88594014 15 CONTENTS vii B 1 Sample Program No 1 B 2 B 2 Sample Program No 2 B 8...

Page 8: ...Net is a multivendor field network DeviceNet specifications are con trolled by the ODVA Open DeviceNet Vendor Association Inc The 260IF Module is connected to a multivendor DeviceNet system and works...

Page 9: ...age used for MP900 Series Machine Controllers MP900 Series Machine Controller Software User s Manual Program ming Panel Software for simple operation standard operation SIEZ C887 2 3 for simple operat...

Page 10: ...ting adjusting and maintaining the control and operation panels in which the 260IF Module is mounted Description of Technical Terms In this manual the following terms are defined as follows PP Program...

Page 11: ...safety information and all other precautions Installation Caution Firmly tighten the Module mounting screws and terminal block mounting screws to prevent them from loosening during operation Loose scr...

Page 12: ...ss Failure to ground the 260IF Module may result in electrical shocks or malfunctioning Select separate and lay external cables correctly Consider the following items when selecting the I O signal lin...

Page 13: ...ectrical shock Caution Do not attempt to modify the 260IF Module programs force outputs switch between RUN and STOP or performed other similar operations while the 260IF Module is operating without kn...

Page 14: ...rown into fire or short circuited Improper handling may cause the battery to explode or ignite Prohibited Do not attempt to disassemble or modify the 260IF Module in any way Doing so can cause fires p...

Page 15: ...e the likelihood of any accident Drawings in this manual show typical product examples that may differ somewhat from the product delivered This manual may change without prior notice due to product im...

Page 16: ...ribes the DeviceNet Communications Interface called the 260IF Module an Option Module for MP900 Machine Controllers 1 1 Outline of Configuration and Functions 1 2 1 1 1 System Configuration 1 2 1 1 2...

Page 17: ...ations interface used to connect MP900 Machine Control lers to a DeviceNet network Using the 260IF Module enables communications between MP900 Machine Controllers other controllers sensors actuators a...

Page 18: ...upply line Internal I O power supply line Communications power supply line Terminating resistance 121 Communications Power Sup ply Tap with reverse current prevention for multiple power supply units C...

Page 19: ...CPU for I O communications Message Communications The message communications function sends explicit messages that read the DeviceNet device names or serial numbers and write parameters for DeviceNet...

Page 20: ...ge communications that use MSG SND functions can be used when the 260IF Module is set as a DeviceNet Master CPU Module MSG SND function 260IF Device Net Master Explicit request mes sage Requested serv...

Page 21: ...This chapter describes the external appearance of the 260IF Module and the settings and display section specifications 2 1 Specifications 2 2 2 2 External Appearance 2 3 2 2 1 260IF Module 2 3 2 3 Sw...

Page 22: ...munica tions Master Only Max No of Nodes for Message Communications 63 nodes Simultaneous communications possible with up to 8 nodes Max Message Length 256 bytes Function for Execution MSG SND Switche...

Page 23: ...le is shown below Fig 2 1 External Appearance of 260IF Module MS NS DR0 DR1 X1 X2 SW1 SW2 SW3 10 CN1 260IF 1 OFF ON MS Module status red green light NS Network status red green light DIP Switch DR0 Ba...

Page 24: ...ons SW2 and SW3 These rotary switches are used to set the DeviceNet MAC ID Table 2 2 SW2 and SW3 Specifications Pin Meaning Setting DR0 DeviceNet baud rate DR1 DR0 OFF OFF 125 kbps default DR1 OFF ON...

Page 25: ...en NS indicator will start flashing online but not connected The following diagram shows the indicator test sequence that is performed immediately after the power is turned ON Check the ON and OFF sta...

Page 26: ...Connectors Table 2 4 CN1 Signal Names 5 5 20 32 5 08 7 5 7 62 5 08 15 12 3 5 2 8 3 22 3 SHIELD 35 32 35 56 1 V 5 V 2 CAN_L 4 CAN_H Connector on network side Female 5 V Red 4 CAN_H White 3 Drain Bare...

