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3.2  Function Modules

 3.2.4  The M-EXECUTOR

3-65

3

CPU Module Functionality

The following is an execution example.

•

M-EXECUTOR Program Execution Definitions

Execution Timing

This section describes the execution timing of programs in the above example.
The following figure shows program and drawing execution that is based on the order of regis-
tration in the M-EXECUTOR program definitions.

Sequence Program Execution Example

The following figure shows an example of the sequence programs registered in the M-EXEC-
UTOR.

Example

S

PM00

3

MPM004

S

PM005 DWG.H

S

PM001 DWG.A

DWG.L

S

PM00

3

MPM004

S

PM002

S

PM005 DWG.H

S

PM002

S

tartup

High-

s

peed 

s

can

High-

s

peed 

s

can cycle

High-

s

peed 

s

can cycle

Low-

s

peed 

s

can cycle

Low-

s

peed 

s

can

Thi

s

 

s

how

s

 that the higher priority proce

ss

ing 

i

s

 interrupting lower priority proce

ss

ing.

DWG.

†

 : Ladder proce

ss

ing

Содержание MP3300 series

Страница 1: ...CP3302 2 E Base Unit model JEPMC BU3301 E BU3302 E BU3303 E BU3304 E MP3300 Machine Controller MP3000 Series Product Manual MANUAL NO SIEP C880725 21D Introduction Appearances and Parts CPU Module Fun...

Страница 2: ...liability is assumed with respect to the use of the informa tion contained herein Moreover because Yaskawa is constantly striving to improve its high quality products the information contained in this...

Страница 3: ...rs this manual uses torque when describing either one excluding parameter names Copyrights MECHATROLINK is a trademark of the MECHATROLINK Members Association DeviceNet is a registered trademark of th...

Страница 4: ...utions that will not result in machine dam age Indicates items for which caution is required or precautions to prevent operating mis takes Indicates operating or setting examples Indicates supplementa...

Страница 5: ...ifica tions operating methods mainte nance inspections and troubleshooting of the MP2000 series MPU 01 Multi CPU Module Communica tions func tionality Machine Controller MP3000 Series Communications U...

Страница 6: ...hine Controller Machine Controller MP3000 Series Motion Programming Manual SIEP C880725 14 Describes the motion programming and sequence programming specifica tions and instructions of MP3000 series M...

Страница 7: ...LINK III communications for the Remote I O Modules for MP2000 MP3000 series Machine Controllers Machine Controller MP900 MP2000 Series Distributed I O Module User s Manual MECHATROLINK System SIE C887...

Страница 8: ...ation marked as shown below is important for safety Always read this information and heed the precau tions that are provided DANGER Indicates precautions that if not heeded are likely to result in los...

Страница 9: ...e conditions Locations that are subject to ambient humidity that exceeds the storage conditions Locations that are subject to rapid temperature changes and condensation Locations that are subject to c...

Страница 10: ...bromine or iodine There is a risk of malfunction or damage Do not step on the Machine Controller or place heavy objects on the Machine Controller There is a risk of injury or an accident Do not block...

Страница 11: ...supply to the CPU Module is turned ON after the external power supply e g the 24 V I O power supply the outputs from the CPU Module may momentarily turn ON when the power supply to the CPU Module turn...

Страница 12: ...f electrical shock injury or device damage Do not change any wiring while power is being supplied There is a risk of electrical shock injury or device damage Suitable Battery replacement must be perfo...

Страница 13: ...ram mable Yaskawa products The information described in product catalogs or manuals is provided for the purpose of the cus tomer purchasing the appropriate product for the intended application The use...

Страница 14: ...safety of the actual devices and equipment to be used before using the product Read and understand all use prohibitions and precautions and operate the Yaskawa product correctly to prevent accidental...

Страница 15: ...ts That Are Required to Build a System 1 6 1 3 1 MP3300 Module Unit List 1 7 1 3 2 Optional Modules 1 8 1 4 Precautions When Setting the Parameters 1 9 1 4 1 Precautions When Setting the Circuit Numbe...

Страница 16: ...3 2 9 Calendar 3 94 3 2 10 Maintenance Monitoring 3 95 Specifications 4 4 1 Installation and Usage Conditions 4 2 4 1 1 Installation and Operating Conditions 4 2 4 1 2 Control Panel Cooling Method 4...

Страница 17: ...lot Numbers 1 4 1 2 System Configuration Example 1 5 1 3 Devices and Components That Are Required to Build a System 1 6 1 3 1 MP3300 Module Unit List 1 7 1 3 2 Optional Modules 1 8 1 4 Precautions Whe...

Страница 18: ...se the number of Optional Modules that you can use Increase the number of axes that are controlled If you add Racks the Racks are classified into the Main Rack and Expansion Racks Refer to the followi...

Страница 19: ...ach Rack so that the Racks can be identified The following figure illustrates Rack numbers MP2200 MBU 02 POWER DC EXIOIF MP2200 MBU 02 POWER DC EXIOIF MP2200 MBU 02 POWER DC EXIOIF Main Rack CPU Modul...

Страница 20: ...t Numbers The MPE720 automatically assigns slot numbers to the slots on the Base Unit so that the slots can be identified Numbers 1 to 9 are assigned to the slots in order from the left The highest sl...

Страница 21: ...odules including those from other manufacturers External outputs External inputs RS 232C Ethernet DeviceNet PROFIBUS RS422 485 215 communications SERVOPACK AnyWire A net A link I O Modules CC Link Up...

Страница 22: ...memory while the power is turned OFF JZSP BA01 The Battery is provided with the CPU Module Power supply cable Connects the power supply of the Base Unit to a 24 VDC power supply or an AC power supply...

Страница 23: ...and program AC Servo Drives and Inverters that are connected to the network CPMC MPE780D Expansion Interface Module Cables Used to use an Expansion Interface Module to connect the Main Rack to an Expa...

Страница 24: ...herCAT EtherCAT slave 265IF 01 JAPMC CM2390 E CompoNet I O communications and message communications 266IF 01 JAPMC CM2306 E PROFINET master 266IF 02 JAPMC CM2307 E PROFINET slave 267IF 01 JAPMC CM23A...

Страница 25: ...therwise processing may exceed the time limit of the high speed scan Before writing module configuration definitions make sure the machine is not in operation Before you use the Machine Controller sav...

