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1. Connector No of Connector Model Name a Name Pins Module Cable Manufacturer ree M I II 4 USB AR41 T11 DUSB APA41B1 C50 DDK Ltd Connector E gt a td Pin Number Signal Description Name 1 NC Not used 2 IDATA Signal 3 DATA Signal N id 4 SH Not used Shell Shield Connects the shield wire 2 Cables Name and Specification Model Number Length JEPMC W6002 A5 0 5m JEPMC W6002 01 lm MECHATROLINK Cable TEPMC W6002 03 3m MECHATROLINK Connector MECHATROLINK Connector JEPMC W6002 05 5m JEPMC W6002 10 10m E ae r_ _ _ _ _ _ T ull JEPMC W6002 20 20 m ee Hoe JEPMC W6002 30 30m JEPMC W6002 40 40m JEPMC W6002 50 50m JEPMC W6003 A5 0 5m MECHATROLINKCable JEPMC W6003 01 Im MECHATROLINK Connector MECHATROLINK Connector JEPMC W6003 03 3m with Ferrite Core JEPMC W6003 05 5m JEPMC W6003 10 10m ah JEPMC W6003 20 20m By Wo __G p _ _ il 8 7 z 30 z j Il JEPMC W6003 30 m JEPMC W6003 40 40m JEPMC W6002 50 50m JEPMC W6011 A5 0 5m JEPMC W6011 01 lm MECHATROLINK Cable er 3 MECHATROLINK Connector Loose Wire For Z I SERVOPACK TEPMC WO0I m JEPMC W6011 05 5m JEPMC W6011 10 10m a JEPMC W6011 20 20m JEPMC W6011 30 30m JEPMC W6011 40 40m JEPMC W6011 50 50m Terminator 7 i JEPMC W6022 aS 3 2 Basic Module Connect
2. diagram 24 VDC power MECHATROLINK cable see 1 see 4 SERVOPACK see 3 SERVOPACK see 3 vP2300 2181F 01 G REA Aa y vaut oro ow wo Om Terminator alaa ne e MECHATROLINK c see 1 5 zi a AUNES cable see 1 ee A IN D PBA porr u OB Lt OB ee eM Fon 2 B S 12 KO Bic et Lic lo B c cjo B c e s c a 0 s wclo B Bii Ti Digital an 5 sello a selo B operator LAN 6 6 gt loa z eefe 1 see 3 ss Fa L foe i v foe w 5 v los sn DIG a gai Fo a O Joi Controller see 1 iF K m al 200 VAC Connect when setting parameters PP cable Encoder cable Motor cable see 2 see 3 see 3 MPE720 installed personal computer Servomotor Servomotor see 2 see 3 see 3 For details on equipment for the controller programming device servodrive and the power supply refer to the following descriptions 1 Controller related Equipment Name Model Quantity MP2300 JEPMC MP2300 1 218IF 01 JAPMC CM2300 1 MECHATOROLINK Cables 1 m JEPMC W6002 01 2 Terminator JEPMC W6022 1 For mounting the 218IF 01 Module to the MP2300 refer to 3 1 3 Replacing and Adding Optional Modules on page 3 6 gt System Startup and Sample Programs 4 3 4 System Startup and Sample Programs 4 1 2 S
3. SERVOPACK SERVOPACK SERVOPACK terminating MP2300 SVB 01 GP ne ae T E E USB Connector MR Connector MR Connector MR Connector l Signal Name l Signal Name Signal Name Signal Name l if l if NC 1 1 DATA 1 VDATA 1 DATA a alii i a at if DATA 2 r i 2 DATA m2 DATA rr 2 DATA o Gn i ni DATA 3 I 3 3 3 i aE AEE e haai l 1 SH 4 4 TERM 4 TERM TERM i E I Ut L_ L_ i 1 1 1 1 Shield 5 H S 5 FS 5 FG 1 l l l A ates 1 6 LATA 6 DATA gt 6 H PATA l T no i Externally connect a terminator 7 DATA 7 DATA 7 HDATA to Pins 6 and 7 i ga l Resistance 1302 5 1 2W i i l 8 8 8 i i 1 The JEPMC 6011 00 has a USB connector on one end and loose wires on the other end Use an MR connector and wiring material to create a 1 N cable The terminator must be provided by the user The shield wire can be connected as instructed in the SERVOPACK s manual However the connections shown in the above diagram is recommended when using the MP2300 in combination with a SVB 01 Module Prepare the cables according to MECHATROLINK I specifications Connections that do not meet the specifi cations will prevent normal communication due to the influence of reflected waves or other factors MECHATROLINK I Specifications Total network length 50 m m
4. A 19 D 2 Setting Parameter List A 20 D 3 Monitoring Parameter List A 25 a Appendices P A System Registers Lists A System Registers Lists A 1 System Service Registers 1 Shared by All Drawings Name Register No Remarks Reserved Reserved for the 5B000000 Not used system First High speed Scan SB000001 ON for only the first scan after high speed scan is started First Low speed Scan SB000003 ON for only the first scan after low speed scan is started Always ON SB000004 Always ON 1 si ee a tLe SB000005 to SBO0000F Not used system 2 DWG H Only The following relays begin operation at the start of the high speed scan Name Register No Remarks gt 1 scan 1 scan Flicker Relay SB000010 FLP Ly LITLE Ls9 I I 1 scan 0 5s 0 5s 0 5 s Flicker Relay SB000011 a ee 1 0s 1 0s 1 0 8 Flicker Relay B000012 I lt 2 0s 2 0s gt 2 0 s Flicker Relay B000013 lt gt 0 5s 0 5s 0 5 s Sampling Relay SB000014 gt 1scan 1 0s 1 0s i lt gt 4 gt 1 0 s Sampling Relay SB000015 lt gt 1 scan kk 2 0s pla 2 0s gt 2 0 s Sampling Relay SB000016 M ORE 60 0s 60 0s 60 0 s Sampling Relay SB000017 M M lt 1
5. Ladder program SFRVOPAGIS Motion module g Kauia Built in SVB Z Jesl z 5 S Hg gt 8 gt Tudi i so belU 7 o T e W High speed scan wn Motion program x oO Servomotor 9 Optional modules ae Z S MI E Motion module g ce HU 2 SVB 01 5 ee z j a ride els c ba oe gt ao O ai 26 I k gs a O W High speed scan 9 Servomotor fs Module Specifications 2 27 2 Module Specifications 2 2 7 SVR Virtual Motion Module 4 SVR Operation a SVR Execution Timing The SVR is processed at the beginning of the high speed scan SVR processing is performed in the next scan after specifying and the processing results are reflected in the monitoring parameters SVR processing Reflected in monitoring parameters Reference set High speed scan Results of commands in the H SVR processing results drawing are used in SVR can be monitored in the H processing the next scan drawing of the same scan b Processing Time When fixed parameter 0 Run Mode is set to 0 Normal Running services are started for each of the 16 SVR module virtual axes The default for the Run Mode parameter is 1 Axis Unused The following table gives guidelines for the processing time required for each SVR axis Command MP2300 NOP 35 14 x Number of axes us POSING 35 36 x Number of axes us
6. A 4 A 3 Program Software Numbers and Remaining Program Memory Capacity Name A 4 B Current Values and Set Values Input Data in the SVB Definition Window A 5 B 1 Operations and Parameter Data Flow A 5 B 2 Precautions When Saving SERVOPACK Parameters A 12 C Initializing the Absolute Encoder A 13 C 1 Initializing Procedures for V and III Series SERVOPACKSs A 13 C 2 X I SERVOPACK A 15 C 3 I SERVOPACK A 17 D Motion Parameter Lists A 19 D 1 Fixed Parameter List A 19 D 2 Setting Parameter List A 20 D 3 Monitoring Parameter List A 25 INDEX Revision History 1 Overview of the MP2300 This chapter explains an overview and features of the MP2300 Machine Controller 1 1 Features 1 2 1 2 MP2300 Configuration 1 3 1 2 1 Basic Module Appearance 1 3 1 2 2 MP2300 Series Models
7. MP2300 y YASKAWA RDYO ORUNI ALMO OERR TXO OBAT STOP m SUP INT CNFG Mon l MECHATROLINK Test E connector AREON M IIL E BATTERY H O O O l pz E 5 a Q Q Q Power supply connector O O O CPU I O DC24V e o I O connector a Dc ov e ally e o P go Mounting and Connections 3 9 3 10 3 Mounting and Connections 3 2 2 Power Supply Connector 3 2 2 Power Supply Connector 1 Specifications Pin Arrangement and Connection Procedure Supply a 24 VDC to the MP2300 Connect the power supply connector as shown in the diagram below Connector No of Connector Model Name Cable Model Name Pins Module Cable Manufacturer Power Supply Connector POWER 3 721 863 721 203 026 WAGO Pin No ree Description 24 VDC e 3 24V 24 VDC input ONDE e 2 OV 0 V input FG Frame ground Ground to 100 Q or less MP2300 721 863 721 203 026 24 VDC 24V o AC input 24 VDC a power OV FG Use an insulated 24 VDC power supply Attach the power supply switch on the AC side If the switch is attached on the 24 VDC side there will be an inrush current of approximately 40 A when the power is turned ON 3 2 Basic Module Connections Specifications 2 Assembling the 24 VDC Power Supply Cable A detachable connector is pr
8. 1 4 1 2 3 MP2300 Modules 1 5 1 3 System Configuration Example 1 6 1 4 Devices Connectable to MECHATROLINK 1 7 1 4 1 SERVOPACKS nnn nr renee 1 7 1 4 2 Modules 1 7 1 5 Cables and Accessories 1 8 1 5 1 Cables 1 8 1 5 2 Accessories and Optionals 1 9 1 5 3 Software Programming Tool Optional 1 9 Overview of the MP2300 1 1 1 2 1 Overview of the MP2300 1 1 Features The MP2300 is an all in one compact Machine Controller that combines power supply CPU SVB I O and communication functions in one system The MP2300 consists of a Basic Module that performs motion control and sequence control and Optional Modules that perform I O and communication functions The MP2300 has the following features e Flexibility e High performance and e Easy to use E Flexibility Optional Modules can be inserted into any of the three slots so the optimum system can be built for your machine E High Performance e High control characteristics have been realized by increasing the CPU and Motion Network MECHA TROLINK ID speed e MECHATROLINK II baud rate 2 5 times fas
9. 6 7 6 4 Troubleshooting System Errors 6 9 6 4 1 Outline of System Registers eee rere eee eee eee ee 6 9 6 4 2 Accessing System Registers 6 10 6 4 3 Troubleshooting When ERR is Lit 6 12 6 4 4 Troubleshooting When ALM is Lit 6 13 6 4 5 System Register Configuration and Error Status 6 14 6 5 Motion Program Alarms 6 24 6 5 1 Motion Program Alarm Configuration 6 24 6 5 2 Motion Program Alarm Code List 6 24 6 6 List of Causes for Command Error Occurrence 6 26 XV xvi 6 7 Troubleshooting Motion Errors 6 30 6 7 1 Overview of Motion Errors 6 30 6 7 2 Motion Error Details and Corrections 6 31 6 7 3 Servo Driver Status and Servo Driver Error Codes 6 36 Appendices A System Registers Lists A 2 A 1 System Service Registers A 2 A 2 Scan Execution Status and Calendar
10. END High speed scan Refer to 4 4 5 5 Sample Program Details on page 4 64 for details of H06 01 Drawing A simple device is used in this example to describe the MP2300 system startup Caution is required because actual applications will be different This device has no power OFF circuit for the SERVOPACK in the event of emergency stops or overtravel Include a proper emergency stop circuit in actual applications 4 4 Checking Sample Program Operation 3 H06 Drawing Tuning Panel Display the H06 Drawing Tuning Panel as shown in 4 4 1 How to Open the Tuning Panel Window on page 4 44 Model system operation can be controlled by writing the current values for Common operation and Phase control electric shaft from the Tuning Panel No DataName S Format CurrentVvatue Unit Lower Limit Upper Limit _ REG No Dwa HOON 00000 00000 32767 DWOOOTOL 2 JAxis 1 operation ready ON OFF OFF IB80000 3 Axis 2 operation ready ON OFF OFF IB80800 4 Axis 1 current position HOOOOOOOAX 0000000000 214748364 amp 2147483647 IL8016 5 JAxis 2 current position 10000000X 0000000000 214748364 amp 2147483647 IL8096 BA Common operation hiner 3O000C 00000 32767 DWOOOTOL 7 Servo ON PB S ON OFF MB30000 3 Alarm reset PB S ON OFF MB30000 EE wwii Phase control electric shaft nn SOGOOKC 00000 32767 DWOOOTOL 10JEectric shaft start S ON OFF OFF DBOO00011H06 01
11. program External Signal External Signal Name Address 1IB00000 Start program operation 1IB00001 Pause program IBO0002 Stop program IB00005 Reset the alarm Bit No Motion Program Control Signal 0 Program operation start request 1 Program pause request 2 Program stop request 5 Alarm reset request a Outline of Motion Control Systems 5 19 5 20 5 Outline of Motion Control Systems 5 2 6 Functions 5 2 6 Functions Functions are executed by calling them from parent child or grandchild drawings using the FSTART command Functions can be called from any drawing and the same function can be called at the same time from different types of drawings and from different levels of drawings Another completed functions can also be called from functions Using functions has the following advantages e Easier creation of user program components e Easier writing and maintenance of user programs Functions include standard system functions that are already in the system and user functions that are defined by the user 1 Standard System Functions The transmission and other functions listed below are already created as standard system functions Standard system functions cannot be changed by users Type Name Symbol Contents Counter COUNTER Incremental decremental counter MA First in first out FINFOUT First in first out Trace functi
12. 6 2 6 1 1 Daily Inspections 6 2 6 1 2 Regular Inspections 6 3 6 2 Replacing the Basic Module Battery 6 4 6 2 1 Procedure 6 4 6 3 Troubleshooting 6 5 6 3 1 Basic Flow of Troubleshooting 6 5 6 3 2 MP2300 Error Check Flowchart 6 6 6 3 3 LED Indicators 6 7 6 4 Troubleshooting System Errors 6 9 6 4 1 Outline of System Registers 6 9 6 4 2 Accessing System Registers 6 10 6 4 3 Troubleshooting When ERR is Lit 6 12 6 4 4 Troubleshooting When ALM is Lit 6 13 6 4 5 System Register Configuration and Error Status 6 14 6 5 Motion Program Alarms 6 24 6 5 1 Motion Program Alarm Configuration 6 24 6 5 2 Motion Program Alarm Code List 6 24 6 6 List of Causes for Command Error Occurrence 6 26 6 7 Troubleshooting Motion Err
13. E Register Allocation Slot 0 Reserved for Basic Module ie es ane E i SG E E EE 0 SW00208 Error code I O error 2 Subslot No 2 SW00209 Error code Station error 1 Subslot No 3 sw00210 sT 15 oe ST 2 ST 1 Notused Sw00211 Notused ST 30 ose st H7 sm6 sw00212 Notused OOOO ee Not used sw00213 Notused eee Not used swoo214 Notused eee Not used swoo215 Notused ee Not used b LIO 01 LIO 02 Module Error Status Slot 1 Bit No Fi etadtensasbedangeneanaasedseanacharbacans BF wianacindessapecacdnsoasihenmeuaessansaies 0 SW00224 Error code I O error 2 Subslot No 1 SW00225 Error code I O error 2 Subslot No 2 SW00226 Not used ttt ttt Not used SW00227 Not used senene Not used SW00228 Not used S eneee Not used SW00229 Not used eneee Not used SW00230 Not used S ee Not used SW00231 Not used S eneee Not used 6 20 c SVB 01 Module Error Status Slot 2 Bit No 6 4 Troubleshooting System Errors eer 8 y rrrrrrrrrrsrrsrrsrsnnsnnnnnennennennenenne 0 SW00232 Error code Station error 1 Subslot No 1 sw00233 swo0234 sw00235 SW00236 SW00237 sw00238 sw00239 ST 15 ee ST 2 ST 1 Not used Not used ST 30 een ST 17 ST 16 Notused
14. 1 revs 1 revs 4 Inthe Engineering Manager Window select File Save to save the settings for axis 1 fixed parameters Fig Engineering Manager Module Configuration 7 File View Order Window Help D File Manager Ctrl F CRO DIS eal gt REF LSI PT Close m Save amp save into flash memory Register with User menu Ctrl P 5 Follow steps 3 and 4 to set and save the fixed parameters for axis 2 as well The process for saving fixed parameter settings has now been completed Next save the SERVOPACK parameters 4 2 Starting the Sample Program MPE720 Ver 6 00 2 Making Servo Adjustments and Saving SERVOPACK Parameters This section describes how to make Servo adjustments and save the SERVOPACK parameters for each axis to the MP2300 1 Execute servo gain and other adjustments for each Servo Refer to each SERVOPACK manual for information on the Servo adjustments 2 Select the axis in the SVB Definition Window then click the SERVOPACK Tab to display the SERVOPACK Tab Page g Engineering Manager SYB Definition MP2300 YESAMPLE SAMPLE MP2300 Onli loj xj T Fie Edit View Window Help l j x D E 8 4 2B AS ORR BRE A e gh mm 2 PT 2 1P 192 168 1 1 CPUR 1 RACK O1 Slot 00 ciR 01 s000 67FF ME Aris1 z SERVOPACK SGDS 1 Version 0014 z Servo Type Roty gt Fea ters Setup Parameters SERVOPACK Monitor So o N
15. Refer to 8 8 6 MECHATROLINK Definition in Machine Controller MP900 MP2000 Series MPE720 Software for Programming Device User s Manual Manual No SIEP C880700 05 for information on MECHATROLINK commnication settings c Transmission Distance and Max Number of Slaves ee Transmission Distance Communication Method Total Network Length Max Number of Slaves MECHATROLINK I 50m 14 30m Can be extended up to 100m by connecting 16 21 MECHATROLINK 11 Peaters 50m Can be extended up to 100m by connecting 15 21 repeaters The max number of slaves in parentheses are when repeaters JEPMC REP2000 are used For MECHATROLINK II communication repeaters JEPMC REP2000 are required to connect more than 17 slave stations fs Module Specifications 2 25 2 26 2 Module Specifications 2 2 7 SVR Virtual Motion Module 2 2 7 SVR Virtual Motion Module 1 Outline The Virtual Motion Module is a software module provided as a standard feature with the MP2300 It is not connected to a motor but provides a virtual axis interface The SVR is configured in the same way as the MP2300 built in SVB with fixed parameters setting parameters and monitoring parameters and can be accessed from application programs using I O registers Refer to Machine Controller MP2000 Series Built in SVB SVB 01 Motion Module User s Manual Manual No SIEPC88070033 for detailed information on SV
16. JHBHHHHHHEH J O GHHHHHHHHHHE HHHHHHHHHAxis 2 Manual operation JOG and STEP HHHHHHHE Axis 2 JOG Axis 2 forward jog Axis 2 reverse jog Axis 2 SV_ON Axis 2 jog command DB000010 DB000011 1B80801 DB000000 0000 0000 NL 1 Axis 2 forward jog Axis 2 reverse jog DB000010 DB000011 Axis 2 jog command WORK Axis 2 motion command 0 Axis 2 jog start 0001 DB000000 DB000050 MB300018 DB000001 0006 NL 1 Axis 2 jog command WORK Axis 2 jog stop DB000000 DB000051 DB000002 0002 0010 NL 1 Axis 2 jog start DB000001 Axis 2 speed command setting 0003 STORE zZ a Source 0000001000 Dest OL8090 Axis 2 jog step DB000001 Axis 2 motion command 0004 STORE zZ pot Source 00007 Dest OW8088 Axis 2 jog step DB000002 Axis 2 motion command 0005 STORE a oor Source 00000 Dest OW8088 HHHHHHHHHES T E PHHHHHHHHHE Axis 2 STEP Axis 2 forward step Axis 2 reverse step Axis 2 SV_ON Axis 2 step command DB000012 DB000013 1B80801 DB000008 0006 0019 NL 1 A Axis 2 forward step Axis 2 reverse step DB000012 DB000013 Axis 2 step command WORK Axis 2 motion command 0 Axis 2 step start DB000008 DB000058 DB300018 DB000009 0007 9 0025 NL 1 Axis 2 step command WORK Axis 2 step stop DB000008 DB000059 DB00000A 0008 0029 NL 1 Axis 2 step start DB000009 Axis 2 step speed and moving amount 0009 EXPRESSION z 0032 NL 1 OL8090 1000 OL80C4 DL00010 Axis 2 motion command 0010 STORE zZ ret Source 00008 Dest OW8088 Axis 2 step stop DB00000A Axis 2 m
17. Set up a home or small office network Disable this network __LAN or High Speed Internet device Network and Dial up Connections Q Repair this connection j Rename this connection This folder contains network connections for this computer and a wizard to help you create a new Change settings of this connection connection View status of this To create a new connection click The Property for Local area connection Dialog Box appears 12 Select Internet Protocol TCP IP and click the Properties Button 21x General Connect using BF SMC EtherPower II 10 100 Ethermet Adapter Components checked are used by this connection a Client for Microsoft Networks 8 File and Printer Sharing for Microsoft Networks v M Y7 SIMATIC Industrial Ethernet ISO v The Internet protocol TCP IP Properties Dialog Box appears Install Wwaanchwan 13 Click the Use the following IP address Option Button and enter 192 168 1 2 under IP Address and 255 255 255 0 under Subnet Mask Click the OK Button to close the dialog box Internet Protocol TCP IP Properties 2 x General You can get IP settings assigned automatically if your network supports this capability Otherwise you need to ask your network administrator for the appropriate IP settings Obtain an IP address automatically se the following IP address address ASA
18. poo da nn Flash EEP ue A gt Memory SDRAM RAM ROM T Input I Data l Servo Parameters Parameters l J All Axes HDD in personal computer Meso SERVOPACK SERVOPACK B 1 Operations and Parameter Data Flow The following figure shows a display example after having changed the value 2nd Speed Loop Gain in Input Data on the SERVOPACK Tab Page After having pressed the ENTER Key the values of Speed Loop Gain Speed Loop Inte gral Time Constant and Position Loop Gain boxed in dotted line in Input Data remain different from the values in Current Value since the parameters other than the one that has been changed are not written Before pressing Engineering Manager SVB Definition MP2300 YESAMPLE 23005MPL MP2300 lo xj ENTER Key TI File Edit View Window Help la x jDaS a e CRO DIS PES amp Me REF LST Cie es a RR AR oh om oa Tes tas PT 2 1P 192 168 1 1 CPUH 1 JRACK O1 Slot 00 cIR 01 8000 87FF Ey Jaxist SERVOPACK SGDS 1 Mersion 0014 T Servo Type Rotary ra Fixed Parameters Setup Parameters SERVOPACK Monitor Po Name C sdCS Input Data Unit Currer Function Selection Basic Switch 0 0000 H 0000 H Function Selection Application Switch 1 0000 H 0000 H Function Selection Application Switch 2 0011 H 0111H Function Selection Application Switch 4 0110H 0110H Function Selection Application Switch 6 00
19. LOX 00000 00000 32767 Dw00010 L axis 1 operation ready ON OFF OFF 1880000 axis 2 operation ready ON OFF OFF 1880800 4 axis 1 current position 00000000X 0000000000 0214783648 2147483647 IL8016 5 axis 2 current position 00000000X 0000000000 0214783648 2147483647 IL8096 ell E Common operation rrr OOK 00000 32767 Dw00010 L servo on PB S ON OFF MB30000C 8 alarm reset PB S ON OFF MB300001 g e manual operation and setting OOK 00000 32767 Dw00010 L axis 1 forward JOG S ON OFF DB000010H02 01 axis 1 reverse JOG S _ ON OFF DB000011 H02 01 axis 2 forward JOG S ON OFF DBO00010H02 02 axis 2 reverse JOG S ON OFF DBO00011 HO2 02 axis 1 forward STEP S ON OFF DB000012H02 01 axsi 1 reverse STEP S ON OFF DB000013H02 01 axis 2 forward STEP S ON OFF DBO00012H02 02 axis 2 reverse STEP S ON OFF DBO000013H02 02 axis 1 STEP moving amount S 0214783648 2147483647 DL00010 H02 01 axis 2 STEP moving amount S 0214783648 2147483647 DLOO010 H02 02 System Startup and Sample Programs 4 47 4 System Startup and Sample Programs 4 4 2 Operation Check 1 Manual Operation 3 Procedure Use the following procedure to confirm operation Servo ON 4 Start JOG or STEP operation 4 Confirm operation The following table gives an outline of the operation when the Tuning Panel window is used Data Name Current Value Operation Operation Outline Servo ON PB Current value OFF gt
20. Possible in the Modification line in the above table means that it is possible to change the setting of the item Always save the setting to the flash memory after having changed the setting When changing the setting be careful not to set the register numbers overlapped with another module I O Start Register and I O End Register must be set even though the I O Module is connected or not connected to MECHATROLINK 2 Self Configuration The self configuration function automatically recognizes the Optional Modules mounted on the Machine Controller creates definition files such as the module configuration definition file MECHATROLINK transmission definition file and SVB definition file Additionally module definition data can be automatically refreshed by executing the self configuration function when starting the MP2300 or anytime thereafter For information on how to execute the self configuration function refer to 5 4 2 Execution Procedure for Self contig uration Using the DIP Switch on page 5 30 and 5 4 3 Execution Procedure for Self configuration Using MPE720 on page 5 32 For information on which definition data can be refreshed by executing the self configuration function refer to 5 4 4 Definition Data Refreshed by Self configuration on page 5 36 2 2 MP2300 Basic Module Functions 2 2 3 CPU I O Built in 1 0 Module The CPU I O Module is a digital I O module built in the MP2300 Basic Module and pr
21. Interrupt Status Module Information 6 4 5 8 MP2300 Module Information on page 6 22 Reserved by the system Reserved by the system Motion Program Information 6 5 Motion Program Alarms on page 6 24 Reserved by the system Maintenance and Inspection 6 9 6 Maintenance and Inspection 6 4 2 Accessing System Registers 6 4 2 Accessing System Registers To access the contents of system registers start the MPE720 Programming Tool and use the Register List or Quick Ref erence function The method to display a register list differs depending on the MPE720 version number Ver 6 00 or Ver 5 00 The method for each version is described below 1 Displaying a Register List MPE720 Ver 6 00 Use the following procedure to display a register list 1 Open the Register List Sub window from the MPE720 Ver 6 00 Main Window The Register List 1 Tab is provided by default in the sub window displayed on the bottom of the screen Register List 1 ax Register x F gt Monitor Rot F JOutput E Trans 4 BRegister List 1 watch 1 X Cross Reference 1 OForce Coil List 2 Enter the leading register number of the system register SWOOOOD to be accessed in the Register input field The contents of the system register will be displayed starting from the leading reg ister number Regig r swooo00 gt Auto 16 RoL Fy 2 3 4 5 6 7
22. M4 DIN rail mounting re parts Jt inserted 0 0 EB mH ii Insert the mounting clips so that they are in the positions shown with a dotted line in the previous figure The figure below shows the front and back of a mounting clip Insert each clip so that its front faces outward Back gy Yaskawa rovo orun ALMO 3 1 Mounting the MP2300 3 Hook the MP2300 to the top of the DIN rail a and then push the MP2300 towards the mounting base to secure it in place b 4 5 py Yaskawa rovo Oron ALMO OERRI xO Osar DIN rail This completes the installation procedure eo Mounting and Connections 3 Mounting and Connections 3 1 3 Replacing and Adding Optional Modules 3 1 3 Replacing and Adding Optional Modules Use the following procedures to replace and add Optional Modules 1 Preparation 1 Backup the programs Save the programs written to the Machine Controller in the personal computer using MPE720 MPE720 Ver 5 00 Right click the PLC folder and then select Transfer All Files From Controller to MPE720 MPE720 Ver 6 010 Open the project file and then select Online Transfer Read from Controller 2 Remove the MP2300 Turn OFF the power supply a
23. e Check the program or manual operation Then after clearing the motion command code and resetting the alarm use a return operation to eliminate the software limit status Commands in the direction of the software limit will be disabled and an alarm will occur again if one is executed 5 Bit 5 Servo OFF Detection Timing Servo OFF status is detected when a move command is executed Processing when Alarm Occurs e The specified movement command will not be executed The Command Error Completed Status in the Motion Command Status IWOO09 bit 3 will turn ON Error and Cause e A move command commands for positioning external positioning STEP operation JOG operation etc was executed when the SERVOPACK was Servo OFF status Correction e After clearing the motion command and resetting the alarm turn the SERVOPACK to the Servo ON status 6 Bit 6 Positioning Time Over Detection Timing e Positioning was not completed within the time specified in OWOM26 Positoning Completion Check Time after completing pulse distribution Processing when Alarm Occurs The current command was ended forcibly The Command Error Completed Status in the Motion Command Status IWO00 9 bit 3 will turn ON Error and Cause One of the following is possible e The position loop gain and speed loop gain are not set correctly creating poor response Or there is oscillation
24. Fig 5 3 Module Configuration Definition Window a Outline of Motion Control Systems 5 39 5 Outline of Motion Control Systems 5 5 3 Setting and Changing the Scan Time 5 5 3 Setting and Changing the Scan Time 1 Precautions When Setting or Changing the Scan Time Scan time can be set or changed in the following window lt When Using MPE720 Ver 6 00 gt Scan Time Setting Select File Environment Setting Setup Scan Time Setting from the menu bar Environment Setting x EJ System Eg Security High speed Scan i Setup Setting Value 10 0 ms 1 0ms 32 0ms System Setting Scan Time Setting Curent Value Jaa Ws E3 Ladder Maximum Value 0 5 ms E3 C language Pg Variable Low speed Scan E3 Monitor Setting Value 200 0 ms 2 0ms 300 0ms Transfer Current Value 57 ms E Print Maximum Value 5 8 ms i 1 The operation of the application which depends at the scan time changes z when change the setting value 2 Please do not set setting value smaller than current value The watchdog error occurs Cancel Apply lt When Using MPE720 Ver 5 00 gt Scan Time Setting Double click Scan Time Setting in the Definition Folder in the File Manager Window lo1 x PTH 1 CPUR 1 LO High Speed Scan Setting ms H Scan Maximum Value ms H H Scan Current Value ms H Scan Steps Steps Low Speed Scan Setting ms L Scan Maximum Value ms L Scan Current Value ms L Scan Steps Steps Startup
25. File Manager File E Edit E View Tool T Help H X S 2 Ele P Ml oes e Ea oot i EL MP2300 Ee YESAMPLE Log On G Properties R Ctrl R Log Off U File Transter T gt Applicateion Converter Delete D Ctrl D CPU Controlle Ladder bonyerter tToollii File Name 2300SMPL File Type Controller Controller Type MP2300 Customer User i Usage Properties The Controller Configuration Dialog Box will appear 4 28 3 4 3 Starting Sample Program MPE720 Ver 5 00 Select the Network Tab Page and check that OnLine is set to Yes Under Logical Port No Device Type select the logical port number to be used from the logical ports set using the communication process The contents displayed on the tab page changes according to the selected port number Controller Configuration x niomaia leor Dvn l OnLine Logical Port No Device Type No Dvice x No Dvice Unit No No Dvice No Dvice No Dvice Route No Dvice No Dvice Cancel Dea CP217 represents the RS 232C connection serial port and CP218 represents the Ethernet connection gt System Startup and Sample Programs 4 29 4 System Startup and Sample Programs 4 3 2 Reading Sample Programs and Setting and Saving Parameters 4 30 4 lt For RS 232C Connection gt Leave the values other than the Logical Port No on their default settings and click OK Button Controll
26. The Positioning Completion Check Time OWM1126 is too short The capacity of the motor is insufficient for the machine load e Connections are not correct between the SERVOPACK and the motor 6 32 6 7 Troubleshooting Motion Errors Correction Check the following e Check the SERVOPACK gain parameters e Check connections between the SERVOPACK and the motor e Check the motor capacity e Check the Positioning Completion Check Time OW0O026 The above check is not performed if the Positioning Completion Check Timet OWO026 is set to 0 7 Bit 7 Excessive Positioning Moving Amount Detection Timing e Positioning command is executed Processing when Alarm Occurs The move command is not executed The Command Error Completed Status in the Motion Command Status WO009 bit 3 will turn ON Error and Cause A move command commands for positioning external positioning or STEP operation was executed that exceeded the limit of the positioning moving amount Correction e Check the moving amount for the axis being positioned 8 Bit 8 Excessive Speed Detection Timing A move command is executed Processing when Alarm Occurs e The move command is not executed The Command Error Completed Status in the Motion Command Status WO009 bit 3 will turn ON Error and Cause The speed movement output for one scan in case of interpolatio
27. 11 Speed setting motor rated speed 30000mm min S JOOX 000000 mm min 000000 030000 DLOOO10 H06 01 Bia Phase control electric cam rine SOG00K 00000 00000 32767 DWOOOTOL 13 Electric cam start S ON OFF OFF DB00001 H06 02 Main axis speed setting 3 0000mm min S YOOX 000000 mih min 030000 030000 DLOOO10 H06 02 15 Cam axis amplitude setting double amplitude S OOOX 000 000 000 000 999 999 ML30200 16 Cam axis main axis moving amount per a cycle Em JOCO IX 00000 0000 00000 000 50000 000 ML30202 4 Procedure 1 Servo ON Change the Servo ON PB current value from OFF to ON The Servomotor will turn ON and the Servo will be clamped Enter Cam Data Enter any value within the setting range to Cam axis amplitude setting double amplitude and Cam axis main axis moving amount per cycle These settings create the cam pattern e Cam axis amplitude setting double amplitude Setting range 0 to 999 999 e Cam axis main axis moving per cycle Setting range 0 to 50000 000 Cam pattern data is not changed when Electric cam start is set to ON Start Electronic Cam Operation Change the Electric cam start current value from OFF to ON Axis 2 will change to phase control electric cam mode Enter OFF to exit phase control electric cam mode Enter Main Axis Speed Settings Enter any value within the setting range 30000 to 30000 as the current value for Main axis speed setting This operation sets the master axis speed and start
28. 1800001 1800002 1800005 Program No 00001 Data BAGOOOO 1800005 0630000 d Servo ON Start program operation DB000011 O Pause program DAE Stop program DBO00015 Reset alarm OBS000F Clear alarm The following table shows the details of the above ladder program Step No Program Details 1 The servo ON signal IB00100 sets the Servo ON motion settings parameter OB80000 and turns ON the Servo 2 to 10 The signals connected to the MP2300 external input signals are stored as the motion program control signals TW0000 external input signal DW00001 Second word of MSEE work registers e Start program operation e Pause program e Stop program e Reset alarm 11 Calls motion program MPM001 MSEE MPMO001 DA00000 a 2 1 Motion program number 2 Leading MSEE work register address 12 Sets motion settings parameter Alarm Clear OB0000F using the alarm reset signal IB00005 and clears the alarm If the above ladder program is used to enter external input signals connected to the MP2300 IB00000 to IB00005 to DW00001 second word of MSEE work registers as the motion program control signals motion program operations 5 2 User Programs such as run pause and stop can be performed using the system s motion management function The following tables show an example of the minimum external input signals required to create the above ladder
29. 3 Select File Exit to stop the dumping of all data ioj xi File View Help Execute Clear PTH 2 1P 192 168 1 7 CPU 1 MP2300 Source Destination C YeTools MPE 20 Cp717Us MP2300 YESAMPLENSAMPLE Change Transter Mode Changs z I Gompression trarstesion Detail Now the sample program is available Refer to 4 4 Checking Sample Program Operation on page 4 44 to check the sample program operation gt System Startup and Sample Programs 4 41 4 System Startup and Sample Programs 4 3 3 Other Operations 4 3 3 Other Operations This section describes the CPU RUN setting and log off operation required when MPE720 Ver 5 00 is used 1 CPU RUN Settings If the CPU STOP status is not cleared after executing processes such as saving to flash memory use the following procedure to return to RUN status 1 Right click on the Controller Folder where sample programs are saved and select Controller Operation from the pop up menu that is displayed 101 File Edit view Tool Help X 22 I root mp2300 C Register Fo Folder ECO YESAMPLE Definition Folder Folder C Programs Folder Table Data F Folder Properties Log Off Transfer Backup Motion Programs Application Converter _ File Name SAMPLE File Type Contr a Delete Ctrl D Ci Ji fe Usage Online connection parameter PT 2 IP 1 Database Local Online Online Run o
30. 4 For details on the system registers from SW00200 to SW00247 refer to 6 4 5 6 System I O Error Status 6 Maintenance and Inspection 6 4 5 System Register Configuration and Error Status 6 4 5 System Register Configuration and Error Status 1 System Status System operating status and error status is stored in registers SW00040 to SW00048 Checking of system status details are used to determine whether hardware or software is the cause of an error Name Register No Description Reserved by ee the system SW00039 SB000400 READY D ranuro 1 Normal SB000401 RUN 0 Stopped 1 Running SB000402 ALARM 0 Normal 1 Alarm SB000403 ERROR 0 Normal 1 Error SB000404 Reserved by the system SB000405 Reserved by the system CPU Status SW00040 SB000406 FLASH 1 Flash operation SB000407 WEN 0 Write disabled 1 Write enabled SB000408 to Reserved by the system SB00040D SB00040E Operation Stop Request 0 RUN selection 1 STOP selection 0 STOP SB00040F Run Switch Status at Power ON 1 RUN i 1 WDGE undefined command B000410 9 pipelines See SW00050 for details SB000411 Reserved by the system SB000412 Reserved by the system SB000413 Exception Error CPU Error SB000414 Status SW00041 to Reserved by the system SB000417 SB000418 User operation error 1 User operation error SB000419 T O
31. PT 1 UT 1 CPUR 1 a Controller Module Type T8iF 01 gt UNDEFINED UNDEFINED 1 0 Start Register SSeS 1 0 End Register raa T JMP2300 Controller module with network servo control 1 0 virtual axes m Module Details MP2300 SLOT OO 1 2 a Module Type CPU y IO X Controller Number __ 01 01 Circuit Number z 01l 02 1 0 Start Register Soon 0000 0002 I O End Register sess 0001 0401 Disable Input v Enable 7 Enable ha ha Disable Output v Enable Enable X X Motion Start Register_ EE 8000 8800 Motion End Register _ 87FF FFF Details MECHATROLINK z 5 z M EVB Network servo contral function aaa Select the axis to be set or monitored from the Axis pull down list Pies PT 1 UT 1 CPUR 1 JRACK o1 Slot 00 ciR 01 s000 87FF a version 0020 M Servo Type Rotary z ers Setup Parameters SERVOPACK Monitor es Selection of operation modes Function selection flag 1 Function selection flag 2 Reference unit selection a Number of digits below decimal point 6 Travel distance per machine rotation 3 Servo motor gear ratio 9 Machine gear ratio Normal operation mode 0000 0000 0000 0000 0000 H 0000 0000 0000 0000 0000 H 3l 10000 User units 1 revs 1 revs Infinite length axis reset position POSMAX 360000 User units 1
32. The warranty period for a product that was purchased hereafter called delivered product is one year from the time of delivery to the location specified by the customer or 18 months from the time of shipment from the Yaskawa factory whichever is sooner E Warranty Scope Yaskawa shall replace or repair a defective product free of change if a defect attributable to Yaskawa occurs during the warranty period above This warranty does not cover defects caused by the delivered product reaching the end of its service life and replacement of parts that require replacement or that have a limited service life This warranty does not cover failures that result from any of the following causes l nA A W N 6 Improper handling abuse or use in unsuitable conditions or in environments not described in product cat alogs or manuals or in any separately agreed upon specifications Causes not attributable to the delivered product itself Modifications or repairs not performed by Yaskawa Abuse of the delivered product in a manner in which it was not originally intended Causes that were not foreseeable with the scientific and technological understanding at the time of ship ment from Yaskawa Events for which Yaskawa is not responsible such as natural or human made disasters 2 Limitations of Liability 1 Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises du
33. processing Unique to each 7 z function External registers with the address input External function AW0000 to value as the base address A registers AB AWAL AEhhhh AW32767 For linking with S M I O and DAnnnnn Call only registers registers B W L Fnnnnn W00000 to Can be called only from the relevant Annnnn W16383 function The usage range is set by the user using MPE720 Internal registers unique to each function D D registers DB DW DL DFnnnnn DW00000 to Can be called only the relevant function DAnnnnn DW16383 The usage range is set by the user using MPE720 Ss System registers SB SW SL SFnnnnn SAnnnnn MB MW ML M Data registers MFnnnnn MAnnnnn Same as DWG registers These registers are shared by drawings and functions Pay attention to how IB IW IL Fhhhh Input registers Ahhhh these registers are to be used when calling the same function from a drawing of a different priority level O Output registers OB OW OL OFhhhh OAhhhh C Constants registers CB OM CL CFhhih CAnnnn n Decimal number h Hexadecimal number B W L F and A Data type B Bit W Integer L Double length integer F Real number A Address Refer to 5 3 2 Data Types and Register Specifications on page 5 24 SA MA IA OA DA A and CA registers can be used within functions 5 3 Registers 3 Register Ranges in Programs The following figure shows DWG program
34. 1 5 2 Accessories and Optionals Name Accessory Optional Model Remarks ER3VC exclusive use connector Batter y Accessory JZSP BAO1 BA000517 Power Supply Connector Accessory 721 203 026 Cable side DIN Rail Mounting Parts Optional JEPMC OP300 2 parts for 1 set Option Slot Cover Optional JEPMC OP2300 Front cover for empty slot 1 5 3 Software Programming Tool Optional The MPE720 programming tool for MP2300 is available Name Model Remarks MPE720 CPMC MPE720 Ver 4 41A or later CD ROM 1 disk MPE720 Ver 6 CPMC MPE770 CD ROM 1 disk Overview of the MP2300 1 9 2 Module Specifications This chapter explains detailed specifications and functions for the Basic Module of the MP2300 2 1 MP2300 Basic Module Specifications 2 2 2 1 1 Hardware Specifications 2 2 2 1 2 Environmental Conditions 2 3 2 1 3 Function Specifications 2 4 2 2 MP2300 Basic Module Functions 2 7 2 2 1 External Appearance LED Indicators and Switch Settings 2 7 2 2 2 Module Configuration Definitions 2 9 2 2 3 CPU I O Built in I O Module 2 11 2 2 4 Built in SVB Modul
35. Basic Module 2 8 synchronization between modules 2 15 System Configuration 4 3 system error status 6 15 system I O error status 6 19 system program software number A4 system registers accessing 6 10 configuration 6 14 system service registers A 2 system services execution status 6 19 system startup 42 adding electric devices 4 71 first 4 68 procedure 4 2 replacing electric devices 4 73 self configuration 4 68 system status 6 14 system work number 5 14 transfer all 4 32 transmission parameters tab 2 18 troubleshooting 6 5 system errors 6 9 Troubleshooting When ALM is Lit 6 13 Troubleshooting When ERR is Lit 6 12 U user definition files 5 38
36. Click the No Button x Do you want to connect to the controller Connection 2 Ethernet IP192 168 1 1 ve Cw D 2 Click Communications Setting in the MPE720 Ver 6 010 main window MPE 720 Ver 6 2300SMPL_E MP2300 Star 181 x1 iP Eile Edit View Online Compile Debug Window Help 8X AmA L 436 Moo E eae a mh T hOB ETE RERET ERETTE H Kop Offline MP2300 D Documents and Settings MAKI Desktop MPE objects 23005MPL_E YMW YASKAWA ELECTRIC CORPORATION Setup Programming M Transfer Utility Module configuration X Ladder Instruction E RELAY B MATH LOGIC 2300SMPL_E MP2300 Program a Module configuration a l 2300SMPL_E MP2300 fai Axis configuration E B Ladder program High speed CONTROL E Low speed Connection Zt hemet TPT 92 168 1 1 ELEY B Start MOVE m Interrupt Disconnection aoig mI Functinn The Communications Setting Dialog Box will appear 4 14 4 2 Starting the Sample Program MPE720 Ver 6 00 3 Click the W Button and select a port to be used for communications with the MP2300 from the drop down list box Then click the Connection Button Inthe drop down list box the details of each port set in the procedure described in 4 1 4 Setting and Saving Communication Process Communication Manager on page 4 6 will be displayed Bt Communications Setting x CD Serial COM1 Serial COM1 Ethernet IP 192 168 1 2
37. Define Data Table Disabled Coil List Motion Program gt Comment List Import Axis Comments Refer to 4 3 2 4 Set and Save Motion Fixed Parameters on page 4 36 for details on how to display the Engi neering Manager Window 6 4 Troubleshooting System Errors 2 Select View Mode HEX from the main menu to change the view mode to hexadecimal D Register List File ViewMode View Window Help ZSAMPLE 2300SMPL MP2300 Online BIN PT Lona ASCI 3 Input the register number of the first system register to be accessed for Register input the register number of the last system register to be accessed for D and click anywhere in the list The contents of the specified range of register numbers will be displayed MP2300 YESAMPLE 2300SMPL MP2300 Online Local pa 1 CPUR Controller MP2100 2500 Select Controller swo0043 swoo0047 Sw00051 Sw00055 5w00059 Sw00063 Sw00067 Sw00071 Sw00075 Sw00079 Sw00083 Sw00087 swoo0g1 n Sw00042 Sw00046 Sw00050 swoo054 swoo058 Sw00062 Sw00066 S5w00070 SwW00074 Sw00078 Sw00082 Sw00086 swooogo swo00045 Sw00049 Sw00053 swo00057 swo00061 Sw00065 Sw00069 sw00073 Sw00077 Sw00081 swoooss Sw00089 I 4 non non non nin en ee 3 Displaying a Register List with the Quick Reference MPE720 Ver 5 00 Register lists can also be accessed with the Quick Reference 1 Select View Quick Reference from the main
38. EBS Safety Function Drive Communications Error 32 Servo Driver Alarm lwoo2p EB6 Safety Function Drive Communications Data Error 3 2 Code cont d cont d EC7 Safety Option Card Stop Command Error F10 Power Line Open Phase CPF00 Digital Operator Communications Error 1 CPF01 Digital Operator Communications Error 2 Does not indicate an error 1 When the feedback option is used 2 When the safety function is used Maintenance and Inspection 6 43 Appendices System Registers Lists A 2 A 1 System Service Registers A 2 A 2 Scan Execution Status and Calendar A 4 A 3 Program Software Numbers and Remaining Program Memory Capacity Name A 4 Current Values and Set Values Input Data in the SVB Definition Window A 5 B 1 Operations and Parameter Data Flow A 5 B 2 Precautions When Saving SERVOPACK Parameters A 12 Initializing the Absolute Encoder A 13 C 1 Initializing Procedures for X V and X III Series SERVOPACKS A 13 C 2 D II SERVOPACK A 15 C 3 X I SERVOPACK A 17 Motion Parameter Lists A 19 D 1 Fixed Parameter List
39. NL 1 Source 00025 Dest OW8088 4 60 10006 d 0019 NL 1 0007 4 0021 NL 1 0008 0022 NL 1 0009 0024 NL 1 10010 0026 NL 1 10011 d 0027 NL 1 10012 2 0030 NL 1 0013 4 0032 NL 1 0014 0033 NL 1 Motion command 0 NOP setting Electronic shaft stop DB000002 Axis 1 motion command STORE 5 Source 00000 Dest OW8008 Electronic shaft stop DB000002 Axis 2 motion command STORE Ss Source 00000 Dest OW8088 S curve Acceleration deceleration Setting S curve accelerator decelerator input EXPRESSION B DB000200 true DB000201 true DB00022 30000 0 DB00024 0 1 DB00026 0 1 DB00030 0 01 DB00032 0 01 Electronic Shaft Operation Speed Setting Switching Sequence 4 4 Checking Sample Program Operation A double length integer register is used for speed reference unit Therefore a real number is used for the linear accelerator decelerator 2 SLAU S curve accelerator decelerator instruction Electronic shaft speed setting Electronic shaft operation command z DB000000 S curve accelerator decelerator input STORE Ss Source DLO0010 Dest DF00012 w Electronic shaft operation command DB000000 S curve accelerator decelerator input STORE Ss Source 0 000000E 000 Dest DF00012 S curve accelerator decelerator gear output Input DF00012 Parameter DA00020 Output DF00040 Axis 1 and Axis 2 Speed C
40. YASKAWA Machine Controller MP2300 Basic Module USER S MANUAL Model JEPMC MP2300 MP2300 YASKAWA 82 O Orun AMO OERR i Overview of the MP2300 EI Module Specifications EA Mounting and Connections EN System Startup and Sample Programs caa Outline of Motion Control Systems EA Maintenance and Inspection 6 Appendices App MANUAL NO SIEP C880700 03D Copyright 2003 YASKAWA ELECTRIC CORPORATION 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 or otherwise without the prior written permission of Yaskawa No patent liability is assumed with respect to the use of the information contained herein Moreover because Yaskawa is con stantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless Yaskawa assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained in this publication Using this Manual The MP2300 is a compact Machine Controller that contains the power supply the CPU I O and the communication functions in one single unit Please read this manual to ensure correct usage of t
41. 0000 H 0002 Function Selection Application Switch 2 O1l1H 0111 H Function Selection Application Switch 4 0110H 0110 H Function Selection Application Switch 6 0002 H Function Selection Application Switch 7 0000 H Function Selection Application Switch 8 4000 H Speed Loop Gain Speed Loop Integral Time Constant Position Loop Gain 0103 Moment of Inertia Ratio Mass ratio 0104 2nd Speed Loop Gain 40 0 AAT IDeA Caaan ann lnennenl Tinan Mainat nint IA AN one IA AN Appendices A 10 B Current Values and Set Values Input Data in the SVB Definition Window 6 Changing Parameters in the SERVOPACK Tab Page The data flow for SERVOPACK parameters is as follows when parameters for the cursor position are changed from the SERVOPACK Tab Page in the SVB Definition Window for MPE720 The MPE720 writes parameters of the relevant axis to the followings when the ENTER Key is pressed on the computer The parameters other than those of the relevant axis will not be written Input Data set data on the SERVOPACK Tab Page e SDRAM of the MP2300 e RAM of the SERVOPACK e After having completed writing the MPE720 updates the values in Input Data on the SERVOPACK Tab Page with the parameter values stored in the RAM of the SERVOPACK MECHATROLINK System Control SRAM Software Software a Display
42. 2 Loading the Sample Programs on page 4 32 V Transfer Individual Sample Programs Select a sample program to be transferred and 4 3 2 3 Transfer Individual Programs on page 4 34 transfer to MP2300 Set the Motion Fixed Parameters Set the motion fixed parameters to match the sample program 4 3 2 4 Set and Save Motion Fixed Parameters on page 4 36 V Adjust the Servo and Save the SERVOPACK Parameters Make Servo adjustments and save the SERVOPACK parameters for each axis 4 3 2 5 Making Servo Adjustments and Saving SERVOPACK Parameters on page 4 38 V 10 Save to Flash Memory Save the sample program to the MP2300 flash memory 4 3 2 6 Saving to Flash Memory on page 4 40 V 11 Transfer All Files to Hard Disk Save the MP2300 data in the hard disk of the personal computer for backup 4 3 2 7 Dumping All Data on page 4 41 gt System Startup and Sample Programs 4 23 4 System Startup and Sample Programs 4 3 1 Starting MPE720 Ver 5 00 and Creating Folders 4 3 1 Starting MPE720 Ver 5 00 and Creating Folders This section describes the preparation for connecting the MPE720 motion programming software optional to the MP2300 and the method for installing the sample program for the MP2300 The explanation is given assuming that the MPE720 has been installed on your personal c
43. 2 IIl Series Name cae Code Meaning 000 Normal 900 Excessive Position Error 901 Excessive Position Error at Servo ON 910 Overload 911 Vibration 920 Regeneration Overload 930 Absolute Encoder Battery Error 941 Parameter Change Requiring Power Recycling 94A Data Setting Warning 1 Parameter Number 94B Data Setting Warning 2 Outside Data Range 94C Data Setting Warning 3 Calculation Error 94D Data Setting Warning 4 Parameter Size 95A Command Warning 1 Command Conditions Not Met 95B Command Warning 2 Unsupported Command 95C Command Warning 3 S IwOO2D 95D Command Warning 4 95E Command Warning 5 960 MECHATROLINK Communication Warning 020 Parameter Checksum Error 1 021 Parameter Format Error 1 022 System Constant Checksum Error 1 023 Parameter Password Error 1 02A Parameter Checksum Error 2 02B System Constant Checksum Error 2 030 Main Circuit Detector Error 040 Parameter Setting Error 1 04A Parameter Setting Error 2 041 Divided Pulse Output Setting Error 042 Parameter Combination Error 050 Combination Error 051 Unsupported Product Alarm Maintenance and Inspection 6 39 6 Maintenance and Inspection ees SSS A 6 7 3 Servo Driver Status and Servo Driver Error Codes Name cl a Code Meaning OBO Servo ON Reference Invalid Alarm 100 Overcurrent or Heat Sink Overheat 300 Regeneration Error 320 Regeneration Overload 330 Main C
44. 5 21 E electronic cam 4 62 electronic shaft 4 58 error confirmation flow 6 6 error status 6 14 excessive positioning moving amount 6 33 excessive speed 6 33 excessively following error 6 33 F filter time constant change error 6 34 filter type change error 6 33 fixed parameter list A 19 Index 1 function registers 5 22 functions 5 6 5 20 G grandchild drawings 5 6 group folders 4 25 creating 4 25 groups 22 2 eee eee eee eee 5 11 H H drawing 4 49 H01 drawing 4 49 H02 drawing 4 50 H02 01 drawing 4 51 H02 02 drawing 4 52 H06 01 drawing 4 60 H06 02 drawing 4 64 hardware specifications Basic Module 99 MP3300 Swit eect dae ele ee oe 2 3 How to Open the Tuning Panel Windo
