MP2300 Quick Reference Guide Rev1.5
Contents
1. Sna Notes By default the data saved in the list is updated every H scan The trace buffer is limited to 32 000 16 bit words per group Once it is full old data is pushed out by the new data Four 4 groups of trace data can be collected simultaneously Set the trigger condition to capture an event such as a fault or to change sample rate Page 12 of 14 MP2300 Quick Refer2. MSEE is located under the Motion tab in Ladder Editor It can only be used in an H drawing Define a starting address for the four 16 bit work registers in the Data field Often DA00000 is used defining DWO0000 through DW00003 but be sure to use M or D registers that are not used elsewhere Call From Ladder 1 Use the MSEE instruction All axes in the group must have 1 Servo On 2 Motion Command Code 0 and not continually updated to 0 3 No 2 Rules before starting other motion program in same group runnin in alarm or paused 4 SERVOPACK self writing function disabled FixedParameter 1 bit A 1 Bit O of the second word defined in the Data field DB000010 in the above example must go high for the i Star ine MOHON programi motion program to start See Motion Program Work Registers in this QRG for more information Ladder code must not manipulate Motion Command Code p unless motion language is not using the Motion Command 4 Rules while running Code register the time and proper interlocks are used to flag the ladder code Page 10 of 14 MP2300 Quick Reference Guide Rev1 5 Motion Program Work Registers for MSEE instruction pwaaaaa Ist work register Program No 4 DWHABHAL nd work register 1 DWAGBBA2 Srd work register TE DHYAHAHI 4th work register bAoooon OUTPUT Motion Program Status DWO00000 Bit Name Description DB000000 Program Running ON while running The Data field of the DB00
3. 32 bit Float Page 3 of 14 LIO 01 LIO 02 MP2300 Quick Reference Guide Rev1 5 Register Allocation after Automatic Self Configuration Ref Basic Module User s Manual SIEPC88070003B Section 6 5 3 LIO Ox 1 LIO Ox 2 LIO 0x 1 LIO O0x 2 Digital Inputs As 16 bit word O IW0410 IB04100 IW0440 IB04400 Digital Outputs As 16 bit Word O OW0411 OB04110 OW0441 OB04410 IB04101 IB04401 OB04111 OB04411 IB04102 IB04402 OB04112 OB04412 IB04103 IB04403 OB04113 OB04413 IB04104 IB04404 OB04114 OB04414 IB04105 IB04405 OB04115 OB04415 IB04106 IB04406 OB04116 OB04416 IB04107 IB04407 OB04117 OB04417 ONY DN USP WIN FR IB04108 IB04408 ONY DN UU FP WIN FR OB04118 OB04418 O IB04109 IB04409 O OB04119 OB04419 IB0410A IBO440A H O OBO411A OBO441A IBO410B IBO440B H H OB0411B OB0441B IB0410C IB0440C H N OB0411C OB0441C IB0410D IB0440D H J OB0411D OB0441D IBO410E IBO440E H AN OBO411E OBO0O441E IBO410F IBO440F IW0420 OW0420 H Ul OB0411F NOTE There can be up to 2 LIO Ox modules in an MP2300 system The first module to be auto configured is the left most module Page 4 of 14 OB0441F MP2300 Quick Reference Guide Rev1 5 Basic Set of Reg isters for Register Based Program
4. 000 Position reference incremented starts motion Solution using POSITION ABSolute OB80095 0 Absolute Positioning Mode 1 OL8010 gt 0 Set Feed Speed OL801C 8000 Position Reference to Absolute position 2 OW8008 MtnCmdCd starts Motion Page 6 of 14 MP2300 Quick Reference Guide Rev1 5 Serial amp Ethernet Connection Procedure To MPE720 Serial Connection Instruction Step Detail Define the PC s Serial Connect serial cable from MP2300 port 1 to PC s COM port port as a valid way to Open Communication manager from system tray communicate via Double click a logical port number choose serial and click Detail Choose desired physical port number that the serial cable is connected to on the PC Save and close communication manager Restart MPE7 20 Ethernet Connection ef z ef 2t J ECL R a MW MPE720 communicates to the MP2300 s 218 IF 01 Ethernet module through the Communication Manager program All 3 must be configured to log on online over Ethernet Be sure the 218 IF TEST and INIT dipswitches are both off left Instruction Step Detail Give the 218IFmodule an Logged On Online via serial port CP 217 IP address From file manager under Definition folder open Module Configuration Highlight the column of 218IF 01 slot lt In the Module Details section double click slot 2 or R click Open Slot A 3 Enter the IP address for the MP2300 and save The table at the bo