Страница 26: ...2 1 CPU Module 2 2 2 1 1 Appearance and Part Names 2 2 2 1 2 Display and Indicators 2 4 2 1 3 Switches 2 7 2 1 4 Connectors 2 9 2 1 5 Temperature Sensor 2 10 2 2 Base Units 2 11 2 2 1 Appearance and...

Страница 27: ...ors switches and connectors 2 1 1 Appearance and Part Names The following figure shows the appearance of the CPU Module and the part names CPU 301 CPU 302 Display MECHATROLINK III status indicators ME...

Страница 28: ...e uses the CPU Slot and one option slot As shown below the number of usable Option Modules will be reduced by one when you mount the CPU 302 to any Base Unit MBU 01 or MBU 02 Eight Slots MBU 03 Three...

Страница 29: ...ator is not lit The CPU Module started normally after the power was turned ON or after the system was reset Normal operation The RDY status indicator is lit The CPU Module is operating normally Flashi...

Страница 30: ...arm occurred ERR Red An error occurred BAT Red The battery alarm occurred M ALM Red An error occurred with one of the Servo axes Warning Alarm Command Error Completed Status Indicator Name Indicator S...

Страница 31: ...cators These indicators show the status of Ethernet communications Indicator Name Color Status When Not Lit Lit or Flashing LINK ACT Yellow Lit Ethernet link established Flashing Ethernet communicatio...

Страница 32: ...finition stored in flash memory the IP address is set to 192 168 1 1 OFF Does not set the default IP address INIT ON Resets memory OFF Turn OFF the pin to execute the programs that are stored in the f...

Страница 33: ...y Lightly press this switch to prepare the USB memory device for removal The USB memory device can be safely removed when the USB status indicator changes from flashing to not lit Press and hold this...

Страница 34: ...munications devices Ethernet Connectors These connectors are used to connect Ethernet communications devices USB Connector This connector is used to connect a USB memory device Before removing the USB...

Страница 35: ...increase after E 081 was detected and has reached the permissible temperature of the internal parts The CPU Module will stop h Lit The failsafe function was activated for E 082 Temperature Warning The...

Страница 36: ...the appearance and part names of the Base Unit and describes the con nector 2 2 1 Appearance and Part Names The following figure shows the appearance of the Base Unit and a part name 2 2 2 Connector...

Страница 37: ...y Type Model Color AC power supply 3 2134249 3 Black DC power supply 4 2013522 3 White Pin No Signal Label Description 3 AC AC input 2 AC AC input 1 FG Connects to the frame ground Ground to 100 max P...

Страница 38: ...3 29 3 2 Function Modules 3 35 3 2 1 Self Configuration 3 35 3 2 2 Communications Function Module 218IFD 3 45 3 2 3 Motion Control Function Modules SVC SVC32 SVR and SVR32 3 47 3 2 4 The M EXECUTOR 3...

Страница 39: ...der drawing is used to perform processing with priority given to signals input from an Optional Module These ladder drawings are executed with higher priority than high speed scan process drawings reg...

Страница 40: ...cannot call a child drawing from a different type of drawing Similarly a child drawing cannot call a grandchild drawing from a different type of drawing A parent drawing cannot call a grandchild drawi...

Страница 41: ...operation error drawing for the drawing type will be started automatically 4 Always specify 00 as the drawing number for operation error drawings Drawings Number of Drawings DWG A DWG I DWG H DWG L Pa...

Страница 42: ...ned Motion Programs A motion program is a program that is written in a text based motion language There are two types of motion programs Function Name COUNTER Counter FINFOUT First in First out TRACE...

Страница 43: ...e program numbers are given in the form SPM or SPS 2 The number of motion programs that can be executed simultaneously depends on the model of the Machine Controller If the number of simultaneously ex...

Страница 44: ...ts must be taken into consideration when executing motion programs Motion programs that are registered in the M EXECUTOR cannot be executed with MSEE instructions More than one instance of the same mo...

Страница 45: ...tion Calling the Motion Program by Specifying It Indirectly Indirect designation is used to call a motion program by specifying its number in a register In this method the program MPM whose number is...

Страница 46: ...opped by a pause request Bit 2 Program Stopped for Stop Request This bit is set to 1 when execution of a motion program is stopped by a Request for Stop of Program 0 Program is not stopped by a stop r...

Страница 47: ...Turn OFF the request to start the program 1 Turn ON the request to start the program Bit 1 Request for Pause of Program This bit makes a request to pause execution of a motion program Execution of th...

Страница 48: ...eration control signals are ON will be executed Bit 8 Skip 1 Information If this bit changes to 1 while an axis is in motion due to a SKP instruction when the skip input signal selection is set to SS1...

Страница 49: ...on Pulse distribution Control signal Request for Start of Program Operation Status flag Program Executing Axis operation Pulse distribution Control signal Request for Pause of Program Status flag Prog...

Страница 50: ...s is being con trolled for a motion language instruction an alarm will occur 2 If the Request for Stop of Program control signal is turned ON while the axis is being con trolled for an interpolation m...

Страница 51: ...er in the M EXECUTOR For example if the motion program is registered for execution as number 3 system work num ber 3 is used You can therefore monitor the execution information of the motion program w...

Страница 52: ...executed the next time when the power supply is turned ON Type Designation Method Features Number of Programs Main programs SPM 1 to 512 Main programs are called from the M EXECUTOR program execution...

Страница 53: ...5 Reserved for system 6 Reserved for system 7 Reserved for system 8 Program Alarm There is a program alarm 9 Program Stopped at Breakpoint Execution is stopped at a breakpoint A Reserved for system B...

Страница 54: ...sters cannot be shared by other drawings Local registers are stored in the program memory for each drawing Ladder Program Conceptual Diagram Ladder program User functions Motion programs sequence prog...

Страница 55: ...Dnnnnn SAnnnnn SW00000 to SW65534 These registers are prepared by the system They report the status of the Machine Controller and other information The system clears the registers from SW00000 to SW00...

Страница 56: ...W17FFF These registers are used for output data OW08000 to OW0FFFF These store the motion setting parameters These registers are used for Motion Modules OW20000 to OW21FFF These registers are used as...

Страница 57: ...ntegers ZL00000 to ZL00062 Quadruple length integers ZQ00000 to ZQ00060 Real numbers ZF00000 to ZF00062 Double precision real numbers ZD00000 to ZD00060 A Function external registers ABnnnnnh AWnnnnn...

