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Machine Controller MP2200 USER`S MANUAL
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1. Cable Connector 3P 721 203 026 000 Note 1 A 721 203 026 000 Cable Connector is mounted to the POWER connector 2 Different Optional Modules are inserted into the slots for each product model 4 78 4 16 External Appearance 4 16 2 Mounting Optional Module Connectors The Optional Modules have the following dimensions Height 125 mm Depth 95 mm The following figure shows the Optional Module connector mounting dimensions Unit mm 48 48 rat 4 GR a S bee QO O ou OL he O O ais LIO 01 LIO 02 4 218IF 01 2171F 01 45 260IF 01 261IF 01 4 79 4 Module Specifications 4 16 2 Mounting Optional Module Connectors EXIOIF SVB 01 4 80 5 Mounting and Wiring This chapter explains how to handle the MP2200 and the connection methods for each Module 5 1 Handling the MP2200 5 2 5 1 1 Mounting the MP2200 5 2 5 1 2 Replacing and Adding Optional Modules 5 5 5 2 Module Connections 5 8 5 2 1 Connecting Power Supply 5 8 5
2. e Vcc 24 V 22kQ R DICOM 77T G b RL Input register on 1kQ ts ea Guar ea i 680 29 R o 01 uF AY a DI IN 56K Q 0 5 W ca 2200PF R e eo le eer ee O54 Z Digital Input Circuit Sink Mode Input e Vcc 24 V 22kQ R DI_COM 7 gt b RHe Input register 1kQ ene CLES one ths Sy 6802 R 0 01 uF AVI io pi iy 8 6 kQ 0 5 W 2200FF R R bs peen SZ Ong VW Digital Input Circuit Source Mode Input 5 27 5 Mounting and Wiring 5 2 4 LIO Module Connections g Output Circuit The following table shows the LIO 01 Module output circuit specifications fen Outputs Output Format isolation Method pavpcem SSCS Output 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 1 ms max Number of Commons 16 points Fuse Protection Circuit The fuse is not however for circuit protection It is for protecting against fire at out put shorts Attach a fuse externally to each output if circuit protection is required Error Detection Fuse blown detection Other Functions DOO DO 00 is shared with counter position detection 24 V 4709 a Output lt DO_
3. 1 com 1 26 2 DI 00 27 DI 01 3 DI 02 28 DI 03 4 DI 04 29 DI 05 5 biog 30 DI 07 6 COM 2 31 5 7 DI 08 32 DI 09 8 DI 10 33 DI 11 9 pk 34 DI 13 10 DI 14 35 DI 15 11 36 12 DO 00 37 DO 01 13 DI 02 38 DO 03 14 39 OVv 1 15 24V 1 40 16 DO 04 41 DO 05 17 DO 06 42 DO 07 18 43 OVv 1 19 DO 08 44 DO 09 20 DO 10 45 DO 11 21 46 OV 2 22 24V 2 47 23 DO 12 48 DO 13 24 DO 14 49 DO 15 25 50 OV 2 5 39 5 Mounting and Wiring 5 2 5 LIO 04 Module Connections The following figure shows the pin names and assignments for connector CN1 Details No Signal Name os ere Digital output 13 Digital output 15 Common ground 2 No Signal Name COM 1 Common 1 DL00 Digital input 0 l also used as interrupt input DI 02 Digital input 2 N N foe oy BR BR AR BY BR Ww wl wl o w fj N N oj N o o o NIO oj O Digital input 4 Digital input 6 Common 2 7 Digital input 8 Digital input 10 Digital input 12 DI 14 Digital input 14 EE Digital output 0 Digital output 2 5 24V 1 24 V power supply 1 DO 04 Digital output 4 DO 06 Digital output 6 32 33 34 35 oO KS Ea ES gS Ea ow BA EA T 1 1 1 12 13 6 N 42 43 44 45 46 DO 08 Digital output 8
4. General purpose analog input General purpose analog input SVA 01 SGDA CNTCN2 BP TY a CNT SG 1 0 Oo 2 SG AO_0 NREF 2056 i i i O 3 V REF PA 3 oHm Oa PA PAL 4 o T T O 21 IPA PC 5 0 i i i t O 24 PC PCL 6 o l O 25 IPC SG 7 0 i i i i O 4 SG AI_O von 8 o i i AO_1 TREF 9 O t 7 i O 1 T REF OV for 24V 10 i r 35 ALM SG OV for 24V 11 O i DO_2 Pcon 12 O l l O 15 P CON DO_4 13 O 11 P CL DO_3 14 r O 12 N CL T i DI_3 P oT 15 O O 16 P OT 24V 16 i O 13 24V IN DI_O svALM 17 O T T i O 34 ALM DI_2 ZERO HoME LS 18 i i SG 19 i r O 6 OSEN SEN sv 20 O O 5 SEN Al_1 TREFMON 21 22 0 I i l l PB 23 0 2 4 1 22 PB PBL 24 0 i l i O 23 PB RGD RO E e TE d i f f 1 AO GND 27 O O 19 SG OV for 24V 28 i l i O 29 BATO OV for 24V 29 OF mO 28 BAT DO_1 ALMRST 30 O 18 ALMRST DO_0 svon 31 O 14 S ON DO_5 SEN for vs866 32 O i f i f DI_4 N OT 33 i 17 N OT 24V 34 7 Z DI_1 SRDY 35 ergo ee DI_5 EXT DEC 36 O Hood FG e FG Hood EXT DEC input ABS encoder battery 3 6 V ZERO HOME LS input ABS encoder battery 0 V POT input Brake interlock output N OT input Brake interlock output 5 21 5 22 5 Mounting and Wiring 5 2 3 SVA 01 Module Connections h S
5. CNS Analog input ground _ H Black Beg GND General purpose Black 2 GND analog input gh White O 3 Analog monitor 1 Red Torque reference monitor I O 4 Analog monitor 2 General purpose Speed monitor f analog input e ee E p SVA 01 SGDM SGDH SGDS CN1 CN2 e E a CNI SG 1 O i l i i O 2 SG AO_O NREF 2 0 i O 5 V REF PA 3 7 O 33 PA PAL 4 0 T l 7 O 34 PA PC 5 0 i i i i O 19 PC PCL 6 O t l t O 20 PC SG 7 0 O 6 SG AI_O vTG 8 o l AO_1 TREF 9 O O 9 TREF OV For 24 V 10 O t t O 32 ALM CAS Sane Tit i Control mode DO_2 Pcon 12 i i i O 41 IC SEL switch DO_4 13 Q T i T 7 O 45 P CL User set DO 3 14 O i l O 46 N CL User set DI_3 P OT 15 0 Ld r i O 42 P OT 24V 16 O l l O 47 24V IN DI_O SvVALM 17 O T T O 31 ALM DI_2 ZERO HOMELS 18 O SG 19 O T l T O 10 SG SEN 5v 20 O i l T l O 4 SEN Al_1 TMON 21 O i l 22 0 l l i PB 23 O T T O 35 PB PBL 24 oHe EE oo 36 PB SG 25 O 1 i O 28 TGON BRK Al GND 26 O i l i i O 27 TGON BRK AO GND 27 O 1 SG OV For 24 V 28 O O 30 S RDY OV For 24 V 29 O DO_1 ALMRST 30 O T l i O 44 ALM RST DO_0 svon 31 14 E E E E E E S 40 S ON DO_5 SEN for vs866 32 O l l l i DI_4 n oT 33 O i l O 43 N OT 24V 34 i i l DI_1 SRDY 35 O L 7 L 7 O 29 S RDY DI_5 EXT DEC 36 OF lt O 22 BAT i O 21 BAT Hood FG FG Hoo
6. Set the SERVOPACK MECHATROLINK station numbers to 1 and 2 The sample program is designed to operate with station numbers 1 and 2 3 6 3 1 Outline 3 Connecting SERVOPACKs and Servomotors Use the motor cable and encoder cable to connect SERVOPACKs and Servomotors SVB 01 MP2200 Z MP2200 meu o2 CPU 01 218IF 01 SvB 01 T oo oo oo 8 88 amp ae 2 oe o e e e Oy Penn ee ee ee fe fe o o fe fe oi 2 ay T T T T T T 5 5 8 s5 5 5 elel e e e 2 O O fe O O O SERVOPACK SERVOPACK EE poe SGDS 02A12A SGDS 02A12A e e Terminator MECHATROLINK II MN OR ING ji L1 B Li 8 L2 B 2 L2 B 2 cjo 5 D c clo 5 D cl L2c B 3 L2C 5 3 B1 B Em B1 i ES e2 llo alps e2 llo altel e e g u i 4 u B ni v r v f i w Bj S w Bj ew JZSP CSM01 03 JZSP CSP01 03 Servomotor Servomotor 3 7 3 8 3 System Startup 3 1 5 Initializing the System 3 1 5 Initializing the System This section describes the X I SERVOPACK initialization and self configuration procedures required when first starting a MP2200 system 1 Initializing 2 IIl SERVOPACKs This section explains the procedure for initializing the SERVOPACKs Always initialize SERVOPACKs that have been brought from other systems This initialization procedure is not required
7. tt t A3 PE A Latch input or f i i J cus We Latch input or phase Z pulse phase Z pulse 1 tf i o 1 4 24 VDC Digital inputs Je f i AAs AS e AS otetetetete b A19 DI_07 lt B19 DI_06 4S External input signals A20 DI_05 B20 jJ DI_04 HUILUN j H 24 VDC g O a 7 G o 4 Digital outputs 8 g Ar B7 Eaa External output signals DOODOOOOOHOOO NN N N N N N N N NNN DN DN DN AQ 8 OO 4 Fuse DO_COM Pa A5 4 ad B5 J DO_COM Fuse blown detection circuit Note 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 5 30 5 2 Module Connections 2 LIO 02 Module a Connectors The following diagram shows the LIO 02 Module connector Connects external I O signals and pulse input signals External input 16 points External output 16 points Pulse input 1 channel b Connector Specifications The following table sho
8. 6 46 261IF 01 Module 6 47 DeviceNet communication 6 46 Ethernet interface 6 43 execution 3 10 V O allocations 6 40 6 41 LIO 01 Module 6 40 LIO 02 Module 6 41 LIO 04 Module 6 42 PROFIBUS interface 6 47 RS 232C interface 6 43 6 45 6 46 6 47 RS 422 485 interface 6 44 SVA 01 Module 6 39 SVB 01 Module 6 30 serial interfaces 4 67 serial port settings 3 13 servo connector pin arrangement 5 19 servo interface connectors 5 17 SERVOPACK connection cables 5 21 initialization 3 8 software for programming devices 2 8 standard system functions 6 19 startup self diagnosis 6 6 startup sequence 6 5 subscripts iandj 6 27 subslot No
9. 8 17 SVA 01 Module 4 39 connections 5 17 connectors 5 17 motion control functions 4 41 Index 3 SERVOPACK connection cables 5 20 standard cables 5 20 system connection example 5 17 SVB 01 connectors 5 11 SVB 01 Module 4 34 connections 5 11 error status 8 17 system configuration 5 13 switches 217IF 01 Module 4 68 218IF 01 Module 4 65 260IF 01 Module 4 71 261IF 01 Module 4 75 CPU 01 Module 4 9 LIO 01 Module 4 44 LIO 02 Module 4 47 SVB 01 Module 4 35 system errors 8 5 I O error status 8 15 Module information 8 24 processing flow 8 6 service execution status 8 14 stat
10. 4 45 LIO 02 Module 4 48 LIO 04 Module 4 63 MP2200 4 4 SVA 01 Module 4 40 SVB 01 Module 4 36 l I drawings 6 7 T O error status application modules 8 17 indicator patterns 8 4 initialization SERVOPACK 3 8 system 3 8 user settings 3 8 input circuit LIO 01 Module 5 27 LIO 02 Module 5 33 LIO 04 Module 5 43 input connector 24 V 5 18 input registers 6 23 interrupt status 8 23 L L drawings 3 63 6 7 L06 drawing 3 63 ladder program error processing flow 8 7 LED 217IF 01 Module 4 67 218IF 01 Module 4 65 260IF 01 Module 4 70 26IF 01 Module 4 74 Base Unit
11. 2 Programming Device related Equipment Vode uani MPE720 CPMC MPE720 RS 232C Cable JEPMC W5311 03 or 1 Ethernet Cable Commercially available cross cable Computer Note The MP2200 can be connected via RS 232C or Ethernet connections Computer JEPMC W5311 03 3 4 3 1 Outline 3 Servodrive related Equipment Name z Y YASKAWA SERVOPACK Servomotor Digital Operator 4 Other Required Equipment Specification Quant 24 VDC power supply Current capacity of 2 A or greater 3 5 3 System Startup 3 1 4 Connecting and Wiring the System 3 1 4 Connecting and Wiring the System 1 Connecting the MPE720 and MP2200 The following figure shows how to connect the MPE720 and the 218IF 01 Module using a PP Cable 218IF 01 MP2200 Optional Module Optional Module Optional Module Optional Module Optional Module Optional Module JEPMC W5311 03 2 Connecting the MP2200 and SERVOPACKs Use a MECHATROLINK Cable to connect the MP2200 and SERVOPACKs MP2200 FN F MP2200 weu 02 POWER O Optional Module Optional Module Optional Module Optional Module Optional Module Optional Module SERVOPACK sen seRvoPner SGDS 02A12A Terminator uppa MECHATROLINK II
12. 4 23 4 5 SVB 01 Module 4 33 4 5 1 Outline of Functions 4 33 4 5 2 LED Indicators and Switch Settings 4 33 4 5 3 Hardware Specifications 4 35 4 5 4 Function Lists 4 36 4 6 SVA 01 Module 4 38 4 6 1 Outline of Functions 4 38 4 6 2 LED Indicators and Switch Settings 4 38 4 6 3 Hardware Specifications 4 39 4 6 4 Function Lists 4 40 4 1 4 Module Specifications 4 7 LIO 01 Module 4 42 4 7 1 Outline of Functions 4 42 4 7 2 LED Indicators and Switch Settings 4 42 4 7 3 Hardware Specifications 4 44 4 811002 Mod le 3s ia ie es Shs Se a ee Se 4 45 4 8 1 Outline of Functions 4 45 4 8 2 LED Indicators and Switch Settings 4 45 4 8 3 Hardware Specifications 4 47 4 9 L
13. 6 5 6 3 User Program 6 7 6 3 1 Drawings DWGs 6 7 6 3 2 Execution Control of Drawings 6 8 6 3 3 Motion Programs 6 11 6 3 4 Functions 6 19 6 4 Registers 6 20 6 4 1 Data Types 6 20 6 4 2 Types of Registers 6 23 6 4 3 Register Designation Methods 6 26 6 4 4 Subscripts i and j 6 27 6 5 Self configuration 6 29 6 5 1 Overview of Self configuration 6 29 6 5 2 SVB 01 Modules 6 30 6 5 3 SVA 01 Modules 6 39 6 5 4 LIO 01 Modules 6 40 6 5 5 LIO 02 Modules 6 41 6 5 6 LIO 04 Modules 6 42 6 5 7 218IF 01 Modules 6 43 6 5 8 217IF 01 Modules
14. 2 8 2 5 1 Software for Programming Devices 2 8 2 1 2 System Configuration 2 1 1 Basic System Configuration 2 1 System Configuration 2 1 1 Basic System Configuration The following diagram shows the basic system configuration 1 One Rack Configuration Slot 0 is always the CPU Module MP2200 MP2200 mBu 02 CPU 01 SVB 01 LIO 01 9 Modules max Optional Modules MECHATROLINK II Motion Modules SVB 01 MECHATROLINK SVA 01 Analog outputs I O Modules External I O MECHATROLINK Servodrives compatible I O Modules External I O External I O Communication Modules 218IF 01 Ethernet RS485 422 PROFIBUS RS 232C 2 1 System Configuration lt q EXAMPLE gt The following diagram shows an example system configuration SVB 01 218IF 01 MP2200 yp LIO 01 MP2200 mBu 02 CPU 01 SvB 01 2181F External I O Control panel MECHATROLINK II RS 232C Ethernet MECHATROLINK compatible I O Modules Servodrives Note 1 Up to 21 devices can be connected to MECHATROLINK IL The SERVOPACKs can be connected to up to 16 axes 2 Up to 32 I O can be used 16 inputs and 16 outputs with the LIO 01 3 Communication Modules can be used to connect to Ethernet DeviceNet PROFIBUS RS 232C and RS 422 485
15. 4 6 CPU 01 Module 4 8 LIO 01 Module 4 44 LIO 02 Module 4 47 LIO 04 Module 4 62 SVA 01 Module 4 39 SVB 01 Module 4 34 LIO 01 and LIO 02 Modules counter functions 4 49 LIO 01 Module 4 43 connectors 5 25 5 31 error status 8 20 LIO 02 Module 4 46 error status 8 21 LIO 04 Module 4 62 connection examples 5 45 connector pin arrangement 5 39 connectors 5 37 external I O cables 5 38 logging off 3 35 logging on online 3 19 MBU 01 Unit connectors 5 8 MBU 02 Unit connectors 5 10 MECHATROLINK list of compatible Modules 2 6 MECHATROLINK connector 5 11 MECHATROLINK terminator 5 16 MECHATROLINK compatible SERVOPACKs
16. 7 SERVOPACKs Inverters for up to 16 stations s Up to 21 stations including I O Note Insert a JEPMC W6022 Terminator into the unused MECHATROLINK port 5 13 5 14 5 Mounting and Wiring 5 2 2 SVB 01 Module Connections b Connecting the SVB 01 Module in the Middle of the MECHATROLINK Network The following diagram shows a system configuration example MP2200 mP2200 meu o2 CPU 01 218F 01 sve o1 POWER 10Base T MECHATROLINK I MECHATROLINK I Terminator Terminator SGDH 04AE Fera a Dm eod 1 0 SERVOPACK SERVOPACK SERVOPACK Repeater Inverter L v SERVOPACKs Inverters for up to 16 stations v Up to 21 stations including I O Note Insert a JEPMC W6022 Terminator into the unused MECHATROLINK port 5 2 Module Connections 6 Connections between Devices a Cable Connections between the SVB 01 and I O Units and the MP2200 and SERVOPACKs Cable model number JEPMC W6002 00 JEPMC W6003 00 Pin No Name Name NC 1 NC DATA 2 DATA DATA f3 DATA SH 4 SH Shield Shell Shield Note The JEPMC W6003 O10 Cable has a ferrite core b Cable Connec
17. 4 48 4 9 1 Outline of Functions 4 48 4 9 2 Counter Function Details 4 50 4 9 3 Electronic Gear Function 4 54 4 9 4 Counter Parameters 4 58 4 10 LIO 04 Module 4 61 4 10 1 Outline of Functions 4 61 4 10 2 LED Indicators and Switch Settings 4 61 4 10 3 Hardware Specifications 4 62 4 11 218IF 01 Module 4 63 4 11 1 Outline of Functions 4 63 4 11 2 LED Indicators and Switch Settings 4 63 4 11 3 Hardware Specifications 4 65 4 12 217IF 01 Module 4 66 4 12 1 Outline of Functions 4 66 4 12 2 LED Indicators and Switch Settings 4 66 4 12 3 Hardware Specifications 4 68 4 13 260IF 01 Module 4 69 4 13 1 O
18. 6 23 P parent drawings 6 7 password 3 22 PI latch function 4 54 pin arrangement DeviceNet connector 5 56 Ethernet connector 5 48 LIO 01 Module 5 26 LIO 02 Module 5 32 LIO 04 Module 5 39 PORT connector 5 48 PROFIBUS connector 5 59 RS 232C connector 5 52 5 56 5 59 RS 422 485 connector 5 52 PLC functions and specifications 4 5 power supply cable lOO VAG 2245 22 ce hen Sc5 osc es vecee E es 5 9 24 VDC 5 10 power supply connections 5 8 5 10 PROFIBUS communications specifications 4 77 PROFIBUS ID 4 77 PROFIBUS interface 4 74 pulse count function 4 51 pulse counting mode 4 50 Index pulse input circuit LIO 01 Module 5 29 LIO 02 Module 5 35 R register designation methods 6 26
19. External input signals Fuse blown detection circuit B22 Digital outputs A 4 B6 DO_24V i C H 24 VDC Fuse As DO_24v 3 o gt N AN ie e a a D N N N N N N Ng AY Q ec D D N g Kai N D N AY Q hd D s 2 AY O lo J D GN im 8 External output signals D N o ENS is 2 o T D O N NN NN NN AN 5 ZN D my je t rae z a g O ls oO Note 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 5 36 5 2 Module Connections 5 2 5 LIO 04 Module Connections This section explains the connections for the LIO 04 Module 1 Connection Cables a Connectors The following diagram shows the LIO 04 Module connector The connectors connect the LIO 04 Module to I O signals They are connected using the following standard cable e JEPMC W6060 00 Number of inputs 32 8 common Input mode Source sink mode inputs Number of outputs 32 8 common Output mode Sink mode outputs CNI and CN2 each connect
20. 2 6 MECHATROLINK Cable 5 12 Module appearance 1 4 Module configuration definitions 6 48 setting changing 6 49 motion control functions list 4 37 motion fixed parameters setting 3 29 motion programs 3 47 6 11 control signals 6 14 direct designation 6 11 execution processing method 6 13 group operation 6 12 indirect designation 6 11 interpolation override 6 15 main programs 6 11 monitoring execution information 6 15 Index status 6 15 subprograms 6 11 system work numbers 6 15 MP2200 accessories 2 7 basic system configuration 99 cables 2 7 features 1 2 list of Modules 2 5 mounting 5 2 syst
21. LED indicators Servo connector 24 V input connector LED indicators Serial connector RS 232C Ethernet connector 10Base T LED indicators Switches Serial connector RS 232C DeviceNet connector External input connector External output connector EXIOIF LED indicators Switch Serial connector RS 232C Serial connector RS 422 485 LED indicators 1 2 Module Appearance Switches Serial connector RS 232C PROFIBUS connector 2611F 01 1 5 2 System Configuration This chapter explains the product information required to build MP2200 systems 2 1 System Configuration 2 2 2 1 1 Basic System Configuration 2 2 2 1 2 System Configuration Precautions 2 4 2 2 List of Modules 2 5 2 2 1 MP2200 Modules 2 5 2 3 Devices Connectable to MECHATROLINK 2 6 2 4 Cables and Accessories 2 7 2 4 1 Cables 2 7 2 4 2 Accessories 2 7 2 5 Software
22. 130 Q terminator 130 Q terminator Trunk line cable Drop line cable External power supply line for I O f Power supply tap for commu nications with reverse cur rent prevention for multiple power supplies SesSebeess Internal power supply line for I O sms Communication power supply line Ps Communication power supply FG 5 2 9 261IF 01 Module Connections 1 Connectors The following diagram shows 261IF 01 Module connectors PORT PROFIBUS RS 232C PROFIBUS 2 Connector Specifications The following table shows the connector specifications Connector No of Connector Model Name Name Pins Module Side Cable Side Manufacturer 17LE 13090 27 D2BC 9 17JE 23090 02 D8B RS 232 PORT DDK Ltd rsanac port smbatcemiy 9 pin D sub male PROFIBUS PROFIBUS EE ek DDK Ltd 9 pin D sub female 3 Cables Name Model Length JEPMCWS3II 03 RS 232C Cable JEPMCWSSII S 4 External Appearance of Cables for PORT Connector JEPMC W5311 00 pa LFP Pa 5 58 5 2 Module Connections 5 Connector Pin Arrangement a PORT Connector The PORT connector is used to connect the MP2200 to computers and HMI devices via an RS 232C connec tion ai Signal Signal Num 9 Description 9 Description ber Name Name SG Ce O RD Reie e b
23. J MP2200 msu o1 CPU 01 2181F 01 2601 PRO Optional Module Optional Module 130 Q terminator 4 Power supply tap for 1 0 L communications with A i reverse current prevention A for multiple power supplies Communication power supply Trunk line cable Drop line cable External power supply line for I O kare Internal power supply line for I O mms Communication power supply line 130 Q terminator 130 Q terminator tions with reverse current preven Power supply tap for communica tion for multiple power supplies PS Communication power supply Spa apa ae a aa a pel een pe eee as es lh pe pe PS External power supply for I O PS Internal power supply for I O 5 57 5 Mounting and Wiring 5 2 9 261IF 01 Module Connections Slave Mode The following diagram shows the system configuration for slave mode Int l ly for I O joes PS eE ERN RY Slave Mode 260IF 01 i MP2300 External power i i i i pg Suppers 4i i i i 260IF 01 MP2200 Optional Module Optional Module I O
24. To controller or other terminal RS 422 485 Remote Station Connector shell The wiring when connecting to another 217IF 01 is shown Wy in the following diagram RS 422 485 RS 422 485 Connector Connector shell shell 5 53 5 54 5 Mounting and Wiring 5 2 7 217IF 01 Module Connections e RS 485 Wiring MP2200 I 2171F 01 Optional Module Optional Module Rs4221465 10Base T 130 Q terminator RS 422 485 The wiring when a 2171F 01 Module is connected between other nodes is shown in the following diagram Connector Connector shel ale esfo 5 55 oe See oS eee shell Note The terminator is enabled by connecting terminals 2 11 and 4 7 for RS 422 485 ports 5 2 Module Connections 5 2 8 260IF 01 Module Connections 1 Connectors The following diagram shows 260IF 01 Module connectors PORT DeviceNet RS 232C DeviceNet 2 Connector Specifications The following table shows the connector specifications Connector No of Connector Model Name Pins Module Side Cable Side 17LE 13090 27 D2BC 17JE 23090 02 D8B paca ESRT Ee 9 pin D sub female 9 pin D sub male DONLU 3 Cables Name Model JEPMC W5311 03 JEPMC W5311 15 RS 232C Cable 4 External Appearance of Cables for PORT Connector JEPMC W5311 00 ma bpi P L AI 5 55
25. x ann MAEMOSUPLE Darsan EWM Cp RPT Le Fimetwilteds me T Towgeesien harei F Progress Tiria opion Fieger F Cri r 3 25 3 System Startup 3 1 6 Starting the MPE720 9 Individual Loading of Sample Programs Transfer sample programs to the MP2200 individually using the procedure below 1 Right click the 2200SMPL Controller Folder and select File Transfer Individual File Transfer Indi vidual Program File Load HD CPU Fy did tamaya aiaa Fe pi s le he iE eE EAL ET gt g ream Sj hF aj Vesa fy ce E TRga Pome eh S a El rere iain eon MI Program Pile Corre Ua AT Rogie He liane ed Prog Pir ties Ped eet Pie Tye Tti Tamie irabia paige are the bol 2 The Individual Load Window will be displayed Select the following transfer items DWG Scan Time Data Trace e Motion Main Program suk aac Jae aR oe Doin PRITE GRT a ae fee r fore wj fF Gey Oie r Pyle FS ates na Cid PO toto Sub Progen ery ba hc es a Chepa Tmi rtats V Clegg Fut eish 3 26 3 1 Outline 3 Click the Details button to the right of DWG to display the DWG Detail Data Set Window Select Select All and click the OK button DAG Ciel ad ia St fagh epesad Man Program common seinge fee aces Man rogram tor manua operahon mi myl operation AOGAS ae 2 mail operations TEP man program tor positioning phase control man progrem phass control
26. 0008 0029 NL 1 0009 0032 NL 1 0010 0034 NL 1 Main Program Axis 1 Manual Jog and Step Operation Processing HHHH Axis 1 manual jog and step operation processing HHHHHHHHH HHHH Jog and step operation HHHHHHHT Axis 1 jog operation Axis 1 Forward Jog DB000010 Axis 1 Reverse Jog Axis 1 SV_ON DB000011 1B80001 Axis 1 Forward Jog DB000010 Axis 1 jog reference DB000000 Axis 1 jog reference DB000000 Axis 1 jog start DB000001 Axis 1 jog start DB000001 Axis 1 jog stop DB000002 Axis 1 Reverse Jog DB000011 WORK Axis 1 motion command 0 DB000050 MB300010 WORK DB000051 Axis 1 speed reference setting STORE a Source 0000001000 Dest 0L8010 Axis 1 motion command STORE a Source 00007 Dest 0W8008 Axis 1 motion command STORE a Source 00000 Dest 0W8008 FHHHHAHHHH Step operation HHHHHHHHE Axis 1 step operation Axis 1 Forward Step DB000012 Axis 1 Reverse Step Axis 1 SV_ON DB000013 1B80001 Axis 1 Forward Step Axis 1 Reverse Step DB000012 Axis 1 step reference DB000008 Axis 1 step reference DB000008 Axis 1step start DB00009 Axis 1 step start DB000009 DB000013 WORK Axis 1 motion command 0 DB000058 MB300010 WORK DB000059 Axis 1 step speed and moving amount EXPRESS ON zZ 0L8010 1000 0L8044 DL00010 S Axis 1 motion command STORE z Source 00008 Dest 0W8008 Axis 1 jog
27. 3 4 3 1 4 Connecting and Wiring the System 3 6 3 1 5 Initializing the System 3 8 3 1 6 Starting the MPE720 3 11 3 2 Sample Program 1 Manual Operation 3 36 3 2 1 Description 3 36 3 2 2 Operation 3 37 3 2 3 Program Details 3 40 3 3 Sample Program 2 Positioning Control 3 47 3 3 1 Description 3 47 3 3 2 Operation 3 48 3 3 3 Program Details 3 50 3 4 Sample Program 3 Phase Control with an Electronic Shaft 3 52 3 4 1 Description 3 52 3 4 2 Operation 3 53 3 4 3 Program Details 3 55 3 5 Sample Program 4 Phase Control with an Electronic Cam 3 57 3 5 1 Description 3 57 3 5 2 Operation 3 58 3 5 3 Program Details 3 60 3 1
28. 4 Fix the MP2200 in place Place end plates on either side of the MP2200 to secure it to the DIN rail MP2200 meu o1 CPU 01 218IF 01 svB 01 POWER O o DIN rail Optional Module Optional Module End plate This completes the installation procedure 5 4 5 1 Handling the MP2200 5 1 2 Replacing and Adding Optional Modules Use the following procedures to replace or add Optional Modules 1 Preparations 1 Create a backup data file Use the MPE720 to save the MP2200 program on a computer 2 Remove the MP2200 Turn OFF the power supply and disconnect all cables from the MP2200 Then remove the MP2200 from the panel or rack and place it on a workbench or other area with sufficient space 2 Removing Optional Modules 1 Remove the battery cover Pull the notch on the side of the MP2200 towards you to remove the battery cover 2 Remove the Optional Module panel Insert the protruding part of the battery cover into the slot on top of the panel of Optional Module to unhook it as shown in the diagram Face the front of the battery cover towards you for this operation Remove the cover on the bottom in the same way 5 5 5 6 5 Mounting and Wiring 5 1 2 Replacing and Adding Optional Modules 3 Remove the Optional Module from the mounting base Pull the top of the panel of the Optional Module towards you to remove it A notch o
29. DI COM2 DI 16 to DI 23 DI COM3 DI 24 to DI 31 e DI 00 DI 01 DI 16 and DI 17 interrupt inputs DI 00 DI 01 DI 16 and DI 17 can also be used as interrupt inputs When interrupts are enabled the interrupt drawings will be started when the input signal turns ON e Vcc 24V 22 kQ DICOM 7 p Input register 22 KO eat Dee 750 Q av ae l 1000 PF pi n 56 kQ 0 5 W TE J ia TEER V o0 VW Digital Input Circuit Sink Mode Input e Vcc 24V 22 kQ DICOM 7 Input register 1kQ i eel ERE i 750 Q Rv Ta I 1 5 6 kQ 0 5 W he Seven DI_IN I V 004 Vv Digital Input Circuit Source Mode Input 5 43 5 Mounting and Wiring 5 2 5 LIO 04 Module Connections c Output Circuits The following table shows the LIO 04 Module output circuit specifications tem Oups Output Mode Isolation Method Output Voltage Output Curent Leakage Current ON Time OFF Time ON 0 5 ms max OFF 0 5 ms max 8 points per Common There is a fuse in the common line rating 1 A Protection Circuit 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 if required Error Detection Fuse blow
30. Pulses PDV ILOOOO 0002 2 to 23 1 1 1 pulse Pl Latch Data FREQ ILOOOO 0006 Number of Incremental Same as number of incre Pulses after Conversion ILOOOO 0008 1 1 reference unit mental pulses when Elec PDVG tronic Gear not used Current Counter Value Same as current counter after Conversion TILOOOO 000A 1 1 reference unit value when Electronic Gear PFBG not used PI Latch Data after Con Same as PI latch data when ILOOOO 0D0C 23 31_ version FREQG 2 to 20 1 l b reference unit Electronic Gear not used POSMAX Tum Number IOGOOOGE ao 1 O Feedback Speed ILOOOO 0010 23 1 reference unit s When Plectroni Gear not used 1 1 pulse s ILOOOO 0012 Reserved to ILOOOO 001C Calculation A moving average of the processing results for 32 scans e Without Electronic Gear Feedback Speed pulse s No of incremental pulses x 1000 Ts e With Electronic Gear Feedback Speed reference unit s No of incremental pulses after conversion x 1000 Ts TS Scan time ms for counter synchronized scan The following table shows Status RUNSTS details Data Seting Error O sf Fixed Parameter Setting Error 1 Fixed parameter setting error ON unti normal write completed T Contae prstom OOE T Pracn compiea O OOo oooi E Feedback puses Horis iE Coincidence Detection Signal 5 1 Coincidence detection ON Detected pulse units E E C e een Stee nee Wiring Fi
31. installed properly 3 Install the Optional Module panel Place the hole on the bottom of the panel of the Optional Module onto the hook on the bottom of the MP2200 Next hook the hole at the top of the panel of the Optional Module onto the hook at the top of the MP2200 5 7 5 Mounting and Wiring 5 2 1 Connecting Power Supply 5 2 Module Connections 5 2 1 Connecting Power Supply This section explains the connections for the MBU 01 and MBU 02 Units 1 MBU 01 Unit Connections a Connectors Supply a 100 200 VAC power supply to the MP2200 The following diagram shows MBU 01 Unit connectors Symbol Signal Description AC e Name ac AC fe vai SRC BGS 3 AC aap Ol s Frame ground Ground to 100 Q max b Connector Specifications Connector No of Connector Model Name Module Side Cable Side Power Supply power 721 863 001 000 721 203 026 000 WAGO Connector c Connection Diagram Name MP2200 721 863 721 203 026 Noise FG POWER FG Note Use a noise filter on the AC power supply line to the MBU 01 Recommended noise filter TDK ZHG2210 11S 5 8 5 2 Module Connections d Connection Procedure for 100 200 VAC Power Supply Cable The power supply terminals have a removable connector Use the following procedure to wire the terminals to the power supply connector Use a 1 5 mm to 2 5 mm A
32. 0 Reset after 1 rotation Infinite length axis 1 The reset position is set in the counter fixed parameter No 22 Infinite Length Axis Reset Position POSMAX POSMAX 4 57 4 Module Specifications 4 9 4 Counter Parameters 4 9 4 Counter Parameters 1 Counter Fixed Parameters The following table lists the counter fixed parameters Parameter Name Details Size Default Remarks i Value Channel Selection Used 1 Not used 0 o 1 Loading Re disIer Specifies the first I O register to use 1 word Number Valid only when mows ooo y i i C i the Coincidence Detection Func Pulse A B Signal Polarity Positive logic 0 Negative logic i 1 word Selection E1 tion is enabled F ro PNotused PS S Specifies the pulse count mode Sign mode x1 Sign mode x2 Pulse Count Mode Up Down mode x1 ee Selection Up Down mode x2 Pulse A B mode x1 Pulse A B mode x2 Pulse A B mode x4 em a E i S ae FS eee POMEL ee cee We ee Ee a Coincidence Detection Not used 0 Used 1 ivoa o E E az oa Function Selection Coincidence Interrupt E E Function Selection Norsed 0 Used 1 Not used Notwsed ooo E oO O7 ES Pte 3 ae ae Noted OV UTD Finite length axis 0 Infinite Axis Type Selection length axis 1 11 12 13 14 oi Reference Unit Number of Decimal 0 to 5 1 1 digit 1 word 3 Places Wors 7 l Moving Amo
33. 5 Set the Encoder Gear Ratio and the Machine Gear Ratio in the counter fixed parameters No 20 and No 21 e No 18 setting range 1 to 231 1 1 1 reference unit lt q EXAMPLE gt Setting Examples Load moving amount per load axis rotation 12 mm e Smallest reference unit 0 001 mm reference unit mm to 3 decimal places Counter fixed parameter No 18 12 mm 0 001 mm 12000 e When the encoder axis has rotated m times and the mechanical configuration allows the load axis to rotate n times set the following values Counter fixed parameter No 20 m rotations Counter fixed parameter No 21 n rotations Setting range 1 to 65 535 rotations e For the configuration shown in the diagram 4 rotations 7 rotations Encoder axis Load axis n rotations m rotations 9 rotations 3 rotations Gear ratio n m 3 7 x 4 9 4 21 Therefore set the following values Counter fixed parameter No 20 21 Counter fixed parameter No 21 4 4 55 4 56 4 Module Specifications 4 9 3 Electronic Gear Function 3 Setting Example The following are parameter setting examples for each kind of load mechanical configuration a Ball Screws 7 rotations 5 rotations Ball screw pitch P 6 mm rotation In the above machine system if the requirement is reference unit output unit 0 001 mm the setting of each parameter will be as follows e No 18 6 mm 0 001 mm 6000 e Gear ratio n m 5 7