45. 8070H SW00807 T O Function Module Status Module SW00808 SVB Function Module ID 9113H Information SW00809 SVB Function Module Status SW00810 SVR Function Module ID 9210H Swo00811 SVR Function Module Status SW00812 to SW00815 Reserved by the system SW00816 to SW00823 Slot 1 SW00824 to SW00831 Slot 2 SW00832 to SW00839 Slot 3 SW01008 to SW01015 Reserved by the system Slot 26 9 Motion Program Execution Information 6 4 Troubleshooting System Errors Motion Program Alarm Main System Program Rica Parallel 0 Parallel 1 Parallel 2 Parallel 3 Parallel 4 Parallel 5 Parallel 6 Parallel 7 nrormation Work No iN Used by Work Offset Offset Offset Offset Offset Offset Offset Offset Execution 4 7 10 13 16 19 22 25 SW03264 1 SW3200 o swo3321 SW03268 SW03271 SW03274 SW03277 SW03280 SW03283 SW03286 SW03289 SW03322 2 SW3201 o swo3379 SW03326 SW03329 SW03332 SW03335 SW03338 SW03341 SW03344 SW03347 SW03380 3 SW3202 o sw3437 SW03384 SW03387 SW03390 SW03393 SW03396 SW03399 SW03402 SW03405 SW03438 4 SW3203 o swo34o5 SW03442 SW03445 SW03448 SW03451 SW03454 SW03457 SW03460 SW03463 SW03496 5 SW3204 o sw03553 SW03500 SW03503 SW03506 SW03509 SW03512 SW03515 SW03518 SW03521 SW03554 6 SW3205 o swo3611 SW03558 SW03561 SW03564 SW0
46. A AJr VA AJEA O Ofl Jo Oli 1O IO aji o A a 10 00 0O Motion Program Execution Example Motion programs are always called from H drawings using the MSEE command motion program call command Motion programs can be called from any parent child or grandchild drawing in an H drawing The following figure shows an example of motion program execution System programs are started according to execution conditions Parent Drawings Child Drawings Grandchild Drawings gt MSEE MPMO01 DEND DWG H01 01 Motion Programs MPMO01 VEL a1 5000 b1 FMX T10000000 IAC T25 IDC T30 MOV a1 300 b1 MVS a1 200 b1 END P END MPM002 MPM003 DWG H DWG H01 SEE gt SEE H01 01 H01 lt lt MSEE MPM002 4 DEND MSEE MPM003 4 DEND MSEE MPS101 END Subroutine t _ 4 MPS101 RET H drawing ladder commands are executed in hierarchical order i e parent drawings child drawings then grandchild drawings each high speed scan cycle Motion programs are also called each scan cycle but unlike ladder programs all motion programs cannot be executed in one scan For this reason motion programs are executed and controlled by special system s motion management function Ladder program MSEE commands cannot call motion program subroutines MPSOOD Subroutines can be
47. Bit D Zero Point Unsetting Detection Timing e Enabled only when an absolute encoder is used for an infinite length axis and detected when the next command is set in the Motion Command OWOD08 Commands Positioning External Positioning Interpolation Interpolation with position detection function phase reference Processing when Alarm Occurs e The set command will not be executed The Command Error Completed Status in the Motion Command Status WO009 bit 3 will turn ON Error and Cause e A move command was set without executing the ZSET command IWOID0C bit 5 is OFF Correction e After clearing the motion command and resetting the alarm execute a Zero Point Setting operation 13 Bit 10 Servo Driver Synchronization Communications Error Detection Timing e Detected by the communication control section when communication are synchronized between the Machine Controller and SERVOPACK Processing when Alarm Occurs The current command will be aborted Error and Cause e Data of either Machine Controller or servo was not correctly updated Correction e Check the MECHATROLINK cable and reset the alarm 14 Bit 11 Servo Driver Communication Error Detection Timing e Detected by the communication control section when communication is not synchronized between the Machine Controller and SERVOPACK Processing when Alarm Occurs The current c
48. CO LTD BEIJING OFFICE Room 1011A Tower W3 Oriental Plaza No 1 East Chang An Ave Dong Cheng District Beijing 100738 China Phone 86 10 8518 4086 Fax 86 10 8518 4082 YASKAWA ELECTRIC TAIWAN CORPORATION 9F 16 Nanking E Rd Sec 3 Taipei Taiwan Phone 886 2 2502 5003 Fax 886 2 2505 1280 YASKAWA ELECTRIC CORPORATION YASKAWA In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations Therefore be sure to follow all procedures and submit all relevant documentation according to any and all rules regulations and laws that may apply Specifications are subject to change without notice for ongoing product modifications and improvements 2003 2009 YASKAWA ELECTRIC CORPORATION All rights reserved MANUAL NO SIEP C880700 03D Published in Japan October 2009 03 4 lt gt 0 09 8 2
49. Eai le we Subnet mask 255 255 255 0 Default gateway 4 i i C Obtain DNS server address automatically Use the following DNS server addresses Preferred DNS server j 7 R Alternate DNS server z X 3 Advanced Cancel al System Startup and Sample Programs 4 System Startup and Sample Programs 4 1 4 Setting and Saving Communication Process Communication Manager 14 Double click Logical Port No 2 in the Communication Process Window to display the Logical Port Setting Dialog Box Communication Manager E 5 x Fie view Tool Control Modem Help az alsa 3 4 5 6 Logical Port 2 Port Kind TimeQut Dual The CP 218 Port Setting Dialog Box appears 16 Enter the IP address of computer and click OFF for Default Leave the other items on their default settings Click the OK Button to close the dialog box CP 218 Port Setting J IP Addres First IP Addres Second Default CON Engineering Port 10000 256 65535 I Message Received TCP Port Count 10 0 16 TCP Top Port 20000 20000 65535 UDP Port Count 10 0 16 UDP Top Port 17 Click the OK Button in the Logical Port Setting Dialog Box to return to the Communication Process Window Check to see if the CP 218 Ethernet connection is assigned to the Logical Port No 2 Communication Process File Tool Control Modem Window Help alz
50. Enter an Order Folder name of up to 8 characters and click the OK Button Make New Folder x Order Name YESAMPLE A new Order Folder will be created Click the group folder or to display the entered Order Folder name bP Ml aoa FileName FI LI YESAMPLE Order Folder 4 26 4 3 Starting Sample Program MPE720 Ver 5 00 4 Creating Controller Folders Required In the File Manager Window create a Controller Folder for storing programs 1 Right click the Order Folder in which the Controller Folder is to be created and select Create New Folder Controller Folder from the pop up menu Alaa i on Create New Folder N Controller Folder C Rename M Delete D The Controller Configuration Dialog Box will appear 2 Enter a Controller Folder name of up to 8 characters under Controller Name select MP2300 under Controller Type and click the OK Button Controller Configuration x Information Network Application l Order Name VESAMPLE Controller Name 2300SMPL CPU Name CPU1 CPU2 Comment Controller Type MP2300 Multi CPU Oasa O Zal A new Controller Folder will be created Click the Order Folder or to display the entered Controller Folder name Jex ee saMe Controller Ty i 2300SMPL Controller Folder MP2300 gt System Startup and Sample Programs 4 27 4 System Startup and Sample Programs 4 3 2 Reading Sample Programs
51. Latch Completion mes Sequence Number Tame ae Number of Continuous ILOO45 Latch Sequence Yes Completion Cycles IWOD4E6 to WO0055 Reserved for system use Fixed Parameter Stores the data of the fixed parameter when FIXPRM_RD has been Ye Ye ILGIS Monitor specified in the Motion Subcommand es es IWODS58 to Iwoosc Reserved for system use Encoder Position ILOO5E When the Power is 1 1 pulse Yes OFF Lower 2 words Encoder Position ILOO160 When the Power is 1 1 pulse Yes OFF Upper 2 words Pulse Position When ILOO62 the Power is OFF 1 1 pulse Yes Lower 2 Words Pulse Position When ILOO64 the Power is OFF 1 1 pulse Yes Upper 2 Words IWOO66 to _ R df i _ _ IWOO6E eserved for system use Response Buffer for IWOO70 to Servo Driver Stores the response data when MECHATROLINK Servo Yes IWOO7F Transmission commands are specified directly Reference Mode a Appendices A 29 Index INDEX Symbols WEN Oo ahs ate eee ete he ee ete ee 2 21 HREESERVO 2 21 A ABS absolute encoder count exceeded 6 35 accessories 1 9 alarm ILOO04 list 6 31 all program file dump 4 41 all in one 2 7 Assembling the 24 VDC Power Supply Cable 3 11 axis alarm 6 3
52. Local Disk C w Local Disk D D DVD RW Drive E A Shared Doct CMAKI s Doct AutoPlay Search C A Explore Sharing and Security The root directory of the installation disk will be displayed gt System Startup and Sample Programs 4 13 4 System Startup and Sample Programs 4 2 1 Copying and Transferring Sample Program Files 3 Open the Sample folder and then open the ENG folder inside the Sample folder to display the sample program files 101x File Edit View Favorites Tools Help amp Om O Psa SEE oix aaea File Edit View Favorites Tools Help ay DataSheet autorun exe a C P autorun inf Q wx ka Q 7 D P sexr lol x File Edit View Favorites Tools Help amp Q sak 7 7 D 7 Search Folders a E Readme_ENG txt E Readme_JPN txt Gomes setup ico 21005MPL 2200 025MPL_E YMW 22005MPL_E YMW 23005MPL_E YMW 4 Copy the sample program file 2300SMPL_E YMW and paste it in a folder in the hard disk CE Aci x File Edit View Favorites Tools Help amp Q ax i r wi Search Folders MW QE z3005mPL_E Ym 2 Starting MPE720 Ver 6 00 To Transfer the Sample Program to the MP2300 1 Double click the 2300SMPL_E YMW file copied to the hard disk MPE720 Ver 6 010 will start up and the following message will ask for confirmation to connect to the controller
53. Number of axes The number of axes 1 to 16 when Run Mode fixed parameter 0 is set to Normal Running 0 The formula listed above do not apply when the number of axes is 0 E Differences from SVB Simulation Mode Simulation mode does not have a positioning function so the position data is refreshed in one scan to the final target position The SVR has its own positioning function that performs distribution so like a real module position data is refreshed each scan for the final target position 2 28 3 Mounting and Connections This chapter explains how to mount the Basic Module and Optional Modules Also refer to the connection specifications for the Basic Module 3 1 Mounting the MP2300 3 2 3 1 1 Basic Module Dimensional Drawings 3 2 3 1 2 Mounting the MP2300 3 3 3 1 3 Replacing and Adding Optional Modules 3 6 3 2 Basic Module Connections Specifications 3 9 3 2 1 Connectors nnn eeeeeeee 3 9 3 2 2 Power Supply Connector 3 10 3 2 3 MECHATROLINK Connectors 3 12 3 2 4 CPU I O Built in I O Connectors 3 16 eo Mounting and Connections 3 Mounting and Connections 3 1 1 Basic Module Dimensi
54. OFF ON Make switch settings for communication and station address on each Optional Module mounted on the MP2300 as required 4 5 System Startup Using Self Configuration Execute Self configuration Check that all MECHATROLINK slaves have started up normally then turn ON the power to the MP2300 to start self configuration The LED indicators on the MP2300 Basic Module change as shown below RDY O O RUN RDY O RUN RDY RUN ALM ERR ALM O OERR ALM O OERR TX O OBAT TX OBAT TX OBAT Lit O Notlit Blinking When self configuration is executed the MP2300 will detect connected MECHATROLINK slaves make I O register allocations for them and automatically set motion parameters to enable minimum operation Self configuration is designed to immediately enable operation to the Servo Therefore the SERVOPACK Y overtravel function refer to 11 2 Overtravel Function in Machine Controller MP2000 Series Built in SVB 6 SVB 01 Motion Module User s Manual Manual No SIEPC88070033 is disabled When actually operating machinery overtravel must be enabled each SERVOPACK Make Parameter Settings to Match the Machinery Start MPE720 then set and save fixed parameters relating to reference units fixed parameters 4 5 6 8 and 9 Adjust the servo gains etc if servo tuning was not performed in step 3 Refer to 4 2 1 2 Starting MPE720 Ver 6 OL To Transfer the Sample Program to the MP2300 on page 4 14 4 2 2
55. SW00054 A Error Task 0001H DWG A 0003H DWG H OPE DW GE Ladder Program 0000H System 0002H DWO 0008H Function Type ane 0001H DWG A yee 000FH Motion program i i 0005H DWG L Ladder program parent drawing FFFFH Ladder Program Ladder program function 8000H Error Drawing SW00056 Ladder program child drawing OO00H HOD Child drawing number Number Ladder program grandchild drawing OOyyH Hyy Grandchild drawing number Motion program FOOOH HOOD Program number Type of drawing that calls the ladder program function in which an error occurred Ladder Program 0001H DWG A 0008H Ladder program function Function Calling SW00057 0002H DWGI OOOFH Motion program Drawing Type 0003H DWG H 0010H Reserved by system 0005H DWG L 0011H Reserved by system Number of drawing that calls the ladder program function in which an error occurred Ladder Program s F Function Calling SW00058 Parent drawing FFFFH Child drawing OOOOH HOD Child drawing number Drawing Number Function 0100H Grandchild drawing OOyyH Hyy Grandchild drawing number Ladder Program STEP number of the drawing that calls the ladder program function in which an error Function Calling SW00059 occurred Drawing Number 0 when there is an error in the drawing Maintenance and Inspection 6 15 6 Maintenance and Inspection SSS a a 6 4 5 System Register Configuration and Error Status Name Register No Description SW00060 and SWwo00061 SW00062 to SW000
56. Switch settings e g DIP switches Parameter settings and program contents 4 Step 2 Monitor the system to see if the problem changes for the following operations Switching the Controller to STOP status Resetting alarms Turning the power supply OFF and ON 4 Step 3 Determine the location of the cause from the results of steps 1 and 2 Controller or external Sequence control or motion control Software or hardware Maintenance and Inspection 6 5 6 Maintenance and Inspection 6 3 2 MP2300 Error Check Flowchart 6 3 2 MP2300 Error Check Flowchart Find the correction to the problem using the following flowchart if the cause of the problem is thought to be the MP2300 or SERVOPACK START Is an ERR ALM or BAT LED lit on the Basic Module front panel See 6 3 3 LED Indicators Is a motion program being used yes Check the MSEE instructions in the ladder program to see the contents of the 1st word status flag of work registers of all motion programs that are used Is there any motion program whose NO status flag bit 8 is ON a yes Check the contents of the 2nd word control signal of the MSEE work register of the motion program that is applied to a A NO Is bit D of the control signal ON YES v Check all the main program numbers in execut
57. User Structure The project file sample file saved in your computer will be overwritten with the data transferred from the MP2300 When the overwriting is complete a message box will appear to inform you 3 Click the OK Button Data transfer from the MP2300 to the computer will end MPE720 Ver 6 x J Read from Controller ended normally Cx 4 22 4 3 Starting Sample Program MPE720 Ver 5 00 4 3 Starting Sample Program MPE720 Ver 5 00 The following flowchart describes the method used for reading the sample program from the installation disk of MPE720 Ver 5 00 and for setting and saving parameters after starting the MP2300 using MPE720 Ver 500 Starting the MPE720 4 3 1 1 Starting the MPE720 Ver 5 OIC on page 4 24 V Create a group folder Create a Group Folder to save Order Folders 4 3 1 2 Creating Group Folders Option on page 4 25 V Create an order folder Create an Order Folder to save Controller Folders 4 3 1 3 Creating Order Folders Required on page 4 26 V Create a controller folder Create a Controller Folder to save programs 4 3 1 4 Creating Controller Folders Required on page 4 27 Log On Online Connect to MP2300 and log on to MPE720 4 3 2 1 Logging On Online on page 4 28 V Load Sample Programs Load sample programs from MPE720 system CD ROM 4 3 2
58. communication PORT RS 232C communication connector modules cable JEPMC W5311 00 Used between RS 232C port and DOS V 1 5 Cables and Accessories cont d Module Gonnector Application Model Specifications Name 218IF 01 10Base T Ethernet communication 10Base T Cross or Straight cable Cate cable gory 3 min 218IF 02 Ethernet Ethernet communication 100Base TX Cross or Straight cable cable Category 3 min Module side connector 1010214 52A2JL manufactured by Sumitomo 3M 217IF 01 RS422 485 RS422 485 communication Cable side connector cable Use a commercially avail 10114 3000VE manufactured by able cable Sumitomo 3M Shell 10314 52A0 008 manufactured by Sumitomo 3M DeviceNet icati Module side connector 260IF 01 DeviceNet n aa MSTB2 5 5 GF 5 08AM a manufactured by Phoenix Contact K K a Module side connector 261IF 01 PROFIBUS P m IBUS comimiicati n 17LE 13090 27 D33C manufactured RES by DDK Ltd JEPMC W6002 00 with MECHATROLINK connectors on both ends Used bet 215A1 01 MPLINK and MPLINK communication sed between an MPLINK cable JEPMC W6003 00 MPLINK compatible device MECHATROLINK cabl with MECHATROLINK 215AlF 01 cable connectors on both ends with ferrite core JEPMC W6022 Terminator CP 215 ar Provided by the customers CP 215 bl commameaton Refer to the communication module manual CARS Manual No SIEPC88070004
59. division error non numeric 0 0 No Operation not executed Number 0034H Real number storage exponent underflow No Stores 0 0 Operation 0035H Real number operation stack error A No Interrupt operation and output 0 0 0040H SQRT 0041H SIN 0042H COS 0043H TAN 0040H 0044H ASIN 0045H ACOS 0046H ATAN 0047H EXP 0048H LN 0049H LOG 004AH DZA 004BH DZB 1 004CH LIM 004DH PI 004EH PD 004FH PID 0059H 0050H LAG 0051H LLAG 0052H FGN 0053H IFGN 0054H LAU 0055H SLAU 0056H REM 0057H RCHK 0058H BSRCH 0059H SQRT 1000H or 2000H is added for an index error Yes Can be set to value other than system default from the user program No The system default cannot be changed from the user program d Ladder Program User Operation Error Codes 2 Error Code Error Contents User System Default Execute again when corresponding to 1000H Index error within drawing x ij 0 Integer Real Sect Sh i The i and j registers remain the same Number Operations Execute again when corresponding to 2000H Index error within function x ij 0 The i and j registers remain the same Integer system functions Operation stopped and output input O060H Index error The A register remains the same Integer to CO6DH PI CO06DH PD CO6FH PID 0070H LAG Operation 0077H 0 1 2 0071H LLAG 0072H FGN 0073H IFGN 0074H LAU 0075H SLAU 0076H FGN 0077H IFGN 6 18 4 Sys
60. e MPE720 Ver 5 00 Right click the Controller Folder and select Transfer All Files From Controller to MPE720 e MPE720 Ver 6 010 Open the Project File and select Online Transfer Read from Controller This data is used to restore any data accidently lost during battery replacement 2 Check that the RDY indicator on the MP2300 Basic Module is lit 3 Open the battery cover on the unit front surface 4 Remove the connector on the end of lead of the built in battery from the connector on the MP2300 Basic Module Then remove the built in battery from the battery holder 5 Insert securely the connector on the end of the lead of the replacement battery into the connector on the MP2300 Then insert the replacement battery into the battery holder 6 Check if the BAT indicator on the MP2300 is unlit 7 Close the battery cover This completes replacing the battery 6 3 Troubleshooting 6 3 1 This section describes the basic troubleshooting methods and provides a list of errors Basic Flow of Troubleshooting 6 3 Troubleshooting When problems occur it is important to quickly find the cause of the problems and get the system running again as soon as possible The basic flow of troubleshooting is illustrated below Step 1 Visually confirm the following items Machine movement or status if stopped Power supply I O device status Wiring status Indicator status LED indicators on each Module
61. high speed scan setting is changed 2 2 MP2300 Basic Module Functions 2 2 5 Setting SVB Module A SERVOPACK connected to MECHATROLINK can be controlled by executing the MECHATROLINK transmission definition and SVB definition with the MPE720 Engineering Manager 1 MECHATROLINK Transmission Definition a How to Open the MECHATROLINK Transmission Definition Window In the Module Configuration Window select the SVB Module in the Controller field and double click the MECHATROLINK cell in the Details field The MECHATROLINK Transmission Definition Window will open To check or set the built in SVB Module select slot number 00 in the Controller field If several SVB Modules are mounted select the SVB Module to be checked or set in the Controller field aix PT 1 UT 1 CPUR 1 a m Controller Module Type 7 UNDEFINED gt UNDEFINED Controller Number E Circuit Number 1 0 Start Register a Running JMP 2300 Controller module with network servo control 1 0 virtual axes Module Details MP2300 SLOT 00 _ Module Type ceu vho rpe SVR Controler Number bh o mMm A CircutNumbeer k k o e i Disable v Disable Output Motion Start Register Motion End Register Details J o o L Status Rumning fs Module Specifications 2 17 2 Module Specifications 2 2 5 Setting SVB Module 2 18 b MECHATROLINK Transmis
62. 0021 0045 NL 1 0022 0047 NL 1 0023 0048 NL 1 0024 0050 NL 1 0025 0052 NL 1 0026 0054 NL 1 0027 0055 NL 1 0028 0056 NL 1 0029 0058 NL 1 4 66 Detection in forward direction DB000008 Electronic cam phase SUBX a SourceA DLO0066 SourceB ML30202 Dest DLO0066 Detection in negative direction DB000009 Electronic cam phase ADDX a SourceA DLO0066 SourceB ML30202 Dest DLO0066 Electronic cam phase Electronic cam phase STORE a Source DL00066 Dest DLO0068 Slave axis cam displacement generation ON COIL B000004 Slave axis cam displacement Input DL00068 Parameter MA31000 Output DLO00070 Cam operation command MB300008 Axis 2 phase Compensation setting Source DLO0070 Dest OL80A8 Cam operation command MB300008 Axis 2 phase compensation setting STORE a Source 0000000000 Dest OL80A8 HHHH Slave Axis Command Speed Generation HHHHHHHE Incremental Value for Slave Axis per Scan SUBX a SourceA DL00070 SourceB DL00072 Dest DL00074 Slave axis cam displacement previous scan STORE a Source DL00070 Dest DL00072 Cam operation command MB300008 Cam speed calculation and setting EXPRESS 10N DL00076 DL00074 10000 SW0004 DLO0078 DLOOO76 60 1000 0L8090 DL00078 10000 10000 END 4 4 Checking Sample Program Operation b L Drawing The L parent drawing manages the low speed scan that controls the o
63. 2 Program Error for Current Control Processing bF3 System Alarm 3 Scan A Error bF4 System Alarm 4 CPUWDT Error Servo Driver Alarm warizp C10 Overrun Protection Detection Code cont d cont d F C20 Phase Detection Error C21 Hall Sensor Error 1 C22 Phase Information Mismatch C50 Magnetic Pole Detection Failure C51 Overtravel Detection at Magnetic Pole Detection C52 Magnetic Pole Detection Incomplete C53 Magnetic Pole Detection Range Over C54 Magnetic Pole Detection Error 2 C80 Encoder Clear Error Multiturn Limit Setting Error C90 Encoder Communications Error C91 Acceleration Data Error at Encoder Communications Position C92 Encoder Communications Timer Error CAO Encoder Parameter Error Cb0 Encoder Ecoback Error CCO Multiturn Limit Mismatch CF1 Fully closed Serial Conversion Unit Communications Error CF2 Fully closed Serial Conversion Unit Communications Error d00 Excessive Position Error d01 Excessive Position Error Alarm at Servo ON d02 Excessive Position Error Alarm for Speed Limit at Servo ON d10 Excessive Error between Motor Load and Position EBO Safety Function Drive Monitor Circuit Error EBI Safety Function Signal Input Timing Error EB2 Safety Function Drive Internal Signal Error hie 6 42 6 7 Troubleshooting Motion Errors Name eee Code Meaning EB3 Safety Function Drive Communications Error 1 EB4 Safety Function Drive Communications Error 2
64. 2 4 Built in SVB Modules The SVB Module is a motion module used to control SERVOPACKs stepping motor drivers inverters distributed I O devices etc via MECHATROLINK interface MECHATROLINK I or II The MECHATROLINK II enables position speed torque and phase control for highly accurate synchronized control In addition sophisticated machine operations can be performed by switching the control mode while the axis is moving MP2300 CPU Built in SVB User application Position reference Position reference MECHATROLINK SERVOPACK Position control Ladder motion program Speed reference Speed control Torque control SERVOPACK Torque reference Phase control The SVB Modules are of two types The built in SVB hereinafter referred to as Built in SVB and the slot mounting optional SVB hereinafter referred to as Optional SVB A built in SVB Module is incorporated in MP2300 Basic Module as a standard feature For built in SVB Module specifications refer to 2 2 6 Built in SVB Specifications on page 2 25 The Optional SVB is one of the optional modules for the Machine Controller The SVB 01 Module is an Optional SVB that can be mounted on MP2300 1 Features Up to 21 slave stations can be connected to a single SVB Module the SERVOPACKs can be connected up to 16 axes MP2300 Up to 2 SVB 01 Modules can be mounted in optional slots Including the built in SVB a total of 48 axes can be controlled e Synchronization between Mod
65. 2 Accessories and Optionals 1 9 1 5 3 Software Programming Tool Optional 1 9 2 Module Specifications 2 1 MP2300 Basic Module Specifications 2 2 2 1 1 Hardware Specifications 2 2 2 1 2 Environmental Conditions 2 3 2 1 3 Function Specifications e ee eee eee eee 2 4 2 2 MP2300 Basic Module Functions 2 7 2 2 1 External Appearance LED Indicators and Switch Settings 2 7 2 2 2 Module Configuration Definitions 2 9 2 2 3 CPU I O Built in I O Module 22 e ee ee eee ee 2 11 2 2 4 Built in SVB Modules 55 errr a 2 13 2 2 5 Setting SVB Module 2 2 5 err eee 2 17 2 2 6 Built in SVB Specifications 2 25 2 2 7 SVR Virtual Motion Module 2 26 3 Mounting and Connections 3 1 Mounting the MP2300 3 2 3 1 1 Basic Module Dimensional Drawings 3 2 3 1 2 Mounting the MP23
66. 21 4 3 Starting Sample Program MPE720 Ver 5 00 4 23 4 3 1 Starting MPE720 Ver 5 00 and Creating Folders 4 24 4 3 2 Reading Sample Programs and Setting and Saving Parameters 4 28 4 3 3 Other Operations 4 42 4 4 Checking Sample Program Operation 4 44 4 4 1 How to Open the Tuning Panel Window 4 44 4 4 2 Operation Check 1 Manual Operation 4 46 4 4 3 Operation Check 2 Position Control 4 53 4 4 4 Operation Check 3 Phase Control Electronic Shaft 4 58 4 4 5 Operation Check 4 Phase Control Electronic Cam 4 62 4 5 System Startup Using Self Configuration 4 68 4 5 1 Starting the System for First Time 4 68 4 5 2 System Startup when Adding Electronic Devices 4 71 4 5 3 System Startup when Replacing Electronic Devices 4 73 gt System Startup and Sample Programs 4 1 4 2 4 System Startup and Sample Programs 4 1 1 Flowchart for Model System Startup 4 1 Model System Startup Procedure This section describes the procedure for starting the Model System and using the sample programs of the MPE720 Programming Tool on the M
67. 8 9 10 11 12 13 14 115 a iswooooo 0010 070F 0000 070C 0064 0002 0002 01F4 0000 0000 07D0 0000 0001 0000 07D5 0001 sw00016 0828 0101 0059 0002 0248 0000 0000 0000 0000 0000 A840 0057 0000 0058 0000 0000 Sw00032 0000 0000 0000 0000 0000 0000 0000 0000 8083 0000 0000 0000 0000 0000 0000 0000 Sw00048 000c 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 swoo064 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 iswoooso 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 swoo096 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 X Output 2itransfer Register List 1 E watch 1 K cross Reference 1 OForce Coil List The data type is set by default to decimal Place the cursor anywhere on the list and then right click Select Hex hexadecimal from the pop up menu that will appear The data will then be displayed in hexadecimal 2 Displaying a Register List MPE720 Ver 5 00 Use the following procedure to display the MPE720 Ver 5 00 register list 1 Select File Open Tool Register List from the MPE720 Ver 5 00 main menu of Engineering Manager Window to open the Register List Window File View Help File Manager Ctrl F i a OM A R CRO DIS FREG Hot i Dern T Program r ie NES te gister List lt Exit C Register gt Cross Reference
68. Assignment 1 0 Map Status Ista type meur szelolourpur swe sts Comment _ f 07 SDs H qw mi 8002 SGDS 1 qw IW0010 004 OW0014 004 8003 102310 2330 cJ Pea a a a a aa m E a el a ee The items shown on the Status Tab are the same as those on the Link Assignment Tab except for STS E STS In online mode MECHATROLINK transmission status information is displayed in hexadecimal In offline mode nothing will be displayed The meaning of each bit is shown below FEDCBA9876543210 X J J AAA v Type code 01H Inverter 02H Servo 03H I O Reserved gt lt Transmission error High speed scan Transmission error Low speed scan Reserved Normal transmission 2 22 2 SVB Definition 2 2 MP2300 Basic Module Functions motion monitoring parameters to control motion axes such as the SERVOPACK inverter Refer to D Motion Parameter Lists on page A 19 for details on motion parameters a Opening the SVB Definition Window Open the SVB Definition Window by the following procedure The SVB Definition file defines the motion parameters motion fixed parameters motion setting parameters and and stepper Double click the slot number cell of the SVB Module in the Module Details field in the Module Configuration Window refer to 2 2 2 1 Module Configuration Window Components on page 2 9 01 x
69. Cancel Ethernet LP IP 192 168 1 2 CP 215 Detail gt gt USB Set the communication setting Communication port The MP2300 and your computer will be connected online 4 Select Online Write into Controller in the menu bar The Transfer Program Write into Controller Dialog Box will appear 5 Click the Individual Button to select an individual file transfer and click the Save to flash after transferring to the controller Check Box to clear it Then select the System Configuration Check Box Select the Scan time definition and Data trace Check Boxes from the list of files that will be displayed on the right Transfer Program Write into Controller gt Start Batch SS Source Project File MP2300 2300SMPL_E MW 0 v Save to flash after transferring to the controller O System definition Z Scan time definition V Scan time definiti Module configuration M Program o Data trace Oo Register C Comment 6 Select the Program Check Box Then select the Ladder program Main program and Group definition Check Boxes under Motion Program Click the Start Button Transfer Program Write into Controller Source Project File MP2300 23005MPL_E YMW 0 Batch Batch T Individual V Save to flash after transferring to the controller E M Ladder program m E C Motion program V Main program O Sub
70. Drawing Steps Steps Interrupt Drawing Steps Steps User Function Steps Steps Total Number of Steps Steps Total Program Memory Bytes Observe the following precautions when setting or changing the scan time e Set the set values of the scan time for both the high speed H and low speed L scans to at least the maximum time required to execute the scans We recommend setting the set values of the scan time using the formula set value maximum time to execute scan 2 0 2 x set values of the scan time i e setting the set values of the scan time to at least 1 25 times the maximum times required to execute the scans Ifthe scan time is set too close to the maximum execution time for the scan the refresh time for the screen on the MPE720 will be very slow and communication timeouts may occur If the maximum execution time exceeds the scan time set value a watchdog timer timeout error will occur and the MP2300 system will stop e Set the set values of the high speed H and low speed L scan time to an integral multiple of the MECHATROLINK communication cycle 1 or 2 ms set in the MP2300 Always check the set values of the scan time after changing the MECHATROLINK communication cycle e Do not change the scan time set value while the Servo is ON Never change the setting while the axis is moving while the motor is running Otherwise an error may occur during motor operation e g high speed rotation e When the scan
71. Drawings Ladder drawings include parent drawings child drawings grandchild drawings and operation error processing draw ings In addition to drawings there are functions that can be freely accessed from each drawing Parent Drawings Parent drawings are automatically executed by the system program when the execution conditions outlined in the table below are met Child Drawings Child drawings are accessed using a SEE command from a parent drawing Grandchild Drawings Grandchild drawings are accessed using a SEE command from a child drawing Operation Error Processing Drawings Operation error processing drawings are automatically executed by the system program when an operation error occurs Functions Functions are accessed and executed from parent child and grandchild drawings using the FSTART command 2 Drawing Types and Order of Priority Drawings are classified by their first letter A I H or L based on the processing purpose The following table outlines the order of priority and execution conditions for these drawings Type Ot Parent Function Priority Execution Conditions Max No of Drawing Drawings DWGA Startup processin 1 POWT ON 64 Drawing A p processing Executed once only when power turned ON DWG I External interrupt executed by Option Module 2 64 Drawing 1 Interrupt pr cessmg DI interrupt or counter match interrupt DWG H High speed scan 3 Scheduled cycle startup 200 Drawing
72. Fixed Parameters and Adjusting the Settings for Servo Control on page 4 17 or 4 3 2 4 Set and Save Motion Fixed Parameters on page 4 36 to display the SERVOPACK Tab Page W SVB Definition MP2500 YESAMPLE 2500SMPL MP2100 2500 Online Local 5 x PT 1 CPUF 1 RACK OT CIR OT B000 B7FF aoe Axis 1 SERVOPACK SeDS x x1 xx Version Servo Type Rotary M SERVOPACK Mni Normal operation mode 0 Selection of operation modes b Click File Save to write the SERVOPACK settings to the SERVOPACK Edit E View Windowlw Help H File ManagerE CthF h GA B m SRO PLS pee Open Q Close C 300 YESAMPLE 2300SMPL Save S Delete D Ctrl D Print P Ctrl P Exits Servo Pack Parameters Servo Pack Monitor The MP2300 SERVOPACK settings data is written to all SERVOPACKs when Save is executed and the settings data is also written in the MP2300 Current Value data column gt System Startup and Sample Programs 4 73 4 System Startup and Sample Programs 4 5 3 System Startup when Replacing Electronic Devices 7 Turn ON the MP2300 and SERVOPACKs Turn ON OFF to ON the power to the MP2300 and SERVOPACKs and then enable the parameters written to the SERVOPACKs This completes the system startup procedure when electric devices have been replaced 4 74 5 Outline of Motion Control Systems This chapter describes the basic operation of MP2300 Motion Control Systems
73. It is abnormal if the indicator is not lit ERR LED Check whether the indicator is not lit The indicator must be not lit It is abnormal if the indicator is lit Indicators ALM Check whether the indicator is not lit The indicator must be not lit It is abnormal if the indicator is lit Refer to 6 3 3 LED Indicators on page 6 7 TX Check whether the indicator lights during communication The indicator must be lit It is abnormal if the indicator is not lit BAT Check whether the indicator is not lit The indicator must be not lit The battery voltage is too low if the indicator is lit Replace the battery 6 1 2 Regular Inspections 6 1 Inspection Items This section explains inspection items that must be performed once or twice every six months to one year Inspections must also be performed when the equipment is relocated or modified or when the wiring is changed PROHIBITED Do not replace the built in fuse If the customer replaces the built in fuse the MP2300 may malfunction or break down Contact your Yaskawa representative voltage check 24 VDC terminals Inspection Item Inspection Details Criteria Action Ambient temperature Check the temperature and 0 C to 55 C If the MP2300 is used Operating Ambient humidity humidity with a thermometer 30 to 95 inside a panel treat the environmen
74. MOV X _ Y _ Ladder program Motion program Fig 5 1 Calling Motion Programs Using Direct Specification MPM003 ABS 3 Motion program call command MOV X _ Y _ Setting device l MSEE A MVS X _ Y _ F Soei Program No MW00200 IOW MB0001 ored in register Data DA0000O MOVE NI MW00200 MW00200 3 Register No Ladder program MPM No MW00200 3 Fig 5 2 Calling Motion Programs Using Indirect Specification Motion program For the meaning of register numbers and how to interpret them refer to 5 3 Registers on page 5 21 5 10 2 Groups 5 2 User Programs A group of axes with related operations can be treated as one group by motion programs and programs can be executed for each group This allows one MP2300 to independently control multiple machines using group operation Group operation can be single group operation or multiple group operation Definitions for axes to be grouped together are made under Group Definitions For details on group definitions refer to Machine Controller MP900 MP2000 Series Users Manual MPE720 Software for Programming Device SIEPC88070005 a Single Group Operation MP2300 lal lal Ta alal EAr AJ A Aj JAJ O JO oO oj loj Yn Yn Yn Yn Yn b Multiple Group Operation MP2300 i To a i n 0 fa r
75. MP2300 in any way There is a risk of injury or device damage e Do not approach the machine when there is a momentary interruption to the power supply When power is restored the MP2300 and the device connected to it may start operation suddenly Provide safety measures in advance to ensure human safety in the event that operation restarts suddenly There is a risk of injury e Do not allow installation disassembly or repairs to be performed by anyone other than specified personnel There is a risk of electrical shock or injury vii viii E Storage and Transportation CAUTION Do not store or install the MP2300 in the following locations There is arisk of fire electrical shock or device damage e Direct sunlight e Ambient temperature exceeds the storage or operating conditions e Ambient humidity exceeds the storage or operating conditions e Rapid changes in temperature or locations subject to condensation e Corrosive or flammable gas e Excessive dust dirt salt or metallic powder e Water oil or chemicals e Vibration or shock Do not overload the MP2300 during transportation There is a risk of injury or an accident e Never subject the product to an atmosphere containing halogen fluorine chlorine bromine or iodine during transportation or installation There is a risk of device damage or an accident If disinfectants or insecticides must be used to treat packing materials such as wooden fra
76. ON The Servomotor will turn ON and the Servo will be clamped Current value ON gt OFF Servo turned OFF Axis 1 Forward Jog Current value OFF gt ON Axis rotates forward Current value ON gt OFF Axis 1 stops Axis 1 Reverse Jog Current value OFF gt ON Axis rotates in reverse direction Current value ON gt OFF Axis stops Axis 2 Forward Jog Current value OFF gt ON Axis 2 rotates forward Current value ON gt OFF Axis 2 stops Axis 2 Reverse Jog Current value OFF gt ON Axis 2 rotates in reverse direction Current value ON gt OFF Axis 2 stops Axis 1 Forward Step Current value OFF gt ON Axis starts rotating forward for the moving amount set under Axis 1 STEP moving amount Current value ON gt OFF STEP operation stops Always stop after executing stepping Axis 1 Reverse Step Current value OFF gt ON Axis starts rotating in reverse for the moving amount set under Axis 1 STEP moving amount Current value ON gt OFF STEP operation stops Always stop after executing stepping Axis 2 Forward Step Current value OFF gt ON Axis 2 starts rotating forward for the moving amount set under Axis 2 STEP moving amount Current value ON gt OFF STEP operation stops Always stop after executing stepping Axis 2 Reverse Step Current value OFF gt ON Axis 2 starts rotating in
77. ON the 24 VDC power supply to the MP2300 4 Check the LED indicators Check that the LED indicators on the MP2300 Basic Module change as follows RDY O O RUN RDY O RUN RDY RUN ALM ERR gt ALMO OERR ALM O OERR TX O BAT TX O BAT TX OBAT Lit O Unlit x Blinking STOP 7 he 5 Reset the DIP siwtch gt CNFG Set the switches INIT and CNFG of the DIP switch SW1 on the MP2300 MON Basic Module to OFF TEST swi OFF ON 5 30 5 4 Self configuration 2 Self configuration after Adding Devices Such as SERVOPACKs For self configurations after having added network devices such as SERVOPACKs leave the switch INIT to OFF in step 2 of the above procedure then perform the rest of the steps For network devices with existing definitions files correctly connect and turn ON the power to the devices when executing self configuration Y If register allocations have been changed manually since the last time self configuration was executed the register allocations will return to the default settings when self configuration is executed again If the SVR is set to disabled UNDEFINED the setting will return to enabled To keep the changed register allocations do not use self configuration but manually make the register allocations for added devices and refresh the definitions file m Power Restart and RAM data Clear If the INIT switch on the DIP sw
78. SF se ARR Be BRR RRS oo RR 2 PT 2 1P 192 168 1 Liab RACK 01 Slot 00 cIR 01 0010 040F E Transmission Parameter me O Map Status e E A E _____cammere__ Sees m High SGDS r q Joa scps wre qw ae m High gt fos 4 7 fo p z z Tos z a z 06 hg E ki v After confirming the devices click X to close the MECHATROLINK Window 2 Self Configuration of Each Module If devices are added self configuration can be executed separately for the Module port that has been changed 1 Start the Engineering Manager of MPE720 E MPE720 Ver 6 00 Start MPE720 and then open the target project file Select Setup Module configuration from the Launcher Or double click Module configuration in the System sub programs BE MPE720 Ver 6 MP2300 MP2300 Start la x iP Eile Edit View Online Compile Debug Window Help 8X ALARE 456 Mom ALAR Og alinor e ud uD OOF 1040 2 MP2300 MP2300 E f Ladder program Ei High speed Communications Setting LOGIC CONTROL FUNCTION MOVE DDC History TABLE MP2300 YMW SYSTEM MP2200 YMW MOTION C PROGRAM E Module configuration a rehire Connection 1 Serial COM1 Unit1 S Start Bi Interrupt Disconnection E Function MP2300C YMW MP2300B YMW The Engineering Manager Window will open and the Module Configuration Window will appear E MPE720 Ver 5 00 Double click the Cont
79. Servo Driver Status and Servo Driver Error Codes 1 Servo Driver Status IWOO2C List The status of a SERVOPACK for MECHATROLINK communication can be monitored in Servo Driver Status moni toring parameter Woo2C A list is provided in the following table Bit No Status Description Bit 0 Alarm 0 No alarm occurred ALARM 1 Alarm occurred Bit 4 Warning 0 No warning occurred WARNG 1 Warning occurred Bit 2 Command Ready 0 Command reception not possible busy CMDRDY 1 Command reception possible ready Bit 3 Servo ON 0 Servo OFF baseblock SVON 1 Servo ON baseblock cleared Bit 4 Main Power Supply ON 0 Main power OFF PON 1 Main power ON Bit 5 Machine Lock 0 Machine lock released MLOCk 1 Machine locked Bit 6 Zero Position 0 The APOS absolute position is not in the zero point ZPOINT 1 The APOS absolute position is in the zero point range 0 Pulse distribution is not completed or the APOS is not in the positioning completed i Locating Complete width Bit 7 nonien est te maldi E PSET 1 Pulse distribution is completed and the APOS is within the positioning completed width Commanded Profile a re R Bit8 Complete 0 Pulse distribution is being performed for positioning command DEN 1 Pulse distribution for positioning commands has been completed Bit 9 Torque Restriction 0 A torque limit is not being applied T_LIM 1 A torque limit is being appl
80. T Help H 2 0 2300SMPL H C Register Folder H Data Base J Definition Folder 4 Programs E Function Programs AV High Scan Programs 7 H H01 H02 H02 01 H02 02 H04 HO6 H06 01 H06 02 J Motion Programs Initialization Programs E Interrupt Programs J Low Scan Programs E Table Data Folder fl 2 i 920 il BITMAP a MP930 3 7 a Ca z 7 z z z a rA Open Tuning Panel Engineering Manager will start and the following Tuning Panel Window will be displayed C Mo File H High speed Main Pro common settings for main ninnram for ma Create New D WG N Open as new window W Open as new sheet A Property R Open Q List Display Verify E Verify All Programs G Applicateion Converter gt Delete D WG D Enable Disable E Copy DWG C GP EontrolEl 005 021 003 044 044 022 003 034 DWG Properties R Main Program N SFC Flow Chart S Constant Table Reg Constant Table M Reg M 1 0 Convert T able C Interlock Table l Part Composition T able 4 Tuning Panel P iComment main program for manual operation Steps 003 Privilege ROW1 Date 2003 01 15 11 30 54 ISFC C MC 10 ILK ASM TUN FBD gt System Startup and Sample Programs 4 45 4 System Startup and Sample Programs 4 4 2 Operation Check 1 Manual Operation 4 4 2 Operation Check 1 Manual Operation 1 Program Outline This section describes how to execute JOG and STEP ope
81. The ALM and ERR LED indicators Not lit Notlit Blinking Blinking Not lit EaR OT will blink red if there is a self 3 ROM diagnosis error diagnosis fallin 4 CPU function diagnosis error 8 s 5 FPU function diagnosis error The BAT LED indicator will be lit Lit Battery alarm g when the battery voltage drops G Onera The ALM LED indicator will be lit lt Lit Notlit Lit Notlit Notlit Pet on error 1 O error red when an operation or I O error is detected a Outline of Motion Control Systems 5 5 5 6 5 Outline of Motion Control Systems 5 2 1 Ladder Drawings DWG 5 2 User Programs 5 2 1 User programs for executing machine control using the MP2300 include ladder programs and motion programs This section describes the basic operation and other information about user programs For programming details refer to the following manuals Machine Controller MP900 MP2000 Series User s Manual Ladder Programming SIEZ C887 1 2 Machine Controller MP900 MP2000 Series User s Manual Motion Programming SIEZ C887 1 3 Machine Controller MP900 MP2000 Series New Ladder Editor Programming Manual SIEZ C887 13 1 Machine Controller MP900 MP2000 Series New Ladder Editor User s Manual SIEZ C887 13 2 Ladder Drawings DWG Ladder programs are managed in units of ladder drawings which are identified by drawing numbers These drawings form the basis of user programs Types of
82. The MPE720 writes all the parameters in Input Data currently displayed on SERVOPACK Tab Page of the relevant axis to the followings HDD hard disk of the personal computer e SDRAM of MP2300 e RAM and EEPROM of the SERVOPACK After having completed writing the parameters the MPE720 updates the values in Current Value on the SERVO PACK Tab Page with the SERVOPACK parameter values stored in the RAM MECHATROLINK Send Send MPE720 online I System Cont 4 SRAM Software SdWwate Display Input Current Data Value 2 Y o Flash EEP y wae Memory SEAS RAM ROM i 3 SERVOPACK To Input 7 i Parameters Parameters l Data l All Axes ME2A00 SERVOPACK SERVOPACK hc HDD in personal computer 3 Appendices P N A 8 B Current Values and Set Values Input Data in the SVB Definition Window The following figure shows a display example after having executed save operation on the SERVOPACK Tab Page in the SVB Definition Window After having saved the data the values in Input Data of all the parameters become the same as the values in Current Value on the SERVOPACK Tab Page Before saving TI File Edit View Window Help gEngineering Manager S B Definition MP2300 YESAMPLE 2300SMPL MP2300 Onli Ol x 18 x jDaS v7 sae GN Se om fee Sr fis Eh Em Eg n 2 By o
83. The Open DWG setting Dialog Box will appear 2 Enter the number of the drawing program to be displayed in the Tuning Panel Window in the Name input field and then click the OK Button Name H02 Type DWG C FUNC f HEAD Cancel When using MPE720 Ver 6 00 the message box shown in step 3 will appear and ask for confirmation to open the Tuning Panal Window To step 3 When using MPE720 Ver 5 00 the Tuning Panel Window will open 3 Click the Yes Button to open the Tuning Panel Window Engineering Builder xj TN H02 is a program created by a New Ladder Editor e When Tuning Panel is edited and saved when this program is edited by a New LadderEditor the ladder program under the edit cannot be preserved Please compile the ladder program before opening Tuning Panel and saved data Do you want to continue open Tuning Panel 4 44 4 4 Checking Sample Program Operation 2 From the File Manager Window For MPE720 Ver 5 00 Only When using MPE720 Ver 5 00 the Tuning Panel Window can also be opened from the File Manager Window by using the following procedure 1 Logon online open the Programs folder and then open the High Scan Programs folder in the PLC folder where the sample programs are saved in the File Manager Window 2 Right click the H02 Drawing in the High Scan Programs folder and select Open Tuning Panel from the pop up menu that is displayed a nis File Manager File E EditfE View Toolf
84. The cause of the error depends on the type of alarm The contents of an alarm is monitored in IWOO2D Refer to the list of SERVOPACK alarms in 6 7 3 Servo Driver Status and Servo Driver Error Codes on page 6 36 for details Correction Confirm the SERVOPACK alarm and remove the cause e Reset the alarm The above status bit will turn ON for any of the SERVOPACK alarm codes for alarms classified as SERVOPACK alarms 3 Bit 1 Positive Direction Overtravel and Bit 2 Negative Direction Overtravel Detection Timing Overtravel is continuously monitored by the position management section during execution of a motion command Overtravel is detected when the overtravel signal in the direction of movement turns OFF Processing when Alarm Occurs The SERVOPACK performs stop processing The stop method and processing after stopping depends on the SERVOPACK parameter settings The Command Error Completed Status in the Motion Command Status IWOD09 bit 3 will turn ON e Machine Controller Processing The command is canceled and the axis decelerates to a stop Follow up processing each scan the current position of the machine is adjusted to the reference position is executed Maintenance and Inspection 6 31 6 Maintenance and Inspection EE ___ _ _ eee 6 7 2 Motion Error Details and Corrections Error and Cause One of the following is possible A move command that exceeded
85. Yes Bit 8 Excessive Speed Yes Bit 9 Excessive Deviation Yes Bit A Filter Type Change Error Yes Bit B Filter Time Constant Change Error Yes ILooo04 Alarm Bit C Reserved for system use Bit D Zero Point Unsetting Yes Invalid for linear type Bit E Reserved for system use Yes Bit F Reserved for system use Yes Bit 10 Servo Driver Synchronization Communications Yes Error Bit 11 Servo Driver Communication Error Yes Bit 12 Servo Driver Command Timeout Error Yes Bit 13 Excessive ABS Encoder Rotations Yes Invalid for linear type Bits 14 to 1D Reserved for system use Bit 1E Motor Type Set Error Yes Bit 1F Connected Encoder Type Error Yes ILO O06 Reserved for system use a E IWOO08 ates Seite Same as OWODO08 Motion Command Yes Yes Bit 0 Command Execution Flag Yes Yes Bit 1 Command Hold Completed HOLDL Yes Yes Bit 2 Reserved for system use ante Motion Command Bit 3 r a Status FAIL Command Yes Yes Status Bits 4 to 6 Reserved for system use Bit 7 Reset Absolute Encoder Completed Yes Bit 8 Command Execution Completed COMPLETE Yes Yes Bits 9 to F Reserved for system use IWOD0A eis ee Same as OWODD0A Motion Subcommand Yes Yes A 26 D 3 Monitoring Parameter List cont d Register No Name Contents SVB SVR Bit 0 Command Executing Flag Yes Yes Bits 1 to 2 Reserved
86. and reset Then clear the Write Prohibited setting 3 Keep pressing the Key until PGCL1 is changed to PGCL5 BB Multiturn Clear PGCLS a Appendices A D C Initializing the Absolute Encoder 4 Press the Key BB in the status display changes to Done Done Multiturn Clear PGCL5 5 Press the Key The display returns to the Utility Function Mode main menu This completes setting up the absolute encoder Turn the power supply OFF and then back ON to reset the SERVOPACK A 14 C 2 L Il SERVOPACK C 2 X I SERVOPACK Refer to the following manuals for information on X IT SERVOPACKs S II Series SGMOH SGDH User s Manual SIEPS800000005 S II Series SGMLYSGDB SGMGH SGDM User s Manual SIEPS80000015 1 Initialization Using a Hand held Digital Operator 1 Press the DSPL SET Key to select the Auxiliary Function Mode 2 Select parameter Fn008 by pressing the LEFT lt and RIGHT gt Keys to select the digit to be changed and then using the UP v and DOWN Keys to change the value of the digit 3 Press the DATA ENTER Key The following display will appear 4 The rightmost digit will be incremented each time the UP v Key is pressed Press the UP v Key sev eral times until PGCL5 is displayed If a mistake is made in the key operation nO OP will blink on the display for 1 second and then the display will return to the Auxiliary Function Mode