Страница 58: ...l the power is turned OFF The default value after startup depends on the setting of the D Register Clear when Start option Refer to the following sections for details Setting the D Register Clear When...

Страница 59: ...er designation is used the continuous data area starting from the address of the specified register address can be used in internal processing for functions with all data types Continued from previous...

Страница 60: ...of the variable 0123 123 49 0 01 Storing Real Number Data in a Double length Integer Register ML0000100 MF0000200 the real number is stored after it is converted to an integer 65432 65432 1 Storing Do...

Страница 61: ...MB00001006 MW0000100 1234 hex ML0000100 12345678 hex MQ0000100 123456789ABCDEF0 hex Information F E D C B A 9 8 7 6 5 4 3 2 1 0 Bit MB00001006 MW0000100 MW0000100 1234 hex ML0000100 MW0000100 5678 hex...

Страница 62: ...called by DWG H will reference the i and j registers for DWG H We will describe this with examples for each register data type Attaching an Index to a Bit Register Using an index is the same as addin...

Страница 63: ...uple length integers and double precision real numbers use a region that is 4 words in size For example when using MQ0000000j with both j 0 and j 2 the two word area of MW0000002 and MW0000003 will ov...

Страница 64: ...ing the value of the array register to the register address For example if DW00000 2 MB00000000 DW00000 is the same as MB00000002 Attaching an Array Register to a Register Other Than a Bit Register Us...

Страница 65: ...the idle time of DWG H drawings The period during which DWG H drawings are executed is called the high speed scan time The period during which DWG L drawings are executed is called the low speed scan...

Страница 66: ...Module Is Used CPU 301 0 25 to 32 0 ms in increments of 0 125 ms CPU 302 0 125 to 32 0 ms in increments of 0 125 ms 0 250 ms or 0 5 to 32 0 ms in increments of 0 5 ms The default high speed scan time...

Страница 67: ...s 0 125 ms or 0 250 ms the I O service I O processing of the MP2000 Optional Module will be performed at the filtered basic cycle of 0 5 ms The following figures show the timing results for these sett...

Страница 68: ...les Low speed L Scan The setting range for the low speed scan time is 2 0 to 300 0 ms in increments of 0 5 ms I O Processing During the low speed scan the I O service I O processing is performed every...

Страница 69: ...or the scans are displayed Maximum Value The maximum processing time for the scan is displayed You can set the maximum value The setting is retained until it is exceeded 4 Enter the high speed scan ti...

Страница 70: ...and low speed scan time 1 Set the scan set value so that it is 1 25 times greater than the maximum value If the scan set value is too close to the maximum value the refresh rate of the MPE720 window w...

Страница 71: ...n the high speed scan setting is set to 0 250 ms and the Keep Latest Value setting is set to 5 scans The input registers in the 218IFD SVC or SVC32 Function Module built into the CPU Unit are cleared...

Страница 72: ...es the steps that are required to set up the system Use the DIP switch on the CPU Module or use the MPE720 to execute self configuration The following figure illustrates self configuration PC Executin...

Страница 73: ...time since the devices were connected or if SERVO PACKs or other devices have been added Both procedures are described below First Self Configuration after Connecting the Devices The following procedu...

Страница 74: ...nd RAM Data If the power supply is turned OFF and ON again when the INIT pin on the Machine Controller SW1 DIP switch is turned ON the data in RAM will be cleared If the power supply is turned OFF and...

Страница 75: ...F the power supply to the Machine Controller only after the definition data is saved to the flash memory of the Machine Controller If by chance the power supply is turned OFF before the data is saved...

Страница 76: ...n changed Self configuration of specified Modules Use this mode when a part of the system has been changed This process will automatically recognize all devices that have been added or removed and aut...

Страница 77: ...dules 3 2 1 Self Configuration 3 40 2 Click the Module Button 3 Click the All modules Button on the Launcher The MC Configurator Dialog Box will be displayed 4 Click the OK Button Self configuration w...

Страница 78: ...Module Configuration Icon on the Start Tab Page The following Module Configuration Definition Tab Page will be displayed 2 In the Function Module Slave Column select the Modules to configure using sel...

Страница 79: ...ion 3 42 3 Click the specified module Button on the Launcher The MC Configurator Dialog Box will be displayed 4 Click the OK Button Self configuration will be executed only for the new devices that ar...

Страница 80: ...ers OW00000 to OW007FF SVC SVC32 MECHATROLINK First I O registers IW00800 and OW00800 Last I O registers IW00BFF and OW00BFF input registers IW00800 to IW00BFF output registers OW00800 to OW00BFF Moti...

Страница 81: ...ion 8 Slave synchronous function Disabled Item Settings after Self Configuration Master Slave Slave My station address 0 0003 Communication Cycle Message Communications Disabled Number of Retry to Sla...

Страница 82: ...ications User s Manual Manual No SIEP C880725 12 1 Connect the Machine Controller to the PC and start the MPE720 Refer to the following manual for details MP2000 MP3000 Series Machine Controller Syste...

Страница 83: ...Configuration Definition Tab Page will be displayed 4 Double click the 218IFD cell The 218IFD Detail Definition Dialog Box will be displayed Refer to the following manual for details on settings MP30...

Страница 84: ...made in the locations given below after the MP3000 series Controller is connected to the MECHATROLINK device MECHATROLINK Dialog Box SVC SVC32 Definition Tab Page Use the following procedure to displa...

Страница 85: ...ol Function Modules SVC SVC32 SVR and SVR32 3 48 3 Click the Module Configuration Icon on the Start Tab Page The following Module Configuration Definition Tab Page will be displayed Cells for SVC SVC3...

Страница 86: ...OLINK Communications Definition Dialog Box is displayed 5 Set the MECHATROLINK communications definitions as required Refer to the following manual for details on settings MP3000 Series Motion Control...

Страница 87: ...SVC32 SVR and SVR32 3 50 7 Select View Work Space from the menu bar The Work Space Pane is displayed on the left side of the MC Configurator Window 8 Click the Expand Button beside each program in th...

Страница 88: ...cted will be displayed 10 Select the axis to set or monitor and then click the OK Button The SVC SVC32 Definition Tab Page for the selected motion parameters will be displayed The following examples s...