34. Connector No of Name z Name Pins Module Side Cable Side Manufacturer DDK Ltd 17LE 13090 27 D2BC 17JE 23090 02 D8B RSAC FORT 9 pin D sub female 9 pin D sub male 555153 1 10Base T Tyco Electronics Ethemet 10Base T Ethernet connector modular AMP K K jack 3 Cables Model Length Name TEPMC WS311 03 RS 232C Cable JEPMC W53 11 15 4 External Appearance of Cables for PORT Connector JEPMC W5311 O0 T pA a L PN 5 47 5 Mounting and Wiring 5 2 6 218IF 01 Module Connections 5 Connector Pin Arrangement a PORT Connector The PORT connector is used to connect the MP2200 to computers and HMI devices via an RS 232C connec tion aan Signal Description re sian Description Name Name ber ber a m 7 eo seminar ose a a Requesttosend 9 ER Daia terminal ready wosa b Ethernet Connector 10Base T The Ethernet connector is used to connect the MP2200 to computers and HMI devices via an Ethernet 10Base T connection Pin signal Num 9 Description Name ber aes te Psd ef ROS Reson 6 Module Connection Examples a PORT Connector Connections MP2200 ie 218IF 01 MP2200 _MByo1 CPU 01 218IF 01 svB 01 RO Optional Module Optional Module RS 232C 15 m max 5 48 5 2 Module Connections The following tables show the PORT connector
35. Describes the instructions used in MP900 MP2000 3 motion programming Motion Programming Machine Controller MP900 MP2000 Series User s Manual SIEPC88070005 MPE720 Software for Programming Device Machine Controller MP900 Series Describes the programming instructions of the New New Ladder Editor SIE C887 13 1 Ladder Editor which assists MP900 MP2000 Series Programming Manual design and maintenance Machine Controller MP900 Series Describes the operating methods of the New Ladder New Ladder Editor SIE C887 13 2 Editor which assists MP900 MP2000 Series design User s Manual and maintenance Describes how to install and operate the MP900 MP2000 Series programming system MPE720 lt Safety Information The following conventions are used to indicate precautions in this manual Failure to heed precautions pro vided in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment and systems Indicates precautions that if not heeded could possibly result in loss of life or serious Z WARNING G p rarer injury Indicates precautions that if not heeded could result in relatively serious or minor A CAUTION y injury damage to the product or faulty operation In some situations the precautions indicated could have serious consequences if not heeded PROHIBITED Indicates prohibited actions that must not be performed For example this symbol would be used
36. Indicators LED indicators RUN green ERR red STRX green TRX green Setting Switches x1 125 95 xD 2 Communication Specifications a RS 232C Communication Specifications The following table shows the RS 232C communication specifications 4 Specifications Communication Protocols MEMOBUS MELSEC non procedure Media Access Control i Method i Data length 7 or 8 bits Stop bits 1 or 2 bits Parity Odd even or none Transmission Format Can be set 4 75 4 76 4 Module Specifications 4 14 3 Hardware Specifications b PROFIBUS communication Specifications The following table shows the PROFIBUS communication specifications SpecTicatons DP slave function Mounted Functions joa e Cyclic communication DP standard function 12 M 6 M 4M 3M 1 5 M 750 k 500 k 187 5 k 93 75 k 19 2 k or Baud Rate 9 6 kbps Auto detect Configuration Implemented by the PROFIBUS Master 1O Processing e Total I O register area 64 words max e T O allocations 64 words each max Diagnostic Functions e Status and Slave gratus display using MPE720 e T O error display using system register 1 The PROFIBUS ID is 05C1 The GSD file YASK05C1 GSD is provided for master configuration GSD file Defines slave information 2 The PROFIBUS ID can be set between 0 and 125 but the 261IF 01 Module can be set only between 1 and 64 4 15 EXIOIF Module 4 15 EXIOIF Module 4 15 1
37. Sets the communication method Selections Communication e MECHATROLINK I MECHATROLINK II thod ERE MECHATROLINK II 17 byte mode Serene mee e MECHATROLINK II 32 byte mode Sets the Module to a master or a slave lections Master Slave Se eens e Master e Slave The local station address for the master is 0 fixed Own station num ber local station number The local station address for a slave is 1 to the number of slaves The number of slaves can be changed using commu nication Note 1 The hardware switch has priority for the master slave setting Definitions for the MPE720 must match the hardware switch settings 2 Slaves function as intelligent I O b Settings and Display Items by Communication Method e MECHATROLINK I e Master Default Value Fixed value display only 4 Mbps Fixed value display only cycle Message reliability 0 Lor2 level Number of slave Fixed value display only e Slaves Default Value Fixed value display only Baud rate 4 Mbps 4 Mbps Communication Fixed value display only cycle 2 ms Message reliability Setting not required level Number of slave Fixed value display only 15 stations 15 6 32 e MECHATROLINK II 17 byte Mode Master 6 5 Self configuration Default Val Fixed value display only 10 Mbps No send bytes Fixed value display only 16 bytes Communication 0 5 ms or ms 1 ms cycle Set whether or not there is a S
38. The functions given in the following table which include transfer functions are provided by the system as stan dard functions The user cannot change the standard system functions First infFrs out Sack 2 User Functions The body of the function program and the function definitions can be set by the user The maximum number of user functions is 500 lt Q Z 2 o 2 D gt N For details on MPE720 operating methods and details on instructions refer to the relevant manuals 6 19 6 20 6 Basic System Operation 6 4 1 Data Types 6 4 Registers This section explains the types of register used by MP2200 user programs mainly ladder programs and how these registers are used nrof E Registers e Registers are memory locations for storing data and each register consists of 16 bits e The data in a register can be a position speed or other numeric value or it can be an ON OFF signal i e bit information e There are three types of numeric values that can be stored e 16 bit integers 32768 to 32767 e 32 bit integers double length integers Real numbers floating point numbers 6 4 1 Data Types There are five data types each used for different applications Bit integer double length integer real number and address data Address data is used only for pointer designations inside functions The following table shows the data types Data Type eee Fam Nt oe to 32767 Used in n
39. e No 20 7 e No 21 5 b Rotating Loads m D 30 rotations 10 rotation n Rotating load 360 rotation In the above machine system if the requirement is reference unit output unit 0 1 the setting of each parameter will be as follows e No 18 360 0 1 3600 e Gear ratio n m 10 30 1 3 e No 20 3 e No 21 1 4 9 LIO 01 and LIO 02 Module Counter Functions 4 Axis Type Selection There are two types of axis An infinite length axis that resets the current value with a specified value and a finite length axis that does not reset the current value The finite length axis is used for rotation in one direction only where the current value data is not reset after rotation and for return and other operations that are performed only within a specified range The infinite length axis is used for applications such as resetting the current value data for a conveyor belt or other device to 0 after one rotation If the infinite length axis is selected the counter current value after conversion ILOOO0 0x0A and the PI latch data after conversion LOOOO 0x0C are reported within the range 0 to infinite axis reset position 1 The axis type selection sets which type of position control is to be used The axis type selection is set in the counter fixed parameter No 14 Axis Type Selection Axis Type Selection Within a set range Finite length axis 0 No reset after 1 rotation Finite length axis
40. mation Name Lights during normal operation of the RUN Green microprocessor used for control RUN ERR pee Not lit during error X O 7 ERR Red Lights blinks for failures Not lit during normal operation MECHATROLINK transmission in progress 4 33 4 Module Specifications 4 5 2 LED Indicators and Switch Settings 3 Switch Settings The DIP switch sets the operating conditions for the SVB 01 Module Use the default settings when using the Module in Master Mode a DIP Switch SIZE and SPD are valid only in Slave Mode They will be ignored in Master Mode M S SIZE SPD Status ON F Default Not used 17 bytes 32 bytes 4 Mbps Select the number of transfer bytes Select the baud rate Slave Mode OFF Select Master or Slave Mode Setting 0e ipamo onto O Mode 10s digit address Mode 1s digit address 4 34 4 5 SVB 01 Module 4 5 3 Hardware Specifications The following table shows the hardware specifications of the SVB 01 Module tem Motion network 1 channel communication ports 2 ports SERVOPACK and I O for up to 21 stations connectable SERVO PACKs for up to 16 axes Baud rate 4 Mbps MECHATROLINK 1 or 10 Mbps MECHA TROLINK ID Motion Network MECHATROLINK RUN green Indicators ERR red TX green M S master slave SIZE No of send bytes SPD baud rate x 1 slave addres
41. 2 bP Alaa root mP2200 innr 220 i Online Log On Properties Log Off Transfer me 2200SMPL File Type Controller A a Backup Motion Programs oller Type MP2200 02 Application C t p mer User pplication Converter cs Ussge Delete Ctrl D connection parameter PT 1 UT 1 CPUS Controller Operatio ase Local Online Online Pia Ladder Gonversion Tool Dranavl biase The Controller Configuration Dialog Box will appear 5 Select the Network Tab and click the Yes button to start OnLine mode Then select the logical port number to which the USB connection will be allocated in the Logical Port No Device Type list Controller Configuration OnLine Logical Port No Device Type No Device Unit No No Device No Device No Device Route No Device o No Device 4 30 4 4 CPU 02 Module 6 Set the Local Address and click the OK button Controller Configuration x Informati neno PY plication OnLine Yes C No Logical Port No 3 USB z Device Type Local address 2 3 4 5 6 7 8 3 Note The local address to be set in this paragraph is used to specify the corresponding CPU 02 Modules from the MPE720 personal computer side If one CPU 02 Module is connected to the personal com puter set it to 1 If more than one CPU 02 Module is connected to the personal computer use the appropriate setting
42. 3 2 3 System Startup 3 1 1 System Startup Flowchart 3 1 Outline This section explains the system startup procedure when the sample program on the MPE720 installation disk is used Details on the machine system design have been omitted here 3 1 1 System Startup Flowchart The system startup procedure is outlined below Refer to the references given in the right hand column for information on each step 1 Prepare the equipment needed for testing 3 1 3 Device Preparation 2 Mount the 218IF 01 to the MP2200 Chapter 5 Mounting and Wiring Z Connect the MPE720 and wire the Servomotors and SERVOPACKs 3 3 1 4 Connecting and Wiring the System SA 4 Initialize the SERVOPACKs 3 1 5 Initializing the System V The connected devices are automatically con lt firmed 3 1 5 Initializing the System V Install the sample programs and start the 9 MPE720 3 1 6 Starting the MPE720 7 Save the sample program and configuration defi 3 1 6 Starting the MPE720 nitions to flash memory MZ 3 2 Sample Program 1 Manual Operation 3 3 Sample Program 2 Positioning Control Execute the program and check the test opera 3 4 Sample Program 3 Phase Control with an tion Electronic Shaft 3 5 Sample Program 4 Phase Control with an Electronic Cam 3 1 Outline 3 1 2 System Configuration The following diagram shows the configurati
43. 4 60 fixed parameters 4 59 status 4 61 counter interrupts 8 23 CPU functions and specifications comparison 4 11 CPU RUN settings 3 34 CPU 01 Module 4 8 D D registers 6 23 daily inspections 7 2 data registers 6 23 data types 6 20 DeviceNet communications specifications 4 73 DeviceNet interface 4 70 DI interrupts 8 23 DIN rail 5 2 Index 1 DIN rail mounting clips 5 3 drawings 6 7 execution control 6 8 execution processing method 6 10 execution scheduling 6 8 hierarchical arrangement 6 9 types 6 7 DWG registers 6 23 electronic gear function 4 55 Ethernet communications specifications 4 66 Ethernet i
44. 5 2 Module Connections 5 8 5 2 1 Connecting Power Supply 5 8 5 2 2 SVB 01 Module Connections 5 11 5 2 3 SVA 01 Module Connections 5 17 5 2 4 LIO Module Connections 5 25 5 2 5 LIO 04 Module Connections 5 37 5 2 6 218IF 01 Module Connections 5 47 5 2 7 217 F 01 Module Connections 5 51 5 2 8 260IF 01 Module Connections 5 55 5 2 9 261IF 01 Module Connections 5 58 5 2 10 EXIOIF Module Connections 5 61 6 Basic System Operation 6 1 Operating Mode 6 2 6 1 1 Online Operating Mode 6 2 6 1 2 Offline Stop Mode 6 2 6 2 Startup Sequence and Basic Operation 6 3 6 2 1 DIP Switch Settings 6 3 6 2 2 Indicator Patterns 6 4 6 2 3 Startu
45. 6 44 6 5 9 260IF 01 Modules 6 46 6 5 10 261IF 01 Modules 6 47 6 6 Setting and Changing User defined Files or Data 6 48 6 6 1 Saving User defined Files or Data 6 48 6 6 2 Setting and Changing the Scan Times 6 48 6 6 3 Setting and Changing the Module Configuration Definition 6 49 6 1 6 2 6 Basic System Operation 6 1 1 Online Operating Mode 6 1 Operating Mode This section explains the online operating mode and the offline stop mode both of which indicate the MP2200 operating status Online Operating Mode e RDY and RUN indicators are lit e The user program and I O operations are executed Offline Stop Mode e RDY indicator is lit RUN is not lit e The user program is stopped Operating Mode MP2200 Operating Modes 6 1 1 Online Operating Mode When the power for the MP2200 is turned ON the RDY and RUN indicators will light the ERR and ALM indi cators will not light and the MP2200 will enter the online operating mode This means that the user program and T O operations are being executed in the MP2200 without any errors or failures If an alarm does occur such as for an I O conversion error or a user calculation error the execution of the user program will not stop and the online operating
46. I O Modules zeor o1 Ys Expansion O Modes xor w SSCS e SVB 01 Module Error Status Example Rack 1 Slot 1 F 8 7 0 Bit No F 2 1 0 Bit No used F E D SW00226 ST 30 ST 29 i ae ST 17 ST 16 SW00227 Not used Sw00228 swo0229 SW00230 Not used SW00231 Table 8 6 Error Status Details Item Remarks Subslot No 1 SVB 01 MECHATROLINK communications Status Station error Communication normal ma Communication error at n station When set to slave n is the local station number TERWS Subslot No The number displayed in the Module Details section in the Module Definition Window 8 17 8 Troubleshooting 8 2 4 System Register Configuration e 260IF 01 Module Error Status Example Rack 1 Slot 1 F 8 7 0 Bit No swo0224 Subsbt unoton No F 2 1 0 Bit No swoo225 STS ee sm sm STO E D swoo226 S ooe er STB swoo227 s e O o STR swoo228 STS ooe O O o ere SW00229 Not used SW00230 Not used SW00231 Not used Table 8 7 Error Status Details Item Code Remarks 2 2 2601F DeviceNet Subslot No DeviceNet Note 1 217IF RS 232C Co Poa O Status L0 Communications CS ST n 1 Communication error at n station When set to slave n is the local station number 8 18 8 2 System Errors e 261IF 01 Module Error Status Example Rack 1 Slot 1 F 8 7 0 Bit No swo0224 Subst funcion No F 2 1 0 Bit No swoo225
47. INFON The following points apply to calling motion programs Call motion programs with care 7 e More than one motion program with the same number cannot be called using the MSEE instruction Subprograms MPSOOID cannot be called using the ladder program MSEE instruction They can be called only from within motion programs MPMOOO and MPSOOD The same subprogram cannot be called from two different locations at the same time 6 13 6 14 6 Basic System Operation 6 3 3 Motion Programs 3 Motion Program Control Signals To execute a motion program called from a DWG H by the MSEE instruction program control signals such as program start requests and program stop requests must be input The second word in the MSEE work registers contains the control signals The signals used to control motion programs are shown in the following table o Programstartrequest Diena or NO conati 6 Program continuous operation sian request Difeenial or NO conac ipu e Ske momin O ooma o E o SkipZinformation oom E D Systemworknumberseting Poema 1 System Work Number Setting OFF The system work register is automatically defined by the system The system work number may be differ ent each time ON The system work register set in the fourth word of the MSEE work registers is used 2 Interpolation Override Setting OFF Interpolation override fixed at 100 ON Conforms to set interpolation override Mot
48. Switching between Servo ON and Servo OFF Change the current value setting for Servo ON PB from OFF to ON on the Tuning Panel Window The 3 Servomotor will turn ON and the Servo will be clamped 2 Setting Motion Program Number Change the current value setting for Motion Program No Setting to a value between 1 and 3 on the Tun ing Panel Window This sets the motion program number that will be executed No programs have been created for numbers 4 onwards so an MPM alarm will occur if a number other than 1 to 3 is entered 3 Entering Target Values for Each Axis Enter any value for the current value for the items listed below The values entered here will be the posi tioning target values when motion program numbers 2 and 3 are executed e Ist target value X axis e Ist target value Y axis e 2nd target value X axis e 2nd target value Y axis 4 Starting Positioning Set the current value for Start Positioning to ON on the Tuning Panel Window Positioning will start based on the motion program number set earlier MPM No After positioning has been executed change the current value to OFF 5 Confirming Motion Program Operation When a motion program is started the current value for MPM Running on the Tuning Panel Window will change to ON And when the Servo axis rotates the values for the current position on the Tuning Panel Window change If an error occurs during execution of a motion program the current value for MPM A
49. Transmission P 15 m max Distance Baud Rate 9600 or 19200 bps Asynchronous start stop synchronization Communication Mode Message communication engineering communication Cemmunteaien MEMOBUS MELSEC Non procedure Protocols Media Access Control Bi Method Transmission Format Data length 7 or 8 bits Stop bits 1 or 2 bits Parity Odd Can be set even or none b Ethernet communication Specifications The following table shows the Ethernet communication specifications Specticaions Isolation Method Transformer coupled Transmission 100 m segment Total length 500 m when 4 repeaters are Distance connected Max Numberof 10Base T 2 Units segment Nodes Communication Mode Message communication engineering communication Max Number of pai ik ee Communication MEMOBUS Slave Extended MEMOBUS MELSEC Protocols MODBUS TCP non procedure 5 Segments 4 65 4 Module Specifications 4 12 1 Outline of Functions 4 12 217 F 01 Module 4 12 1 Outline of Functions The 217IF 01 Module has RS 232C and RS 422 485 serial interfaces mounted in it Personal computers HMI devices and controllers manufactured by other companies can be connected to the 217IF 01 Module via the PORT or RS 232C and RS 422 485 connectors Communication modes include message communication and engineering communication and MEMOBUS MELSEC and non procedure protocols are supported Refer to the MP2300 Machine Controller Communicati
50. 0 to 3 Speed unit selection 0 Reference unit s 1 Reference unit min 2 Bits 4 to 7 Acceleration speed unit selection 0 Reference unit s 1 ms Axis 1 function setting 1 units Axis 1 function setting 1 workpiece Source A 0W8003 Source B HOFOO Dest DW00010 Axis 1 function setting 1 Source A DW00010 Source B H0011 Dest 0W8003 is 2 function setting 1 units Axis 2 function setting 1 workpiece Source A 0W8083 Source B HOF00 Dest DW00012 Axis 2 function setting 1 Source A DW00012 Source B H0011 Dest 0W8083 3 41 3 System Startup 3 2 3 Program Details P00103 H01 Main Program Processing of Common Axis Setting HHHH Linear acceleration deceleration setting HHHHHHHT Axis 1 and 2 linear acceleration deceleration setting MPM running 18300020 0010 EXPRESSION a 0018 NL 1 OL8036 100 OL8038 100 OL80B6 100 OL80B8 100 0011 0020 NL 1 3 H02 Drawing The H02 child drawing controls jog and step operation P00105 H02 Main Program Manual Operation Main Processin HHHH Manual operation main processing 4HHHHHH 0000 i SEE a 0000 NL 1 Name H02 01 0001 SE amp 0001 NL 1 Name H02 02 My 3 42 3 2 Sample Program 1 Manual Operation 4 H02 01 Drawing The H02 01 grandchild drawing controls jog and step operation for axis 1 P00107 H02 01 0000 0000 NL 1 0006 NL 1 0002 0010 NL 1 0004 0015 NL 1 0007 0025 NL 1
51. 01 Main Program Phase Control 1 Electronic Shaft Processing HHHH Phase control 1 electronic shaft processing HHHHHHHH HHHH Electronic shaft operation reference HHHHHHH Electronic shaft startup PB Axis 1 SV_ON Axis 2 SV_ON DB000010 1B80001 1B80801 0000 0000 NL 1 Electronic shaft operation reference WORK Axis 1 motion command 0 Axis 1 motion command 0 DB000000 DB000050 DB000010 DB000018 0001 0004 NL 1 Electronic shaft operation reference Zero speed WORK DB000000 DB000003 DB000050 0002 0009 NL 1 HHHH Motion command execution HHHHHHHE Motion command 25 phase control setting Electronic shaft start DB000001 Axis 1 motion command 0003 STORE 5 0013 Source 00025 Dest 0W8008 Electronic shaft start DB000001 Axis 2 motion command 0004 STORE i ple Source 00025 Dest OW8088 Motion command 0 NOP setting Electronic shaft stop DB000002 Axis 1 motion command 0005 STORE Source 00000 Dest OW8008 Electronic shaft stop DB000002 0006 STORE Meet Source 00000 Dest OW8088 HHH S shaped acceleration deceleration parameter settings H HHHHHHT parameter settings EXPRESS ON 5 NL 1 DB000200 true DB000201 true DF00022 30000 0 DF00024 0 1 DF00026 DF00030 DF00032 HHHH Electronic shaft operation speed switching sequence HHHHHHT Electronic shaft operation reference DB000000 Electronic shaft start DB000001 Electronic shaft stop DB000002 A double integer regi
52. 1 Right click the 2200SMPL Controller Folder and select Log Off ye rimar EE IDI x PEER ya cel SY e E E A ow Tl e Hare 2G PL Fie Type Con ohe Fokis one Type MP2 De Stiti User Lego Fu ois a 3 35 3 36 3 System Startup 3 2 1 Description 3 2 Sample Program 1 Manual Operation 3 2 1 Description 1 Program Outline The H01 drawing ladder program turns ON the servo resets alarms and sets parameters The H02 01 drawing ladder program controls jog and step operation for axis 1 The H02 02 drawing ladder program controls jog and step operation for axis 2 Refer to 3 2 3 Program Details for details on the sample program al Parent Drawings Child Drawings H Drawing SEE Name H01 H01 Drawing e SERVO ON e Alarm reset e Parameter settings END Grandchild Drawings SEE Name H02 END H02 Drawing SEE Name H02 01 H02 01 Drawing Axis 1 e Jog operation e Step operation END SEE Name H02 02 END High speed scan IMPORTANT H02 02 Drawing Axis 2 e Jog operation e Step operation END This sample program 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 3 2 Sample Program 1 M
53. 1 leteetrane shan phasa control leisecionic cam los pimi mar program Sectic can tabe cake qgenersion 4 Click the Details button to the right of Motion Main Program to display the Motion Main Program Detail Set Window Select Select All and click the OK button rion San Prapen DeLa Set S Serisiduea Leal joms EWPETRI COT TU APD ESR 3 27 3 28 3 System Startup 3 1 6 Starting the MPE720 6 A confirmation message will be displayed Click the Yes button 7 The Execute Status Window will be displayed Wait until the transfer has been completed sare EURETAN AAHAS IE UPL fui Fi Tut cee ed Tires i Hae Timi ert Cipin DRE EERE EA 8 A message will appear when the transfer has been completed Click the OK button CEE Lae 9 The Individual Load Window will be displayed Select File Exit i reikia aai came BOA a AF mina PRT TORT EEO 3 1 Outline 10 Setting Motion Fixed Parameters Set the MP2200 motion fixed parameters to match the sample program using the procedure below 1 Opening the Module Configuration Window a Double click the 2200SMPL Controller Folder in the File Manager Window to display the 5 folders contained within it b Double click the Definition Folder to display the 6 folders inside that folder then double click the Module Configuration Folder He fit See Tol be JS a ee oe a T E iL CRegim Pome i u Oii Bie 09 Geier hija B Appicaticr
54. 14 2 LED Indicators and Switch Settings 1 External Appearance The following figure shows the external appearance of the 261IF 01 Module LED indicators Switches Serial connector RS 232C PROFIBUS connector 2 Indicators The following table shows the status of 261IF 01 Module LED indicators Indicator Color Status RUN Green Lit during normal operation Not lit during errors or during reset ERR Red Livblinking during Se RUNO Oerr Not lit during normal operation Lit during reset STRXC Orrx STRX Geen Lit during RS 232C data transmission or reception Not lit when data not being transmitted or received TRX Green Lit during PROFIBUS ae fanignnission or reception Not lit when data not being transmitted or received 4 73 4 74 4 Module Specifications 4 14 2 LED Indicators and Switch Settings 3 Switch Settings The following table shows the 261IF 01 Module switch settings Name Sia Function Rete Setting Always leave set to OFF OFF tus Reserved NiF Reserved _ _ For engineering communication Starts up serial section using default parameters ON FF TEST a excluding automatic reception function settings x10 Initial startup Given higher priority than the CPU Module Flash OFF Startup and Self configuration Startup Self configuration Startup ON System use TEST TEST
55. 3 Electronic Gear Function 4 9 3 Electronic Gear Function The Electronic Gear Function can be used when counter fixed parameter No 15 Reference Unit Selection is set to any value except 0 1 Outline The Electronic Gear Function is used to set the workpiece travel distance per pulse input to the LIO Module counter to any value Workpiece Reference unit 1 um ZITTTTT ZII TTT Workpiece Encoder pulse 2048 Ball screw pitch 6 mm A LLLA LLLI The machine conditions and reference unit are Encoder pulse 2048 Ball screw pitch 6 mm defined beforehand by the Electronic Gear To move the workpiece 10 mm To move the workpiece 10 mm with a 6 mm per rotation therefore reference unit of 1 um 10 6 1 6666 rotations 2 048 x 4 pulses per rotation therefore 10mm _ 1 6666 x 2 048 x 4 13 653 pulses fie oe 13 653 pulses are input as the reference This conversion must be made on the host device Without Electronic Gear With Electronic Gear 2 Settings Use steps 1 to 5 in the following procedure to make the settings 1 Confirm the machine specifications Elements relating to the Electronic Gear e Gear ratio e Ball screw pitch Ball screw pitch e Pulley diameter etc H eat ear ratio 2 Confirm the number of encoder pulses input to the counter and set this value to th
56. 5 56 5 Mounting and Wiring 5 2 8 260IF 01 Module Connections 5 Connector Pin Arrangement a PORT Connector The PORT connector is used to connect the MP2200 to computers and HMI devices via an RS 232C connec tion Description cn Signal Description ber Name SG Signal ground 0 V ae es e jSenddata A7 e E b DeviceNet Connector The DeviceNet connector is used to connect the MP2200 to computers and peripheral devices via a DeviceNet connection O looo0o00 O CAN bus line dominant H 24 V external power supply for communication 6 Module Connection Examples a PORT Connector Connections 5 2 Module Connections Refer to a PORT Connector Connections under 6 Module Connection Examples in 5 2 6 218IF 01 Mod ule Connections for information on PORT connector connections b DeviceNet Connections e Master Mode There are two connection methods for master mode a Multi drop Connections MP2200 260IF 01 Internal power supply for I O Hea il pe Ee al e i i AE egy Beemel power supply fo 0 E l oi amp amp b l fmt L VO O 121 Q terminator Trunk line cable Drop line cable External power supply line for I O Internal power supply line for I O ss Communication power supply line FG b T branch Multi branch and Drop line Connections MP2200 r 260IF 01 P
57. 59 3 60 3 System Startup 3 5 3 Program Details 3 5 3 Program Details 1 HO6 02 Drawing The H06 02 grandchild drawing controls phase control electronic cam operation P00121 H06 02 Main Program Phase Control 2 Electronic Cam Processing HHHHHHHHH Phase control 2 electronic cam processing HHHHHHH HHHH Explanation HHHHHHHHE Axis 1 Master axis phase control electronic shaft Axis 2 Slave axis phase control electronic cam FHHHHHHHHH Phase control operation reference HHHHHHHT Startup PB Axis 1 SV_ON Axis 2 SV_ON Operation reference DB000010 1B80001 1B80801 DB000000 0000 j A 0000 NL 1 Operation reference WORK Axis 1 motion command 0 Axis 1 motion command 0 Electronic cam start DB000000 DB000050 MB300010 MB300018 DB000001 0004 NL 1 Operation reference Zero speed WORK Electronic cam stop DB000000 DB000003 DB000051 DB000002 0002 e 0009 NL 1 HHHH Motion command execution HHHHHHHE Motion command 25 phase control setting Electronic cam start DB000001 Axis 1 motion command 0003 STORE EA O18 Source 00025 Dest 0W8008 Electronic cam start DB000001 Axis 2 motion command 0004 STORE z 0015 Source 00025 Dest 0W8088 Motion command 0 NOP setting Electronic cam stop DB000002 Axis 1 motion command 005 STORE ae Source 00000 Dest 0W8008 Electronic cam stop DB000002 0006 STORE a 0019 Source 00000 Dest OW8088 HHHH Slave axis phase generation calculation disabled Electro
58. BR BR BY WY WY WY WT WY WT W WY WI N N N ofj Slona any AT Bl SPP NYT RK Sojlo lo nana ans mT AJ wp Nyy oy wo rom Digital input 18 Digital input 20 nN Digital input 22 Common 4 N Digital input 24 Digital input 26 Digital input 28 DI 29 Digital input 29 DI 31 Digital input 31 DO 17 Digital output 17 DO 19 Digital output 19 Digital input 30 Digital output 16 Digital output 18 24 V power supply 3 DO 21 Digital output 21 DO 23 Digital output 23 Digital output 20 Digital output 22 DO 29 Digital output 29 DO 31 Digital output 31 Common ground 4 Digital output 24 Digital output 26 Common ground 3 N 24 V power supply 4 Digital output 28 Digital output 30 me Ea EF EA Ea Ea EA N N 5 42 2 I O Circuit Details a Interrupts 5 2 Module Connections The interrupt outputs from the LIO 04 to the MP2200 MP2300 CPU are DI 00 DI 01 DI 16 and DI 17 DINT These are input to the MP2200 MP2300 CPU Unit as optional interrupts b Input Circuits The following table shows the LIO 04 Module input circuit specifications Item Inputs Input Mode Isolation Method Input Voltage nput Current ON Voltage Current OFF Voltage Current ON Time OFF Time Number of Points per Common Other Functions For details on the number of simultaneously ON points refer to 4 9 3 Hardware Specifications 8 points DL COMO DI 00 to DI 07 DI COMI DI 08 to DI 15
59. Flow 8 3 8 1 3 Indicator Errors 2 2 ore oer eee 8 3 8 2 System Errors 2 2 2 errr rrr rer rere cree ecs 8 5 8 2 1 Overview of System Errors 8 5 8 2 2 Processing Flow When a System Error Occurs 8 6 8 2 3 Processing Flow for a User Program Error 8 7 8 2 4 System Register Configuration 8 8 Appendices A List of System Registers 0 0 ccc cr recs ee creer rere rere enn A 2 A 1 System Service Registers ere e A 2 A 2 Scan Execution Status and Calendar A 5 A 3 Program Software Numbers and Remaining Program Memory Capacity A 5 INDEX Revision History XV 1 TE Outline of MP2200 This chapter provides an overview and describes the features of the MP2200 Machine Control ler 1 1 Features 2c ener nr tr te ree ener necro ee 1 2 1 2 Module Appearance 1 3 1 2 1 Basic Unit 2 2 reer errr ere errr reer eee 1 3 W 2 2 Modules 25 5 s05 5 sea NE seca Soe cso sie ee acess ene 1 4 1 1 1 2 1 Outline of MP2200 1 1 Features The MP2200 is a high performance multi axi