87. any drawing Functions can also be called from other functions When an operation error occurs the operation error processing drawing for that drawing will be started a Outline of Motion Control Systems 5 9 5 Outline of Motion Control Systems 5 2 3 Motion Programs 5 2 3 Motion Programs 1 Outline Motion programs are programs written in a text based language called motion language Up to 256 motion programs can be created separate from ladder drawings The following table shows the two types of motion programs Specification Type Method Features No of Programs MPMO00 Main Program OOO 1 to 256 Accessed from DWG H Up to 256 programs including main and MPSOoOO sub programs can be created O00 1 to 256 Can be called from main programs Subprogram Specify a different MPM and MPS program number 000 between 1 and 256 for each program The MP2300 can execute up to 16 motion programs simultaneously An alarm no system work error will occur if 17 or more programs are executed simultaneously No system work error Bit E of the leading word in the MSEE work registers There are two methods for specifying motion programs direct specification of the program number or indirect specifi cation by specifying the register number where the program number is stored MPMO01 ABS Motion program call command MOV X _ Y _ Program No 00001 IOW MB0001 Data DA0O0O0O0O
88. cannot be operated when the indicators are blinking For information on errors and countermeasures refer to 6 3 3 LED Indicators LED Indicator Name Type RDY FUN ALM ERR BAT Indicator Details Remarks Green Green Red Red Not lit Not lit Lit Lit Not lit Hardware reset status Not lit Notlit Notlit Notlit Notlit Initializing _ Not lit Lit Not lit Notlit Notlit Executing DWGA z U n d User program stops when the DIP 9 Lit Not lit Notlit Notlit Notlit S0 program stoppe switch or MPE720 is used to Offline stop mode i execute the STOP operation Lit Lit Not lit Notlit Not lit User p FORLANI execummg normally Online operation mode The ERR LED indicator is lit red Not lit Not lit Not lit Lit Not lit ot i ot hi ot It 1 ot lit Major damage has occurred when the CPU is down Software error No of blinks 3 Address error read exception 4 Address error write exception 5 FPU exception 6 Illegal general command error 7 Illegal slot command error The ERR LED indicator will blink Not lit Notlit Notlit Blinking Not lit 8 General FPU inhibited error red when an exception error has pi 9 Slot FPU inhibited error occurred 10 TLB duplicated bit error w 11 LTB mistake read 12 LTB mistake write 13 LTB protection violation read 14 LTB protection violation write 15 Initial page write error Hardware errors eres
89. commands If the SVR is used in applications where motion modules are required only for generating commands such as master axis for phase control or multi axis synchronous control then Motion Modules on real axes are no longer required The following table lists application examples of the SVR Slot Pee ai Number Application Example Application Method i Electronic cam or shaft operation can be achieved by using the SVR for the virtual 1 Master axis for phase control i master axis Poor Multi axis synchronous control can be achieved by controlling the SVR from a Multi axis synchronous vfs 2 motion program and then using the ladder program to copy position commands of the control SVR to other axes If the motion program is used to perform circular interpolation with the SVR the axis 3 Sine curve commands will operate with a sine curve command The software limit function and machine lock function cannot be used with the SVR The position error will always be 0 3 System Configuration Example The following figure shows an example system configuration using SVR MP2300 Virtual motion module SVR High speed scan High speed scan Virtual Servo axes Motion Parameter
90. detection SourceA IW8088 SourceB 00000 HHHHHHHHH Servo ON Command HHHHHHHHHE Axis 1 Servo ON Servo ON PB MB300000 Axis 2 Servo ON Servo ON PB MB300000 Axis 1 SVC_RDY 1B80000 Axis 1 SYS_BUSY 1B80002 Axis 2 SVC_RDY 1B80800 Axis 2 SYS_BUSY 1B80802 HHHHHHHHH Alarm Reset HHHHHHHHH Axis 1 alarm reset Alarm reset PB MB300001 Axis 2 alarm reset Alarm reset PB MB300001 High speed main program Axis 1 motion command 0 MB300010 o Axis 2 motion command 0 MB300018 Axis 1 SV_ON OB80000 Axis 2 SV_ON OB80800 Axis 1 ALM_RST OB8000F Axis 2 ALM_RST OB8080F 4 4 Checking Sample Program Operation System Startup and Sample Programs 4 49 4 System Startup and Sample Programs 4 4 2 Operation Check 1 Manual Operation HHHHHHHHH Speed Unit and Acceleration Deceleration Unit Selection HHHHHHHE Bits 0 to 3 Speed Unit Selection 0 Reference unit s 1 Reference unit min 2 Percentage Bits 4 to 7 Acceleration Deceleration Unit Selection 0 Reference unit s 1 ms Axis 1 Function Settings 1 unit Axis 1 Function Settings 1 work oot SourceA OW8003 SourceB HOF00 Dest DW00010 Axis 1 Function Settings 1 0007 0015 S NL 1 ourceA DW00010 SourceB H0011 Dest OW8003 Axis 2 Function Settings 1 Unit Axis 2 Function Settings 1 work 0016 S NL 1 ourceA OW8083 SourceB HOF00 Dest DW00012 Axis 2 Function Settings 1 0009
91. e Adding an electronic device e g SERVOPACK or Distributed I O Module e Replacing electronic devices 4 5 1 Starting the System for First Time Use the following procedure to startup a new system Wire and Connect Electronic Devices Correctly wire and connect all electronic devices to be used Make Switch Settings for MECHATROLINK Slaves Set the MECHATROLINK communication specifications using the DIP switch and the station address on the rotary switch on each MECHATROLINK slaves Example SERVOPACK Settings SGDS OOO100 sw1 Name Setting Contents Default OFF 4 Mbps Bit 1 Baud rate 3 ON ON 10 Mbps Bit 2 No of transmission OFF 17 ON bytes ON 32 Bit 3 Station address OFF Station address ON 50H SW1 Bit4 Reserved Reserved by OFF E OFF the system Refer to each slaves manual for information on the setting details Start Up MECHATROLINK Slaves Turn ON the power to the MECHATROLINK slaves and check that the electronic devices start up normally If using a new Absolute Encoder the Absolute Encoder will need to be initialized Refer to C Initializing the Absolute Encoder on page A 13 for details The servo adjustment can be performed either in this step or after the self configuration Set the Switches on MP2300 Optional Module Set the switches of SW1 on MP2300 as shown below STOP SUP gt INIT P CNFG MON TEST sw
92. es a Logical PT Kind DUAL Physical Device Timedut IRQ 1 Serial COM1 10000 Fone CP 218 1 10000 4 10 4 1 Model System Startup Procedure E Saving the Communication Port Settings and Restarting Communication Process Window 18 Click File Save A save confirmation window will be displayed Click the Yes Button to save the communication port settings File View Tool Control C The Information will be Saved Are You Ready Ce e These settings will be used as the communication port information whenever the communication process is started 19 Exit the Communication Process Window and restart to validate the settings Select File Exit to close the Communication Process Window The confirmation message will be displayed Click the Yes Button to close the Communication Process Window Communication Manager xi File View Tool Control Modem F OK to Close J 20 Double click the Communication Manager Icon in the YE_Application Folder to reopen the Communication Process Window ioixi File Edit View Favorites Tools Help taBack gt Qsearch Gyrolders 3 0 GE XxX A Ed Address jo YE_Applications X Eao enue MPE720 Select an item to view its description See also Double click My Documents My Network Places gt 2 object s 1 92 KB KE My Computer 7 al System Startup and Sample Programs 4 11 4 12 4 System S
93. f The information is automatically written to the SVB Definition Self configuration can be executed by switch of Basic Modules or by MPE720 Refer to 5 4 2 Execution Procedure for Self configuration Using the DIP Switch and 5 4 3 Execution Procedure for Self configuration Using MPE720 for the procedure to execute the self configuration 5 28 5 4 1 Self configuration Processing Procedure Self configuration collects MECHATROLINK transmission definition data and slave data using the following procedure 5 4 Self configuration In the MP2300 the communication method is determined when the slave is detected after which communication method switching and slave detection are not performed When not even a single slave station is detected MECHATROLINK I communication continues Slaves detection is performed for each communication in the following order SERVOPACK I O inverter No connection is detected for stations with disconnected cables for which a communication error has occurred from which no response is received or with the same station number as another station Refer to 4 5 System Startup Using Self Configuration and 4 1 5 MP2300 Self configuration for information on station data settings fixed parameters settings setting parameter settings and saving SERVOPACK parameters Start self configuration Search for connected devices using MECHATROLINK II 32 byte Mode N
94. for system use Bit 3 Command Error Completed Status Command Error Yes Yes IWOOO0B Subcommand Status Occurrence Bits 4 to 7 Reserved for system use Bit 8 Command Execution Completed Yes Yes Bits 9 to F Reserved for system use Bit 0 Discharging Completed DEN Yes Yes Bit 1 Positioning Completed POSCOMP Yes Yes Bit 2 Latch Complete LCOMP Yes Bit 3 NEAR Position NEAR Yes Yes Bit 4 Zero Point Position ZERO Yes Yes Bit 5 Zero Point Return Setting Completed ZRNC Yes Yes Position Management Bit 6 During Machine Lock MLKL Yes IwWoD00C 7 g Status Bit 7 Reserved for system use Bit 8 ABS Rotary Pos LOAD Complete ABS System Infinite Length Position Control Information Load y Completed ABSLDE Invalid for linear type Bit 9 it9 Beh Turm Preset Complete TPRSE Yes Yes Invalid for linear type Bits A to F Reserved for system use IwOOo0D Reserved for system use Target Position in ILOOOE Machine Coordinate 1 1 reference unit Yes Yes System TPOS Calculated Position in ILOO10 Machine Coordinate 1 1 reference unit Yes Yes System CPOS Machine Coordinate LO012 System Reference 1 1 reference unit Yes Yes Position MPOS ILOO14 CPOS for 32 bit 1 1 reference unit Yes Yes Machine Coordinate ILOO16 System Feedback 1 1 reference unit Yes Yes Position APOS Machine Coordinate ILOO18 System Latch 1 1 reference unit Yes Position LPOS ILOO1A Position Error PERR 1 1
95. i i 1 1 SVB t T internal i work H i i i Li Li I if i vO Motion SVB 01 input processing H scan l R p processing i Copies setting parameters and Copies setting parameters and i writes to monitoring parameters i writes to monitoring parameters lt gt H scan High speed scan cycle The Wait for Monitor Data Update Mode when Wait for Monitor Data Update is enabled solves the problem of this one scan delay so the motion monitoring parameters can be monitored with the same timing as a built in SVB Module The time required for CPU high speed scan processing however will be longer because the CPU s application execution start time is suspended until the SVB 01 Module motion processing is completed 2 20 2 2 MP2300 Basic Module Functions 2 Link Assignment Tab Page The data of the slave devices MECHATROLINK connected devices such as SERVOPACK inverter and distributed I O are displayed on the Link Assignment Tab 2101 PT 1 UT 1 CPUR 1 RACK O1 Slot 01 a Roi 0000 03FF Ea Transmission Parameters Link Assignment 0 Map Status prd e ol eur sze p ourpur seel scan Semmen The items shown on the Link Assignment Tab are as follows You can change the settings or delete the data station by hWooo0 sal 5 45 o z i02310 High _ SGDS qrr station on this tab Always save the settings to the flash memory after changing them Item Description
96. interpolation feeding speed was specified No interpolation feeding 1P i 8 SP s P Specify the interpolation feeding speed in 12h once specified this can be omitted as in the speed specified the interpolation command motion program Range exceeded after 8 Indirect acceleration parameter exceeded the eae 13h converting acceleration Change the indirect register value valid range parameter Circular arc length exceeded the valid range in Review the circular arc length in the 14h Circular are length the circular arc or helical interpolation circular arc or helical interpolation exceeded LONG_MAX P 1p lt command command Vertical axis not Vertical axis was not specified in the circular 15h specified for circular arc ae Use PLN command to specify the axis arc or helical interpolation command plane Horizontal axis not 4 Horizontal axis was not specified in the 16h specified for circular arc eee i Use PLN command to specify the axis circular arc or helical interpolation command plane T fi in the circul 7 Ta zg P E sical Modify the axis in the circular arc or helical 17h Specified axis over limit arc two axes or helical three axes f interpolation command interpolation command _ Turn number exceeded the valid range in the Modify the turn number in the circular arc 18h Turn number over limit re i Ss circular arc or helical interpolat
97. menu of MPE720 Engineering Manager Window File View Help Tool Bar gt om v Status Bar Quick Referrence Motion Task Manager The Quick Reference will be displayed at the bottom of the Engineering Manager Window Refer to 4 3 2 4 Set and Save Motion Fixed Parameters on page 4 36 for details on how to display the Engineering Manager Window 2 Click the Register List Tab to switch to the register list 3 Input the register number of the first system register to be accessed for Register input the register number of the last system register to be accessed for D and click anywhere in the list The contents of the specified range of register numbers will be displayed TYPE HEX hd ControllerMP2300 3654F Mw00031 Mw00032 Mw00033 Mw00035 Mw00036 Mw00037 Maintenance and Inspection 6 11 6 Maintenance and Inspection 6 4 3 Troubleshooting When ERR is Lit 6 4 3 Troubleshooting When ERR is Lit When the ERR lamp of the LED indicators on the front panel of MP2300 lights up occurrence of a serious failure hardware failure or user program error is likely Stop the MP2300 by setting the DIP switch No 6 STOP of SW1 to ON and then investigate the cause using the following flowchart START Yy Check SW00050 y SW00050 0001H No gt Replace the Module Hardware failu
98. not executed simultaneously As shown in the following figure the execution of each drawing is scheduled based on the order of priority and time sharing e Low speed scan High speed scan High speed scan a gt a gt High speed scan e La i High speed scan gt DWG H DWG L Background Executing Background processing is used to execute internal system processing e g communication processing Low speed scan processing is executed in spare processing time of the high speed scan Set the time of the high speed scan to approximately double the total execution time for DWG H a Outline of Motion Control Systems 5 7 5 Outline of Motion Control Systems 5 2 2 Execution Control of Drawings 3 Hierarchical Structure of Drawings Each processing program is made up of parent drawings child drawings and grandchild drawings Parent drawings cannot call child drawings from a different type of drawing and child drawings cannot call grandchild drawings from a different type of drawing Also parent drawings cannot directly call grandchild drawings Child drawings are always called from parent drawings and grandchild drawings are always called from child drawings This is the hierarchical structure of drawings As shown in the following figure each processing program is created from a hierarchy of parent child an
99. of the X V Series servodrives with MECHATROLINK II communications and linear servomotors AC Servodrive x V Series User s Manual MECHATROLINK II Command SIEP S800000 54 Describes the MECHATROLINK II communications commands of the V Series servodrives with MECHATROLINK II communications and rotational servomotors AC Servodrive V Series User s Manual Operation of Digital Operator SGDV SERVOPACK SIEP S800000 55 Describes the MECHATROLINK II communications commands of the X V Series servodrives with MECHATROLINK II communications and linear servomotors Machine Controller MP900 MP2000 Series Linear Servomotor Manual SIEP C880700 06 Describes the connection methods setting methods and other information for Linear Servomotors Machine Controller MP900 MP2000 Series New Ladder Editor User s Manual Programming Manual SIEZ C887 13 1 Describes the programming instructions of the New Ladder Editor which assists MP900 MP2000 Series design and maintenance Machine Controller MP900 MP2000 Series New Ladder Editor User s Manual Operation SIEZ C887 13 2 Describes the operating methods of the New Ladder Editor which assists MP900 MP2000 Series design and maintenance Machine Controller MP900 MP2000 Series User s Manual MECHATROLINK System SIEZ C887 5 1 Describes MECHATROLINK distributed I O for MP900 MP2000 Series Machine Controllers E Copyrights e DeviceNet i
100. shaft H06 02 phase control 2 electronic cam L low speed main program LO6 electric cam table data generation aS o oa ss b Motion Main Program Detail Set Dialog Box The details for the Motion Main Program of sample program are shown below In this example select Select All and click the OK Button to return to the Individual Load Window Motion Main Program Detail Set xj MPMOO1 MMPMOO2 MMPMOO3 oe C ox D Cancel gt System Startup and Sample Programs 4 35 4 System Startup and Sample Programs 4 3 2 Reading Sample Programs and Setting and Saving Parameters 3 Select File Execute F Individual Load File View Help Clear Exit Click the Yes Button in the confirmation dialog box to start the file transfer When the transfer has been completed a confirmation dialog box will appear again Click the OK Button 4 Select File Exit in the Individual Load Window to exit the transfer ir Individual Load File View Help Execute Clear 4 Set and Save Motion Fixed Parameters This section describes the procedure for setting motion fixed parameters for axes 1 and 2 to match the sample program When using a program set the fixed parameters to match the devices being used Refer to Machine Controller MP2000 Series Built in SVB SVB 01 Motion Module User s Manual Manual No SIEPC88070033 1 Double click the 2300SMPL
101. status to determine the general nature of the error using the contents of system S registers to check drawings and function numbers causing the error and knowing the meaning The following table shows how to use the LED indicators to determine the operating status of the MP2300 as well as relevant error information when the LED indicator status indicates an error st Ate LED Indicator Classification Indicator Details Countermeasures RDY RUN ALM ERR BAT Not lit Not lit Lit Lit Not lit Hardware reset status Usually the CPU will start within Not lit Notlit Not lit Not lit Not lit Initialization 10 seconds If this status continues for more than 10 seconds either a program error or hardware failure has Not lit Lit Not lit Not lit Not lit Drawing A DWG A being executed occurred Refer to 6 4 Troubleshoot ing System Errors on page 6 9 and correct any system errors Normal This status occurs operation e When the stop operation is executed Lit Notlit Notlit Notlit Not tit User Program stopped coe se Offline Stop Mode e When the STOP switch is turned ON This status does not indicate an error Lit Lit Not lit Not lit Not lit User program being executed This is the normal status normally Maintenance and Inspection 6 7 6 8 6 Maintenance and Inspection 6 3 3 LED Indicators cont d Classification LED Indicator RDY RUN ALM E
102. the Machine Controller MP900 MP2000 Series User s Manual MPE720 Software for Programming Device SIEPC88070005 for details Y S and M register data has a battery backup to ensure the data is held even if the MP2300 power is turned OFF and ON Other register data is saved to flash memory so when the MP2300 power is turned OFF to ON data saved to flash memory is read and data not saved to flash memory is lost It is recommended therefore that data to be held regardless of whether or not the power is turned OFF to ON should be written to M registers if possible a Outline of Motion Control Systems 5 21 5 Outline of Motion Control Systems 5 3 1 Types of Registers 5 22 2 Function Registers The following table shows the registers that can be used with each function Type Name Specification Method Range Details Characteristics Input to functions StS Bit input XB000000 to XB00000F Function input X p XB XW XL XFnnnnn ONO Integer input XW00001 to XW00016 registers XW00016 i Double length integer input XL00001 to XL00015 Output from functions Bit output YB000000 to YB00000F Function output Y P YB YW YL YFnnnnn YWOO000 NO Integer output YW00001 to YW00016 registers YWO00016 Double length integer output Y L00001 to YL00015 Internal registers unique to each function Internal function Z registers ZB ZW ZL ZFnnnnn pl eh 4 Can be used for function internal
103. to the startup processing drawing and 5 2 2 Execution Control of Drawings on page 5 7 First scan processing is executed once DWG A has been completed and the high speed or low speed scan time has elapsed System I O are executed from the first scan Operation Stop MP2300 stops motion control operation when the STOP switch is ON STOP and in the following circumstances Cause Restart method Power supply turned OFF 7 Turn ON the power again Power interruption Check the LED indicator for the cause of the error and Fatal error then turn the power OFF then ON STOP executed from MPE720 Execute RUN from MPE720 Online Self diagnosis Self diagnosis is performed on the following items when the user logs on online e System program ROM diagnosis e Main processor CPU function diagnosis e Floating Point Unit FPU function diagnosis If diagnosis results in an error the ALM and ERR LED indicators will blink red for the specified number of times Refer to 5 1 4 LED Indicator Details on page 5 5 5 1 4 LED Indicator Details 5 1 Startup Sequence and Basic Operation The MP2300 performs a variety of diagnostics at startup If an error is found the ERR LED indicator blinks red The number of times the indicators blink differs depending on the error details so error details can be determined from counting the number of blinks The following table shows details of MP2300 LED indicator MPE720
104. used by say work 7 Program information used by 58W work 8 Program information used by sayy work 9 Program information used by 58W work 10 Program information used by work 11 BBW Program information used by 58W work 12 Program information used by 58W work 13 Program information used by 58W work 14 Program information used by sayy work 15 Program information used by saw work 16 Reserved by the system 928W Reserved by the system 64W SW03210 Program number used by work 11 SW03211 Program number used by work 12 x SW03212 Program number used by work 13 SW03213 Program number used by work 14 SW03214 Program number used by work 15 SW032155 Program number used by work 16 Executing program bit W03232 MPO016 Bit15 to MPO001 Bit0 W03233 MPO032 Bit15 to MPO017 Bit0 SW03234 MPO048 Bit15 to MPO033 Bit0 SW03236 MPOO080 Bit15 to MPLI055 BitO W03237 MPOO096 Bit15 to MPLI081 BitO SW03238 MPO112 Bit15 to MPO097 Bit0 SW03239 MPO128 Bit15 to MPL1113 Bit0 SW03240 MPO144 Bit15 to MPL1129 Bit0 SW03241 MPO160 Bit15 to MPO145 Bit0 SW03242 MPO176 Bit15 to MPO161 Bit0 SW03243 MPL1192 Bit15 to MPO 177 Bit0 SW03244 MPO208 Bit15 to MPL1193 Bit0 W03245 MPO224 Bit15 to MPL1209 Bit0 SW03246 MPO240 Bit15 to MPO225 Bit0 SW03247 MPO256 Bit15 to MPO241 Bit0 Note O indi
105. user name 4 31 user operation error status 6 16 user programs 5 6 Index V virtual motion module SVR 2 26 W wait for monitor data update 2 20 wildcard I O 2 21 Z zero point not set 6 34 Index 3 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover MANUAL NO SIEP C880700 03B Published in Japan February 2005 03 4 Fi WEB revision number Date of Revision number publication Date of original publication April 2003 2003 First First edition 0 O September 2003 Addition I O Modules JEPMC AN2900 JEPMC AN2910 2 4 2 4 2 10 2 10 2 Revision Battery model 722 723 2 22 02 __ 7 2 3 Revision Table Deletion of size column addition of parameter No column a 1 4 Addition Motion program alarms February 2005 February 2005 3 3 Revision H04 Drawing April 2005 St Printed version of the user s manual SIEP C880700 03B lt 2 gt 1 available on the Web February 2006 gt All chapters Revision All chapters April 2008 amp f Based on Japanese user s manual SIJP C880700 03F lt 11 gt printed in November 2007 Back cover Back cover Revision Address August 2009 Additi
106. 0 Basic Module is an all in one compact module that combines power supply CPU built in SVB and I O in one module The Basic Module has both motion control and sequence control functions With the 3 slot option slot configuration Optional Modules can be selected freely and the optimum system can be built for your machine An outline of the Basic Module functions is shown in the following diagram Interrup input Input Input port Q processing lt _J piip Motion control processing R Ladder Q DWG H System bus Application execution processing Ladder A owe MECHATROLINK I II Output gt processing _p Output port 8 A Started at fixed intervals 2 2 1 External Appearance LED Indicators and Switch Settings 1 External Appearance LED indicators Switch RYO ORUN y YASKAWA ALMO OERR Battery holder MECHATROLINK connector BATTERY Power supply connector I O connector fs Module Specifications 2 Module Specifications a eee 2 2 1 External Appearance LED Indicators and Switch Settings 2 Indicators The following table shows the indicators that show the operating status of
107. 00 3 3 3 1 3 Replacing and Adding Optional Modules 3 6 xiii xiv 3 2 Basic Module Connections Specifications 3 9 3 2 1 Connectors 3 9 3 2 2 Power Supply Connector 3 10 3 2 3 MECHATROLINK Connectors 3 12 3 2 4 CPU I O Built in I O Connectors 3 16 4 System Startup and Sample Programs 4 1 Model System Startup Procedure 4 2 4 1 1 Flowchart for Model System Startup 4 2 4 1 2 System Configuration 4 3 4 1 3 Initializing SERVOPACKS 4 5 4 1 4 Setting and Saving Communication Process Communication Manager 4 6 4 1 5 MP2300 Self configuration 4 12 4 2 Starting the Sample Program MPE720 Ver 6 00 4 13 4 2 1 Copying and Transferring Sample Program Files 4 13 4 2 2 Setting Motion Fixed Parameters and Adjusting the Settings for Servo Control 4 17 4 2 3 Saving Data from the
108. 00 0000 0000 0000 0000 0000 0000 0000 No Command 9000 0001 0000 0000 No Command 9000 9000 0000 0000 go Motion command status Subcommand response code 11 Subcommand status e00R Fig 2 4 Monitor Parameters Tab read only 2 24 2 2 6 Built in SVB Specifications a MECHATROLINK Communication Specifications 2 2 MP2300 Basic Module Functions Item MECHATROLINK I MECHATROLINK II Topology Bus Bus Transmission Path Electric bus Electric bus 50m 50m Transmission Distance Can be extended up to 100m by r connecting repeaters Can be extended up to 100m by connecting repeaters Baud Rate 4 Mbps 10 Mbps Communication Cycle 2 ms 1 ms 2 ms Maximum Number of Connectable Stations 14 21 Communication Control Method Cyclic Cyclic Media Access Control Method 1 N 1 N 2 N when using SigmaWin Communication Mode Control communication Control communication Error Detection Control CRC check CRC check Applicable repeater model JEPMC REP2000 b MECHATROLINK Communication Settings and Max Number of Slaves MECHATROLINK Communication Settings Max Number of Slaves Communication Method Baud Rate Communication Cycle MECHATROLINK I 4Mbps 2 ms 14 MECHATROLINK II 10Mb i 15 17 byte mode ps ms 1 ms 9 MECHATROLINK II 10Mb is 15 32 byte mode ps ae 2 ms 21 16 axes max for Servos
109. 00 0000 0000 0000 0000 H 2 Mode setting 2 OWB002 0000 0000 0000 0000 0000 H 3 Function setting 1 OWBOO3 0000 0000 0001 0001 0011 H A lPunctinn camina 9 MAGARA INNAN NAAN AN11 A011 ANA U Fig 2 2 Setup Parameters Tab 15 xj MP2300 2300SMPL MP2300 Online Local imi SYB Definition e CCN eee FA fan 1 SERVOPACK sensa Version 05 T Servo Type aay z Fixed Parameters Setup Par 0000 Function Selection Basic Switch O Function Selection Application Switch 1 0900 H 0000 H 0002 Function Selection Application Switch 2 0911H 001 H 0004 Function Selection Application Switch 4 0110H 0119H Function Selection Application Switch amp 0002 H 0002 H Function Selection Application Switch 7 0900 H 0000 H 0002 Function Selection Apolication Switch 8 4000 H 4000H Fig 2 3 SERVOPACK Parameters Tab Refer to the relevant SERVOPACK user s manual for information on SERVOPACK parameters When using a SERVOPACK parameter Window to save excluding when the SERVOPACK is replaced make sure to select Edit SERVOPACK Current value Setting Value Refer to B Current Values and Set Values Input Data in the SVB Definition Window on page A 5 EE ETUE T UT RACKED Slot 0 cer ar nai 7FF axs SERVOPACK SGDS 1 Version 0320 Servo Type Romy Fined Parameters Setup Parameters SERVO ODO 0000 0000 6000 9000 0009 0000 O000 10
110. 00000 0000000000 Lower Limit 00000 2147483648 2147483648 00000 00000 001 2147483648 2147483648 2147483648 2147483648 Upper Limit 32767 2147483647 2147483647 32767 32767 003 2147483647 2147483647 2147483647 2147483647 DL00010 L 1880000 1880800 IL8016 IL8096 DL00010 L MB30000C MB300001 DL00010 L DB000010 H04 DB000011 H04 DB000012 H04 Dw00030 H04 DL00010 H04 DL00012 H04 DL00014 H04 DL00016 H04 MB30002C MB30002 4 4 Checking Sample Program Operation 4 Procedure Use the following procedure to operate the Tuning Panel and check operation 1 Servo ON Change the Servo ON PB current value from OFF to ON The Servomotor will turn ON and the Servo will be clamped Motion program No setting Enter a value from to 3 as the current value for the Motion Program No setting to specify the motion program to be executed 001 PMP001 Program for executing zero point return using Servomotor phase C When this program is executed X axis axis 1 and Y axis axis 2 rotate a set distance once a phase C pulse has been input and then return home 002 PMP002 Repeats the following two operations with an interval time 1 Moves to target position in incremental mode performs linear interpolation to target position 2 and then repeats this operation 5 times 2 In absolute mode performs counterclockwise circular interpolation from current position to home 0 0 once 00
111. 00030 STORE Fx Source MW00001j p002 0003 NL 1 Dest 3 Double length Integers and Real Numbers with Subscripts Doubiedengthiihteg r Typs Upper word Lower word These are the same as when i or j values are added MW00001___ MW00000 to register numbers For example when j 1 ML00000j when j 0 MLO0000 ML00000j is the same as ML00001 And when j Mwo0002 MW00001 1 MF00000 is the same as MF00001 For double ML00000j when j 1 ML00001 length integers and real numbers the word thet indicates a register is the lower word Caution is Real Number Type Upper word Lower word required because this means that ML00001 and Mwo00001___ MW00000 MF00001 will be different when j 0 and when j MEOH Oe hen 0 MF00000 because the upper and lower words will differ Mwo0002___ MWw00001 as shown in the following example MF00000j when j 1 MF00001 Example Program Using Subscripts The program shown to the left finds the total of 100 registers from MW00100 to MW00199 using subscript j and writes the total to MW00200 o gt 0002 NL 1 Source 00000 Dest MW00200 nee Variable J Init 00000 Max 00099 Step 00001 EXPRESSION Fx 0004 NWOO200 MW00200 MW00100 NL 2 000 4 END_FOR 0005 NL 1 5 26 5 3 4 Register Specification Methods 5 3 Registers Registers can be specified directly by register numb
112. 0017 S NL 1 ourceA DW00012 SourceB H0011 Dest OW8083 HHHHHHHHH Linear Acceleration Deceleration SettingiHHHHHHHHH Axis 1 and 2 linear acceleration deceleration setting MPM running MB30020 Linear acceleration deceleration setting 0010 EXPRESSION NLT OL8036 100 OL8038 100 OL80B6 100 OL80B8 100 0011 0020 NL 1 c H02 Drawing The H02 child drawing controls JOG and STEP operation P00105 H02 Main Program Manual Operation Main Processing HHHH H Manual Operation Main Processing HHHHHHHE 0000 NL 1 0000 a Name H02 01 0001 0001 NL 1 0002 0002 NL 1 4 50 d H02 01 Drawing The H02 01 grandchild drawing controls JOG and STEP operation for axis 1 0000 0000 NL 1 0001 4 0006 NL 1 0002 4 0010 NL 1 10003 4 0013 NL 1 0004 0015 NL 1 0005 0017 NL 1 10010 4 0034 NL 1 1000114 0036 NL 1 0012 0038 NL 1 0013 0043 NL 1 HHHHHHHHHH J O GiHHHHHAH HE Axis 1 JOG Axis 1 forward jog Axis 1 reverse jog Axis 1 SV_ON DB000010 DB000011 Axis 1 forward jog DB000010 Axis 1 jog command DB000000 Axis 1 jog command DB000000 Axis 1 jog start DB000001 Axis 1 jog start DB000001 Axis 1 jog stop DB000002 HHHHHHHHHAxis 1 Manual operation JOG and STEP HHHHHHHHHE Axis 1 reverse jog DB000011 WORK Axis 1 motion command 0 MB300010 DB000050 WORK DB000051 n Axis 1 speed command setting STORE z Source 0000001000 Dest OL8010 Ax
113. 0036 NL 1 0015 0038 NL 1 0016 0039 NL 1 0017 0040 NL 1 0018 0041 NL 1 0019 0042 NL 1 Main Program Phase Control 2 Electronic Cam Operation command DB000000 Linear accelerator decelerator input Source 0 000000E 000 Dest DF00012 Linear accelerator decelerator input Input DF00012 Parameter DA00020 Output DF00040 Operation command DB000000 Axis 1 speed command setting Zero speed Source DF00040 DB000003 Dest OL8010 Zero speed DB00020A HHHH Slave Axis Control Circuit HHHHHHH HHHHHHHHH Electronic Cam Phase Generated HHHHHHHH Cam operation command MB300008 Electronic cam phase Source 00000 Dest DL00066 Master axis position FB this scan Source IL8016 Dest DL00060 Incremental value for master axis per scan SourceA DL00060 SourceB DL00062 Dest DL00064 Master axis position FB previous scan Source DL00060 Dest DL00062 Addition of master axis increment Electronic cam phase SourceA DL00064 SourceB DL00066 Dest DL00066 Cycle detection EXPRESSION a DB000008 DLO0066 gt ML30202 DB000009 DLO0066 lt 0 4 4 Checking Sample Program Operation Zero speed DB000003 System Startup and Sample Programs 4 65 4 System Startup and Sample Programs 4 4 5 Operation Check 4 Phase Control Electronic Cam P00123 H06 02 Main Program Phase Control 2 Electronic Shaft 10020 0043 NL 1
114. 010 Low speed Scan Set Value 0 1 ms Low speed Scan Current Value SW00011 Low speed Scan Current Value 0 1 ms Low speed Scan Maximum Value SW00012 Low speed Scan Maximum Value 0 1 ms Reserved by the system SW00013 Not used Executing Scan Current Value SW00014 Executing Scan Current Value 0 1 ms Calendar Year SW00015 1999 0099 BCD Last two digits only Calendar Month Day SW00016 December 31 1231 BCD Calendar Hours Minutes SW00017 23 hours 59 minutes 2359 BCD Calendar Seconds SW00018 59 s 59 BCD Calendar Day of Week SWwo00019 0 to 6 Sun Mon to Sat A 3 Program Software Numbers and Remaining Program Memory Capacity Name Name Register No Remarks System Program Software Number SWw00020 SOOOO 0000 is stored as BCD SW00021 System Number to Not used SW00025 Remaining Program Memory Capacity SW00026 Bytes Total Memory Capacity SW00028 Bytes B 1 Operations and Parameter Data Flow B Current Values and Set Values Input Data in the SVB Definition Window In systems connected to MECHATROLINK SERVOPACK parameters can be read directly from the MP2300 Refer to 11 6 Parameters That Are Automatically Updated in the Machine Controller MP2000 Series Built in SVB SVB 01 Motion Module User 5 Manual Manual No SIEPC88070033 This means that parameters are saved in the memory area of both the MP2300 and the SERVOPACK It is thus necessary to consider the relationship between t
115. 02 H 0002 H Function Selection Application Switch 7 0000 H 0000 H Function Selection Application Switch 8 4090H 4000 H Speed Loop Gain 1 40 0 Hz 1100 0 Speed Loop Integral Time Constant 20 00 ms i __40 00 I 0102 Position Loop Gain 1 40 0 fs 100 0 0103 Moment of Inertia Ratio Mass ratio d 0 x 0 2nd Speed Loop Gain 0105 2nd Speed Loop Integral Time Constant LSAS me 2nd Position Loop Gain 40 0 s 40 0 Bias 0 min 1 0 After having JjEngineering Manager S B Definition MP2300 YESAMPLE 2300SMPL MP2300 lO x pressed ENTER JjfFie edit view window Help 18 x Key OM S H s RAMS ue EEEn PT 2 1P 192 168 1 1 CPU 1 JRACK O1 Slot 200 ciR 01 e000 67FF ay Jaxist SERVOPACK SaDs 1 Mersion 0014 Servo Type Ratan zj Fixed Parameters Setup Parameters SERVOPACK Monitor oh Name input ate Unt Current 0000 Function Selection Basic Switch O 0001 Function Selection Application Switch 1 0000 H 0002 Function Selection Application Switch 2 0011 H 0111 H 0004 Function Selection Application Switch 4 0110H 0110 H 0006 Function Selection Application Switch 6 0002 H 0002 H 0007 Function Selection Application Switch 7 0000 H 0000 H 0008 Function Selection Application Switch 8 000 H m 4009 Hi N 0100 Speed Loop Gain I 40 0 Hz l 1 100 0 I Speed Loop Integ
116. 1 B basic module 27 appearance 1 3 3 2 connectors 3 9 CPU I O connector 3 16 power supply connector 3 10 Battery 1 9 battery life 6 4 Built in SVB 2 25 Cc Cables 1 8 causes for command error occurrence 6 26 child drawings 5 6 combination of modules 1 4 communication settings 4 6 CPU I O Built in I O Module 2 11 D daily inspections 6 2 data types 5 24 definition data self configuration 5 36 details on I O error status 6 20 digital operator 4 5 DINRail 1 9 DIN rail mounting 3 3 DIN rail mounting clips 3 4 DIP Switch Settings 5 2 drawing execution control 5 7 drawing types 5 6 DWG registers
117. 1 TEST 2 OFF Always leave set to OFF OFF Normal operation 2 2 2 Module Configuration Definitions 2 2 MP2300 Basic Module Functions Configuration of the MP2300 including Basic Module and Optional Modules can be obtained and modified in the Module Configuration Window 1 Module Configuration Window Components A typical MP2300 Module Configuration Window is shown below W Module Configuration PT 1 CPU 1 Information on Basic Module MF 2300 Online Local OT NumMAe Module Type Controller Number a Circuit Number I O Start Register I O End Register Disable Input Disable Output Motion Start Register am Motion End Register iam Details oO o 3 2 Controller Number Circuit Number I O Start Register I O End Register Disable Input Disable Output Motion Start Register Motion End Register Details Status CPU CPU module CPU operation such as a scan time setup and a system definition is set up 4 2 ola ojola Niel i 4 R 200 FFF ECHATROLINK ASS SSISisiclele lelea e ju 4 unning For information on how to open the Module Configuration Window refer to 4 3 2 4 Set and Save Motion Fixed Parameters on page 4 36 The following table lists the items shown in the Module Configuration Window Ua Information on the mounted Optional Modules Configuration of the Basic Module CPU C
118. 1 Yes 4 EXT2 Yes 5 EXT3 Yes Bits 4 to 7 External Positioning Signal Setting owo004 Function Setting 2 re 1 2 Phase C pulse input signal Yes 3 EXT1 Yes 4 EXT2 Yes 5 EXT3 Yes Bits 8 to B Reserved for system use Bits C to F Bank Selector Yes Bit 1 Phase Reference Creation Calculation Disable 0 Enabled 1 Ves Disabled owog005 Function Setting 3 Bits 2 to A Reserved for system use Bit B Zero Point Return Input Signal 0 OFF 1 ON Yes Bits C to F Reserved for system use te a Reserved for system use 3 Appendices A 21 D Motion Parameter Lists b cont d Register No Name Contents SVB SVR NOP No Command POSING Position Mode Positioning EX_POSING Latch Target Positioning External positioning ZRET Zero Point Return INTERPOLATE Interpolation ENDOF_INTERPOLATE Last Interpolation Segment Reserved for the system 6 LATCH Interpolation Mode with Latch Input 7 FEED Jog Mode 8 STEP Relative Position Mode Step mode 9 ZSET Set Zero Point 10 ACC Change Acceleration Time 11 DCC Change Deceleration Time 12 SCC Change Filter Time Constant 13 CHG_FILTER Change Filter Type OWOO08 Motion Command 14 KVS Change Speed Loop Gain Yes Yes 15 KPS Change Position Loop Gain 16 KFS Change Feed forward 17 PRM_RD Read User Constant Read SERVOPACK parameter 18 PRM_WR Write User Constant Write SERVOPACK parameter 19 ALM_MON Ala
119. 1 to 33 Reserved for system use Rated Motor Speed Rotary 4 1 a Motor 1 1 min Yes Yes Rated Speed Linear Motor 1 0 1 m s 0 1 mm s Yes Yes Number of Pulses per Motor 1 1 pulse rev i Nace Yes Yes ae Rotation Rotary Motor Set the value after multiplication Number of Pulses per Linear E E A y y Scale Pitch Linear Motor rae pulseLgeaig pite al cas Maxi Number ot Abs iut 1 I rotation aximum Number oO solute r r 38 Encoder Turns Rotation Set to 0 when a direct drive motor is being used Yes Invalid for linear type 40 to 41 Reserved for system use Feedback Speed Movement 42 Averaging Time Constant dae pe lines D 2 Setting Parameter List Register No Name Contents SVB SVR Bit 0 Servo ON 0 OFF 1 ON Yes Yes Bit 1 Machine Lock 0 Normal Operation 1 Machine Lock Yes Bits 2 to 3 Reserved for system use Bit 4 Latch Detection Demand 0 OFF 1 ON Yes Bit 5 Reserved for system use Bit 6 POSMAX Turn Number Presetting Demand Yes Yes 0 OFF 1 0N Bit 7 Request ABS Rotary Pos Load Absolute system infinite length position information LOAD y 0 OFF 1 ON i Set to 0 for linear type RUN Command ERE owon000 Setting Bit 8 Forward Outside Limiting Torque Thrust Input Forward external torque thrust input Yes 0 OFF 1 ON Bit 9 Reverse Outside Limiting Torque Thrust Input Forward external torque thrust input Yes 0 OFF 1 ON Bit A Reserved for system use Bit B Integration Res
120. 2 Positive software limit value 2147483647 User units Negative software limit value 2147483648 User units 16 Backlash compensation amount O User units n Name Input Data The Create New Confirmation Dialog Box will open Click OK to display the Fixed Parameters Tab of the SVB Definition Window fs Module Specifications Axis corresponds to ST station number in the Link Assignment Tab of the MECHATROLINK Transmission Definition Window 2 23 2 Module Specifications 2 2 5 Setting SVB Module 3 Click the Fixed Parameters Set Up Parameters or Monitor tab to display the desired page Ifthe setting in Servo Type is switched from Rotary to Linear or vice versa some of the displayed parameters will change Refer to 4 2 2 Motor Type and Related Alarms in Machine Controller MP2000 Series Built in SVB SVB 01 Motion Module User s Manual Manual No SIEPC88070033 for details aax Pe UT 1 CPUE 1 RACK O1 Slot 00 ciR 01 RIET oa 0000 0000 0000 0000 0000 H 2 Function selection flag 2 0000 0000 0000 0000 0000 H Reference unit selection pulse xl anos aT eS PRIS i a Fig 2 1 Fixed Parameters Tab zax oe 1 UT 1 CPUS 1 JRACK O1 Slot 00 CIRH ai tn wre ES axis z SERVOPACK SaDS 1 Version 0020 Servo Type Roty z Getun Parameters ERVOPACK Monitor Fixed Parameters PNo a REGS input Data __0 _ Run command setting 1 Mode setting 1 OW8001 00
121. 2nd Speed Loop Gain The saving operation of SERVOPACK parameters can be used for writing data after SERVOPACK replacement because it writes all the parameters of the relevant axis Version 0014 v Servo Type Rotary z o Name Input Data unt Currer 0111 H 0110 H 0002 H 0000 H 0 40 0 B 1 Operations and Parameter Data Flow 5 Copying Current Values to Set Values Input Data in the SERVOPACK Tab Page The data flow for SERVOPACK parameters is as follows when selecting Edit Copy Current Value from the SERVOPACK Tab Page in the SVB Definition Window on the MPE720 e The MPE720 copies the values currently displayed in Current Value to Input Data on the SERVOPACK Tab Page and displays MECHATROLINK i MPE720 l online System Control Dispi SRAM Software Software isplay Input ea Current Data Value peee Flash EEP a k A Memory SORAM RAM ROM 1 Input F I Data Servo Parameters Parameters All Axes N Me ee E HDD in personal computer ME ESON SERVOPACK SERVOPACK The following figure shows a display example after having selected Edit Copy Current Value on the SERVOPACK Tab Page in the SVB Definition Window The values in Current Value are copied to Input Data Before copying Engineering Manager
122. 3 PMP003 Repeats the same operation as PMP002 but without an interval time No programs have been created for numbers 004 and higher An MPM alarm will occur if 004 or higher numbers are entered and operation is started Set Target Position 1 and Target Position 2 Enter any value for the following settings These settings determine the target position for positioning when Motion Program No 2 and No 3 are executed Ist target position X axis Ist target position Y axis 2nd target position X axis 2nd target position Y axis Positioning start Change the current value for Positioning start from OFF to ON The program will be executed and the model system will operate according to the motion program set in step 2 Once the operation has been checked enter OFF and stop the system When a motion program starts the current value for MPM running will change to ON Also when the Servo axis rotates all Current Values will change If an error occurs during motion program execution the current value for MPM alarm in the Tuning Panel will change to ON Use the following procedure to clear alarms 1 Set the current value for Positioning abort to ON then OFF 2 Set the current value for Alarm reset PB to ON then OFF It is necessary to create routines within the actual application program in order to monitor and control the registers corresponding to the signals and data listed in the table above The register numbers tha
123. 300 Data to Flash Memory Return to the MPE720 File Manager Window and save to flash memory Refer to 4 2 3 1 Saving to Flash Memory on page 4 21 or 4 3 2 6 Saving to Flash Memory on page 4 40 for information on how to save to flash memory 9 Save Ladder Programs and Restart MP2300 Transfer the ladder program to the MP2300 and save to flash memory and then turn the power from OFF to ON to restart the MP2300 Refer to 4 3 2 3 Transfer Individual Programs on page 4 34 for information on transferring ladder programs This completes the system startup procedure Always save to flash memory when applications have been changed e g the ladder program changed or parameters set The added information will be lost if not saved to flash memory and the power is turned OFF If the information is lost load the application remaining on the hard disk of the personal computer to the MP2300 and save to flash memory Vv It is recommended that applications are backed up at appropriate times Applications can be backed up as follows MPE720 Ver 6 00 Select Online Read from Controller in the main window MPE720 Ver 5 00 Log on online and select Transfer All Files From Controller to MPE720 4 5 System Startup Using Self Configuration 4 5 2 System Startup when Adding Electronic Devices Use the following procedure to start the system when adding SERVOPACKs Optional Modules and other electronic devices 1 Back Up Applica
124. 3567 SW03570 SW03573 SW03576 SW03579 SW03612 7 SW3206 o swo3669 SW03616 SW03619 SW03622 SW06325 SW03628 SW03631 SW03634 SW03637 SW03670 8 SW3207 o swo3727 SW03674 SW03677 SW03680 SW03683 SW03686 SW03689 SW03692 SW03695 SW03728 9 SW3208 gt swo3795 SW03732 SW03735 SW03738 SW03741 SW03744 SW03747 SW03750 SW03753 SW03786 10 SW3209 swo4g43 SW03790 SW03793 SW03796 SW03799 SW03802 SW03805 SW03808 SW03811 SW03844 11 SW3210 o swo3901 SW03848 SW03851 SW03854 SW03857 SW03860 SW03863 SW03866 SW03869 SW03902 12 SW3211 o swo3osq SW03906 SW03909 SW03912 SW03915 SW03918 SW03921 SW03924 SW03927 SW03960 13 SW3212 o swo4o17 SW03964 SW03967 SW03970 SW03973 SW03976 SW03979 SW03982 SW03985 SW04018 14 SW3213 o gw04075 SW04022 SW04025 SW04028 SW04031 SW04034 SW04037 SW04040 SW04043 SW04076 15 SW3214 o gw04133 SW04080 SW04083 SW04086 SW04089 SW04092 SW04095 SW04098 SW04101 SW04134 16 SW3215 o swo41 1 SW04138 SW04141 SW04144 SW04147 SW04150 SW04153 SW04156 SW04159 Offset Offset value from the first register number of Program Information Used by Work Maintenance and Inspection 6 23 6 Maintenance and Inspection 6 5 1 Motion Program Alarm Configuration 6 5 Motion Program Alarms If the result of inve
125. 4 40 scan execution status A4 Index scan processing drawing 5 7 scan time setting and changing 5 40 Self Configuration 2 10 self configuration 4 28 5 4 5 28 method 4 12 self diagnosis online 54 self diagnosis at startup 54 servo driver command timeout error 6 34 servo driver communication error 6 34 servo driver error 6 31 servo driver error codes 6 36 servo driver synchronization communication error 6 34 servo OFF 6 32 SERVOPACK initialization 4 5 SERVOPACK unmatched encoder type 6 35 SERVOPACK unmatched motor type 6 35 Setting and Saving Motion Fixed Parameters 4 17 setting parameter list A 20 Settings for CPU I O Module 2 11 Starting the Sample Program MPE720 Ver 6 00 4 13 startup sequence 5 2 status tab page 2 22 SVB definition 2 23 switch
126. 483647 signed 32 bit value Speed Reference Unit Reference unit s designation mm s inch s deg s pulse s m s Reference unit min designation mm min inch min deg min pulse min um min Percentage designation Percentage of rated speed Acceleration Deceleration Type Linear asymmetric S curve exponent Acceleration Deceleration Reference Unit Reference unit s designation mm s inch s deg s pulse s um s Acceleration deceleration time constant Time from 0 to rated speed ms Override Function Positioning 0 01 to 327 67 by axis Coordinate System Rectangular coordinates Zero Point Return DEC1 Phase C pulse Home limit switch and Phase C pulse ZERO signal HOME DEC1 ZERO signal NOT and Phase C pulse Phase C pulse NOT Only Phase C pulse INPUT and Phase C pulse POT and Phase C pulse INPUT POT D Module Specifications Applicable SERVOPACKs E MECHATROLINK I e SERVOPACKs SGD OOON SGDB OOAN SGDH OOOE NS100 scps 000100 scpv 000011 SGDV OOHO015 e Inverter VS 616G5 216IF card is needed E MECHATROLINK II SERVOPACKs SGDH OODE NS115 scps 000100 scpv 000011 SGDV OOHO0015 2 5 2 6 2 Module Specifications 2 1 3 Function Specifications cont d Item Specifications Encoders e Incremental Encoder e Yaskawa Absolute Encoder 2 2 MP2300 Basic Module Functions 2 2 MP2300 Basic Module Functions MP230
127. 51 Unsupported Product Alarm 0b0 Servo ON Reference Invalid Alarm Servo Driver Alarm WWO02D 100 Overcurrent Code 300 Regeneration Error 320 Regeneration Overload 2 330 Main Circuit Wiring Error 400 Overvoltage E 410 Undervoltage 3 510 Overspeed 511 Divided Pulse Output Overspeed 2 520 Vibration Alarm z 521 Autotuning Alarm 710 Overload Instantaneous Maximum Load 720 Overload Continuous Maximum Load 730 731 DB Overload 6 41 6 Maintenance and Inspection ees SSS Sa DS 6 7 3 Servo Driver Status and Servo Driver Error Codes Name icine Code Meaning 740 Inrush Resistance Overload 7A0 Heat Sink Overheat 7AB SERVOPACK s Built in Fan Error 810 Encoder Backup Alarm 820 Encoder Checksum Alarm 830 Encoder Battery Alarm 840 Encoder Data Alarm 850 Encoder Overspeed 860 Encoder Overheat 891 Encoder Module Error 8A0 External Encoder Scale Error 8Al External Encode Module Error 8A2 External Encoder Sensor Error Incremental 8A3 External Encoder Position Error Absolute b10 Speed Reference A D Error b11 Speed Reference A D Data Conversion Error b20 Torque Reference A D Error b31 Current Detection Error 1 b32 Current Detection Error 2 b33 Current Detection Error 3 bFO System Alarm 0 Scan C Error bF1 System Alarm 1 CPU Stock Memory Error bF2 System Alarm
128. 6 4 Troubleshooting System Errors 6 4 Troubleshooting System Errors This section provides troubleshooting information for system errors 6 4 1 Outline of System Registers The LED indicators on the front of the Basic Module can be used to determine MP2300 operating status and error status To obtain more detailed information on errors the system S registers can be used A detailed check of the contents of system registers can be used to determine the location of the error and take the corrective measures The following table shows the overall structure of the system registers Refer to the sections given on the right for details Swo00000 SWw00030 Sw00050 Sw00080 Swo00090 Swo00110 Sw00190 Sw00200 SWw00500 SW00698 SWw00800 SW01312 SWw02048 SW03200 SWw05200 to SW08191 System Service Register System Status 6 4 5 1 System Status on page 6 14 System Error Status 6 4 5 2 System Error Status on page 6 15 User Operation Error Status 6 4 5 3 Ladder Program User Operation Error Status on page 6 16 System Service Execution Status 6 4 5 4 System Service Execution Status on page 6 19 User Operation Error Status Details 6 4 5 3 Ladder Program User Operation Error Status on page 6 16 Alarm Counter and Alarm Clear 6 4 5 5 Alarm Counter and Alarm Clear on page 6 19 System I O Error Status 6 4 5 6 System I O Error Status on page 6 19 Reserved by the system
129. 65 SW00066 and SW00067 SW00068 Year Generated SW00069 Month Generated Error Data SWw00070 Day of Week Generated SWwo00071 Day of Month Generated SW00072 Hour Generated SW00073 Minutes Generated SW00074 Seconds Generated SW00075 Milliseconds Generated Not used SW00076 to SW00079 Reserved by the system Name of Task Generating Error Reserved by the system Reserved by the system 3 Ladder Program User Operation Error Status Error information for user operation errors in ladder programs is stored in registers SW00080 to SW00089 Error Sta tus 1 and SW00110 to SW00189 Error Status 2 a Ladder Program User Operation Error Status 1 Name Register No Description DWG AA Error Count Error SW00080 Code SW00081 DWG I Error Count Error SW00082 Code Sve Operation error code DWG H Error Count Error SW00084 See Ladder Program User Operation Error Codes 1 Code SW00085 SW00086 Error code when an index error occurs Reserved by the system See Ladder Program User Operation Error Codes 2 SW00087 DWG L Error Count Error SW00088 Code SW00089 6 16 b Ladder Program User Operation Error Status 2 6 4 Troubleshooting System Errors Register No Name Remarks DWG A DWGII DWGH DWG L Error Count SW00110 SW00126 SW00142 Sw00174 Error Code Swool