5. 0001 Program Paused ON while paused haa an o program stopped with e a ress or e outpu DB000002 program stop anes ON when stopped and input registers of the i motion program DB000004 ois Single ON during debug via ladder registers T DB000008 Program Alarm ON when Motion Program Alarm has occurred EX DA00000 means that DB000009 Stopped at Break Point DW00000 through DB00000B Program Debugging Mode ON during Windows EWS debug mode DW00003 will be used DB00000D Start request signal history ON during request DB00000E Program Duplication Error ON when another Motion Program in the same group has started while this program is running 1st Work Register DB00000F Program Number Limit Error ON when the number of steps in program exceeded maximum INPUT Motion Program Control Signals DW00001 Bit Name Description DB000010 Program Start Request ON with rising edge if it CAN start it will otherwise alarm DB000011 Program Pause Request ON will pause motion blocks ON will stop all group motion exit the Motion Program and generate a motion DB000012 Program Stop Request program alarm DB000013 Program Debug Mode Select Single block mode ON will force debugging mode DB000014 Program Debug Start Single Block Mode start ON transition debug block by block DB000015 Program alarm Reset ON will clear the program alarm stop program before issuing alarm reset Program Continuous pou Oper
6. MP2300 Quick Reference Guide Contents 2 MP2300 Memory Map 3 MP2300 Register Addressing 4 LIO Autoconfiguration Register Allocation 5 Basic Set of Registers 6 Motion Command Code Positioning 7 MPE720 Serial Ethernet Communication 8 General Startup Procedure 9 Function Block Startup Procedure 10 Motion Program Startup Procedure 11 Motion Program Work Registers 12 Data Trace 13 Reference Units 14 Terminology Synonyms 14 Register Offsets MP2300 Quick Reference Guide Rev1 5 MP2300 Quick Reference Guide Rev1 5 MP2300 Memory Map 5 5 MB Stores ladder drawings Local registers and special tables M Global MW00000 65535 General Multi Purpose read write registers Example Flicker relays Calendar Data that end user can change in MPE720 User Free MW00000 29999 Scan time setting error codes ect Wfhout needing to access the drawings Convention Axis 1 MW1000 1999 Axis 2 MW2000 2999 Fixed Parameters for each axis Example Function Block RDA MW30000 65535 Written to in Module Configuration Mechanical system specifications Axis 1 MW30100 Offset 200 per axis Define axis units motor specs pulley ratios encoder counts per load rev Master Slave MW56000 Offset 50 per M S Pair Cannot be written by ladder Reference RDA Spreadsheet Changes usually require power cycle Reference If using motion function blocks O Output OW0000 FFFF general purpose amp motion data Read Write by application program Physical Inp
7. Reference select unit OW8003 0 3 Default 3000 RU FP4 10 n 0 RU sec 1 104n RU min User Unit FP4 2 of Rated Speed FP34 0 Pulse post quad 1 mm OL801C Position Reference RU n 3 when FP4 0 pulse 2 deg or n FP5 when FP4 lt gt 0 3 inch OL8044 Step Distance RU OB80092 Step Direction If PULSE is not chosen as the User Unit use the following parameters to define the relationship between PULSE and RU FP36 Encoder Pulses post quad per motor rev FP8 Motor Revs into gearbox Servopack Pn8OB Acceleration Rate Servopack Pn80E Deceleration Rate FP9 Machine Shaft Revs out of gearbox 10 000 RU sec 2 Default 65535 10 000 RU sec 2 Default 65535 FP6 RU per Machine Shaft Revolution Use MCC 10 Use MCC 11 to change to change FP1 A 1 Acceleration Deceleration FP1 A 1 Update at power up or when FP1 A 0 when FP1 A 0 Update at power up or when changed when changed OL8036 Acceleration select unit OW8003 4 7 Default 0 OL8038 Deceleration select unit OW8003 4 7 Default 0 For an Infinite Length Axis 0 RU sec 2 0 RU sec 2 Rotary Table 1 ms to Rated Speed FP34 1 ms to Rated Speed FP34 Conveyor FP1 bitO Set axis type to Infinite OL8036 OL8038 0 sets servopack acceleration deceleration rate to Length 65535 10 000 RU sec 2 independent of unit selected in OW8003 4 7 FP10 Set R U per rotation This will be 360 degrees converted to R U for a rotar
8. ation Start Request DB000018 Block Skip 1 Operation ON will cause program to _ eb 2 O eD aa xX pa z xe Cc N ON will cause the program to skip an interpolated motion block if the SKP ss1 instruction was used instead of MVS ON will cause the program to skip an interpolated motion block if the SKP ss2 instruction was used instead of MVS DB000019 Block Skip 2 Operation System Work Number DB00001D Setting ON Sets system work register number with 4th word of MSEE work register DBOOOO1E Interpolation Override Setting ON activates the interpolation override speed with the 3rd MSEE work register INTERPOLATION OVERRIDE Speed The speed set in this register 0 01 of FMX will override the interpolation speed set in the motion program DWO00002 F amp IFP commands when bit E of the 2nd word of the MSEE work register is ON Register SYSTEM WORK REGISTER The system work register number in this register will be used when bit D of the 2nd word of the MSEE work DWO00003 registeris ON Otherwise the system work register number will be automatically defined by the system and may be different each time 4th Work Register Page 11 of 14 MP2300 Quick Reference Guide Rev1 5 Data Trace Quick Method Save CTRL S or from menu The selected data starts filling the trace buffer configuration FIFO immediately Illustration