Страница 89: ...32 SVR and SVR32 3 52 Setting Monitor Parameters Tab Page Servo Servo Monitor Parameters Tab Page 11 Set the SVC SVC32 definitions as required Refer to the following manual for details on settings MP3...

Страница 90: ...program Refer to the following manuals for instructions that can be used in sequence programs MP3000 Series Motion Programming Manual Manual No SIEP C880725 14 Using the M EXECUTOR The M EXECUTOR is a...

Страница 91: ...The M EXECUTOR 3 54 Initializing the M EXECUTOR Use the following procedure to initialize the M EXECUTOR 1 Click the Module Configuration Icon on the Start Tab Page The Module Configuration Definition...

Страница 92: ...3 2 Function Modules 3 2 4 The M EXECUTOR 3 55 3 CPU Module Functionality 2 Double click the M EXECUTOR cell The M EXECUTOR Definition Dialog Box will be displayed...

Страница 93: ...3 2 Function Modules 3 2 4 The M EXECUTOR 3 56 3 Click the OK Button The Detail Definition Dialog Box will be displayed 4 Select File Save from the toolbar The M EXECUTOR definitions will be saved...

Страница 94: ...Possible Circuit No Axis Address Start Not used is always displayed Not possible Occupied circuits Motion Register Not used is always displayed Not possible Register Input Output Disabled Not used is...

Страница 95: ...R Output Registers M EXECUTOR Input Register Item M EXECUTOR Output Register Item IW 0 Definition No 1 Status OW 0 Definition No 1 Program Number IW 1 Reserved OW 1 Control Signals IW 2 Reserved OW 2...

Страница 96: ...n ascending order of their numbers D Enable or disable the definitions Not selected Definition is enabled Selected Definition is disabled Execution Type Set the execution type of the program Execution...

Страница 97: ...ples MPM001 or SPM002 Indirect designation Possible Not possible The program is specified by specifying a register that contains the program number Example OW0C0C If 1 is stored in OW0C0C MPM001 will...

Страница 98: ...ers Not selected Definition is enabled Selected Definition is disabled Direction This column displays the data I O directions Allocation Register Data is copied between the assigned registers and the...

Страница 99: ...k contact Status and Control Signal Details Double click the Status or the Control signal cell to display the Detail Dialog Box This dialog box is used to verify the status and the control signals Sta...

Страница 100: ...displayed 3 Check that the settings match the contents of the Allocation Control Register Tab Page and then click the Set Button The registered contents will be saved Refer to the following section fo...

Страница 101: ...e processing the ladder programs Power turned ON Startup sequence program DWG A startup drawings Every high speed scan Batch outputs Batch inputs H scan sequence programs Motion programs The execution...

Страница 102: ...based on the order of regis tration in the M EXECUTOR program definitions Sequence Program Execution Example The following figure shows an example of the sequence programs registered in the M EXEC UTO...

Страница 103: ...Manual No SIEP C880725 00 2 Select View System from the menu bar The System Pane will be displayed on the left side of the window 3 Click the Expand Button next to the Logging item to display the log...

Страница 104: ...3 2 Function Modules 3 2 5 Data Logging 3 67 3 CPU Module Functionality The Logging 1 Dialog Box will be displayed 4 Click the Format Button The Format Dialog Box will be displayed 5 Set the format...

Страница 105: ...device in the CPU Module Setting Description CSV This file format can be opened in general purpose applications such as Excel and Notepad Binary This file format is not affected by the range of chara...

Страница 106: ...n the Logging 1 Dialog Box The Logging Target Dialog Box will be displayed Year Month Day YYYYMMDD Adds the year month and day to the specified folder name Example 20110920 Year Month Day Hour YYYYMMD...

Страница 107: ...rs shown on the tab page Add Button Adds the selected register to the list of registers to be logged Delete Button Removes the selected registers from the list of registers to be logged Logging Target...

Страница 108: ...g and trigger settings Set the logging name Maximum name length 32 characters Refer to the following table for the data size for each data type Click the Cancel Button to return to the Logging 1 Dialo...

Страница 109: ...nts to sam ple No Item Description Specify the start timing If the check box is selected register operation will control when logging starts If conditions are set in items and logging will start when...

Страница 110: ...region Setting example Condition A Upper limit Condition B Lower limit Compound condition OR Continued from previous page No Item Description 11 Setting Description Condition is met when the left reg...

Страница 111: ...e gives the range of each data and the timing at which logging is reset Click the Cancel Button to return to the Logging 1 Dialog Box without registering the settings Data Name Range Reset Timing File...

Страница 112: ...of SW00044 High speed Scan Over Limit Counter or SW00046 Low speed Scan Over Limit Counter will be incremented This can also cause a Watchdog Error E 001 or cause the CPU Module to go down Set the sca...

Страница 113: ...r the execution status of data logging by checking the system registers Refer to the following section for details Data Logging Execution Status on page 4 57 Viewing the Log Data To view the log data...

Страница 114: ...the size of the header that is appended to the file ScanType The type of scan where the data was obtained high speed scan or low speed scan is displayed Sampling period on the Format Dialog Box ScanT...

Страница 115: ...pe of scan where the data was obtained high speed scan or low speed scan is displayed Sampling period on the Format Dialog Box ScanTime Gives the data sampling period Register Gives the registers spec...

Страница 116: ...s listed below File Details to Output Data No and DATE TIME are selected Target Register to Log MW00000 Status Data No 000001 DATE TIME 2011 06 23 18 02 19 Value of MW00000 register 100 Actual Data Th...

Страница 117: ...saved in the USB memory device to the CPU Module s non vola tile memory Batch Loading from USB Memory Device on page 3 80 Batch save Saves all of the user application data that is saved in the CPU Mo...

Страница 118: ...ill fail Refer to the following manual for details on the security password MP2000 MP3000 Series Machine Controller System Setup Manual Manual No SIEP C880725 00 3 Insert the USB memory device that co...

Страница 119: ...ters to Save INIT Switch Setting OFF ON M registers Transferred Not transferred G registers Transferred Not transferred S registers Transferred Not transferred I registers Transferred Not transferred...

Страница 120: ...rred yyyy mm dd hh mm_ss Alarm Rack Number Alarm Unit Number Alarm Slot Number Alarm Detail 1 Alarm Details The information depends on the alarm details format type Operation Errors Alarm detail 1 Err...