130. 8 5 4 1 Self configuration Processing Procedure 5 29 5 4 2 Execution Procedure for Self configuration Using the DIP Switch 5 30 5 4 3 Execution Procedure for Self configuration Using MPE720 5 32 5 4 4 Definition Data Refreshed by Self configuration 5 36 5 5 Precautions When Using the MP2300 5 38 5 5 1 Precautions when Setting or Changing User Definition Files 5 38 5 5 2 Precautions when Setting or Changing Module Configuration Definition Files 5 39 5 5 3 Setting and Changing the Scan Time 5 40 a Outline of Motion Control Systems 5 2 5 Outline of Motion Control Systems 5 1 1 DIP Switch Settings 5 1 Startup Sequence and Basic Operation This section describes the MP2300 startup sequence and basic operation together with the DIP switch settings self diagnosis at startup and LED indicator patterns 5 1 1 DIP Switch Settings Set the DIP switch on the Basic Module to control operations of the startup sequence The six switches are provided on the DIP switch on the Basic Module as shown in the figure below The following table lists the functions of six switches STOP o SUP Te INIT Fos CNFG ise MON N TEST Lie SW1 OFF ON Switch Default No Name
131. Basic Module is turned OFF The built in battery can retain the contents of the memory until the total time of power interruptions reaches one year The warranty period of the battery is five years from the date of purchase These values however differ according to the operating conditions including the ambient temperature If the BAT indicator on the Basic Module lights replace the battery with a replacement battery JZSP BAO1 within two weeks Any delay in battery replacement will result in the data stored in the memory being lost The appearance of the battery is illustrated below LiTHIUM Red lead Black lead O Fig 6 1 JZSP BA01 Battery with Cable This battery is not commercially available Contact your Yaskawa representative 6 2 1 Procedure Z CAUTION There is danger of electric shock if the battery is not replace correctly Furthermore machine malfunction may occur the operator may be injured or the machine may be damaged Allow only a qualified technician trained in safety procedures to replace the battery When replacing the battery always do so with power supplied to the Basic Module If power to the Basic Module is turned OFF when the battery is replaced data stored in the memory in the Module may be lost Do not touch the battery electrodes The battery may be destroyed by the static electricity 1 Save the data stored in the Motion Board to your computer using the MPE720
132. CK parameters are written to the SERVOPACK s EEPROM or RAM These settings however are not written to the set values for the SERVOPACK parameters saved in the MP2300 and SVB 01 Module For details of the data that is written refer to 71 6 5 Parameters Updated during Self configuration in the Machine Controller MP2000 Series Built in SVB SVB 01 Motion Module User s Manual Manual No SIEPC80070033 To save the SERVOPACK parameters to the MP2300 Basic Module MPE720 must be used For details refer to 4 3 2 5 Making Servo Adjustments and Saving SERVOPACK Parameters on page 4 38 a Outline of Motion Control Systems 5 37 5 Outline of Motion Control Systems 5 5 1 Precautions when Setting or Changing User Definition Files 5 5 Precautions When Using the MP2300 This section describes precautions for setting or changing user definition files and for setting the scan times 5 5 1 Precautions when Setting or Changing User Definition Files User definition files system settings scan time settings and module configuration definitions must be saved to flash memory Save amp Save to Flash Use the MPE720 to set or change these user definition files Be sure to save the results to flash memory If data is not saved to flash memory the settings and changes will be lost when the power supply to the MP2300 is turned OFF and ON lt When Using MPE720 Ver 6 00 gt System Setting Select File Environment Setting Setup System Setting f
133. Command Error Occurrence varning OY and Alarmi A That Occur at Command Error Occurrence The commanded movement for one scan exceeds the segment that can be commanded to the MECHATROLINK SERVOPACK or the speed A Excessive Speed Interpolation feed forward value exceeds the maximum 4 INTERPOLATE allowable speed and Last Interporation The axis is ABS infinite length and the zero point A Zero Point Unsetting 5 Segment return setting is not completed ENDOF_INTERPOLATE In servo OFF status A Servo OFF An alarm is occurring P A Servo Driver Synchronization Asynchronous communication status ae Communications Error The commanded movement for one scan exceeds the segment that can be commanded to the MECHATROLINK SERVOPACK or the speed A Excessive Speed feed forward value exceeds the maximum Interporation Mode with allowable speed 6 Latch Input The axis is ABS infinite len i gth and the zero point f LATCH return setting is not completed A Zero Pomt Unsetting In servo OFF status A Servo OFF An alarm is occurring The selected latch signal is out of the setting range W Set Parameter Error In machine lock status JOG Mode In servo OFF status A Servo OFF 7 FEED An alarm is occurring z bogi A Servo Driver Synchronization Asynchronous communication status A Communications Error Positioning movement exceeds the allowable A Excessive Positioning Moving value Amount 8 Relative Positon Mode In servo OFF s
134. Controller Folder Definition Folder in the File Manager Window to display the five folders contained within it Double click the Module Configuration Folder H File Manager File F Edit E View Tool T Help H X S n t El a root a MP2300 a YESAMPLE a mi 2300SMPL C Register Folder H Data Base a Definition Folder D Application Information Settir Data Trace sae Module Configuration _ Scan Time Setting L System Configuration H Programs Table Data Folder The Enginnering Manager Window will open and the Module Configuration Window will appear 4 36 4 3 Starting Sample Program MPE720 Ver 5 00 2 Select 00 in the Controller Area and double click the 3 in the Module Details MP2300 SLOTz00 Area in the Module Configuration Window E Module Configuration MP2300 YESAMPLE 2300SMPL MP2300 Online Local Oy x PT 1 UT 1 CPUR 1 r Controller ot Number E Module Typ v 207iF 01 v 2181F 01 v UNDEFINED _ v Controller Number E T E Inout DISABLE JMP2300 Itis CPU module I 0 network servo control and the virtual axis function Module Details MP2300 SLOT 00 Circuit Number Inout DISABLE The SVB Definition Window with Fixed Parameters Tab Page will appear 3 Set the fixed parameters for axis 1 Select Axis J from the axis selection box at the top left of the window and select mm under No 4 Reference u
135. Error 1 I O error SB00041A to Reserved by the system SB00041F H Scan Over SW00044 Counter L Scan Over SW00046 Counter SB000470 Reserved b the system y SW00047 to Reserved by the system i SB00047F SB000480 TEST SB000481 MON SB000482 CNFG DIP switch alarms SB000483 INT 0 ON 1 OFF Hardware SB000484 SUP Configuration SW00048 SB000485 STOP Status SB000486 SB000487 Battery Alarm SB000488 to Reserved by the system SB00048F 6 14 6 4 Troubleshooting System Errors cont d Name Register No Description SW000490 Reserved b the system y SW00049 to Reserved by the system oe SW00049F 2 System Error Status System error status is stored in registers SW00050 to SW00060 Name Register No Description 0001H Watchdog timer over error 0041H ROM diagnosis error 0042H RAM diagnosis error 0043H CPU diagnosis error 0044H FPU diagnosis error 00E0H Address read execption error 39 bit Error Code SW00050 0100H Address write execption error 0120H FPU exception error 0180H Illegal general command error 01A0H Illegal slot command error 01E0H User break after command execution 0800H General FPU inhibited exception error 0820H Slot FPU inhibited exception error SW00051 For system error analysis 32 bit Addresses SW00052 i E Generating Error Swo00s3 or system error analysis Ladder Program 0000H System 0002H DWGI
136. F MB300001 wee Phase control electric shaft t OOK 00000 32767 Dw00010 L Electric shaft start S ON OFF DB000010H06 01 Speed setting motor rated speed 30000mmimin S gt 00000 mmimin 000000 030000 DL00010 H06 01 mee Phase control electric cam OOK 00000 32767 Dw00010 L Electric cam start S ON OFF DBO00010H06 02 Main axis speed setting 30000mmimin S XOooK mmimin 030000 030000 DL00010 H06 02 Cam axis amplitude setting double amplitude S XOOKX arere mm 000 000 999 999 ML30200 Cam axis main axis moving amount per a cycle SLO ereaeeeee mm 00000 000 50000 000 ML30202 4 Procedure Use the following procedure to operate the Tuning Panel and check operation 1 Servo ON Change the Servo ON PB current value from OFF to ON The Servomotor will turn ON and the Servo will be clamped Electronic Shaft Start Change the Electric shaft start current value from OFF to ON The mode will change to the phase control electronic shaft mode Enter OFF to exit position control electric shaft mode Enter Speed Settings Enter any value within the setting range 0 to 30000 as the current value of Speed setting motor rated speed 30 000 mm min This operation synchronizes the speed for both axes to the speed of the virtual master axis and operation starts Change the Electric shaft start current value from ON to OFF when the check operation has been completed It is necessary to create routines within the actual application program i
137. H 2 RACK O1 Slot 00 ciIR 01 s000 67FF a Default Set Version 0014 z Servo Type E otary z Copy Current Value Fixed Parameters Setup Parameters SERVOPACK Monitor No Name Input Data 0000 Function Selection Basic Switch O 0001 Function Selection Application Switch 1 Details 0002 Function Selection Application Switch 2 0004 Function Selection Application Switch 4 A confirmation dialog box will appear The data in the Input Data Column is the SERVOPACK data saved to the MP2300 and the data in the Current Value Column is the data set to the SERVOPACK Refer to B Current Values and Set Values Input Data in the SVB Definition Window on page A 5 for information on the relationship between Current Value and Setting Data 4 Click the Yes Button in the confirmation dialog box to write the SERVOPACK data current position as the MP2300 settings data S B 01 Definition xi The SERVOPACK current value will be copied to the set value Are you sure 4 38 Select File Save to save the SERVOPACK settings for axis 1 to the MP2300 Follow steps 2 to 5 to write and save the SERVOPACK current position for axis 2 as settings data as well Select File Exit to exit the setting and saving process in the Engineering Manger Window 4 3 Starting Sample Program MPE720 Ver 5 00 Edit E View Windowlw Help H File ManagerE Ctrl F by B T i
138. H processing Executed each high speed scan DWG L Scheduled cycle startup Executed each low 3 4 500 Drawing L Low speed scan speed scan 5 2 User Programs The following table provides details of the number of drawings for each drawing Number of Drawings Processing Drawings Drawing DWGA DWG I DWG H DWG L Parent Drawings 1 A 10 1 B 1 L Operation Error 1 A00 1 100 1 H00 1 L00 Child Drawings Grandchild Drawings Total 62 max Total 62 max Total 198 max Total 498 max 5 2 2 Execution Control of Drawings 1 Execution Control The following table shows when each drawing is executed based on the order of priority Power ON DWG A initial processing drawing Each high speed scan Each low speed scan Vv Vv Input all Input all Vv Vv Output all Output all Vv Vv DWG H High speed DWG L Low speed scan processing scan processing drawing drawing Vv Vv Operation error peaton ere Interrupt signal A DWG X00 Operation error processing drawing DWG I Interrupt processing drawing XA H orb A Continuation of processing before error occurred 2 Execution Schedule for Scan Processing Drawings Continuation of processing before interruption occurred The scan processing drawings are
139. If this happens return to step 3 above and repeat the operation Mistake in Key Operation 4 UP Key I Blinks for 1 s LIL y UP Key v Returns to the Auxiliary Function Mode 5 Press the DSPL SET Key The display will change as shown below and the clear operation will be performed for multiturn data for the absolute encoder Blinks for 1 s This completes initializing the absolute encoder Reset the SERVOPACK to turn the power supply OFF and then back ON a Appendices P D C Initializing the Absolute Encoder 2 Initialization Using the Built in Panel Operator 1 Press the MODE SET Key to select the Auxiliary Function Mode 2 Press the UP 4 and DOWN w Keys to select parameter Fn008 3 Press the DATA ENTER Key for more than one second The following display will appear 4 The rightmost digit will be incremented each time the UP A Key is pressed Press the UP A Key several time until PGCL5 is displayed If a mistake is made in the key operation nO_OP will blink on the display for 1 second and then the display will return to the Auxiliary Function Mode If this happens return to step 3 above and repeat the operation Mistake in Key Operation 4 UP Key UP Key j y Returns to the Auxiliary Function Mode 5 Press the MODE SET Key The display will change as shown below and the clear operation will be performed for multiturn data for the absolute encoder lo
140. J ttt terete Not used Notused ttt tenets Not used Notused ttt ttttts Not used Notused Heme Not used Notused aen Not used The above error status is meant to check I O errors when an I O Module is connected Errors when SERVOPACKs and or MECHATROLINK II inverters are connected will not be written Use the monitoring parameter to check errors when SERVOPACKs and or MECHATROLINK II inverters are connected d 260IF 01 Module Error Status Slot 3 Bit No srrsrssrssnnsnnennnnnnnnnnnnnnnnnnnenennne 8 y ey 0 SW00240 Error code Station error 1 SW00241 ST 15 ttt ttt ST 0 Swo00242 ST 31 o ttt ttt ST 16 Swo00243 ST 47 Jo e ST 32 SW00244 ST 63 ttt tts ST 48 lt Error Status Details gt Item Code Description ST n Normal communication Communication error at the station n n local station number in slave mode Maintenance and Inspection 6 21 6 22 6 Maintenance and Inspection 6 4 5 System Register Configuration and Error Status 8 MP2300 Module Information Name Register No Remarks SW00800 Basic Module C380H SW00801 Reserved by the system SW00802 CPU Software version BCD SW00803 Number of sub slots 0004H SW00804 CPU Function ID C310H SW00805 CPU Function Module Status SW00806 T O Function Module ID
141. MECHATROLINK II 32 Byte Mode MECHATROLINK II 17 Byte Mode or MECHATROLINK I Master Slave Displays whether the selected SVB Module is used as a Master station or Slave station Select either Master or Slave A built in SVB slot number 00 is fixed to Master My station address Local station address Displays the local station address set by using the rotary switches For Master station fixed to 0 For slave stations set a number between and the number of slave stations Transmission Speed Displays the transmission speed MECHATROLINK II 32 byte mode 10 Mbps MECHATROLINK II 17 byte mode 10 Mbps MECHATROLINK I 4 Mbps Cannot be set Transmission Bytes Hidden for MECHATROLINK I Displays the number of transmission bytes The number of transmission bytes depends on the communication type and the station type Master or Slave Refer to W Transmission Bytes Communication Cycle Number of Retries to Slaves Number of Slaves for details Cannot be set Communication Cycle Displays the communication cycle The number of transmission bytes depends on the communication type and the station type Master or Slave Refer to W Transmission Bytes Communication Cycle Number of Retries to Slaves Number of Slaves for details Can be set only for the Master station and when MECHATROLINK II is selected as the communication type The value that can be set differs depending on wh
142. MP2300 to Flash Memory and Transferring Data to Your Computer from the MP2300 4 21 4 3 Starting Sample Program MPE720 Ver 5 00 4 23 4 3 1 Starting MPE720 Ver 5 00 and Creating Folders 4 24 4 3 2 Reading Sample Programs and Setting and Saving Parameters 4 28 4 3 3 Other Operations 4 42 4 4 Checking Sample Program Operation 4 44 4 4 1 How to Open the Tuning Panel Window 4 44 4 4 2 Operation Check 1 Manual Operation 4 46 4 4 3 Operation Check 2 Position Control 4 53 4 4 4 Operation Check 3 Phase Control Electronic Shaft 4 58 4 4 5 Operation Check 4 Phase Control Electronic Cam 4 62 4 5 System Startup Using Self Configuration 4 68 4 5 1 Starting the System for First Time 4 68 4 5 2 System Startup when Adding Electronic Devices 4 71 4 5 3 System Startup when Replacing Electronic Devices 4 73 5 Outline of Motion Control Systems 5 1 Startup Sequence and Basic Operation 5 2 5 1 1 DI
143. ND END Motion program For the meaning of register numbers and how to interpret them refer to 5 3 Registers on page 5 21 1 Motion Program Status Bits A00000 0 The leading word DAO 000 00 0 in the MSEE work registers contains the motion program status bits for monitor ing execution status of the motion program The following table shows details of status bit Bit No Status Program running Program paused Program stopped by stop request used by system Used by system Single program block operation stopped Program alarm Stopped by brake point In debug mode EWS debugging operation Start request signal history No system work error nim O DW OF A W N gt o Main program number exceeded error Alarm details are saved in the S registers 5 12 5 2 User Programs 2 Motion Program Control Signals DADOOOO 1 Program control signals e g program operation start requests and program stop requests need to be entered to exe cute the motion program called from DWG H using the MSEE command The second word of the MSEE work regis ters DANOOO0 1 is the motion program control signal The following types of signals for controlling motion programs are available Bit No Signal Name Signal Type 0 Program operation start request Differential or NO contact input 1 Program pause
144. Options and Precautions on Settings ST Statonnumber The station number set here must be the same as the number set using rotary switches TYPE Slave device connected at the station Select the device type from the pull down list T O register s enable disable status D if Enabled Click the button to switch the status Disabled The leading input register number INPUT and When setting be careful not to overlap the register the number of input registers in words SIZE range among stations The register numbers that can be INPUT SIZE The maxim ri i seit finputtesisters will be set are in the range between the leading register number automatically set in SIZE p 8 and the ending register number in the Module i Configuration Definition Window The leading output register number OUTPUT When setting be careful not to overlap the register andike iimber of nputtenisters in words range among stations The register numbers that can be OUTPUT SIZE SIZE The ee iti SA of output set are in the range between the leading register number registers will be automatically set in SIZE anio ihe ending tegister number in the Module i Configuration Definition Window SCAN a a e oes wane Select either High or Low When TYPE is set to a a ea nee SERVOPACK fixed to High Comment Station name Enter a comment of up to 32 characters for each station E Deleting a Station Assignment Click any cell in the row of the station to be deleted and
145. P Switch Settings 5 2 5 1 2 Startup Sequence 5 3 5 1 3 Startup Sequence Operation Details 5 4 5 1 4 LED Indicator Details 5 5 5 2 User ProgramS lt lt 9 94 Sosa ss eee see tenet eee 5 6 5 2 1 Ladder Drawings DWG 5 6 5 2 2 Execution Control of Drawings 5 7 5 2 3 Motion Programs 5 10 5 2 4 Motion Programs and MSEE and S Registers 5 12 5 2 5 Example of Ladder Programs for Motion Program Control 5 18 5 2 6 Functions 5 20 5 3 Registers 5 21 5 3 1 Types of Registers 5 21 5 3 2 Data Types and Register Specifications 5 24 5 3 3 Using i and j Subscripts 5 26 5 3 4 Register Specification Methods 5 27 5 4 Self configuration 5 28 5 4 1 Self configur
146. PE720 installation disk The procedure for designing machine systems is omitted here 4 1 1 Flowchart for Model System Startup An outline of the procedure for system startup is provided below The procedure differs in steps 7 and 8 depending on the MPE720 version Refer to the reference material for each procedure indicated in the right hand column 1 Preparation of Devices Prepare and connect the devices required for testing gt 4 1 2 System Configuration on page 4 3 Vv Mounting Modules Mount the 218IF 01 to the Basic Module gt 3 1 3 Replacing and Adding Optional Modules on page 3 6 WY Connecting and Wiring the System Connect the MPE720 installed personal computer and wire the Servomotors and SERVOPACKs 4 1 2 System Configuration on page 4 3 Vv Initializing the SERVOPACKs Initialize the SERVOPACKs gt 4 1 3 Initializing SERVOPACKs on page 4 5 Vv Setting and Saving the Communication Process Communication Manager Start the Communication Manager to set and save the communication process on each port gt 4 1 4 Setting and Saving Communication Process Communication Manager on page 4 6 V MP2300 Self configuration The connected devices are automatically confirmed gt 4 1 5 MP2300 Self configuration on page 4 12 Z Reading Sample Programs and Starting MPE720 Ver 6 00 Read the sample program from the
147. R motion parameters and motion commands The SVR can be used to control up to 16 virtual axes in the high speed scan control cycle In the MP2300 Basic Module slot 4 in the default Module Configuration Window is for SVR Engineering Manager Module Configuration 2300 PIC MP2300 Ali Loci oj x File View Order Window Help 8 x jC tel Sc Ge wea Me a mY e PT CPU r Controller siot Number ME E Module Type 218IF 01 UNDEFINED Controller Number Disable Output Motion Start Register Motion End Register Details MP2300 Controller module with network servo control 1 0 virtual axes Disable Input COo E M r Module Details MP2300 SLOT 00 Module Type ceru vho jsw Controller Number b CircutNumber h h 01 o gf Enable 7 Motion Start Register_ 8000 Motion End Register_ f ezr Details O OO OO MECHATROUNK For Help press F1 Ifthe SVR is not used MP2300 processing time can be reduced by setting the Module Type for SVR to UNDEFINED in the Module Configuration Window eas put DISABLE ie ae ut _Output DISABLE _Motion Start Register _ Start Register 2 2 MP2300 Basic Module Functions 2 Example SVR Usage The SVR is used in the following two applications Program testing Results are easily obtained without mounting a motor e Generating
148. RR BAT Indicator Details Countermeasures Errors Not lit Not lit Not lit Lit Not lit A serious error has occurred Refer to 6 4 3 Troubleshooting When ERR is Lit on page 6 12 No lit Not lit Lit Not lit Not lit A serious error has occurred Refer to 6 4 4 Troubleshooting When ALM is Lit on page 6 13 Not lit Not lit Not lit Blinking Not lit Software Error Number of LED blinks indicates error type 3 Address error read exception 4 Address error write exception 5 FPU exception 6 Illegal general command exception 7 Illegal slot command exception 8 General FPU inhibited exception 9 Slot FPU inhibited exception 10 TLB multibit exception 11 LTB error read exception 12 LTB error write exception 13 LTB protection volation read exception LTB protection volation write exception Initial page write exception 14 15 Not lit Not lit Blinking Blinking Not lit Hardware Error Number of LED blinks indicates error type 2 RAM diagnostic error 3 ROM diagnostic error 4 CPU function diagnostic error 5 FPU function diagnostic error A hardware error has occurred Replace the Module Warnings Lit Battery alarm Replace the memory storage battery Lit Lit Lit Not lit Not lit Operation error T O error Refer to 6 4 4 Troubleshooting When ALM is Lit on page 6 13
149. Ro pis REE Open 0 Close C SavelS Ctl S Delete D Ctrl D ae Servo Pack Print P Ctrl P Parameters Servo Pack Monitor Exits no l Run Mode Function Selection Er Engineering Manager Edit E View Window Help H File Manager F Ctrl F by CRO DIS R Geel 7 AS v E ge Close C 300 YESAMPLE 2300SMP Save S Ctrl S Delete D Ctrl D Print P Ctrl P Servo Pa Pet amaters Servo Pack Monito Function Selection Function Selection2 gt System Startup and Sample Programs 4 39 4 System Startup and Sample Programs 4 3 2 Reading Sample Programs and Setting and Saving Parameters 6 Saving to Flash Memory Save sample programs that have been transferred individually to the MP2300 to the MP2300 flash memory using the procedure below 1 Right click the Controller Folder in which the sample programs have been saved and select Transfer Other Save to Flash from the pop up menu that is displayed alx ga Elbe Aloo root mP2300 Cc Register Fo Folder A YESAMPLE Definition Folder Folder Ohl J Programs Folder aA c v Online Si Table Data F Folder H D Log On HL Pr properties CtrltR H Te Log off A Fies Backup Motion Programs Selected Files Application Converter gt Continuous File Transfer gt Delete Ctrl D Controller Operation The Save Flash Memo
150. S B Definition MP2300 YESAMPLE 2300SMPL MP2300 Gn Bj x TI File Edit View Window Help lj xj D uae te ASR Bee E E E RRS e a A A e PT 2 1P 192 168 1 1 CPUR 1 JRACK O1 Slot 200 cIR 01 s000 67FF M vist SERVOPACK SGDS 1 Mersion 0014 T Servo Type Ratan z Fixed Parameters Setup Parameters SERVOPACK Monitor oh Name Input Date Une Current _ Function Selection Basic Switch 0 Function Selection Application Switch 1 0002 Function Selection Application Switch 2 Function Selection Application Switch 4 Function Selection Application Switch 6 Function Selection Application Switch 7 Function Selection Application Switch 8 Speed Loop Gain Speed Loop Integral Time Constant Pasition Loop Gain Moment of Inertia Ratio Mass ratio 2nd Speed Loop Gain ee ee se i After copying Engineering Manager SYB Definition MP2300 YESAMPLE 23005MPL MP2300 oj x T File Edit View Window Help l xj buse reemer Enea o oF l PT 2 IP 192 168 1 1 CPUR 1 RACK O1 Slot 00 ciR 01 8000 87FF M vist SERVOPACK SGDS 1 version 0014 T Servo Type Rotary z Fixed Parameters Setup Parameters SERVOPACK Monitor Po Name Tine Data Unit Current _ 9000 Function Selection Basic Switch O 0000 Hf 0000 H 0001 Function Selection Application Switch 1 0000 H
151. S SGDS MECHATROLINK II SERVOPACKs with Communication User s Manual SIEP S800000 11 Describes the models specifications wiring trial operation adjustment function application methods maintenance inspection and MECHATROLINK communication of the X III Series SERVOPACKs and Servomotors AC Servodrive x V Series User s Manual Setup Rotational Motor SIEP S800000 43 Describes the installation wiring connection and trial operation of the Z V Series servodrives and rotational servomotors AC Servodrive V Series User s Manual Setup Linear Motor SIEP S800000 44 Describes the installation wiring connection and trial operation of the Z V Series servodrives and linear servomotors AC Servodrive V Series SGMOO SGDV User s Manual Design and Maintenance SIEP S800000 45 Describes the maintenance of the Z V Series analog servodrives and rotational servomotors AC Servodrive V Series User s Manual Design and Maintenance Rotational Motor SIEP S800000 46 Describes the maintenance of the X V Series servodrives with MECHATROLINK II communications and rotational servomotors AC Servodrive x V Series User s Manual Design and Maintenance Linear Motor SIEP S800000 47 Describes the maintenance of the Z V Series analog servodrives and linear servomotors AC Servodrive V Series User s Manual Design and Maintenance Rotational Motor SIEP S800000 48 Describes the maintenance
152. S232 El Refer to 5 4 3 2 Self Configuration of Each Module on page 5 34 for information on self configuration of MP2300 Modules If Self Configure All Modules is executed when MP2300 is selected all the modules will be self configured With the self configuration function existing definitions for SERVOPACKs are not refreshed and existing parameters are saved However SERVOPACKs need to be started up normally for self configuration to be used If I O addresses are changed for an existing application using MPE720 after the initial self configuration has Y been executed the I O addresses are updated when self configuration is subsequently executed If SVR is set to disabled the setting will return to enabled It is recommended that settings are checked again including settings for existing electronic devices after self configuration has been executed Refer to steps 6 to 9 under 4 5 Starting the System for First Time on page 4 68 for details of the rest of this procedure steps 6 to 9 gt System Startup and Sample Programs 4 71 4 System Startup and Sample Programs 4 5 2 System Startup when Adding Electronic Devices 4 72 6 Make Parameter Settings to Match Machinery 7 Save SERVOPACK Parameters 8 Save MP2300 Data to Flash Memory 9 Save Ladder Programs and Restart MP2300 This completes the system startup procedure when electronic devices have been added 4 5 System Startup Using Self Co
153. SDRAM aM SERVOPACK Parameters Parameiers All Axes MP2300 SERVOPACK SERVOPACK Refer to 4 Motion Prameters of the Machine Controller MP2000 Series Built in SVB SVB 01 Motion Mudule User s Manual Manual No SIEPC88070033 Parameters held in the SERVOPACK s RAM are displayed on a Digital Operator connected to the SERVOPACK They are also written to EEPROM when the DATA ENTER Key is pressed a Appendices P or A 6 B Current Values and Set Values Input Data in the SVB Definition Window 3 When the SERVOPACK Tab Page Is Open The data flow for SERVOPACK parameters is as follows when the SERVOPACK Tab Page is open in the SVB Definitions Window on the MPE720 refer to 2 2 5 2 a Opening the SVB Definition Window on page 2 23 for details on how to open the SERVOPACK Tab Page The MPE720 writes and displays the parameters that are held in the SERVOPACK s RAM for the relevant axis to the Current Value in the SERVOPACK Tab Page It also reads and displays the values that are held in the MP2300 s SDRAM values to the Input Data in the SERVO PACK Tab MECHATROLINK Send Send a T MPE720 l online System Control SRAM Software Display Input Current Data Value a b Flash EEP eee S Memory SDRAM RAM ROM i gt Input 7 SERVOPACK l Data l Parameters Parameters l J All Axes Ie ar
154. Set Details Dialog Box that is displayed In this example DWG Scan Time Data Trace Group Definition and Motion Main Program are selected and detailed settings are made for DWG and Motion Main Program E Individual Load BEE Fie View Help H Source C YeTools MPE720 Cp717Ust MP2300 YESAMPLE 2300SMPL E Change Destination PT 1UT 1CPU 1 MP2300 Change Transfer Mode Change v M DWG il Scan Time I Group Definition F FUNC M Tealst I Table Data Details M Data Trace T Constant TBL C REG Details Failures Del JS FED men Controlere I Engineering unit I M Register I System Configuration E G peniste I Application Information Je Register I Module Configuration fe G Reaister F Tope Defintior T D Register I C Register SAA a Set Drawing Details Dialog Box The details for the DWG sample program are shown below Select the programs to be transferred and click the OK Button If Select All is selected all programs for the DWG program will be selected In this example select Select All and click the OK Button to return to the Individual Load Window Set drawing details E x G setect X F Comment Data Transter H High speed Main Program H01 common settings for axes H02 main program for manual operation H02 01 axis 1 manual operation JOG amp STEP H02 02 axis 2 manual operation JOG amp STEP main program for positioning HO6 phase control main program HO 01 phase control 1 electronic
155. Setting Motion Fixed Parameters and Adjusting the Settings for Servo Control on page 4 17 when using MPE720 Ver 6 00 4 3 1 Starting MPE720 Ver 5 O0 and Creating Folders on page 4 24 and 4 3 2 Reading Sample Programs and Setting and Saving Parameters on page 4 28 when using MPE720 Ver 5 00 for the procedure from starting MPE720 to setting and saving fixed parameters Refer to D 1 Fixed Parameter List on page A 19 for the fixed parameter list and Machine Controller MP2000 Series Motion Module Built in SVB SVB 01 User s Manual Manual No SIEPC88070033 for details on fixed parameters and for information on setting parameters for machinery Refer to each SERVOPACK manual for information on the Servo adjustment Make Servo Adjustment and Save SERVOPACK Parameters Adjust the SERVOPACK gain and other parameters for each SERVOPACK and save the SERVOPACK parameters for each axis to the MP2300 a Select the axis in the SVB Definition Window refer to 4 2 2 Setting Motion Fixed Parameters and Adjusting the Settings for Servo Control on page 4 17 or 4 3 2 4 Set and Save Motion Fixed Parameters on page 4 36 then click the SERVOPACK Tab to display the SERVOPACK Tab Page W SVB Definition MP2500 YESAMPLE 2500SMPL MP2100 2500 Online Local Pre 1 CPU 1 RACK 01 CIR 01 8000 67FF Axis 1 z SERVOPACK S6DS xxx1xx Merson z Servo TypefRotary 7 ome xis 2 eters Setup Parameters SERVOPACY Monitor e a a io S
156. Status Operating Mode Setting Remarks 1 STOP ON User program stops OFF Set to ON to stop user program operation Effective only at OFF User program operation power ON ON System use 2 SUP 2 OFF Always set to OFF OFF Normal operation ON Memory clear Set to ON to clear memory 3 INIT i OFF Programs stored in flash memory will be run when Memory OFF Normal operation Clear is set to OFF ON Configuration mode 4 CNFG 4 OFF Set to ON for self configuration of connected devices OFF Normal operation ON System use 5 MON y OFF Always set to OFF OFF Normal operation ON System use 6 TEST E OFF Always set to OFF OFF Normal operation 5 1 2 Startup Sequence 5 1 Startup Sequence and Basic Operation The startup sequence for the MP2300 from the moment when the power has been turned ON is shown in the following flowchart Startup self diagnostics 1 Judges the Setting of switch 4 INIT of DIP switch SW1 FLASH gt RAM Copy Memory clear Judges the setting of switch 3 CNFG of DIP switch SW1 Self configuration execution 2 Configuration mode Normal operation Judges the etting of switch 6 STOP of DIP switch SW1 OFF Vv ON Operation stops 4 Watchdog timer start User program stops Vv Run LED indicator lit V DWG A executed Ladder program Operatio
157. Transfer Mode Change hd C transmission Detail I Program V Comment IV Register F User Menu 5 The Change Transfer Drive Dialog Box will appear Click the Detail Button to open the Select the Folder Dialog Box Change Transfer drive Folder C SAMPLES X Cancel 6 Three sub folders under the 2300SMPL_E folder will appear Click the Select Button to close the dialog box Look in fa 2300SMPL_E e ek EA 7 The Execute Dialog Box will appear Click the OK Button OS x aes E 2300SMPL_E 2300SMPL_E Change Destination E YeTools MPE720 Cp717UsrMP2300 YESAMPLESSAMPLE Change Transfer Mode Change X F Compression transmission Detail Program I Comment Register F User Menu Coi Cancel The Execution Status Dialog Box will appear Once the transfer has been completed a confirmation dialog box will appear Click the OK Button al System Startup and Sample Programs 4 33 4 System Startup and Sample Programs 4 3 2 Reading Sample Programs and Setting and Saving Parameters 8 The All Media to MPE720 Window will appear Select File Exit to end reading files to the MPE720 all Media to MPE720 5 xj File View Help C 523005MPL_E 2300SMPL_E Source Destination C YeTools MPE 7204Cp717UsrMP2300YESAMPLE SAMPLE Change Transfer Mode Change x I Compression transmission Detail V Program IV Register IV Comment I User Menu Exit t
158. aintenance and Inspection 6 25 6 Maintenance and Inspection 6 6 List of Causes for Command Error Occurrence 6 26 The Command Error Completed Status Command Error Occurence bit WOA09 bit 3 turns ON when the set motion command cannot be executed or when the execution of a motion command ends error The triggers for which this bit turns ON depend on the motion command The following table describes the causes of Command Error Occurrence for each motion command Motion Command Code Cause of Command Error Occurrence Warning W and Alarm A That Occur at Command Error Occurrence Position Mode 1 Positioning POSING The positioning movement exceeds the allowable range A Excessive Positioning Moving Amount The axis is ABS infinite length and the zero point return setting is not completed A Zero Point Unsetting In servo OFF status A Servo OFF Alarm is occurring Asynchronous communication status A Servo Driver Synchronization Communications Error Latch Torque Positioning 2 External positioning EX_POSING The positioning movement exceeds the allowable range A Excessive Positioning Moving Amount The axis is ABS infinite length and the zero point return setting is not completed A Zero Point Unsetting In servo OFF status A Servo OFF Alarm is occurring Asynchronous communication status A Servo Driver Synchronization Com
159. alue and Setting Data 4 Click the Yes Button in the confirmation dialog box to write the SERVOPACK data current position as the MP2300 settings data S B 01 Definition i xi The SERVOPACK current value will be copied to the set value Are you sure al System Startup and Sample Programs 4 19 4 System Startup and Sample Programs 4 2 2 Setting Motion Fixed Parameters and Adjusting the Settings for Servo Control 5 Select File Save to save the SERVOPACK settings for axis 1 to the MP2300 F Engineering Manager Edit E View Windowlw Help H File Manager F Ctrl F Open Q gt Close C rat CRO DIS REE BG GA amp e fe Ce eke SO0N YESAMPLE 2300SMPL Save S Delete D Ctrl D Print P Ctrl P Exits no l wm Run Mode Function Selection Servo Pack Parameters Servo Pack Monitor 6 Follow steps 2 to 5 to write and save the SERVOPACK current position for axis 2 as settings data as well 7 Select File Exit to exit the setting and saving process in the Engineering Manger Window gj Engineering Manager Edit E View Windowlw Help H File ManagerfE Ctrl F Open Q gt Close C Save S Ctrl S Delete D Ctrl D b MS vE ire 300 YESAMPLE 2300SMP Print P CtP Sealey pater Servo Pack Monito Function Selection Function Selection2 4 20 4 2 Starting the Sample Program MPE720 Ver 6 00 4 2 3 Savin
160. ame Input Data oie O aa Selection of operation modes Normal operation mode Function selection flag 1 0000 0000 0000 0001 0001 H Function selection flag 2 0000 0000 0000 0000 0000 H Reference unit selection seg a Number of digits below decimal point 2 maa Travel distance per machine rotation 36000 User units meray Servo motor gear ratio 1 revs g Machine gear ratio 1 revs 3 Select Edit Copy Current Value fgjEngineering Manager SYB Definition MP2300 YESAMPLE SAMPLE MP2300 On loj xi T Fie Edit View Window Help le xi Axis Data Coy Ctrl C g 7 E DE Py ve OP PEP BRE eh RE RR ovo T Ba P Axis Data Paste Ctrl RACK O1 Slot 00 ciIR 01 g000 67FF Ea Version 0014 z Servo Type Rotary z Fixed Parameters Setup Parameters SERVOPACK Monitor No f Name Input Data Function Selection Basic Switch O Function Selection Application Switch 1 Function Selection Application Switch 2 Function Selection Application Switch 4 3 2 Details Default Set Copy Current Value A confirmation dialog box will appear The data in the Input Data Column is the SERVOPACK data saved to the MP2300 and the data in the Current Value Column is the data set to the SERVOPACK Refer to B Current Values and Set Values Input Data in the SVB Definition Window on page A 5 for information on the relationship between Current V
161. and Setting and Saving Parameters 4 3 2 Reading Sample Programs and Setting and Saving Parameters This section use sample programs to explain how to log on after being connected to the MP2300 transfer programs set motion fixed parameters and log off The following flowchart outlines the order of the explanations 1 Logging On Online Use the following procedure to connect to the MP2300 and log on online to the MPE720 to transfer programs E Connecting to the MP2300 1 Right click on the Controller Folder that has been created and select Online from the pop up menu that is displayed File Manager File E Edit E View Tool T Help H File Name MP2300 YESAMPLE itn 2300S Me Log On G Properties A Ctrl R Log Off U File Transter T gt Applicateion Converter A confirmation dialog box will appear Click the Yes Button to switch to online mode The communication mode cannot be changed while logging on to the Controller folder is performed when using MPE720 If a Cannot change to CPU while logged on message is displayed when Online is selected refer to 4 3 3 2 Logging Off on page 4 43 and log off from the Controller folder 2 Right click on the Controller Folder that was selected in step 1 and select Properties from the pop up menu that is displayed Check that a check mark appears to the left of Online and Online is displayed in the data area at the bottom right of the window
162. and provides an out line of user programs and registers 5 1 Startup Sequence and Basic Operation 5 2 5 1 1 DIP Switch Settings 5 2 5 1 2 Startup Sequence 5 3 5 1 3 Startup Sequence Operation Details 5 4 5 1 4 LED Indicator Details 5 5 5 2 User Programs 5 6 5 2 1 Ladder Drawings DWG 5 6 5 2 2 Execution Control of Drawings 5 7 5 2 3 Motion Programs 5 10 5 2 4 Motion Programs and MSEE and S Registers 5 12 5 2 5 Example of Ladder Programs for Motion Program Control 5 18 5 2 6 Functions 5 20 5 3 Registers 5 21 5 3 1 Types of Registers 5 21 5 3 2 Data Types and Register Specifications 5 24 5 3 3 Using i and j Subscripts 5 26 5 3 4 Register Specification Methods 5 27 5 4 Self configuration 5 2
163. arameter List Register No Name Contents SVB SVR Bit 0 Motion Controller Operation Ready Yes Yes Bit 1 Running At Servo ON Yes Yes Yn wooo RUN Status Bit 2 System BUSY Yes g Bit 3 Servo Ready Yes 2 D Bit 4 Latch Mode Yes 2 Bits 5 to F Reserved for system use K Parameter Number Setti dice heath wooo When Range Over etting parameters 0 or hig ler Yes Yes App is Generated Fixed Parameters 1000 or higher A 25 D Motion Parameter Lists cont d Register No Name Contents SVB SVR Bit 0 Excessive Deviation Yes Bit 1 Set Parameter Error Setting parameter error Yes Yes Bit 2 Fixed Parameter Error Yes Yes Bit 3 Servo Driver Error Yes Bit 4 Motion Command Set Error Yes Yes iLog02 Warning Bit 5 Reserved for system use Bit 6 Positive Direction Overtravel Yes Bit 7 Negative Direction Overtravel Yes Bit 8 Servo ON Incomplete Yes Bit 9 Servo Driver Communication Warning Yes Bit A Servo Driver Stop Signal Input Yes Bits B to 1F Reserved for system use Bit 0 Servo Driver Error Yes Bit 1 Positive Direction Overtravel Yes Bit 2 Negative Direction Overtravel Yes Bit 3 Positive Direction Software Limit Yes Bit 4 Negative Direction Software Limit Yes Bit 5 Servo OFF Yes Yes Bit 6 Positioning Time Over Yes Bit 7 Excessive Positioning Moving Amount
164. as not completed within the specified time A Servo Driver Command Timeout Error Warning A 94 or A 95 occurred in the SERVOPACK W Servo Driver Error 6 6 List of Causes for Command Error Occurrence Motion Command Code Cause of Command Error Occurrence Warning W and Alarm A That Occur at Command Error Occurrence Others Automatic Parameter Updating when Move Command Starts An alarm is occurring Asynchronous communication status A Servo Driver Synchronization Communications Error SERVOPACK parameter writing was not completed within the specified time A Servo Driver Command Timeout Error Warning A 94 or A 95 occurred in the SERVOPACK W Servo Driver Error The distribution was not completed DEN OFF When Automatic Updating of Parameter was enabled for fixed parameters and the settings of Filter Time Constant Acceleration Rate Time Constant or Deceleration Rate Time Constant were changed at the time a move command was set Maintenance and Inspection 6 29 6 Maintenance and Inspection 6 7 1 Overview of Motion Errors 6 7 Troubleshooting Motion Errors This section explains the details and remedies for errors that occur in motion control functions 6 7 1 Overview of Motion Errors Motion errors in the MP2300 include axis alarms detected for individual SERVOPACKs The failure location can be determined and appropri
165. ate When MP2300 is selected as an individual module executing Module Self Congifutation will configure all the modules 3 Select File Save amp Save to Flash from the main menu A confirmation message will appear Click the Yes Button to save the module configuration definitions a Outline of Motion Control Systems 5 35 5 Outline of Motion Control Systems 5 4 4 Definition Data Refreshed by Self configuration 5 4 4 Definition Data Refreshed by Self configuration The MP2300 Basic Module definition data refreshed when self configuration is executed are shown below 1 I O Allocations Item Allocation Digital input DI 18 points Two0000 Digital output DO 4 points Owo0001 Leading I O registers 1W0010 OW0010 MECHATROLINK Ending I O registers IW040F OW040F Input registers 1W0010 to WO40F Output registers OW0010 to OW040F 2 MECHATROLINK Transmission Definition Data The following table shows the MECHATROLINK transmission definitions that are automatically set based on the detected communication method and number of slaves en MECHATROLINK II MECHATROLINK II Communication type 32 byte 17 byte MECHATROLINK I Transmission speed 10 Mbps 10 Mbps 4 Mbps Transmission bytes transfer bytes 2 1 17 Communication cycle 1 ms 2 ms 1 ms 2 ms Maximum number of x 14 15 14 slave stations Number of retry stations j 1 0 SigmaWin Not supported Not suppo
166. ate corrections can be taken simply by checking the contents of the Warning ILO002 and Alarm ILO10004 monitoring parameters The motion alarms for the MP2300 Basic Module s MECHATROLINK I or MECHATROLINK II functionality are shown below Warning ILOO02 Bit 1 Setting Parameter Error Bit 2 Fixed Parameter Error Parameter Number When Range Over Is Generated I WO001 Bit 0 Excessive Deviation Bit 3 Servo Driver Error Bit 4 Motion Command Set Error it 0 Servo Driver Error Alarm ILO0004 it 1 Positive Direction Overtravel it 2 Negative Direction Overtravel it 3 Positive Direction Software Limit it 4 Negative Direction Software Limit it 5 Servo OFF Dwunwndwnwo Ww it 1E Servo Driver Command Time out Error Bit 1F Excessive ABS Encoder Rotations Ww _ Servo Driver Status Bit 0 Alarm IWOO2C Bit 1 Warning Bit 2 Command Ready Bit 3 Servo ON Bit D Negative Software Limit Servo Driver Alarm Code IWO02D 41 Refer to 6 7 2 Motion Error Details and Corrections 2 Refer to 6 7 3 1 Servo Driver Status IWOL2C List 3 Refer to 6 7 3 2 Servo Driver Alarm Code IWOO2D 6 30 6 7 Troubleshooting Motion Errors 6 7 2 Motion Error Details and Corrections The following tables show the contents of the axis alarms LOO04 subsection 1 and axis alarm details subsect
167. ation Module User s Manual SIEP C880700 04 Describes the functions specifications and application methods of the MP2000 Series Communication Modules 217IF 218IF 2601F 261IF Machine Controller MP2000 Series I O Module User s Manual SIEP C880700 34 Describes the functions specifications and application methods of the I O Module for the MP2000 Series Machine Controller MP2000 Series Analog Input Analog Output Module Al 01 AO 01 User s Manual SIEP C880700 26 Describes the functions specifications and application methods of the Analog Input Module AI 01 and Analog Output Module AO 01 for the MP2000 Series Machine Controller MP2000 Series Counter Module CNTR 01 User s Manual SIEP C880700 27 Describes the functions specifications and application methods of the Counter Module CNTR O1 for the MP2000 Series Machine Controller MP900 MP2000 Series Describes the instructions used in MP900 MP2000 User s Manual Ladder Programming SIEZC887 1 2 ladder programming Machine Controller MP900 MP2000 Series Pether ii JONE2000 User s Manual SIEZ C887 1 3 Describes the instructions used in MP900 MP Motion Programming motion programming Engineering Tool for MP2000 Series Machine Controller MPE720 Version 6 User s Manual SIEP C880700 30 Describes the installation and operation of the engineering tools for MP2000 Series Machine Controller MPE720 Version 6 Machine Cont
168. ation Processing Procedure 5 29 5 4 2 Execution Procedure for Self configuration Using the DIP Switch 5 30 5 4 3 Execution Procedure for Self configuration Using MPE720 5 32 5 4 4 Definition Data Refreshed by Self configuration 5 36 5 5 Precautions When Using the MP2300 5 38 5 5 1 Precautions when Setting or Changing User Definition Files 5 38 5 5 2 Precautions when Setting or Changing Module Configuration Definition Files 5 39 5 5 3 Setting and Changing the Scan Time 5 40 6 Maintenance and Inspection 6 1 Inspection Items 6 2 6 1 1 Daily Inspections 6 2 6 1 2 Regular Inspections 6 3 6 2 Replacing the Basic Module Battery 6 4 6 2 1 Procedure 6 4 6 3 Troubleshooting 6 5 6 3 1 Basic Flow of Troubleshooting 6 5 6 3 2 MP2300 Error Check Flowchart 6 6 6 3 3 LED Indicators
169. ations Item Specifications Inputs DI 00 General purpose input shared with interrupts 8 points DI 01 to DI 07 General purpose input Input Format Sink mode source mode input Isolation Method Photocoupler Input Voltage 24 VDC 20 Input Current 4 1 mA TYP ON Voltage Current 15 VDC min 2 0 mA min OFF Voltage Current 5 VDC max 1 0 mA max ON Time OFF Time ON 1 ms max OFF 1 ms max Number of Commons 1 8 points common DI_00 is shared with an interrupt input If DI_OO is turned ON while interrupts are enabled the interrupt processing drawing is executed 24 V DI_COM DI_IN Vv 054 24V e DI_COM Input register 0 01uF Vv Vv 5 V 5 6 kQ 0 5 W DI_IN 24 S50 2 N02 2 chest NE ee Input register Vv Vv Fig 3 2 Digital Input Circuit Source Mode Input Mounting and Connections 3 17 3 Mounting and Connections 3 2 4 CPU I O Built in 1 0 Connectors 3 18 6 Output Circuit The following table shows the CPU I O Connector output circuit specifications Item Specifications Outputs 4 points Output Format Transistor open collector sink mode output Isolation Method Photocoupler Outpu
170. ave been saved and select Transfer All Files From Controller to MPE720 from the pop up menu that is displayed Cn ioj x File Edit View Tool Help OARE root bP Naal B MP2300 Application In Definition File EL YESAMPLE D Data Trace Definition File i SAMPLE _ Module Confi Definition File C Register Folder 0 Scan Time Se Definition File aA roo TERE EGU J From MPE720 to Controller L H E Table Selected Files 0 From Controller to MPE720 D icati gt Se SEHR 3 F Compare Controller and MPE720 C Continuous File Transfer gt Other gt From MPE 20 to Another Drive T From Another Drive to MPE720 R Compare Another Drive to MPE720 0 Controller Operation Log Off Import Axis Comments File Name Definition Folder File Type Folder Transfer all files From controller to hard disk An execution confirmation dialog box will appear 2 Check the details and click the OK Button OS x ER PTH 2 1P 192 168 1 1 CPU 1 MP2300 Change Destination E YeTools MPE7205Cp717Usr MP2300 YESAMPLESSAMPLE Change Transfer Mode Change zj I Compression transmission Detail IV Program I Comment IV Register F User Menu a cores The file transfer will start A notification dialog box will be displayed when the transfer has been completed Click the OK Button in the dialog box to display the All Dump Window
171. ax Maximum number of slave stations 14 stations max Minimum distance between stations 0 3 m min 5 Terminator Connections JEPMC W6022 Pin number Name Z NC 1 IDATA 2 1 130 Q DATA 3 j SH 4 Shield 3 2 Basic Module Connections Specifications 6 Connection Example between MP2300 SERVOPACK and 102310 OJ MP2300 py Yaskawa rovo ORN ALMO QERR JAT YASKAWA JEPMC 102310 om ouTt IN2 ure fo fo fle fe af fps er Apes ffs MW NM N LI C te L2 Yn aN oom oe SGDS 01A12A SGDS 01A12A SGDS 01A12A L3 i i oea ie ii 2 2 i E pS p eA i u foe u foe El e i 2 foals 2 foals Terminator c E c uc amp B ccf el DIE re s JEPMC W6022 B16 E E B16 E EH B 22 e s e2 lo e s a le Bl lt lo 4 u Oe 1 ni u oe 1 B Oe 4 Oe lw BIS lw BI D j D Use MECHATROLINK cables between modules Use under the conditions that L1 L2 L3 Ln lt 50 m The MP2300 has a built in terminator Mounting and Connections 3 15 3 Mounting and Connections 3 2 4 CPU I O Built in 1 0 Connectors 3 2 4 3 16 CPU I O Built in 1 0 Co