Page 27: ...rk Specifications This chapter describes the network specifications and restrictions for the 260IF Module 3 1 Network Configuration 3 2 3 1 1 Basic Network Configuration 3 2 3 1 2 Branching Methods 3...

Page 28: ...aves There are no restrictions on the locations of the Master or Slaves Any node in the figure above can be the Master or a Slave Trunk Line and Drop Lines A cable with a terminator on each end is the...

Page 29: ...e communications cable for DeviceNet communications Commu nications power supply internal circuit power supply and I O power supply must all be pro vided separately 1 Use only DeviceNet cables as comm...

Page 30: ...hree methods that can be used to branch from drop lines Branching to One Drop Line Branching to Three Drop Lines Trunk line Trunk line T Branch Adapter Drop line Drop line Drop line Node Node Node Tru...

Page 31: ...www dadehpardazan ir 88594014 15 3 1 Network Configuration 3 5 3 Direct Node Connection Drop line Drop line Node Multi drop method...

Page 32: ...ult to bend but they have little signal degradation and can be used for comparatively long transmission distances Thin cables are supple and easy to bend but signal degradation is greater and they are...

Page 33: ...ies the conditions in the following table Note LThick Thick cable length LThin Thin cable length Drop Line Length The drop line length is the line length between the branch point on the trunk line to...

Page 34: ...line length varies with the baud rate as shown in the fol lowing table Configuration Example The following example is for a baud rate of 500 Kbps The above example must satisfy the following condition...

Page 35: ...e used and settings made before the I O communications or message communications functions can be used 4 1 Basic Use of the 260IF Module 4 2 4 1 1 Master Mode 4 2 4 1 2 Slave Mode 4 3 4 1 3 Basic Syst...

Page 36: ...Slave 4 1 1 Master Mode If the 260IF Module is set to Master Mode the Slave devices on the DeviceNet and the CPU Module will automatically exchange I O data without being controlled by the program in...

Page 37: ...er can be a 260IF Module mounted on another MP920 or any other DeviceNet conforming device The following diagrams show how the Slave Mode works using the data exchange between nodes as an example Syst...

Page 38: ...to Chapter 3 Network Specifications The following flowchart shows the basic steps in system design for 260IF Module commu nications Refer to 3 1 Network Configuration No Yes No Yes 1 1 1 1 1 1 1 Star...

Page 39: ...t and the Master last When the Slaves are started first they will be in waiting status waiting for commands from or connection with the Master When the Master is started first an error may occur becau...

Page 40: ...Turn ON the MP920 MP940D power supply Start the Programming Device CP 717 In online mode log on to the MP920 MP940D Display the Module Configuration Window Set 260IF for the slot to which the 260IF Mo...

Page 41: ...evice Communications cycle time ms Communications time with Slave The calculations for communications time with Slaves may differ from the actual communi cations times depending on the length of the n...

Page 42: ...with 8 bytes or more of both input and output data 111 TRUNC Ni 7 Tb 94 8 MOD Ni 7 Tb 300 TRUNC Ni 7 1 111 TRUNC No 7 Tb 94 8 MOD No 7 Tb 300 TRUNC No 7 1 s Note 1 When MOD Ni 7 0 the 3rd line of the...

Page 43: ...data will not be refreshed within the cycle time as explained above Always change the setting to avoid this prob lem The 260IF Module has in addition to the I O communications function a message comm...

Page 44: ...ow the 260IF Module is set in slot 02 For the MP940 the 260IF Module is always in slot 06 but 260IF Module must still be set The leading and end I O register numbers must be set for the 260IF Module A...

Page 45: ...eters I O Status Displays the communications status with Slaves when the 260IF Module is set to Master Mode and is online Refer toChapter 6 Network Maintenance for details Status Displays the 260IF Mo...