60. Inspection pat Refer to 3 Ladder Program User Oper Not lit Not lit Operation error ation Error Status in 8 2 4 System Regis ter Configuration Refer to 5 System I O Error Status in Not lit Not lit ats a 8 24 System Register Configuration 8 2 System Errors 8 2 System Errors This section explains system error details and remedies 8 2 1 Overview of System Errors Indicators on the front panel of the CPU Module indicate the operating and error status of the MP2200 Use the system S registers to get for more details on errors Carefully check system register details to figure out the fail ure location and implement corrections The following sections describes the system register in more detail 1 System Register Allocation The following illustration shows the configuration of the system registers swo0000 swo000 swo00s0 swo00e0 swo0090 Swo0110 swo0190 swo0200 swo0s00 swo06s8 swo08o0 Swo1312 swo204s swo3200 swos200 SW05264 to swogi91 Reserved by the system 2 Viewing System Registers Use the Quick Reference function or the Register List function from the MPE720 8 5 8 Troubleshooting 8 2 2 Processing Flow When a System Error Occurs 8 2 2 Processing Flow When a System Error Occurs The following illustration shows the processing flow when a system error occurs START Use indicator status to determine error details Battery alarm BAT indicator l
61. No Modification A SW00114 SW00130 SW00146 Sw00178 i SOOT SSW O0IED SOO Es SCO ait ee aS Register SW00115 SW00131 Swo00147 Sw00179 Child drawing No 1 rawin SW00116 SW00132 SW00148 SW00180 l oS Error F Register Functions 0100H SW00117 SW00133 SW00149 SW00181 Modification F SW00118 SW00134 SW00150 SW00182 Register SW00119 SW00135 SW00151 SW00183 punction Calling DWG Number Address Generating SW00120 SW00136 SW00152 SW00184 Number of the drawing that calls the Error SW00121 SW00137 SW00153 SW00185 function in which an error occurred Error DWG Number SW00122 SW00138 SW00154 SW00186 Function Calling SW00123 Sw00139 sw00155 SW00187 l l DWG Number Function Calling DWG Step Number Function Calling Step number of the drawing that calls SW00124 SW00140 SW00156 SW00188 DWG Step Number swo0124 swoordo swoorse swooiss the function in which an error occurred patel by the swo00125 swoo0141 swoo1s7 sw00189 0 when there is an error in the drawing 8 12 8 2 System Errors Table 8 3 Ladder Program User Operation Error Status 3 ib Error Contents User System Default Code 0001H Integer operation underflow 32768 32768 0002H Integer operation overflow 32767 32767 0003H Integer operation division error Yes The A register remains the same 0009H Double length integer operation 2147483648 2147483648 underflow 000AH
62. No input The A register remains x060H to Index error the same pas x06DH PI x06DH PD x06FH PID x070H LAG l XOTIH LLAG x072H FGN x073H IFGN x074H LAU x075H SLAU x076H FGN x077H IFGN 4 System Service Execution Status Number Reserved by the system Reserved by the system Reserved by the system Reserved by the system SW00094 to Reserved by the system SW00097 Existence Of Data Trace Bit 0 to 3 Group 1 to 4 W00098 Definition Definition exists 1 No definition 0 Data Trace Execution Status SW00099 Beto Group 1 04 Trace stopped 1 Trace executing 0 Table 8 5 Latest Data Trace Record Number Name Register Remarks Number Data Trace Group Sworo n Q 5 oe 2 O L D Q E J zZ T D aa Integer Operation Integer Data Trace Group 2 SWOOTOI Data Trace Group 3 Sworo Data Trace Group 4 SWOOTOS 8 14 8 2 System Errors 5 System I O Error Status Name Register Remarks Number Current Alarm SW00190 Cleared when power is turned ON Number of Alarm History Records SW00191 The number of alarms in the alarm history Clear Alarm SW00192 1 Clear alarms 2 Clear current alarm and alarm history 1 0 Error Count SW00200 Number of I O errors Input Error Count SWwo00201 Number of input errors Latest input error address SW00202 PEP Ces swoon OW0O0000 register number Output Error Count SW00203 Output Error Count Latest output error address SW0
63. ON gt OF Axis stops rotating Input OFF after executing stepping F Axis starts rotating in reverse for the moving amount set under Axis Axis 1 Reverse Current value OFF gt ON 8 8 St Step Moving Amount ep Current value ON gt OF Axis stops rotating Input OFF after executing stepping Axis 2 Forward Current value OFF gt ON Axis 2 starts rotating forward for the moving amount set under Axis 2 Step Step Moving Amount Current value ON gt OFF Axis 2 stops rotating Input OFF after executing stepping Axis 2 starts rotating in reverse for the moving amount set under Axis 2 Step Moving Amount Current value ON gt OFF Axis 2 stops rotating Input OFF after executing stepping AXIS 1 Step Moving Enter any value Sets the Step moving amount for axis 1 Amount Xis pip Mowing Enter any value Sets the Step moving amount for axis 2 Amount INFO m Actual Application Programs 4 Programs must be created in actual applications to monitor and control registers that correspond to the signals and data listed above Axis 2 Reverse Current value OFF ON Step 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 3 39 3 System Startup 3 2 3 Program Details 3 2 3 Program Details 1 H Drawing The H parent drawing controls the overall sampl
64. Outline of Functions The EXIOIF Module is an expansion rack interface for the MP2200 This Module can be used to configure an MP2200 system with up to four racks 4 15 2 LED Indicators and Switch Settings 1 External Appearance The following figure shows the external appearance of the EXIOIF Module External input connector External output connector 4 15 3 Hardware Specifications 1 Module Specifications The following table shows the hardware specifications of the EXIOIF Module ere Bus COM HR A EC68LFDT SL HONDA Expansion Bus IEEE 488 GPIB Equivalent to SN75160 TI Interface The CPU Module automatically recognizes rack 1 from the expansion cable connection Rack No recogni tion When nothing is connected to the IN connector a one rack configuration is used Racks 2 to 4 are in the order that racks are connected to rack 1 MP2200 Optional Module Module Type The EXIOIF Module is recognized as an Optional Module It can be mounted in any slot 2595 TxD 4 77 4 Module Specifications 4 16 1 Basic Unit 4 16 External Appearance 4 16 1 Basic Unit The following figure shows the external appearance of the Basic Unit Unit mm M4 mounting screws 4 121 130
65. Starting the Communication Process Again The communication process must be started again when settings have been made or changed a Select File Exit to close the Communication Process Window Communication Manager File Tool Control Modem Window H 2 OK to Close c Double click the Communication Manager Icon in the YE_Applications Folder to reopen the Com munication Process Window uy ou f oF MPE720 Total Engineeri YE_Applications Select an item to view its description See also My Documents Double click My Network Places My Computer 3 16 3 1 Outline 4 Creating Group Folders Create a group folder in the File Manager Window using the procedure below Example Folder name MP2200 Create a group folder using the procedure below 1 Right click the root directory and select New Group folder Fe fit See Tol Hep FE ee a Se ee aD Fa rara tones Cocker Preller Dekin CHUD 2 Enter the group folder name in the Make New Folder Window and click the OK button The group folder name must be 8 characters or less x Coreg Has prm Lom em 3 The new group folder MP2200 will be created Double click the root directory or click the button to display the MP2200 Group Folder hin ai laj Be fit See Tol Hee ie ea Sj AF 3 17 3 System Startup 3 1 6 Starting the MPE720 5 Creating an Order Folder Create an order fo
66. The following program sets the sum of 100 registers from MW00100 to MW00199 in MW00200 using subscript j L 00000 MW00200 FOR j 00000 to 00099 by 00001 L MW00200 MW00100j MW00200 FEND Programming Example Using a Subscript 6 5 Self configuration 6 5 Self configuration 6 5 1 Overview of Self configuration Self configuration eliminates the need to make settings for Module definitions making it possible to perform startup work easily and quickly for the MP2200 system Optional Modules are recognized and definition files are generated automatically Input registers and output registers are automatically allocated to I O Allocation is performed in ascending order from the Module with the lowest option slot number In networks such as MECHATROLINK and DeviceNet information about the station configuration is collected and definition files are generated automatically Self configuration can be executed by either turning the power ON with the CNFG and INIT switches ON or it can be executed from the MPE720 The procedure for executing self configuration using the CNFG and INIT switches is given below The allocated I O register numbers will change when self configuration is executed e Executing Self configuration for the Whole Configuration CNFG switch ON INIT switch ON Self configuration will be executed for all Modules All definition files will be created or recreated The contents of ladder drawings functio
67. Values e Interrupt Type 2 LIO 01 LIO 02 and LIO 04 DI Interrupts LIO 01 and LIO 02 interrupt inputs 1 Interrupt input 0 No interrupt input LIO 04 interrupt input 1 1 Interrupt input 0 No interrupt input LIO 04 interrupt input 2 1 Interrupt input 0 No interrupt input LIO 04 interrupt input 3 1 Interrupt input 0 No interrupt input LIO 04 interrupt input 4 1 Interrupt input 0 No interrupt input 13 to 15 Reserved by the system Interrupt Type 3 LIO 01 and LIO 02 Counter Interrupts Reserved by the system Counter Agreement Status 1 Counter agreement 0 No counter agreement 5 to 15 Reserved by the system 8 23 8 Troubleshooting 8 2 4 System Register Configuration 8 Module Information CPU Information Se seine ania sed is Sas ea PEPEE TEE 8 24 8 2 System Errors cont d ee eer 8 25 Appendices A List of System Registers A 2 A 1 System Service Registers A 2 A 2 Scan Execution Status and Calendar A 5 A 3 Program Software Numbers and Remaining Program Memory Capacity A 5 A 1 A 2 Appendices A 1 System Service Registers A List of System Registers A 1 System Service Registers 1 Registers Common to All Drawings Name Register Remarks Number Reserved by the system
68. Wiring 5 2 4 LIO Module Connections g Output Circuit The following table shows the LIO 02 Module output circuit specifications em Outputs Output Format isolation Method Output Votage Output Current 100 mA max Leakage Current ON Time OFF Time ON 1 ms max OFF 1 ms max Number of Commons 16 points Fuse Protection Circuit The fuse is not however for circuit protection It is for protecting against fire at out put shorts Attach a fuse externally to each output if circuit protection is required Error Detection Fuse blown detection DO 00 DO 00 is shared with counter position detection 33 kQ 777 DO 24v DO 33 kQ i I KA oO y i Vv TRS vo Other Functions 470Q Output register 24 Digital Output Circuit Source Mode Output 5 34 5 2 Module Connections h Pulse Input Circuit The following table shows the LIO 02 Module pulse input circuit specifications Item Specifications Number of Points 1 Phase A B Z input Phase A B 5 V differential input not isolated max frequency 4 MHz Input Circuit p Phase Z 5 V 12 V photocoupler input max frequency 500 kHz Input Mode Phase A B signed incremental decremental Pulse latch on phase Z or DI 01 Response time 5 us max for phase Z input 60 us max for DI 01 input Latch Input Other Functions Coincidence det
69. Xe ten bei ow T aloe Tye MIIE et Tacas of prog we Mie here 2 The Execute Window will be displayed Click the OK button A 3j mass PTE TUR CRUE een Char ETG MERE Charl Teei Gage i T ogre E arae aim Dew agm F een j 3 An Execute Status Window will be displayed Wait until the transfer has been completed enir e saxe PETUNT HE ERFONNT Teie Haa PrE Arini DOES 4 A message will appear when the transfer has been completed Click the OK button 3 33 3 System Startup 3 1 6 Starting the MPE720 5 The All Dump Window will be displayed Select File Exit r LA S MPzoDo Pinn tts s ot r Bes sa Da F Pog raris pier l Ripia Fi r 13 CPU RUN Settings The procedure for starting the CPU which was set to STOP during the flash save process is explained below 1 Right click the 2200SMPL Controller Folder and select CPU Control FUR or FOP CPUDONAnE 2 The Controller Running Status Window will be displayed Click the RUN button C Ai a F 3 34 3 1 Outline 3 A confirmation message will be displayed Click the Yes button Check that the RUN LED indicator on the CPU Module is lit CEE aL fact Ss 4 The Controller Running Status Window will be displayed again Click the Close button Controller running stakues 14 Logging Off 3 Log off when you have finished with the MPE720 using the procedure below
70. a fowore fore o o C 2000000000 Upper Limit REG No 32767 DW00010 B80000 Oo Beoooo 1L8016 i 1L8096 Ea DW00010 eo MB300000 Oo MB300001 DW00010 DB000010 DB000011 DB000010 DB000011 DB000012 DB000013 DB000012 32767 4 E S dS e mzs noaoae 8 oeoo T ooo ON OFF OF OFF 00 OFF OFF OFF OFF OFF OFF OFF OFF DB000013 H02 02 DL00010 H02 01 DL00010 H02 02 0214783648 2147483647 2147483647 0214783648 3 38 3 2 Sample Program 1 Manual Operation 2 Confirming Operation Use the following procedure to confirm operation Turn ON the Servo 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 Tuning Panel Operation Operation Outline Current value OFF gt ON The Servomotor will turn ON and the Servo will be clamped Servo ON PB Current value ON gt OF Servo turned OFF Current value OFF gt ON Axis rotates forward Axis 1 Forward Jog fais T Reverse Curent value OFF gt ON 3 Jog F F F i Current value OFF gt ON Axis 2 rotates forward Axis 2 Forward Jog F F F pais 2 Reverse Curent value OFF ON Jog Curent value ON OF Axis 1 starts rotating forward for the moving amount set under Axis 1 a 1 Forward Current value OFF ON Step Moving Amount ep F Current value
71. counter mem PO Normal 1 O error Output fuse burnout CNTR error information PG burnout is reflected in the input registers 8 21 8 Troubleshooting 8 2 4 System Register Configuration e LIO 04 Module Error Status Example Rack 1 Slot 1 F 8 7 O Bit No SW00224 Status Subslot function No SW00225 Not used SW00226 Not used SW00227 Not used SW00228 Not used SW00229 Not used SW00230 Not used Sw00231 Not used Table 8 11 Error Status Details Item Remarks Subslot No 1 LIO DI 32 points DO 32 points sink mode Status sas 2 T O error Output fuse burnout 8 22 8 2 System Errors 7 Interrupt Status a Interrupt Status Reiser Number Interrupt Detection Counter SW00698 Fe Ci Module Generating Interrupt SW00699 Number of Interrupt Modules for one time SW00700 SW00701 Interrupt Module 1 SW00702 SW00703 SW00704 Interrupt Module 2 Interrupt Module SW00705 SW00787 SW00788 Interrupt Module 30 SW00789 b Interrupt Module Details Bt No SWOOXXK o mms SWOOXXX 1 SWOOXXX 2 1 Rack mm 01 to 04 The rack number where the Module that was the interrupt factor is mounted 2 Slot ss 01 to 09 The slot number where the Module that was the interrupt factor is mounted 3 Interrupt Type 1 Reserved by the system 2 LIO 01 LIO 02 LIO 04 DI interrupts 3 LIO 01 LIO 02 counter interrupts 4 Hardware Interrupt Factor Register
72. eee peace iv z position control simple absolute infinite length position control Software Limits 1 each in forward and reverse directions Home Return Types Latch Function Phase C latch external signal input latch Self configuration Function Automatic allocation by Module is supported 4 41 4 Module Specifications 4 7 1 Outline of Functions 4 7 LIO 01 Module 4 7 1 Outline of Functions The LIO 01 Module provides digital I O and pulse counter functions There are 16 digital inputs DI and 16 dig ital outputs DO sink mode outputs for the digital I O function There is also 1 pulse input PI channel for the pulse counter function I O is refreshed on a fixed cycle for the digital I O and pulse counter functions occurring every MP2200 high speed and low speed scan The following diagram gives an outline of the LIO 01 Module functions ales Interrupt input 16 points DI 00 Input Input port nal processing isolated DI DI 01 y Latch 5 V 12 V 5 g i Z input Fa Pulse input input pu je 2 m processing 5 V differential S g AIB input 1 S fe a Coinci dence in terrupt DO 00 16 points Output port Output isolated DI gt processing Sia gt 4 7 2 LED Indicators and Switch Settings 1 External Appearance The following figure shows the external ap
73. error gt Check by Error Drawing lt When ERR Indicator Lit 4 Check by Type of Error Program Check the contents of SW00055 Program Type to determine if the error occurred in a drawing or in a function 4 Check the contents of SW00054 Error Task and SW00056 Drawing No to find the error drawing 4 The error occurred in a function if SW00056 Drawing No reads 0100H Check the contents of SW00057 Error Task and SW00058 Drawing Check by Error Function No to find the error drawing Check SW00059 Function Referencing Drawing Step No for the STEP number where an operation error occurred 4 4 T Check Whether an Operation Error Oc Check the error count of all drawings at SW00080 to SW00088 Operation curred errors are occurring if the count is going up 1 Check the Details and Location of Op eration Errors If an operation error occurs the 000 HOO LOO i00 and A00 drawings will ex ecute These drawings can also be used to correct or confirm operation When ALM Indicator Lit Check the DWG Number Check Error Details Check error codes for drawings where the error count is going up DWGA SW00111 DWG H Sw00143 DWGI SW00127 DWG L SW00175 Check the error DWG number for the DWG number where an error occurred DWGA SW00122 DWGH SW00154 DWGI SW00138 DWGL SW00186 Check the Function Referencing DWG
74. feline Local Baig Diab Desta Diabe moe A Lontioker Rack 1 Rack 2 Fisck 3 Fack a art Parr TAT 6 5 Self configuration 2 MECHATROLINK Transmission Definitions MECHATROLINK transmission definitions and slave information is collected in the order shown below when self configuration is executed The communication method is determined when the slave is detected after which communication method switching and slave detection are not performed If no Slave stations are detected communication are connected in MECHATROLINK I mode Connected device found Searches for connected devices using MECHATROLINK II 32 byte mode No connected devices Connected device found Searches for connected devices using MECHATROLINK II 17 byte mode No connected devices No connected devices Searches for connected devices using MECHATROLINK I Connected device found e Sets station information e Sets fixed parameters e Sets setting parameters Self configuration completed Note 1 Detects slaves using each format communication in the following order SERVOPACK I O inverter 2 Stations with a communication error or no response due to a duplicated station number or discon nected cable are recognized as having no connected devices 6 31 6 Basic System Operation 6 5 2 SVB 01 Modules a Common Setting Items Setting Contents Default Value
75. for SERVOPACKs that have not been used before 1 Turn ON SERVOPACK Turn ON the control power supply and main power supply for the SERVOPACK DA 2 Initialize parameter settings Return the parameter settings to the standard default settings using Fn005 Z 3 Disconnect SERVOPACK power Turn OFF the control and main power supplies AA 4 Turn ON SERVOPACK Turn ON the control power supply and main power supply for the SERVOPACK The method for initializing the parameter settings step 2 above from the SERVOPACK Digital Operator is shown below 2 Initializing Parameter Settings Fn005 Initialize the parameters to return them to the default settings Note The settings cannot be initialized if writing is prohibited using Fn010 or if the Servo ON signal is ON a Operation Procedure Operation Keys Display Example FUNCT ION BB Start Retur Parameter Init DATA n SET BB Parameter Init Start Retur DATA n SET 3 Turning ON the Power Supply Again Parameter settings will be initialized but some of the parameters need the power to be cycled to enable the set tings Always turn OFF the power and then turn it ON again 3 1 Outline MODEISET Press the C Key to display the Utility Function Mode main menu Press the Keys to select Fn005 Press the Key The display is switched to the F
76. in any of the following optional search locations that you specify To start the search click Next If you are searching on a floppy disk or CD ROM drive insert the floppy disk or CD before clicking Next Optional search locations Floppy disk drives D ROM drives Specify a location I Microsoft Windows Update lt Back Cancel If the driver is found the search results will appear 4 25 4 Module Specifications 4 4 5 USB Interface 6 Click the Next button Driver Files Search Results So The wizard has finished searching for driver files for your hardware device Cy The wizard found a driver for the following device oy USB Driver for CpUSB Windows found a driver for this device To install the driver Windows found click Next E e driver usb win2000_xp cpusb2k inf ra lt Back Cancel The installation will start 7 After the driver has been successfully installed click the Finish button Found New Hardware Wizard Completing the Found New Hardware Wizard USB Driver for CpUSB Windows has finished installing the software for this device To close this wizard click Finish KO 5 Removing the Cable from the USB Connector When removing the cable from the USB connector on the personal computer the USB hub or the CPU 02 Mod ule or when turning OFF the MP2200 power supply connected to a USB perform the following operations to safely undo the connections 1 In the task tr
77. months to one year Inspections must also be performed when the equipment is relocated or modified or when the wiring is changed O PROHIBITED Do not replace the built in fuse If the customer replaces the built in fuse the MP2200 may malfunction or break down Contact your Yaskawa representative inspection Nem Inspection Deals Ambient 3 Check the tempera 005C Ambient humidity ture and humidity f 30 to 95 If the MP2200 is used inside a bee bias panel treat the temperature inside Saar a the panel as the ambient tempera i h respectively There must be no corro ture tmosphere Check for corrosive give gases gases MBU 01 Measure the voltage Power Unit between 100 200 85 to 276 VAC supply VAC terminals Change the power supply as nec voltage MBU 02 Measure the voltage essary check nit between 24 VDC 19 2 to 28 8 VDC terminals Loose excessive Attempt to move the The Module must be Retighten screws play Module secured properly Dust and other The Module must be free j Visually check from dust and other for Clean foreign matter eign matter Check for termi Check by retighten The screws must not be nal screw loose Retighten ing the screws loose ness There must be an appropri Gap between f P i Visually check ate gap between the termi Correct crimp terminals nals Check for connec The screws must not be Retighten the connector set Visually check tor looseness l
78. open networks 4 In the above example a 218IF 01 Module is used The MPE720 is connected to Ethernet and a Human Machine Interface HMI is connected to RS 232C 2 3 2 System Configuration 2 1 2 System Configuration Precautions 2 Maximum Four Rack Configuration Slot 0 always CPU Module Slot 8 Optional Modules 24 VDC a000 g j i External I O Modules wae pal it External I O External I O Communication Modules Motion Modules SERVOPACK Distributed I O Modules External output External input A distributed I O function is provided by the SVB 01 Modules through MECHATROLINK communication 2 1 2 System Configuration Precautions The following precautions must be followed when designing a system using the MP2200 e Use the connecting cables and connectors recommended by Yaskawa Yaskawa has a range of cables Always check the device to be used and select the correct cable for the device Different SERVOPACKs are connected to MECHATROLINK I and MECHATROLINK II Refer to the list and select the appropriate SERVOPACKs The user must supply the 24 VDC powe
79. pow P avi o fowm e7 pon 0 ouma pons o omus 88 bon 0 fom pon o omun e pono o fomo mo Doo o omus f e boo 0 oum ES EA EA Fen E in A1 A2 A3 A4 A5 A6 A7 A8 A9 A om en boo 0 oume Riz omms B12 booa O oum NE B13 D002 0 oum na Foust B14 D000 O Oud ATS B15 Ate B76 At C Tt iors oe Lips Mia oor 1 mar B18 LoS 1 Pre o A A27 B21 a ooo i Ppa 3 DLCOMo P imurcommon0 B23 DICONT P Inpatcommont Fe Framezromd 824 FG Framesromd Note P Power input I Input signal O Open collector output Ee ie A5 pes EAr CA ZAS Aor EA EAE AIS exa EATE ees AT EAR EZE oO ale A A 2 2 A2 2 2 E 5 26 5 2 Module Connections f Input Circuit The following table shows the LIO 01 Module input circuit specifications SpecTicatons nputs Input Format Isolation Method Input Voltage Input Current ON Voltage Current OFF Voltage Current ON Time OFF Time Number of Commons e DI 00 interrupt input DI 00 is shared with interrupts If DI 00 is turned ON while interrupts are enabled the interrupt processing drawing is executed e DI 01 pulse latch input DI 01 is shared with pulse latch inputs If DI 01 is turned ON while pulse latch inputs are enabled the pulse counter will be latched Other Functions
80. program information 58w SW03208 SW03322 SW03209 Work 2 program information 58W MPO224 Bit 15 to MPO209 Bit 0 SW03246 Work 16 program information 58W ecm ines saw x Swo3210 Work 11 program number SW03380 i OD Work 3 program information 58W 9 SWw03212 Wore Te program number SW03438 a aa Work 13 program number Work 4 program information 58W SW03214 Work 14 program number SW03496 SW03215 Work 15 program number Work 5 program information 58W KA SW032165 Work 16 program number SW03554 Work 6 program information 58W E SW03612 Executing Program Bits Work 7 program information 58W SW03232 MPO0016 Bit 15 to MPO001 Bit 0 SW03670 Work 8 program information 58W W03233 MPQOQ032 Bit15 to MPO017 Bit 0 SW03728 s SW03234 MP048 Bit 15 to MPOO033 Bit 0 Work 9 program information 58W one SW03235 MPO054 Bit 15 to MPD049 Bit 0 SW03786 SW03236 MP 080 Bit 15 to MPL1055 Bit 0 Work 10 program information 58W k SW03237 MPO096 Bit 15 to MPO081 Bit 0 SW03844 i 7 Work 11 program information 58W SW03238 MP0112 Bit 15 to MPOO097 Bit 0 SW03902 W03239 MPO1128 Bit 15 to MPO113 Bit 0 Work 12 program information 58W SW03240 MPO144 Bit 15 to MPO129 Bit 0 SW03960 SW03241 Work 13 program information 58W D MPEM SO BIS I MPENAS BIt0 SW03242 MPO1176 Bit 15 to MPO1161 Bit 0 Sw04018 Work 14 program information 58W SW03243 MPQO1192 Bit 15 to
81. register number designation 6 26 symbol designation 6 26 registers 6 20 address 6 20 bit 6 20 double length integer 6 20 integer 6 20 range 6 25 real number 6 20 regular inspections 7 3 RS 232C communication specifications 4 66 4 72 4 76 RS 422 485 communication specifications 4 69 S sample programs individual loading 3 26 loading 3 23 manual operation 3 36 phase control with an electronic cam 3 57 phase control with an electronic shaft 3 52 positioning control 3 47 scan times 6 48 setting and changing 6 48 screw mounting 5 2 self configuration 6 6 6 29 217IF 01 Module 6 44 218IF 01 Module 6 43 260IF 01 Module
82. s SERVOPACK Parameter Window Management Single transmission communication cycle transmission cycle asynchronous com munication Communication Method Transmission communication error detection hardware provided Synchronous communication error detection not provided Automatic recovery function provided Inverter Control Ve Reaisters Input output using motion registers synchronized on high speed scan g CP 216 communication Input Output using I O registers Command Mode Motion Command Mode MECHATROLINK Transparent Command Mode Speed control only V F vector control and other control methods use inverter set Control Type tings Motion Commands Inverter I O control etc Speed Unit The speed unit depends on the inverter settings Inverter Farameter Parameters can be managed in the MPE720 s Inverter Parameter Window Management Single transmission communication cycle transmission cycle asynchronous com munication Communication Method Transmission communication error detection hardware provided I O Control Synchronous communication error detection not provided Automatic recovery function provided I O Registers Input output using I O registers and synchronized on the high speed scan or low speed scan selectable Self configuration Function Module and slave devices can be automatically allocated Synchronization between Modules Synchronization supported enabled when power is cycled when high speed sc
83. shop speciale Serene ery nr gt me es HPC CF64V Hagiwara Sys Com Co Ltd HPC CF128V V Series HPC SD126T HPC CDAO1 a Flash type SD memory card Hagiwara Sys Com Co Ltd c Functions The following table shows the specifications of the functions for the Compact Flash interface SpecTicatons CARD Enables or disables use of media Operation LOAD Executes batch load if set to ON when power supply Switch S PESTO is turned ON SAVE Executes a batch save when turned from OFF to ON Compact Flash e Executes and controls operation in accordance with settings o Batch Load CPU Flash memory d ls operation i d ith settings of SW2 Batch Save CPU SDRAM e The data to be transferred is User application register Compact Flash 4 4 CPU 02 Module d Compact Flash Related System Registers The following table shows the specifications of the system register related to the Compact Flash interface Spectications Register Number Whole capacity of 7 SB006540 0 Compact Flash card not 1 Compact Flash card mounted mounted SB006541 0 Power not supplied 1 Power being supplied 0 Compact Flash card not 1 Compact Flash card being SB0UOS32 identified identified Card Status SW00654 0 No Compact Flash card 1 Compact Flash card being SB006543 access accessed SB006544 0 1 FAT file system being checked SB006545 to Reserved for system SB00654F 0001H FAT12 FAT Type SW00655 0002H FAT1
84. the System Work Number speci fied in the fourth word of the MSEE registers For example if the System Work Number is 1 motion program execution information can be monitored in SW03264 to SW03321 Work 1 Program Information b Bit D in the Motion Program Control Signals System Work Number Setting OFF The system work number that is used is automatically decided by the system For this reason the work num ber that is being used can be confirmed by referring to the Executing Program Number in SW03200 to SW03215 For example if the motion program to be monitored is MPM001 and SW03202 is 001 then the work num ber being used is 3 and so the execution information of motion program MPMO001 can be monitored with Work 3 Program Information in SW03380 to SW03437 6 15 6 Basic System Operation 6 3 3 Motion Programs The registers for motion program execution information are shown below Executing Program Numbers Motion Program Execution Information 7 SW03200 Work 1 program number SW03200 i Executing program number number W03201 Work 2 program number of main program being executed S032202 Work 3 program number 16W SW03216 Reserved by the system 16w SW03203 Executing program bit executing SW03204 when corresponding bit ON SW03232 SW03205 16W SW03248 SW03206 Reserved by the system D SW03264 SW03207 Work 8 program number Work 9 program number Work 10 program number Work 1