172. base Q Definition Folder Application Information Setti Data Trace Module Configuration Scan Time Setting System Configuration w Programs ff Table Data Folder b 2 D E User Definition Files 5 5 2 Precautions when Setting or Changing Module Configuration Definition Files Observe the following precautions when setting or changing module configuration definition files e Always check to make sure that the mounted Module is the one that is defined e Be sure to save any new settings or changes to flash memory e After the settings or changes have been completed turn the power supply to the MP2300 OFF and ON E Module Configuration MP2300 Online Local loj x PT 1 CPU 1 C r Controller Controller Number Circuit Number I O Start Register I O End Register Disable Input Disable Output Motion Start Register Motion End Register Details Status Running JMP2300 Controller module with network servo control 1 0 virtual axes m Module Details MP2300 SLOT 00 Module Type fepu fv fvR v Controler Number kb Ww mm circuit Number f 01 loo UO Start Register E TVO End Register E C a ister ister g cPU CPU module CPU operation such as a scan time setup and a system definition is set up 00 Disable Input Disable Output S IECHATROLINK B7FF Running
173. called only from motion programs MPMOOO and MPSOOD The same motion program or same subroutine can be called only once in one scan a Outline of Motion Control Systems 5 11 5 Outline of Motion Control Systems 5 2 4 Motion Programs and MSEE and S Registers 5 2 4 Motion Programs and MSEE and S Registers Motion program status control signal interpolation override and system work number data is saved in four MSEE registers 4 words with a DAO000 O hexadecimal number leading address This data is called every time the MSEE command is executed in an H drawing Motion program execution information can be monitored in the S regis ters The following figure shows the method for executing motion programs MSEE register details and S register descrip tions are also provided below from 1 onwards External ladder control a signal MSEE O O e Operation start work registers O e Pause address e Stop etc DADOOoOO Status DADOOOO 1 Control signal dk DAnDOOOO 2 Interpolation override DWG H DADoOoOoOo 3 System work number Ladder program for i Execution control using motion program control motion management function gt Calling MSEE work gt MPM001 registers VEL a1 5000 b1 MSEE A FMX T10000000 Program No 00001 Motion IAG T29 Data DA00O0O00 program No IDC T30 MOV a1 300 b1 MSEE work registers MVS a1 200 b1 leading address DE
174. cates M or S a Outline of Motion Control Systems 5 15 5 Outline of Motion Control Systems 5 2 4 Motion Programs and MSEE and S Registers E Details of Program Information Used by Work n Program information used by work n 0 Program status 1 Program control signal Executing program number 2 Parallel 0 information Executing block number 5 Parallel 1 information Error code 8 Parallel 2 information 11 Parallel 3 information 14 Parallel 4 information 17 Parallel 5 information 20 Parallel 6 information 23 Parallel 7 information 26 a Logical axis 1 program current position 28 Logical axis 2 program current position 30 Pp Logical axis 3 program current position 32 z Logical axis 4 program current position 34 Logical axis 5 program current position 36 n Logical axis 6 program current position 38 5 A z Logical axis 7 program current position 40 Logical axis 8 program current position 42 Logical axis 9 program current position 44 Logical axis 10 program current position 46 3 z ig Logical axis 11 program current position 48 Logical axis 12 program current position 50 m Logical axis 13 program current position 52 i a Logical axis 14 program current position i Logical axis 15 program current position 56 Logical axis 16 program current position The monitoring method di
175. closed Serial Conversion Unit Communication Error Reception Fl Failure 6 40 6 7 Troubleshooting Motion Errors et Name clei Code Meaning CF2 Fully closed Serial Conversion Unit Communication Error Timer Stopped D00 Excessive Position Error D01 Excessive Position Error Alarm at Servo ON D02 Excessive Position Error Alarm for Speed Limit at Servo ON D10 Excessive Error between Motor and Load E00 COM Alarm 0 E01 COM Alarm 1 E02 COM Alarm 2 Servo Driver lwoo2D E07 COM Alarm 7 Alarm Code cont d cont d E08 COM Alarm 8 E09 COM Alarm 9 E40 MECHATROLINK II Transmission Cycle Setting Error ESO MECHATROLINK II Sync Error E51 MECHATROLINK II Sync Failure E60 MECHATROLINK II Communication Error E61 MECHATROLINK II Transmission Cycle Error EAO DRV Alarm 0 EAI DRV Alarm 1 EA2 DRV Alarm 2 Alarm codes are normally two digits but three digit codes are stored in the Alarm Monitor for motion commands E V Series Name ie Code Meaning 020 Parameter Checksum Error 021 Parameter Format Error 022 System Checksum Error 023 Parameter Password Error 030 Main Circuit Detector Error 040 Parameter Setting Error 041 Divided Pulse Output Setting Error 042 Parameter Combination Error 044 Semi closed Fully closed Parameter Setting Error 050 Combination Error 0
176. coder The procedure for initializing an absolute encoder for a L I X I X I or V SERVOPACK is given below Refer to 9 2 1 System Startup Flowchart in the Machine Controller MP2000 Series Built in SVB SVB 01 Motion Mod ule User s Manual Manual No SIEPC88070033 for the procedure for absolute position detection C 1 Initializing Procedures for V and Series SERVOPACKs Refer to the following manual for information on X V series SERVOPACKs 3 V Series SGMUOLI SGDV User s Manual Design and Maintenance Manual No SIEPS80000045 Refer to the following manuals for information on Z III series SERVOPACKs III Series SGMOLYSGDS User s Manual Manual No SIEPS80000000 S II Series SGMLOILVSGDS User s Manual for MECHATROLINK II Communications Manual No SIEPS80000011 and III Series SGMLIS SGDS Digital Operator Instructions Manual No TOBPS80000001 Follow the setup procedure below using a Digital Operator 1 Press the Key to display the Utility Function Mode main menu Use the UP Key or DOWN Key to select Fn008 BB FUNCT ION Fn007 Fn0O0O8 Fnoo09 FnOOA 2 Press the Key The display is switched to the execution display of Fn008 Absolute encoder multi turn reset and encoder alarm reset BB Multiturn Clear PGCL1 If the display is not switched and NO OP is displayed in the status display the Write Prohibited setting Fn010 0001 is set Check the status
177. correct the error Check to see if there is an error such as infinite loop that may cause a watchdog timer timeout If no error is found in the function check the set scan time For details on the system registers from SW00050 to SW00059 refer to 6 4 5 2 System Error Status Refer to 5 5 3 1 Precautions When Setting or Changing the Scan Time for precautions when setting the scan time 6 4 Troubleshooting System Errors 6 4 4 Troubleshooting When ALM is Lit When the ALM lamp or RDY RUN and ALM lamps of the LED indicators on the front panel of MP2300 lights up occurrence of a serious failure hardware failure user operation error or I O error is likely Stop the MP2300 by set ting the DIP switch No 6 STOP of SW1 to ON and investigate the cause using to the following flowchart START y Check Swoo041 A SW00041 bit 8 1 Replace the Module SW00041 bit 9 1 NO Hardware failure YES User operation error YES AA I O error a Check the registers from SW00080 to SW00088 to find the drawing type in Check the I O error status which the error count increased SW00200 to SW00247 to x find the error and correct it b Check the following register of the drawing type specified in a to learn the error code 3 DWG A SW00111 DWG SW00127 DWG H SW00143 DWG L SW00175 Check the following register of th
178. ctor CPU I O I O connector RDY green RUN green ALM red ERR red TX green BAT red Switches STOP SUP INIT CNFG MON TEST Current Consumption 1A max Dimensions mm 120 x 130 x 105 Wx H x D Mass 450 g 2 1 2 Environmental Conditions 2 1 MP2300 Basic Module Specifications Item Specifications Ambient Operating Temperature 0 C to 55 C Ambient Storage 25 C to 85 C Temperature Ambient Environmental Operating 30 to 95 with no condensation Conditions Humidity Ambient Storage 7 A Humidity 5 to 95 with no condensation Pollution Level Pollution level 1 conforming to JIS B 3501 Corrosive Gas There must be no combustible or corrosive gas Operating i Altitude 2 000 m above sea level or lower Conforming to JIS B 3502 10 to 57 Hz with single amplitude of 0 075 mm barona 150 Hz with fixed acceleration of 9 8 m s Mechanical Resistance e 57 to 150 Hz with fixed acceleration of 9 8 m s Operating 10 sweeps each in X Y and Z directions Conditions sweep time 1 octave min Conforming to JIS B 3502 Shock Resistance Peak acceleration of 147 m s 15 G twice for 11 ms each in the X Y and Z directions Electrical Conforming to EN 61000 6 2 EN 55011 Group 1 Class A 8 p Operating Noise Resistance Power supply noise FT noise 2 Kv min for one minute Conditions Radiation noise FT noise 1 K
179. d grandchild drawings Parent Child Grandchild User Functions Drawings Drawings Drawings DWG X DWG X01 DWG X01 01 4 DWG X01 02 FUNC 001 FUNC 006 DWG Xnn DWG X01 03 FUNC 032 FUNC 064 Note X means A I H or L The type of drawing and the parent child grandchild relationship can be determined from the descriptors after DWG DWG Description DWG X YY ZZ E Grandchild drawing number 01 to 99 Child drawing number 01 to 99 Parent drawing type 01 to 99 DWG X 00 Operation error drawing 01 to 99 5 2 User Programs 4 Drawing Execution Processing Method The execution processing of hierarchical drawings are performed by calling lower level drawings from higher level drawings The following figure shows the execution processing for drawings using DWG A as an example System programs are started according to execution conditions Parent Drawings Child Drawings Grandchild Drawings DWG A DWG A01 DWG A01 01 SEE A01 _ SEEA01 01 Functions lt FUNC 001 FUNC 001 gt DEND DWG A01 02 DEND SEE A01 02 FUNC 001 L DEND DEND SEE A02 DWG A02 System starts yf Z automatically Operation error Z b X DEND DEND DEND Functions can be called from
180. ded or deleted Modules or devices use the procedure described in 2 Self configuration of Each Module to detect the configuration Executing Self Configure All Modules will overwrite the parameters that have been set 1 Start the Engineering Manager of MPE720 E MPE720 Ver 6 00 Start MPE720 and then open the target project file Select Setup Module configuration from the Launcher Or double click Module configuration in the System sub programs BE MPE720 Ver 6 MP2300 MP2300 Start 18 x iF Eile Edit View Online Compile Debug Window Help 8X DESER 158 Moo Anane GG MBit gt gt T aD oe LOE BUS y 2 oo MEF o gt amp lt s gt gt 5 BR RB Kop Setup Programming Ladder Instruction RELAY MATH LOGIC Fa pm Program Sia Module configuration iL mP2300 MP2300 E E Ladder program m High speed Communications Setting CONTROL mE Low speed Connection 1 Serial COM1 Unit1 FUNCTION Start k MOYE Bo Interrupt Disconnection ppc Ei Function History JADE SYSTEM MOTION C PROGRAM MP2300 YMW MP2200 YMW MP2300C YMW MP2300B YMW The Engineering Manager Window will open and the Module Configuration Window will appear E MPE720 Ver 5 00 In the File Manager Window double click the Controller folder and double click the Definition folder Five definition files will appear under the Definition folder Double click Module Configuration H F
181. details 6 31 motion errors 6 30 motion fixed parameter setting 4 36 motion program alarm codes 6 24 motion program alarms 6 24 Motion Program Control Signals 5 13 motion program execution information 6 23 motion programs 4 53 4 57 5 10 5 12 execution information 5 15 ladder programs for control 5 18 MSEE registers 5 12 S registers 5 12 status bits 5 12 mounting MP2300 3 3 MP2500 mode switch 1 S1 5 2 mode switch 2 S2 5 2 MPE720 4 23 MPE720 Embedded startup 4 23 N negative overtravel 6 31 negative software limit 6 32 O online logon 4 28 operation starting 54 stopping 5 4 operation errors processing drawings 5 6 option slot configuration 9 7 Option S
182. ds for the given register number is one word the register number 00103 00102 and the next number 00103 are included Therefore every second number is used 5 24 Pointer Specification Address in memory MA00100 5 3 Registers Register area Indicates registers with consecutive multiple addresses with MA00100 as the leading address a Outline of Motion Control Systems 5 25 5 Outline of Motion Control Systems 5 3 3 Using i and j Subscripts 5 3 3 Using i and j Subscripts There are two special register modifiers i and j that can be used with relay and register numbers The functions of i and j are exactly the same They are used for handling register numbers as variables Examples of each register data type are used to explain the use of i and j 1 Bit Registers with Subscripts These are the same as when i or j values o gt are added to relay numbers Equivalent For example when i 2 MB000000i is m ji the same as MB000002 And when j ae Mt 27 MB000000j is the same as MB00001B 0002 9 0003 NL 1 2 Integer Registers with Subscripts These are the same as when i or j values are added to register numbers For example when i 3 MW00010i is Dest J Equivalent m C ELF the same as MW00013 And when j i i 30 MW00001j is the same as MW00031 gt 0002 NL 1 Source
183. e AC Input Module JAMSC 120DAI73330 200 VAC 8 inputs ves ng JAMSC 120DA083330 AC Output Module Yes No 100 200 VAC 8 outputs JAMSC 120DRA83030 Relay Module Yes No Wide voltage range relay contacts 8 contact outputs JAMSC 120AVI02030 A D Module Yes No Analog inputs 10 to 10 V 4 channels JAMSC 120Av001030 P A Module Yes No Analog outputs 10 to 10 V 2 channels JAMSC 120EHC21140 Counter Module Yes No Reversible counter 2 channels JAMSC 120MMB20230 Pulse Output Module Yes No Pulse output 2 channels JEPMC REP2000 MECHATROLINK II Repeater No Yes JEVSA YV250 MYVIS image processing device Yes Yes For details on each Module refer to the Machine Controller MP900 MP2000 Series MECHATROLINK System User s Manual Manual No SIE C877 5 1 Overview of the MP2300 1 7 1 8 1 Overview of the MP2300 1 5 1 Cables 1 5 Cables and Accessories 1 5 1 Cables The following table shows the cables that can be connected to the MP2300 Basic Module and Optional Modules Module Connector Application Model Specifications Name Used between CPU I O 7 a External TO JEPMC W2060 00 CPU I O and External I O device JEPMC W6010 00 Used between the devices listed below eee with a MECHATROLINK SVB 01 and SGD OOON ia connector and loose wires SVB 01 and SGDB OOAN ei as JEPMC W6020 MP2300 Basic Sinner Module and JEPMC W6002 00 Used between the devices list
184. e IwOO2D 83 Absolute Encoder Battery Error 84 Absolute Encoder Data Error 85 Absolute Encoder Excessive Speed B1 Gate Array 1 Error B2 Gate Array 2 Error B3 Current Feedback Phase U Error B4 Current Feedback Phase V Error B5 Watchdog Detector Error C1 Servo Run away C2 Encoder Phase Error Detected C3 Encoder Phase A or B Disconnection C4 Encoder Phase C Disconnection C5 Incremental Encoder Initial Pulses Error DO Position Error Exceeded E5 MECHATROLINK Sync Error E6 MECHATROLINK Communication Error F1 Open Phase in Power Line F3 Momentary Power Loss Maintenance and Inspection 6 37 6 Maintenance and Inspection ee SSS Sa 6 7 3 Servo Driver Status and Servo Driver Error Codes b amp II Series Name Scud Code Meaning 99 Normal 90 Excessive Position Deviation Warning 91 Overload Warning 92 Regeneration Overload Warning 93 Absolute Encoder Battery Error 94 Data Setting Warning 95 Command Warning 96 Communication Warning 02 Parameter Corrupted 03 Main Circuit Detector Error 04 Parameter Setting Error 05 Combination Error 09 Divider Setting Error 0A Encoder Type Unmatch 10 Overcurrent or Heat Sink Overheat 30 Regeneration Error 32 Regeneration Overload 33 Main Circuit Wiring Error 40 Overvoltage 41 Undervoltage l Excessive Speed 71 Overload Instantaneo
185. e Yes in the SVB or SVR column indicates that the motion parameter is supported by the corresponding module The parameters whose register numbers are marked with an asterisk are valid only when using an MP2300CPU Ver 2 61 or later and V series servo drive D 1 Fixed Parameter List No Name Contents SVB SVR 0 Normal Operation Mode Yes Yes 1 Axis unused Yes Yes 0 Selection of Operation Modes 2 Simulation mode Yes 3 Servo Driver Transmission Reference Mode Yes 4 and 5 Reserved for system use Bit 0 Axi Fini L it 0 Axis peeeven 0 Finite length axis 1 Infinite length axis Yes Yes Set to 0 for linear type Bit 1 Soft Limit Positive Direction Enable Disable Yes 0 Disabled 1 Enabled Bit 2 Soft Limit Negative Direction Enable Disable Yes 0 Disabled 1 Enabled Bit 3 Overtravel Positive Direction Enable Disable Yes 0 Disabled 1 Enabled 1 Function Selection Flag 1 Bit 4 Overtravel Negative Direction Enable Disable Yes 0 Disabled 1 Enabled Bits 5 to 7 Reserved for system use 7 Bit 8 Interpolation Segment Distribution Processing Yes Bit 9 Simple ABS Rotary Pos Mode Simple absolute infinite axis position control 0 Disabled 1 Enabled Yes Set to 0 for linear type Bit A User Constants Self writing Function Yes Bits B to F Reserved for system use Bit 0 Communication Abnormality Detect
186. e devices that are compatible with MECHATROLINK and can be connected to the MP2300 and the SVB 01 Module are listed below 1 4 1 SERVOPACKs Model Number Details MECHATROLINK I MECHATROLINK II sGDV 000011 MECHATROLINK II communications 1 4 2 Modules SGDV 000O015 reference compatible SERVOPACKs ee Ss SGDS OOO100 sGDs SERVOPACK Yes Yes SGDH OOOE SGDH SERVOPACK V s Yes JUSP NS115 NS115 MECHATROLINK II Interface Unit SGDH OOOE SGDH SERVOPACK Yas No JUSP NS100 NS110 MECHATROLINK I Interface Units SGD OOON MECHATROLINK compatible AC SERVO Yes No SGDB OOAN PACKs Model Number Details MECHATROLINK I MECHATROLINK II JEPMC 102310 oe point 1O Module Yes Yes 24 VDC 64 inputs 64 outputs sink mode output JEPMC 102330 oe ee Yes Yes 24 VDC 64 inputs 64 outputs source mode output JEPMC PL2900 Counter Module Yes Yes Reversible counter 2 channels JEPMC PL2910 Pulse Output Module Yes Yes Pulse output 2 channels A D Module JEPMC AN2900 Analog inputs 10 to 10 V 4 channels ve a D A Module JEPMC AN2910 Analog outputs 10 to 10 V 2 channels ee ves 64 point I O Module JEPMC 10350 24 VDC 64 inputs 64 outputs mee bas DC Input Module JAMSC 120DD134330 12 24 VDC 16 inputs ves No JAMSC 120DD034340 PC Output Module Yes No 12 24 VDC 16 outputs AC Input Module JAMSC 120DAI53330 100 VAC 8 inputs ves N
187. e drawing type specified in a to learn the error DWG number DWG A SW00122 DWG I SW00138 DWG H SW00154 DWG L SW00186 y Is the drawing number 8000H NO Operation error inside drawing YES Operation error inside function y Open the faulty drawing by using the MPE720 ladder editor Check the following register of the drawing type specified in a to learn the reference source drawing number DWG A SW00123 DWG y DWG H SiE Check the drawing to find the cause of DWG L SW00187 the error code found in b and correct the error y Open the reference source drawing by using the MPE720 ladder editor y Check the following register of the drawing type specified in a to find the step number of the reference source drawing number DWG A SW00124 DWG I SW00140 DWG H SW00156 DWG L SW00188 Check the functions written in the step number to find the cause of the error code found in b and correct the error 41 For details on SW00041 refer to 6 4 5 2 System Error Status 2 For details on the system registers from SW00080 to SW00088 refer to 6 4 5 3 a Ladder Program User Oper Maintenance and Inspection ation Error Status 1 3 For details on the system registers from SW00110 to SW00188 refer to 6 4 5 3 b Ladder Program User Oper 6 ation Error Status 2
188. e following methods E At the SERVOPACK End Connector 1 Disconnect the connector on the SERVOPACK end 2 Use a short piece to short circuit together connector pins 10 and 13 on the encoder end and leave the pins short circuited for at least 2 minutes 3 Remove the short piece and insert the connector securely in its original position E At the Encoder End Connector 1 Disconnect the connector on the encoder end 2 Use a short piece to short circuit together connector pins R and S on the encoder end and leave the pins short circuited for at least 2 minutes 3 Remove the short piece and insert the connector securely in its original position SERVOPACK Key location Encoder 27 z CN2 1 l l ooa i l White_orange CN2 13 CN2 12 a a aa CN2 10 White_orange s PG cable Short circuit here 3 Connect the cables using normal wiring and make sure the encoder battery is connected 4 Turn ON the system Repeat the procedure starting from step 1 if an Absolute Encoder Alarm occurs so the system has been success fully initialized A 18 D 1 Fixed Parameter List D Motion Parameter Lists The motion parameters fixed parameters setting parameters and monitoring parameters for SVB and SVR Modules are listed below For information on how to use each motion parameter refer to Machine Controller MP2000 Series Built in SVB SVB 01 Motion Modules User 5 Manual Manual No SIEPC88070033 Th
189. e to failure of the delivered product Yaskawa shall not be responsible for any programs including parameter settings or the results of pro gram execution of the programs provided by the user or by a third party for use with programmable Yaskawa products The information described in product catalogs or manuals is provided for the purpose of the customer pur chasing the appropriate product for the intended application The use thereof does not guarantee that there are no infringements of intellectual property rights or other proprietary rights of Yaskawa or third parties nor does it construe a license Yaskawa shall not be responsible for any damage arising from infringements of intellectual property rights or other proprietary rights of third parties as a result of using the information described in catalogs or manuals xi xii 3 Suitability for Use 1 It is the customer s responsibility to confirm conformity with any standards codes or regulations that apply if the Yaskawa product is used in combination with any other products 2 The customer must confirm that the Yaskawa product is suitable for the systems machines and equip ment used by the customer 3 Consult with Yaskawa to determine whether use in the following applications is acceptable If use in the application is acceptable use the product with extra allowance in ratings and specifications and provide safety measures to minimize hazards in the ev
190. ed below SVB 01 MeI II with MECHATROLINK SVB 01 and I O Unit connectors on both ends SVB 01 and SGDH OOE NS100 Bee JEPMC W6003 00 SVB 01 and SGDH OOE NS115 with MECHATROLINK SVB 01 and SGDS OOO100 connectors on both ends SVB 01 and SGDV OOOO11 with ferrite core SVB 01 and SGDV OOOO15 MECHATROLINK II JEPMC W6022 Terminator Used between the devices listed below SVA 01 and SGDM SGDH CN 1 Cable for analog reference SVA 01 and SGDS OOOH010 SVA 01 7 CN 2 input SERVOPACK TEPME WOOER SVA 01 and SGDS O000020 SVA 01 and SGDV OOOOO01 SVA 01 and SGDV OOOO05 PO 01 CN 1 CN 2 Pulse 1 0 JEPMC W6060 O101 Used between Loose wires on one end PO 01 and Stepping motor LIO 01 o External VO JEPMC W2061 00 Used between LIO 02 Loose wires on one end LIO 01 02 and External I O device LIO 04 JEPMC W6060 00 Used between CN 1 CN 2 LIO 05 Pe Loose wires on one end LIO 04 05 and External I O device JEPMC W6080 00 Used between Al 01 CN 1 CN 2 Analog external inputs Loose wires on one end AI 01 and Analog external output device JEPMC W6090 00 Used between AO 01 CN 1 CN 2 Analog external outp ts Loose wires on one end AO 01 and Analog external input device JEPMC W6060 00 Used between DO 01 CN 1 CN 2 Exter al o tputs Loose wires on one end DO 01 and External I O device JEPMC W2063 00 Used between CNTR 01 CN 1 PaaS Loose wires on one end CNTR O1 and Encoder Used beetween Common to all a JEPMC W5310 O0 RS 232C port and 25 pin male D sub
191. election of operation modes Ra ET mode _1_ Function selection flag 1 oot xQgo0 0000 0000 0000 H Function selection flag 2 0000 oofNgooo 0000 0000 H al Reference unit selection ram Ea Number of digits below decimal pooint 3 g Travel distance per machine rotation 10000 User units a Servo motor gear ratio 1 revs Machine gear ratio 1 revs Infinite length axis reset position POSMAX 360000 User units gt System Startup and Sample Programs 4 69 4 System Startup and Sample Programs 4 5 1 Starting the System for First Time 4 70 b Select Edit Copy Current Value fgjEngineering Manager SYB Definition MP2300 YESAMPLE 2300SMPL MP2300 lol xj T Fie Edit View Window Help la x D i boner ec ve SBP PER ESE Me Ei FEB Tt A oro et Pes FOR PT 2 ae RACK O1 Slot 00 ciIR 01 s000 67FF MMD jetails l Axis 1 Default Set 0000 Function Selection Basic Switch 0 0001 Function Selection Application Switch 1 The data in the nput Data column in the SERVOPACK data saved to the MP2300 and the data in the Current Value column is the data set to the SERVOPACK Refer to B Current Values and Set Values Input Data in the SVB Definition Window on page A 5 for information on the relationship between Current Value and Input Data c Select File Save to save the SERVOPACK settings for the axis to the MP2300 8 Save MP2
192. ent of failure e Outdoor use use involving potential chemical contamination or electrical interference or use in condi tions or environments not described in product catalogs or manuals e Nuclear energy control systems combustion systems railroad systems aviation systems vehicle sys tems medical equipment amusement machines and installations subject to separate industry or gov ernment regulations e Systems machines and equipment that may present a risk to life or property e Systems that require a high degree of reliability such as systems that supply gas water or electricity or systems that operate continuously 24 hours a day e Other systems that require a similar high degree of safety 4 Never use the product for an application involving serious risk to life or property without first ensuring that the system is designed to secure the required level of safety with risk warnings and redundancy and that the Yaskawa product is properly rated and installed 5 The circuit examples and other application examples described in product catalogs and manuals are for reference Check the functionality and safety of the actual devices and equipment to be used before using the product 6 Read and understand all use prohibitions and precautions and operate the Yaskawa product correctly to prevent accidental harm to third parties 4 Specifications Change The names specifications appearance and accessories of products in product ca
193. er Configuration x Information Network Application OnLine Yes No Logical Port No 1 CP 217 x Device Type Unit No 1 ie Route C Yes Na C o Cancel Defa lt For Ethernet Connection gt Enter the IP address of the personal computer and click OK Button Controller Configuration x Information Network Application OnLine Yes C No Logical Port No 2 CP 218 pi Device Type IP Address 192 168 1 1 EA Route C Yes Oi Cancel Defa Click the Yes Button in the dialog box that is displayed next to complete selection of the logical port File Manager 4 3 Starting Sample Program MPE720 Ver 5 00 E Logging On Online When using MPE720 Ver 5 00 logging on is performed for each Controller Folder Controller Folders that have not been logged onto cannot use the MPE720 functions 6 Right click on the Conroller Folder that was selected in step 1 and select Log On from the pop up menu that is displayed File Manager File E Edit E View Tool T Help H SPA as File Name a MP2300 a YESAMPLE MP v Onlinef0 Log On G Properties R Ctrl R Log Off U File Transfer T gt Applicateion Converter gt Delete D Ctrl D PL Control Ladder Converter tooli The CPU Log On Dialog Box will appear 7 Enter USER A default under User Name and Password and click the OK Button CPU Log On x Logon will be executed fo
194. er Error 21 Clear Alarm History ALMHIST_CLR The command to the SERVOPACK was not completed within the specified time A Servo Driver Command Timeout Error 22 Absolute Encoder Reset ABS_RST This command was used for X I SERVOPACK Executed while servo was ON Asynchronous communication status A Servo Driver Synchronization Communications Error The command to the SERVOPACK was not completed within the specified time A Servo Driver Command Timeout Error 23 Speed Reference VELO Commanded while connected to MECHATROLINK I An alarm is occurring Asynchronous communication status A Servo Driver Synchronization Communications Error 24 Torque Thrust Reference TRQ Commanded while connected to MECHATROLINK I An alarm is occurring Asynchronous communication status A Servo Driver Synchronization Communications Error 25 Phase Reference PHASE The axis is ABS infinite length and the zero point return setting is not completed A Zero Point Unsetting In servo OFF status A Servo OFF An alarm is occurring Asynchronous communication status A Servo Driver Synchronization Communications Error 26 Change Position Loop Integral Time Constant KIS An alarm is occurring Asynchronous communication status A Servo Driver Synchronization Communications Error SERVOPACK parameter writing w
195. er or by symbol register name specification A combination of both of these register specification methods can be used in ladder programs When using the symbol specification method the relationship between symbols and register numbers must be defined The following table shows the register specification methods Specification Method Specification Example by Data Type Register number direct specification Symbol specification Bit register MBO00100AX Integer register MW00100X Double length integer register ML00100X Real number register MF00100X Address register MAO00100X X When specifying subscripts subscript i or j is added after the register number Bit register RESET1 A X Integer register STIME H X Double length integer registers POS REF X Real number registers IN DEF X Address registers PID DATA X 4 8 alphanumeric characters max X When specifying subscripts a period is added after the symbol 8 alphanumeric characters max and then a subscript i or j is added Register No Direct Specification of Register Number V T No Bit No Subscript Subscript i or j can be specified When T B bit register hexadecimal 0 to F Register number allocated for V decimal hexadecimal Data type allocated by V B W L F or A L Register type DWG S M I O C or D Function S M O C D X Y Z or A Symbol Symbol Specif
196. ers and Adjusting the Settings for Servo Control 1 Setting and Saving Motion Fixed Parameters This section describes how to set and save MP2300 motion fixed parameters for Axes and 2 according to the sample program To use the program set the motion fixed parameters according to the connected system For details regarding the motion fixed parameters refer to Machine Controller MP2000 Series Built in SVB SVB 01 Motion Modules User s Manual Manual No SIEPC88070033 1 Select Setup Module configuration from the Launcher Alternatively double click Module configuration in the 2300SMPL_E folder in the system sub programs BE MPE720 Ver 6 2300SMPL_E MP2300 Start iP Eile Edit View Online Compile Debug Window Help i258 436 Hoo Me ahee GS OBB o ee hme 2 BB pO GUS YS oo MRK EO De lt s 42 gt 8B REP Xap Setup Programming System Scantime setting nennenant E fansannt Program as Module configuration i 2300SMPL_E MP2300 SS E GS Ladder program m B High speed Communications Setting E Low speed Connection 1 Serial COM1 Unit Start Interrupt Disconnection E Function 2300SMPL_E YMW The Engineering Manager will start and the Module Configuration Window will open 2 Select 00 in the Controller Area and double click the 3 in the Module Details MP2300 SLOTz00 Area in the Module Configuration Window E Module Configuration MP2300 YESAMPLE 2300SMPL MP2300 Onli
197. es 2 13 2 2 5 Setting SVB Module 2 17 2 2 6 Built in SVB Specifications 2 25 2 2 7 SVR Virtual Motion Module 2 26 fs Module Specifications 2 2 2 Module Specifications 2 1 1 Hardware Specifications 2 1 MP2300 Basic Module Specifications This section describes the Basic Module Specifications of the MP2300 2 1 1 Hardware Specifications The following table shows the hardware specifications of the Basic Module Item Specifications Classification Basic Module Name MP2300 Model Number JEPMC MP2300 Flash Memory 8 MBytes User area 5 5 MBytes SDRAM 16 MBytes SRAM 256 kBytes M registers S registers trace memory alarm history battery backup Motion Network MECHATROLINK Motion network channel SERVOPACK and I O for up to 21 stations connectable SERVOPACK for up to 16 axes Baud rate 4 Mbps MECHATROLINK I or 10 Mbps MECHATROLINK ID I O Signal 8 digital inputs 1 input also used as an interrupt input 24 VDC 4 1 mA TYP source mode sink mode inputs 4 digital outputs 24 VDC 100 mA TYP open collector sink mode outputs Calendar Seconds to year timer Battery backup Connectors Indicators POWER Power supply connector M I II MECHATROLINK conne
198. es g MP2309 SERVOPACK SERVOPACK HDD in personal computer The following figure shows an example of the SERVOPACK Tab in the SVB Definition Window The values in Cur rent Value are different from the values in Input Data 3Engineering Manager SYB Definition MP2300 YESAMPLE 2300SMPL MP2300 5 x T File Edit View Window Help x o WS d eal amp me g ue e E Ea RG e eat e BR PT 2 IP 192 168 1 1 CPU 1 RACK 01 Slot 00 CIR 01 s000 87FF ME Jaxist gt SERVOPACK SGDS 1 version 0014 7 Servo Type Rotary zj Fixed Parameters Setup Parameters SERVOPACK Monitor No 0000 Function Selection Basic Switch O 0001 Function Selection Application Switch 1 Function Selection Application Switch 2 Function Selection Application Switch 4 Function Selection Application Switch 6 Function Selection Application Switch 7 Function Selection Application Switch 8 Speed Loop Gain Speed Loop Integral Time Constant Position Loop Gain Moment of Inertia Ratio Mass ratio 2nd Speed Loop Gain 2nd Speed Loop Integral Time Constant 20 00 ms 20 00 2nd Position Loop Gain 40 0 fs 40 0 B 1 Operations and Parameter Data Flow 4 SERVOPACK Parameters Saved in the SERVOPACK Tab Page The data flow for SERVOPACK parameters is as follows when File Save is selected from the SERVOPACK Tab Page
199. esponse different from e If the servo is not turned ON turn ON the Motion command 85h that instructed by the motion command is servo response error reported from a motion module e Check whether another program gave a command to the same axis at the same time If so review the program 87h VEL setting data out of An instruction in the VEL command exceeded Reviewthe VEL oomunandl range the valid range 88h INP setting data outof An instruction in the INP command exceeded Review the INP command range the valid range ACC SCC DCC settin An instruction in the ACC SCC DCC 89h 8 i Review the ACC SCC DCC command data out of range command exceeded the valid range No time specified in the A ee 8Ah P T designation in the MVT command was zero Review the MVT command MVT command A motion command which cannot be executed Command execution ae 8Bh by the destination motion module was Review the motion program disabled instructed NOEN A motion command was executed when a Review the motion program so that a Distribution aas 8Ch incompleted motion module was not in the Distribution motion command is executed in the P Completed state Distribution Completed state 8Dh Motion command Motion module fell into the Motion e Release the destination axis error abnormally aborted command abnormally aborted state e Review the motion program The axis number is stored in bits 8 to 12 for axis alarms M
200. et 0 OFF 1 ON Yes Bit C Reserved for system use Bit D Latch completion status clear request Yes Bit E Communication Reset 0 OFF 1 ON Yes Bit F Alarm Clear Yes Yes D 2 Setting Parameter List cont d Register No Name Contents SVB SVR Bit 0 Excessive Deviation Error Level Setting Yes 0 Alarm 1 Warning Bits 1 to 2 Reserved for system use Bit 3 Speed Loop P PI Switch Yes OWOO01 Mode Setting 1 Bit 4 Gain Switch Yes Bit5 Gain Switch 2 Yes Bit6 Latch mode selection 0 Usual latch 1 Continuous latch Yes Bits 7 to F Reserved for system use OWOD02 Mode Setting 2 Bit 0 Monitor 2 Enabled 0 Disabled 1 Enabled Yes Bits 1 to F Reserved for system use Bits 0 to 3 Speed Unit Selection 0 Reference unit s 1 10 reference unit min Yes Yes 2 Percentage of rated speed 1 0 01 3 Percentage of rated speed 1 0 0001 Bits 4 to 7 Acceleration Deceleration Degree Unit Selection 0 Reference unit s Yes Yes OWOO03 Function Setting 1 sis Bits 8 to B Filter Type Selection i AT acceleration deceleration filter eee 2 Moving average filter Bits C to F Torque Unit Selection 0 Percentage of rated toque 1 0 01 Yes Yes 1 Percentage of rated toque 1 0 0001 Bits 0 to 3 Latch Detection Signal Selection 0 1 2 Phase C pulse input signal Yes 3 EXT
201. ether the SVB Module is a built in SVB Module or optional SVB Module Refer to W Communication Cycle That Can be Set for details Message Confidence Level Hidden for MECHATROLINK II Not used for MECHATROLINK transmission Set to 0 default 2 2 MP2300 Basic Module Functions MECHATROLINK I cycle when the Master has not received a normal response from a slave 0 and 7 Cannot set for Slaves cont d Item Display during Self configuration Options and Precautions on Settings SigmaWin fn Hidden for For MECHATROLINK II communications displays MECHATROLINK whether or not to use SigmaWin for communication via Select either use or not use I MECHATROLINK II adapter such as JUSP NP115 Number of s Retries Slaves Displays the maximum number of slave stations to which Hidden for the Master can retry transmission in one transmission Only for Master station Set a number between Number of Slaves Displays the number of slave stations that can be connected Determined by communication type communication cycle use of SigmaWin and number of attempts to retry transmission to slaves Cannot be set Wait for Monitor Data Update Hidden for built in SVB Modules Displays whether or not to suspend CPU processing for the scan delay time of monitoring parameters of an optional SVB Module Suspended when enabled not suspended when disabled Select either Enable o
202. etting for interpolation command IAC T500 Acceleration time setting for interpolation command IDC T500 Deceleration time setting for interpolation command PLN X Y Plane specification for circular interpolation command INC Increment position command setting TIM T100 Repeat Operation DW10 0 WHILE DW10 lt 5 No repeats 5 MOV X ML30100 Y ML30102 Positioning command TIM T100 MVS X ML30110 Y ML30112 FML30114 Linear interpolation command TIM T100 ABS Absolute positioning command setting MCC X 0 Y 0 R1000 0 FML30114 Circular interpolation command TIM T100 DW10 DW10 1 WEND End Repeat Operation END gt System Startup and Sample Programs 4 57 4 System Startup and Sample Programs 4 4 4 Operation Check 3 Phase Control Electronic Shaft 4 4 4 Operation Check 3 Phase Control Electronic Shaft 1 Machine Outline As shown in the following figure the Servomotor performs the same operation as rolls No 1 and No 2 connected to the line shaft No phase matching however is used Existing Type New Type Line shaft drive motor Line shaft Controller MP2300 Gear Clutch 1 1 i 1 Driver f Differential gear 1 Phase matcher gt Motor 1 _______ Operating gt section ee 2 Program Overview Use the ladder program H06 01 Drawing to check the above o
203. fer to 4 4 3 5 Sample Program Details on page 4 56 for details of each program A simple device is used in this example to describe the MP2300 system startup gt System Startup and Sample Programs This device has no power OFF circuit for the SERVOPACK in the event of emergency stops or overtravel Include a proper emergency stop circuit in actual devices 4 53 4 System Startup and Sample Programs 4 4 3 Operation Check 2 Position Control 4 54 3 H04 Drawing Tuning Panel Display the H04 Drawing Tuning Panel as shown in 4 4 How to Open the Tuning Panel Window on page 4 44 Model system operation can be controlled by writing the current values for Common operation and Positioning operation and settings from the Tuning Panel Data Name ONIOFF ONIOFF MPM running MPM alarm parr Common monitor rr XOOK Axis 1 operation ready ON OFF Axis 2 operation ready ON OFF Axis 1 current position 000000 OX Axis 2 current position 10000000X ES Common operation rrr OOONK Servo ON PB 8 ON OFF Alarm reset PB 5 ON OFF Positioning operation and settings OOK Positioning start S ON OFF Positioning hold S ON OFF Positioning abort S ON OFF Motion program No setting S 1st target position axis S 1st target position y axis S 2nd target position x axis 5 2nd target position ty axis S 0000000000 0000000000 0000000000 0000000000 CurrentValue 00000 OFF OFF 00000
204. ffers depending on the setting for bit D of the motion program control signal system work number setting a b 5 2 User Programs When Bit D of Motion Program Control Signal System Work Number Setting is ON The execution information is reported to the Program information used by work n registers SW03264 to SW04133 For example when the system work number is 1 the motion program execution information can be monitored using SW03246 to SW03321 Program information used by work 1 When Bit D of Motion Program Control Signal System Work Number Setting is OFF The system automatically determines the system work to be used This means that the work being used can be checked under Executing program number SW03200 to SW03215 For example if the motion program to be monitored is MPM001 and SW03202 is 001 the number of the work being used is 3 This means that the execution information for motion program MPMO001 can be monitored using Program information used by work 3 SW03380 to SW03437 a Outline of Motion Control Systems 5 Outline of Motion Control Systems 5 2 5 Example of Ladder Programs for Motion Program Control 5 18 5 2 5 Example of Ladder Programs for Motion Program Control The following figure shows the minimum ladder programming required for controlling motion programs 0005 0007 HL 1 0003 NL 1 i 0011 HL 1 m 0012 HL 1 1800100 1800000 DE000300 OB000010
205. g Data from the MP2300 to Flash Memory and Transferring Data to Your Computer from the MP2300 Save the data stored in the MP2300 including the module configuration files that have been automatically created by executing the self configuration function and the edited program files to the flash memory and transfer it to your computer to synchronize the data stored in the MP2300 with the data stored in your computer 1 Saving to Flash Memory Use the following procedure to save the data from the MP2300 RAM to flash memory 1 Select Online Save to Flash in the menu bar of the MPE720 Ver 6 00 main window The Transfer Program Save to Flash Dialog Box will appear 2 Check to see that the target controller displayed in the dialog box is correct and then click the Start Button Transfer Program Save to Flash Writing target controller MP2300 Serial Unit1 0 A message box will appear and ask whether or not to stop the MP2300 while saving data to the flash memory 3 Click the NO Button to stop the MP2300 and start saving the data to the flash memory MPE720 Yer 6 i x i The controller is running so it may take more time to save to flash Should the controller continue to run during save to flash Yes ry wm Cancel When the data has been successfully saved in the flash memory a message box will appear to inform you that saving process is complete 4 Click the OK Button in the message box An
206. gs disable automatic configuration Open detect settings Use automatic configuration script Address Proxy server Vv Use a proxy server for your LAN These settings will not apply to dial up or YPN connections Address Port fi Advanced IV Bypass proxy server For local addresses ma 10 For a computer running Windows 2000 OS click the Start Button and select Settings Control Panel Network and dial up connection For a computer running Windows XP OS click the Start Button and select Settings Control Panel Network connection On the computer running Windows 2000 OS the Network and dial up conneciton Window will be displayed and on the computer running Windows XP OS the Network connection Window 4 1 Model System Startup Procedure 11 For the computer running Windows 2000 OS double click the Local area connection Icon For the computer running Windows XP OS select Local area connection and click Change settings of this connection in the Network Task field lt Windows 2000 running computer gt lt Windows XP running computer gt J Network and Dial up Connections Address Network Connections File Edit View Favorites Tools Advanced Help Back gt eq Qsearch Gyrolders lt 3 G GS X Network Si Internet Gateway Address Network and Dial up Connections 2 croan a ew Winternet Connection zai cB L k Local Area onnectiog A Name
207. he MP2300 system Keep this manual in a safe place for future reference Read this manual carefully to ensure the proper use of the MP2300 Also keep this manual in a safe place so that it can be referred to whenever necessary E Basic Terms Unless otherwise specified the following definitions are used e MP2300 MP2300 Machine Controller e PC Programmable Logic Controller a PP Programming Panel MPE720 The Programming Device Software or a Programming Device i e a personal computer running the Programming Device Software E Manual Configuration Read the chapters of this manual as required by the purpose Selecting Studyin Maintenance Models and ne Designing Installation Trial Chapter Specifications ian and Peripheral i the System and Wiring Operation and Ratings Inspection Devices Chapter 1 N 4 B 7 7 Overview of the MP2300 Chapter 2 Module Specifications y x y y V Chapter 3 Mounting and Connections y V V y y y Chapter 4 System Startup and Sample V V Programs Chapter 5 Outline of Motion Control V V Systems Chapter 6 Maintenance and V V V V Inspection E Graphic Symbols Used in this Manual The graphic symbols used in this manual indicate the following type of information Y This symbol is used to indicate important information that should be memorized or minor precautions such as precautions that will result in alarm
208. he application m fa uM 7 3 Transfer Individual Programs Transfer the programs that have been read to the MPE720 individually to the MP2300 1 Right click on the Controller Folder that has been logged onto online and select Transfer Selected Files From MPE720 to Controller from the pop up menu that is displayed loj xi Fie Edit View Tool Help lalele root bP Mla B MP2300 c Register Fo Folder YESAMPLE C Definition Folder Folder ih Shine C Programs Folder ey Table Data F Folder LI Log On Ej ea Properties Ctrl R HO Log off Backup Motion Programs All Files S From MPE720 to Controller L From Controller to MPE720 D Compare Controller and MPE720 C Application Converter gt Continuous File Transfer gt E Other gt Dente ua From MPE720 to Another Drive T From Another Drive to MPE720 R Compare Another Drive to MPE720 0 ser Equipment Usage Online connection parameter PT CPU Port Type No Device Database Local Online Offline Import Axis Comments Transfer selected files from hard disk to controller The Individual Load Window will appear 4 34 4 3 Starting Sample Program MPE720 Ver 5 00 2 Select the programs to be transferred For programs with a Details Button next to them click the Details Button and select the individual function programs for the program listed in the
209. he settings in both memory areas B 1 Operations and Parameter Data Flow 1 Power ON Parameter data saved in the SERVOPACK s EEPROM lis copied to SERVOPACK s RAM e Parameter data saved in the MP2300 s flash memory for all axes is copied to SDRAM Some gain related settings are sent from the MP2300 to SERVOPACK RAM MECHATROLINK Send Send MPE720 aae Teng System Contro SL LA SRAM Software Software l Input P l Data l COSY J Sete N saan Flash gu 4a EP HDD in personal computer Memory SIDRAN RANI ROM Servo Parameters Parameters All Axes MP2300 SERVOPACK SERVOPACK 1 EEPROM flash memory and SRAM Store data even when the power is turned OFF 2 RAM SRAM SDRAM Lose data when the power is turned OFF Indicates data has been written same below 2 Normal Operation e Control software of the SERVOPACK operates based on the parameter data held in SERVOPACK s RAM e Some of MP2300 setting parameters and commands temporarily change SERVOPACK parameters RAM in the SERVOPACK are written MECHATROLINK When the MP2300 has Sond i 4temporarily changed Send MPE720 T oe oe aT Control l Input i Data J 4 a eens p Flash EEP o HDD in personal computer Memory
210. he system SW00206 Not used SW00207 SW00208 to Slot 0 error status SW00215 Differs depending on the installed module or error code SW00216 to SW00223 Reserved by the system SW00224 to Slot 1 error status 1O Error Status SW00231 Differs depending on the installed module or error code SW00232 to Slot 2 error status SW00239 Differs depending on the installed module or error code SW00240 to Slot 3 error status SW00247 Differs depending on the installed module or error code Maintenance and Inspection 6 19 6 Maintenance and Inspection 6 4 5 System Register Configuration and Error Status 7 Details on I O Error Status When a system I O error occurs the error status will be written in the system register The registers allocated for each error status when an I O Module LIO 01 02 SVB 01 Module and Communication Module 260IF 01 are mounted in slots 1 2 and 3 of the MP2300 Machine Controller respectively are described below a MP2300 Machine Controller Basic Module Error Status Name Register No Remarks Slot 0 Error Status gies hy Depends on themounted module and error code Reserved by the system pice Depends on the mounted module and error code Slot 1 Error Status aoe Depends on the mounted module and error code Slot 2 Error Status plore Depends on the mounted module and error code Slot 3 Error Status piles Depends on the mounted module and error code
211. hibitions are indicated inside S For example amp indicates prohibition of open flame Indicates mandatory actions Specific actions are indicated inside MANDATORY H j For example o indicates mandatory grounding Safety Precautions The following precautions are for checking products on delivery storage transportation installation wiring operation application inspection and disposal These precautions are important and must be observed E General Precautions A WARNING Before connecting the machine and starting operation ensure that an emergency stop procedure has been provided and is working correctly There is a risk of injury Do not touch anything inside the MP2300 There is a risk of electrical shock e Always keep the front cover attached when power is being supplied There is a risk of electrical shock e Observe all procedures and precautions given in this manual for trial operation Operating mistakes while the servomotor and machine are connected may damage the machine or even cause accidents resulting in injury or death There is a risk of electrical shock Do not remove the front cover cables connector or options while power is being supplied There is a risk of electrical shock Do not damage pull on apply excessive force to place heavy objects on or pinch cables There is a risk of electrical shock operational failure or burning of the MP2300 Do not attempt to modify the
212. high speed scan and the various communication cycles are synchronized This means that commands from the high speed scan will be sent at consistent points in communication cycle processing and simplifies distribution processing for interpolation commands b Conditions Under Which Synchronization Is Possible The following table shows the combinations of high speed scan times and MECHATROLINK communication cycles that allow synchronization between modules in the synchronization mode High speed scan MECHATROLINK Communication Cycle RTC 0 5 ms 0 5 ms 1 ms 1 5ms 2ms 1 0 ms Yes Yes Yes 1 5 ms Yes Yes 2 0 ms Yes Yes Yes 2 5 ms Yes 3 0 ms Yes Yes Yes 3 5 ms Yes 4 0 ms Yes Yes Yes 4 5 ms Yes Yes 5 0 ms Yes Yes 5 5 ms Yes 6 0 ms Yes Yes Yes Yes c Timing At Which Modules Are Synchronized Modules are automatically synchronized when the power supply is turned OFF and ON again fs Module Specifications 2 15 2 Module Specifications 2 2 4 Built in SVB Modules 2 16 d e f Operation when High speed Scan Cycle Is Changed MECHATROLINK communication with SVB Modules will continue even if the high speed scan cycle is changed However the speed waveform at execution of interpolation command will be disordered When changing the high speed scan cycle do so either with the CPU stopped or when
213. ication Symbol name Subscript Subscript i or j can be specified Required if using subscripts Name for registers 8 characters max X XXXXXXX Alphanumeric characters or symbols English characters or symbols Symbol names cannot start with numerals a Outline of Motion Control Systems 5 27 5 Outline of Motion Control Systems 5 4 Self configuration When the self configuration function is implemented the Machine Controller recognizes the mounted optional modules and automatically creates the Module Configuration Definition Module Details Definition files of each optional module The self configuration function greatly reduces the system startup time The following figure shows how the self configuration function works lt Execution of Self configuration gt The information is automatically written to the Module Configuration Definition MP2300 201 Detects details of mounted optional modules MECHATROLINK II The information is automatically written to the Module Details Definition of optional modules The information is automatically written to the MECHATROLINK Transmission Definition 102310 Detects details of reaa renter slave devices a oo este rc 3 _ as _ 3 Te pag Detects details of motion parameters SERVOPACKS stepper motors I f f j