Page 46: ...IW1100 and one byte from IW1102 the register area shown in the following diagram will be allocated Register No F 8 7 0 IW1100H IW1101H IW1102H IW1103H D Sets whether or not the Controller CPU will ex...

Page 47: ...O registers for data exchange between the Controller CPU and the 260IF Module according to the DeviceNet system configuration Master I O Allocations Example The settings in the following diagram are m...

Page 48: ...EM BSIZE 1 Low Polled 01 02 03 04 IW1101 OW1100 2 Low Polled 1 Low Polled Master Slave Master Comments MAC ID MAC OUTPUT RSIZE D SCAN TYPE INPUT RSIZE FM 5 01 02 03 04 IW1102 Low Low Polled Polled 1 O...

Page 49: ...W1101 OW1200 064 High Polled 064 Master Slave Slave Slave MAC ID MAC ID 00 01 02 03 IW1100 High Polled 064 OW1200 064 3 D OUTPUT RSIZE D CAN TYPE INPUT RSIZE FM 2 I O Assignment set S IB11000 IB11001...

Page 50: ...viceNet Master the settings can be changed based on the I O sizes read from the Slaves The network configuration information read function is used to read the I O size from a Slave Refer to 6 1 Readin...

Page 51: ...ommunications using the 260IF Module 5 1 System Registers 5 2 5 1 1 System Register and Communications Errors 5 2 5 2 Message Send Function MSG SND 5 3 5 2 1 Before using 260IF Module Message Communic...

Page 52: ...em register numbers differ according to the rack and slot to which the 260IF Module is mounted Refer to the following manuals for details F SW00208 1 MAC ID 15 MAC ID 3 MAC ID 2 MAC ID 1 MAC ID 0 3 2...

Page 53: ...ssage 5 2 1 Before using 260IF Module Message Communications Comply with the following conditions before using 260IF Module message communcica tions 1 The 260IF Module must be set as a Master 2 One of...

Page 54: ...til COMPLETE or ERROR turns ON Definition I O definitions No Name I O Designation Meaning Inputs 1 EXECUTE B VAL Message send command 2 ABORT B VAL Message send abort command 3 DEV TYP I REG Communica...

Page 55: ...s 00 OUT Processing result 01 OUT Status 02 IN Remote node MAC ID 03 SYS Reserved for system use Reserved for system use 04 IN Function code 05 IN OUT Data address 06 IN OUT Data size 07 Remote node C...

Page 56: ...register offset is out of the setting range 83xx Data size error The send or receive data size setting is out of the setting range 84xx Circuit number setting error The circuit number is out of the s...

Page 57: ...BORT Abort 8 M_SEND MEMOBUS command has been sent and a response received 9 M_REC MEMOBUS command has been received and a response sent C MR_SEND MEMOBUS response has been sent Code Abbreviation Meani...

Page 58: ...have this meaning Data Address PARAM05 Set the address of the M register where the contents of the explicit request message will be written The received explicit response messages will also be stored...

Page 59: ...r is used by the system 5 2 4 Inputs EXECUTE Execute Send Command When this command is ON the message will be sent This status must be held until COMPLETE processing completed or ERROR error turns ON...

Page 60: ...dicates the Unit is busy processing Keep EXECUTE ON as long as BUSY is ON COMPLETE Processing completed Turns ON for once scan when processing has been completed normally ERROR Error Turns ON for one...

Page 61: ...tribute_Single service code MW01001 0001 Hex Class ID MW01002 0001 Hex Instance ID MW01003 0001 Hex Attribute ID 5 2 7 Explicit Response Messages Explicit Response Message Format The Explicit response...

Page 62: ...r devices connected to the DeviceNet in addition to the status of the 260IF Module 6 1 Reading Network Configuration Information 6 2 6 1 1 Outline 6 2 6 1 2 Using the Network Configuration Information...