Страница 121: ...ce Operating Procedure on page 3 66 Register data CPU Module to Remote device Uses the Export instruction from a ladder program MP3000 Series Ladder Programming Manual Manual No SIEP C880725 13 Remote...

Страница 122: ...W Files can be written from the FTP client Setting Up FTP Accounts If you need to change the default settings or add a new FTP account use the MPE720 You can define up to five FTP accounts Use the fo...

Страница 123: ...be displayed Changing the Settings of an Existing FTP Account Select the user name for the FTP account to be changed and click the Modified Button The User Registration Dialog Box will be displayed D...

Страница 124: ...s the password that the FTP cli ent on the remote device must use to log in to perform a file transfer You can enter up to 16 characters The string is case sensitive User Privilege Reserved for system...

Страница 125: ...he FTP server File Directory Operations cd Changes the current directory of the FTP server delete Deletes a file on the FTP server mdelete Deletes multiple files on the FTP server dir Displays a list...

Страница 126: ...dules 3 2 7 File Transfer 3 89 3 CPU Module Functionality 2 Press the Enter Key The folder of the FTP server will be displayed That is the contents of the USB memory device con nected to the CPU Modul...

Страница 127: ...3 Set the IP address subnet mask and gateway address and set the local station Data to Transfer Transfer Direction Reference Log data CPU Module to Remote device Operating Procedure on page 3 66 1 You...

Страница 128: ...isplayed You can set up to 20 FTP servers 5 Double click the row for each ID The FTP Server Details Dialog Box will be displayed Refer to the following section for details on the settings Details on t...

Страница 129: ...e name Area will be transferred It will be written to the FTP server using the same file name 2 If you select an FTP server as the destination the built in RAM disk that is specified for the folder na...

Страница 130: ...lient will also be logged out for FTP transfer errors or if the CPU Module stops regardless of the logout time setting FTP Server IP Enter the IP address of the FTP server The setting range is determi...

Страница 131: ...ected the system assumes that an FTP transfer is in progress as long as the FTP client is logged in Therefore the changes will not be applied and the operation will continue with the original settings...

Страница 132: ...rsion 1 12 or higher Monitoring installation environment data in the Control ler is supported for version 1 14 and higher CPU 302 All versions SERVOPACKs 7S Version 000C or higher Only SERVOPACKs that...

Страница 133: ...ntenance Monitoring 3 96 Setting Procedure Use the following procedure to set the maintenance data 1 Click the Maintenance Monitor Settings Icon from the Start Tab Page The Maintenance Monitor Setting...

Страница 134: ...O PACK 1 1 Motor installation envi ronment The temperature environment load status in the Servomotor is displayed SERVO PACK 1 1 Total operation time servo The total operating time of the SERVOPACK is...

Страница 135: ...first started 100 is displayed The percentage become smaller as the operating time increases When 0 is displayed it is time to consider replacement SERVO PACK 1 0 01 Controller installation environmen...

Страница 136: ...3 2 Function Modules 3 2 10 Maintenance Monitoring 3 99 3 CPU Module Functionality 4 Select the axis to assign Maximum number of assigned axes 16 group 5 Click the OK Button Monitoring will be started...

Страница 137: ...re Error Codes on page 3 101 SL 6 Monitor value SW 8 Axis 2 Circuit number Same as above SW 9 Axis number SW 10 Monitor value SW 12 Axis 3 Circuit number Same as above SW 13 Axis number SL 14 Monitor...

Страница 138: ...er to the following section for operating details 3 2 5 Data Logging on page 3 66 SW 48 Axis 12 Circuit number Same as above SW 49 Axis number SL 50 Monitor value SW 52 Axis 13 Circuit number Same as...

Страница 139: ...s 4 2 4 1 2 Control Panel Cooling Method 4 3 4 2 CPU Module Specifications 4 4 4 2 1 Hardware Specifications 4 4 4 2 2 Performance Specifications 4 5 4 2 3 Communications Specifications 4 8 4 2 4 Moti...

Страница 140: ...IS B 3502 Continuous vibration 5 to 9 Hz with single amplitude of 1 75 mm 9 to 150 Hz with fixed acceleration of 4 9 m s2 Intermittent vibration 5 to 9 Hz with single amplitude of 3 5 mm 9 to 150 Hz w...

Страница 141: ...evice that generates a significant amount of heat Do not subject the Machine Controller to direct sunlight Control Panels with Forced air Cooling For either of the following methods install a fan near...

Страница 142: ...B battery backup Capacity 8 MB battery backup Capacity 4 MB battery backup Capacity 8 MB battery backup Calendar Seconds minutes hour day week month year day of week and timing battery backup Battery...

Страница 143: ...rcuit number selected from 1 to 16 SVR 16 axes 1 circuit Circuit number selected from 1 to 16 SVR32 32 axes 1 circuit Circuit number selected from 1 to 16 Maximum Number of Controlled Axes 256 axis Op...

Страница 144: ...in 4 forks Sub 2 forks Main 8 forks Main 2 forks Sub 4 forks Sub 8 forks Number of Simultane ously Controlled Axes Per Task 32 axes Registers S Registers 64 Kwords M Registers 1 Mword Battery backup G...

Страница 145: ...r group Number of Log Files Built in RAM Disk 1 to 4000 USB Memory 1 to 32 767 or unlim ited The ultimate upper limit is 10 000 files even if unlimited is selected Trigger Types Compatibility with MP2...

Страница 146: ...n Connections 10 Maximum Size of Message Communi cations MEMOBUS Write 100 words Read 125 words Extended MEMOBUS Write 2 043 words Read 2 044 words MELSEC A compatible 1E Write 256 words Read 256 word...

Страница 147: ...rs 2 Communi cations cycle cycle for refreshing data CPU 301 250 s to 32 0 ms CPU 302 125 s to 32 0 ms Master Communications Method M III Baud Rate 100 Mbps Communications Cycle 125 s 250 s 0 5 ms 1 m...

Страница 148: ...tion H scan Scan execution L scan Scan execution System work There is a one to one correspondence between the definition number and system work number Program designation method Direct designation or...

Страница 149: ...number of nested directories 10 File information Last update time stamps are sup ported Uses the calendar in the Controller Refer to the following section for details 3 2 9 Calendar on page 3 94 Maxim...