214. ied Bit A Latch Complete 0 Latch not completed L_CMP 1 Latch completed Bit B Locating Neighborhood 0 The APOS is outside the NEAR Signal Output Width NEAR 1 The APOS is inside the NEAR Signal Output Width Bit C Position Software Limit 0 The positive software limit has not been exceeded P SOT 1 The positive software limit has been exceeded Bit D Negative Software Limit 0 The negative software limit has not been exceeded N SOT 1 The negative software limit has been exceeded BitE Reserved Bit F Reserved 6 7 Troubleshooting Motion Errors 2 Servo Driver Alarm Code IWOO2D When the Servo Driver Error LOO04 bit 0 turns ON a SERVOPACK alarm will exist The content of the alarm can be confirmed using the Servo Driver Alarm Code monitoring parameter IWO 02D The Servo alarm codes are listed in the following tables a l Series Name Seles Code Meaning 99 Normal 94 Parameter Setting Warning 95 MECHATROLINK Command Warning 96 MECHATROLINK Communication Error Warning 00 Absolute Value Data Error 02 Parameter Corrupted 10 Overcurrent 11 Ground Fault 40 Overvoltage 41 Undervoltage 51 Excessive Speed 71 Overload Instantaneous 72 Overload Continuous 7A Heat Sink Heating 80 Absolute Encoder Error 81 Absolute Encoder Backup Error 82 Absolute Encoder Checksum Error pein A
215. ile Manager a File Edit View Tool Help x ela Ele oe Aloe root mp2300 S YESAMPLE a m 2300S5MPL J C Register Folder 3 Database Definition Folder Application Information Setting Data Trace Module Configuration lt Scan Time Setting System Configuration C Programs Table Data Folder F The Engineering Manager Window will open and the Module Configuration Window will appear 5 32 5 4 Self configuration 2 Select Order Self Configure All Modules from the main menu to execute self configuration Hg Engineering Manager Module Configuration MP2300 YESAMPLE 2300SMPL MP2300 T Fie View Order Window Help EEr ten Et Ea Fit iP Sh cre gt Deh BO PT 2 IP 1 m Controller Module Type MP2300__ 218IF 01__ 217IF 01 4 Controller Number I O Start Register e WO End Register nn Disable Input wf 7 Disable Qupue A d Motion Start Register k h Motion End Register_ frees MP 2300 Controller module with network servo control 1 0 virtual axes The RUN LED indicator will blink and a message indicating that the module configuration definitions are being created will be dispayed Once self configuration has been completed the message will disappear and the RUN LED indicator will return to its original state 3 Select File Save amp Save to FLASH to
216. ill be created 3 Right click on the Controller folder where the sample program is to be saved in File Manager Window and select Transfer All Files From Another Drive to MPE720 in the pop up menu that is displayed P Alla X Pl ee B Mp2300 Lc Register Fo Folder iL YESAMPLE J Definition Folder Folder E 5 j J Programs Folder a e C table Data F Folder El ca C Log On a a F Properties CtrltR 1 Log Off From MPE720to Conta D Backup Motion Programs Selected Files gt From Controller to MPE720 D Te 7 Compare Controller and MPE720 C Application Converter gt Continuous File Transfer gt Other gt From MPE 20 to Another Drive T From Another Driv R Delete Ctrl D Compare Another Drive to MPE720 0 File Name SAMPLE Controller Type MP2300 Customer User Equipment Usage Online connection parameter PT CPU Port Type Ho Device Database Local Online Offline Transfer all files from other media to MPE720 4 An execution confirmation dialog box will appear 4 32 4 3 Starting Sample Program MPE720 Ver 5 00 4 Deselect Compression transmission Check the Source If the Source is different from the decompression destination folder click the Change Button and continue to step 5 If the Source is correct move to step 6 Source ESSAMPLE Destination E YeTools MPE720 Cp71 7Ust MP2300 YESAMPLE SAMPLES Change
217. imum Pulse opt Moton PO 01 JAPMC PL2310 E Pulse output 4 axes maximum control Module VO Module LIO 01 JAPMC 102300 16 inputs 16 outputs sink mode output 1 pulse input VO Module LIO 02 JAPMC 102301 16 inputs 16 outputs source mode output 1 pulse input T O Module LIO 04 JAPMC I02303 32 inputs 32 outputs sink mode output Ue Modules T O Module LIO 05 JAPMC I02304 32 inputs 32 outputs source mode output Analog Input Module AI 01 JAPMC AN2300 Analog input 8 channels Analog Output Module AO 01 JAPMC AN2310 E Analog output 4 channels Optional Output Module DO 01 JAPMC DO2300 64 outputs sink mode output Modules Counter Module CNTR O1 JAPMC PL2300 E Reversible counter 2 channels l 218IF 01 JAPMC CM2300 RS 232C and 10Base T Ethernet communi Ethernet Communica cation tion Modul z z 2 ion Module 218IF 02 JAPMC CM2302 E RS 232C and 100Base TX 10Base T Ethernet communication General purpose Serial Communication Mod 217IF 01 JAPMC CM2310 RS 232C and RS422 485 communication Communica ule tion DeviceNet Communi 5 ys Modules cation Module 260IF 01 JAPMC CM2320 RS 232C and DeviceNet communication PROFIBUS Communi gt 11F 01 JAPMC CM2330 RS 232C and PROFIBUS communication cation Module MPLINK Communica 215AIF 01 TE tion Module MPLINK JAPMC CM2360 RS 232C and MPLINK communication CP 215 Communica 215AIF 01 Pee tion Module CP 215 JAPMC CM2361 RS 232C and CP 215 communication Overview of the MP2300 1 5 1 Ove
218. installed disk to start on MPE720 Ver 6 00 4 2 1 Copying and Transferring Sample Program Files on page 4 13 Starting and Preparing the MPE720 Ver 5 00 Start the MPE720 and create a folder for storing sample programs gt 4 3 1 Starting MPE720 Ver 5 OC and Creating Folders on page 4 24 7 Setting and Saving Sample Programs After transferring the sample program to MP2300 set parameters such as fixed parameters Then save the configuration definitions to flash memory gt 4 2 2 Setting Motion Fixed Parameters and Adjusting the Settings for Servo Control on page 4 17 and 4 2 3 Saving Data from the MP2300 to Flash Memory and Transferring Data to Your Computer from the MP2300 on page 4 21 Reading Transferring and Saving Sample Programs Read the sample program to the MPE720 transfer it to the MP2300 Then set the parameters such as fixed parameters and save the configuration definitions to flash memory 4 3 2 Reading Sample Programs and Setting and Saving Parameters on page 4 28 Checking Operation Execute the program and check the test operation 4 4 Checking Sample Program Operation on page 4 44 4 1 Model System Startup Procedure 4 1 2 System Configuration This section describes the system configuration shown in the following diagram Prepare each devices and connect as
219. ion SW03200 to SW03215 4 to learn the system work number that stores the motion program applied to a Check the contents of the 4th word system work number 3 of the MSEE work register of the motion program that is applied to a to learn the system work number l Display the following registers of the Display the contents of the alarm code in motion monitoring parameter of the axis hexadecimal HEX on the register list by being used to learn the error details using the system work number Warning ILOO02 Alarm ILOO04 Command error completed status IWOD09 Bit3 Servo driver status IWOO2C Servo driver alarm code IWOO2D See 6 7 2 Motion Error Details and Corrections Check the alarm code to find the cause See 6 5 2 Motion Program Alarm Code List 4 Under each MSEE instruction in ladder programs the motion program number that is used and the MSEE work leading register number are displayed When bit 8 status flag See 5 2 4 1 Motion Program Status Bits DA OLOILCICICI 0 of the 1st word of the MSEE work leading register is ON a motion program alarm is occurring For information on how to read the register list refer to 6 4 2 Accessing System Registers lt Example gt In the figures below when the MSEE instruction shown on the left is executed in a ladder program DW00000 is the MSEE work leading register number Therefore if bit 8 of DW00000 is ON it means that a mo
220. ion 2 1 Alarm ILOO04 List ILOO04 Alarm Contents ILOO04 Alarm Contents Bit Servo Driver Error BIO eorura ina e Bit 1 Positive Direction Overtravel Bit 11 Servo Driver Communication Error Bit 2 Negative Direction Overtravel Bit 12 Servo Driver Command Timeout Error Bit 3 Positive Direction Software Limit Bit 13 Excessive ABS Encoder Rotations Bit 4 Negative Direction Software Limit Bit 14 Reserved by the system Bit 5 Servo OFF Bit 15 Reserved by the system Bit 6 Positioning Time Over Bit 16 Not used Bit 7 Excessive Positioning Moving Amount Bit 17 Not used Bit 8 Excessive Speed Bit 18 Not used Bit 9 Excessive Deviation Bit 19 Not used Bit A Filter Type Change Error Bit 1A Not used Bit B Filter Time Constant Change Error Bit 1B Not used Bit C Not used Bit 1C Not used Bit D Zero Point Unsetting Bit 1D Not used BitE Not used Bit 1E Motor Type Set Error Bit F Not used Bit 1F Connected Encoder Type Error 2 Bit 0 Servo Driver Error Detection Timing SERVOPACK alarms are continuously monitored by the alarm management section Processing when Alarm Occurs The current command will be aborted If a SERVOPACK error is detected during execution of a POSING command the positioning will be aborted and the axis will decelerate to a stop The Command Error Completed Status in the Motion Command Status WO0 009 bit 3 will turn ON Error and Cause
221. ion Mask Yes 2 Function Selection Flag 2 Bit 1 WDT Abnormality Detection Mask Yes Bits 2 to F Reserved for system use T 3 Reserved for system use 0 pulse 3 inch 1 mm 4 um 4 Reference Unit Selection 2 deg Y Y i i For linear type 0 pulse 1 mm and 4 um can be used If 2 deg or 3 inch is selected the selected unit will be converted to mm Number of Digits below a 3 Decimal Point 1 I digit Yes Yes Travel Distance per Machine Rotation 1 1 reference unit Yes Yes 6 rotary motor Linear Scale Pitch izire y y linear motor reference unit es es i 1 rotation 8 Servo Motor Gear Ratio Yes Yes Invalid for linear type 1 1 rotati 9 Machine Gear Ratio D atin Yes Yes Invalid for linear type a Appendices P D Motion Parameter Lists b A 20 cont d No Name Contents SVB SVR 40 Infinite Length Axis Reset 1 1 reference unit Yes Yes Position POSMAX Invalid for linear type 12 Positive Software Limit Value 1 1 reference unit Yes 14 Negative Software Limit Value 1 1 reference unit Yes Backlash Compensation 16 Amount 1 1 reference unit Yes 18 to 29 Reserved for system use 0 Incremental encoder 1 Absolute encoder Encoder Selection Y 2 Absolute encoder Incremental encoder is used 3 Reserved External encoder 3
222. ion command or helical interpolation command 19h Radius exceeded Radius exceeded the valid range in the circular Review the radius in the circular arc or LONG MAX arc or helical interpolation command helical interpolation command F f Specify the center point properly in the Improper center point was specified in the P fy P prop y 1Ah Center point error poeh circular arc or helical interpolation circular arc or helical interpolation command command Turn OFF the program stop request for the Running emergency Axis move command stopped due to a prog gt p req 1Bh ston comimand Poetam ston Tediest motion program control signal and turn p prog p request ON the alarm reset request Linear interpolation s i p Moving amount exceeded the valid range in Review the moving amount in the linear ue movmg amount the linear interpolation command interpolation command exceeded LONG_MAX P i p i 6 24 6 5 Motion Program Alarms Alarm ar F i Name Description Corrective Actions Code FMX command not executed in the motion Perform an FMX command The FMX 1Dh FMX undefined program containing an interpolation command is required in each program command containing an interpolation command Designation exceeded the valid range in the Review the setting in the IAC IDC FMX 1Eh Address T out of ress lt out ol range TAC IDC FMX commands command Designati the
223. ion instructions DDC instructions System functions 14 instructions 2 instructions 14 instructions including set and reset coils 3 instructions 16 instructions 9 instructions 7 instructions 14 instructions 10 instructions 11 instructions 13 instructions 9 instructions 2 1 MP2300 Basic Module Specifications 2 Motion Control Function Specifications The following table lists the motion control function specifications for the MP2300 Item Specifications Interface MECHATROLINK I MECHATROLINK II Number of Controlled Axes Module Up to 16 axes up to 48 axes when two SVB Modules are mounted PTP Control Linear rotary and infinite length Interpolation Up to 16 linear axes 2 circular axes and 3 helical axes Yes Speed Reference Output Only with MECHATROLINK II Torque Reference Output pe q P Only with MECHATROLINK II Yes Prase Control Only with MECHATROLINK II Positioning Yes Control a Specificat External positioning Yes ions Zero point return Yes Interpolation Yes Interpolation with Position position detection Yes Control function JOG operation Yes STEP operation Yes Parameter changes Yes during motion command execution Only with MECHATROLINK II in 32 byte mode Reference Unit mm inch deg pulse or um Reference Unit Minimum Setting 1 0 1 0 01 0 001 0 0001 0 00001 Maximum Programmable Value 2147483648 to 2147
224. ion when power is turned ON Processing when The absolute position information read from the absolute encoder when the SEN signal turned ON is Alarm Occurs ignored Error and Cause e An operation error occurred when the absolute position information read from the absolute encoder is converted from pulses to reference units at power ON Correction e Check the gear ratio number of encoder pulses for other motion fixed parameters 17 Bit 1E Motor Type Set Error Detection Timing Detected when communications with the SERVOPACK are established Processing when Alarm Occurs e None Error and Cause e The motor type setting rotary linear of the Machine Controller fixed parameter does not agree with that of SERVOPACK parameter Start Selection Pn000 3 for SGDH Rotary Linear for SGDS Correction e Check the setting and model of the SERVOPACK 18 Bit 1F Connected Encoder Type Error Detection Timing Detected when communications with the SERVOPACK are established Processing when Alarm Occurs e None Error and Cause e The motor type setting rotary linear of the Machine Controller fixed parameter does not agree with the motor type connected to the SERVOPACK Correction e Check the motor Maintenance and Inspection 6 35 6 Maintenance and Inspection 6 7 3 Servo Driver Status and Servo Driver Error Codes 6 36 6 7 3
225. ions Specifications 3 Cable Connections between the MP2300 or I O Units or the MP2300 and SERVOPACKs Except for SGD OOIOIN and SGDB OOIAN SERVOPACKs Use the MECHATROLINK cable JEPMC W6002 O0 or JEPMC W6003 O1H for connection between the MP2300 and I O units or SERVOPACKs Except for SGD O OON and SGDB ODAN SERVOPACKs The connection diagram using MECHATROLINK cable JEPMC W6002 O10 or JEPMC W6003 O00 is shown below 41 Use MECHATROLINK cable JEPMC W6011 010 when connecting SERVOPACK SGD OOON or SGDB OOAN 2 The JEPMC W6003 O10 cable has a ferrite core MP2300 SVB 01 1 0 Unit or SERVOPACK Pin number Signal Name Signal Name NC 1 1 NC DATA 2 _ 2 DATA DATA s 3 DATA SH a 4 SH Shield Ghe he Shield Cable Type JEPMC W6002 00 JEPMC W6003 00 B Mounting and Connections 3 Mounting and Connections 3 2 3 MECHATROLINK Connectors 4 Cable Connections between the MP2300 and SGD OOIOIN and SGDB OOHIAN SERVOPACKs Use the MECHATORLINK cable JEPMC W611 O10 for the connections between the MP2300 and SGD OOON or SGDB OOAN SERVOPACK and between these SERVOPACKs The following diagram shows the connections between the MP2300 or SVB 01 lt SERVOPACK lt SERVO PACK SERVOPACK using the MECHATROLINK cables JEPMC W611 O0
226. ircuit Wiring Error 400 Overvoltage 410 Undervoltage 510 Excessive Speed 511 Divided Pulse Output Excessive Speed 520 Vibration Alarm 710 Overload Instantaneous Maximum Load 720 Overload Continuous Maximum Load 730 731 DB Overload 740 Inrush Resistance Overload 7A0 Heat Sink Overheat 810 Encoder Backup Alarm 820 Encoder Checksum Alarm 830 Encoder Battery Alarm 840 Encoder Data Alarm 850 Encoder Over Speed 860 Encoder Overheat 870 Fully closed Serial Encoder Checksum Alarm Servo Driver IWO0O2D 880 Fully closed Serial Encoder Data Alarm Alanin Code cont d 8A0 Fully closed Serial Encoder Scale Error cont d 8Al Fully closed Serial Encoder Module Error 8A2 Fully closed Serial Encoder Sensor Error Incremental Value 8A3 Fully closed Serial Encoder Position Error Absolute Value B31 Current Detection Error 1 B32 Current Detection Error 2 B33 Current Detection Error 3 B6A MECHATROLINK Communication ASIC Error 1 B6B MECHATROLINK Communication ASIC Error 2 BFO System Alarm 0 BF1 System Alarm 1 BF2 System Alarm 2 BF3 System Alarm 3 BF4 System Alarm 4 C10 Servo Run away C80 Encoder Clear Error Multiturn Limit Setting Error C90 Encoder Communication Error C91 Encoder Communication Position Data Acceleration Error C92 Encoder Communication Timer Error CAO Encoder Parameter Error CBO Encoder Echoback Error CCO Multiturn Limit Mismatch Fully
227. is 1 motion command STORE zZ Source 00007 Dest OW8008 Axis 1 motion command STORE z Source 00000 Dest OW8008 L HHHHHHHHHES TE PHHRHHHHHHHE Axis 1 STEP Axis 1 forward step DB000012 Axis 1 forward step DB000012 Axis 1 step command WORK DB000008 Axis 1 reverse step Axis 1 SV_ON DB000013 Axis 1 reverse step DB000013 Axis 1 step command WORK DB000008 Axis 1 step start DB00009 Axis 1 step start DB000009 Axis 1 step stop DB00000A DB000059 Axis 1 motion command 0 DB000058 MB300010 r Axis 1 step speed and moving amount EXPRESSION zZ OL8010 1000 OL8044 DL00010 Axis 1 motion command STORE z Source 00008 Dest OW8008 Axis 1 motion command STORE Source 00000 Dest OW8008 HHHHHHHHH Reverse Rotation Selection HHHHHHHE Axs 1 jog command DB000000 Axis 1 reverse jog DB000011 r S Axis 1 jog command DB000008 Axis 1 reverse step DB000013 E 4 4 Checking Sample Program Operation Axis 1 jog command DB000000 Axis 1 jog start DB000001 Axis 1 jog stop DB000002 Axis 1 step command DB000008 Axis 1 step start DB000009 Axis 1 step stop DB00000A Axis 1 reverse step 0B80092 System Startup and Sample Programs 4 51 4 System Startup and Sample Programs 4 4 2 Operation Check 1 Manual Operation e H02 02 Drawing The H02 02 grandchild drawing controls JOG and STEP operation for axis 2
228. itch on the Basic Module is ON and the power is turned ON RAM data will be cleared Also flash memory data will be read and RAM data will be overwritten when the INIT switch is OFF and the power is turned ON In either case the RAM data will be cleared by turning the power ON Therefore always save data to the MP2300 flash memory before turning OFF the power when writing or editing programs For information on how to save data to flash memory refer to 4 2 3 1 Saving to Flash Memory on page 4 21 MPE720 Ver 6 00 or 4 3 2 6 Saving to Flash Memory on page 4 40 MPE720 Ver 5 00 Em Turning OFF Power After Executing Self configuration Do not turn OFF the 24 VDC power supply to the MP2300 after executing self configuration until the definitions data has been saved to flash memory in the MP2300 Ifthe power is turned OFF somehow before the data is saved to flash memory execute self configuration again a Outline of Motion Control Systems 5 31 5 Outline of Motion Control Systems 5 4 3 Execution Procedure for Self configuration Using MPE720 5 4 3 Execution Procedure for Self configuration Using MPE720 Executing self configuration from the MPE20 allows not only self configuration for all the Modules but also self con figuration for individual Modules 1 Self configuration for All the Modules Select Self Configure All Modules when executing the self configuration for the first time after connecting devices After having ad
229. justments and Saving SERVOPACK Parameters This section describes how to make Servo adjustments and save the SERVOPACK parameters for each axis to the MP2300 1 Execute servo gain and other adjustments for each Servo Refer to each SERVOPACK manual for information on the Servo adjustments 2 Select the axis in the SVB Definition Window then click the SERVOPACK Tab to display the SERVOPACK Tab Page Hg Engineering Manager S B Definition MP2300 YESAMPLE SAMPLE MP2 i oj x T File Edit View Window Help lal x D B Se cet Gy GN e R RB e E E AR e at i 2 PT 2 1P 192 168 1 1 CPUR 1 RACK O1 Slot 00 ciR 01 s000 67FF ME axis z SERVOPACK SGDS 1 Mersion 0014 z Servo Type Roty gt Aris 2 FE z Setup Parameters SERVOPRACK 9 Monitor a Name input Data Unit Selection of operation modes Normal operation mode Function selection flag 1 0000 0000 0000 0001 0001 H Function selection flag 2 0000 0000 0000 0000 0000 H La Number of digits below decimal point 2 6 Travel distance per machine rotation 36000 User units 8 Servo motor gear ratio 1 revs ES Machine gear ratio 1 revs 3 Select Edit Copy Current Value F GjEngineering Manager S B Definition MP2300 YESAMPLE SAMPLE MP2 r loj xi T File Edit View Window Help l x Axis Data Coy Ctrl C g s D a py ve OP PAP RS a Ea RR oro e Des RRL Axis Data Paste Ctrl PT
230. lE J EcL This completes initializing the absolute encoder Reset the SERVOPACK to turn the power supply OFF and then back ON A 16 C 3 X I SERVOPACK C 3 X I SERVOPACK Refer to the following manuals for information on 2 1 SERVOPACKS Z Series SGMLYSGD User s Manual Manual No SIE S800 26 3 Series SGMLYSGDB High speed Field Network MECHATROLINK compatible AC Servo Driver User s Manual Manual No SIE S800 26 4 1 Initializing a 12 bit Absolute Encoder Use the following procedure to initialize a 12 bit absolute encoder 1 Properly connect the SERVOPACK Servomotor and MP2300 2 Disconnect the connector on the encoder end and short circuit pins 13 and 14 on the encoder end con nector for 2 seconds or more 13 14 3 Remove the short piece and insert the connector securely in its original position 4 Connect the cables using normal wiring and make sure the encoder battery is connected 5 Turn ON the system Repeat the procedure starting from step 1 if an Absolute Encoder Alarm occurs so the system has been success fully initialized a Appendices P C Initializing the Absolute Encoder 2 Initializing a 15 bit Absolute Encoder Use the following procedure to initialize a 15 bit absolute encoder 1 Turn OFF the SERVOPACK and MP2300 2 Discharge the large capacity capacitor in the encoder using one of th
231. ll Swo0127 Swo0143 Swoo175 lt Error Drawing Number gt SW00112 Swooi28 Swooi44 Swooi7e Parent drawing FFFFH Error A Register Child drawing OO00H HOD Child SW00113 SW00129 SW00145 SWO00177 drawing number Modification A SW00114 SW00130 SW00146 SW00178 Grandchild drawing OOyyH Hyy Register SW00115 SW00131 SW00147 SW00179 Grandchild drawing number SW00116 Sw00132 Swo014s Swoo01so Function 0100H Error F Register Motion program FOOOH HOO SW00117 SW00133 swo0149 swoois p rogram number Modification F SW00118 SW00134 SW00150 SW00182 Register swo00119 sw00135 sw00151 SWw00183 Address Generating SW00120 SW00136 sw00152 Swooied lt Reference Source Drawing Number gt E Number of the drawing reference source in rror SW00121 sw00137 SW00153 SW00185 Which an error occurred Error Drawing Number SW00122 SW00138 SW00154 SW00186 Reference Source Drawing Number SW00123 SW00139 SW00155 SW00187 lt Reference Source DWG Step Number gt Ref 5 Step number of the drawing reference S S SW00124 SW00140 SW00156 SW00188 source in which an error occurred DWG Step Number i 0 when there is an error in the parent es Oy phe swo0125 sw00141 swoo1s7 swo0189 drawing Maintenance and Inspection 6 17 6 Maintenance and Inspection 6 4 5 System Register Configuration and Error Status c Ladder Program User Operation Er
232. lot Cover 1 9 optional modules 3 6 appearance 13 installing 3 8 removing 3 6 replacing and adding 3 6 order folders 4 26 output circuit CPU I O connector 3 18 P parent drawings 5 6 password 4 31 pin arrangement CPU I O connector 3 16 PLC folders 4 27 creating 4 27 PLC function specifications 2 4 position control 4 53 positioning time over 6 32 positive overtravel 6 31 positive software limit 6 32 program memory remaining capacity A4 programming device related equipment 44 R register types 5 21 regular inspections 63 S S registers monitoring execution information 5 15 sample programs checking operation 4 44 saving to flash memory
233. mes pallets or plywood the packing materials must be treated before the product is packaged and methods other than fumigation must be used Example Heat treatment where materials are kiln dried to a core temperature of 56 C for 30 minutes or more If the electronic products which include stand alone products and products installed in machines are packed with fumigated wooden materials the electrical components may be greatly damaged by the gases or fumes resulting from the fumigation process In particular disinfectants containing halogen which includes chlorine fluorine bromine or iodine can contribute to the erosion of the capacitors Installation Z CAUTION e Never use the MP2300 in locations subject to water corrosive atmospheres or flammable gas or near burnable objects There is a risk of electrical shock or fire Do not step on the MP2300 or place heavy objects on the MP2300 There is a risk of injury Do not block the air exhaust port or allow foreign objects to enter the MP2300 There is a risk of element deterioration inside an accident or fire e Always mount the MP2300 in the specified orientation There is a risk of an accident e Do not subject the MP2300 to strong shock There is a risk of an accident E Wiring Z CAUTION e Check the wiring to be sure it has been performed correctly There is a risk of motor run away injury or an accident Always use a powe
234. motion command are not being executed Change the high speed scan setting and then save the settings to flash memory and turn the power supply OFF and ON when operation changes from synchronized to asynchronized or from asynchronized to synchronized Operation When the MECHATROLINK Communication Cycle Is Changed E Changing the MECHATROLINK Communication Cycle of the SVB in the CPU Synchronization may be lost when a change is made even if synchronization is possible for the high speed scan and communication cycle combination When a change is made save the settings to flash memory and then turn the power supply OFF and ON E Changing the MECHATROLINK Communication Cycle of the SVB 01 Module Operation will be automatically synchronized when a change is made if synchronization is possible for the high speed scan and communication cycle combination It is not necessary to turn the power supply OFF and ON Conditions when the Power Supply Must Be Turned OFF and ON When any of the following operations is performed save the settings to flash memory and then turn the power supply OFF and ON e After executing a self configuration command from the MPE720 after turning ON the power supply e After loading a Module definition after turning ON the power supply e After changing the SVB communication cycle in the CPU after turning ON the power supply e After operation changes from synchronized to asynchronized or from asynchronized to synchronized when the
235. mpatible devices and MECHATROLINK II 10 Mbps compatible devices are connected in a system make the settings in accordance with MECHATROLINK I specifications When connecting a servo to an SVB Module via MECHATROLINK connect signals such as overtravel homing deceleration switch and external latch to the servo Refer to the relevant SERVOPACK manual for details on the connections When connecting gt II series SERVOPACKs SGDH NS100 or SGDH NS115 do not connect a hand held type digital operator and SigmaWin If connected alarms A 95 command warning and A ED execution not completed will occur for the commands sent from the SVB Module and normal operation will be interrupted If a digital operator or SigmaWin must be connected to a x II series SERVOPACK disconnect the SERVOPACK from the SVB Module 3 Synchronization between Modules a Overview 2 2 MP2300 Basic Module Functions MP2300 Machine Controllers have a function that can synchronize hardware between the CPU and an optional module This function enables MECHATROLINK communications in synchronization with high speed scans As a result synchronization between a built in SVB Module and an SVB 01 Module or among multiple SVB 01 Modules can be enabled High speed scan Communication cycle for SVB built into the CPU Communication cycle for SVB 01 1 Communication cycle for SVB 01 2 2ms When synchronized mode is used the start of the
236. munications Error SERVOPACK parameter writing was not completed within the specified time A Servo Driver Command Timeout Error Warning A 94 or A 95 occurred in the SERVOPACK W Servo Driver Error The selected external signal is outside the setting range W Set Parameter Error Zero Point Return ZRET In machine lock status In servo OFF status A Servo OFF An alarm is occurring Asynchronous communication status A Servo Driver Synchronization Communications Error SERVOPACK parameter reading or writing was not completed within the specified time A Servo Driver Command Timeout Error Warning A 94 or A 95 is occurring in the SERVOPACK W Servo Driver Error The selected zero point return method is outside the setting range W Set Parameter Error POT method is selected for zero point return but the approach speed is a negative value W Set Parameter Error NOT method is selected for zero point return but the approach speed is a positive value W Set Parameter Error During zero point return using DEC1 Phase C ZERO signal or Phase C method the OT signal in zero point return direction was ON OT alarm or OT warning in zero point return direction 6 6 List of Causes for Command Error Occurrence Motion Command Code Cause of
237. n commanded to MECHATROLINK servo exceeds the upper limit Correction e Check the settings for speed reference interpolation command movement per scan and speed compensation 9 Bit 9 Excessive Deviation Detection Timing e Always except during speed control and torque control Processing when Alarm Occurs The move command is not executed The Command Error Completed Status in the Motion Command Status IWO009 bit 3 will turn ON Error and Cause One of the following is possible e The position loop gain and speed loop gain are not set correctly creating poor response e The Error Count Alarm Detection OLO022 is too small e The capacity of the motor is insufficient for the machine load e SERVOPACK failure Correction Check the following and correct the problem If the problem persists contact the maintenance department e Check the position loop gain and speed loop gain e Check the Error Count Alarm Detection OLOO22 e Check the motor capacity The above check is not performed if the Error Count Alarm Detection OLOO22 is set to 0 10 Bit A Filter Type Change Error Detection Timing Continuously monitored by the motion command processing section Processing when Alarm Occurs The Change Filter Type command will not be executed The Command Error Completed Status in the Motion Command Status IWO009 bit 3 will turn ON Error and Ca
238. n order to monitor and control the registers corresponding to the signals and data listed in the table above The register numbers that correspond to the signals used in this sample program will be the register numbers displayed under REG No next to DWG at the right of the Tuning Panel window gt System Startup and Sample Programs 4 59 4 System Startup and Sample Programs 4 4 4 Operation Check 3 Phase Control Electronic Shaft 5 Sample Program Details a H06 01 Drawing The H6 01 grandchild drawing shows the ladder program for controlling phase control electronic shaft operation HHHHHHHHHE Phase Control 1 Electronic Shaft HHHHHHHE HHHHHHHHH Electronic Shaft Operation Command HHHHHHHT Electronic shaft startup PB Axis 1 SV_ON Axis 2 SV_ON Electronic shaft operation command DB000010 1B80001 1B80801 DB000000 0000 0000 NL 1 Electronic shaft operation command WORK Axis 1 motion command 0 Axis 1 motion command 0 Electronic shaft start DB000000 DB000050 DB000010 DB000018 DB000001 0001 0004 NL 1 Electronic shaft operation command Zero speed WORK Electronic shaft stop DB000000 DB000003 DB000050 DB000002 0002 0009 NL 1 HHHHHHHHH Motion Command Issued HHHHHHHE Motion command 25 phase control setting Electronic shaft start DB000001 Axis 1 motion command 0003 p013 Source 00025 Dest OW8008 Electronic shaft start DB000001 Axis 2 motion command 0015
239. n starts 3 Vv RDY LED indicator lit Interrupt Ladder program signal High speed DWG I executed Completed after one cycle High Order of priority lt Low speed Background y Online self diagnostics 5 a Outline of Motion Control Systems Low gt Refer to 5 1 3 Startup Sequence Operation Details on the next page for details on 1 to 5 5 Outline of Motion Control Systems 5 1 3 Startup Sequence Operation Details 5 1 3 Startup Sequence Operation Details 1 Self diagnosis at Startup Self diagnosis is performed on the following items after the power is turned ON e Read write diagnosis of memory RAM e System program ROM diagnosis e Main processor CPU function diagnosis e Floating Point Unit FPU function diagnosis If diagnosis results in an error the ALM and ERR LED indicators will blink red for the specified number of times Refer to 5 1 4 LED Indicator Details on page 5 5 Self configuration Self configuration automatically recognizes the connected Optional Modules and automatically creates a definitions file For details refer to 5 4 Self configuration on page 5 28 The RUN LED indicator will blink green during execution of self configuration Operation Start When the STOP switch is set to OFF RUN or changes from ON STOP to OFF RUN the CPU starts the watchdog timer and then executes DWG A in the ladder program Refer
240. n status A Servo Driver Synchronization Communications Error Executed before distribution has been completed DEN OFF A Filter Time Constant Change Error The selected filter type is out of the setting range W Set Parameter Error 14 15 and 16 Change Speed Loop Gain KVS Change Position Loop Gain KPS Change Feed Forward KFS An alarm is occurring Asynchronous communication status A Servo Driver Synchronization Communications Error SERVOPACK parameter writing was not completed within the specified time A Servo Driver Command Timeout Error Warning A 94 or A 95 occurred in the SERVOPACK W Servo Driver Error 17 and 18 Read User Constant PRM_RD Write User Constant PRM_WR An alarm is occurring Asynchronized communication status A Servo Driver Synchronization Communications Error SERVOPACK parameter reading was not completed within the specified time A Servo Driver Command Timeout Error Warning A 94 or A 95 occurred in the SERVOPACK W Servo Driver Error SERVOPACK parameter number or size is outside the setting range W Set Parameter Error 19 and 20 Alarm Monitor ALM_MON Alarm History Monitor ALM_HIST The command to the SERVOPACK was not completed within the specified time A Servo Driver Command Timeout Error Servo driver alarm monitor number is outside setting range W Set Paramet
241. name of up to 8 characters and click the OK Button Make New Folder Eg Group Name MP2300 Cancel A new group folder will be created Double click root or click to display the entered group folder name Jax ele dF Maa Ege Fie Name FI C MP2300 Group F Folder E Group Order and PLC folders E 5 foot Group folders order folders and PLC folders form part CI GROUP A Grou of a directory tree as shown in the figure to the left J GROUP B beak Programs created using MPE720 are saved to PLC 4 GROUP G folders Order exists PLC folders cannot be created if no order folder folders C ORDER B fam FORDER C fi PLC A am ric Sua fi PLC C Jj ORDER 4 MPE720 cannot create programs if no PLC folder exists For this reason always create an order folder and PLC folder Creating group folders is optional gt System Startup and Sample Programs 4 25 4 System Startup and Sample Programs 4 3 1 Starting MPE720 Ver 5 00 and Creating Folders 3 Creating Order Folders Required In the File Manager Window create an Order Folder for storing Controller Folders 1 Right click root or the Group Folder in which the Order Folder is to be created and select New Order Folder from the pop up menu 2 S Flos as File Name Group Folder G Order Folder O Rename M Delete D Ctrl D The Make New Folder Dialog Box will appear 2
242. nd power lines are not separated properly malfunctioning may result Example of Separated External Cables Steel separator Power Digital 1 O signal General circuit control OOOO OOOO OOOO E Maintenance and Inspection Precautions Z CAUTION Do not attempt to disassemble the MP2300 There is a risk of electrical shock or injury e Do not change wiring while power is being supplied There is a risk of electrical shock or injury e When replacing the MP2300 restart operation only after transferring the programs and parameters from the old Module to the new Module There is a risk of device damage E Disposal Precautions Z CAUTION e Dispose of the MP2300 as general industrial waste E General Precautions Observe the following general precautions to ensure safe application The products shown in illustrations in this manual are sometimes shown without covers or protective guards Always replace the cover or protective guard as specified first and then operate the products in accordance with the manual The drawings presented in this manual are typical examples and may not match the product you received If the manual must be ordered due to loss or damage inform your nearest Yaskawa representative or one of the offices listed on the back of this manual Warranty 1 Details of Warranty E Warranty Period
243. nd remove all the cables connected to the MP2300 Next remove the MP2300 from the panel or rack and place them where there is sufficient space such as on a work table 2 Removing Optional Modules 1 Remove the Battery Cover Insert a hard thin metal object such as a coin into the notch on the side of the battery cover and open the cover forward to remove the battery cover F 2 Remove the Option Panel Hold the battery cover with the front facing forward insert the protrusion on the battery cover into the notch at the top of the Module s option panel and release the hook on the option panel Remove the Option Cover from the empty slot before mounting an Optional Module in an empty slot Release the hook on the bottom in the same way and remove the option panel 3 1 Mounting the MP2300 Remove the Optional Module from the Mounting Base Pull out on the top of the option panel and remove it A notch can be seen in the Communication Module from the gap in the panel Insert the round projection on the battery cover see the following figure into the gap in the panel so that it is inserted in the notch in the Module A Hold the battery cover as shown in the following figure and use it to gently pull back on the Module rotating it indicated by the arrows to disconnect the Module from the Mounting Base The Module will move towards you Pull out the Optional Module Hold onto the top and bottom of the Mod
244. ne Local OF x PT 1 UT 1 CPU 1 o gt gt gt r Controller Controller Number CircutNumber Inout DISABLE JMP2300 Itis CPU module I O network servo control and the virtual axis function Module Details MP2300 SLOT 00 Module Type Controller Number 1 0 End Register Inout DISABLE ba Ib The SVB Definition Window with Fixed Parameters Tab Page will appear al System Startup and Sample Programs 4 17 4 18 4 System Startup and Sample Programs 4 2 2 Setting Motion Fixed Parameters and Adjusting the Settings for Servo Control 3 Set the fixed parameters for axis 1 Select Axis J from the axis selection box at the top left of the window and select mm under No 4 Reference unit selection on the Fixed Parameters Tab Page SVB Definition MP2500 YESAMPLE 2500SMPL MP2100 2500 Online Local Pit 1 CPUH 1 RACK OT a poon 87FF E za z SERVOPACK SGDS xx1x Merson z Servo TypefRotary Be Axis 2 ters Setup Parameters SERVOPACK Monitor E EEEE EE E E E G mA Selection of operation modes Normal operation mode Function selection flag 1 0000 0000 0000 0000 0000 H Function selection flag 2 0000 0000 0000 0000 0000 H 4_ Reference unit selection Number of digits below decimal pooint a Travel distance per machine rotation 10000 User units La Servo motor gear ratio 9 Machine gear ratio
245. nfiguration 4 5 3 System Startup when Replacing Electronic Devices Use the following procedure to start the system when replacing SERVOPACKs Optional Modules and other electronic devices due to malfunctions and other causes 1 Back Up Applications Before replacing the electronic devices create a backup of the application using MPE720 Refer to 4 3 2 2 Loading the Sample Programs on page 4 32 MPE720 Ver 6 00 or 4 3 2 7 Dumping All Data on page 4 41 MPE720 Ver 5 012 for information on how to create a backup 2 Turn OFF the MP2300 Log off from the MP2300 or disconnect the communication and turn OFF the MP2300 power 3 Start the Electronic Device to Be Added Make the DIP and rotary switch and other settings for the new electronic device For MECHATROLINK slaves make the switch settings turn ON the power to the slave and check that it starts up normally Once normal startup has been confirmed turn OFF the power supply 4 Replace the Electronic Device Remove the electronic device to be replaced connect the new device to the MP2300 and turn ON the power to all MECHATROLINK slaves 5 Turn ON the MP2300 Turn ON the MP2300 power 6 Save SERVOPACK Parameters Ifa SERVOPACK has been replaced use the following procedure to write the SERVOPACK parameters saved to the MP2300 to the new SERVOPACK a Select the axis then select the SERVOPACK Tab Page on the SVB Definition Window refer to 4 2 2 Set ting Motion
246. nit selection on the Fixed Parameters Tab Page SVB Definition MP2500 YESAMPLE 2500SMPL MP2100 2500 Online Local Pri 1 CPU 1 RACK O1 CIRAD p000 87FF E Axis 1 Version Servo Type Rotary Axis 2 ters Setup Parameters SERVOPACK Monitor aol Name o OO tnt Datta nit E aw Selection of operation modes Normal operation mode Function selection flag 1 0000 0000 0000 0000 0000 H Function selection flag 2 0000 0000 0000 0000 0000 H 4 Reference unit selection 5 Number of digits below decimal pooint 3 cul Travel distance per machine rotation 10000 User units Loe Servo motor gear ratio 1 revs 9 Machine gear ratio 1 revs SERVOPACK SGDS x1 x 4 Inthe Engineering Manager Window select File Save to save the settings for axis 1 fixed parameters Hg Engineering Manager Module Configuration 7 File View Order Window Help D File Manager Ctrl F Open gt PT Close m Save amp save into flash memory Register with User menu Ctrl P 5 Follow steps 3 and 4 to set and save the fixed parameters for axis 2 as well The process for saving fixed parameter settings has now been completed Next save the SERVOPACK parameters gt System Startup and Sample Programs 4 37 4 System Startup and Sample Programs 4 3 2 Reading Sample Programs and Setting and Saving Parameters 5 Making Servo Ad
247. nnectors CPU I O connector is used to connect the MP2300 and external I O signals Specifications External input 8 points External output 4 points O La O Connector No of Connector Model Name Name Pins Module Cable Manufacturer e 1020 3000VE Connector I O Connector CPU I O 20 10220 52A2JL Sumitomo 3M e 10320 52F0 008 Shell Cables Name Model Number Length JEPMC W2060 A5 0 5m I O Cable loose wires JEPMC W2060 01 Im JEPMC W2060 03 3m External Appearance of I O Cable JEPMC W2060 00 m SZ n AN p Connector Pin Arrangement The following table shows the connector pin arrangement Pin Signal Pin Klumber Name I O Remarks Number Signal Name I O Remarks 1 DI_COM P Input common 11 DI_COM P Input common 2 DI_00 I Input 00 12 DI_04 I Input 04 3 DI_01 I Input 01 13 DI_05 I Input 05 4 DI_02 I Input 02 14 DI_05 I Input 06 5 DI_03 I Input 03 15 DI_07 I Input 07 6 16 7 17 DO_24V P 24 V input 8 DO_COM P Output common 18 DO_COM P Output common 9 DO_00 O Output 00 19 DO_02 O Output 02 10 DO_01 O Output 01 20 DO_03 O Output 03 P Power input I Input signal O Output signal 5 Input Circuits 3 2 Basic Module Connections Specifications The following table shows the CPU I O Connector input circuit specific
248. ns 5 3 2 Data Types and Register Specifications There are five kinds of data Bit integer double length integer real number and address data Each is used differently depending on the application Address data however is used only inside functions when specifying pointers The following table shows the types of data Type Data types Numeric Value Range Remarks B Bit 0 1 Used by relay circuits w intenet 32768 to 32767 Used for numeric value operations The values in 8 8000H 7FFFH parentheses indicate use with logical operations L Double length 2147483648 to 2147483647 Used for numeric value operations The values in integer 80000000H 7FFFFFFFH parentheses are for use with logical operations F Real number 1 175E 38 to 3 402E 38 0 Used for numeric value operations A Address 0 to 32767 Used only when specifying pointers A digit to indicate the bit 6 is added to the register number 00100 Data Types and Register i Specifications i MB001006 lt Bit type Integer type F E D C BA 98 7 6 5432 10 T MW00100 l ML00100 i MF00100 MW00101 T MW00102 l ML00102 MF00102 T MW00103 i ia Double length and real MB001 03A lt Bit type number type Each register number A digit to indicate the bit A is added to The wor
249. ntents SVB SVR Servo Driver for Assistance User Constant No ownos54 SERVOPACK Set the number of the SERVOPACK parameter number Yes parameter No for motion subcommand Servo Driver for Assistance User Constant Size owoo55 SERVOPACK Set the number of words in the SERVOPACK parameter Yes parameter size for motion subcommand Servo Driver for Assistance User Constant Set Point OLOO56 SERVOPACK Set the setting for the SERVOPACK parameter Yes parameter setting value for motion subcommand ae Reserved for system use Fixed Parameter Set the number of the fixed parameter to read with the FIXPRM_RD Yes Y OWDLSC Number motion subcommand Ss i OWOOSD Reserved for system use Encoder Position 1 1 pulse OLOOS5E When Power is OFF P l i Yes Lower 2 words For linear type do not set this register Encoder Position alee oOLoo60 When Power is OFF puis a Yes Upper 2 words For linear type do not set this register Pulse Position When i 1 p ls oLoo62 Power is OFF pus o Yes Lower 2 words For linear type do not set this register Pulse Position When 1 1 pulse OLOO64_ Power is OFF Upper 2 Yes words For linear type do not set this register OLOO66 to OLOOG6E Reserved for system use z Command Buffer for OWO070 to Servo Driver This area is used for command data when MECHATROLINK servo Yes OWOODO7F Transmission commands are specified directly Reference Mode D 3 Monitoring P
250. o connected device Connected device Search for connected devices using MECHATROLINK II 17 byte Mode No connected device No connected device Search for connected devices using MECHATROLINK I Connected device e Station data settings e Fixed parameter settings e Setting parameter settings e Save SERVOPACK parameters End self configuration Connected device a Outline of Motion Control Systems 5 29 5 Outline of Motion Control Systems 5 4 2 Execution Procedure for Self configuration Using the DIP Switch 5 4 2 Execution Procedure for Self configuration Using the DIP Switch Self configuration can be executed from the Basic Module DIP switch 1 Executing Self configuration for the First Time after Connecting Devices Turn ON the power to the MP2300 and then use the procedure described below With this operation self configuration will be executed for all modules and all new definition files will be created In addition ladder drawings functions and all registers will be cleared In the following procedure it is assumed that the power supply to all X I SERVOPACKs are already turned ON 1 Turn OFF the power supply Turn OFF the 24 VDC power supply to the MP2300 STOP SUP 2 Set the DIP switch Eg o Set the switches INIT and CNFG of the DIP switch SW1 on the MP2300 MON E Basic Module to ON TEST swi Ly OFF ON 3 Turn ON the power supply Turn
251. ograms Data Memory 64 Kwords 8 Kwords Up to 16 Kwords per drawing Up to 16 Kwords per drawing 32 Kwords including internal input registers Output O registers 32 Kwords including internal output registers Constant C registers 16 Kwords Common data M registers System S registers Drawing local D registers Drawing constant registers Input I registers Trace Memory Data trace 128 Kwords 32 Kwords x 4 groups 16 points defined Memory Backup Program memory Flash memory 8 MBytes User area 5 5 MBytes definition files ladder programs motion programs etc Data other than battery backup data Data memory Battery backup 256 Kbytes M registers S registers alarm history trace data Bit relay ON OFF Data Types Integer Double length integer Real number 32768 to 32767 2147483648 to 2147483647 1 175E 38 to 3 402E 38 Register Designation Method Register number Symbolic designation Direct designation of register number Up to 8 alphanumeric characters up to 200 symbols per drawing With automatic number or symbol assignment Instructions Program control instructions Direct I O instructions Relay circuit instructions Logic operation instructions Numeric operation instructions Numeric conversion instructions Numeric comparison instructions Data manipulation instructions Basic function instructions Table data manipulat
252. ommand Settings Electronic Shaft Operation Command DBoo0000 Axis 1 and axis 2 speed command settings EXPRESION a Zero speed OL8010 DF00040 DB000003 OL8090 DF00040 1 Zero speed DB00020A HHHHHHHHH Monitor for Deviation between Axes HHHHHHHE SourceA IL8016 SourceB IL8096 Dest DL00090 Zero speed DB000003 System Startup and Sample Programs 4 61 4 System Startup and Sample Programs 4 4 5 Operation Check 4 Phase Control Electronic Cam 4 62 4 4 5 Operation Check 4 Phase Control Electronic Cam 1 Machine Outline As shown in the following figure the Servomotor performs the same operation as the mechanical cam synchronized to a roller connected to the line shaft No phase matching is used Existing Type New Type Line shaft drive motor Line shaft Controller Driver Clutch Differential Phase matcher gt 2 Program Overview Use the ladder program H06 02 Drawing to check the above operation The two axes rotate synchronized with the input speed setting Axis is the roll axis Master axis and axis 2 is the cam axis Slave axis which moves in COS cam pattern against Master axis Cam pattern data is created using a ladder program L06 Drawing y Parent Drawing Child Drawings Grandchild Drawings H Drawing H06 Drawing H06 02 Drawing Phase control SEE SEE Electronic shaft Name H06 Name H06 02 e Axis 1 Electronic cam
253. ommand will be aborted The SERVOPACK will be Servo OFF status Error and Cause e MECHATROLINK communication stopped because the cable was disconnected there is noise interference to the communication line or the power supply to the SERVOPACK was turned OFF Correction e Check the MECHATROLINK cable and reset the alarm If this error occurs frequently refer to MECHATROLINK II Installation Manual manual number SIEPS 80000030 to correct wiring and eliminate noise interference 15 Bit 12 Servo Driver Command Timeout Error Detection Timing e Detected during execution of each motion commands Detected by the MECHATROLINK communication control section when the Servo command responses are checked for each process Processing when Alarm Occurs The current command will be aborted Error and Cause e The MECHATROLINK Servo command did not complete within the specified time 5 s Correction e Check for alarms in the SERVOPACK for MECHATROLINK communication The above error occurs when Module allocations of SERVOPACK for MECHATROLINK communication have been completed and the power is not being supplied to the SERVOPACK 6 7 Troubleshooting Motion Errors 16 Bit 13 Excessive ABS Encoder Rotations Detection Timing e Enabled only when an absolute encoder is used for a finite length axis and the electronic gear used Detected by the position management sect