Page 63: ...O allocation settings 6 1 2 Using the Network Configuration Information Read Function The network configuration information read function can be used when all Slave allocations in I O Allocations in 4...

Page 64: ...e input data size in bytes from the relevant device O BSIZE The output data size in bytes to the relevant device DEVICE The device type in decimal The value will be 12 for the 260IF Mod ule communicat...

Page 65: ...rmation read function when no I O communications are being performed This function can be used during I O communications but communications may be affected Use this function for Slaves for which no I...

Page 66: ...ations with the DeviceNet Slaves set in the I O allocations for the I O communications function 6 2 2 Using the I O Status Function The I O status is displayed using the following procedure 1 Display...

Page 67: ...to the device output register OWxxxx BSIZE The size in bytes of the output area allocated to the device output register OWxxxx STS The I O status code The I O status display contents are shown below...

Page 68: ...y the Status Window Display Item Contents MAC ID The MAC ID DeviceNet address set for the 260IF Module Baud Rate The baud rate set for the 260IF Module Status The 260IF Module status code The contents...

Page 69: ...t No power to the 260IF Mod ule Check the rack or system bus cable connection to the 260IF Module MS lit red NS not lit Hardware mal function Replace the 260IF Module MS lit red NS lit red Hardware ma...

Page 70: ...devices on the network 5 Replace the 260IF Module MS lit green NS flashing green 2004 0000 Connection not established withDeviceNet device Set the I O allocations MS lit green NS flashing red 4004 40...

Page 71: ...SND func tion terminated due to error during DeviceNet com munications MS lit green NS lit green 8004 8000 Parameter set ting error Check that the MSG SND function parameter set tings are correct Dat...

Page 72: ...mal function Replace the 260IF Module MS lit red NS lit red Hardware mal function Replace the 260IF Module MS lit green NS lit red 1010 0000 Duplicate MAC ID 1 Change the MAC ID address for the 260IF...

Page 73: ...or 121 and connection status 4 Check the operation status of the DeviceNet Master 5 Replace the 260IF Module MS lit green NS flashing green 2004 0000 Connection not established withDeviceNet device 1...

Page 74: ...e I O allocations 1 Change the MAC ID setting under the I O allo cations 2 Change the switch MAC ID setting and cycle the power MS lit green NS lit green 0000 0004 The switch MAC ID set ting is differ...

Page 75: ...r supply cal culation methods for power supply positioning and network grounding meth ods 7 1 Wiring Communications Power Supply 7 2 7 1 1 Basic Precautions 7 2 7 1 2 Wiring Power Supply 7 2 7 1 3 Met...

Page 76: ...capacity for a drop line varies with the drop line length The longer a drop line is the lower the maximum current capacity of the drop line will be regard less of the thickness of the drop line Obtai...

Page 77: ...mple Calculation from the Graph The simple calculation from the graph is based on the worst configuration with maximum voltage drop as shown in the following diagram The network will operate normally...

Page 78: ...tage in the communications power supply section of each node must be 11 VDC or higher The communications will become unstable if the voltage is lower than 11 VDC Voltage drop will occur when current f...

Page 79: ...in that direction 4 If nodes are located on both sides of the power supply repeat the confirmation process using steps 1 to 3 for the nodes in the other direction Countermeasures Consider the followi...

Page 80: ...A 0 5 A Max current on the left side according to the graph Approx 2 5 A Max current on the right side according to the graph Approx 2 5 A The total current consumption on the left side maximum curre...

Page 81: ...ower because the allowable voltage ranges for communications and the internal circuit power supplies differ as shown below Allowable voltage range for communications power supply 11 to 25 VDC Allowabl...

Page 82: ...er supply Change the configuration so that the power supply is positioned in the middle of the net work and nodes are located on both sides of the power supply If the nodes are already on both sides o...

Page 83: ...supply ground near the center of the network only Do not connect the shield wire at any other power supplies Use Power Supply Taps when connecting multiple communications power supplies to a net work...