Страница 150: ...01411 to SW01442 MPU 01 Module Status MPU 01 Module Status on page 4 28 SW01443 to SW02687 Reserved for system SW02688 to SW03199 PROFINET Controller 266IF 01 IOPS Status PROFINET Controller 266IF 01...

Страница 151: ...rnet Communications Automatic Reception Status for Ethernet Com munications on page 4 60 SW25672 to SW27599 Reserved for system SW27600 to SW29775 Maintenance Monitor Maintenance Monitor Information o...

Страница 152: ...Relay SB000014 0 5 s Sampling Relay SB000015 1 0 s Sampling Relay SB000016 2 0 s Sampling Relay SB000017 60 0 s Sampling Relay SB000018 1 0 s After Start of Scan Process SW00001 SB000019 2 0 s After...

Страница 153: ...lay SB000033 2 0 s Flicker Relay SB000034 0 5 s Sampling Relay SB000035 1 0 s Sampling Relay SB000036 2 0 s Sampling Relay SB000037 60 0 s Sampling Relay SB000038 1 0 s After Start of Scan Process SB0...

Страница 154: ...12 Maximum Low speed Scan Time Maximum low speed scan time 0 1 ms SW00013 Reserved for system SW00014 Current Scan Time Scan time of currently executing scan 0 1 ms Register Address Name Remarks Examp...

Страница 155: ...ving data to flash memory SB00040B Status of Synchroni zation with Main CPU Module Sub CPU Modules only 0 High speed scans synchro nized 1 High speed scans not syn chronized SB00040C CPU Module Mode 0...

Страница 156: ...em SB00048A MNT Mode switch 2 setting status 0 OFF 1 ON SB00048B TEST SB00048C to SB00048F Reserved for system Reserved for system SW00049 Reserved for system Name Register Address Contents 32 bit Err...

Страница 157: ...hex Child drawing No yy hex Grandchild drawing No Drawing Step No in Calling Program SW00059 Step Number in the Calling Drawing in Which the Error Occurred This is set to 0 if the error occurs in the...

Страница 158: ...C hex Quadruple length integer operation under flow 9223372036854775808 000D hex Quadruple length integer operation overflow 9223372036854775807 000E hex Quadruple length integer operation division er...

Страница 159: ...ex DZA x051 hex LLAG x058 hex BSRCH x044 hex ASIN x04B hex DZB x052 hex FGN x059 hex SORT x045 hex ACOS x04C hex LIM x053 hex IFGN x046 hex ATAN x04D hex PI x054 hex LAU Integer Operations x060 hex to...

Страница 160: ...SW00129 SW00145 SW00177 Changed A Registers SW00114 SW00130 SW00146 SW00178 SW00115 SW00131 SW00147 SW00179 Error F Registers SW00116 SW00132 SW00148 SW00180 SW00117 SW00133 SW00149 SW00181 Changed F...

Страница 161: ...O Error Status SW00208 to SW00215 Error status of Rack 1 Slot 0 SW00216 to SW00223 Reserved for system SW00224 to SW00231 Error status of Rack 1 Slot 1 Depends on the Module that is mounted and the e...

Страница 162: ...o SB00654F Reserved for system FAT Type SW00655 0002 hex FAT16 0003 hex FAT32 Reserved for system SW00656 and SW00657 Batch Load and Batch Save SW00658 SB006580 1 Batch load in progress SB006581 1 USB...

Страница 163: ...to SW00705 Interrupt Module 2 SW00787 to SW00789 Interrupt Module 30 Register Address Remarks SW007 0 Rack No Unit No Slot No SW007 1 Interrupt Type 1 Reserved for system 2 DI interrupt for LIO 01 LI...

Страница 164: ...SW00808 Function Module 3 ID hex SW00809 Function Module 3 Status SW00810 Function Module 4 ID hex SW00811 Function Module 4 Status SW00812 Function Module 5 ID hex SW00813 Function Module 5 Status SW...

Страница 165: ...00967 Slot 2 Same as above SW00968 to SW00975 Slot 3 Same as above SW00976 to SW00983 Slot 4 Same as above SW00984 to SW00991 Slot 5 Same as above SW00992 to SW00999 Slot 6 Same as above SW01000 to SW...

Страница 166: ...23 Status of MPU 01 Module circuit number 7 SW01424 Error status of MPU 01 Module circuit number 7 SW01425 Status of MPU 01 Module circuit number 8 SW01426 Error status of MPU 01 Module circuit number...

Страница 167: ...ddress Remarks SW02688 to SW02695 Circuit 1 IOPS Output SW02696 to SW02749 IOPS Status The input IOPS status from the slaves 54 words SW02750 to SW02751 Reserved for system SW02752 to SW02815 Circuit...

Страница 168: ...ecuting Program for Work 17 SW03217 Number of Currently Executing Program for Work 18 SW03218 Number of Currently Executing Program for Work 19 SW03219 Number of Currently Executing Program for Work 2...

Страница 169: ...SW08192 to SW08223 Work 1 Extended Program Information System Work Numbers 1 to 8 on page 4 44 SW08224 to SW08255 Work 2 Extended Program Information SW08256 to SW08287 Work 3 Extended Program Informa...

Страница 170: ...am Information SW09024 to SW09055 Work 27 Extended Program Information SW09056 to SW09087 Work 28 Extended Program Information SW09088 to SW09119 Work 29 Extended Program Information SW09120 to SW0915...

Страница 171: ...r MPS008 SB032328 MPM009 or MPS009 SB032329 MPM010 or MPS010 SB03232A MPM011 or MPS011 SB03232B MPM012 or MPS012 SB03232C MPM013 or MPS013 SB03232D MPM014 or MPS014 SB03232E MPM015 or MPS015 SB03232F...

Страница 172: ...MPS052 SB032354 MPM053 or MPS053 SB032355 MPM054 or MPS054 SB032356 MPM055 or MPS055 SB032357 MPM056 or MPS056 SB032358 MPM057 or MPS057 SB032359 MPM058 or MPS058 SB03235A MPM059 or MPS059 SB03235B MP...

Страница 173: ...PM100 or MPS100 SB032384 MPM101 or MPS101 SB032385 MPM102 or MPS102 SB032386 MPM103 or MPS103 SB032387 MPM104 or MPS104 SB032388 MPM105 or MPS105 SB032389 MPM106 or MPS106 SB03238A MPM107 or MPS107 SB...