9. ence Guide Rev1 5 Reference Units User Units KEY RU reference unit command unit fraction of the User Unit User Unit base unit such as mm or inch FP Fixed Parameter MCC Motion Command Code OWxx08 Register Values given for Circuit 1 Axis 1 Bold type represents default setting FP34 Rated Speed RPM Default 3000 OL8010 Speed
10. k Reference Guide Rev1 5 MP2300 Startup Procedure All equipment must be properly wired and installed Step Instruction Detail 1 Power OFF Prepare for first Power ON 2 Set M LINK address MP2300 base unit is node 0 so set rotary switch 1 F 3 Set CONFIG and INIT dipswitches right Prepare to erase all RAM not FLASH and self configure hardware Wait for All Green lights on Servopacks and Controller Takes about 4 Power ON eee The configuration is now termporarily stored in program RAM and should not be self configured again at next power up Set all dipswitches OFF left Start MotionWorks MPE720 Connect Serial Cable JEPMC W5311 03B R Click to create new Group folder Order Type any name 8 characters or less no spaces Choose Controller subfolder and Controller subfolder Type as MP2300 Changes will be made to files on the computer as well as on the controller instead of just the computer Double click Controller folder to Log On The default User Name and Password are both USER A R Click Controller folder and select Online Save to flash When the window pops up click the leftmost button Save Compare and accept other defaults Close window when complete atl R Click controller folder Transfer All Files From Controller to SAVE CONIO NET CONG UrANGIN 1O MATA HISK MPE720 Uncheck Registers or transfer will take over 7 minutes These steps can be skipped because they will be c
11. le menu choose Import Locate desired CSV symbol file such as MotionImport csv and open Use the SAVE icon CTRL S or File Save t may take a few seconds Save Symbols for saving to complete depending on the number of symbols in the project and the speed of the computer Repeat process for additional symbol list CSV files Open Symbol Manager Open Symbol List Import Symbols Page 8 of 14 MP2300 Quick Reference Guide Rev1 5 Function Block Startup Procedure l First complete the MP2300 Startup Procedure There should be a new controller folder Step Instruction Detail FB040823 MAL or equivalent Download to C or any directory without spaces R Click Controller folder Log OFF R Click controller folder check online Log ON online Double click Controller folder to log on The default User Name and Password are both USER A 1 Acquire project file Extract MAL file to R click Controller folder Transfer Selected Files From Another Drive to controller files on MPE720 Find MAL file Check the FUNC box Then click transfer hard drive button Takes about 30 seconds Close window when complete R Click controller folder Transfer Selected Files From MPE720 to Controller Check the FUNC box Then click transfer button Transfer takes almost 4 minutes with serial connection Close window when complete Transfer Function blocks to Controller Click the Black Disket
12. ming Assume Module Circuit 1 Axis 1 Add 800h per circuit 80h per axis Motion Setting Registers OWxxxx Name Word Bit Unit Note Reference Alarm Clear OB8000 F Motion Command Code OW8008 1 Position 3 Home 7 Jog 8 Step Abs Inc Position Mode OB8009 5 1 Abs 0 Inc default Direction Step Jog OB8009 2 O Fwd 1 Rev ms to rated speed FP34 Deceleration eae Select Deceleration Units in OW8003 4 7 Motion Monitoring Registers I Wxxxx Name Word Bit Unit Note Reference Minfomeon ne802 Cmd Code confirm IW8008 IB 1 Servo On Confirm Sony eee 3 aks IB802C 3 Feedback Speed IL8040 Terminology used on this page R U Minimum increment of motion By default 1 R U 1 Count Used fixed parameters to change Count post quadrature encoder count Pulse pre quadrature encoder pulse Page 5 of 14 MP2300 Quick Reference Guide Rev1 5 Motion Command Code Indexing Example Move from position 5000 to position 8000 assuming the following for module circuit 1 Axis 1 ILC008 5000 Current position is 5000 ILC022 0 No alarms IBC0013 1 Servo is ON Solution using STEP OL8044 3000 Step Distance 3000 1 OB80092 0 Direction Forward OL8010 gt 0 Set Feed Speed 2 OW8008 8 MtnCmdCd starts motion solution using POSITION INCremental OL801C 0 Initial position O OB80095 1 Incremental Positioning Mode OL8010 gt 0 Set Feed Speed OW8008 MtnCmdCd defines initial position OLCO12 3