85. to JIS B 3501 There must be no combustible or corrosive gas Operating 2 000 m above sea level or lower Conforms to JIS B 3502 Vibration amplitude acceleration Vibration 10 lt f lt 57Hz Single amplitude 0 075 mm Mechanical Resistance 57 lt lt 150Hz Acceleration 9 8 m s Operating X Y and Z directions Conditions 1 octave min sweep x 10 sweeps Conforms to JIS B 3502 Shock ate 2 x 5 R sistance Peak acceleration 147 m s Usage time 11 ms Twice each in X Y and Z directions EN 61000 6 2 Conforms to EN 55011 Group 1 Class A Electrical Power supply noise FT noise 2 Kv min for one minute Operating Noise Resistance a Radiation noise FT noise 1 Kv min for one minute Conditions Ground noise impulse noise 1 Kv min for 10 minutes Electrostatic noise contact discharge method 4 Kv min 10 times Installation Ground to 100 Q max Requirements Cooling Method Natural cooling 4 3 4 Module Specifications 4 1 2 Function List 4 1 2 Function List 1 PLC Functions and Specifications The following table shows the PLC functions and specifications Functions and Specifications Control Method Sequence High speed and low speed scans Programming Ladder diagram Relay circuits Language Text type language Numeric operations logic operations etc Two scan levels High speed scan and low speed scan High speed scan time 0 5 to 32 ms Integral multiple of MECHATROLINK communic
86. to restore the FAT If in a hurry forcibly remove the Compact Flash and run an error check on the personal computer to restore the data INIT Switch Setting and Transfer of Registers M S I and O The following table shows registers M S I and O to be transferred between the Compact Flash and the controller according to the status of the INIT switch for the SW1 switch Setting of INIT SW1 OFF ON At batch save M S I and O Registers At batch Toad Note 1 S I and O registers are not transferred in a batch load so the INIT setting is ignored 2 Registers other than M S I and O registers are transferred either in a batch save or a batch load ignoring the INIT setting 4 4 CPU 02 Module 3 Batch Save to Compact Flash By using the DIP switches the batch save function of the CPU 02 Module can save all the user application data from the RAM to the specified folder and file MP_BKUP BACKUP of the Compact Flash without going through the MPE720 CPU 02 Module Compact Flash SDRAM Flash memory MP_BKUP BACKUP folder User k User User application application application Note 1 If data in the Compact Flash has already been saved in a batch or another form written in from the MPE720 it will be cleared when a new batch is saved 2 A batch load is not possible if a motion register is used for trace definition or if the relevant motio
87. 0 o o LE oe j ik aji Terminator J eo LJ 5 2 Module Connections 5 2 3 SVA 01 Module Connections This section explains the connections for the SVA 01 Module 1 System Connection Example MP2200 2 analog outputs axis 2 analog inputs axis 1 pulse input axis SGDH 04EA SGDH 04EA Ieee A ar rd or aeee oe o o e e i _ i hal BH Te K Te U0 o LS oo We Two SERVOPACKs 2 Connector and Cable Specifications a Servo Interface Connectors CN1 and CN2 5 These connectors connect the SVA 01 Module to two SERVOPACKs S They are connected using the following standard cable e JEPMC W2040 O00 For SGDH SGDM and SGDS SERVOPACKs mn 2 Note The customer must provide cables for the SGDA and SGDB SERVOPACKs 5 17 5 Mounting and Wiring 5 2 3 SVA 01 Module Connections b 24 V Input Connector CN3 This connector connect the SVA 01 Module to 24 VDC as a Servo I O power supply A screw terminal connector is used BL3 5 2F AU manufactured by Weidmuller nf LOT e AVDE Loy c Servo Connector Specifications The following table shows the connector specifications Connector Model Cable Model Nu
88. 00060 Dest DL00062 Master axis increment calculation Electronic cam phase 0018 ADDX oe SourceA DL00064 SourceB DLO0066 Dest DLO0066 Cycle detection 001 9 EXPRESSION a 0042 NL 1 DB000008 DLO0066 gt ML30202 DB000009 DL00066 lt 0 3 61 3 System Startup 3 5 3 Program Details P00123 H06 02 Main Program Phase Control 2 Electronic Cam Processing Forward detection DB000008 Electronic cam phase 0020 SUBX eel Source A DLO0066 Source B ML30202 Dest DLOO066 Reverse detection DB000009 Electronic cam phase 0021 ADDX z eel Source A DL00066 Source B ML30202 Dest DL00066 Electronic cam phase Electronic cam phase 0022 STORE a 0047 Source DL00066 Dest DL00068 Slave axis cam displacement generation ON COIL 38000004 0023 FGN z Net Input DL00068 Parameter MA31000 Output DL00070 Cam operation reference MB300008 Axis 2 phase compensation 0024 STORE E Net Source DL00070 Dest OL80A8 Cam operation reference MB300008 Axis 2 phase compensation 0025 STORE E ppee Source DL0000000000 Dest OL80A8 HHHH Slave axis reference speed generation HHHHHHHE Increment for one scan by slave axis 0026 SUBX a 0094 Source DL00070 SourceB DL00072 Dest DL00074 Stave axis cam displacement previous 0027 STORE a 0059 Source DLO0070 Dest DLO0072 Cam operation reference MB300008 Cam speed calculation and settings 0028 EXPRESSION E ooa DL00076 DL00074 10000 SN0
89. 004 DL00078 DLO0076 60 1000 08090 DLO0078 10000 10600 0029 END 0058 NL 1 3 62 2 L Drawing The L parent drawing is in the low speed scan and controls the overall sample program P00125 L Main Program Low speed Main Program 0000 0000 NL 1 0001 NL 1 3 5 Sample Program 4 Phase Control with an Electronic Cam HHHH Low speed main program HHHHHHE HHHH Electronic cam table data generation HHHHHHHHT 3 LO6 Drawing P00126 L06 Main Program Electronic Cam Table Data Generation 0000 0000 NL 1 0001 0002 NL 1 0002 The L06 child drawing generates cam pattern data for phase control electronic cam operation HHHHHHHHH Electronic cam table data generation HHHHHHH HHHHHHHHH Cam table generation head data HHHHHHHHHE Cam operation reference MB300008 Cam table head data EXPRESS ON a DLO0010 ML30200 DL00012 ML30202 ML30210 DL00010 ML30212 DL00012 MW31000 361 MW31001 0 DF00030 0 FHA Cam table generation later data HHHHHHHHH Cam displacement calculation FOR a Variable Init 00000 Max 00360 Step 00001 STORE a Source Dest DF00030 Displacement calculation workpiece COS a Source DF00030 Dest DF00032 Cam displacement calculation and table settings EXPRESS ON a J bd ML31002j DF00030 DL00012 360 DF00034 DLO0010 2 1 DF00032 ML31004j DF00034 END_FOR 3 63 4 Module Specifications This chapte
90. 0204 Number of Output Errors woos OWODOOLO register number SW00205 Reserved by the system SW00206 Not used SW00207 SW00208 to Sinha Swo00215 ot 0 error status SW00216 t ene Reserved by the system SW00224 to sii SW00231 ot 1 error status SW00232 to ER ms o error status I O Error Status Sw00239 SW00240 to Sinks SW00247 ot 3 error status SW00248 t Swo0025 k Reserved by system Slot 4 error status SW00456 to i SW00463 Reserved by system Slot 30 error status 8 15 8 Troubleshooting 8 2 4 System Register Configuration 6 Actions to be Taken when a Transmission Error Occurs When a transmission error occurs during system I O the error status is reported in the system register as shown below a System I O Error Status Register Number Not used SW00208 to SW00215 Not used because the CPU 01 Module does not have a built in I O Module or Communication Module Reserved by the system SWOURTO To SWOO2D3 Rack 1 Slot 1 Information SW00224 to Sw00231 ee on the Module mountedandthe Rack 4 Slot 9 Information Same as above 8 16 8 2 System Errors b I O Error Status Applicable Modules Classification Abbreviation Applicable CPU Module CPU 01 is No lt i No external I O interface Y Y Y Y Y Y Refer to the monitor parameters for error Motion Modules information 2171F 01 No No es No Communication Modules es es es es No 261IF 01 LIO 01
91. 08 DO_06 DO_04 DO_02 DO_00 DI_14 DI_12 DI_10 DI_08 Co NX B10 B11 B12 B13 1 W A W ius oa O o W _ N W Ww akj oa DI_04 DI_02 E N oO w W N N N _COM1 es se N T Note P Power input I Input signal O Open collector output 5 2 Module Connections f Input Circuit The following table shows the LIO 02 Module input circuit specifications SpecTicatons Inputs Input Format Isolation Method Input Voltage Input Current ON Voltage Current OFF Voltage Current ON Time OFF Time Number of Commons e DI 00 interrupt input DI 00 is shared with interrupts If DI 00 is turned ON while interrupts are enabled the interrupt processing drawing is executed e DI 01 pulse latch input DI 01 is shared with pulse latch inputs If DI 01 is turned ON while pulse latch inputs are enabled the pulse counter will be latched Other Functions e Vcc 24 V 22kQ R DICOM gt ra gt b RL Input register om 1kQ come Uae GS pase ese 680 Q R 0 01 uF AVC So DI IN 56k 2 0 5 W y 2200RF R 4 t Pa SES Org Vv Digital Input Circuit Sink Mode Input Vcc 24 V 22 kQ DICOM 77T i R Input register i 1kQ A 2200PF DIIN 024 Digital Input Circuit Source Mode Input 5 33 5 Mounting and
92. 10114 3000 VE aS connector manufactured by 10314 52A0 008 Shell manufactured by 3M n MSTB2 5 5 GF Module side connector manufactured by 260IF 01 DeviceNet Cable 5 08AM Phoenix Contact 17LE 13090 Module side connector manufactured by 261IF 01 PROFIBUS PROFIBUS Cable 27 D33C Daiichi Denshi Kogyo EXIOIF ae ae EXIOIF Cable JEPMC W2091 00 Between EXIOIF and EXIOIF Commercially available USB cables cannot be used Always use Yaskawa cables 2 4 2 Accessories DIN Ral Mouning Cips menco SSCS Battery JZSP BAO1 ER3VC Special Connector BA000517 721 863 001 034 MBU 01 Unit Cable side manufactured by WAGO black Power Supply Connector 721 863 001 000 MBU 02 Unit Cable side manufactured by WAGO white 2 7 2 8 2 System Configuration 2 5 1 Software for Programming Devices 2 5 Software 2 5 1 Software for Programming Devices MPE720 CPMC MPE720 Ver 5 10 or later CD ROM 1 disk Older versions cannot be used Always use Ver 5 10 or later 3 System Startup This chapter describes the startup procedure for the MP2200 system and provides sample pro grams for typical operation and control 3 1 Outline 3 2 3 1 1 System Startup Flowchart 3 2 3 1 2 System Configuration 3 3 3 1 3 Device Preparation
93. 167 MHz 96 MHz Ratio 2 0 1 3 1 0 Operation Performance 1 0 to 1 1 Ratio No of C Motion functions Motion functions cision dined o of Con otion function trolled Axes MOV function 6 axes ms MOV function 4 axes ms MOV 12 axes 2 ms 18 axes 2 ms 12 axes 2 ms Max No of control 4 port M II 0 5 ms 9 port M II 1 ms axesds the value for Por MEI Tis 16 port M IT 2 ms the SVB Module Max No Con 15 port M II 1 5 ms 15 port M II 1 5 ms trol Axes 16 port M II 2 ms 15 port M II 17 bytes 1 15 port M II 17 bytes 1 ms ms 14 port M I 14 port M I Max No of Con o E 14 port M I Control Performance Operations Performance 1 0 to 32 ms High speed 0 4 to 300 ms Integral multiple of 0 5 to 32 0 0 5 t Scan o 32 0 ms in 0 5 ms units TE CHATROLINK commu 0 1 ms units nication cycle 2 0 to 300 ms Low speed 2 0 to 300 0 ms in 0 5 ms Integral multiple of 1 0 to 300 ms Scan units MECHATROLINK commu 0 1 ms units nication cycle TRON uITRON CFOS wandaionsy 32 MB 16 MB used 32 MB SDRAM RAM Size Sek See x n SDRAM 2 4 MB ackup 512 Kb SRAM backup Flash Memory 12 MB 4 MB firmware 8 MB 8 MB 2 4 MB Size user area Shared Memo ry Computer None None None Interface Average 50 bytes Average 50 bytes step step 5 yt Average capacity CP Language Source 30 bytes Same as MP2200 used when each lan Obiect 306 Source 30 bytes guage
94. 2 6 5 7 218IF 01 Modules 6 43 6 5 8 217IF 01 Modules 6 44 6 5 9 260IF 01 Modules 6 46 6 5 10 261IF 01 Modules 6 47 6 6 Setting and Changing User defined Files or Data 6 48 6 6 1 Saving User defined Files or Data 6 48 6 6 2 Setting and Changing the Scan Times 6 48 6 6 3 Setting and Changing the Module Configuration Definition 6 49 xiv 7 Maintenance and Inspection 7 1 Inspection Items cc creer errr eee cecee 7 2 7 1 1 Daily Inspections 2 eee eee eee ee eee ee ee 7 2 7 1 2 Regular Inspections 7 3 7 2 MBU 01 MBU 02 Unit Batteries 7 4 7 2 1 Battery Life 2 2 2 eee ee ee eee eee eee eee 7 4 7 2 2 Replacing the Battery 7 4 8 Troubleshooting 8 1 Overview of Troubleshooting 8 2 8 1 1 Troubleshooting Methods 8 2 8 1 2 Basic Troubleshooting
95. 2 2 SVB 01 Module Connections 5 11 5 2 3 SVA 01 Module Connections 5 17 5 2 4 LIO Module Connections 5 25 5 2 5 LIO 04 Module Connections 5 37 5 2 6 218IF 01 Module Connections 5 47 5 2 7 217 F 01 Module Connections 5 51 5 2 8 260IF 01 Module Connections 5 55 5 2 9 261IF 01 Module Connections 5 58 5 2 10 EXIOIF Module Connections 5 61 5 1 5 Mounting and Wiring 5 1 1 Mounting the MP2200 5 2 5 1 Handling the MP2200 5 1 1 Mounting the MP2200 There are two methods for mounting the MP2200 e Screw mounting e Using DIN rail 1 Screw Mounting Mount the MP2200 using the following method Place the MP2200 against the mounting base and tighten the four mounting screws N er STR It mP2200 maui Power Q 2 3 8 3 3 E 5 jes fo Optional Module cy eee i cree b A 7 Mounting screws M4 Phillips head screws Use a screwdriver with a 10 cm or longer shaft Note Mount the MP2200 vertically on a wall as shown in the above diagram 2 Using DIN Rail a Before Mou
96. 24V register f gt DO_OUT vo J Ny i i Vv 33 KQ 1 1 DO_COM lt a 33 KQ Seth coll Vv 024 Digital Output Circuit Sink Mode Output 5 28 5 2 Module Connections h Pulse Input Circuit The following table shows the LIO 01 Module pulse input circuit specifications Item Specifications Number of Points 1 Phase A B Z input Phase A B 5 V differential input not isolated max frequency 4 MHz nputiCircuit Phase Z 5 V 12 V photocoupler input max frequency 500 kHz Input Mode Phase A B signed incremental decremental Pulse latch on phase Z or DI 01 Response time 5 us max for phase Z input 60 us max for DI 01 input Latch Input Other Functions Coincidence detection counter preset and counter clear Tp e ee sa Pulse generator 5 V A1 J PA Phase A xf 220 Q B1 PAL A2 PB vai Phase B lt 5 220 Q B2 PBL A4 GND 5V 4 330 Q a3 PC a oO lt Latch input or C Ley FT i B3 J PCL5 phase Z pulse x Teso Q B4 J PCL12 Pulse Input Circuit 5 29 5 Mounting and Wiring 5 2 4 LIO Module Connections i Module Connections The following diagram shows a connection example for LIO 01 Module connectors Pulse generator ony 5V Phase A vov lt f 220 at B1 a Pulse input Phase B PB lt b 220 al a a Z xK
97. 3 perform 2 axis positioning and interpolation MPMO0072 has timer commands in between each travel command to provide clear delimits for each operation MPMO003 is MPMO002 without the timer commands so that the travel commands are executed continuously YESAMPLE PRG MPM002 MP text MPM oe 2 Data seting ETTEI VEL P1000 1000 Tree speed for pasthoning command Fd TSO 000000 Compie speed upar lint tor intensolation Command LAC T300 Acceleration time for interpolation Dc TiN Detolershon hime for nhenpolsion PLM HIE Plane setting tor croular interpolation WO lncraamental mode TIM TID Ett ew pepagi operon Titta j 10 O WHILE Deti s Mber af repeals 57 Mew MLSDEIO MMLSHIZ Pestionig command TIM TIDO MS MLSE TD LDI T FALDI i lrex Gvlerpolation TM Tid AES Abeoluhe made Mc MD MO 0 Ae Lad cur Interpolation TIM THD aD D 1 wENTE it th rapeat uario and EEEE FAD 3 51 3 System Startup 3 4 1 Description 3 4 Sample Program 3 Phase Control with an Electronic Shaft 3 4 1 Description 1 Machine Outline The same operation for the No 1 and No 2 rolls connected to the line shaft is performed using a Servomotor Phase synchronization however has not been used Previous New method method Controller c Line shaft drive motor i i Line shaft i l x MP2200 i Gear i Daven i Clutch 1 Differe
98. 4 Input Voltage 85 to 276 VAC 24 VDC 20 Input Current 1 5 A max at rated I O 3 0 A max at rated I O 10 A max when completely discharged 10 A max when completely discharged Inrush Qurrent 200 VAC input rated output rated output Rated Vorage e Current 2 SEY 0A Rated Curent _ Current 0 0 to 8 0 A Range Coordination ror e E SSCS Constant Voltage 2 max including input voltage fluctuation and output load fluctuation Accuracy Power 4 3 CPU 01 Module 4 3 CPU 01 Module 4 3 1 Outline of Functions The CPU 01 Module is the MP2200 Control Module that controls the Motion Communication I O and other Optional Modules 4 3 2 LED Indicators and Switch Settings 1 External Appearance The following figure shows the external appearance of the CPU 01 Module LED indicators DIP switch 2 Indicators The LED indicators that display the operating status and error details for the Base Unit are detailed in the follow ing table Name RDY Q RUN ALM C O ERR Lights blinks for warning O BAT Lights blinks for errors Battery alarm activated Note Refer to 2 Indicator Details in 8 1 3 Indicator Errors for details on the meaning of indicators 4 7 4 8 4 Module Specifications 4 3 2 LED Indicators and Switch Settings 3 Switch Settings The DIP switch sets the operating conditions for the CPU 01 Module when the power is turned ON STOP SUP INI
99. 472 tem SW00047 abi a A e tem o em i al Se tem em i r B Poo O tem SB000476 to Reserved by the sys SB00047F tem SB000480 TEST eee SB000482 CNFG l SB000483 DIP switch status 0 ON 1 OFF Hard odid araware Status SW00048 SB000485 STOP Configuration SB000486 C P SB000488 to Reserved by the sys SB00048E tem tem Reserved by SW000490 to Reserved by the sys SW00049 Reserved by the system 8 9 8 10 8 Troubleshooting 8 2 4 System Register Configuration 2 System Error Status The following table lists data when a system error occurs Register a SW00050 For system error analysis Generating Error Ladder Program Error 0003H DWG H W00054 Task 3 0005H DWG L 32 bit Error Code 0005H DWG L Ladder Program Type SW00055 0008H Function Ladder program parent drawing FFFFH Ladder program function 8000H Ladder Program Error Ladder program child drawing OO00H HOD Child drawing No SW00056 Drawing No Ladder program grandchild drawing OOyyH Hyy Grandchild drawing No Type of drawing that calls the ladder program function in which an error occurred Ladder Program Function Calling DWG SW00057 Saat w 0008H Ladder program function Type 0010H Reserved by the system 0003H DWG H 0005H DWGL 0011H Reserved by the system Number of drawing that calls the ladder program function in which an error occurred Parent Drawings FFFFH Funct
100. 6 0003H FAT32 STG Load file model mismatched Batch Load Save SW00658 program write protectiot SBOOSSEA SB00658C to Reserved for system SB00658F Reserved for sysiem SWO CCS 4 19 4 Module Specifications 4 4 4 Compact Flash Interface 4 20 2 Precautions when Using Compact Flash Pay attention to the following points when using the Compact Flash e Removing and Reattaching the Compact Flash Before removing or inserting the Compact Flash turn the switches SW2 to SW4 CARD to OFF and con firm that the CARD and PWON LED indicator lamps are unlit If the Compact Flash is removed or inserted while these LED indicator lamps are lit the data stored in the Compact Flash may be damaged Formatting the Compact Flash Format the Compact Flash in Windows 2000 or Windows XP The CPU 02 Module cannot be used to format the Compact Flash Note The Compact Flash purchased from YASKAWA has already been formatted FAT Check and Restoration of Compact Flash If the Compact Flash is removed or if the power supply is turned OFF while accessing with the CARD LED indicator lamp lit the FAT in the Compact Flash may be damaged The CPU 02 Module checks the FAT when SW2 4 CARD is turned ON and attempts to restore the data if the FAT is damaged During data restoration the CARD LED indicator lamp will flicker ON and OFF because the Compact Flash is accessed automatically This is not a failure It may take 10 minutes or more
101. A Signal Description Name Name ber Ea WEES RX Reception data Reception data RX Receptiondata Reception data ate Transmission data ter minator e 7 T ee ee oe nator Note A terminator has been included as shown in the following diagram If you need to add a terminator connect RXR to RX and TXR to TX Leave RXR and TXR open if not adding a terminator Terminator IMPORTANT e Always keep the communication cable separate from the drive control power supply and other transmis sion systems The maximum length of RS 422 485 cable is 300 m Keep all cables as short as possible The 217IF 01 Module RS 422 485 interface is not an isolated system Noise from connected terminals may cause malfunctions If malfunctions occur use a shielded cable modem or other measure to reduce noise e For RS 422 connections add a terminator to the reception terminal if required For RS 485 connections add a terminator to the nodes at both ends of the transmission line 5 52 5 2 Module Connections 6 Module Connection Examples a PORT Connector Connections Refer to a PORT Connector Connections under 6 Module Connection Examples in 5 2 6 218IF 01 Mod ule Connections for information on PORT connector connections b RS 422 485 Connections e RS 422 Wiring 217IF 01 MP2200 Optional Module Optional Module
102. Association e PROFIBUS is a trademark of the PROFIBUS User Organization Ethernet is a registered trademark of the Xerox Corporation e Microsoft Windows Windows NT and Internet Explorer are registered trademarks of the Microsoft Corporation e Pentium is a registered trademark of the Intel Corporation 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 E Related Manuals Refer to the following related manuals as required Thoroughly check the specifications restrictions and other conditions of the product before attempting to use it Machine Controller MP2200 MP2300 Motion Describes functions specifications and how to use Module SIEPC88070016 the MP2200 MP2300 Motion Modules SVB 01 SVA User s Manual 01 SVR Machine Controller MP2300 Communication Describes the functions specifications and Module SIEPC88070004 application methods of the MP2200 Communication User s Manual Modules 2171F 218IF 260IF 2611F Machine Controller MP900 Series ee the Sad daa ee fth i specifications and application methods of the Users Manual EZ ORS MECHATORLINK Modules for MP900 Machine MECHATROLINK System Controllers Machine Controller MP900 Series f User s Manual SIEZ C887 1 2 aia e used in MP900 MP2000 Ladder Programming prog 9 Machine Controller MPOO jee ee Siez cas7 1 3
103. BAT if 7 O 21 BAT Hood FG e FG Hood ABS encoder battery 3 6 V EXT DEC input TRE aan ABS encoder battery 0 V inpu P OT input Brake interlock output N OT input Brake interlock output 5 2 Module Connections i SERVOPACK Connection Cables for SGDM SGDH SGDS 0O000010 O00020 e Model JEPMC W2040 AS5 0 5 m JEPMC W2040 01 1 0 m JEPMC W 2040 03 3 0 m Appearance l P A1 AL2 GND NP SERVOPAK gt ar J o OTF BAT OTR 4 BATO NS EXT 4 BRK ZERO 4 BRK e Cable Specifications 2 Senon SVR end 0336 20008 T fmon S o 1 Sumitomo 3a HP SB 20276SR Cabl Tai l hiel heat shrinking tube F2 Z pum Eleetig Or equivalent 9 Industries Ltd SIENAS OTF Brown OTR Orange EXT Black ZERO BAT Blue Wires UL1061 AWG28 BATO Purple BRK Gray BRK White AL _ 1 White AI 2 Red GND Black Marking tubes 2 mm dia white ee color ee Socket DF11 4DS 2C EA Electric Co Ltd 5 23 5 24 5 Mounting and Wiring 5 2 3 SVA 01 Module Connections e Cable Connections Diagram WZSP CA01 SGDM SGDH SGDS
104. Bit relay ON OFF Integer 32768 to 32767 Data Type Double length integer 2147483648 to 2147483647 Real number 1 175E 38 to 3 402E 38 Register number Direct designation of register number Register Designation Method Symbol designation Up to 8 alphanumeric characters 200 symbols drawing max Automatic number assignment and automatic symbols Program control instructions 14 instructions Direct I O instructions 2 instructions Relay circuit instructions 14 instructions including set and reset coils Logic operation instructions 3 instructions Numeric operation instructions 16 instructions Numeric conversion instructions 9 instructions Instructions ae Numeric comparison instructions 7 instructions Data manipulation instructions 14 instructions Basic function instructions 10 instructions Table data manipulation instructions 11 instructions DDC instructions 13 instructions System functions 9 instructions 4 2 Base Unit 4 2 Base Unit 4 2 1 Outline of Functions The Base Unit combines the power supply mounting base board and frame in one unit Both AC input and DC input power supply Base Units are available The Base Unit has a 9 slot Optional Slot configuration which allows any Optional Modules to be used to create the perfect system for the machinery 4 2 2 LED Indicators 1 External Appearance The following figure shows the external appearance of the Base U
105. DO 10 Digital output 10 24V 2 24 V power supply 2 DO 12 Digital output 12 DO 14 Digital output 14 NI N NI N NIN gt gt oj A N 090 o oO 5 40 e CN2 Pin Arrangement 26 mm m mm ee a a D 27 m m m m a a a a 4 1 ore ee as 2 2 eae eee ee Arrangement from Connection Side 1 COM 3 26 E 2 DI 16 27 DI 17 3 DI 18 28 DI 19 4 DI 20 29 DI 21 5 DI 22 30 DI 23 6 COM 4 31 7 DEJA 32 DI 25 8 DI 26 33 DI 27 9 aioe 34 Dl 29 10 DI 30 35 DI 31 11 36 12 DO 16 37 DO 17 13 DI 18 38 DO 19 14 39 ov 3 15 24V 3 40 z 16 DO 20 41 DO 21 17 ace 42 DO 23 18 43 ov 3 19 DO 24 44 DO 25 20 DO 26 45 DO 27 21 Z 46 OV 4 22 24V 4 47 23 DO 28 48 DO 29 24 DO 30 49 DO 31 25 50 OV 4 5 2 Module Connections 5 41 5 Mounting and Wiring 5 2 5 LIO 04 Module Connections The following figure shows the pin names and assignments for connector CN2 Digital input 17 DI 17 F also used as interrupt input DI 19 Digital input 19 DI 21 Digital input 21 DI 23 Digital input 23 DI 25 Digital input 25 DI 27 Digital input 27 No Signal Name Details COM 3 Common 3 Digital input 16 also used as interrupt input J T an a iS N oo afl A BR BR BR RY BR RP BR
106. Double length integer operation 2147483647 2147483647 overflow 000BH poe ee integet opetanon The A register remains the same division error 0100H Op ee cee drawing No Default indicated above integer operation error O to B Real number storage overflow 0023H Real number operation division by Y Operation not executed The F zero error Integer Operation register remains the same Operation not executed 0030H Real number operation invalid opera 5 tion non numeric 0031H Real number operation exponent underflow 0032H Real number operation exponent over flow 0033H Real number operation division error Operation not executed non numeric 0 0 No Standard System Functions Interrupt operation and output Real number operation errors 0 0 0040H SQRT 0041H SIN 0042H COS 0043H TAN es es N No No No No Real Number Operation osese osser sid SSS 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 8 13 8 Troubleshooting 8 2 4 System Register Configuration Table 8 4 Ladder Program User Operation Error Status 4 Error Code Error Contents System Default 1000H Index error within drawing No Execute again with ij 0 2000H Index error within function Execute again with ij 0 Integer system functions 9p erakon SIOPp d and oup na
107. END ____ DEND n p DWG A02 SEPAD lt System starts Soot automatically DWG A00 Operation _ gt error Z NN q DEND DEND ____ DEND Note 1 A parent drawing is automatically called by the system The user can execute any child or grand child drawing by programming an instruction that calls the drawing the SEE instruction in a par ent or child drawing 2 Functions can be called from any drawing A function can also be called from a function 3 If an operation error occurs the operation error drawing corresponding to the drawing will be called 6 3 User Program 6 3 3 Motion Programs A motion program is a textual program that utilizes motion language A maximum of 256 motion programs can be created separate from the ladder programs Two types of motion program are provided Classification Designation Type Number of Programs MPMOIOI to 256 Can be called from DWGH A total of up to 256 main pro rams and subprograms can be Subprograms MPSOOED 1 to 256 Can be called from the main program ka Be IMPORTANT Each MPMOO0 and MPSOUO program number must be unique With the MP2200 up to 16 motion programs can be executed at the same time If 17 or more motion programs are executed an alarm no system work error will occur e No system work error Bit E in the first word of the MSEE work registers There are two methods of designating a motion program Direct designation of the pr
108. EON Sy OFF Normal operation Always leave turned OFF Node Address 10s Digit Setting ez Sets the node address Rotary decimal switch Setting Node Address tange 1 o i to 64 1s Digit Setting ca Sets the node address Rotary decimal switch 4 Offline Self diagnostic Test The following table shows the LED indicator display if a malfunction is detected by the 261IF 01 Module during an offline self diagnostic test Offline diagnostic tests are executed if the TEST switch is set to ON the INIT switch is set to OFF and the power is turned ON LED Indicators Item Details STRX1 Flash Checksum A flash memory checksum error has been Blinking Error detected once Blinki SRAM Error A SRAM hardware error has been detected twice Not lit Not lit Blinki DPRAM Error A DPRAM hardware error has been detected ae 3 times RS 232C Error An RS 232C loopback error has been Blinking detected 5 times Blinking 6 times Blinking 15 times Depends on sta tus A PROFIBUS station number error has been Station Number Error detected Watchdog Error A watchdog timeout error has been detected Indicates the number of blinking 4 14 261IF 01 Module 4 14 3 Hardware Specifications 1 Module Specifications The following table shows the hardware specifications of the 261IF 01 Module Specifications TAPMC CMI2330 ae RS 232C 1 port PORT Communication Ports PROFIBUS 1 port PROFIBUS Module status
109. ERVOPACK Connection Cables for SGDB O0 e Model No standard cable is available e Cable Connections Diagram SVA 01 SGDB ye oe eo oe oN SG 1 0 t i O 2 SG AO_O NREF 2 0 i l O 5 V REF PA 3 i L r O 33 PA l l 1 gt e i PCL 6 o i l O 20 PC Gy n T n T TT o SG 4 i j i l e SG Speed monitor Al_0 vTG 8 T i i O 17 VTG M utpat AO_1 TREF 9 O i t t O 9 T REF OV For 24 V 10 i O 32 ALM OV For 24 V 11 O l i l i I l I Control DO_2 Pcon 12 0 O 41 P CON mode switch DO 4 13 O i l l O 45 P CL User set DO 3 14 i r l O 46 N CL User set DI_3 P oT 15 O o l l l i O 42 P OT 24V 16 O i O 47 24V IN DI_O SvALM 17 O 7 i O 31 ALM DI_2 ZERO HOME LS 18 O l i f i SG 19 O i r O 10 SG SEN 5v 20 r i r 4 SEN Al_1 TMoN 21 O i O 16 TRQ M Torque monitor 22 0 i i output PB 23 O 35 PB PBL 24 0 l O 36 PB SG 25 O l i i O 28 TGON BRK Al GND 26 AR i i o 27 TGON BRK AO GND 27 O 1 SG OV For 24 V 28 l t O 30 S RDY OV For 24 V 29 0 l i i DO_1 ALMRST 300 O 44 JALM RST DO 0 svon 31 O l O 40 S ON DO_5 SEN for vs866 32 O f i f DI_4 N oT 33 i l i 43 N OT 24V 34 0 i i DI_1 SRDY 35 L O 29 S RDY DI_5 EXT DEC 36 a O 22
110. For details refer to 8 Setting the Local Station when Connecting Several CPU 02 Modules via USB in 4 4 5 USB Interface 8 Setting the Local Station when Connecting Several CPU 02 Modules via USB To connect several CPU 02 Modules to the personal computer via the USB hub perform the following connec tions and settings Incorrect settings may overlap local addresses resulting in an error 1 Execute self configuration in advance before the USB connection of a CPU 02 Module that is being used for the first time Note For the self configuration execution procedure refer to 4 Executing MP2200 Self configuration in 3 1 5 Initializing the System 2 If some CPU 02 Modules are already connected remove all the CPU 02 cables from the USB hub Note Refer to 5 Removing the Cable from the USB Connector o remove the cable safely in 4 4 5 USB Interface 3 After turning ON the USB1 switch SW2 of the CPU 02 Modules where the local station is to be set use the USB cable to connect the CPU 02 Modules to the USB hub 4 Refer to 7 Creating a PLC Folder for USB Connection in 4 4 5 USB Interface to create a new PLC folder for the CPU 02 Modules However specify any address other than the local addresses that have been already used for other CPU 02 Modules 5 Go online and log on the created PLC and double click the Module Configuration Icon in the Definition Folder to bring up the Module Configuration definition Window 4 31 4 Modul