Страница 174: ...MPS148 SB032414 MPM149 or MPS149 SB032415 MPM150 or MPS150 SB032416 MPM151 or MPS151 SB032417 MPM152 or MPS152 SB032418 MPM153 or MPS153 SB032419 MPM154 or MPS154 SB03241A MPM155 or MPS155 SB03241B MP...

Страница 175: ...PM196 or MPS196 SB032444 MPM197 or MPS197 SB032445 MPM198 or MPS198 SB032446 MPM199 or MPS199 SB032447 MPM200 or MPS200 SB032448 MPM201 or MPS201 SB032449 MPM202 or MPS202 SB03244A MPM203 or MPS203 SB...

Страница 176: ...MPS244 SB032474 MPM245 or MPS245 SB032475 MPM246 or MPS246 SB032476 MPM247 or MPS247 SB032477 MPM248 or MPS248 SB032478 MPM249 or MPS249 SB032479 MPM250 or MPS250 SB03247A MPM251 or MPS251 SB03247B MP...

Страница 177: ...PM292 or MPS292 SB032504 MPM293 or MPS293 SB032505 MPM294 or MPS294 SB032506 MPM295 or MPS295 SB032507 MPM296 or MPS296 SB032508 MPM297 or MPS297 SB032509 MPM298 or MPS298 SB03250A MPM299 or MPS299 SB...

Страница 178: ...MPS340 SB032534 MPM341 or MPS341 SB032535 MPM342 or MPS342 SB032536 MPM343 or MPS343 SB032537 MPM344 or MPS344 SB032538 MPM345 or MPS345 SB032539 MPM346 or MPS346 SB03253A MPM347 or MPS347 SB03253B MP...

Страница 179: ...PM388 or MPS388 SB032564 MPM389 or MPS389 SB032565 MPM390 or MPS390 SB032566 MPM391 or MPS391 SB032567 MPM392 or MPS392 SB032568 MPM393 or MPS393 SB032569 MPM394 or MPS394 SB03256A MPM395 or MPS395 SB...

Страница 180: ...MPS436 SB032594 MPM437 or MPS437 SB032595 MPM438 or MPS438 SB032596 MPM439 or MPS439 SB032597 MPM440 or MPS440 SB032598 MPM441 or MPS441 SB032599 MPM442 or MPS442 SB03259A MPM443 or MPS443 SB03259B MP...

Страница 181: ...SB032623 MPM484 or MPS484 SB032624 MPM485 or MPS485 SB032625 MPM486 or MPS486 SB032626 MPM487 or MPS487 SB032627 MPM488 or MPS488 SB032628 MPM489 or MPS489 SB032629 MPM490 or MPS490 SB03262A MPM491 o...

Страница 182: ...3 Program Number SW03275 SW03333 SW03391 SW03449 SW03507 SW03565 SW03623 SW03681 Block Number SW03276 SW03334 SW03392 SW03450 SW03508 SW03566 SW03624 SW03682 Alarm Code SL26006 SW03277 SL26022 SW0333...

Страница 183: ...08290 SL08322 SL08354 SL08386 SL08418 Logical Axis 19 Pro gram Current Position SL08196 SL08228 SL08260 SL08292 SL08324 SL08356 SL08388 SL08420 Logical Axis 20 Pro gram Current Position SL08198 SL0823...

Страница 184: ...59 SW03917 SW03975 SW04033 SW04091 SW04149 Alarm Code SL26136 SW03744 SL26152 SW03802 SL26168 SW03860 SL26184 SW03918 SL26200 SW03976 SL26216 SW04034 SL26232 SW04092 SL26248 SW04150 Fork 5 Program Num...

Страница 185: ...ro gram Current Position SL08454 SL08486 SL08518 SL08550 SL08582 SL08614 SL08646 SL08678 Logical Axis 21 Pro gram Current Position SL08456 SL08488 SL08520 SL08552 SL08584 SL08616 SL08648 SL08680 Logic...

Страница 186: ...323 SW04381 SW04439 SW04497 SW04555 SW04613 Alarm Code SL26264 SW04208 SL26280 SW04266 SL26296 SW04324 SL26312 SW04382 SL26328 SW04440 SL26344 SW04498 SL26360 SW04556 SL26376 SW04614 Fork 5 Program Nu...

Страница 187: ...o gram Current Position SL08710 SL08742 SL08774 SL08806 SL08838 SL08870 SL08902 SL08934 Logical Axis 21 Pro gram Current Position SL08712 SL08744 SL08776 SL08808 SL08840 SL08872 SL08904 SL08936 Logica...

Страница 188: ...787 SW04845 SW04903 SW04961 SW05019 SW05077 Alarm Code SL26392 SW04672 SL26408 SW04730 SL26424 SW04788 SL26440 SW04846 SL26456 SW04904 SL26472 SW04962 SL26488 SW05020 SL26504 SW05078 Fork 5 Program Nu...

Страница 189: ...o gram Current Position SL08966 SL08998 SL09030 SL09062 SL09094 SL09126 SL09158 SL09190 Logical Axis 21 Pro gram Current Position SL08968 SL09000 SL09032 SL09064 SL09096 SL09128 SL09160 SL09192 Logica...

Страница 190: ...s SL09562 Latest input error address register address in IW Reserved for system SW09564 Output Error Count SW09565 Number of output error occurrences Output Error Address SL09566 Latest output error a...

Страница 191: ...High SW13718 Function Module 3 Status SW13719 Reserved for system SW13720 Function Module 4 ID Low SW13721 Function Module 4 ID High SW13722 Function Module 4 Status SW13723 Reserved for system SW1372...

Страница 192: ...to SW14259 Reserved for system The Optional Module information data for Racks 2 to 4 is stored in SW00880 to SW01095 Refer to the following sections for details Module Information on page 4 26 Name Re...

Страница 193: ...to SW17802 Alarm History Entry 100 Reserved for system SW17803 to SW17999 Register Address Remarks Register Address Example SW 0 SW16203 SW 1 Alarm Code SW16204 SW 2 Alarm Detail Format 1 Operation e...

Страница 194: ...W 9 Depends on the specifications of the Optional Module SW16212 SW 10 Depends on the specifications of the Optional Module SW16213 SW 11 Depends on the specifications of the Optional Module SW16214 S...