Page 84: ...www dadehpardazan ir 88594014 15 A 1 A A External Appearances This appendix shows the external appearance of the 260IF Module and the MP940D Module A 1 260IF Module A 2 A 2 MP940D Module A 3...

Page 85: ...60IF Module Description 260IF Module Model number JEPMC CM230 39 7 4 5 130 4 5 260IF NS MS SW1 DR0 DR1 X1 X2 OFF ON SW2 SW3 1 0 5 6 7 8 9 4 3 2 1 0 5 6 7 8 9 4 3 2 X10 X1 CN1 Mounting screw M4 105 5 8...

Page 86: ...Description MP940D Model number JEPMC MC410 128 4 44 18 2 142 BAT RDY RUN ALM BAT PRT1 6 5 4 3 2 1 NO PRT2 RUN INIT TEST FLASH PP COPY PORT1 PORT2 POWE R 24V GND FG LED I O MP940 MS NS DNET 0 16 128...

Page 87: ...www dadehpardazan ir 88594014 15 B 1 B B Sample Programs This appendix provides sample programs for 260IF Module B 1 Sample Program No 1 B 2 B 2 Sample Program No 2 B 8...

Page 88: ...wing diagram shows the system configuration for DeviceNet communications One 260IF Module is set as the 260IF Module CIR1 Master one is set as a 260IF Module CIR2 Slave and I O communications are perf...

Page 89: ...to use the 260IF Module as the DeviceNet Master with MAC ID 1 and to exchange I O data with a 2 byte 260IF Module with MAC ID 2 260IF CIR1 260IF CIR2 Baud rate 500 kbps Mode setting Master MAC ID 1 Ba...

Page 90: ...ith a DeviceNet Master also with a 2 byte data size PS MP920 260IF Master 260IF Slave D SCAN 00 MAC ID 01 02 03 D INPUT IW000 OUTPUT OW200 BSIZE 2 TYPE EM BSIZE 2 MAC ID 1 High Polled 5050 ms ms 1 Com...

Page 91: ...ecuted 2 I O communications and message communications will be performed if steps 1 to 5 are executed D SCAN 00 MAC ID 01 02 03 D INPUT IW400 OUTPUT OW600 BSIZE 2 TYPE EM BSIZE 2 MAC ID 2 High Polled...

Page 92: ...020 IEND 1 00021 SET ABORT 1 0022 IB08009 1 00024 1 0025 1 0026 DB000000 019 1 0028 DB000000 023 EXECUTE FIN ABORT FIN 1 0030 H0008 DEV TYP FIN 1 0031 00001 PRP TYP FIN 1 0032 00001 CIR MO FIN 1 0033...

Page 93: ...8594014 15 B 7 B DeviceNet Message Function Precautions Write the response data for normal ends to the same area as the input parameters When COMPLETE has turned ON EXECUTE must be turned OFF otherwis...

Page 94: ...DB000208 EXECUTE FIN ABORT FIN BUSY FOUT COMPLETE FOUT DB000208 DB000211 1 0041 DB000201 DEV TYP FIN ERROR FOUT PRO TYP FIN 1 0045 00011 1 0046 00001 1 0047 00001 1 0048 00001 1 0049 DB000210 DB000212...

Page 95: ...0058 H018E 2 0060 IFON DW00017 DW00018 3 0061 INC 3 0062 DW00006 3 0065 DW00017 MW01000 DW00024 00001 00002 1 0104 DB000212 1 0105 IFON 2 0106 DW00026 2 0107 DW00027 DW00028 2 0109 DW00001 1 0111 IEN...

Page 96: ...F No 49 Wu Kong 6 Rd Wu Ku Industrial Park Taipei Taiwan Phone 886 2 2298 3676 Fax 886 2 2298 3677 YASKAWA ELECTRIC HK COMPANY LIMITED Rm 2909 10 Hong Kong Plaza 186 191 Connaught Road West Hong Kong...

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