111. H SGDH SGDB N NS100 NS115 Ree Cn 0020 Pn80B Note 1 The default is written if the axis is not set 2 If the axis is set the parameters are written only when bit 10 of fixed parameter 1 User Constants Self Writing Function is enabled 3 The positioning completed width is written only for MECHATROLINK II 32 byte mode 4 The above parameters are written to the SERVOPACK RAM OLOO1E Positioning Completed Width OLOO36 Linear Acceleration Time OLOO38 Linear Deceleration Time bb 6 37 6 Basic System Operation 6 5 2 SVB 01 Modules c SERVOPACK Parameters SERVOPACK parameters are set automatically as shown below However parameters are not written to the SERVOPACK parameter settings saved in the SVB 01 Module The MPE720 must be used to save SERVOPACK parameters to the SVB 01 Module Refer to 3 3 5 SVB Def initions in MP2200 MP2300 Machine Controller Motion Module User s Manual Manual No SIEPC88070016 for details SVB 01 Module SERVOPACK Parameters Set Value SERVOPACK SGD N SGDH SGDH SGDB N NS100 NS115 SSpS Cn 0001 Cn 0001 Bit 3 Pn50B 0 Cn 0014 Bit 2 Cn 0014 Bit 3 Cn 0024 Pn202 Pn20E Cn 0025 Pn203 Pn210 en en ee ee Note 1 The above processing is not performed if the axis is set 2 The above parameters are written to the SERVOPACK EEPROM Name P OT Signal Mapping ot valid N OT Signal Mapping ot valid Software Limit Function Positive in SERVOPACK Softw
112. IO 01 and LIO 02 Module Counter Functions 4 48 4 9 1 Outline of Functions 4 48 4 9 2 Counter Function Details 4 50 4 9 3 Electronic Gear Function 4 54 4 9 4 Counter Parameters 4 58 4 10 LIO 04 Module 4 61 4 10 1 Outline of Functions 4 61 4 10 2 LED Indicators and Switch Settings 4 61 4 10 3 Hardware Specifications 4 62 4 141 218IF O1T Modules teine pe ae n oee a oaaae ee ees 4 63 4 11 1 Outline of Functions 4 63 4 11 2 LED Indicators and Switch Settings 4 63 4 11 3 Hardware Specifications 4 65 4 12 217IF 01 Module 4 66 4 12 1 Outline of Functions 4 66 4 12 2 LED Indicators and Switch Settings 4 66 4 12 3 Hardware Specifications 4 68 4 13 260IF 01 Module 4 69 4 13 1 Outline of Functions 4 69 4 13 2 LED Indic
113. Indicators Check the gap between crimp ter minals Check whether the indicator is lit Check whether the indicator is lit Check whether the indicator is lit while the system is in RUN state Check that the indi cator is not lit Check that the indi cator is not lit Check whether the indicator lights dur ing communication Check that the indi cator is not lit There must be an appropriate gap between the termi nals The indicator must be lit It is abnormal if the indicator is not lit The indicator must be lit It is abnormal if the indicator is not lit The indicator must be lit It is abnormal if the indicator is not lit The indicator must be not lit It is abnormal if the indicator is lit The indicator must be not lit Itis abnormal if the indicator is lit The indicator must be lit It is abnormal if the indicator is not lit The indicator must be not lit The battery voltage is too low if the indicator is lit Check the connec The connectors must Retighten the connector set screws tors for looseness not be loose Correct See Chapter 8 Troubleshooting See Chapter 8 Troubleshooting See Chapter 8 Troubleshooting See Chapter 8 Troubleshooting See Chapter 8 Troubleshooting Replacing the Battery 7 1 Inspection Items 7 1 2 Regular Inspections This section explains inspection items that must be performed once or twice every six
114. L30102 DL12 ML30110 DL14 ML30112 DL16 ML30114 3000000 ON COIL B000004 MPM execution m MSEE zZ oos Program No DW00025 Data DA00020 MPM running MPM running DB000200 MB300020 0008 J 0017 NL 1 MPM alarm MPM alarm DB000208 MB300028 0009 o 0019 NL 1 0010 END 0021 NL 1 3 50 3 3 Sample Program 2 Positioning Control 2 Motion Program MPMO01 Motion program MPMO001 is a text format program that is started by the MSEE instruction motion program call instruction in the H04 drawing lt q EXAMPLE gt In this example the motion program MPMO001 performs a zero point return using the phase C pulse YESAMPLE PRG MPMO01 MP text Owals n E dogs mero pont rehi mathedl phan gr OWwHDBC 3 Y Ae Zero pant retin method ld pae VEL O00 i Travel spaad tor posthoning command ACC OOM 100 Aeoderalion lie pecia Deceleration time menig 100 E Aai mproach spesdimm mini OWED 4250 E fade oe soeedimmirens LAO 10000 K Anis final trowel deetance OL 00 ime WHEE 100 Y dats approach speadinnyimint Tetti Sy Asa creep geedimamin OLAIC2 10 Y Aae tinal travel dedas LOD mnt FRAO Tero pant rehim comanant EMU 3 3 Motion Programs MPMO002 and MPM003 Motion programs MPM002 and MPMO003 are text format programs that are started by the MSEE instruction motion program call instruction in the H04 drawing lt q EXAMPLE gt In this example motion programs MPM002 and MPM00
115. MOBUS message communication may be possible using the 4 automatic reception function when self configuration is executed 6 44 6 5 Self configuration 2 RS 232C Interface When self configuration is executed the following parameter settings will be made for the RS 232C interface of 217IF 01 Modules fem Communication Protocol MasterSiave Device Address Serial Interlace Communication Mode Data Length Party Sip Bis Baud Rate Transmission Delay Disable Leading Register No of Words Reading input relays TW0000 5120 Reading input registers TW0000 5120 Interface Register Settings at the Reading writing coils MwW00000 32768 Slave Reading writing holding registers MW00000 32768 Writing range for coil holding MW00000 registers LO MW00000 HI MW32767 INFON An engineering communication connection with the MPE720 is possible using self configuration Also depending on the 4 settings of connected devices MEMOBUS message communication may be possible using the automatic reception func tion 6 45 6 Basic System Operation 6 5 9 260IF 01 Modules 6 5 9 260IF 01 Modules 1 DeviceNet communication When self configuration is executed the following parameter settings will be made for the DeviceNet interface of 260IF 01 Modules Alocalions Master Slave Specification Depends on switch settings MAC ID Depends on switch settings Master 300 Communication Cycle Time papi ve Slave 0 ms I O Allocations Depend on swi
116. MPO177 Bit 0 Sw04076 SW03244 MPO208 Bit 15 to MPO193 Bit 0 Work 15 program information 58W swo3245 Ea O 1 progam inemaon sew MPO240 Bit 15 to MPO225 Bit 0 SW04192 SW03247 MPO256 Bit 15 to MPO241 Bit 0 Reserved by the system 928W SW05120 Reserved by the system 64W 6 16 6 3 User Program The configuration of Work n Program Information is shown below Work n Program Information Program status Program control signal Current positi Current positi Current positi Current positi Current positi Current positi Current positi Current positi Current positi Current positi Current positi Current positi Current positi Current positi Current positi Current positi Parallel 0 information Parallel 1 information Parallel 2 information Parallel 3 information Parallel 4 information Parallel 5 information Parallel 6 information Parallel 7 information or logical axis 1 program or logical axis 2 program or logical axis 3 program or logical axis 4 program or logical axis 5 program or logical axis 6 program or logical axis 7 program or logical axis 8 program or logical axis 9 program or logical axis 10 program or logical axis 11 program or logical axis 12 program or logical axis 13 program or logical axis 14 program or logical axis 15 program or logical axis 16 program 2W 2W 2W 2W 2W 2W 2W 2W 2W 2W 2W 2W 2W 2W 2W 2W Exec
117. MPORTANT 3 47 3 System Startup 3 3 2 Operation 3 3 2 Operation 1 Tuning Panel 1 Use the Tuning Panel Window for the H04 drawing to check operations just as described in 3 2 2 Opera tion Right click the H04 drawing in the High Scan Programs Folder and select Open Tuning Panel es eee ee 2 The Tuning Panel Window for the H04 drawing will be displayed memes eee a E RE AE D H PF RPE fEenee E fT Input position and current value The details on the Tuning Panel Window display are shown in the following table efinition Axis 1 current position E XXXXXXXXXX 0000000000 il 2147483648 2147483647 IL8016 Axis 2 current position XXXXXXXXXX 0000000000 2147483648 2147483647 IL8096 6 e PA ec on opefation ana setings I POG 1 00000 fi 00000 eer T DW00010 L e E C feo oes ewoo0s0 vos DL00014 H04 MB300020 MB300028 2nd target position Y axis s XXXXXXXXXX 0000060000 2147483648 2147483647 DL00016 H04 3 48 3 3 Sample Program 2 Positioning Control 2 Confirming Operation Use the following procedure to confirm operation Turn ON the Servo v Input motion program number setting v Enter target value for each axis v Positioning starts v Confirm motion program operation The process for confirming operation will be explained based on the above flowchart 1
118. Make sure the MPE720 System Software is installed in advance Refer to the Machine Controller MP900 MP2000 Series Programming Device Software MPE720 User s Manual Ref No SIEPC88070005 for informa tion on installing the MPE720 The startup procedure is shown in the following flow chart 1 Starting the MPE720 Start the MPE720 2 Communication settings Define communications with the MP2200 3 Creating group folders Create a group folder 4 Creating an order folder Create an order folder 5 Creating a controller folder Create a controller folder 6 Logging on online Log on online to the MP2200 7 Loading the sample programs Load the sample programs from the MPE720 system CD ROM 8 Transferring individual sample programs Transfer the sample programs individually 9 Setting individual parameters Set the individual parameters to match the sample program 10 Saving to flash memory Save the sample program to the MP2200 flash memory 11 All program file dump a Back up MP2200 data on the computer hard disk 3 11 3 System Startup 3 1 6 Starting the MPE720 2 Starting the MPE720 Start the MPE720 using the procedure below 1 Double click the MPE720 icon in the YE Applications Folder YE_Applications fe im ab BETHI Seok A E T E cai i Eyer deep Abe Tracts Double click 2 The File Manager Window will be displayed Se fi See Tol he Bo t RE N ae as 3 Communic
119. Module 4 70 connectors 5 55 error status 8 18 261IF 01 Module 4 74 connectors 5 58 error status 8 19 offline self diagnostic test 4 75 A A drawings 6 7 all program file dump 3 33 all program file transfer 3 23 B Base Unit 4 6 Basic Module appearance 1 3 4 79 indicator patterns 6 4 battery battery life 7 4 replacing 7 4 Cc child drawings 6 7 coincidence output and coincidence interrupt functions 4 53 communication settings 3 12 constant registers 6 23 controller folders creating 3 18 counter function axis type selection 4 58 command settings 4 60 counter monitor parameters 4 61 counter setting parameters
120. Number and Function Refer encing STEP Number if an error occurred in a function DWG A SW00123 4 DWGH SW00155 6 DWG I SW00139 40 DWGL SW00187 8 Correct the Program Correct the program at the point where the error occurred 8 7 8 Troubleshooting 8 2 4 System Register Configuration 8 2 4 System Register Configuration 1 System Status System status indicates the operating status and error details for the system System status details are used to determine whether hardware or software is the cause of an error Register ae Reserved by SW00030 to the system SW00039 SB000400 READY a 1 Normal SB000401 P 0 Stopped 1 Running SB000402 ALARM 0 Normal 1 Alarm SB000403 ERROR 0 0 Normal 1 Error o 1 Error SB000406 FLASH 1 Flash operation SB000407 0 Write disabled 1 Write enabled CPU Status SW00040 SB000408 eas by the sys SB00040B Reserved by the sys CPU Error Status SB00040C tem SB00040D SB00040E OPeration Stop 0 RUN 1 STOP Request SB00040F Run Switch Status at 0 STOP Power ON 1 RUN 1 WDGE undefined command SB000410 fail ad coll See SW00050 for more details SB000413 lt lt lt SB000414 SB000415 15 SB000415 Reserved by the sys SW00041 SB000416 16 tem 17 Error fad 1 0 error S SB00041C to nas by the sys SB00041F 8 8 8 2 System Errors cont d Register es a j B E tem SB000471 Reserved by the sys SB000
121. O0015 X Register number nnnnn is expressed as a decimal number Output from a function Bit output YB000000 to YBOOOOOF Function output aes YW00000 to Integer output Baiada to YW00016 registers YW YL YFnnnnn ywon016 Double length integer output Y L00001 to YL00015 Y Register number nnnnn is expressed as a decimal number Internal registers unique to each func tion Can be used in the function for internal processes Register number Registers nnnnn is expressed as a decimal num unique to ber each External registers that use the address function A Internal function ZW00000 to Z registers ZB ZW ZL ZFnnnnn ZW00063 input value as the base address External func AB AW AL AFnnnnn AW00000 to For linking with S M I O and tion registers AW32767 DAnnnnn registers Register number nnnnn is expressed as a decimal num ber Registers that can only be read by a function Can be used only by the corre registers B W L Fnnnnn W00000 to sponding function The actual range Annnnn W16383 used is specified by the user on the MPE720 Register number nnnnn is expressed as a decimal number Internal registers unique to each func tion Can be used only by the corre D registers DB DW DL DFnnnnn DW00000 to sponding function The actual range DAnnnnn DW16383 used is specified by the user on the MPE720 Register number nnnnn is expressed as a decimal number SB SW SL SFnnnnn S System regi
122. PROFIBUS Connector The PROFIBUS connector is used to connect to masters via a PROFIBUS connection Description e Pone 5 Ce po emais i a T A e IRDIRDX Transmission and recepion dia Eoee e e 5 59 5 60 5 Mounting and Wiring 5 2 9 261IF 01 Module Connections 6 Module Connection Examples a PORT Connector Connections Refer to a PORT Connector Connections under 6 Module Connection Examples in 5 2 6 218IF 01 Mod ule Connections for information on PORT connector connections b PROFIBUS Connections The 261IF 01 Module supports only slave mode The slave address can be set between and 64 PROFIBUS DP Master Class 1 Master 261I1F 01 PN A o0 Q 2 a 7 2 ae E 2o AID DO z fi OO J fei Tl sa e ww S do Timi a i RD 88 4 EE eg A A Le KED Ne MP2200 SERVOPACK Inverter Machine side I O signals 5 2 Module Connections 5 2 10 EXIOIF Module Connections 1 Connectors The following diagram shows EXIOIF Module connectors CN1 IN CN2 N IN OUT These connectors are use to expand the number of mounting bases to a maximum of four racks They are connected using the following
123. SB000000 High speed scan SB000001 ON for only the first scan after high speed scan is started SB000003 ON for only the first scan after low speed scan is started Always ON SB000004 Always ON 1 SB000005 to A List of System Registers 2 Registers Specific to High speed Scan Drawings These registers are set when high speed scan starts Name Register Remarks Number 1 scan Flicker Relay SB000010 0 5s _0 5s 0 5 s Flicker Relay SB000011 e a E gt lt gt 2 0 s Flicker Relay SB000013 0 5 s Sampling Relay 1 0 s Sampling Relay 2 0 s Sampling Relay 60 0 s Sampling Relay 1 0 s After Start of Scan Relay 2 0 s After Start of Scan Relay 5 0 s After Start of Scan Relay A 3 Appendices A 1 System Service Registers 3 Registers Specific to Low speed Scan Drawings These registers are set when low speed scan starts Name Register Remarks Number 1 scan Flicker Relay 0 5 s Flicker Relay 1 0 s Flicker Relay 2 0 s Flicker Relay 0 5 s Sampling Relay 1 0 s Sampling Relay 2 0 s Sampling Relay 60 0 s Sampling Relay 1 0 s After Start of Scan Relay 2 0 s After Start of Scan Relay 5 0 s After Start of Scan Relay A List of System Registers A 2 Scan Execution Status and Calendar Name Register Remarks Number High speed Scan Set Value SW00004 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 Valu
124. STHE een sm s STH F E D swoo226 SHR ee er STB swoo227 STHT eee o STR swoo228 sm ooe O o STB SW00229 Not used SW00230 Not used SW00231 Not used Table 8 8 Error Status Details Item Code Remarks 7 Subslot No 2 261IF Profibus slave Note 1 217IF RS 232C PO Noma Status 0 Communication noma CCS ST n 1 Communication error at n station When set to slave n is the local station number 8 19 8 Troubleshooting 8 2 4 System Register Configuration e LIO 01 Module Error Status Example Rack 1 Slot 1 F 8 7 O Bit No SW00224 Status Subslot function No SW00225 Not used SW00226 Not used SW00227 Not used SW00228 Not used SW00229 Not used SW00230 Not used Sw00231 Not used Table 8 9 Error Status Details 1 1 LIO DI 16 points DO 16 points sink mode Subslot No i Note 2 CNTR counter ae PO Norma T O error Output fuse burnout CNTR error information PG burnout is reflected in the input registers 8 20 8 2 System Errors e LIO 02 Module Error Status Example Rack 1 Slot 1 F 87 0 Bit No swo0224 Subslot unoton No SW00225 Not used SW00226 Not used SW00227 Not used SW00228 Not used SW00229 Not used SW00230 Not used Sw00231 Not used Table 8 10 Error Status Details 1 1 LIO DI 16 points DO 16 points source mode Subslot No p Note 2 CNTR
125. Settings 1 External Appearance The following figure shows the external appearance of the 260IF 01 Module LED indicators Switches Ti ER 7 m i ay Serial connector RS 232C LJ Q DeviceNet connector 2 Indicators The following table shows the status of 260IF 01 Module LED indicators Red ees oiue enor Module power supply disconnected MS NS O O Green blinking Po ee while connection is being NS two color LED Red Error Error Bus OFF duplicated MAC ID OFF duplicated MAC ID O strx i checking for duplicated MAC ID STRY mounted on PCB 4 69 4 Module Specifications 4 13 2 LED Indicators and Switch Settings 3 Switch Settings The following table shows the 260IF 01 Module switch settings DRO Baud rate setting DRI S Refer to setting details x1 Baud rate setti O INIT KOFER TEST J Master Slave Used in Master Mode OFF Mode FF Used in Slave Mode x10 ON Executes DeviceNet self diagnosis when the x2 Self diagnosis power supply is turned ON x1 DeviceNet Does not execute self diagnosis Normally always leave turned OFF Self configuration Startup ON Syst TEST TEST ON System use Normal operation Always leave turned OFF Node Address 10s Digit Setting R Sets the node address Rotary decimal switch x1 Node Address RA Sets th
126. Startup and Self configuration Startup ON Syst TEST TEST ON System use l OFF OFF Normal operation Always leave turned OFF 4 Offline Self diagnostic Test The following table shows the LED indicator display if a malfunction is detected by the 217IF 01 Module during an offline self diagnostic test Offline diagnostic tests are executed if the TEST switch is set to ON the INIT switch is set to OFF and the power is turned ON LED Indicators Item Details STRX1 Flash Checksum A flash memory checksum error has been Blinking Error detected once Not lit Blink SRAM Error A SRAM hardware error has been detected Depends on sta tus Blink Communication Error A communication error has been detected 4 times Blink RS 232C Error An RS 232C loopback error has been i ing detected 5 times Blink Watchdog Error A watchdog timeout error has been detected a ae 15 times Indicates the number of blinking Blinki DPRAM Error A DPRAM hardware error has been detected GB dimes Not lit 4 67 4 Module Specifications 4 12 3 Hardware Specifications 4 12 3 Hardware Specifications 1 Module Specifications The following table shows the hardware specifications of the 217IF 01 Module Communication Ports RS 422 485 1 port RS422 485 Module status Indicators LED indicators RUN green ERR red STRX green TRX green 485 Setting Switches INIT TES
127. T 25x95 xD 2 Communication Specifications a RS 232C communication Specifications The following table shows the RS 232C communication specifications em 9 6 14 4 19 2 28 8 38 4 48 0 57 6 or 76 8 kbps Media Access Control Ll Method j Data length 7 or 8 bits Stop bits 1 or 2 bits Parity Odd even or none Transmission Format Can be set Note The baud rate depends on the connected devices b RS 422 485 Communication Specifications The following table shows RS 422 485 communication specifications 9 6 14 4 19 2 28 8 38 4 48 0 57 6 or 76 8 kbps Communication Protocols MEMOBUS MELSEC non procedure Media Access Control 1 1 RS 422 Method 1 N RS 485 Data length 7 or 8 bits Stop bits 1 or 2 bits Parity Odd even or none Transmission Format Can be set 4 68 4 13 260IF 01 Module 4 13 260IF 01 Module 4 13 1 Outline of Functions The 260IF 01 Module has an RS 232C serial interface and a DeviceNet interface mounted in it Personal com puters HMI devices and controllers manufactured by other companies can be connected to the 260IF 01 Module via the PORT or DeviceNet connectors Communication modes include message communication and engineer ing communication and MEMOBUS MELSEC and non procedure protocols are supported Refer to the MP2300 Machine Controller Communication Module Users Manual Manual No SIEPC88070004 for details 4 13 2 LED Indicators and Switch
128. T CNFG MON TEST OFF ON Sw1 Pin Switch Default STOP CO E Normal operation ey Tj rrj O Z Z GE Tj izsl OJo Stops the user program execution Enabled only when the power is turned ON Always leave set to OFF Set to ON to clear the memory If this switch is set to OFF the program stored in flash memory will be executed OFF Set to ON to execute self configuration for connected devices Always leave set to OFF Always leave set to OFF 4 3 CPU 01 Module 4 3 3 Hardware Specifications The following table shows the hardware specifications of the CPU 01 Module 512 Kbytes M registers S registers trace memory alarm history SRAM battery backup Seconds to year timer battery backup Self diagnostic Mode factory test switch Watchdog timer Software SH4 internal WDT Hardware 0 to 510 ms register setting Reset Circuit Reset output for power failure detection signal POKH after NMI generation Protective Functions RDY green RUN green ALM red ERR red TX green BAT red Indicators Switches 4 9 4 10 4 Module Specifications 4 3 4 Functions and Specifications 4 3 4 Functions and Specifications The differences between the functions and specifications of the MP2200 MP920 and MP2300 are shown in the following table CPU CPU SH4 SH7750R SH4 SH7750 486DX4 Performance 240 MHz
129. TRIC 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 01 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 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 QF 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 MANUAL NO SIEP C880700 14B for ongoing product m
130. Total network length 50 m max Maximum number of slave stations 14 stations max Minimum distance between stations 0 3 m min 5 15 5 Mounting and Wiring 5 2 2 SVB 01 Module Connections c Terminator Connections Terminator model number JEPMC W6022 Pin No Name F NC 1 DATA 2 DATA 3 SH 4 Shield 130 Q d Connection Example between the SVB 01 SERVOPACKs and the 102310 Optional Module Optional Module Do Cie eel c lee Terminator QG I a Note 1 Use standard cables between Units 2 The total connection length L1 L2 L3 Lu must be no longer than 50 m IMPORTANT 5 16 The MP2200 has a built in terminator Insert a JEPMC W6022 Terminator into 1 in the above diagram D YASKAW o o A fe o o o a Ln e 000
131. Turn OFF the USB1 switch of the CPU 02 Module and then turn the power supply of the MP2200 OFF and back ON again The local address of the USB in the CPU 02 Module will be changed to the new address after restart of the power To add another CPU 02 Module repeat the above steps 1 to 9 4 32 4 5 SVB 01 Module 4 5 SVB 01 Module 4 5 1 Outline of Functions The SVB 01 Module is a Motion Module with a MECHATROLINK II compatible interface If the MECHATROLINK is used multiple axis control is possible with less wiring The SVB 01 Module s com patibility with MECHATROLINK II enables position control speed control torque control and phase control and makes precise synchronous control possible The control mode can also be changed while online facilitating complicated machine operations MP2200 CPU User application Ladder or MECHATROLINK SERVOPACK Position control h Speed SERVOPACK Torque Torque control references Phase control Phase references 4 5 2 LED Indicators and Switch Settings 1 External Appearance The following figure shows the external appearance of the SVB 01 Module LED indicators DIP switch YS Rotary switches xO station address settings gt i L fe eg MECHATROLINK connector c M II MECHATROLINK Ng lfr connector se 2 Indicators The following table shows the indicators that show the operating status of the SVB 01 Module and error infor
132. U 02 Module LED1 indicators SW 1 switch SW2 switch LED3 indicator Compact Flash slot LED2 indicators USB connector Note A dummy card is inserted in the Compact Flash slot to prevent dust from entering before shipment 4 13 4 Module Specifications 4 4 2 LED Indicators and Switch Settings 2 Indicators The following table shows the indicators that show the operating status of the CPU 02 Module and error infor mation Name RDY Green Unit operating normally es ROY Green Unit operating normaly RDY RUN O O Lights blinks for warning ALM ERR x OO Lights blinks for errors CARD O O BAT CARD Accessing of the Compact Flash BAT Red Battery alarm activated bebe TRX Green Communicating with USB TRX O STS Red sys QO Status of the CPU side displayed LED3 PWON PWON Green Supplying power to the Compact Flash On the side of the Compact Flash connector lever 1 Refer to 2 Indicator Details in 8 1 3 Indicator Errors on the meaning of indicators 2 Refer to 3 Details of LED Display LED2 for USBs in 4 4 5 USB Interface for details of the LED displays 3 Switch Settings a SW1 The SW1 is used to set the operating conditions for the CPU 02 Module when the power Rone m supply is turned ON INIT Before turning ON the power supply set this switch Any settings made
133. WG16 to AWG13 twisted pair cable Use the following connection procedure 1 Strip approximately 6 5 mm from the end of the wire o ma 6 5 mm 2 First insert an operation lever or flat blade screwdriver into the opening and press it down as shown by the arrows in the following diagrams to open the clamp in the plug Insert the wire into the opening and then close the opening by releasing the lever or removing the screwdriver Press down U fj pe Press down with a screwdriver I Operation lever or Insert wire to back of plug Insert wire to back of plug Note Method not using the operation lever INFO Always separate the primary and secondary wiring when using a noise filter 5 9 5 Mounting and Wiring 5 2 1 Connecting Power Supply 2 MBU 02 Unit Connections a Connectors Supply a 24 VDC to the MP2200 The following diagram shows MBU 02 Unit connectors 24 VDC 24VDC 24V 24 VDC input EG Frame ground Ground to 100 Q max b Connector Specifications Connector No of Connector Model Name f 7 Name Pins Module Side Cable Side Power Supply POWER 3 721 863 001 034 721 203 026 304 WAGO Connector c Connection Diagram MP2200 721 863 721 203 026 24 VDC o e 24 VDC aa AC input 7 power OV A supply ov POWER 7 FG FG Note Us
134. YASKAWA Machine Controller MP2200 USER S MANUAL a YASKAWA MANUAL NO SIEP C880700 14B Copyright 2004 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 Please read this manual to ensure correct usage of the MP2200 system Keep this manual in a safe place for future reference E Basic Terms Unless otherwise specified the following definitions are used e MP2200 Machine Controller MP2200 The Programming Device Software or a Programming Device i e a personal computer running the Pro pret gramming Device Software PC Programmable Logic Controller Manual Configuration Read the chapters of this manual as required by the purpose Selecti
135. a Scanning tion cycle Low speed scan time 2 to 300 ms Integral multiple of MECHATROLINK communica tion cycle Startup drawings DWG A 64 drawings max Up to three hierarchical drawing levels Interrupt drawings DWG I 64 drawings max Up to three hierarchical drawing levels User Drawings Func High speed scan process drawings 200 drawings max Up to three hierarchical draw tions and Motion Pro DWG H ing levels grams Low speed scan process drawings 500 drawings max Up to three hierarchical draw DWGL ing levels Number of steps 1000 steps drawing max User functions Up to 500 Motion programs Up to 256 Revision history of drawings and motion programs Security function for drawings and motion programs Common data M registers 64 Kwords System S registers 8 Kwords Drawing local D registers 16 Kwords drawing max Data Memory Drawing constant registers 16 Kwords drawing max Input I registers 32 Kwords including internal input registers Output O registers 32 Kwords including internal output registers Constant C registers 16 Kwords Data trace 128 Kwords 4 groups with 32 Kwords each Up to 16 points can be defined Program memory Flash memory 8 MBytes User area 5 5 MBytes definition files ladder Memory Backup programs motion programs etc Data other than battery backup data Data memory Battery backup 256 Kbytes M registers S registers alarm history trace data
136. after the power CNFG supply is turned ON are invalid MON O TEST SWI Pin Switch Default Nu rmbet Nanis Status Operating Mode Setting Details ser program stopped Stops the user program execution Enabled only STOP when the power is turned ON U System use SUP ae OF Aan eO aa Set to ON to clear the memory Also set to ON ON m Orr Nomat operation FON ore OF not to save the data in the compact flash If this Normal operation a gt F ON OFF ON OFF ON 4 ee OFF switch is set to OFF the program stored in flash memory will be executed ON OFF i ON 2 Always leave set to OFF ON ystem use adjusted 1 before shipment O Always leave set to OFF C Set to ON to execute self configuration for con Normal operation nected devices S S F F F F F F 4 14 4 4 CPU 02 Module b Sw2 The SW2 is used to set the operating conditions for the Compact Flash slot and the USB connector CARD LOAD SAVE USB1 Sw2 N i O Pin Switch Default Compact Flash enabled Turns the power supply to the Compact Flash CARD OFF Compact Flash disabled ON or OFF ON FF OFF Executes batch load from the Enabled when switches SW2 to SW4 are ON Compact Flash and Compact Flash is enabled With the Compact Flash gt CPU LOAD switch set to ON a batch load from the 3 LOAD Batch load i d Compact Flash is executed when the power O
137. al Modules PROFIBUS Com 9611F 01 JAPMC 102330 RS 232C and PROFIBUS communication munication Module Expansion Interf c e Pa Inter EXIOIF APMC EX2200 System bus expansion maximum 4 Rack con Modules a figuration 2 5 2 6 2 System Configuration 2 3 Devices Connectable to MECHATROLINK The devices that are compatible with MECHATROLINK and can be connected to the SVB 01 Module are listed below 1 SERVOPACKs The following table shows SERVOPACKs that are compatible with MECHATROLINK and can be connected to the SVB 01 Module Model MECHATROLINK I MECHATROLINK II SGD OOON MECHATROLINK I compatible AC x SGDB OOAN SERVOPACKs SGDH OOOE X II Series SGDH Servodrives NS100 x JUSP NS100 MECHATROLINK I Interface Unit SGDH OOOE X II Series SGDH Servodrives NS115 JUSP NS115 MECHATROLINK II Interface Unit SGDS 0O0100 III Series AC Servodrives 2 O Modules The following table shows Modules that are compatible with MECHATROLINK and can be connected to the SVB 01 Module Model MECHATROLINK I MECHATROLINK II 64 point I O Module JERMC 10350 24 VDC 64 inputs 64 outputs ee JAMSC 120DDI34330 eee ie ee oi ee l JAMSC 120DD034340 ere i ei oe JAMSC 120DAI53330 Wera i ee JAMSC 120DAI73330 eee Oe oa JAMSC 120DA083330 ee he JAMSC 120DRA83030 Li a i oe JAMSC 120AVI02030 ee ete Os a Reece 10 to 10 V 2 channels a a a amsc eocncartao korenprocoumer zetans Reversible counter 2 channels a