13. ompleted when 1 Ethernet rather than serial will be used to logon online 2 Function Blocks will be used SERVOPACK Default Set Procedure Optional Procedure When servopack is not brand new use this procedure to restore default parameter settings Step Instruction Detail R Click Controller folder Log OFF R Click controller folder check 1 Log On ONLINE online Double click Controller folder to log on The default User Name and Password are both USER A From file manager under Definition folder open Module Configuration Engineering Manager application opens 2 Open Servopack Module Configuration Highlight Controller Slot 00 MP2300 In the Module Details section double click slot 3 or R click Open Slot In the SVB Definition window Select SERVOPACK tab Choose the Axis number from the pull down list top left Under Edit menu choose Default Set Click OK and Save Repeat for each axis as necessary Cycle Servopack Power 3 Save defaults for each axis Symbol Import Procedure Step Instruction Detail l Double click Controller folder to log on The default User Name and Eee Meee Sn Password are both USER A Close everything except File Manager Close Ladder Editor Engineering Manager etc From File Manager under Database folder open Symbol Manager Symbol Manager Application opens Under View menu be sure Data Tree is checked Expand Data Tree to open Symbol List and double click All Register Under Fi
14. rams gt Motion Programs gt DoubleClick Group Defnition Low Scan Programs 3 Enter amp Save a Group Name Under the Group List Tab When saved a new Group01 tab will appear Enter the number of axes that m 4 will be used in the Motion Under the Group01 Tab in the Axis area E Program Under Group01 Tab in the Axis Definition area In the Define Module Number Axis Physical row 01 01 means motion module 1 axis 1 j Number and Axis Name Usually the default is fine In the Logical row enter a text name for the axis such as X or Y Save Group Definition Save Icon 7 Refresh view In File Manager Under View menu choose Refresh Motion Program Motion Step Instruction Detail In File Manager gt Programs gt High Scan Programs gt DRE 1 Start a new Motion Program Motion Programs R click Motion Group01 and select O Motion Programs New Program LJ aan Definition There are no commands for SERVO ON or JOG in the Motion Programming Language These steps are to be accomplished in Ladder First line must be MPM001 and last line must be END Instructions terminate with semicolon Comments enclosed 3 Write Motion Program in quotes comment Refer to Motion Programming User Manual SIEZ C887 1 3 for extensive details on each command Things to know before a Motion Program is started 4 Save Motion Program Use save icon Also save to flash Call From Ladder Step Instruction Detail
15. s stored in program memory Set up via a table in the properties dialog box for each New project requires setting Module Configuration first Select drawing Rarely Used from File Manager under Definition Folder DIEVU ES H L A H High Scan Use for all code that runs motion related functions L Low Scan Use for code that runs HMI or user operated switches lights etc Use for drawings that should automatically run once at controller power up Use to run a special interrupt routine after receiving a local input defined as a dedicated Interrupt Register Memory Battery Backup T gt a O Q w IL op lt LL O 4 Cc g 5 gt oO aly O z z is Som O O Som A Page 2 of 14 MP2300 Quick Reference Guide Rev1 5 MP2300 Register Addressing All registers except Input and Output S C M D A Address F E D C B MW2008 ML2008 MW2009 MW2010 MF2010 MW2011 Register Type i Bit Number Subscript S System Bi Number Hex i orj C Global Constant W 16 bit Word i imal If Bit Data Type optional M Multi Purpose User L 32 bit Long Dec D p D User Local F 32 bit Float Local Constant A Address A Startup Input and Output Registers Address F E D C B A 9 8 7 6 5 4 3 2 il 0 OW8018 OW8019 OW801A OW801B OL801A Register Type i Bit Number O Output Motion Setting Bi Hex I Input Motion Monitoring 16 bi If Bit Data Type F