Страница 195: ...0 Logging 1 is not waiting for trigger condition 1 Logging 1 is waiting for trigger condition SB240019 0 Logging 2 is not waiting for trigger condition 1 Logging 2 is waiting for trigger condition SB...

Страница 196: ...SB24400F Reserved for system SW024401 Error Count The value is incremented each time an error occurs SW024402 Error Processing Number 0001 hex Session start processing 0002 hex Connection processing...

Страница 197: ...ID112 Same as above SW24592 to SW24607 ID113 Same as above SW24608 to SW24623 ID114 Same as above SW24624 to SW24639 ID115 Same as above SW24640 to SW24655 ID116 Same as above SW24656 to SW24671 ID117...

Страница 198: ...r status Refer to the following section for details Error Status on page 4 68 SW25006 Transmission pass counter SW25007 Reception pass counter SW25008 Error counter SW25009 to SW25011 Reserved for sys...

Страница 199: ...counter SW25091 Reception pass counter SW25092 Error counter SW25093 to SW25095 Reserved for system CH2 Status SW25096 to SW25103 Same as CH1 status CH3 Status SW25104 to SW25111 Same as CH1 status C...

Страница 200: ...SW25175 Reception pass counter SW25176 Error counter SW25177 to SW25179 Reserved for system CH2 Status SW25180 to SW25187 Same as CH1 status CH3 Status SW25188 to SW25195 Same as CH1 status CH4 Status...

Страница 201: ...counter SW25259 Reception pass counter SW25260 Error counter SW25261 to SW25263 Reserved for system CH2 Status SW25264 to SW25271 Same as CH1 status CH3 Status SW25272 to SW25279 Same as CH1 status C...

Страница 202: ...SW25343 Reception pass counter SW25344 Error counter SW25345 to SW25347 Reserved for system CH2 Status SW25348 to SW25355 Same as CH1 status CH3 Status SW25356 to SW25363 Same as CH1 status CH4 Status...

Страница 203: ...counter SW25427 Reception pass counter SW25428 Error counter SW25429 to SW25431 Reserved for system CH2 Status SW25432 to SW25439 Same as CH1 status CH3 Status SW25440 to SW25447 Same as CH1 status C...

Страница 204: ...SW25511 Reception pass counter SW25512 Error counter SW25513 to SW25515 Reserved for system CH2 Status SW25516 to SW25523 Same as CH1 status CH3 Status SW25524 to SW25531 Same as CH1 status CH4 Status...

Страница 205: ...o SW25599 Reserved for system CH2 Status SW25600 to SW25607 Same as CH1 status CH3 Status SW25608 to SW25615 Same as CH1 status CH4 Status SW25616 to SW25623 Same as CH1 status CH5 Status SW25624 to S...

Страница 206: ...jected by the remote station when establishing a connection with an unpassive open for TCP 5 M RCV Connection Error Connection error connection with passive open for TCP 6 System Error System error 7...

Страница 207: ...elected Axis 2 Circuit No SW27609 Axis No SL27610 Monitor Value SW27612 Selected Axis 3 Circuit No SW27613 Axis No SL27614 Monitor Value SW27616 Selected Axis 4 Circuit No SW27617 Axis No SL27618 Moni...

Страница 208: ...e as above SW28076 to SW28143 Group 8 Same as above Same as above Same as above SW28144 to SW28211 Group 9 Same as above Same as above Same as above SW28212 to SW28279 Group 10 Same as above Same as a...

Страница 209: ...roup 26 Same as above Same as above Same as above SW29368 to SW29435 Group 27 Same as above Same as above Same as above SW29436 to SW29503 Group 28 Same as above Same as above Same as above SW29504 to...

Страница 210: ...at rated input output 1 2 A or 0 8 A max at rated input output Inrush Current 40 A 10 ms max 20 A 10 ms max fully discharged 132 VAC input rated output 50 A 10 ms max fully discharged 276 VAC input r...

Страница 211: ...This section provides external diagrams and dimensions for the MP3300 5 1 CPU Module 5 2 5 2 Base Units 5 3 External Dimensions 5...

Страница 212: ...5 1 CPU Module 5 2 5 1 CPU Module CPU 301 CPU 302 Approx weight 0 2 kg Approx weight 0 3 kg...

Страница 213: ...5 2 Base Units 5 3 5 External Dimensions 5 2 Base Units One slot Base Unit Mounted to DIN rail 7 Unit mm Approx weight 0 4 kg Mounted to DIN rail 15 64 130 21 108 7 50 3 35 5...

Страница 214: ...5 2 Base Units 5 4 Three slot Base Unit 120 111 4 5 4 5 121 130 21 108 7 35 5 50 3 Mounted to DIN rail 7 Mounted to DIN rail 15 Unit mm Approx weight 0 5 kg...

Страница 215: ...5 2 Base Units 5 5 5 External Dimensions Eight slot Base Unit MBU 301 240 231 4 5 121 130 4 5 21 108 35 5 50 3 7 Mounted to DIN rail 7 Before mounting to DIN rail 15 Unit mm Approx weight 0 7 kg...

Страница 216: ...5 2 Base Units 5 6 MBU 302 240 231 4 5 121 130 4 5 21 108 35 5 50 3 Mounted to DIN rail 7 Before mounting to DIN rail 15 7 Unit mm Approx weight 0 7 kg...

Страница 217: ...5 3 Power Supply Unit 5 2 F file transfer 3 84 FTP client 3 90 FTP server 3 84 functions 3 5 standard system functions 3 5 user functions 3 5 G global registers 3 17 3 18 grandchild drawings 3 3 H hig...

Страница 218: ...nformation 3 11 system configuration 1 5 devices and components 1 6 system registers 4 11 alarm history information 4 55 automatic reception status for Ethernet communications 4 60 data logging execut...

Страница 219: ...0 1 2 Revision System configuration examples 1 3 Addition Expansion Interface Module Cables Revision SERVOPACKs with MECHATROLINK III Communications Model numbers of Battery with Special Connector Fro...

Страница 220: ...0 Thailand Phone 66 2 017 0099 Fax 66 2 017 0799 http www yaskawa co th YASKAWA ELECTRIC CHINA CO LTD 22F One Corporate Avenue No 222 Hubin Road Shanghai 200021 China Phone 86 21 5385 2200 Fax 86 21 5...

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