138. ame Pins Module Side Cable Side Manufacturer MECHATROCINI M I II USB AR41 T11 DUSB APA41B1 C50 DDK Ltd connector 5 11 5 Mounting and Wiring 5 2 2 SVB 01 Module Connections 3 Cables MECHATROLINK Cable SER ae USB Connector USB Connector JEPMC W6002 20 E MECHATROLINK Cable JEPMC W6003 05 5m USB Connector USB Connector with ferrite JEPMC W6003 10 core JEPMC W6003 20 JEPMC W6003 30 JE MC W6003 40 JEPMC W6003 50 JEPMC W6011 A5 JEPMC W6011 01 JEPMC W6011 03 JEPMC W6011 05 5m een TEP MC WoOTT 08 Sm JEPMC W6011 10 USB Connector Loose Wire JEPMC W6011 20 JEPMC W6011 30 30 m JEPMC W6011 40 JEPMC W6011 50 Terminator JEPMC W6022 4 External Appearance of MECHATROLINK I II Cables JEPMC we6002 00 SS E fi ul E R y JEPMC W6003 00 e Jii MRE CaS Y JEPMC W6010 00 fo Ihe JEPMC W6022 E jiu oo 5 12 5 2 Module Connections 5 SVB 01 Module System Configuration a Connecting the SVB 01 Module to the End of the MECHATROLINK Network The following diagram shows a system configuration example MP2200 mP2200 meu 02 POWER O Terminator MECHATROLINK I Terminator SGDH O4AE
139. an cycle communication cycle times n Only with MECHATROLINK II 4 37 4 38 4 Module Specifications 4 6 1 Outline of Functions 4 6 SVA 01 Module 4 6 1 Outline of Functions The SVA 01 Module is a Motion Control Module with analog outputs Servo drives or inverters for up to 2 axes can be controlled with a single Module The Module provides two connectors CN1 and CN2 to connect SERVOPACKs and external I O Each connec tor provides analog outputs for a speed reference and torque reference analog inputs for feedback speed monitor ing and torque monitoring pulse input phases A B C 5 V differential and general purpose digital I O The control cycle is fixed at 500 us to enable high precision control regardless of the high speed scan cycle Two analog outputs Speed reference Servo Controls oP T P f CN1 e Speed reference OfGUe TSIerence e Position control Two analog inputs Speed monitor 5 e Torque reference Torque reference monitor 3 e Phase control e Zero point return Pulse inputs Phases A B and C 5 V differential Q Monitor Functions Six general purpose digital inputs 2 latch inputs g z Six general purpose digital outputs D e 9 Sensor ON output 5 V 24 V Cc 8 CN2 5 System bus 2 g p Interfaces Same as above amp gs Servo parameters L OW CN3 IW 4 6 2 LED Indicators a
140. anual Operation 3 2 2 Operation 1 Display of Tuning Panel Window In this sample program run stop and other operations can be checked from a Tuning Panel Window Use the following procedure to display the Tuning Panel Window 1 Log on online and open the 2200SMPL Controller Folder then the Programs and High Scan Programs folders in the MPE720 File Manager Window 2 Right click the H02 drawing in the High Scan Programs Folder and select Open Tuning Panel yi riiij E alal xy Re Hi See le pee Xe En ee eet r a i u Z Bageter Poe H Hirai Phan Pr 65 i ai Sa ai pmen dating le B Pragara E o eee Cri a hi opm aero I Function Pegs HE ape ro ini 3 ithean Papa je a Hu i Lint Cimplaye Ban Progra Hid fa a Contant Tabled Hig A amiin Converter Eo raami Tabi Gaei Tal T Hie Feer pei Lats Gai Vitel Ca ee Erbia aE HEE riani ey DWG p E D hisis rap ara BFC ced ipe hirira Aare Lig OA 3 37 3 System Startup 3 2 2 Operation 3 The Tuning Panel Window for the H02 drawing will be displayed a er en re eee ore renee aes Se fa ami OE a e ES A ir ine Pie Fash Pee EF ie T ae foes sate L Input position and current value The details on the Tuning Panel Window display are shown in the following table eoma e foo f fo E A No A E A Nor e peremo S oe foo 00000 fearr e m e e e venan a oo o foo KECO a a m metres fe oe o E E A ONO A
141. are Limit Function Negative on SERVOPACK side Electronic Gear Ratio Numerator on SERVOPACK side ot valid Pn801 0 ot valid Electronic Gear Ratio Denomi nator on SERVOPACK side Autotuning Application Switch Not valid CN1 9 Input terminal CN1 10 Input terminal CN1 11 Input terminal CN1 12 Input terminal Use T REF as external torque limit Use V REF as external speed limit input DEC Signal Mapping EXT1 Signal Mapping EXT2 Signal Mapping EXT3 Signal Mapping Speed Reference Command Option Torque Reference Command Option 6 38 SVB 01 Module SERVOPACK Parameters Name Excessive Position Error Area Overtravel Level Excessive Position Error Alarm Detection Level Excessive Position Error Warn ing Detection Level Area where Negative Latch Is Possible Set Value 65535 32767 230_4 100 Pn820 value SERVOPACK SGDH SGDH NS100 NS115 Pn505 SGD N SGDB N Cn 001E SGDS Pn51E Note The above parameters are written to the SERVOPACK RAM except for Area where negative latch possible which is written to EEPROM 6 5 Self configuration 6 5 3 SVA 01 Modules Details on definition information when self configuration is executed are shown below 1 Module Configuration Definition The following illustration shows a Module configuration definition example when SVA 01 and 218IF 01 Mod ules have been mounted to the MP2200 Option Slot and self confi
142. art the electronic shaft M Enter speed settings M Confirm operation The process for confirming operation will be explained based on the above procedure 1 Switching between Servo ON and Servo OFF Change the current value setting for Servo ON PB from OFF to ON on the Tuning Panel Window The Servomotor will turn ON and the Servo will be clamped 2 Starting the Electronic Shaft Change the current value for Electronic Shaft Start to ON in the Tuning Panel Window The mode will change to Phase Control Electronic Shaft Mode Change the current value to OFF to exit Phase Control Electronic Shaft Mode 3 Entering Speed Settings Change the current value for the Speed Setting Motor Rated Speed in the Tuning Panel Window to any value between 0 and 30000 The value set will be the synchronous speed for both axes and the axes will start rotating INFON m Actual Application Programs 4 Programs must be created in actual applications to monitor and control registers that correspond to the signals and data listed 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 3 54 3 4 Sample Program 3 Phase Control with an Electronic Shaft 3 4 3 Program Details 1 H06 01 Drawing The H06 01 grandchild drawing controls phase control electronic shaft operation P00118 H06
143. as follows to indicate that fire is prohibited K Q MANDATORY Indicates compulsory actions that must be performed For example this symbol would be used as follows to indicate that grounding is compulsory cS Safety Precautions The following precautions are for checking products on delivery storage transportation installation wiring operation maintenance inspection and disposal These precautions are important and must be observed A WARNING Before starting operation in combination with the machine 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 MP2200 There is a risk of electrical shock Always keep the front cover attached when power is being supplied There is a risk of electrical shock Observe all procedures and precautions given in this manual for trial operation Operating mistakes while the servomotor and machine are connected can cause damage to the machine or even accidents resulting in injury or death Do not remove the front cover cables connector or options while power is being supplied There is a risk of electrical shock Do not allow installation disassembly or repairs to be performed by anyone other than specified per sonnel There is a risk of electrical shock or injury Do not damage pull on apply excessive force to place heavy objects on or pinch cables There is a risk of electrical s
144. atch load is not executed supply is turned ON is executed ON USB local address1 i BL es toe 1 USB1 TETEE Turning this switch to ON initializes the USB OFF In accordance with edeti local address and sets it to 1 by force nition of the host OFF Enabled when switches SW2 to SW4 are ON SAVE l Save and Compact Flash enabled By turning it from CPU Compact Flash OFF to ON a batch save to the Compact Flash 4 15 4 Module Specifications 4 4 3 Hardware Specifications 4 4 3 Hardware Specifications The following table shows the hardware specification of the CPU 02 Module 2 MBytes M registers S registers trace memory alarm SRAM history battery backup Memory Backup Programs Data Compact Flash interface x 1 slot Engineering Port USB interface x 1CH Seconds to year timer battery backup LED1 LED2 RDY green TRX green RUN green SYS red Indicators ALM red LED3 ERR red PWON green TX green BAT red Switches Note For general specifications such as hardware specifications and PLC function specifications refer to 4 7 Gen eral Specifications 4 16 4 4 CPU 02 Module 4 4 4 Compact Flash Interface The specifications of the Compact Flash are described here 1 Specifications a The Compact Flash Slot Connector Connector Model Name No of Cabl Compact 50 MI21A 50PD SF EJR 31 Hirose Electric Co Ltd Flash Slot Compact Flash Slot Without Compac
145. ation Settings Make communication settings for connecting the MPE720 and the MP2200 using the procedure below These settings are not required if the communication settings have already been made 1 When the MPE720 is started the File Manager and Communication Process Button will be displayed on the Toolbar at the bottom of the screen Click the Communication Process button to open the Communi cation Process Window Click set a hin pees a rie ree Emren Man_ ye eo 3 12 3 1 Outline 2 Double click Logical PT number 1 in the Communication Process Window to display the Logical Port Setting Window 1 i es Ley s E lB sl Double click 4 Setting Serial Communication Ports a Click the Detail button in the Logical Port Setting Window x e E w E Trea o m are E r o tet comet 3 13 3 14 3 System Startup 3 1 6 Starting the MPE720 b The Serial Port Setting Window will be displayed Match the settings under Physical Port to the com puter s serial communication port Leave the other items on the default settings Once the settings have been completed and checked click the OK button cree Mort Seita xj Ure io fi D EF c The Logical Port Setting Window will be displayed Click the OK button again The screen will return to the Communication Process Window Check that Serial has been allocated to the Logical PT number 1 5 Ethernet Connections Double click Logica
146. ators and Switch Settings 4 69 4 13 3 Hardware Specifications 4 71 4 14 261IF 01 Module 4 73 4 14 1 Outline of Functions 4 73 4 14 2 LED Indicators and Switch Settings 4 73 4 14 3 Hardware Specifications 4 75 4 15 EXIOIF Module 4 77 4 15 1 Outline of Functions 4 77 4 15 2 LED Indicators and Switch Settings 4 77 4 15 3 Hardware Specifications 4 77 4 16 External Appearance 4 78 4 16 1 Basic Unit 4 78 4 16 2 Mounting Optional Module Connectors 4 79 4 2 4 1 General Specifications 4 1 General Specifications 4 1 1 Hardware Specifications The following table shows the hardware specifications of the MP2200 SpecTications Ambient Operating 0 C to 55 C Temperature Ambient Storage 25 C to 85 C Temperature Ambient Environmental Operating 30 to 95 with no condensation Conditions Humidity seni storage 5 to 95 with no condensation Humidity Pollution Level Pollution level 1 conforming
147. ay at the lower right of the window click the icon to remove the device EO 2 29 PM A message Stop USB Mass Storage Device Drive F will appear 2 Click inside the window The connection will be cut and a window The USB Mass Storage Device device can now be safety removed from the system will appear After this message appears the cable can be safely removed and the MP2200 power supply can be turned OFF Click the inside the window or click the OK button in the dialog box to close the window 4 26 4 4 CPU 02 Module 6 Setting the Communication Process for the USB Connection Set the USB connection as described in this section Note For any connection setting methods other than USB refer to 3 MPE720 Startup Procedure in 3 1 6 Starting the MPE720 1 Open the YE_Applications Folder and double click the MPE720 Icon or select MPE720 from the start menu Note This procedure varies depending on the OS 101xi File Edit View Favorites Tools Help Ea Giaxwa Address SE YE_Applications gt O60 i m Br Li fe i m MPE720 Communicatio YE_Applications Select an item to view its description MPE720 will start up and the File Manager Window will appear The Communication Process Icon will be displayed at the bottom of the pane 4 File Manager 4 lol x le Edit View Tool Help TEADETEL I mP2200 Order Folder 2 Do
148. be created The name must be eight alphanumeric characters Select MP2200 02 as the Controller Type and then click the OK button Controller Configuration xj Information Network Application Order Name MP2200 Controller Name 2200SMPL CPU Name CPU CPU2 Comment Controller Type MP2200 02 MP2100 2500 Multi CPU A new PLC folder will be created Click the order folder or the plus sign to view the name of the new PLC folder Controller T fi 2200SmPL Controller Folder MP2200 02 10 fl 2200SMPL 4 29 4 Module Specifications 4 4 5 USB Interface 3 Right click the new PLC folder and select Online on the short cut menu x File Edit View Tool Help X 2 do Alaa root mp2200 17 EE oE Log On Properties Ctrl R Log Off aa z ame 2200SMPL File Type Controller i i a Backup Motion Programs roller Type MP2200 02 Bee p jomer User Application Converter iis Usage Delete Ctrl D e connection parameter PT CPU Pa Controller O base Local Online Offline Ladder Cons n Tool Show amp Change online mnnrt fivic Garment A confirmation dialog box will appear Click the Yes button to switch to the online mode 4 Right click the PLC folder that was selected in step 3 and select Properties on the short cut menu ioii Fie Edit Yiew Tool Help x E
149. cables e JEPMC W2091 00 2 LJ The following diagram shows how to connect the external I O connectors EXIOIF a Rack 1 U ia Rack 2 EXIOIF Rack 3 EXIOIF i Rack 4 Note Attached the enclosed dust caps to the unused connectors 1 in the above figure 5 61 5 62 5 Mounting and Wiring 5 2 10 EXIOIF Module Connections 2 Cables Length TEPMIC W2091 AS tati both connectors CENE Wo with both connectors JEPMC W2091 2A5 Note 1 The total cable length when adding expansion racks is 6 0 m Connect the shield to the connector shell 2 Connection method 1 1 3 Cable Specifications Shielded cable equivalent to UL20276 0 08 mm AWG28 two ferrite cores attached 3 Cable Appearance 6 Basic System Operation This chapter explains the basic operation of the MP2200 system 6 1 Operating Mode 6 2 6 1 1 Online Operating Mode 6 2 6 1 2 Offline Stop Mode 6 2 6 2 Startup Sequence and Basic Operation 6 3 6 2 1 DIP Switch Settings 6 3 6 2 2 Indicator Patterns 6 4 6 2 3 Startup Sequence
150. cation Bytes 17 bytes or 32 bytes 17 bytes aes Slave PUNG Supported Not supported 4 36 4 5 SVB 01 Module cont d Single transmission communication cycle transmission cycle synchronous com munication Communication Method Transmission communication error detection hardware provided Synchronous communication error detection software provided Servo Control Automatic recovery function not provided recovery when alarm cleared Positioning External Positioning Zero Point Return Interpolation Interpolation Motion Commands with Position Detection Fixed Speed Feed Fixed Length Feed Speed Reference Torque Reference Phase Control etc Acceleration Deceleration One step asymmetric trapezoidal acceleration deceleration exponential accelera Method tion deceleration filter moving average filter Position Unit pulse mm inch degree Speed Unit Reference units s 10 reference units min percentage of rated speed Acceleration Unit Reference units s ms acceleration from 0 until rated speed reached Torque Unit Percentage of rated torque 4 Electronic Gear Supported Finite length position control infinite length position control absolute system infi Position Control Method nite length position control and simple absolute system infinite length position con trol Software limit Positive negative direction for each point Zero Point Return Method 13 types Parameters can be managed in the MPE720
151. communication the MSG SND MSG RCV function is required 2 RS 232C Interface When self configuration is executed the following parameter settings will be made for the RS 232C interface of 218IF 01 Modules Transmission Delay Automatic Reception Leading Register No of Words Reading input relays TW0000 5120 Reading input registers TW0000 5120 Interface Register Settings at the Reading writing coils MW00000 32768 Slave Reading writing holding registers MW00000 32768 Writing range for coil holding MW00000 registers LO MW00000 HI MW32767 INFON An engineering communication connection with the MPE720 is possible using self configuration Also depending on the 4 settings of connected devices MEMOBUS message communication may be possible using the automatic reception func tion 6 43 6 Basic System Operation 6 5 8 217IF 01 Modules 6 5 8 217IF 01 Modules 1 RS 422 485 Interface When self configuration is executed the following parameter settings will be made for the RS 422 485 interface of 217IF 01 Modules Transmission Delay Automatic Reception Leading Register No of Words Reading input relays TW0000 5120 Reading input registers TW0000 5120 Interface Register Settings at the Reading writing coils Mwo00000 32768 Slave Reading writing holding registers MW00000 32768 Writing range for coil holding MW00000 registers LO MW00000 HI MW32767 INFON Also depending on the settings of connected devices ME
152. configuration is executed the following parameter settings will be made for the RS 232C interface of 261IF 01 Modules tem Communication Protocols Device Address Serial interface Communication Mode Data Length Pariy Stop is Baud Rate Transmission Delay Automatic Reception Leading Register No of Words Reading input relays TW0000 5120 Reading input registers TW0000 5120 Interface Register Settings at the Reading writing coils MW00000 32768 Slave Reading writing holding registers MW00000 32768 Writing range for coil holding MW00000 registers LO MW00000 HI MW32767 INFON An engineering communication connection with the MPE720 is possible using self configuration Also depending on the 4 settings of connected devices MEMOBUS message communication may be possible using the automatic reception func tion 6 47 6 Basic System Operation 6 6 1 Saving User defined Files or Data 6 6 Setting and Changing User defined Files or Data This section explains precautions when changing the scan times Module configuration definition or other set tings Scan times The cycles used to refresh all I O execute the ladder programs etc e Module configuration definition Settings for the Modules comprising the MP2200 and functions 6 6 1 Saving User defined Files or Data User defined files and data must be saved in flash memory Whenever setting or changing user defined files use the MPE720 to save them to flash memory I
153. connections based on the device to be connected Table 5 2 For 25 pin D sub Remote Stations MP2200 Cable Connection and Signal Remote Station PORT Connector Direction 25 pin D sub Signal Pin No Pin No Signal RAER Name Ce ee e fom Co oeo CS CTS E r e osm om Seren 7 gt 7 56 eno ie el mae a a eR OTR Table 5 3 For 9 pin D sub Remote Station Meeting Yaskawa Specifications Remote Station 9 pin D sub Yaskawa Specifications MP2200 Cable Connection and Signal PORT Connector Direction ae EEEE o oe Bene exo e e ero Table 5 4 For DOS Computer Remote Stations MP2200 Cable Connection and Signal DOS Computer PORT Connector Direction 9 pin D sub Male Signal Pin No Pin No Signal ARR Name SD O Serora RD RXD RD RXD a SD TXD ee saa e ROR Pa e p 5 49 5 50 5 Mounting and Wiring 5 2 6 218IF 01 Module Connections b Ethernet Connections This section explains connections to the Ethernet using 10Base T The maximum length between the end nodes is 500 m with 10Base T connections e Connection Example 1 MP2200 I 218IF 01 MP2200 weu 01 CPU 01 2181F 01 svB 01 POWER O Optional Module Optional Module 10Base T Other station Other station 100 m e Connection Example 2 MP2200 218IF 01 Opt
154. d IWOOOO bit 2 Count Preset m2 we Counter Register Value m4 m1 Current Counter Value m3 after Conversion ILOOOO 0x0A m1 pe m2 pe al m4 Data that reflects the Count Preset Value 4 51 4 Module Specifications 4 9 2 Counter Function Details 2 Coincidence Output and Coincidence Interrupt Functions The Coincidence Output and Coincidence Interrupt Functions output an external output signal coincidence detection signal and output an interrupt signal to the MP2200 when the current counter value and a preset counter setting parameter Coincidence Detection Setting OL OOO0 4 match The Coincidence Output Function is enabled when 1 is set to the counter fixed parameter No 9 Coincidence Detection Function Selection The Coincidence Interrupt Function is enabled when is set to the counter fixed parameter No 10 Coincidence Interrupt Function Selection A COINDATA Counter counting register COINDAT Coincidence point x detection Coincidence detection request 2 Coincidence output signal lt gt Interrupt request signal TO WEE q T1 Interrupt reception 4 1 Coincidence point detection value Coincidence detection setting OLOOOO 4 2 Coincidence detection request Command setting OWOOOO 0 Bit 3 3 TO Max time from when interrupt requ
155. d ABS encoder battery 3 6 V EXT DEC input ABS encoder battery 0 V ZERO HOME LS input P OT input Brake interlock output N OT input Brake interlock output 5 2 Module Connections 5 2 4 LIO Module Connections This section explains the connections for the LIO 01 and LIO 02 Modules 1 LIO 01 Module Connections a Connectors The following diagram shows the LIO 01 Module connector Connects external I O signals and pulse input signals External input 16 points External output 16 points Pulse input 1 channel b Connector Specifications The following table shows the connector specifications Connector No of Connector Model Name f Name Pins Module Side Cable Side 48 FCN 360C048 E cover P I O t 1 0 FCN 365P048 A Fujit t Yo comecior vo ronsespoas au FCN 364J048 AU 5 c Cables JEPMC W2061 A5 Cable for LIO Modules JEPMC W2061 01 JEPMC W2061 03 3m d External Appearance of Cables for LIO Module JEPMC W2061 00 o 5 25 5 Mounting and Wiring 5 2 4 LIO Module Connections e Connector Pin Arrangement The following table shows the connector pin arrangement of the LIO 01 Module Signal gn Signal 9 I O Remarks Num 9 1 0 Remarks Name Name ber ber T Prase A puke Phase pC Phase B pulse I Phase B pulse 4 input Phase Z pulse f I e fil sag Ra EF 12 V input zZ Cc He CP Oupa 85 DO_CoM P Ouparcommon TP avi 88
156. d Servo OFF Change the current value setting for Servo ON PB from OFF to ON on the Tuning Panel Window The 3 Servomotor will turn ON and the Servo will be clamped 2 Entering Cam Data Enter any value within the setting range for the Tuning Panel Window items listed below The cam pattern is generated from these settings Cam pattern data is not changed however if the Electronic Cam Start described next is set to ON e Cam axis amplitude setting double amplitude Setting range 0 to 999 999 e Cam axis main axis moving amount for one cycle Setting range 0 to 50000 000 3 Starting Electronic Cam Operation Change the current value for Electronic Cam Start to ON in the Tuning Panel Window The second axis will enter Phase Control Electronic Cam Mode Change the current value to OFF to exit the Phase Con trol Electronic Cam Mode 4 Entering Main Axis Speed Settings Change the current value for the Main Axis Speed Setting in the Tuning Panel Window to any value between 30000 to 30000 The value set will be the master axis speed and the axis operation will start nrof E Actual Application Programs 4 Programs must be created in actual applications to monitor and control registers that correspond to the signals and data listed 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 3
157. ded to the relay number For example if i 2 MB000000i will be the same as MB000002 Ifj 27 MB000000j will be the same as MBO0001B MBO0000002 I MBO000000i 7 Equivalent Mita l Ss 2 Integer Data with a Subscript When a subscript is attached to integer data the value of i or j is added to the register number For example if i 3 MW00010i will be the same as MW00013 Ifj 30 MW00001j will be the same as MW00031 L 00030 MW00031 Equivalent L MW00001j 3 Double length Integer Data with a Subscript When a subscript is attached to double length integer data the value ofi or j is added to the register number For example ifi 1 ML00000i will be the same as ML00001 ML00000j when j 0 and ML00000j when j 1 will be as follows Upper place word Lower place word MW00001 MW00000 ML00000j when j 0 MLO0000 os Mwo0002 MW00001 ML00000j when j 1 ML00001 7 6 27 6 28 6 Basic System Operation 6 4 4 Subscripts i and j 4 Real Number Data with a Subscript When a subscript is attached to real number data the value of i or j is added to the register number For example if i 1 MF00000i will be the same as MF00001 MF00000j when j 0 and MF00000j when j 1 will be as fol lows Upper place word Lower place word Mwoo001 Mwoo0000 MF00000j when j 0 MFO0000 Mwo0002 MW00001 MF00000j when j 1 MF00001 aa lt q EXAMPLE gt E Programming Example Using a Subscript
158. e SW00006 High speed Scan Maximum Value 0 1 ms SW00007 to Reserved by the system SW00009 Not used Low speed Scan Set Value SW00010 Low speed Scan Set Value 0 1 ms Low speed Scan Current Value Swo0011 Low speed Scan Current Value 0 1 ms Low speed Scan Maximum Value Low speed Scan Maximum Value 0 1 ms Reserved by the system Not used Executing Scan Current Value Executing Scan Current Value 0 1 ms Calendar Year 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 SW00019 0 to 6 Sun Mon to Sat A 3 Program Software Numbers and Remaining Program Memory Capacity Name Register Remarks Number System Program Software Number SOOOO OOOO is stored as BCD SW00021 to System Number SW00025 Not used Remaining Program Memory Capacity SW00026 In bytes Total Module Memory Capacity SW00028 In bytes A 5 Index INDEX Symbols registers 6 23 Numerics 217IF 01 Module 4 67 connectors 5 51 offline self diagnostic test 4 68 218IF 01 Module 4 64 connectors 5 47 24 V input connector 5 18 260IF 01
159. e 218IF 01 Module LED indicators DIP switch Serial connector RS 232C Ethernet connector 10Base T 4 63 4 Module Specifications 4 11 2 LED Indicators and Switch Settings 2 Indicators The following table shows the status of 218IF 01 Module LED indicators RUN Gidsn Lit during normal operation Not lit during errors ERR Red Lit blinking during malfongniors Not lit during normal operation RUNC O ERR STRX ieen Lit during RS 232C data transmission or reception Not lit when data not being transmitted or received sTRXC Onl Ethernet collision status TX O O RX Lit Collision Not lit No collision Ethernet transmission status Lit during transmission TX Green Ras Not lit if data not being transmitted RX Green Ethernet reception stats Eit during reception Not lit if data not being received 3 Switch Settings The following table shows the 218IF 01 Module switch settings Label Name Sta Function racio ry tus Setting For engineering communication Starts up using default parameters excluding automatic reception ON function settings Given higher priority than CPU A Initial Startup Module Flash Startup and Self configuration Star gt M INIT TEST p OFF ON OFF Set to OFF for CPU Module Flash Startup and Self configuration Startup ON Syst TEST TEST ESE OFF OFF Normal operation Always leave turned OFF 4 Offline Self diagnostic Test The fol
160. e Program 1 Manual Operation 3 36 3 2 1 Description 3 36 3 2 2 Operation 3 37 3 2 3 Program Details 3 40 3 3 Sample Program 2 Positioning Control 3 47 3 3 1 Description 3 47 3 3 2 Operation 3 48 3 3 3 Program Details 3 50 xi xii 3 4 Sample Program 3 Phase Control with an Electronic Shaft 3 52 3 4 1 Description eee eee ee 3 52 3 4 2 Operation 3 53 3 4 3 Program Details 3 55 3 5 Sample Program 4 Phase Control with an Electronic Cam 3 57 3 5 1 Description 3 57 3 5 2 Operation 3 58 3 5 3 Program Details 3 60 4 Module Specifications 4 1 General Specifications 4 3 4 1 1 Hardware Specificati
161. e Program 2 Positioning Control 3 3 Sample Program 2 Positioning Control 3 3 1 Description 1 Machine Outline Sample program 2 will use a motion program to operate a hypothetical X Y plotter such as the one in the follow ing diagram 2 Program Outline The H04 drawing ladder program starts a text format motion program The motion program executes the commands and operations in the program in order from the beginning The following sample motion programs have been prepared e Motion program No 1 MPMO001 Zero point return operation using phase C pulse e Motion program No 2 MPMO002 2 axis positioning and interpolation e Motion program No 3 MPMO003 2 axis positioning and interpolation Refer to 3 3 3 Program Details for details on the sample program i Parent drawing Child drawing Motion program H drawing H04 drawing MPM003 Motion program MPM002 startup MSEE MPM001 Program No 001 OW803C 3 Data DA00020 OW80BC 3 VEL X 100 Y 100 END ACC X 100 Y 100 Text format High speed scan program This program is solely for the purpose of describing the MP2200 system startup Care must be taken because actual applications will differ This program 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 I
162. e Specifications 4 4 5 USB Interface 6 Double click USB in the area of Module Type aj Engineering Manager File View Order Window Help D A amp H eeM a ye we mS ten Ea E it iP e oro e a R E Module Configuration MP2200 2200SMPL MP2200 02 Online Local PT 3 AD 1 CPU 1 Disable g Disable x Disable m Controller Rack 1 Rack 2 Rack 3 Rack 4 Module Type JCPU 02 v UNDEFINED 7 UNDEFINED y UNDEFINED v UNDEFINED v UNDEFINED v UNDEFINED v PU 02 CPU module with virtual axes CF card and USB m Module Details CPU 02 RACK 01 SLOT 00 Details The dialog box for setting the local address will be displayed 7 Set the same local address as specified in step 4 and then click the Close button muse _mP2200 2200SMPL_ mP220002 08 z PT 3 AD 1 CPU 1 RACK 01 cIR O1 Transmission Protcol MEMOBUS v Local Address 17127 Automatically Reception Disable Enable Automatically Reception settings Slave I F Register Settings WD Size Readout of Input Relay Readout of Input Register Readout write in of Coil Readout write in of Hold Register Write in width of Coil Hold Register LO fH 4 Click the OK button in the dialog box to set the local address Note The local address that is set here is used to write in to the CPU 02 Module 8 Flash store the data and log off after returning to the File Manager Window 9
163. e 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 d Connection Procedure for 24 VDC Power Supply Cable The power supply terminals have a removable connector Use the following procedure to wire the terminals to the power supply connector Use a 0 2 mm to 0 51 mm AWG24 to AWG20 twisted pair cable Refer to d Connection Procedure for 100 200 VAC Power Supply Cable in 1 MBU 01 Unit Connections for the cable connection procedure 5 10 5 2 Module Connections 5 2 2 SVB 01 Module Connections This section explains the connections for the SVB 01 Module 1 Connectors MECHATROLINK I MECHATROLINK II connectors are used to connect the SVB 01 Module and the SERVOPACKs and distributed I O MECHATROLINK I MECHATROLINK II connectors are shown in the following diagram c M II CN1 SEY Shell Shield Connects the shield wire 5 INFON There are two connectors on the MECHATROLINK I MECHATROLINK II but the communication line supports only 7 one channel If the SVB 01 Module is connected at the end of a network connect a JEPMC W6022 Terminator to the other connec tor Both connectors perform the same function so connections can be made to either 2 Connector Specifications Connector No of Connector Model Name N