16. te Icon When the window pops up click the leftmost Save to Flash button Compar save and accept other defaults Close window when complete R Click controller Transfer All files From Controller to MPE 720 Uncheck registers or it will take over 7 minutes Cycle Power Cycle power is needed for initialization drawings A drawings to run Save to Hard Disk To Start a totally blank Function Block project only check FUNC box and all detail To start with the pre made Function Block template check both DWG and FUNC and under each detail select all Function Block Work Register Addressing D Local Registers 46W T DATA46WIDA100 DA100 DA146 DA150 FB e mr DA TA08W DA150 DA158 DA160 FB DA183 8W wasted DA190 TW DATA23W DA160 DA320 AXISEND DATA01WI DA190 Page 9 of 14 MP2300 Quick Reference Guide Rev1 5 Motion Program Startup Procedure First complete the MP2300 Commissioning Procedure There should be a new controller folder Group Definition axes used in motion program Group Step Instruction Detail Definition R Click Controller folder and select Log Off R click again 3 High 1 Log on Online Se aa elt er Can F TOGAS g and check online Double click controller folder to log on J Motion Programs _ Group Definition J Initialization Programs 2 Open Group Definition Interrupt Programs In File Manager gt Programs gt High Scan Prog
17. ttom of the screen is for other Ethernet devices controlled by the MP2300 Save configuration close window and save and save to flash Cycle unit power so that IP address is updated be sure all dipswitches are off on both the base unit and the 218IF 01 to avoid overwriting the flash save upon power up et ee ef Define the PC s Ethernet Open Communication Manager from windows system tray near clock port as a valid way to Double click a blank logical port to open the settings communicate via Choose CP 218 click detail MP2300 Select the IP address of the PC 7 Turn Default Off Click OK twice save and close communication manager Close MW MPE720 then re open so that the data is refreshed Tell MW MPE720 to Log Off connect via Ethernet R click controller folder choose properties Under Network tab choose port number with CP 218 that you just made in Communication Manager Type the IP address of the MP2300 as defined in Module Configuration Log On Online NOTES It is assumed that a valid IP address has been acquired from the network administrator To connect directly use a crossover cable and configure your PC to use a static IP address As noted on the 218IF module the network must be 10mbps or switchable from 100mbps to 10mbps If a 218IF error does not go away after power is cycled turn on the 218IF INIT dipswitch and cycle power Page 7 of 14 MP2300 Quic
18. uts IW0000 7FFF Physical Outputs OW0000 7FFF Convention IW0410 for Local I O modules Convention OW0410 for Local I O Modules IW0010 for M LINK I O modules OW0010 for M LINK I O modules Axis Motion Input IW8000 807F Module 1 Axis 1 JAxis Motion Output OW8000 807F Module 1 Axis 1 motion monitoring Offset 80h per axis motion setting Offset 80h per axis 800h per module 800h per module Example IB8000 0 controller ready Example OB8000 0 turn servo on Reference Basic Module User Man 7 2 3 Reference Basic Module User Man 7 2 2 D Local Registers Used as general purpose read write in the defined Drawing only Suggested Bits DW00000 00008 DB000000 DB00008F Convention One Shot DW00009 DB000090 DB00009F Word Operations DW00010 00025 16 bit integers Accumulators DW00026 16 bit Integer accumulator DW00027 16 bit Logic Hexadecimal Accumulator DL00028 32 bit Long Accumulator DF00030 32 bit Floating point Accumulator Long amp Float DW00032 00098 32 bit Integers 32 bit Floating Point F B Work Register DW00100 00320 Bits integers floats as defined in Function Block Default is 32 D registers per drawing R click drawing in File Manager increase to 320 when using Function Blocks Reference Sharps W00000 16383 Module Configuration Local Constants General purpose read only by the specifed Drawing Each hardware module on the rack has several configuration files This data they are defined in i
19. v Page 13 of 14 MP2300 Quick Reference Guide Rev1 5 Terminology Synonyms and Definitions Parameter Register Reference Unit R U Command Unit User Unit Base unit such as mm inch degree Module Circuit MotionWorks MPE720 Motion Command Motion Command Code Motion Programming Motion Language Structured Text Register Offsets Offset Start Note Per Axis 80h IW8000 OW8000 Per Module Circuit 800h IW8000 OW8000 Function Block per axis 200 MW30100 Function Block Master Slave 50 MW56000 Page 14 of 14
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