254. omputer Refer to Machine Controller MP900 MP2000 Series MPE720 Software for Programming Device User s Manual Manual No SIEPC88070005 for the installation method of MPE720 1 Starting the MPE720 Ver 5 00 Start the MPE720 Ver 5 00 using the following procedure 1 Open the YE_Applications Folder and double click the MPE720 Icon Or select Start All Programs YE_Application MPE720 amp YE_Applications oix I File Edit Yiew Go Favorites Help a x eae td X EE f a x td Up Cut Copy Paste Undo Delet Address E E AWINNTProfiles 4ll Users Desktop YE_Applications hd YE_Applications Select an icon to Lum MPE 720 view its description R Communica Manager j x 1 07KB_ My Computer The MPE720 starts up and the File Manager Window appears H File Manager olx File E Edt View ToolT Help H Ready 1128 02 17 52534M 4 24 4 3 Starting Sample Program MPE720 Ver 5 00 2 Creating Group Folders Option In the File Manager Window create a group folder for storing order folders Refer to Group Folders Order Folders Controller folders at the bottom of this page for more information about these folders 1 Right click root and select New Group Folder from the pop up menu Order Folder 0 Fename M Delete D Ctrl D The Make New Folder Dialog Box will appear 2 Enter a group folder
255. on Reference to the relevant manual e O eho Back Back cover Revision Address September 2009 Addition Warranty Ka ete Back Back cover Revision Address October 2009 SIEP C880700 03D lt 5 gt 2 available on the Web Revision Address Machine Controller MP2300 Basic Module USER S MANUAL IRUMA BUSINESS CENTER SOLUTION CENTER 480 Kamifujisawa Iruma Saitama 358 8555 Japan Phone 81 4 2962 5696 Fax 81 4 2962 6138 YASKAWA ELECTRIC AMERICA INC 2121 Norman Drive South Waukegan IL 60085 U S A Phone 800 YASKAWA 800 927 5292 or 1 847 887 7000 Fax 1 847 887 7370 YASKAWA ELETRICO DO BRASIL LTDA Avenida Fagundes Filho 620 Sao Paulo SP CEP 04304 000 Brazil Phone 55 11 3585 1100 Fax 55 11 5581 8795 YASKAWA ELECTRIC EUROPE GmbH HauptstraBe 185 65760 Eschborn Germany Phone 49 6196 569 300 Fax 49 6196 569 398 YASKAWA ELECTRIC UK LTD 1 Hunt Hill Orchardton Woods Cumbernauld G68 9LF United Kingdom Phone 44 1236 735000 Fax 44 1236 458182 YASKAWA ELECTRIC KOREA CORPORATION 7F Doore Bldg 24 Yeoido dong Youngdungpo Ku Seoul 150 877 Korea Phone 82 2 784 7844 Fax 82 2 784 8495 YASKAWA ELECTRIC SINGAPORE PTE LTD 151 Lorong Chuan 04 02A New Tech Park 556741 Singapore Phone 65 6282 3003 Fax 65 6289 3003 YASKAWA ELECTRIC SHANGHAI CO LTD No 18 Xizang Zhong Road Room 1702 1707 Harbour Ring Plaza Shanghai 200001 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 YASKAWA ELECTRIC SHANGHAI
256. on TRACE Data trace execution control 5 Data trace read DTRC RD Reads data from data trace memory to user memory Inverter trace read function ITRC RD Reads trace data from inverter trace memory to user memory D Message send MSG SND Sends messages to external communication devices Message receive MSG RCV Receives messages from external communication devices 2 User Functions The functions programs and the function definitions can be changed programmed freely by users The maximum number of user functions that can be defined is 500 drawings Refer to the following manuals for information on defining functions Machine Controller MP900 MP2000 Series User s Manual Ladder Programming SIEZ C887 1 2 Machine Controller MP900 MP2000 Series User s Manual Motion Programming SIEZ C887 1 3 Machine Controller MP900 MP2000 Series New Ladder Editor Programming Manual SIEZ C887 13 1 Machine Controller MP900 MP2000 Series New Ladder Editor User s Manual SIEZ C887 13 2 5 3 Registers 5 3 Registers This section describes the types of registers used in MP2300 user programs mainly ladder programs and how to use them 5 3 1 Types of Registers DWG Registers Registers used by ladder programs ladder drawings DWG Each drawing can use the registers outlined in the follow ing table Type Name Specification Method Range Details Characteristics Registers provided by the system SW00000 to S Sys
257. on circuit Connect a fuse suitable for the load specifications in the output signal circuit in series with the load If an external fuse is not connected load shorts or overloads could result in fire destruction of the load device or damage to the output element The pins 1 and 11 and the pins 8 and 18 are internally connected Connect them externally as well Mounting and Connections 3 19 4 System Startup and Sample Programs This chapter describes the procedure for starting the MP2300 system and sample programs for typical operation and control 4 1 Model System Startup Procedure 4 2 4 1 1 Flowchart for Model System Startup 4 2 4 1 2 System Configuration 4 3 4 1 3 Initializing SERVOPACKs 4 5 4 1 4 Setting and Saving Communication Process Communication Manager 4 6 4 1 5 MP2300 Self configuration 4 12 4 2 Starting the Sample Program MPE720 Ver 6 00 4 13 4 2 1 Copying and Transferring Sample Program Files 4 13 4 2 2 Setting Motion Fixed Parameters and Adjusting the Settings for Servo Control 4 17 4 2 3 Saving Data from the MP2300 to Flash Memory and Transferring Data to Your Computer from the MP2300 4
258. onal Drawings 3 1 Mounting the MP2300 3 1 1 Basic Module Dimensional Drawings Refer to the following dimensions for installation Panel Cutout Dimensions Four M4 tap 4 111 0 2 gt M4 mounting screws 4 aeia J W R iE A ji Top view FE A FE AE LI 121 0 2 18 2 i 108 i y Z A A LULI Cable connector 3P 721 203 026 000 e o NI oO v y to Front view Right side view Units mm A 721 203 026 000 Cable Connector is mounted to the POWER connector Use this connector and twisted pair cable and prepare the power cable Refer to 3 2 2 2 Assembling the 24 VDC Power Supply Cable on page 3 11 for details Accessesory Operation lever type 231 131 The operation lever is used when connecting wires to the cable connector 3 2 3 1 Mounting the MP2300 3 1 2 Mounting the MP2300 There are two methods for mounting MP2300 e Using screws e Using DIN rail 1 Screw Mounting Place the MP2300 against the mounting base and tighten the fo
259. onfiguration of the CPU I O Module built in the Basic Module Configuration of the SVB Module built in the Basic Module Configuration of the SVR Virtual Motion Module built in the Basic Module Item Description Modification Slot Number Slot number Not possible Module Type Module detected in the slot Possible Controller Number Fixed to 01 Not possible Circuit Number Module circuit number Possible O Start Register T O start register number of the I O Module to be connected to Possible MECHATROLINK I O End Register T O last register number of the I O Module to be connected to Possible MECHATROLINK Possible Disable Input Input enabled Enable disabled Disable Not possible if the cell is blank Possible Disable Output Output enabled Enable disabled Disable Not possible P if the cell is blank Start register number of the motion parameters Motion Start Register g Automatically sets according to the circuit number Not possible D Module Specifications 2 9 2 10 2 Module Specifications 2 2 2 Module Configuration Definitions Last register number of the motion parameters Motion End Register i g Automatically sets according to the circuit number Nor possibi Opens the MECHATROLINK Transmission Definition Window Details Double click the MECHATROLINK cell of SVB Module to open the 7 window Status Status of each module in online mode Not possible
260. ors 6 30 6 7 1 Overview of Motion Errors 6 30 6 7 2 Motion Error Details and Corrections 6 31 6 7 3 Servo Driver Status and Servo Driver Error Codes 6 36 gt Maintenance and Inspection 6 2 6 Maintenance and Inspection 6 1 1 Daily Inspections 6 1 Inspection Items This section summarizes daily and regular inspection items that must be performed by the customer 6 1 1 Daily Inspections The following table lists the daily inspection items No Inspection Item Inspection Details Criteria Action s ve Check the mounting screws for Installation conditions of Th d tb i 1 looseness Check whether the ee een ht ee Retighten the screws Module etc covers are all in place secured correctly 2 Connection conditions Check the terminal screws for looseness The screws must be tight Retighten the screws Check the connectors for looseness The connectors must be tight Retighten the connector set screws Check the gap between crimp terminals There must be an appropriate gap between the terminals Correct as necessary RDY RUN Check whether the indicator is lit Check whether the indicator is lit while the system is in RUN state The indicator must be lit It is abnormal if the indicator is not lit The indicator must be lit
261. other message box will appear asking whether or not to run the MP2300 Click the Yes Button to run the MP2300 MPE720 Ver 6 j x MPE720 Yer 6 xj LD Save to Flash ended normally L RUN the controller lt lt gt TD The data has been saved in the flash memory gt System Startup and Sample Programs 4 21 4 System Startup and Sample Programs 4 2 3 Saving Data from the MP2300 to Flash Memory and Transferring Data to Your Computer from the MP2300 2 Transferring Data from the MP2300 to Your Computer Use the following procedure to transfer data from the MP2300 RAM to a computer 1 Select Online Read from Controller from the menu bar of the MPE720 Ver 6 010 main window The Transfer Program Read from Controller Dialog Box will appear 2 Check the selected items and displayed contents to see if they are correct and then click the Start Button Transfer Program Read from Controller s Target Project File MP2300 23005MPL_E YMW 0 ry Batch T Individual Saye to fash after transferring to the controller The following files will be transferred M System Configuration System Definition K Scan Time Definition Program Module Configuration Data Trace Ladder Program High speed Low speed Start Interrupt Function lt lt Register d O Comment Motion Program Main Sub C language program Table Data Variable Axis Input Output Global Constant
262. otion command 00011 STORE z 0036 NL 1 Source 00000 Dest OW8088 HHHHHHHHH Reverse Rotation Selection HHHHHHHT Axis 2 jog command Axis 2 reverse jog Axis 2 reverse DB000000 DB000011 DB80892 0012 0038 z Axis 2 step command Axis 2 reverse step DB000008 DB000013 0013 0043 NL 1 4 52 4 4 Checking Sample Program Operation 4 4 3 Operation Check 2 Position Control 1 Operation Outline In this example an X Y plotter like the one shown in the figure is operated by ladder and motion programs 2 Program Outline A ladder program H04 Drawing and three prepared sample programs MPM001 MPM002 and MPMO003 are used to check the operation as shown in the figure Programs MPMO001 to MPMO003 perform the following operations e MPMO001 Zero point return using Servomotor phase C e MPMO002 Axis 2 positioning and interpolation with interval timer e MPMO003 Axis 2 positioning and interpolation without interval timer Motion programs are written in text format and the listed commands and operations are executed in listed order 4igh speed scan 4 Parent Drawing Child Drawings Motion Programs H Drawing H04 Drawing MPM003 MOLL MPM002 program SEE _ MSEE startup MPMO01 Name H04 lt Program No 001 OW803C 3 Data DA00020 OW80BC 3 VEL X 100 Y 100 END END ACC X 100 Y 100 Re
263. otion program uses the Servomotor phase C pulse to perform home return 00001 00002 00003 00004 00005 00006 00007 00008 00009 00010 00011 00012 00013 00014 MPMO01 OW803C 3 X axis home return method selection 3 Phase C OWS80BC 3 Y axis home return type selection 3 Phase C VEL X 1000 Y 1000 Travel speed setting for positioning command ACC X 100 Y 100 Acceleration time setting DCC X 100 Y 100 Deceleration time setting OW803E 100 X axis approach speed mm min OW8040 50 X axis creep speed mm min OL8042 10000 X axis final travel distance 0 001 mm OWS80BE 100 Y axis approach speed mm min OW80C0 50 Y axis creep speed mm min OL80C2 10000 Y axis final travel speed 0 001 mm ZRN X JOO Y OO Home return command END 6 Motion Programs MPMO002 and MPMO003 Motion programs MPM002 and MPMO003 perform positioning linear interpolation and circular interpolation for axis 2 MPM002 inserts a timer command between each travel command to indicate operation divisions MPM003 continuously executes travel commands without the timer commands of MPM002 as shown in the following figure 00001 00002 00003 00004 00005 00006 00007 00008 00009 00010 00011 00012 00013 00014 00015 00016 00017 00018 00019 00020 00021 00022 00023 MPM002 Data Setting VEL X 1000 Y 1000 Travel speed setting for positioning command FMX T50000000 Composite speed upper limit s
264. outside the setting range or the specified system work is in use 5 2 User Programs 5 Monitoring Motion Program Execution Information Using S Registers The S registers SW03200 to SW04191 can be used to monitor motion program execution information E Register Areas for Motion Program Execution Information SW03200 SW03216 SW03232 SW03248 SW03264 SW03222 SW03380 SW03438 SW03496 SW03554 SW03612 SW03670 SW03728 SW03786 SW03844 SW03902 SW03960 SW04018 SW04076 SW04134 SW04192 SW05120 Executing program number No of main program currently executing 16W Reserved by the system Executing Program Bit Executing when corresponding bit is ON Reserved by the system Program information used by work 1 28W Program information used by work 2 RRN Motion program execution information Executing program number SW03200 Program number used by work 1 SW03201 Program number used by work 2 SW03202 Program number used by work 3 SW03203 Program number used by work 4 SW03204 Program number used by work 5 SW03205 Program number used by work 6 SW03206 Program number used by work 7 SW03207 Program number used by work 8 SW03208 Program number used by work 9 Program information used by work 3 oat Program information used by 58W work 4 Program information used by 58W work 5 Program information used by 58W work 6 Program information
265. ovided for the power supply terminals Use AWG24 to AWG20 0 2 mm to 0 51 mm twisted pair cable to assemble the 24 VDC power supply cable with the following procedure 1 Strip approx 6 5 mm from the end of the cable to expose the core wire ZZZ77777TA 6 5 mm 2 Insert the core wire Use the lever provided or a screwdriver to open the clamp as shown below and fully insert the core wire into the wire inlet Install the lever Open the clamp by using the Open the clamp by using a lever screwdriver Screwdriver Plug Cable Insert the hooked end of the With the lever pressed down gt lever into the square hole on the fully insert the core wire into the o i qu wire inlet With the tip of screwdriver inserted into the hole on top of the plug housing fully insert the core wire into the wire inlet Press down on the lever until the protrusion enters the hole on top of the plug housing 3 Fasten the clamp Release the lever or remove the screwdriver to fasten the clamp so that the core wire will remain securely in the plug Mounting and Connections 3 11 3 Mounting and Connections 3 2 3 MECHATROLINK Connectors 3 12 3 2 3 MECHATROLINK Connectors MECHATROLINK connector is used to connect the MP2300 and the SERVOPACKs and distributed T O via MECHATROLINK cables 1 Specifications and Pin Arrangement
266. ovides eight external input points and four external output points 1 CPU IO Module Details For CPU I O Module details including specifications refer to 3 2 4 CPU I O Built in I O Connectors on page 3 16 2 Settings for CPU I O Module Local I O definition Window Select MP2300 in the Module Type column of the Controller section in the Module Configuration Window and then double click the Slot Number cell of IO E Module Configuration MP2300 Online Local a PT 1 CPUR 1 r Controller Controller Number Circuit Number I O Start Register sanra I O End Register Disable Input Disable Output Motion Start Register famas Motion End Register ia Details Running MP2300 Controller module with network servo control 1 0 virtual axes r Module Details MP2300 SLOT 00 Sint Number jl Module Type cpu z lio Controler Number Circuit number f YOStatReaister o Disable Outout vl Motion Start Register_ Motion End Register Running CPU CPU module CPU operation such as a scan time setup and a system definition is set up o2 E a 7 a 7 errr Say Running The message box will appear and ask for confirmation to create a new file Click the OK Button to open the Local I O Window fs Module Specifications 2 11 2 12 2 Module Specifications 2 2 3 CPU I O Built in 1 0 Module The following items are dis
267. p and Sample Programs 4 8 4 System Startup and Sample Programs 4 1 4 Setting and Saving Communication Process Communication Manager E Settings for Ethernet Connection Prior to make settings for Ethernet connection the IP adderss of the personal computer must be set Use the following procedure to set the IP address and make settings for Ethernet connection Make the following settings with the LAN cable connected 7 Click Start Settings Control Panel Internet Options The Internet Properties Window appears 8 Click Connection Tab to display the page Click LAN settngs Internet Options General Security Privacy Cont ams Advanced To set up anIntemet connection clic a Setup r Dial up and Virtual Private Network settings Add Remove Choose Settings if you need to configure a proxy Settings server for a connection Current default None Set Default Local Area Network LAN settings LAN Settings do not apply to dial up connections LAN Settings Choose Settings above for dial up settings OK Cancel Apply The Local Area Network LAN Settings Dialog Box appears 9 Check if the Automatically detect the settings Check Box is cleared and click the OK Button to close the dialog box Local Area Network LAN Settings j 2 x Automatic configuration Automatic configuration may override manual settings To ensure the of manual settin
268. peration The two axes synchronize to a virtual master axis according to the entered speed settings and axis and axis 2 rotate in exactly the same way Parent Drawing Child Drawings Grandchild Drawings H Drawing H06 Drawing H06 01 Drawing Position control Electronic shaft e Axis 1 e Axis 2 SEE SEE Name H06 Name H06 01 High speed scan Refer to 4 4 4 5 Sample Program Details on page 4 60 for details of HO6 01 Drawing A simple device is used in this example to describe the MP2300 system startup This device has no power OFF circuit for the SERVOPACK in the event of emergency stops or overtravel Include a proper emergency stop circuit in actual devices 4 58 4 4 Checking Sample Program Operation 3 H06 Drawing Tuning Panel Display the H06 Drawing Tuning Panel as shown in 4 4 1 How to Open the Tuning Panel Window on page 4 44 Model system operation can be controlled by writing the current values for Common operation and Phase control electric shaft from the Tuning Panel 00000 Dw00010 L Axis 1 operation ready aie OFF IBs0000 Axis 2 operation ready ON OFF OFF 1880800 Axis 1 current position 00000000X 0000000000 2147483648 2147483647 IL8016 Axis 2 current position 300000000 0000000000 2147483648 2147483647 IL8096 Ee Common operation rrr OOK 00000 32767 Dw00010 L Servo ON PB S ON OFF MB30000C Alarm reset PB S ON OF
269. played in the Local I O Window The discrete inputs discrete outputs and interrupt inputs can be set REG Word SCAN Current Value The current value of the register will be displayed in binary when online It will not be displayed HEX Wi Local I O MP2300 MP2300 Offline Local ioj xi PT CPUs RACK 01 Slot 01 0402 0403 noa tem reg word scan Current Value 1 local Input Two402 1 2 Local Output Zi OW0403 1 IRQ Input 1804020 Enable or disable each item by clicking on the cell 1 Enabled W Disabled The register length is fixed at one word i e 16 points are set for each input or output register Displays the register number allocated to the inputs or outputs It cannot be changed Displays the word size of the register data It cannot be changed Select the speed from HIGH LOW or NA none specified for the scan that processes the inputs or outputs when offline The outputs to external devices can be set by changing the current value of the discrete outputs When the set value is confirmed it is immediately saved in the register Other current values cannot be changed The current value of the register will be displayed in hexadecimal when online It will not be displayed when offline After changing the local I O configuration save the definition data by selecting File Save amp Save into flash memory from the main menu 2 2 MP2300 Basic Module Functions 2
270. program CI Register E Group definition C Comment C E language C Table data H O Variable Duser Structure em Configuration A message box will appear and ask whether or not to stop the MP2300 to allow transfer of the files gt System Startup and Sample Programs 4 15 4 16 4 System Startup and Sample Programs 4 2 1 Copying and Transferring Sample Program Files 7 Click the CPU STOP Button MPE720 Ver 6 x i Controller is running LD There is a possibility to cause the following problems when transfer during RUN 1 There is a possibility that the application miscalculation 2 It will take more time while to complete transfer Do you want to continue transfer vs CPU STOP Cancel The MP2300 will stop running and MPE720 will start transferring the selected sample program files When the transfer is complete a message box will appear to tell you that the sample program files have been successfully written to the MP2300 8 Click the OK Button in the message box Another message box will appear asking whether or not to run the MP2300 Click the Yes Button to run the MP2300 x MPE720 Ver 6 xi LD Save to Flash ended normally i RUN the controller e C D The MP2300 will start running The sample program files have been transferred to the MP2300 4 2 Starting the Sample Program MPE720 Ver 6 00 4 2 2 Setting Motion Fixed Paramet
271. put Yes Bit 9 Brake State Output Bit A Stop signal HWBB Bit B Reserved for system use Bits C to F For SGDH NS115 SGDS and SGDV SERVOPACKs CN1 input signals 1012 to 1015 For other SERVOPACK models Reserved by system Bits 0 to 3 Monitor 1 Servo Driver User Bits 4 to 7 Monitor 2 WEIER Monitor Information Bits 8 to B Monitor 3 ne Bits C to F Monitor 4 Servo Driver User ILOO30 Monitor 2 Stores the result of the selected monitor Yes Servo Driver User ILOO32 Monitor 3 Reserved for system use Servo Driver User ILOO34 Monitor 4 Stores the result of the selected monitor Yes Servo Driver User IWOO36 Constant No Stores the number of the parameter being processed Yes Supplementary Servo IWOO37 Driver User Constant Stores the number of the parameter being processed Yes No Servo Driver User ILOO38 Constant Reading Data Stores the data of the parameter being read Yes Supplementary ILOO3A Servo Driver User Stores the data of the parameter being read Yes Constant Reading Data Stores the type of motor actually connected IWOO3F Motor Type 0 Rotation type motor Yes 1 Linear motor ILoO40 Feedback Speed See i to OWO103 bits 0 to 3 Speed Unit Yes Yes election A 28 D 3 Monitoring Parameter List et cont d Register No Name Contents SVB SVR 1Loo42 Feedback Torque Unit is according to OWOID03 bits 12 to 15 Torque Unit Yes Yes Thrust Selection
272. r Disable Refer to W Wait for Monitor Data Update for details on this function Transmission Bytes Communication Cycle Number of Retries to Slaves Number of Slaves Transmission bytes communication cycle number of retries to slaves and number of slaves at execution of self configuration will be automatically set according to conditions including communication type station type Master or Slave and the largest slave station number the largest number among the detected slave station numbers lt For Master Station gt MECHATROLINK II MECHATROLINK II It em 32 byte mode 17 byte mode MECHATRO LINK I largest Slave 1to8 9 10 to 16 17 to 21 1 to 14 15 Station Number Transmission Bytes 31 bytes 16 bytes Communication 1 1 2 2 1 l 2 Cycle ms ms ms ms ms ms ms Number of 2 r um 1 0 5 21 The largest slave l 0 14 Retries to Slaves station number Number of The largest slave Slaves 3 16 station number 1 E a lt For Slave Stations gt Item MECHATROLINK II 32 byte mode MECHATROLINK II 17 byte mode MECHATROLINK I Transmission Bytes Communication Cycle 1 ms 1 ms 2 ms Number of Retries to Slaves 30 30 15 Number of Slaves 30 30 15 fs Module Specifications 2 19 2 Module Specifications 2 2 5 Setting SVB Module E Communication Cycle That Can be Set The communication cycle that can be set
273. r Stop Controller Online The Controller Running Status Dialog Box will appear 2 Click the Run Button x RUN O STOP Stop Close To stop the CPU for example to verify errors click the STOP Button displayed here 3 Change confirmation dialog box will be displayed Click the Yes Button to return to the Controller Running Status Dialog Box Check that the RUN LED indicator is lit Controller Run status xi RUN GPU K 0 m 4 Click the CLOSE Button in the Controller Running Status Dialog Box to exit RUN settings Controller running status x fo RUN O STOP stop_ Coo 4 42 4 3 Starting Sample Program MPE720 Ver 5 00 2 Logging Off Log off once the work using MPE720 Embedded has been completed 1 Right click on the Controller Folder where sample programs are saved and select Log Off from the pop up menu that is displayed iix File Edit View Tool Help x ee root bP Ml aa a mP2300 CC Register Fo Folder YESAMPLE Definition Folder Folder i TY brine programs Folder Table Data F Folder Logon Lo Properties Ctrl R GESI Log Off Transfer Backup Motion Programs Application Converter gt File Hame SAMPLE File Type Contr 4 Delete Usage Online connection parameter PTA 2 IP 1 Database Local Online Online X gt 08 05 2005 12 05 59PM_ Logoff from the con
274. r supply of the specified voltage There is a risk of burning e In places with poor power supply conditions take all steps necessary to ensure that the input power supply is within the specified voltage range There is a risk of device damage Install breakers and other safety measure to provide protection against shorts in external wiring There is a risk of fire Provide sufficient shielding when using the MP2300 in the following locations There is a risk of device damage e Noise such as from static electricity Strong electromagnetic or magnetic fields e Radiation e Near to power lines When connecting the battery connect the polarity correctly There is a risk of battery damage or explosion Only qualified safety trained personnel should replace the battery If the battery is replaced incorrectly machine malfunction or damage electric shock or injury may result When replacing the battery do not touch the electrodes Static electricity may damage the electrodes E Selecting Separating and Laying External Cables Z CAUTION e Consider the following items when selecting the I O signal lines external cables to connect the MP2300 to external devices e Mechanical strength e Noise interference e Wiring distance Signal voltage etc e Separate the I O signal lines from the power lines both inside and outside the control box to reduce the influence of noise from the power lines If the I O signal lines a
275. r the selected Controller folder and the dialog box will close The user name and password may have already been changed Ask the system administrator beforehand The user name and password are changed from the File menu in the File Manager Window Refer to Machine Controller MP900 MP2000 Series MPE720 Software for Programming Device User s Manual Manual No SIEPC88070005 for details gt System Startup and Sample Programs 4 31 4 System Startup and Sample Programs 4 3 2 Reading Sample Programs and Setting and Saving Parameters 2 Loading the Sample Programs The sample programs on the MPE720 system CD ROM will be decompressed on the personal computer and loaded to the Controller Folder Set the MPE720 system CD ROM in the CD ROM drive of the personal computer 1 Use Explorer to open the SAMPLE Eng folders and double click the 2300SMPL_E EXE icon amp Eng olx File Edit View Go Favorites Help e gt a B Back Forward Up Cut Copy Paste Undo Address C E SAMPLE Eng hd Select an icon to view its description A dialog box for specifying where to unpack the file will appear 2 Specify the destination path a path other than File Manager and click the Decompress Button 2100SMPL_E EXE x Directory T JAN kk Browse B Decompress CancelESC The sample program will be unpacked and saved to the specified path and a folder called 2300SMPL_E w
276. ral Time Constant 1 20 00 ms l 1 40 00 I Position Loop Gain 1 40 0 s 1100 0 10103 Moment of Inertia Ratio Mass ratio woa MA s 2nd Speed Loop Gain 0105 2nd Speed Loop Integral Time Constant 0 00 ms 10106 2nd Position Loop Gain 40 0 fs 0107 Bias O min 1 0 Appendices A 11 A 12 B Current Values and Set Values Input Data in the SVB Definition Window 7 Saving Data to Flash Memory The data flow for SERVOPACK parameters is as follows when saving the parameters to flash memory on the MPE720 The MP2300 writes the parameters data Input Data held in SDRAM to flash memory MECHATROLINK Send Send I gt gt MPE720 online I System Control Display Input Current SEAM Ee Data Value BI ae Flash q EEP k A Memory SDRAM PAM ROM 1 Input F Data Servo Parameters Parameters i All Axes HDD in personal computer MP2300 SERVOPACK SERVOPACK Save to flash memory also after having changed set data of SERVOPACK parameter B 2 Precautions When Saving SERVOPACK Parameters Before executing saving operation in the SERVOPACK Tab Page in any cases including the SERVOPACK replace ment always select Edit Copy Current Value to copy the values in Current Value to Input Data C 1 Initializing Procedures for X V and III Series SERVOPACKs C Initializing the Absolute En
277. rated speed Yes Reference owo0o00F Reserved for system use oLonio Speed Reference Unit is according to OWO1N03 bits 0 to 3 Speed Unit Yes Yes Setting Selection A 22 D 2 Setting Parameter List cont d Register No Name Contents SVB SVR Saal a 4 Reserved for system use Positive Side Limiting OLOO14 Torque Thrust Setting Unit is according to OWO003 bits C to F Torque Unit Yes at the Speed Reference oLooi6e Secondly Speed Unit is according to OWOID03 bits 0 to 3 Speed Unit Yes Yes Compensation Selection owo0o018 Override 1 0 01 Yes Sal a Fy Reserved for system use Position Reference oLO01cC Seria 1 1 reference unit Yes Yes Width of Positionin OLOOiE Gaian nee 1 1 reference unit Yes NEAR Signal Output OLOO20 Width goar Supu 1 1 reference unit Yes Error Count Alarm OLOO22 u ones 1 1 reference unit Yes OLOO24 Reserved for system use Positioning OwoOO26 Completion Check 1 1ms Yes Time ow0o027 Reserved for system use Phase Correction OLOO28 Setting 1 1 reference unit Yes Latch Zone Lower Limit OLOO2A Setting E 1 1 reference unit Yes Latch Zone Upper Limit OLOO2C Setting pper mI 1 1 reference unit Yes OWOO2E Position Loop Gain 1 0 1 s Yes OWOO2F Speed Loop Gain 1 1Hz Yes Speed Feedforward OWOO30 poaa 1 0 01 percentage of distribution segment Yes Speed o
278. rations for Servomotor 1 or 2 axis 1 or 2 using a ladder program such as the one shown below 4 Parent Drawing H Drawing Child Drawings SEE gt H01 Drawing Name H01 lt _ __ e SERVO ON e Alarm Reset e Parameter settings END ae Ho2l gt Ho2 Drawing Grandchild Drawings SEE P H02 01 Drawing Name H02 01 lt e Axis 1 JOG e Axis 1 STEP END SEE gt Name H02 02 lt 4 H02 02 Drawing e Axis 2 JOG e Axis 2 STEP END END END High speed scan Refer to 4 4 2 4 Sample Program Details on page 4 49 for details of each program drawing A simple device is used in this example to describe the MP2300 system startup This device has no power OFF circuit for the SERVOPACK in the event of emergency stops or overtravel Include a proper emergency stop circuit in actual devices 4 46 4 4 Checking Sample Program Operation 2 H02 Drawing Tuning Panel Display the H02 Drawing Tuning Panel as shown in 4 4 1 How to Open the Tuning Panel Window on page 4 44 Model system operation can be controlled by writing the current values for common operation and Manual Operation and Setting from the Tuning Panel No Data Name CurrentValue Lower Limit Upper Limit
279. re YES Watchdog timer timeout Check SW00055 YES Hardware failure y sw00055 0000 NO p gt Check the scan time setting Is the set scan i System error time correct YES User program error NO SW00055 0008H p Check SW00055 to learn the Increase the scan The faulty program is drawing type H L or A time YES a drawing Check SW00056 to learn the The faulty program is a function drawing number Check to see that SW00056 8000H Check the drawing that may be the cause Thek SHOO z 7 If no error is found in the drawing ecl 57 to learn the type o w drawing H L A or function that Check the set sean ime references the function y NO The reference source is a function SW00057 0008H YES The reference source is a drawing y Check SW00058 to learn the number of the drawing that references the function y Open the drawing that is the reference yY source by using the MPE720 ladder Check SW00059 to learn the step editor number that references the function y Check SW00059 to learn the step number that references the function Check all functions to see if there is a function that is referenced in the y step number because the function from which the step number is referenced could not be specified Find the function name that is written in the step number Check the contents of the function and
280. reference unit Yes Target Position j ILOO1C Difference Monitor 1 1 reference unit Yes 1 1t LONE Number of POSMAX im l Yes Yes Turns Invalid for linear type Speed Reference ILOO20 Output Monitor pulse s Yes ILOO22 to ILOO2A Reserved for system use 3 Appendices A 27 D Motion Parameter Lists cont d Register No Name Contents SVB SVR Bit 0 ALM Alarm Bit 1 WARN Warning Bit 2 CMDRY Command Ready Bit 3 SVON Servo ON Bit 4 PON Main Power Supply ON Bit 5 MLOCK Machine Lock Bit 6 ZPOINT Zero Position Bit 7 PSET Locating Complete Positioning completed V CMP Speed Coincidence Yes Iwono2zc Servo Driver Status Bit 8 DEN Commanded Profile Complete Distribution completed SZPD Zero Speed Bit 9 T_LIM Torque Restriction Bit A L_CMP Latch Complete Bit B NEAR Locating Neighborhood NEAR Position V_LIM Speed Limit Bit C P_SOT Position Software Limit Bit D N_SOT Negative Software Limit Bits E and F Reserved for system use Servo Driver Alarm IwOO2D Code Stores the alarm code from the SERVOPACK Yes Bit 0 Forward Side Limit Switch Input Bit 1 Reverse Side Limit Switch Input Bit 2 Deceleration Dog Switch Input Bit 3 Encoder Phase A Signal Input Bit 4 Encoder Phase B Signal Input Bit 5 Encoder Phase C Signal Input Bit 6 EXT1 Signal Input Bit 7 EXT2 Signal Input IWOO2E Servo Driver I O Monitor Bit 8 EXT3 Signal In
281. request NO contact 2 Program stop request NO contact 3 Program single block mode selection NO contact 4 Program single block start request Differential or NO contact input 5 Alarm reset request NO contact 6 Program continuous operation start request Differential or NO contact input 8 Skip 1 information NO contact 9 Skip 2 information NO contact NO contact D System work number setting OFF The system will use the automatically obtained system work number The system work number may be different each time ON The work with the set system work number will be used NO contact E Interpolation override setting OFF Interpolation override 100 fixed ON Conforms to set interpolation override These signals can perform run stop hold and other controls for motion programs by entering from the ladder program to the work register specified by the MSEE command 1 Use signals conforming to the above signal types when writing ladder programs Motion programs are executed if the program operation start request signal is ON when the power is turned ON e g when a start request signal is left in M register E Timing Chart for Motion Program Control Signals The following figure shows an example of a timing chart for motion program control signals Control signal Operation start request Control signal Operation start request Program Operation Start Request E Status Operating Distribution __ S Pause Reque
282. reverse for the moving amount set under Axis 2 STEP moving amount Current value ON gt OFF STEP operation stops Always stop after executing stepping Axis 1 STEP Moving Amount Enter any value Sets the STEP moving amount for axis 1 Axis 2 STEP Moving Amount Enter any value Sets the STEP moving amount for axis 2 Itis necessary to create routines within the actual application program in order to monitor and control the registers corresponding to the signals and data listed in the table above 4 Sample Program Details a H Drawing The H parent drawing controls the overall sample program P00101 H 0000 0000 NL 1 10001 0001 NL 1 10002 0002 NL 1 10003 0003 NL 1 10004 0004 NL 1 Main Program High speed Main Program Servo ON and Alarm reset Name H01 JOG STEP Name H02 Positioning Positioning Name H04 Phase Control Electronic cam SEE a Name H06 b H01 Drawing The H01 child drawing turns ON the Servo resets alarms and sets common parameters P00102 H01 0000 NL 1 0002 NL 1 0002 0004 NL 1 0003 0007 NL 1 o gt 0010 NL 1 10005 4 0012 NL 1 Servo ON alarm reset JOG and STEP Main Program Axis Common Settings HHHHHHHHH Action Common Settings HHHHHHHHE HHHHHHHHHE Motion Command Detection HHHHHHHT Axis 1 motion command 0 detection SourceA IW8008 SourceB 00000 Axis 2 motion command 0
283. rm Monitor 20 ALM_HIST Alarm History Monitor 21 ALMHIST_CLR Clear Alarm History 22 ABS_RST Absolute Encoder Reset 23 VELO Speed Reference 24 TRQ Torque Thrust Reference 25 PHASE Phase Reference 26 KIS Change Position Loop Integral Time Constant 27 PPRM_WR Stored Parameter Write Bit 0 Holds a Command 0 OFF 1 ON Yes Yes Bit 1 Interrupt a Command 0 OFF 1 ON Yes Yes Bit 2 Moving Direction JOG STEP 0 Forward rotation 1 ABWNK OO Yes Yes Reverse rotation Bit 3 Zero point Direction Selection 0 Reverse rotation 1 Forward Yes Motion Command rotation owo009 c ontrol Flag Bit 4 Latch Zone Effective Selection 0 Disabled 1 Enabled Yes Bit 5 Position Reference Type Yes Yes 0 Incremental Addition Mode 1 Absolute Mode Bit 6 Phase Compensation Type Yes 0 Incremental Addition Mode 1 Absolute Mode Bits 7 to F Reserved for system use 0 NOP No command Yes Yes 1 PRM_RD Read User Constant Read SERVOPACK parameter OWOO0A Motion Subcommand _ 2 PRM_WR User Constant Write SERVOPACK parameter Yes 3 Reserved 4 SMON Status monitor 5 FIXPRM_RD Read Fixed Parameters Yes Yes OWODOB Reserved for system use Torque Thrust Unit is according to OWO003 bits 12 to 15 Torque Unit re Reference Setting Setting vee ee Speed Limit Setting at OWQODOE the Torque Thrust 1 0 01 percentage of
284. ro at Meh BR PT 2 1P 192 168 1 1 CPUR 1 JRACK O1 Slot 200 ciR 01 s000 67FF M axis SERVOPACK SaDS 1 Fixed Parameters Setup Parameters SERVOPACK Monitor Function Selection Basic Switch O Function Selection Application Switch 1 Function Selection Application Switch 2 Function Selection Application Switch 4 Function Selection Application Switch 6 Function Selection Application Switch 7 Function Selection Application Switch 8 Speed Loop Gain Speed Loop Integral Time Constant Position Loop Gain 0103 Moment of Inertia Ratio Mass ratio 0104 2nd Speed Loop Gain After saving TJ File Edit View Window Help version 0014 a Servo Type Rotary z ol Name input ata Une Current lol xi la x jDaS a sae th CRO DIS REG Mot SMG REF LST ove Edt Bly ore eB Beh PT 2 1P 192 168 1 1 CPU 1 JRACK O1 Slot 200 cIR 01 s000 67FF M axis 1 x SERVOPACK sGDS 1 Fixed Parameters Setup Parameters SERVOPACK Monitor Function Selection Basic Switch O Function Selection Application Switch 1 0002 Function Selection Application Switch 2 Function Selection Application Switch 4 Function Selection Application Switch 6 Function Selection Application Switch 7 Function Selection Application Switch 8 Speed Loop Gain Speed Loop Integral Time Constant 0102 Position Loop Gain Moment of Inertia Ratio Mass ratio
285. rogram 4 2 1 2 Starting MPE720 Ver 6 OIL To Transfer the gt file to the MP2300 Sample Program to the MP2300 on page 4 14 Open the SVB Definition Window to set and save the motion 4 2 2 1 Setting and Saving Motion Fixed Parameters fixed parameters on page 4 17 Adjust and save the SERVOPACK parameters 3 4 2 2 2 Making Servo Adjustments and Saving SER VOPACK Parameters on page 4 19 V Save the parameter settings stored in the MP2300 RAM to the flash memory gt gt 4 2 3 1 Saving to Flash Memory on page 4 21 Transfer the MP2300 data to your computer 4 2 3 2 Transferring Data from the MP2300 to Your Computer on page 4 22 4 2 1 Copying and Transferring Sample Program Files Use the following procedure to copy the sample program files from the installation disk to the hard disk of your computer start MPE720 Ver 6 00 and transfer the file to the MP2300 1 Copying the Sample Program File 1 Insert the MPE720 Ver 6 00 installation disk into the CD ROM drive on your computer The installation window will automatically start running Click the Cancel Button to cancel the autorun Open the My Computer folder and then right click the MPE720V6 disk drive Click Open in the pop up menu that appears P my Computer 1 0 x File Edit View Favorites Tools Help 4 I gt Ine T 2 Search Folders amp
286. roller MP900 MP2000 Series MPE720 Software for Programming Device User s Manual SIEP C880700 05 Describes how to install and operate the MP900 MP2000 Series programming system MPE720 x Series SGMO SGD User s Manual SIEZ S800 26 3 Describes the Series SERVOPACK models specifications and capacity selection methods x Series SGMO SGD User s Manual High speed Field Network MECHATROLINK compatible AC Servo Drivers SIEZ S800 26 4 Describes the Series SERVOPACK models specifications and capacity selection methods x II Series SGMOIH SGDH User s Manual SIEP S800000 05 Describes the installation wiring trial operation function applications methods maintenance and inspection of the X II Series SERVOPACKs II Series SGMOH SGDM User s Manual SIEP S800000 15 Describes the installation wiring trial operation function applications methods maintenance and inspection of the X II Series SERVOPACKs Manual Name Manual Number Contents II Series SGMOH SGDS User s Manual SIEP 8800000 00 Describes the models specifications wiring trial operation adjustment function application methods maintenance and inspection of the X III Series SERVOPACKs and Servomotors L III Series SGMOS SGDS Digital Operator Operating Instructions TOBP S800000 01 Describes the operating methods of the JUSP OP0OSA Digital Operator 2 II Series S6MO
287. roller folder and the Definition folder in the File Manager Window to display five defini tion files under the Definition folder Double click Module Configuration E File Manager File Edit View Tool Help le x root E mP2300 YESAMPLE a m 2300S5MPL 29 C Register Folder H Database 29 Definition Folder in Application Information Setting Data Trace Module Configuration lt q Scan Time Setting System Configuration Programs E Table Data Folder iy MP2200 5 34 5 4 Self configuration The Engineering Manager Window will start and the Module Configuration Window will appear 2 Right click the Module for which devices have been added and select Module Self Configuration from the pop menu to execute self configuration Hg Engineering Manager Module Configuration MP2300 YESAMPLE 230 LM oj xj T Fie View Order Window Help lal xj PEETER REEERE PT 2 IP 192 168 1 1 CPU 1 m Controller Module Type Controller Number iaae i Ti Ae System Configuration 1 0 Start Register Delete Slot I O End Register Disable Input Disable Output The RUN LED indicator will blink and a message indicating that the module configuration definitions are being created will be dispayed Once self configuration has been completed the message will disappear and the RUN LED indicator will return to its original st
288. rom the menu bar Environment Setting x System Setting ting Write Protect writable 7 Scan Time Setting FCI Reset Signal Disable z E3 Ladder EJ C language D Register Clear when Start Disable 7 5 variable Keep Latest Value Number of scan of keep latest value E3 Monitor when abnormal input Ba E3 Transfer High speed Input f2 Scan 1 255 EJ Print Low speed Input f2 Scan 1 255 Calender Setting Date and Time Oct 02 2002 04 00 Cancel Apply Scan Time Setting Select File Environment Setting Setup Scan Time Setting from the menu bar Environment Setting g x EJ System E Security High speed Scan E Setup Setting Value fioo ms 1 0ms 32 0ms System Setting Eran Tima Current Value jos ms Scan Time Setting E3 Ladder Maximum Value jos ms E3 C language EJ Variable Low speed Scan f Monitor Setting Value 200 0 ms 2 0ms 300 0ms Transfer Current Value 57 ms Print Prin Maximum Value 58 ms t 1 The operation of the application which depends at the scan time changes s when change the setting value 2 Please do not set setting value smaller than current value The watchdog eror OCCUIs Cancel Apply 5 38 5 5 Precautions When Using the MP2300 lt When Using MPE720 Ver 5 00 gt M File Manager File Edit View Tool Help x e e amp root mp2300 YESAMPLE a m 2300SMPL J C Register Folder Data
289. ror Codes 1 F Error Contents User System Default Value 0001H Integer operation underflow Yes 32768 32768 0002H Integer operation overflow Yes 32767 32767 0003H Integer operation division error Yes The A register remains the same Integer 0009H Double length integer operation underflow Yes 2147483648 2147483648 Operations 000AH Double length integer operation overflow Yes 2147483647 2147483647 000BH Double length integer operation division error Yes The A register remains the same 0100H ea error drawing integer operation error O 1 No Default indicated above 0010H Integer storage non numeric error Yes Store not executed 00000 0011H Integer storage underflow Yes Store not executed 32768 0012H Integer storage overflow Yes Store not executed 32767 0021H Real number storage underflow Yes Store not executed 1 0E 38 0022H Real number storage overflow Yes Store not executed 1 0E 38 0023H Real number operation division by zero error Yes Operation not executed The F register remains the same 0030H Real number operation invalid operation non numeric No Operation not executed 0031H Real number operation exponent underflow No 0 0 0032H Real number operation exponent overflow No Maximum value Real 0033H Real number operation
290. rted The communication cycle and number of retry stations in MECHATROLINK II 32 byte Mode change according to the highest station number of the detected slaves as shown in the following table aia ona on ei Number of Retry Station 1 to 8 1 1 9 1 0 10 to 16 2 5 Determined by the following 17 to 21 2 equation 21 Highest station number m Slave Devices Not Recognized by Self configuration The following slave devices I O modules are recognized as wildcard I O I O because they do not have a model code Make allocations again for these devices in the Module Configuration Window of the MPE720 e JEPMC 10350 e JAMSC 120DAI53330 e JAMSC 120DAI73330 e JAMSC 120DA083330 e JAMSC 120DRA83030 Servos with special specifications and that cannot be automatically recognized are recognized as wildcard Servos SERVO Make allocations again for these Servos in the Module Configuration Window of the MPE720 5 36 3 5 4 Self configuration Motion Parameters When self configuration is executed the motion parameters are set from SERVOPACK data Some of the parameters are written to the SERVOPACK s RAM For details of this data refer to 11 6 5 Parameters Updated during Self configuration in the Machine Controller MP2000 Series Built in SVB SVB 01 Motion Module User s Manual Manual No SIEPC80070033 SERVOPACK Parameters When self configuration is executed SERVOPA
291. rview of the MP2300 1 3 System Configuration Example The following diagram shows an example of system configuration MP2300 Optional Modules Motion Modules MECHATROLINK Anal SVA 01 1209 Servo Pul LSE Stepping Motor 24 VDC power supply I O Modules External analog input I O Modules for Servos MECHATROLINK device DO 01 External output device Communication Modules 218IF 01 Ethernet 218IF 02 Ethernet 217IF 01 C RS422 485 ann mn PROFIBUS MPLINK CP 215 RS 232C For the details on the system configuration example refer to 4 1 2 System Configuration on page 4 3 Use the connecting cables and connectors recommended by Yaskawa Always check the device to be used and select the correct cable for the device Different SERVOPACKs are connected to MECHATROLINK I 4 Mbps and MECHATROLINK II 10 Mbps Refer to 1 4 1 SERVOPACKs on page 1 7 and select the appropriate SERVOPACKs If devices compatibe with MECHATROLINK II and with MECHATROLINK II are used together make the set tings for MECHATROLINK I The user must supply the 24 VDC power supply When connecting SERVOPACKs via MECHATROLINK connect the overtravel zero point return deceleration limit switch and external latch signals to the SERVOPACKs For connection refer to the SERVOPACK s man ual 1 4 Devices Connectable to MECHATROLINK 1 4 Devices Connectable to MECHATROLINK Th
292. ry Content Window will appear 2 Select File Execute i Save Flash Memory Content File View Help Exit E CPU PI 1 CPU 1 MP2100 Status 3 Click the Yes Button in the displayed confirmation dialog box and then click the Yes Button in the TrnSys Dialog Box that is displayed TrnSys tite x TrnSys xj mys E Zj 2 You must stop the controller before saving program to FLASH Save to flash OR e l OK to stop the controller 4 Another confirmation dialog box will be displayed Click the Yes Button The data will be saved to flash memory When saving to flash memory has been completed a dialog box to confirm that the CPU is to be run will be displayed Click the Yes Button Then the display will automatically return to the Save Flash Memory Content Window x 4 Save to flash OK t Save to flash complete H OK to run the controller 5 Select File Exit to exit saving to flash memory i Save Flash Memory Content View Help H 4 40 4 3 Starting Sample Program MPE720 Ver 5 00 7 Dumping All Data Execute All Program File Dump to back up to a personal computer the module configuration definitions automatically detected by the MP2300 during self configuration and edited programs The MP2300 program data and the program data in the personal computer hard disk are synchronized when all programs are dumped 1 Right click the Controller Folder in which the sample programs h
293. s function programs and register call ranges Common DWG registers DWG HOO drawing Program A System registers i 1 SB SW SL SFnnnnn 1000 steps max gt i 2 l i 1 Data registers i DWG registers i MB MW ML MFnnnnn i re ee ee eee tenets rg es Gh Aree ee gee Constant data 16384 words max gt Emam i 1 B W L Fnnnnn i i Individual data 16384 words max i gt e i 1 1 DB DW DL DFnnnnn A i FUNC 000 function i l gt Input registers i Pida IB IW IL IFnnnnn i 4 i i 1000 steps max Function external i registers i 1 3 AB AW AL AFnnnnn are 1 i i Function individual registers gt Output registers i T aaa ii MP OB OW OL OFnnnnn _ Function input registers 17 words i i XB XW XL XFnnnnn i 1 _ Function output registers 17 words YB YW YL YFnnnnn i 1 _ Function internal registers 64 words i Constants reaist i h i Lis gisters ZB ZW ZL ZFnnnnn CB CW CL CFnnnnn Constant data 16384 words max i B W L Fnnnnn l i i J Individual data 16384 words max Ee tee See pe i DB DW DL DFnnnnn drawing can be called from functions using the external function registers a Outline of Motion Control Systems 5 23 5 Outline of Motion Control Systems 5 3 2 Data Types and Register Specificatio
294. s a registered trademark of the ODVA Open DeviceNet Venders Association e PROFIBUS is a trademark of the PROFIBUS User Organization e Ethernet is a registered trademark of the Xerox Corporation e MPLINK is a registered trademark of the YASKAWA Electric Corporation e Microsoft Windows Windows NT and Internet Explorer are registered trademarks of the Microsoft Corporation e MECHATROLINK is a trademark of the MECHATROLINK Members Association e Other product names and company names are the trademarks or registered trademarks of the respective company TM and the mark do not appear with product or company names in this manual vi Safety Information The following conventions are used to indicate precautions in this manual These precautions are provided to ensure the safe operation of the MP2300 and connected devices Information marked as shown below is important for the safety of the user Always read this information and heed the precautions that are provided The conventions are as follows A WARNING Indicates precautions that if not heeded could possibly result in loss of life serious injury or property damage Indicates precautions that if not heeded could result in relatively serious or minor injury Z CAUTION or property damage If not heeded even precautions classified under A CAUTION can lead to serious results depending on circumstances OQ PROHIBITED Indicates prohibited actions Specific pro