164. e counter fixed parame ter No 24 Number of Pulses Per Encoder Rotation 3 Decide the reference unit The reference unit is the smallest unit for the position data that moves the load The smallest reference unit used by the host device Moving a table in 0 001 mm increments Reference unit 0 001 mm lt M A Take the machine specifications positioning accuracy and other factors into account when deciding the reference unit lt q EXAMPLE gt e When reference unit is 0 01 mm 0 001 mm 0 1 or 0 01 inches The workpiece is moved 1 reference unit per pulse reference input e When reference unit is 1 um When 50 000 reference pulses are input the workpiece will be moved by 50 000 x 1 um 50 mm 4 54 4 9 LIO 01 and LIO 02 Module Counter Functions 4 Find the load travel distance for each rotation of the load axis using the reference unit Travel distance when load axis rotated once Travel distance when load axis rotated once reference unit Reference unit lt q EXAMPLE gt e For a ball screw pitch of 5 mm and a reference unit of 0 001 mm 5000 Reference unit aS sat 0 001 Round table Belt puley Load axis lt gt P Load axis 2D Oa p VID O P pitch load axis A D Pulley diameter P 1 rotation Ss t 1 rotation 0 1 rotation Reference unit Reference unit Reference unit
165. e node address Rotary decimal switch For engineering communication Starts up RS 232C PORT using default parameters exclud ON ing automatic reception function settings Given INIT Initial startup higher priority than CPU Module Flash Startup and Self configuration Startup FF Set to OFF for CPU Module Flash Startup and 1s Digit Setting The following table shows details of baud rate settings PRT ORO __ Seting i S00 kbps 4 70 4 13 260IF 01 Module 4 13 3 Hardware Specifications 1 Module Specifications The following table shows the hardware specifications of the 260IF 01 Module Specifications TAPMC CMAN nae RS 232C 1 port PORT Communication Ports DeviceNet 1 port DeviceNet Module status LED indicators Indicators MS green red NS green red Setting Switches xl 4 125x95 HXD 2 Communication Specifications a RS 232C communication Specifications The following table shows the RS 232C communication specifications Communication Protocols MEMOBUS MELSEC non procedure Media Access Control Bi Method Data length 7 or 8 bits Stop bits 1 or 2 bits Parity Odd even or none Transmission Format Can be set 4 71 4 Module Specifications 4 13 3 Hardware Specifications b DeviceNet communication Specifications The following table shows DeviceNet communication specifications SpecTicatons Number of Lines EE Vo ication functi Polled Bit Str
166. e program P00101 H Main Program High speed Main Progra HHHH High speed main program HHHHHHHE HHHH Servo ON and alarm reset HHHHHHH Servo ON and alarm reset 0000 0000 NL 1 Name H01 FHHHHHHHHHH Jog and step operation AHHHHHHHH P TAE EM EE E Jog and step operation 0001 0001 NL 1 Name H02 FHHHHHHHHH Positioning operation HHHHHHHH Positioning operation 0002 000 Net Name H04 HHHH Phase control Electronic cam 3 40 3 2 Sample Program 1 Manual Operation 2 H01 Drawing The H01 child drawing turns ON the Servo resets alarms and sets common parameters P00102 H01 Main Program Processing of Common Axis Setting HHHH Processing of common axis settings HHHHHHHH HHHH Motion command detection HHHHHHHE Axis 1 motion command 0 detection Axis 1 motion command 0 MB300010 Source A 1W8008 Source B 00000 Axis 2 motion command 0 detection F Axis 2 motion command 0 MB300018 Source A 1W8088 Source B 00000 L HEHH Servo ON HHHHHHHT Axis 1 Servo ON Servo ON PB Axis 1 SVC_RDY Axis 1 SV_ON 3 MB300000 1B80000 0B80000 Axis 2 Servo ON Servo ON PB Axis 2 SVC_RDY Axis 2 SV_ON MB300000 1B80800 0B80800 HHHH Alarm reset HHHHHHHHE Axis 1 alarm reset Alarm reset PB Axis 1 ALM_RST MB300001 OB8000F Axis 2 alarm reset Alarm reset PB Axis 2 ALM_RST MB300001 z 0B8080F e HHHHHHHHH Speed unit and acceleration speed unit selection HHHHHHHH Bits
167. e to the MP2200 using the procedure outlined below 1 Right click the 2200SMPL Controller Folder and select Online The mode will change from offline to online LS aE x Be mi Ges Tol hee oe be ara Y hii Tret Camiini Makh 3 19 3 System Startup 3 1 6 Starting the MPE720 2 Right click the 2200SMPL Controller Folder and check that there is a check mark next to Online Also check that Online at the bottom right of the screen is listed as Connected then select Properties rinane aaa Re itt ss Im he jj k EE ee Fegan ties aaa iceaers 3 The Controller Configuration Window will be opened Select the Network Tab Online should be set to Yes Under Logical Port Number Device Type select the same Logical PT that was set for the communica tion process iir E Yen M Ma Lapai Hin rnr E Dra T pmi a LP J Ho Dei iHi Dea Usi pio SMa ea GMa Dace T Mo pra Ta My Da Jhai Note CP 217 RS 232C connection CP 218 Ethernet connection 3 20 3 1 Outline 4 For RS 232C connections leave all settings other than Logical Port Number Device Type on the default settings orale Laiaren 3 j iire E Yen M ma Lapca Poe hin i rar E Circ T poi 5 For Ethernet connections make the settings shown below arrer ueniar xj iii F va M ma a E Cirerce T pmi Pikia E ikii TE miim Eia 6 A confirmation message will be displayed Click the Ye
168. ection counter preset and clear Pulse generator 5V A1 PA ON Phase A 220 Q B1 PAL Ov A2 PB Phase B 220 9 B2 PBL xt A A 5V BA one 330 Q a3 PC here A O lt Latch input or eF f T i B3 PCL5 hase Z pulse p p Teso pa POL12 Pulse Input Circuit 5 35 5 Mounting and Wiring 5 2 4 LIO Module Connections i Module Connections The following diagram shows a connection example for LIO 02 Module connectors Pulse generator ons 5 V Al PA Phase A 2 lt b 2202 B14 PAL B vov lt lt Pulse input Phase B gt 2 lt f 220 Q i B2 Es w AN T wW e 1 1 1 1 1 D 1 T 1 1 1 1 1 1 1 1 1 1 L 1 1 1 D 1 1 1 1 1 1 OAA Tet in lt lt D gt N N A e gt BR Q ra te y v Latch input or phase Z pulse Latch input or phase Z pulse Er t L T e tf ama j L w gt wo wo a To pej g o B4 PCL12 aN A23 l DI COMO 1 24 VDC AY B23 J DILCOM1 GN Digital inputs jt f I i AN Z a N UE E g j2 S a e la E D a a T I s ZN g aA l i 2 NNA g jg o 9 lo
169. eference setting STORE a Source 0000001000 Dest OL8090 L p Axis 2 motion command STORE a Source 00007 Dest OW8088 Axis 2 motion command STORE a Source 00000 Dest OW8088 Axis 2 motion command 0 DB000050 MB300018 Via FHHHHHHHHH Step operation HHHHHHHHE Axis 2 step operation Axis 2 Forward Step DB000012 Axis 2 Forward Step DB000012 Axis 2 Reverse Step Axis 2 SV_ON DB000013 Axis 2 Reverse Step DB000013 Axis 2 step reference WORK DB000008 DB000058 MB300018 Axis 2 step reference WORK DB000008 Axis 2 step start DB00009 Axis 2 step start DB000009 DB000059 Axis 2 step speed and moving amount EXPRESS ION z 0L8090 1000 OL80C4 DL00010 Axis 2 motion command STORE a Source 00008 Dest 0W8088 Axis 2 jog reference DBO00000 Axis 2 jog start DB000001 Axis 2 jog stop DB000002 Axis 2 step reference DB000008 Axis 2 step start DB000009 Axis 2 step stop DB00000A 3 45 3 System Startup 3 2 3 Program Details P00111 H02 02 Main Program Axis 2 Manual Jog and Step Operation Processing Axis 2 step stop DBOOOOOA 00011 STORE a 0036 Source 00000 Dest OW8088 HHH Reverse rotation selection HHHHHHH Axis 2 jog reference Axis 2 Reverse Jog Axis 2 Reverse DB000000 DB000011 0B80892 0012 0038 NL 1 Axis 2 step Axis 2 Reverse reference Step DB000008 DB000013 0013 0043 NL 1 3 46 3 3 Sampl
170. em Configuration 2 2 2 1 1 Basic System Configuration 2 2 2 1 2 System Configuration Precautions 2 4 2 2 List of Modules 2 5 2 2 1 MP2200 Modules 2 5 2 3 Devices Connectable to MECHATROLINK 2 6 2 4 Cables and Accessories 2 7 2 4 1 Cables 2 7 2 4 2 Accessories 2 7 2 5 Software 2 8 2 5 1 Software for Programming Devices 2 8 3 System Startup 3 1 Outline 3 2 3 1 1 System Startup Flowchart 3 2 3 1 2 System Configuration 3 3 3 1 3 Device Preparation 3 4 3 1 4 Connecting and Wiring the System 3 6 3 1 5 Initializing the System 3 8 3 1 6 Starting the MPE720 3 11 3 2 Sampl
171. em configuration precautions 2 4 system startup 3 3 MPE720 sive asd televise Coseve lu Met ETEN 2 8 startup 3 12 startup procedure 3 11 multi drop connections 5 57 multiple group operation 6 12 O offline self diagnostic test 4 65 offline stop mode 6 2 one group operation 6 12 online logon 3 19 online operating mode 6 2 online self diagnosis 6 6 operation error drawings 6 7 operation start 6 6 operation stop 6 6 Optional Modules installing 5 7 mounting connectors 4 80 removing 5 5 replacing and adding 5 5 order folders creating 3 18 output circuit LIO 01 Module 5 28 LIO 02 Module 5 34 LIO 04 Module 5 44 output registers
172. ers 17 words Function input registers 17 words H XB XW XL XFnnnnn YB YW YL YFnnnnn 1 E Internal function registers 64 words i Constant registers E ZB ZW ZL ZFnnnnn 1 CB CW CL CFnnnnn Constant data 16 384 words max 1 B W L Fnnnnn Individual data 16 384 words max DB DW DL DFnnnnn Registers common to all drawings can be called from any drawing or function Registers unique to a drawing can be called only from within that drawing Registers unique to a function can be called only from within that function Registers common to all drawings and registers unique to each drawing can be called from functions using external function registers 6 25 6 26 6 Basic System Operation 6 4 3 Register Designation Methods 6 4 3 Register Designation Methods Registers can be designated by direct designation of the register number or by symbolic designation These two types of register designation can be used together in the same ladder program When symbolic designation is used the correspondence between the symbols and the register numbers must be defined The following table shows the register designation methods Designation Description Type Register designation by bit MBO0100AX Register designation by integer MW00100X Direct Register designation by double length integer ML00100X Designation Register designation by real number MF00100X Register d
173. ers the error in any way Stopping the MP2200 e Resetting the alarm Turning the power OFF and ON Consider possible failure locations based on the results of 1 and 2 above e Is the problem in the MP2200 or external e Is the problem in sequence control or motion control Error Check Narrowing the Range e Is the problem software or hardware 8 1 3 Indicator Errors Error details can be checked by the status of indicators on the front of the MP2200 Module In the process we narrow down the repair location in a program by getting an overview of the error from indica tors checking the contents of the system S registers examining the drawing or function number that caused the error and then getting an overview of operation error details 1 Indicators The LED indicators that display the operating status and error details for the MP2200 are detailed in the follow ing table Indicators inoicator Indicator Significance when Lit Name Color ERR ALM Lights blinks for warning BAT Lights blinks for errors Baten alarm activate 8 3 8 4 8 Troubleshooting 8 1 3 Indicator Errors 2 Indicator Details The following table describes details for indicators showing operating status and errors in the MP2200 and rem edies for those errors ere ipaicatorName Indicator Details Remedy fication ROY RUN ALM ERR BAT Resetting hardware Normally the CPU activates within 10 Not lit Nor Tit l
174. es and assignments for connectors CN1 and CN2 1 sG Ground 19 sG Ground l Genstakp rp s analog For SEN signal z A90 analog output 0 20 SEN SEN Signal NREF speed reference output 5v Seve General purpose 3 PA ree Uae ala 21 A1 analog input 1 pulse Inpu Torque reference monitor 4 PAL 5 V differential phase 22 ts Not connected input A pulse input f 5 PC 5 V differential phase 23 pg 5 V differential phase C pulse input B pulse input 6 peL 5 V differential phase 24 PBL 5 V differential phase C pulse input B pulse input 7 SG Ground 25 SG Ground General purpose analog input 0 i 8 AlO 26 AI GND Analog input ground Feedback speed General purpose monitor input 9 AO_1 analog output 1 27 AO GND Analog output TREF torque reference output ground OV OV 10 0 V for 24 V output 28 ere outp ERN 0 V for 24 V output a1 OV 0 V for 24 V output 29 2 0 V for 24 V utpu tput General purpose For 24 V General pipese For 24 V for outpu DO_2 output DO_2 DO_1 output DO_1 PcoN P action reference output General purpose ALMRST Alarm reset ouput DO 0 General purpose sk DO 4 output DO_4 ra 31 sv ON output DO_0 General purpose DO 5 General purpose Servo ON output DO_3 output DO_5 output DO_3 z SEN General purpose VS866 24 V SEN signal ve DI_3 input DI_3 ag DI_4 General purpose P OT positive overtravel input n or input DI_4 Negative overtravel i
175. esignation by address MA00100X X For subscripts add the subscript i or j after the register number Register designation by bit RESET1 A X Register designation by integer STIME H X Register designation by double length integer POS REF X Symbol Register designation by real number IN DEF X Designation Register designation by address PID DATA X Up to 8 characters X For subscripts add a period and the subscript i or j after the symbol which must be 8 characters or less Direct Designation Register number V T No Bit No Subscript i or j subscript can be designated Hex 0 to F when T B bit Register No given by V decimal hexadecimal Data type given by V T B W L F A Register type Drawing V S M Function V S M I O l O C Symbol Designation Symbol Symbolname Subscript p i or j subscript can be designated Required when using subscripts Delimiter between symbol name and subscript Register name Up to 8 characters X XXXXXXX Alphanumeric character or symbol Character or symbol Numbers cannot be specified at the beginning of a symbol name 6 4 Registers 6 4 4 Subscripts i and j Two subscripts i and j are used for modifying relay numbers and register numbers i and j have exactly the same function An example of each register data type is explained below 1 Bit Data with a Subscript When a subscript is attached to bit data the value of i or j is ad
176. est signal received by MP2200 until interrupt processing starts 70 to 120 ms 4 TI Time from when interrupt request signal is received until DWG interrupt process drawing execu tion starts Normal program execution Approx 90 to 170 ms T O command executed directly Approx 90 to 1 460 40 N ms N No of direct I O words Max 8 IMPORTANT e Coincidence output signal uses DO 00 Therefore DO 00 will be masked when 1 is set to fixed parameter No 9 Coincidence Detection Function Selection Actual signal outputs are not affected even if the register allocated to DO 00 is turned ON or OFF from the ladder program e Use counter status TIWOOOO 0 Bit5 to monitor coincidence detection signal outputs 4 52 4 9 LIO 01 and LIO 02 Module Counter Functions 3 PI Latch Function The PI latch function saves latches the current value to a memory register on the rising edge of an external sig nal Select either phase Z or a discrete input as the external signal A 4 Hardware latch Counter counting register v PI latch detection request 1 gt 1 us min External signal PA or phase Z 7 PI latch completed signal PI detection position PINT monitor 1 PI latch detection request Command setting OWOOOO 0 Bit 2 2 PI detection position monitor PI latch data ILOOOO 6 4 53 4 Module Specifications 4 9
177. f diagnosis Memory clear switch check Memory clear Copied from FLASH to RAM Normal operation Configuration Mode switch setting Configuration Mode Self configuration executing STOP switch check OFF ON Watchdog timer start User program stopped RUN indicator lit DWG A execution ladder program RDY indicator lit Background Online self diagnosis scan DWG L execution 7 Priority 6 5 6 6 6 Basic System Operation 6 2 3 Startup Sequence 1 Startup Self diagnosis The following operations are provided for startup self diagnosis e Memory RAM read write diagnosis e System program ROM diagnosis e Main processor CPU function diagnosis e Floating point unit FPU function diagnosis If an error occurs in the diagnosis the ALM and ERR indicators will blink the specified number of times 2 Online Self diagnosis The following operations are provided for online self diagnosis e System program ROM diagnosis e Main processor CPU function diagnosis e Floating point unit FPU function diagnosis If an error occurs in the diagnostic result the ALM and ERR indicators will blink the specified number of times 3 Self configuration 1 Self configuration eliminates the need to make settings for Module definitions making it possible to per form startup work easily and quickly for the MP2200 system Optional Modules are recognized and defi nition files a
178. f the LIO 01 Module SpecTicatons Digital Inputs Digital Outputs Pulse Input Indicators 16 inputs 24 VDC 4 1 mA combined sink mode source mode inputs DI 00 also used for interrupts DI 01 also used for pulse latch inputs 16 outputs 24 VDC transistor open collector outputs sink mode outputs DO 00 also used for coincidence outputs Phase A B Z inputs Phase A B 5 V differential input not isolated max frequency 4 MHz Phase Z 5 V 12 V photocoupler input max frequency 500 kHz Latch input Pulse latch on phase Z or DI 01 LD1 green LD2 green LD3 green LD4 green LD5 green LD6 green LD7 green LD8 green Rotary switch SWD 2595 XD 4 8 LIO 02 Module 4 8 LIO 02 Module 4 8 1 Outline of Functions The LIO 02 Module provides digital I O and pulse counter functions There are 16 digital inputs DI and 16 dig ital outputs DO source mode outputs for the digital I O function There is also pulse input PI channel for the pulse counter function I O is refreshed on a fixed cycle for the digital I O and pulse counter functions occur ring every MP2200 high speed and low speed scan The following diagram gives an outline of the LIO 02 Mod ule functions Interrupt input ADi 00 16 points Input Input port Q processing isolated DI gpn Latch 5 V 12 V ko Q 2 7 But 9 e
179. f the files or data is not saved the settings and changes will be lost the next time the power supply to the MP2200 is turned OFF 6 6 2 Setting and Changing the Scan Times Observe the following precautions when setting and changing the scan times e When setting the high speed and low speed scans set them so that they are larger than the maximum exe cution times Use the following equation as a guideline Scan setting Max execution time 2 0 2 x Scan setting 20 or more of the setting IMPORTANT e Ifa scan setting is close to the maximum execution time refreshing the displays on the MPE720 will be extremely slow and communication timeouts will occur If the maximum execution time exceeds the scan setting a watchdog time out error will occur and the MP2200 system will stop e Set the high speed and low speed scans to integral multiples of the MECHATROLINK communication cycle of the SVB 01 Module If you change the MECHATROLINK communication cycle be sure to check the scan time settings inroty e High speed and Low speed Scan Setting Example for the SVB 01 Module A e Set the high speed and low speed scans to integral multiples of the MECHATROLINK communication cycle e If you change the MECHATROLINK communication cycle be sure to check the scan time settings Setting Example The calculations are the same for low speed scans e For communication cycle 1 ms possible only when MECHATROLINK II is used and max execut
180. guration has been executed The line number is automatically set to 01 in the details section for the SVA 01 Module and motion registers are allocated as shown below e Motion Leading Register Number 8000 e Motion Ending Register Number 87FF paseit tno e oes E riole Configuration MP2 TSE 2200S MPZ 1 Select Rack Enable Disable BT or Disable 7 Fats Disable is Lg f m Contecder Fick 1 Fisck 2 Flack 9 Fisck a Sit Humber oo i Mocule Type CPU 01 2 1BF 01 Trais 6 39 6 Basic System Operation 6 5 4 LIO 01 Modules 6 5 4 LIO 01 Modules Details on definition information when self configuration is executed are shown below 1 I O Allocations Modules mounted in option slots are detected and input registers and output registers are allocated automatically Allocation is performed in ascending order from the Module with the lowest option slot number With LIO 01 Modules 48 words are allocated for both input registers and output registers Aooatons Out of the 48 words allocated to one Module the first word is automatically allocated to input registers Digital inputs Example 16 points If LIO 01 Modules are mounted in slots 1 and 2 digital inputs will be allocated in the following way LIO 01 Module mounted in slot 1 1W0410 LIO 01 Module mounted in slot 2 1W0440 Out of the 48 words allocated to one Module the second word is automatically allocated to output reg isters Digi
181. he Basic Unit 24 VDC power supply 4 Check the display Check that the LED indicators on the Basic Unit change as shown below RDY RUN RDY O RUN RDY RUN ALM ERR ALM O O ERR ALM OERR TX O O BAT TX O BAT TX OBAT ONotlit Lit x Flashing STOP Jb SUP INIT 5 Reset DIP switch ae Turn OFF the INIT and CNFG pins on the DIP switch SW1 on the TEST Basic Unit sw OFF ON IMPORTANT INIT Switch RAM data will be cleared if the INIT pin on the DIP switch on the CPU Module is turned ON and the power is turned ON Flash memory data is read when the INIT switch is turned OFF and the power is turned ON Therefore always save data to the MP2200 flash memory before turning OFF the power when writing or editing programs Refer to 3 1 6 Starting the MPE720 for information on saving data to flash memory Turning OFF Power after Executing Self configuration Do not turn OFF the 24 V power supply to the MP2200 after executing self configuration until the defini tions data has been saved to flash memory in the MP2200 If the power is turned OFF somehow before the data is saved to flash memory execute self configuration again 3 10 3 1 Outline 3 1 6 Starting the MPE720 This section describes the preparations for connecting the MPE720 to the MP2200 and the method for installing the sample program for the MP2200 1 MPE720 Startup Procedure
182. he Next button Found New Hardware wizard Welcome to the Found New Hardware Wizard This wizard helps you install a device driver for a hardware device To continue click Next s 4 24 4 4 CPU 02 Module 3 Select Display a list of the known drivers for this device so that I can choose a specific driver and click the Next button Found New Hardware Wizard R Install Hardware Device Drivers cN 4 device driver is a software program that enables a hardware device to work with Sy an operating system This wizard will complete the installation for this device oy MP2200 CPU 02 4 device driver is a software program that makes a hardware device work Windows needs driver files for your new device To locate driver files and complete the installation click Next What do you want the wizard to do Search for a suitable driver for my device recommended isplay a list of the known drivers for this device so that can choose a specific driver lt Back Cancel A message will appear asking where to find the driver 4 Insert the MPE720 setup disc into the CD ROM drive 4 5 Select CD ROM drives and click the Next button Found New Hardware Wizard Locate Driver Files ee Where do you want Windows to search for driver files Sy Search for driver files for the following hardware device Gy MP2200 CPU 02 The wizard searches for suitable drivers in its driver database on your computer and
183. he control box to reduce the influence of noise from the power lines If the I O signal lines and power lines are not separated properly malfunctioning may result Example of Separated External Cables Steel separator Power General Digital I O circuit control cir Signal cables cuit cables cables OOOO OOOO OOOO E Maintenance and Inspection Precautions A CAUTION Do not attempt to disassemble the MP2200 There is a risk of electrical shock or injury Do not change wiring while power is being supplied There is a risk of electrical shock or injury When replacing the MP2200 restart operation only after transferring the programs and parameters from the old Module to the new Module There is a risk of device damage m Disposal Precautions A CAUTION e Dispose of the MP2200 as general industrial waste CONTENTS Using this Manual iii Safety Information vi Safety Precautions vii 1 Outline of MP2200 1 1 Features 2 22 nee re re eee eee cence eee 1 2 1 2 Module Appearance mses aE at tt i ee ad Sets 1 3 1 24 Basic Unit s4 lt 220s 0c ai Ge see ee eee es ad sone cee sete sete since 1 3 1 2 2 Modules 2 scene ncmr nmr nines seh ccm m ere cress scrim 1 4 2 System Configuration 2 1 Syst
184. hock operational failure or burning of the MP2200 Do not attempt to modify the MP2200 in any way There is a risk of injury or device damage Do not approach the machine when there is a momentary interruption to the power supply When power is restored the machine may start operation suddenly Provide suitable safety measures to protect people when operation restarts There is a risk of injury vii Storage and Transportation A CAUTION Do not store or install the MP2200 in the following locations There is a risk 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 MP2200 during transportation There is a risk of injury or an accident E Installation A CAUTION Never use the MP2200 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 MP2200 or place heavy objects on the MP2200 There is a risk of injury Do not block the air exhaust port or allow foreign objects to enter the MP2200 There is a risk of element deterioration ins
185. ide an accident or fire Always mount the MP2200 in the specified orientation There is a risk of an accident Do not subject the MP2200 to strong shock There is a risk of an accident viii m Wiring A CAUTION 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 power supply of the specified voltage There is a risk of burning 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 MP2200 in the following locations There is a risk of device damage e Noise such as from static electricity e 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 E Selecting Separating and Laying External Cables A CAUTION e Consider the following items when selecting the I O signal lines external cables to connect the MP2200 to external devices e Mechanical strength e Noise interference e Wiring distance e Signal voltage etc Separate the I O signal lines from the power lines both inside and outside t
186. igma Win connection SigmaWin g None Selections Yes No No of retry Sets the number of retry stations stations Setting range 0 to 7 messages Automatically determined by the SigmaWin setting and the number of retry stations setting The results is displayed and cannot be changed Setting range 0 to 15 Number of slave stations SigmaWin Yes 1 No 0 e Communication cycle 0 5 ms Number of slave stations 6 No of retry stations SigmaWin e Communication cycle 1 ms Number of slave stations 15 No of retry stations SigmaWin Ifthe communication cycle is 0 5 ms the maximum number of retry stations is 5 Slaves The number of slave stations is calculated using the following equation Default Value Fixed value display only Fixed value display only No send bytes 16 bytes 16 bytes Communication Setting not required 1 ms cycle No of retry stations Setting not required messages Number of slave Fixed value display only stations 30 6 33 6 Basic System Operation 6 5 2 SVB 01 Modules e MECHATROLINK II 32 byte Mode e Master fem Default Value Baud rate Fixed value display only 10 Mbps No send bytes Fixed value display only 31 bytes Communication 0 5 ms 1 ms 1 5 ms or 2 ms 1 ms cycle Set whether or not there is a SigmaWin connection SigmaWin i None Selections Yes No No of retry sta Sets the number of retry stations
187. ing and Wiring 5 2 5 LIO 04 Module Connections b CN2 Connector Connections JAPMC 102303 Connector CN2 Pin No Input 16 p S 2 Input 17 P gt Input 22 Input 23 30 24 VDC Y H yomnen 6 5V o y Photocoupler Input 24 7 gt ji gt k gt Input 25 J 10 35 Input 30 X Input 31 gt Photocoupler Internal circuits Fuse Output 1 6D 37 __ 0 1 4 13 Output 17 38 Output 1 8 4 Output 1 ID 4 39 15 lt 16 lt gt gt 41 Output 20 Q Output 21 17 Output 22 gt 42 D o 43 Output 23 Q Fuse blown detection circuit lt 44 Output 25 See 20 Output 24 Sutpu oe Qutput 26 45 Output 27 46 eo 22 23 ee lt oui 28 48 24 Output 29 49 Output 30 Q l Output 31 Oo ke 5 2 Module Connections 5 2 6 218IF 01 Module Connections 1 Connectors The following diagram shows 218IF 01 Module connectors PORT 10Base T RS 232C Ethernet 2 Connector Specifications The following table shows the connector specifications Connector Model
188. ion program start stop and pause operations can be controlled using the ladder program to input these sig nals to the work register one higher than the one specified in the MSEE instruction For the ladder program inputs make sure the signals are in accordance with the signal type IMPORTANT The program will be executed if the program start request signal has been turned ON when the power is turned ON Take appropriate precautions the equipment may start moving depending on the application The following illustration shows the method of executing a motion program H a Motion program number External control signal eStart Pause Stop etc Motion management functions e Program start e Program pause e Program stop etc DWG H Motion program control gd ladder program MSEE MPM001 DA000004 DEND Program control signa N MSEE work register DWxxxxx Status DWxxxxx 1 Control signal DWxxxxx 2 Interpolation override DWxxxxx 3 System work number Note In this example xxxxx is 00000 MPMO01 MSEE work register address END Ladder program VEL a1 5000 b1 FMX 110000000 IAC 125 IDC T30 MOV a1 300 b1 MVS a1 200 b1 Motion program 6 3 User Program 4 Motion Program Status The first word of the MSEE work registers consists of motion program status which indicate the status
189. ion time is lt 0 8 ms High speed scan setting 2 1 25 x 0 8 1 ms High speed scan setting 1 ms 2 ms 3 ms etc an integral multiple of 1 ms or higher For communication cycle 1 ms possible only when MECHATROLINK II is used and max execution time is lt 1 4 ms High speed scan setting 2 1 25 x 1 4 1 75 ms High speed scan setting 2 ms 3 ms etc an integral multiple of 2 ms or higher For communication cycle 2 ms when MECHATROLINK I or MECHATROLINK II is used and max execution time is lt 0 8 ms High speed scan setting 1 25 x 0 8 1 ms High speed scan setting 1 ms 2 ms 4 ms etc 1 ms and 2 ms or an integral multiple of 2 ms or higher For communication cycle 2 ms when MECHATROLINK I or MECHATROLINK II is used and max execution time is lt 1 4 ms High speed scan setting 1 25 x 1 4 1 75 ms High speed scan setting 2 ms 4 ms etc an integral multiple of 2 ms e Never change the scan time settings when the Servo is ON particularly when an axis is moving i e when the motor is running Doing so may cause errors in motor rotation operations such as high speed rota tion e Always save any data that has been set or changed to flash memory 6 48 6 6 Setting and Changing User defined Files or Data 6 6 3 Setting and Changing the Module Configuration Definition Observe the following precautions when setting and changing the Module configuration definition e Always confirm that the mounted M