295. s if not heeded E Terms Used to Describe Torque Although the term torque is commonly used when describing rotary servomotors and force is used when describing linear servomotors this manual uses torque when describing both excluding parameters E Indication of Reverse Signals In this manual the names of reverse signals ones that are valid when low are written with a forward slash before the signal name as shown in the following example Notation Examples S ON P CON e S ON P CON E Related Manuals The following table lists the manuals relating to the MP2300 Refer to these manuals as required Manual Name Manual Number Contents Machine Controller MP2000 Series Built in SVB SVB 01 Motion Module User s Manual SIEP C880700 33 Describes the functions specifications and application methods of the MP2000 Series Motion Module that is built into the SVB SVB 01 and SVR Module Machine Controller MP2000 Series Built in SVA 01 Motion Module User s Manual SIEP C880700 32 Describes the functions specifications and application methods of the SVA 01 SVA Motion Module for the MP2000 Series Machine Controller MP2000 Series Pulse Output Motion Module PO 01 User s Manual SIEP C880700 28 Describes the functions specifications and application methods of the PO 01 Pulse Output Motion Module for the MP2000 Series Machine Controller MP2000 Series Communic
296. s operation Change the Electric cam start current value from ON to OFF when the check operation has been completed It is necessary to create routines within the actual application program in order to monitor and control the registers corresponding to the signals and data listed in the table above The register numbers that correspond to the signals used in this sample program will be the register numbers displayed under REG No next to DWG at the right of the Tuning Panel window gt System Startup and Sample Programs 4 63 4 64 4 System Startup and Sample Programs 4 4 5 Operation Check 4 Phase Control Electronic Cam 5 Sample Program Details a H06 02 Drawing The H06 02 grandchild drawing controls phase control electronic cam operation P00121 H06 02 0000 0000 NL 1 0001 0004 NL 1 0002 0009 NL 1 0003 0013 NL 1 0004 0015 NL 1 0005 0017 NL 1 0006 0019 NL 1 0007 0021 NL 1 0008 0025 NL 1 0009 0026 NL 1 Main Program Phase Control 2 Electronic Cam HHHHHHHHHH Phase Control 2 Electronic Cam HHHHHHHH HHHHHHHHHE Description HHHHHHHHE Axis 1 Master axis Phase control electronic shaft Axis 2 Slave axis Phase control electronic cam HHHHHHHHHE Phase Control Operation Command HHHHHHHE Startup PB Axis 1 SV_ON Axis 2 SV_ON Operation command DB000010 1B80001 1B80801 DB000000 U Operation command WORK Axis 1 motion command 0 Axis 1 motion command 0 Elec
297. save the definitions data to the flash memory 4 Right click the No 3 colum in the Module Details area and click MECHATROLINK on the pop menu that appears gEngineering Manager Module Configuration MP2300 YESAMPLE 2300SMPL MP2300 Oi oj x TI Fie View Order Window Help l x DAS es DSBS eee BRE e a ee PT 2 1P 192 168 1 1 CPU 1 Deer r Controller Module Type __faP2300__ 278iF 01__ 2i7iF 01 juo Controler Number b b o Eoo CircuitNumber fe E WOStareRegister fee fee WO End Register Disable inpur_ v Lele Que __ Motion End Register JMP2300 Controller module with network servo control 1 0 virtual axes m Module Details MP2300 SLOT OO Module Type CPU he Controller Number i l Circuit Number Delete Slot Disable Input ee Register Auto Allocation Disable Output z Line Number Auto Assignment r Cearb z The MECHATROLINK Window will appear a Outline of Motion Control Systems 5 33 5 Outline of Motion Control Systems 5 4 3 Execution Procedure for Self configuration Using MPE720 5 Select the Link Assignment Tab Page to display the devices currently connected to the Motion Board SERVOPACK SGDS on this window and the station numbers for those devices Engineering Manager MECHATROLINK MP2300 YESAMPLE 2300SMPL MP2300 Online Local 7 oj x Z File Edit View Window Help 6 xj D E
298. scan 1 0s 1 0 s After Start of Scan Relay SB000018 2 0s 2 0 s After Start of Scan Relay SB000019 5 0s 5 0 s After Start of Scan Relay SBO0001A gt 3 DWG L Only A 1 System Service Registers The following relays begin operation at the start of the low speed scan Name Register No Remarks gt 1 scan One scan Flicker Relay SB000030 gt 1 scan 0 5s 0 5s 0 5 s Flicker Relay SB000031 a a 1 0s 1 0s 1 0 s Flicker Relay SB000032 ae ee 2 0s 2 0s 2 0 s Flicker Relay SB000033 lt ii aaa 0 5s 0 5s 0 5 s Sampling Relay SB000034 lt 1scan 1 0s 1 0s 1 0 s Sampling Relay SB000035 r gt 1scan 2 0s 2 0s 2 0 s Sampling Relay SB000036 lt gt 1 scan I lt 60 0s pla 60 0s gt 60 0 s Sampling Relay SB000037 4 1 scan 1 0s 1 0 s After Start of Scan Relay SB000038 po 2 0s 2 0 s After Start of Scan Relay SB000039 5 0s 5 0 s After Start of Scan Relay SB00003A e T a Appendices P w A System Registers Lists A 2 Scan Execution Status and Calendar Name Register No Remarks High speed Scan Set Value Swo00004 High speed Scan Set Value 0 1 ms High speed Scan Current Value SW00005 High speed Scan Current Value 0 1 ms High speed Scan Maximum Value SW00006 High speed Scan Maximum Value 0 1 ms SW00007 Reserved by the system to Not used SWo00009 Low speed Scan Set Value SW00
299. select Edit Assignment Delete from the main menu Care must be taken when deleting a station assignment The deletion is irreversible Em 1 0 and SERVO in Type The following slave devices I O Modules do not have model codes Therefore J O wild card I O will be displayed in TYPE for these devices after execution of self configuration e JEPMC IO350 e JAMSC 120DAI53330 e JAMSC 120DAI73330 JAMSC 120DA083330 e JAMSC 120DRA83030 For a servo with customized specifications that could not be recognized by self configuration SERVO wild card servo will be displayed in TYPE Select a correct device type in the Link Assignment Tab Page for the devices with O or SERVO displayed in TYPE fs Module Specifications 2 21 2 Module Specifications 2 2 5 Setting SVB Module 3 I O Map Tab The status allocated to I O registers is displayed The I O Map Tab is used for monitoring read only Do not change the displayed settings 2101 PT 1 UTA 1 CPUR 1 a CK 01 Slot 01 CIR 01 f 000 03FF E Transmission Parameters Link Assignment 1 0 Map Status Lf ol ifat stat siel 7 slolalelclolel elste tree 0000 Hi HI HI HI HO HO HO HO 02 JEPMC 102310 30 4 Status Tab Page The MECHATROLINK transmission status is displayed The displayed settings cannot be changed ox PT 1 UT 1 CPU 1 RACK 01 Slot 00 CIR 01 P oo 040F E Transmission Parameters Link
300. sferred from other systems SERVOPACKs that are being used for the first time do not need to be initialized 1 Check that the SERVOPACK power is OFF and then insert the Digital Operation connection plug into the CN3 connector on the SERVOPACK 2 Turn ON the SERVOPACK control power and main power 3 Turn ON the Digital Operator power MODEISET 4 Press the Key on the Digital Operator to display the Auxiliary Function Mode main menu and use the Keys to select Fn005 BB FUNCT ION Fn004 Fn0O0O5 Fn0O0O6 Fn0OO7 5 Press the Key to switch to the Fn005 parameter initialization execution display Ifthe display does not change and NO OP is displayed on the status display a Write Prohibited password has been set using Fn010 and the user settings cannot be initialized Clear the write protection and execute the operation again 6 Press the Key again and execute Fn005 Parameter Init will flash during initialization BB Parameter Init Start DATA Return SET The flashing will stop when initialization has been completed and the status display will change from BB to Done to A 941 MODESET To cancel initialization press the lt Key before pressing the Key The display returns to the Auxiliary Function Mode main menu 7 Turn the SERVOPACK control and main power supplies from OFF to ON to enable the initialization gt System Startup and Sample Programs 4 System S
301. sion Definition Window Details The MECHATROLINK Transmission Definition Window has four tabs Transmission Parameters Link Assignment I O Map and Status Click the tab to view each 1 Transmission Parameters Tab The parameters required to use the MECHATROLINK transmission system are displayed lt Communication Method in MECHATROLINK II gt lt Communication Method in MECHATROLINK I gt 15 x o x PT 1 UT 1 CPUR 1 RACK O1 PT 1 UT 1 CPUR 1 RACK O1 a Transmission Parameters Link Assignment 170 Map Status Communication Type Master Slave My station address Transmission Speed Transmission Byte Communication Cycle Sigmawin Number of retry to slaves Number of slaves Monitor data update wait mode 1 0 ms Not Used X Enable ail il Master Slave Transmission Parameters Link Assignment 1 0 Map Status Communication Type Master bd My station address Transmission Speed Communication Cycle Message confidence level Number of slaves Monitor data update wait mode The items shown on the Transmission Parameters Tab are described in the following table For items whose input fields are available the settings can be changed Always save the settings to the flash memory after changing them Item Display during Self configuration Options and Precautions on Settings Communication Type Displays the detected communication method Select
302. st Control signal Pause request p Status Operating One scan lt Status Paused Distribution a Outline of Motion Control Systems 5 13 5 14 5 Outline of Motion Control Systems 5 2 4 Motion Programs and MSEE and S Registers Stop Request Control signal Operation start request Control signal Stop request Control signal Alarm clear Status Operating Status Stopped Status Alarm Distribution MVS Distribution MOV One stan i One scan An alarm will occur if the stop request is turned ON during axis operation using a motion command 3 Interpolation Override DADOOOO 2 The override when executing interpolation travel commands setting unit 1 0 01 is set in the third word of the MSEE work registers DADOOOOD 2 This interpolation override is enabled only when the motion program control signal bit E interpolation override set ting is ON 4 System Work Number DADOOOO 3 The system work number n setting range to 16 used when executing motion programs is set by the fourth word of the MSEE work registers DADOOOO 3 This system work number is enabled only when the motion program control signal bit D system work number setting is ON The status bit bit E No system work error will turn ON if the work number setting is
303. stigation using 6 3 2 MP2300 Error Check Flowchart on page 6 6 indicates that a motion program alarm has occurred use the alarm code to determine the cause of the error 6 5 1 Motion Program Alarm Configuration Motion program alarms stored in the alarm output register default SW03268 are displayed as shown in the following diagram Bit 15 Bit 12 Bit8 Bit 7 Alarm Axis Information 1 to 16 Bit 0 Alarm Code Bit 7 is ON Axis Alarm Refer to the appropriate User s Manual of Machine Controller for information on finding the alarm output register 6 5 2 Motion Program Alarm Code List The motion program alarm codes are listed in the following table When displaying these on the register list set the view mode to hexadecimal Alarm T Name Description Corrective Actions Code 02h Division error Data divided by 0 Review the motion program be ase e Designate a center coordinate instead of a Turn number was specified instead of radius in E A A circle instead of ao radius to perform the circular arc or 10h f the circular arc or helical interpolation ie radius was specified helical interpolation command command e Never specify the turn number 14h Interpolation feeding Interpolation feeding speed exceeded the valid Modify the interpolation feeding speed of speed over limit range of the FMX command the interpolation command F F No
304. t Voltage 24 VDC 20 Output Current 100 mA max Leakage Current When OFF 0 1 mA max ON Time OFF Time ON 1 ms max OFF ms max Number of Commons 1 4 points common Protection Circuit Fuse The fuse is not however for circuit protection It is for protecting against fire at output shorts Attach a fuse externally to each output if circuit protection is required Output register eee 24 V j DO_24V i l l G 1 DO_OUT lt R v I R I 33kQ DO_COM T 4 i vo Fig 3 3 Digital Output Circuit Sink Mode Output 3 2 Basic Module Connections Specifications 7 CPU I O Connector Connections The following diagram shows the connections for the CPU I O connector DI_COM rete noth o 411 DI_COM 4 24voc Digital input ed R g p l k 2 D 00 4 34 D101 oes DI_02 Ages External __4 k 5 A DI_03 Ss input _ 6 signals 12 DI_04 eee 13 PLOS p 14 DI_06 15 4 D107 17 J DO_24V rs lt _ lt 24 VDC we 9 J DO_00 Fuse Digital output F3 J lt 2 4 B u External 10 J DO_01 lt O 2 9 ouput signals 194 DO_02 a4 DO_03 20400 Da Fuse us 8 D0_COM DO_COM 4 18 Fuse blowout detecti
305. t and hygrometer respectively There must be no corrosive temperature inside the panel Atmosphere Check for corrosive gases gases as the ambient temperature Power suppl pply PS Module Measure the voltage between 19 2 to 28 8 VDC Change the power supply as necessary Looseness and excess play Attempt to move the Module The Module must be secured properly Retighten the screws Module Installation conditions Dust and other foreign TRS Module must he mes Visually check from dust and other foreign Clean matter matter Check the terminal Check by retightening the screws for looseness screws The screws must be tight Retighten Connection Gap between crim i ie P p Visually check There must be an appropriate Cortect conditions terminals gap between the terminals Looseness of Retighten the connector set conn ct r Visually check The screws must be tight oy Check the BAT indicator on Bogs i boa lit Battery the front panel of the Basic The BAT indicator must be If the BAT indicator is lit not lit replace the battery Maintenance and Inspection 6 3 6 Maintenance and Inspection 6 2 1 Procedure 6 2 Replacing the Basic Module Battery The Basic Module has one replaceable built in battery This battery is used to back up data to prevent the data stored in the memory from being lost when power is interrupted e g when the power supply to the
306. t correspond to the signals used in this sample program will be the register numbers displayed under REG No next to DWG at the right of the Tuning Panel window gt System Startup and Sample Programs 4 55 4 56 4 System Startup and Sample Programs 4 4 3 Operation Check 2 Position Control 5 Sample Program Details a H04 Drawing The H04 child drawing contains the ladder program for managing and controlling MPM motion programs 0000 0000 NL 1 0001 0005 NL 1 Start DB000010 Hold DB000011 Abort DB000012 Alarm reset PB MB300001 0003 0009 NL 1 0007 0015 NL 1 0010 0021 NL 1 MPM number STORE z Source DW00030 Dest DW00025 dH Positioning Main Processing HHHHHHHt HHHH Motion Program Startup Sequence HHHHHHHt WORK Axis 1 Motion Command 0 DB000050 MPM Interpolation overdrive STORE z Source 10000 Dest DW00022 Axis 2 Motion Command 0 ON COIL B000004 Travel data setting EXPRESS ON a ML30100 DL10 ML30102 DL12 ML30110 DL14 ML30112 DL16 ML30114 3000000 ON COIL B000004 MPM execution MSEE a Program DW00025 Dest DA00020 MPM running DB000200 MPM alarm DB000208 Start Request DB000210 Hold Request DB000211 Abort request DB000212 Alarm reset request DB000215 MPM running MB300020 o MPM alarm MB300028 o 4 4 Checking Sample Program Operation b Motion Program MPMO01 The MPMO001 m
307. talogs and manuals may be changed at any time based on improvements and other reasons The next editions of the revised catalogs or manuals will be published with updated code numbers Consult with your Yaskawa representative to confirm the actual specifications before purchasing a product Contents Using this Manual iii Safety Information vi Safety Precautions vii Warranty xi 1 Overview of the MP2300 1 1 Features 1 2 1 2 MP2300 Configuration 1 3 1 2 1 Basic Module Appearance 1 3 1 2 2 MP2300 Series Models 1 4 1 2 3 MP2300 Modules eee mnnn 1 5 1 3 System Configuration Example 1 6 1 4 Devices Connectable to MECHATROLINK 1 7 1 4 1 SERVOPACKS one nnn nr nr eee ee 1 7 1 4 2 Modules 1 7 1 5 Cables and Accessories 1 8 1 5 1 Cables 1 8 1 5
308. tartup and Sample Programs 4 1 4 Setting and Saving Communication Process Communication Manager 4 1 4 Setting and Saving Communication Process Communication Manager Use the following procedure to set the communication process between the personal computer MPE720 and the MP2300 using the Communication Manager These settings are not required if the communication settings have already been made 1 Open the YE_Applications Folder and double click the Communication Manager Icon in the YE_Applications Folder Or Click Start All Programs YE_Applications Communication Manager to start the Communication Manager Peles File Edit View Favorites Tools Help Back gt GQsearch GFyrolders lt 4 0 GS K A EE Address i E_Applications Go a i Communicatio YE_Applications D Manager MPE720 Select an item to view its description See also Double click My Documents My Network Places l2 objects ji 92 KB e My Computer ai The Communication Process Icon appears on the task tray at the bottom right of the screen version 5 30 or later 2 Double click the Communication Process Icon on the task tray to open the Communication Process Window Communication Process Icon In this section Logical PT number 1 is assigned for RS 232C connection and 2 for Ethernet connection in the Communication Process Window E Settings for RS 232C Connec
309. tartup and Sample Programs 4 1 5 MP2300 Self configuration 4 1 5 MP2300 Self configuration Execute self configuration to automatically configure the Optional Modules mounted to the Basic Module and the devices connected to the MECHATROLINK This section explains the method for self configuration 1 Check that the power supply of the III SERVOPACK is ON 2 Turn OFF the 24 VDC power supply to the MP2300 3 Turn ON the INIT and CNFG switches on the DIP switch SW1 on the MP2300 Basic Module stop SUP INIT gt CNFG MON TEST swi OFF ON 4 Turn ON the 24 VDC power supply to the MP2300 Check that the LED indicators on the MP2300 Basic Module change as the following illustration RDY O O RUN RDY 3 RUN RDY RUN ALM ERR ALMO OERR ALM O OERR TX O OBAT TX OBAT TX OBAT Lit O Notlit Blinking 5 Turn OFF the INIT and CNFG switches on the DIP switch SW1 on the MP2300 Basic Module STOP SUP gt INT gt CNFG MON TEST swi OFF ON This completes the self configuration and the information of Optiotional Modules and MECHATROLINK slave devices are read in the definition information file m Power Restart and RAM data Clear If the INIT switch on the DIP switch on the Basic Module is ON and the power is turned ON RAM data will be cleared Also flash memory data will be read and RAM data will be overwritten when
310. tatus A Servo OFF Step mode STEP An alarm is occurring hogs A Servo Driver Synchronization Asynchronous communication status are Communications Error Set Zero Point An alarm is occurring a ZSET Asynchronized communication status Se romzaton Communications Error An alarm is occurring mer A Servo Driver Synchronization Asynchronous communication status ei Communications Error Change Acceleration Time 10 ACC Executed before distribution has been completed Change Deceleration DENT OFF Time DCC ee parameler eee eee A Servo Command Timeout Error completed within the specified time Warning A 94 ot A 95 occurred in the i i SERVOPACK W Servo Driver Error An alarm is occurring sends A Servo Driver Synchronization Asynchronous communication status aa Communications Error Change Filter Time Executed before distribution has been completed 42 Constant DEN OFF A Filter Time Constant Change Error SCC SERVOPACK parameter writing was not A Servo Driver Command Timeout completed within the specified time Error Warning A 94 or A 95 occurred in the TE SERVOPACK W Servo Driver Error Maintenance and Inspection 6 27 6 28 6 Maintenance and Inspection Motion Command Code Cause of Command Error Occurrence Warning W and Alarm A That Occur at Command Error Occurrence 13 Change Filter Type CHG_FILTER An alarm is occurring Asynchronous communicatio
311. tem Service Execution Status a Data Trace Execution Status 6 4 Troubleshooting System Errors Name Register No Remarks SW00090 to Reserved by the system SW00097 Existence Of Data Trace Definition SW00098 Bit 0 to 3 Group 1 to4 n Definition exists 1 No definition 0 Data Trace Execution Status SW00099 Bit 0 to 3 Group 1 to 4 Trace stopped 1 Trace executing 0 b Latest Data Trace Record Numbers Name Register No Remarks Data Trace Group 1 SW00100 Latest record number Data Trace Group 2 SWwo00101 Latest record number Data Trace Group 3 SW00102 Latest record number Data Trace Group 4 SW00103 Latest record number 5 Alarm Counter and Alarm Clear Name Register No Remarks Number of Alarm Occurrences SW00190 The number of alarm occurrences Number of Alarm History Records SW00191 The number of alarms in the alarm history 1 Alarm cleared Clear Alarms SWw00192 2 The number of alarm occurrences and alarm history cleared 6 System I O Error Status Name Register No Remarks I O Error Count SW00200 Number of I O errors Input Error Count Swo00201 Number of input errors Input Error Address w00202 Latest input error address OWOOOD register number Output Error Count SW00203 Number of output errors Output Error Address SW00204 Latest output error address OWOOOO register number SWw00205 Reserved by t
312. tem registers es gt W00009 10 SW00049 are cleared to all zeros when the SAnnnnn SW08191 system starts MB MW ML M Data registers MFnannn MwW00000 to Registers shared by all drawings Used e g as MW65534 an interface between drawings MAnnnnn Common to all IB IW IL IFhhhh TW0000 to drawings Input registers ee l p g IAhhhh IW7FFF Registers used for input data OB OW OL OFhhhh OW0000 to Output registers Saeco O p g OAhhhh OW7FFF Registers used for output data Constants CB CW CL CFnnnnn CW00000 to i C registers CAnnnnn CW16383 Registers that can only be called from programs B W L Fnnnnn 00000 to Call only registers Can be called only by registers corresponding drawing The usage range is set Annnnn W 16383 A by the user using MPE720 intemal recia TAE h drawina Canb Unique to each DB DW DL nternal registers unique to each drawing Can be drawing g DW00000 to used only by corresponding drawing D D registers DFnnnnn DAnnnnn DW16383 The usage range is set by the user using MPE720 n Decimal number h Hexadecimal number B W L F and A Data type B Bit W Integer L Double length integer F Real number A Address Refer to 5 3 2 Data Types and Register Specifications on page 5 24 Up to 32 D registers 32 words DW0000 to DW0031 can be used when creating drawings but this can be changed in the MPE720 Drawings Properties Window Refer to
313. ter e CPU processing speed 1 4 times faster than MP930 e MECHATROLINK II enables position control speed control and torque control and makes precise synchronous control possible The control mode can also be changed while online facilitating complicated machine opera tions e Select the appropriate Communication Module to use the following open networks Ethernet e DeviceNet e PROFIBUS e MPLINK e CP 215 E Easy to Use e The time of machine development can be greatly reduced by using the self configuration function that automati cally detects devices connected to MECHATROLINK and automatically sets the required parameters e The application program converter can utilize your previous software assets with their accumulated databanks of specific knowledge to improve the system further 1 2 MP2300 Configuration The MP2300 is configured with one Basic Module and up to three Optional Modules 1 2 1 Basic Module Appearance The following figure shows the external appearance of the Basic Module LED indicators Switches W YASKAWA PO Oron ALMO OERR Battery holder MECHATROLINK connector Power supply connector I O connector 1 2 MP2300 Configuration Overview of the MP2300 1 3 1 4 1 Overview of the MP2300 1 2 2 MP2300 Series Models 1 2 2 MP2300 Series Models The following table shows the possible combinations of the MP2300 Basic Mod
314. the Basic Module and error information Indicator Color Status RDY Green Lit during normal operation RUN Green Lit during execution of user program RDY O RUN See ALM Red Lit blinking when warning occurs ERR O O ALM ERR Red Lit blinking when malfunction occurs TRX BAT G Lit during transmission of OO IA teen MECHATROLINK I II data BAT Red Lit during battery alarm For details on indicator meanings refer to 6 3 3 2 LED Indicator Meanings on page 6 7 3 Switch Settings The DIP switch sets the operating conditions for the Basic Module when the power is turned ON STOP o SUP Te INIT CNFG Mo MON N TEST al Swi OFF ON i Default No Name Setting Operating Mode Setting Details ON User program stopped r i 6 STOP prog ai OFF Stops the user program execution Enabled only OFF User program running when the power is turned ON ON System use 5 SUP a OFF Always leave set to OFF OFF Normal operation ON Memory clear Set to ON to clear the memory If this switch is set 4 INIT OFF to OFF the program stored in flash memory will OFF Normal operation beiexecuted ON Confi ti d A i 3 CNFG onfiguration 29 e OFF Set to ON to execute self configuration for OFF Normal operation connected devices ON System use 2 MON ak OFF Always leave set to OFF OFF Normal operation ON System use
315. the INIT switch is OFF and the power is turned ON In either case the RAM data will be cleared by turning the power ON Therefore always save data to the MP2300 flash memory before turning OFF the power when writing or editing programs For information on how to save data to flash memory refer to 4 2 3 1 Saving to Flash Memory on page 4 21 MPE720 Ver 6 010 or 4 3 2 6 Saving to Flash Memory on page 4 40 MPE720 Ver 5 00 E Turning OFF Power after Executing Self configuration Do not turn OFF the 24 VDC power supply to the MP2300 after executing self configuration until the definitions data has been saved to flash memory in the MP2300 If the power is turned OFF somehow before the data is saved to flash memory execute self configuration again 4 2 Starting the Sample Program MPE720 Ver 6 00 4 2 Starting the Sample Program MPE720 Ver 6 00 This section describes how to copy the sample program file from MPE720 Ver 6 010 installation disk how to start MPE720 Ver 6 010 to transfer the sample program to the MP2300 and how to set and save parameters according to the following flowchart The descriptions assume that the MPE720 is already installed on your computer Copy the sample program file onto the hard disk of your computer from the installation disk contained in the CD ROM 4 2 1 1 Copying the Sample Program File on page 4 13 VY Start MPE720 Ver 6 010 and transfer the sample p
316. the travel limit of the machine was executed as follows A user program command exceeded the travel limit The software limit was exceeded in manual operation e Overtravel signal malfunction Correction e Check the following Check the overtravel signal Check the program or manual operation Then after clearing the motion command code and resetting the alarm use a return operation to eliminate the overtravel status Commands in the overtravel direction will be disabled and an alarm will occur again if one is executed Y For a vertical axis the following should be set at the SERVOPACK to avoid dropping and vibration at the overtravel limit e An emergency deceleration stop e Zero clamp status after the deceleration stop 4 Bit 3 Positive Direction Software Limit and Bit 4 Negative Direction Software Limit Detection Timing Enabled when using a motion command and detected by the position management section e The software limits are valid after a ZRET or ZSET command has been completed Processing when Alarm Occurs The axis decelerates to a stop at the software limit The Command Error Completed Status in the Motion Command Status IWO009 bit 3 will turn ON Error and Cause e A move command that exceeded a software limit of the machine was executed as follows A user program command exceeded the software limit The software limit was exceeded in manual operation Correction
317. time is set or changed be sure to save the data to flash memory 5 40 5 5 Precautions When Using the MP2300 2 Scan Time Set Value Examples E 0 8 ms Maximum Scan Time and 1 ms Communication Cycle MECHATROLINK II Only High speed or low speed scan set value gt 1 25 x 0 8 1 ms High speed or low speed scan set value 1 ms 2 ms 3 ms etc an integral multiple of at least 1 ms E 1 4 ms Maximum Scan Time and 1 ms Communication Cycle MECHATROLINK II Only High speed or low speed scan set value gt 1 25 x 1 4 1 75 ms High speed or low speed scan set value 2 ms 3 ms etc an integral multiple of at least 2 ms E 0 8 ms Maximum Scan Time and 2 ms Communication Cycle MECHATROLINK I or MECHATROLINK II High speed or low speed scan set value gt 1 25 x 0 8 1 ms High speed or low speed scan set value 1 ms 2 ms 4 ms etc an integral multiple of 2 ms at 1 ms and 2 ms or higher E 1 4 ms Maximum Scan Time and 2 ms Communication Cycle MECHATROLINK I or MECHATROLINK II High speed or low speed scan set value gt 1 25 x 1 4 1 75 ms High speed or low speed scan set value 2 ms 4 ms etc an integral multiple of 2 ms at 2 ms or higher a Outline of Motion Control Systems 5 41 6 Maintenance and Inspection This chapter explains daily and regular inspection items to ensure that the MP2300 can always be used at its best conditions 6 1 Inspection Items
318. tion 3 Double click Logical PT number 1 in the Communication Process Window to display the Logical Port Setting Window Communication Process File Tool Control Modem Window Help wj Saa Logical PT Kind DUAL Physical Device __TimeOut img 1 IDO wN The Logical Port Setting Window appears 4 1 Model System Startup Procedure 4 For RS 232C connections select Serial under Port Kind and then click Detail Button in the Logical Port Setting Dialog Box Logical Port Setting x Logical Port 1 Port Kind TimeOut Dual Cancel The Serial Port Setting Dialog Box appears 5 Match the settings under Physical Port to the computer s serial communication port Leave the other items on the default settings Once the settings have been completed and checked click the OK Button to close the Logial Port Setting Dialog Box Serial Port Setting xi E Unit No 1 4 0 63 Baud Rate 19200 g Physical Port Data Bits 8 Z Parity EVEN 7 Stop Bits 1 z Cancel Default 6 The Logical Port Setting Window appears Click the OK Button again The screen will return to the Communication Process Window Check that Serial has been allocated to Logical PT number 1 Communication Process File Tool Control Modem Window Help wz aSa Logical PT Kind DUAL Physical Device TimeOut IRQ Address 1 Serial COM1 10000 gt System Startu
319. tion program alarm is occurring When the motion program number is indicated by a register number as shown on the right check the corresponding register to learn the motion program number SEE Fa NSEE z Program No 00001 Program No DW00025 Data DA00000 Data DA00000 2 For details on control signals refer to 5 2 4 2 Motion Program Control Signals DA OOOCOC1 3 For details on system work number refer to 5 2 4 4 System Work Number DA OOOO 3 6 6 6 3 3 6 3 Troubleshooting 4 For information on the relationship between the registers from SW03200 to SW03215 and system work numbers refer to 6 4 5 9 Motion Program Execution Information 5 An alarm code of a motion program can be obtained from the program information used by work 58 words Get the system work number first and then the alarm codes referring to 6 4 5 9 Motion Program Execution Information The alarm code is written in each set of parallel information If no parallel execution instruction such as PFORK JOINTO and PJOINT is used the alarm code is stored in the parallel 0 information LED Indicators LED Indicators RDY RUN ERR ALM TRX CQ BAT LED Indicator Meanings of operation errors The status of the LED indicators on the front of the MP2300 Basic Module can be used to determine the error status and meaning The locations in the program that need to be corrected can be determined by using the LED indicator
320. tions Before adding the electronic devices create a backup of the application For information on how to create a backup refer to 4 2 3 2 Transferring Data from the MP2300 to Your Com puter on page 4 22 MPE720 Ver 6 00 or 4 3 2 7 Dumping All Data on page 4 41 MPE720 Ver 5 00 Turn OFF the MP2300 Once the application has been backed up log off from the MP2300 or disconnect the communication and turn OFF the MP2300 power Start the Electronic Device to Be Added Make the DIP and rotary switch settings for the device to be added then turn ON the power to that device only Check that it starts up normally Once normal startup has been confirmed turn OFF the power supply Connect the Electronic Device Connect the electronic device to the MP2300 and turn ON the power to all the MECHATROLINK slaves Execute Self configuration Turn ON the power to the MP2300 connect to the MP2300 using MPE720 then select Order Self Configure All Modules to execute self configuration for the added Optional Module or the SERVOPACK connected SVB Module Engineering Manager Module Configuration MP2300 YESAMPLE 2300SMPL MP2300 Lo Ale xj TI Fie View Order Window Help lj xj D Ge SB oe Bm e e e e E ER I e mo e Tes RA P PT 2 IP 192 168 1 1 CPU 1 Controller Module Type Module Details 2181F 01 SLOT 01 Module Type 2171F_ 7 Controller Number ja TIF R
321. to owoOo003 bits 0 to 3 Yes Speed Unit Selection Unit is according to OWN1D03 bits 0 to 3 Creep Rate 2 Y Olas p Speed Unit Selection 3 Zero Point Return OLOO42 Travel Distance 1 1 reference unit Yes OLO044 Step Travel Distance 1 1 reference unit Yes Yes External Positioning OLOO46 Final Travel Distance 1 1 reference unit Yes Zero Point Position in OLOO48 Machine Coordinate 1 1 reference unit Yes Yes Offset Work Coordinate OLOO4A System Offset 1 1 reference unit Yes Yes Number of POSMAX 1 1 reference unit OLOO4C i Yes Yes Turns Presetting Data Invalid for liner type Bits 0 to 3 Monitor 1 Cannot be set Servo User Monitor Bits 4 to 7 Monitor 2 Ye OWHC4E Setting Bits 8 to B Monitor 3 Cannot be set Bits C to F Monitor 4 Servo Driver Alarm OWOO4F Monitor No Set the number of the alarm to monitor Yes Servo Driver User Constant No OWOO50 SERVOPACK Set the number of the SERVOPACK parameter Yes parameter No for motion command Servo Driver User Constant Size owo0og051 SERVOPACK Set the number of words in the SERVOPACK parameter Yes parameter size for motion command Servo Driver User Constant Set Point SERVOPACK OLOO52 parameter setting value Set the setting for the SERVOPACK parameter Yes for motion command A 24 D 3 Monitoring Parameter List cont d Register No Name Co
322. troller 2 Click the Yes Button in the displayed dialog box to complete the logoff process W File Manager xj LY delenit will log off from the controller 0 a Re al System Startup and Sample Programs 4 43 4 System Startup and Sample Programs 4 4 1 How to Open the Tuning Panel Window 4 4 Checking Sample Program Operation This section describes how to check four operations in the model system applying sample programs started in 4 3 or 4 4 by using the Tuning Panel Window for sample programs 4 4 1 How to Open the Tuning Panel Window 1 From Engineering Manager Window Use the following procedure to open the Tuning Panel Window from the Engineering Manager Window 1 Open the Engineering Manager Window and then select File Open Program Turning Panel from the menu bar For information on how to open the Engineering Manager Window of MPE720 Ver 6 00 refer to 4 2 2 7 Setting and Saving Motion Fixed Parameters on page 4 17 For information on how to open the Engineering Manager Window of MPE720 Ver 5 00 refer to 4 3 2 4 Set and Save Motion Fixed Parameters on page 4 36 gEngineering Manager File View Order Window befniton gt l Chse Open New Drawing 7 Tool gt N Save amp save into flash memory Properties Define Data Table gt k Main Program Save Crs Motion Program gt Constant Table Reg Constant Table M Reg Tuning Panel fn Delete Cti b
323. tronic cam start DB000000 DB000050 MB300010 MB300018 DB000001 e Operation command Zero speed WORK Electronic cam stop DB000000 DB000003 DB000051 DB000002 e HHHHHHHHH Motion Command Issue HHHHHHE Motion command 25 phase control setting Electronic cam start DB000001 Axis 1 motion command STORE zZ Source 00025 Dest OW8008 Electronic cam start DB000001 Axis 2 motion command STORE z Source 00025 Dest OW8088 Motion command 0 NOP Electronic cam stop DB000002 setting Axis 1 motion command STORE Zz Source 00000 Dest OW8008 Electronic cam stop DB000002 Axis 2 motion command STORE a Source 00000 Dest OW8088 HHHHHHHHH Slave Axis Phase Generation Operation Disabled Electronic Cam Mode HHHHHE Operation command DB000000 Axis 2 phase generation disabled OB80851 Zero speed DB000003 Cam operation command MB300008 HHHHHHHHHH Master Axis Speed Command Generation HHHHHHHE Master axis linear acceleration deceleration parameter setting Linear acceleration deceleration parameter setting EXPRESSION EA DB000200 true DB000201 true DF00022 30000 0 DF00024 10 0 DF00026 10 0 Master axis speed setting Operation command DB000000 Linear accelerator decelerator input STORE Source DL00010 Dest DF00012 P00122 H06 02 0010 0028 NL 1 0011 0030 NL 1 0012 0031 NL 1 0013 0034 NL 1 0014
324. ule with the PS the CPU and the MB and Optional Modules No Model Combination of Modules Basic Module 1 JEPMC MP2300 Basic 217 218 LIO Module IF IF 01 2 JEPMC MP2300 Y1 Basic 218 LIO LIO Module IF 01 01 3 JEPMC MP2300 Y2 4 Reserved Basic 217 218 LIO Module IF IF 02 5 JEPMC MP2300 Y4 Basic 218 LIO LIO Module IF 02 02 6 JEPMC MP2300 Y5 7 Reserved Basic 217 217 Module IF IF 8 JEPMC MP2300 Y7 Basic 217 LIO LIO Module IF 01 01 9 JEPMC MP2300 Y8 10 Reserved Basic 217 217 LIO Module IF IF 02 11 JEPMC MP2300 Y10 1 2 MP2300 Configuration cont d No Model Combination of Modules 12 JEPMC MP2300 Y 11 Basic Module 217 LIO LIO 1 2 3 MP2300 Modules The following table shows the names and descriptions of the Basic Module and Optional Modules Group Name Model Remarks MECHATROLINK I Basic Module Basic Module MP2300 JAPMC MP2300 MECHATROLINK II 8 input 4 outputs MEHS TRO UNEI SVB 01 JAPMC MC2310 MECHATROLINK I II 16 axes maximum Motion control Module Motion Analog Output Motion Modules c nttol Module SVA 01 JAPMC MC2300 Analog output 2 axes max
325. ule with your fingers and pull the Module straight out Be sure to hold onto the edges of the Module Do not touch the components mounted to the Module Place the Module that you removed into the bag that it was delivered in and store it Mounting and Connections 3 Mounting and Connections 3 1 3 Replacing and Adding Optional Modules 3 Mounting Optional Modules 1 Insert Optional Modules Hold onto the top and bottom of the Module align the Module with the left side of the guide rail inside the option slot and insert the Module straight in Ifthe Module is not inserted on the guide rail the FG bar on the bottom of the slot may be damaged 2 Connect to the Mounting Base Connector After inserting the Module all the way to the back press the Module firmly until it connects securely to the Mounting Base connected If the Module is connected securely the front of the Module should approximately align with the hooks 3 Mount the Option Panel Insert the hole on the bottom of the option panel into the bottom hook and then securely attach the hole to the top hook This completes the Optional Module mounting procedure Y Always attach an Option Cover JEPMC OP2300 to any unused slot 3 2 Basic Module Connections Specifications 3 2 Basic Module Connections Specifications 3 2 1 Connectors The following illustration shows the connectors for the Basic Module
326. ules is also supported making it suitable for both synchronous control and interpolation across Modules e An SVB 01 Module used as a slave can be connected to a host controller equipped with MECHATROLINK communication functions e Self configuration enables automatic allocation of setting data for the slave device that is connected to MECHATROLINK e SERVOPACK parameters can be managed over networks fs Module Specifications 2 13 2 Module Specifications 2 2 4 Built in SVB Modules 2 14 2 System Configuration Example The following diagram shows a system configuration example MP2300 sve o1ateiF Lio 01 24 VDC power l External I O supply Control panel External I O RS 232C MECHATROLINK II Ethernet PL2910 PL2900 102310 SGDH NS115 SGDS MECHATROLINK Servos compatible I O Modules MECHATROLINK II PL2910 PL2900 102310 SGDH NS115 SGDS fe MECHATROLINK Servos compatible I O Modules Use the specified cables and connectors Refer to 3 2 3 2 Cables on page 3 12 to select appropriate cables and connectors to connect each device The SERVOPACK models that can be connected through MECHATROLINK I differ from those connected through MECHATROLINK II Refer to 1 4 1 SERVOPACKs on page 1 7 to select appropriate SERVOPACK models for the MECHATROLINK interface to be used If both MECHATROLINK I 4 Mbps co
327. ur mounting screws Mounting screw M4 Phillips screw Use a screwdriver with a blade length of 10 cm or more Note Mount the MP2300 vertically on the wall as shown in the above drawing 2 DIN Rail Mounting a DIN Rails and Spacer Two types of DIN rails are available with 7 mm or 10 mm gap from the mounting base as shown in the following dia gram If mounting a MP2300 using DIN rail with 10 mm gap install a spacer on the rear of the MP2300 near the bot tom to protect the MP2300 from vibration and shock Gap from mounting base 7 0 mm or 10 0 mm gt an For a 10 mm gap J Mounting base je g E DIN rail Spacer DIN rail The parts for mounting the MP2300 to the DIN rail are sold separately Purchase the following product when using DIN rail Product name DIN Rail Mounting Parts Model No JEPMC OP300 Mounting and Connections 3 3 3 Mounting and Connections 3 1 2 Mounting the MP2300 3 4 b Procedure for Mounting to DIN Rail Use the following procedure to attach the DIN rail mounting parts to the MP2300 and then mount the MP2300 to the DIN rail 1 Insert the DIN rails in the two slots on the rear of the MP2300 as shown in the following figure MP2300 Rear Side a DIN rail mounting parts
328. us Maximum Load 72 Overload Continuous Maximum Load 73 DB Overload re ae IwOO2D 74 Inrush Resistance Overload 7A Heat Sink Overheat 81 Encoder Backup Alarm 82 Encoder Checksum Alarm 83 Encoder Battery Alarm 84 Encoder Data Alarm 85 Encoder Excessive Speed 86 Encoder Overheat Bl Speed Reference A D Error B2 Torque Reference A D Error B3 Current Sensor Error B6 Gate Array Error BF System Alarm Cl Servo Run away C6 Full closed Loop Phase A or B Disconnection C7 Full closed Loop Phase C Disconnection C8 Encoder Clear Error Multiturn Limit Setting Error C9 Encoder Communication Error CA Encoder Parameter Error CB Encoder Echoback Error CC Multiturn Limit Mismatch DO Excessive Position Error D1 Excessive Error between Motor and Load E0 No Option El Option Timeout 6 38 6 7 Troubleshooting Motion Errors Se Name dicho Code Meaning E2 Option WDC Error E5 WDT Error E6 Communication Error E7 Application Module Detection Failure E9 Bus OFF Error Servo Driver WAAD EA SERVOPACK F E Alarm Code EB SERVOPACK Initial Access Error cont d eon EC SERVOPACK WDC Error ED Command Execution Not Completed EF Application Module Alarm Fl Open Phase in Power Line F5 Motor Wire Disconnection when control power supply is turned ON F6 Motor Wire Disconnection when Servo is ON c
329. use e An error occurs if the Change Filter Type command is executed before the specified pulse distribution has not been completed i e when IWOD0C bit 0 was OFF Correction Correct the program to execute the Change Filter Type command after Distribution Completed status i e that IWOD0C bit 0 is ON is checked The command running will not stop even if the above error occurs The stop processing from the user program is 6 needed to stop running commands when necessary Maintenance and Inspection 6 33 6 Maintenance and Inspection 6 7 2 Motion Error Details and Corrections 11 Bit B Filter Time Constant Change Error Detection Timing e Continuously monitored by the motion command processing section Processing when Alarm Occurs e The SCC Change Filter Time Constant command will not be executed e The Command Error Completed Status in the Motion Command Status WO009 bit 3 will turn ON Error and Cause e An error occurs if the SCC command is executed before the specified pulse distribution has not been completed i e when IWOID0C0 bit 0 was OFF Correction e Correct the program to execute the SCC command after Distribution Completed status i e that IWOIDONC bit 0 is ON is checked The command running will not stop even if the above error occurs The stop processing from the user program is needed to stop running commands when necessary 12
330. v min for one minute Installation Ground Ground to 100 Q max Requirements Cooling Method Natural cooling fs Module Specifications 2 3 2 Module Specifications 2 1 3 Function Specifications 2 1 3 Function Specifications 1 PLC Function Specifications The following table shows the PLC function specifications Item Specifications Control Method Sequence High speed and low speed scan methods Programming Ladder diagram Relay circuit Language Text type language Numeric operations logic operations etc Two scan levels High speed scan and low speed scan High speed scan time setting 1 to 32 ms Integral multiple of MECHATROLINK Scanning communication cycle Low speed scan time setting 2 to 300 ms Integral multiple of MECHATROLINK communication cycle Startup drawings DWG A 64 drawings max Up to three hierarchical drawing User Drawings Functions and Motion Programs levels Interrupt processing drawings 64 drawings max Up to three hierarchical drawing DWG levels High speed scan process drawings 200 drawings max Up to three hierarchical drawing DWG H levels Low speed scan process drawings 500 drawings max Up to three hierarchical drawing DWGL levels Number of steps User functions Motion programs Up to 1 000 steps per drawing Up to 500 functions Up to 256 Revision history of drawings and motion programs Security function for drawings and motion pr
331. valid in th PE 1Fh Address P out of range i apie aaa e Valid Tangg ti Me Review the setting in the IFP command IFP command A motion command was instructed 24h PFORK execution error simultaneously at the second line in the Review the source motion program or PFORK of both a source motion program and subprogram a subprogram Indirect ist ifi ist d ds th ist i 22h ndirect register range Speci ied register address exceeds the register Review the motion program error size range Movinsamountoutot Axis moving amount with decimal point for 23h 8 an axis move command exceeded the possible Review the axis moving amount range range Use of logical axis Multiple motion commands instructed against 80h eres P 8 Review the motion program prohibited the same axis at the same time Designation exceeded F e Modify a fixed parameter Maximum 81h P ee in the infinite Moving distance designation exceeded infini a iais ae ter i POSMAX in the infinite length axis 8 length axis e Review the motion program Axis moving distance Axis moving distance designation exceeded 82h Review the motion program exceeded LONG_MAX the valid range Prog i Check whether another program gave a Duplicated motion Multiple commands ware executed against a prog 8 84h A command to the same axis at the same time command single axis If so review the program e Remove the alarm cause from the destination axis A motion command r
332. verall sample program P00125 L Main Program Low speed Main Program HEHEHEHEH Low speed Main Program Htt HEHH HHHH Electronic Cam Table Data Generation HHHHHHE SEE L06 c L06 Drawing The L06 child drawing creates cam pattern data for phase control electronic cam P00126 L06 Main Program Electronic Cam Table Data Generation 0000 0000 NL 1 0001 0002 NL 1 0002 0003 NL 1 0003 0004 NL 1 0004 0005 NL 1 HHHHHHHHHE lectronic Cam Table Data Generation HHHHHHHT HHHHHHHHHCam Table Data Generation Leading Data HHHHHHHT Cam operation command MB300008 Cam table leading data EXPRESSION amp DL00010 ML30200 DL00012 ML30202 ML30210 DL00010 ML30212 DL00012 MW31000 361 Variable Init 00000 Max 00360 Step 00001 Source Dest DF00030 Displacement calculation work Source DF00030 Dest DF00032 Cam displacement calculation and table setting EXPRESSION a J l4 ML31002j DF00030 DL 00012 360 DF00034 DL00010 2 1 DF00032 ML31004j DF00034 END FOR System Startup and Sample Programs 4 67 4 System Startup and Sample Programs 4 5 1 Starting the System for First Time 4 5 System Startup Using Self Configuration 4 68 System startup time can be reduced by using self configuration This section describes system startup using self configuration in the following three circumstances Starting the system for first time
333. w 4 44 l T O map tab 2 22 input circuits CPU I O connector 3 17 interpolation override 5 14 L L drawing 4 67 L06 drawing 4 67 ladder drawings DWG 5 6 LED Basic Module 2 8 LED indicator details 5 5 LED indicators 6 7 link assignment tab page 2 21 loading individual 4 34 Local I O definition Window 2 11 log off 4 43 M manual operation 4 46 MECHATROLINK cables 3 12 connector 3 12 SERVOPACKS 1 7 terminator connections 3 14 MECHATROLINK transmission definition 2 17 Module 5 34 Module Configuration Definitions 2 9 module information 6 22 monitoring parameter list A 25 motion control function specifications 2 5 motion error
334. will differ depending on the SVB Module type built in SVB or optional SVB and the communication type as follows SVB Module Type Built in SVB Optional SVB MECHATROLINK II Communication 32 byte mode 17 byte mode 32 byte mode 17 byte mode Mode Communication Cycle That Can be 1 ms 1 5 ms or 2 ms Fixed to 1 ms Set 2 ms 0 5 ms 1 ms 1 5 ms or 0 5 ms or 1 ms Communication Cycle can only be set for Master The communication cycle for MECHATROLINK I is fixed to 2 ms E Wait for Monitor Data Update The SVB 01 Module optional SVB exchanges data with the Machine Controller s CPU using the real shared memory In this process the time until the motion parameters created on the SVB 01 Module can be monitored in CPU applications is one scan longer than when using a built in SVB Module See the following diagram lt Data Exchange Process with Built in SVB Module gt High speed scan application DWG H High speed scan application DWG H CPU H scan processing virtual Shared memory SVB i Motion Hsen processing processing Copies setting parameters Copies setting parameters H scan High speed scan cycle lt Data Exchange Process with Optional SVB Module gt High speed scan High speed scan Input application Input application CPU DWG H DWG H H scan i i processing i i i real H i xmmm eee eee eee eee eee bank i Shared H T memory
335. wo0o031 Compensation 1 0 01 percentage of rated speed Yes Yes Position Integration _ OWONOS32 Time Constant eased Yes owo0o033 Reserved for system use E owou34 Speed Integration Time 1 001 y Constant eee owo035 Reserved for system use Straight Line Acceleration Units depends on the setting of OWOID03 bits 4 to 7 Acceleration i Y Ye OLOD36 Acceleration Time Deceleration Degree Unit Selection i e Constant Straight Line oLoo38 Deceleration Units depends on the setting of OWOD03 bits 4 to 7 Acceleration Yes Yes Deceleration Time Deceleration Degree Unit Selection Constant OWOO3A Filter Time Constant 1 0 1 ms Yes Yes 2 Bias Speed for 2 Exponential Unit is according to OWOD03 bits 0 to 3 Speed Unit 5 OWODO3B Acceleration Selection xes 2 Deceleration Filter lt A 23 D Motion Parameter Lists cont d Register No Name Contents SVB SVR 0 DEC1 C DECI and C Phase 1 ZERO Zero signal Yes 2 DEC1 ZERO DEC and ZERO Signal 3 C C pulse 4 to 10 Reserved for system use 11 C Pulse Only owuog3c Zero Point Return 12 POT amp C Pulse Method 13 POT Only Yes 14 HOME LS amp C Pulse 15 HOME Only 16 NOT amp C Pulse 17 NOT Only Yes 18 INPUT amp C Pulse 19 INPUT Only Width of Starting k OWOO3D Point Position Output 1 1 reference unit Yes Yes OLOO3E Approach Speed Unit is according
336. ystem Configuration 2 Programming Device related Equipment Name Model Quantity MPE720 CPMC MPE720 version 4 41A or later 1 CPMC MPE770 version 6 0 or later PP Cable for RS 232C connection JEPMC W5311 03 1 PP Cable for Ethernet connection Commercially available cross cable 1 Computer Commercially available product 1 Above equipments can connect to the MP2300 with eigher RS 232C or Ethernet 3 Servodrive related Equipment Name Model Quantity X I SERVOPACKs SGDS 01A12A 2 X I Servomotors SGMAS 01ACA21 2 Motor Cables 3 m JZSP CSMO01 03 2 Encoder Cables 3 m JZSP CSP01 03 2 Digital Operator JUSP OP05A 1 The sample program settings control operation for station 1 and 2 axes so the MECHATROLINK station numbers must be set to 1 and 2 on the SERVOPACK rotary switches Open the front cover of the SERVOPACK and set the DIP switch inside as follows Pin 1 ON Pin 2 ON Pin 3 OFF Pin 4 OFF When making SERVOPACK settings the Digital Operator is connected to the SERVOPACK for which settings are to be made 4 Other Required Equipment Name Specification Quantity 24 VDC power supply Current capacity of 2 A or larger 1 4 1 Model System Startup Procedure 4 1 3 Initializing SERVOPACKs This section describes the procedure for initializing X II SERVOPACKs using the Digital Operator Always initialize SERVOPACKs that have been tran

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