190. ional Module Optional Module 10Base T cross cable 100 m max 5 2 Module Connections 5 2 7 217 F 01 Module Connections 1 Connectors The following diagram shows 217IF 01 Module connectors PORT RS422 485 RS 232C RS 422 485 2 Connector Specifications The following table shows the connector specifications Connector No of Connector Model Name Name Pins Module Side Cable Side Manufacturer 17LE 13090 27 D2BC 17JE 23090 02 D8B RS 232C PORT DDK Ltd mee e ee Spin Osa ly 14 10114 3000VE 3 PREAS e 10214 52A2JL connector connector10314 52A0 008 Sumitomo 3M port 485 shell Limited 3 Cables 5 JEPMC W5311 03 RS 232C Cable JEPMC W5311 15 4 External Appearance of Cables for PORT Connector JEPMC W5311 00 C PE 1 PN LALI 5 51 5 Mounting and Wiring 5 2 7 217IF 01 Module Connections 5 Connector Pin Arrangement a PORT Connector The PORT connector is used to connect the MP2200 to computers and HMI devices via an RS 232C connec tion Pin signal Signal aoa g Description Num 9 Description Name Name OE E E sea ar 3 RO Reeves fe d Ca RS Requestiosed 9 ER Daear cs Ceariosmd b RS 422 485 Connector The RS 422 485 connector is used to connect the MP2200 to computers and HMI devices via an RS 422 485 connection ane Signal Description
191. ions 0100H Child drawing OO00H HOU Child drawing No Grandchild drawing OOyyH Hyy Grandchild drawing No Ladder Program STEP number of drawing that calls the ladder program function in Function Calling DWG SW00059 which an error occurred No 0 when there is an error in the drawing Ladder Program Function Calling DWG SW00058 No 8 2 System Errors cont d Register fe Error Data SW00076 to swo0079 Reserved by the system 8 11 8 Troubleshooting 8 2 4 System Register Configuration 3 Ladder Program User Operation Error Status The following tables list data available when a user operation error occurs in a ladder program Table 8 1 Ladder Program User Operation Error Status 1 Register sat DWG A Error Count SW00080 Count Error Code SW00081 DWG I Error Count SW00082 Count Error Code SW00083 Operation error code DWG H Error Count SW00084 See Table 8 3 Count Error Code SW00085 R Ibe t SW00086 Error code when an index error occurs sl la VENO SYS SW00087 SeeTable 8 4 DWG L Error Count SW00088 Count Error Code SW00089 Table 8 2 Ladder Program User Operation Error Status 2 Name Register Number Remarks DWG A DWG I DWGH DWG L Swo00110 Swo0126 Swo0142 SW00174 SW00111 Swo00127 Sw00143 SW00175 Error DWG number Seer caer SW00112 SW00128 Sw00144 SW00176 Parent Drawings FFFFH MERA eee SW00113 SW00129 SW00145 Swool77 Child drawing OOOOH HOD Child ees drawing
192. ions just as described in 3 2 2 Opera tion Right click the H06 drawing in the High Scan Programs Folder and select Open Tuning Panel ipae m ak r Liu 2 The Tuning Panel Window for the H06 drawing will be displayed 2 oo ina Fiat Basi EERE SE ff Input position and current value The details on the Tuning Panel Window display are shown in the following table Definition Value XXXXXXXXX 0000000000 2147483648 2147483647 usos N OFF OFF mm min 00000 030000 DL00010 H06 01 mm 000 000 999 999 ML30200 mm 00000 000 50000 000 ML30202 Axis 1 operation ready Axis 2 operation ready x SS gl gi QI QI SI 3s ojo 2 lt x lt Axis 1 current position Axis 2 current position PEE ommon Operation a Servo ON PB Alarm reset PB weeeeexee Phase control Electronic shaft A gi 4 a Electronic shaft start Speed setting motor rated speed 30000 mm min see Phase control Electronic cam wo Electronic cam start Main axis speed setting motor rated speed 30000 mm min Cam axis amplitude setting double amplitude XXXXX 00000 eee ese e ea fel n XX XXX XXXXX XXX 010 000 00500 000 EA 2 Cam axis main axis moving amount per cycle 3 53 3 System Startup 3 4 2 Operation 2 Confirming Operation Use the following procedure to confirm operation Turn ON the Servo t St
193. isters 4096 W Same as MP2200 1024 W w Memory Backup Flash memory M registers SRAM entire SRAM Program Data backed up by battery partes MP2200 backed up by battery 8 DI 1 also used for inter On board I O CPU rupts Not supported 4DO Module 36 Optional Module Data Type No of Program Language Instructions Suppored ne re poy S D gt Cc 2 Cc a N Q 2 a gt v N on D 2 2 D g Not supported 35 Optional Module slots Optional Module i PROFI DeviceNet EXIF AFMP CSIF Engineering Port RS 232C Optional Module LIO SVA SVB 218 217 3 Optional Module slots LIO SVA SVB 218 217 PROFI DeviceNet AFMP CSIF slots max M I Ethernet serial LIO SVA etc sup ported AFMP and CSIF 1 port on CPU ports Same as MP2200 can be added with Optional Module being developed 4 Module Specifications 4 3 4 Functions and Specifications cont d P2200 P2300 POZO Servo tuning must be Program considered together leader Supported Same as MP2200 Same as MP2200 with M II message transmissions Variable Set tings Monitor Supported Same as MP2200 Same as MP2200 ing Supported Same as MP2200 Same as MP2200 i Not supported Not supported Not supported pares Supported Same as MP2200 Not supported Remote API Supported Same as MP2200 Not supported Supported Same as MP2200 Same as MP2200 Optional Modules must be able to l
194. isuse ect ytes Object bytes Morti Average 240 bytes line R 2A0 bytes oon Source 50 bytes Same as MP2200 Language Object 285 b Source 50 bytes is ytes Object 190 bytes C Language ig considered for develop Same as MP2200 Memory Capacity Language Memory Load Capacity 4 3 CPU 01 Module cont d item o oO MP2200 MP2300 MP920 Data Trace 128 kW 32 kW x 4 Gr Same as MP2200 Same as MP2200 MF 2290 deen have battery backup Failure Trace None Same as MP2200 Same as MP2200 Eawe Trece Ladder Noe a 120 Same as MP2200 Same as MP2200 Approx 70 Same as MP2200 Same as MP2200 ooo Language C language ae considered for develop Same as MP2200 Not supported Motion API Approx 150 Same as MP2200 Not supported Provided by User Functions Created by 500 Same as MP2200 Same as MP2200 User System Supported Same as MP2200 Same as MP2200 Word Integer Supported Same as MP2200 Same as MP2200 Long Double Supported Same as MP2200 Same as MP2200 length Integer Real Number Supported Same as MP2200 Same as MP2200 i Supported Same as MP2200 Same as MP2200 i Register No s ipported Same as MP2200 Same as MP2200 Designation Symbol SameasMP2200 SameasMP2200 MP2200 Same as P2200 Same as P2200 MP2200 Designation Subscript CP Ladders Supported Same as MP2200 Same as MP2200 a M M Registers 64 64KW SameasMP2200 SameasMP2200 MP2200 32 32kW O S Reg
195. it Replace the battery YES Warning Classification alarm ALM indicator lit or blinking NO YES Fatal error Classification fatal error ERR indicator blinking NO Hardware malfunction watchdog timeout NO error Only ERR indicator lit Turn the STOP switch DIP switch 6 to OFF and turn ON the power again Online Stop Mode Only RDY indicator lit Hardware malfunction User program error Check SW00050 contents Watchdog timeout error YES User program error Refer to 8 2 3 User Program Error Processing Flow and check the Check the CPU error status SW00041 details 1 Operation error SB000418 Refer to 8 2 4 3 Ladder Program User Operation Error Status 2 I O error SB000419 Refer to 8 2 4 5 System I O Error Status location of the error Refer to 2 Indicator Details in 8 1 3 Indicator Errors for details on the meaning of indicators 8 2 System Errors 8 2 3 Processing Flow for a User Program Error 1 Processing Flow for a Ladder Program Error A serious failure has occurred if the ALM and ERR indicators on the front panel of the CPU Module are lit Place the MP2200 in Stop Status turn ON DIP switch pin 6 and investigate the problem Use the following procedures to check the error Check by Type of Serious Failure Check the contents of SW00050 Error Type to determine if the error is a system error or a user program
196. it Not lit Nor lit lit continues for longer than this the prob lem is a user program error or hardware Not a Not lit Not lit Not lit Drawing A executing failure Troubleshoot system errors Normal This status will occur for either of the User program stopped following Not lit Not lit Not lit Not lit Offline Stop Mode The program was stopped from the MPE720 The RUN switch was turned OFF Lie ie Not lit Not lit Not lit User program executing normally This status will occur during normal operation Not lit Not lit Not lit Not lit Serious failure Refer to 8 2 3 Processing Flow for a User Program Error Number of blinks for software error Address error read Address error write FPU error Illegal general command Illegal slot command Not lit Not lit Not lit Blink Not lit amp General FPU inhibited error ing Slot FPU inhibited error Error 10 TLB serious error bit 11 LTB mistake read 12 LTB mistake write 13 LTB protection violation read 14 LTB protection violation write 15 Initial page write No of blinks for hardware errors 2 RAM diagnosis error Blink Blink is A hardware error has occurred Replace Not lit Not lit 3 ROM diagnosis error f f A the Module 4 CPU function diagnosis error 5 FPU function diagnosis error Unde Unde Unde a Notlit B j Replace the battery fined fined fined o attery alarm Refer to Chapter 7 Maintenance and
197. l Z input a Pulse input input p processing 5 V differential g g A B input O PA 2 N Coinci dence in terrupt DO 00 16 points Output isolated DO gt processing Goure mode gt 4 8 2 LED Indicators and Switch Settings 1 External Appearance The following figure shows the external appearance of the LIO 02 Module LED indicators Switch 1 O connector 4 45 4 Module Specifications 4 8 2 LED Indicators and Switch Settings 2 LED Indicators and Switch Settings The LIO 02 Module status display LED indicators LD1 to LD8 change based on the SW1 rotary switch set tings The following table shows the ON OFF indicator display for DI and DO cator LD5 Normal operation Lit Error Not lit LD6 DI 08 to DI 15 status Lit when any DI is turned ON LD7 DO 08 to DO 15 status Lit when any DO is turned ON LD8 Pulse Z input Lit when phase Z is turned ON LD1 I input indicators When DI00 to DIO7 turn ON corresponding indicators LD1 to LD8 are to Green it LD8 I input indicators When DIO8 to DI15 turn ON corresponding indicators LD1 to LD8 are it EJ DO output indicators When DO00 to DO07 turn ON corresponding indicators LD1 to LD8 are lit DO output indicators When DO08 to DO15 turn ON corresponding indicators LD1 to LD8 are lit PI input Indicators LD1 Pulse A input Coincidence detec
198. l 5 V and 24 V outputs Pulse inputs 1 input x 2 channels phases A B C 5 V differential input pulse rate P 4 Mpps 16 Mpps for x 4 Analog outputs 2 outputs x 2 channels 10 to 10 V D A 16 bits bits CN1 Servo connector Connectors CN2 Servo connector CN3 24 V input ERR Red Conforms to EN 61000 6 2 and EN 55011 Group ClassA Power supply noise FT noise 2 Kv min for one minute Flectrical OP Noise Resis erating condi tance tions Ground noise impulse noise 1 Kv min for 10 minutes Radiation noise FT noise 1 Kv min for one minute Electrostatic noise air discharge method 8 Kv min 10 times 4 39 4 Module Specifications 4 6 4 Function Lists 4 6 4 Function Lists The following table shows the SVA 01 Module motion control functions Deis According to the torque unit selection parame Torque Reference Torque Reference Open Loop ter Speed Limit at Torque Reference Rated speed percentage designation 0 01 parameter parameter Speed Reference OpemEoop Moving Average Filter Time Con Positive Speed Limit Rated speed percentage designation 0 01 Negative Speed Limit Rated speed percentage designation 0 01 According to the speed unit selection parame ter According to the acceleration unit selection Acceleration parameter According to the acceleration unit selection Deceleration parameter Moving average or exponential acceleration Filter Type ae
199. l PT number 2 in the Communication Process Window to display the Logical Port Setting Window ee Pija 3 1 Outline 6 Ethernet Settings a Select Port Kind CP 218 in the Logical Port Setting Window and click the Detail button Lona Pet Seti x linda Pd e F m A Tereh in m Dai R m F oo Le b The CP 218 Port Setting Window will be displayed Select OFF for Default and enter the computer IP address in the ZP Address First field Leave the other items on the default settings Once the settings have been completed and checked click the OK button Cdl roi iF OF Esger Prat 10000 2 BBE I bazaga Alacervacd ter Porte T m Wro E n UDP Pot Curt 0 LDP Pop at TO ROO en Ce oe j c The Logical Port Setting Window will be displayed Click the OK button again The screen will return to the Communication Process Window Check that CP 218 has been allocated to the Logical PT num ber 2 Lae nii kbh Piaje 3 15 3 System Startup 3 1 6 Starting the MPE720 7 Saving Communication Port Settings Save the communication port settings These settings will be used as the communication port information whenever the communication process is started The procedure for saving the communication port set tings is shown below a Click File Save Communication Manager File Tool Control Modem Window x C The Information will be Saved Are You Ready Ce e 8
200. larm on the Tuning Panel Window will change to ON Use the following procedure to clear the alarm 1 Change the current value for Abort of Positioning to ON and then to OFF 2 Change the current value for Alarm Reset PB to ON and then to OFF INFO Actual Application Programs Programs must be created in actual applications to monitor and control registers that correspond to the signals and data listed 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 3 49 3 System Startup 3 3 3 Program Details 3 3 3 Program Details 1 H04 drawing The H04 child drawing manages and controls motion programs MPM programs P00113 H04 Main Program Positioning Operation Main Processing HHHH Positioning operation main processing HHHHH HHHH Main program startup sequence HHHHHHHHHH Operation start WORK Axis 1 motion command 0 Axis 2 motion command 0 Start request DB000010 DB000050 MB300010 MB300018 DB000210 0000 S E _ A 0000 NL 1 Holding Hold request DB000011 DB000211 0001 J 0005 NL 1 Operation reset Reset request DB000012 DB000212 0002 o 0007 NL 1 Alarm reset PB Alarm reset request MB300001 DB000215 0003 0009 NL 1 0004 oot Source DW00030 Dest DW00025 0005 ol Source 10000 Dest DW00022 ON COIL s000004 0006 EXPRESS ON a 0013 NL 1 ML30100 DL10 M
201. lash Memory Save sample programs that have been transferred individually to the MP2200 to the MP2200 flash memory using the procedure below 1 Right click the 2200SMPL Controller Folder and select File Transfer Other Flash Save Fike Panai alls fe itt ae Te eee nk e ten be ow T Lobolkr Type MPLS Kuriame Cascus Feshi tes 2 The Save Flash Memory Content Window will be displayed Select File Execute Pir Yew Pei mu OPT TUT Tun upam Chagall ge Sliven 3 31 3 32 3 System Startup 3 1 6 Starting the MPE720 3 A message appears to confirm that the CPU will be stopped Click the Yes Button 3 Required bogies the CPU babra srra bo Aash Cat ho cing the AT Se 4 A confirmation message will be displayed Click the Yes button Flash Memory Save in Flash Memory OE _xe 5 A message will appear when the save has been completed normally Click the OK button Flash Memory E3 Completed normaly 6 The Save Flash Memory Content Window will be displayed Select File Exit ave aah erry Cohen mU oD ie el 3 1 Outline 12 All Program File Dump Execute an All Program File Dump to back up to the computer module configuration definitions self configured by and programs edited by the MP2200 1 Right click the 2200SMPL Controller Folder and select File Transfer All File Transfer All Program File Dump CPU HD Wylde ramps Be i Ses Tet hee G
202. lder using the procedure below Example Folder name YESAMPLE 1 Right click the MP2200 Group Folder and select New Order Folder J alti ai Re fi See Tol hee Hem ao L 3 EE M oe es i 2 Enter the order folder name in the Make New Folder Window and click the OK button The order folder name must be 8 characters or less x Oh ce Lge Eeg Ca a 3 The new YESAMPLE Order Folder will be created Double click the MP2200 Group Folder or click the button to display the YESAMPLE order folder lB x Be fab Gee Toe be E H L rie M a P ki hd q g roma F225 a ar 6 Creating a Controller Folder Register the new controller to be used to create the program using the procedure below Controller name 2200SMPL Controller type MP2200 Create a controller folder using the procedure below 1 Right click the YESAMPLE Order Folder and select Create New Folder Controller Folder ainia Ta pii See Tai H Hem e 1 FE Mm oe a a 3 18 3 1 Outline 2 Set the Controller Name and Controller Type shown below and click the OK button Controller name 2200SMPL Controller type MP2200 Oded 3 A new controller folder 2200SMPL will be created Double click the YESAMPLE Order Folder or click the button to display the 2200SMPL Controller Folder LS iti x Te pi Gss imi Hp isn oe te el a 7 Logging On Online Log on onlin
203. le VO Counter Monitor Information from LIO 01 or connector Parameters 32 words 7 L 0 02 Module to MP2200 Ss gestae e J e Operation status NI e Incremental pulse 5 V e Current counter value differential e Latch data etc D interface m 7 3 o Q Q Pulse input a A sl Counter Setting Taga z Commands from MP2200 to Parameters 32 words g LIO 01 or LIO 02 Module m gt 5 Phase Z ee ers N e Operation mode 5 or 12 V DEE at Preset count data voltage 7 Coincidence detection interface setting eto i Latch input DI 01 Coincidence detection output DO 00 gt DI 00 interrupt input Counter Fixed Parameters Conditions settings for counter function e Pulse A B signal polarity selection DRR gt e Pulse counting modes T e Other function selection 4 48 4 9 LIO 01 and LIO 02 Module Counter Functions e Pulse Counting Modes The following pulse counting modes can be selected using the setting of the Pulse Counting Mode counter fixed parameter Pulse Counting Mode Polarity Up Count Forward Down Count Reverse Positive Pulse A Pulse A logic Pulse B Pulse B Pulse A Pulse A Negative logic Pulse B Pulse B Positive Pulse A Pulse A logic Pulse B Pulse B Pulse A Negative Pulse logic Pulse B Pulse B Positive Pulse A Pu
204. lowing table shows the LED indicator display if a malfunction is detected by the 218IF 01 Module during an offline self diagnostic test Offline diagnostic tests are executed if the TEST switch is set to ON the INIT switch is set to OFF and the power is turned ON E s Item peta Flash Checksum A DE E memory checksum error has been a Error detected twice led ki SRAM Error A SRAM hardware error has been detected GB led Not lit Not lit Not lit Rea 5 Rea Frea 4 Frea Blinki Ha CPU Interface Error A CPU data transmission error has been detected Communication Error A communication A communication eror has been detected has A communication eror has been detected detected Depends on status on status Watchdog Error A watchdog timeout error has been detected Indicates the number of blinking 4 64 4 11 218IF 01 Module 4 11 3 Hardware Specifications 1 Module Specifications The following table shows the hardware specifications of the 218IF 01 Module Specifications TAPMC C 2300 a RS 232C 1 port PORT Communication Ports Ethernet 1 port 10Base T Module status LED indicators Indicators RUN green ERR red STRX green COL red TX green RX green INIT 25x95 XD 2 Communication Specifications a RS 232C communication Specifications The following table shows the RS 232C communication specifications 4 Spectators Spin Dab Gama
205. lse A Fixed on LOW or HIGH 4 logic Pulse B Fixed on LOW or HIGH Pulse B Pulse A Pulse A Fixed on LOW or HIGH Negative logic Pulse B Fixed on LOW or HIGH Pulse B UP DOWN logic Pulse B Fixed on LOW or HIGH Pulse B ee Positive Pulse A Pulse A 5 Ata logic Pulse B Pulse B Pulse A Negative logic Pulse B Positive Pulse A Pulse A logic Pulse B Pulse B Pulse A Pulse A Negative logic Pulse B Pulse B Positive Pulse A Pulse A logic Pulse B Pulse B Pulse A Pulse A Negative i vf logic Pulse B Pulse B Positive Pulse A y Pulse A Fixed on LOW or HIGH logic g Pulse B Fixed on LOW or HIGH Pulse B v x2 Pulse A Pulse A Fixed on LOW or HIGH Negative y 4 49 4 50 4 Module Specifications 4 9 2 Counter Function Details 4 9 2 Counter Function Details 1 Pulse Count Function The count is incremented and decremented based on the pulse A and pulse B inputs The following functions are supported when specified in the counter setting parameter e Count prohibit Prohibits counting e Count preset Forces the counter value to change e PI latch detection Saves the counter value when an external signal is input e Coincidence detection Outputs an external output signal when the counter setting parameter Coincidence Detection setting and the c
206. m When the external input signals B00000 to IB00005 connected to the MP2200 are input to DW00001 second word of MSEE work registers as motion program control signals using the ladder program shown above motion program operations such as run stop and pause can be performed by the system motion management functions lt q EXAMPLE gt The following table shows an example of external input signals required to create the minimum ladder program for running motion programs on the MP2200 External Signal External Signal Name i Motion Program Control Signal Address 800000 00007 Progam pause request IB00002 Program stop Program stop request 800005 6 18 6 3 User Program 6 3 4 Functions Functions are executed by being called from a parent child or grandchild drawing using the FSTART instruc tion Unlike child and grandchild drawings functions can be called from any drawing The same function can also be called simultaneously from drawings of different types and different hierarchies Moreover a function that was previously created can also be called from another function The following advantages can be obtained by using functions e User programs can be easily divided into parts e User programs can be easily prepared and maintained Functions are divided into standard system functions which are provided by the system and user functions which are defined by the user 1 Standard System Functions
207. m en pee Name Pins Module side Cable side bers e Connector body 10136 3000VE Servo interface e Shell JEPMC W2040 00 connector 1 36 0 MART Cee For the SGDH and connector AiScrew lockingAj SGDM SGDS 2 10336 52F0 008 AiOne touch lockingAj The CN3 connector is included with the SVA eA RULERS CNB 2 BL3 5 2F AU Weidmuller 0 Module but a cable nector is not included The user must connect the cable d Connection Procedure for 24 V Input Cable Use a 0 2 mm to 0 51 mm AWG24 to AWG20 twisted pair cable Use the following connection procedure 1 Strip the wire for approximately 6 5 mm Strip approximately 6 5 mm from the end of the wire i Core 6 5 mm N Sheath 5 18 5 2 Module Connections 2 Tighten the wires with the screws Insert the wire into the opening and then tighten the screws to a tightening torque of approximately 0 3 to 04 N m io Ns side pin number 1 Pin No Signal Name z i e Connector Pin Arrangement CN1 and CN2 The following figure shows the 36 pin arrangement of CN1 and CN2 o E z 1 SER oc a Qz co i o a eg Arrangement from Connector Wiring Side on Cable Side 5 19 5 Mounting and Wiring 5 2 3 SVA 01 Module Connections The following figure shows the pin nam
208. m s s esate Veet Peete onne te 3 22 user program 6 7 user settings initialization 3 8 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover MANUAL NO SIEP C880700 14A Printed in Japan August 2005 04 09 Revision number Date of Date of original printing publication sai Revision i i Printing date Section Number Revised Contents September First edition 2004 August 2005 Revision Address April 2006 I g Based on Japanese user s manual SIJPC88070014B lt 2 gt 1 available on the Web October 2006 Based on Japanese user s manual SIJPC88070014C lt 4 gt 0 printed in October 2006 New section added CPU 02 Module 2 ti 2 7 2 Revision Accessory battery model ZZ K000064 JZSP BA01 Machine Controller MP2200 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 1 847 887 7000 Fax 1 847 887 7370 YASKAWA ELETRICO DO BRASIL COMERCIO LTD A Avenida Fagundes Filho 620 Bairro Saude Sao Paulo SP Brazil CEP 04304 000 Phone 55 11 5071 2552 Fax 55 11 5581 8795 YASKAWA ELECTRIC EUROPE GmbH Am Kronberger Hang 2 65824 Schwalbach Germany Phone 49 6196 569 300 Fax 49 6196 569 312 YASKAWA ELEC
209. mbers are used for floating point number operations JK 1 23456 DF00100 1 23456 DFoo102 s n DF00104 30 0 0 5 DFoo200 TAN DF00202 45 0 1 0 Note Numbers in parentheses are the data stored in the registers current value displays 5 Addresses Addresses are used only for pointer designations MF00200 to MF00228 Used as a Parameter Table Error input MF00200 PID MA00200 MEF00022 Parameter table PID output start address MW00200 to MW00204 Used as a Parameter Table Input value MW00200 LAG MA00200 MW00022 Parameter table LAG output start address 6 4 Registers 6 4 2 Types of Registers 1 Registers in Drawings The registers shown in the following table can be used in all drawings aa Charac System registers are provided by the system System SB SW SL SFnnnnn SW00000 to Register number nnnnn is expressed as a registers SAnnnnn SW08191 decimal number When the system is started SW00000 to SW00049 are cleared to 0 Data registers are shared by all drawings MW00000 to Used as interfaces between drawings Regis MW65534 ter number nnnnn is expressed as a decimal number MB MW ML Data registers MFnnnnn MAnnnnn Registers common to all drawings Registers used for input data Register num ber hhhh is expressed as a hexadecimal number Input IB IW IL IFhhhh TW0000 to registers IAhhhh IW7FFF Registers used for output data Regis
210. mbined sink mode source mode inputs DI 00 01 16 and 17 also used for interrupts Digital Inputs Simultaneously ON Inputs 16 points 8 inputs common At ambient temperature of 55 C and 24 VDC 10 points 5 inputs common At ambient temperature of 55 C and 28 8 VDC Refer to the following characteristics graph for details Digital Outputs ous g P 24 VDC transistor open collector outputs sink mode outputs RUN Indicators green ERR red Dimensions mm 125 x 95 H x D Mass Number of ON Inputs vs Ambient Temperature Characteristic Points 32 inputs 28 C 32 inputs 41 C Input voltage 24 VDC Input voltage 28 8 VDC 16 inputs 55 C No of ON inputs 10 inputs 55 C Ambient temperature 4 62 4 11 218IF 01 Module 4 11 218IF 01 Module 4 11 1 Outline of Functions The 218IF 01 Module has an RS 232C serial interface and an Ethernet interface mounted in it Personal comput ers HMI devices and controllers manufactured by other companies can be connected to the 218IF 01 Module via the PORT or 10Base T connectors Communication modes include message communication and engineering communication and MEMOBUS MELSEC and non procedure protocols are supported Refer to the MP2300 Machine Controller Communication Module Users Manual Manual No SIEPC88070004 for details 4 11 2 LED Indicators and Switch Settings 1 External Appearance The following figure shows the external appearance of th
211. method Previous method Saisisinja eas a ae aia ae a aaa Spa ais Sel Bee he Controller Clutch Differential gear 2 Program Outline The H06 02 drawing ladder program controls the operation The two axes rotate synchronously according to the entered speed settings The following configuration is used in this example Axis 1 Roller axis Master axis 2 Cam axis Slave axis Performs cosine cam pattern operation in refer ence to the master axis e Cam pattern data is generated by the L06 drawing ladder program Refer to 3 5 3 Program Details for details on the sample program Parent Drawing Child Drawing Grandchild Drawing H drawing H06 Drawing H0602 Drawing Phase control SEE SEE Electronic shaft Name H06 Name H0602 e Axis 1 Electronic cam e Axis 2 END High speed scan IMPORTANT This program is solely for the purpose of describing the MP2200 system startup Care must be taken because actual applications will differ This program 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 3 57 3 System Startup 3 5 2 Operation 3 5 2 Operation 1 Tuning Panel 1 Use the Tuning Panel Window for the H06 drawing to check operations just as described in 3 4 2 Opera tion Right click the H06 drawing in the High Scan Programs Folder and select O
212. mioma Lath g Diaki Thabh _ Scan Tre irg 3 BE CITE E yene P L This Daia Toce Eai 2 Opening the Motion Fixed Parameter Window The Engineering Manager Window will open and the Module Configuration Window will be displayed inside that a Point to 02 in the Controller section of the Module Configuration Window b Double click 1 in the Module Details section Pe Yee On eke Hai DHS PMR UMERE i m tebie esta ASA T a Point 3 29 3 System Startup 3 1 6 Starting the MPE720 3 Setting the Fixed Parameters for Axis 1 Display the SVB Definition Window in the Engineering Manager Window Check that the Fixed Parame ters Tab Page has been selected a Select Axis I from the list of axes at the top left of the SVB Definition Window b Select mm as the Reference Unit for parameter 4 on the Fixed Parameters Tab Page prcreringy denam EEEEEEeeeeee Fe Edt bss Waima Halo Oa ah eB WHEREIN EnA T TE ZIMAH HFZZN rE ioi oH 100 dibbi H TO E raf Uray 1 fee ree 3700 Crt Uri FJa a5964 7 Crai lrn 4 Saving Fixed Parameter Settings Select File Save in the Engineering Manager Window 5 Setting and Saving Axis 2 Fixed Parameters Referring to steps 3 and 4 in this procedure select Axis 2 and make the settings the same way as for axis ifs 3 30 3 1 Outline 6 Closing the Engineering Manager Window Select File Exit in the Engineering Manager Window 11 Saving to F
213. mode will be maintained The ALM indicator lights to indicate the occurrence of the error For details on the error content and the action to be taken see Chapter 8 Troubleshooting 6 1 2 Offline Stop Mode The execution of the user program is stopped and all outputs are reset i e 0 is output for all digital outputs The RDY indicator will light and the RUN indicator will go OFF The MP2200 will be in the offline stop mode in the following cases e When a serious failure such as a watchdog timeout error has occurred e When a STOP operation has been performed from the MPE720 When the STOP switch has been set to ON user program stopped and the power has been turned ON The above case applies when a user program error occurs or when there is a hardware fault in the MP2200 For details on the error content and the action to be taken see Chapter 8 Troubleshooting 6 2 Startup Sequence and Basic Operation 6 2 Startup Sequence and Basic Operation This section explains the startup sequence and basic operation of the MP2200 The methods for setting the DIP switch the types of self diagnosis and the indicator patterns are also explained 6 2 1 DIP Switch Settings The DIP switch on the CPU 01 Module is used to control the startup sequence As shown below there are six pins on the DIP switch The function of each pin is given in the following table STOP SUP INIT CNFG MON TEST OFF ON Switch si Default Operating M
214. n detection 24V 4709 ema Output x 28 register i gt EN ar i m L v 33 kQ I I I I OV 33 KQ ee eis 024 Digital Output Circuit Sink Mode Output 5 44 5 2 Module Connections 3 LIO 04 Module Connection Examples a CN1 Connector Connections JAPMC 102303 5t VDG Connector CN1 gar Pasa Pin No Y E yen 1 4 Input 0 2 Input 1 27 I j 4 p Input 6 5 Input 7 30 5V 24 VDC ed ee Vv i i 2 7 Yy aje yommon S 6 Sere Photocoupler 5 poor a nd 5 6 kQ 4 Input 8 X T 5 Input 9 32 Fuse e gt 12 Output 0 Q l 37 J Output 1 SS l Input 14 10 5 Output 2 Input 15 _35 put E D 38 Output 3 Q 4 39 A Photocoupler 24 VDC pe 15 e H me 16 J Output 4 K lt y 41 Output 5 17 Output 6 Q 4 42 Output 7 Q eo amp 43 amp Fuse blown detection circuit Output 8 19 K p Q 44 Output 9 utpu T 20 Output 10 QD Output 11 45 K utpu Q 4 46 A 22 24 VDC 23 Output 129 4 48 Output i ay l 24 Output 14D 49 Output 1565 ao 5 45 5 46 5 Mount
215. n module is not defined or not mounted 3 The security function is not provided for program transfers with the Compact Flash in the CPU software version 2 41 The security function will be made available in April 2005 The procedure for batch saving to the Compact Flash is as follows 1 Confirm that the CARD LOAD and SAVE of the CPU 02 Module s SW2 are CARD set to OFF OAD 2 Insert the formatted Compact Flash into the Compact Flash slot on the CPU 02 Usai Module with the power supply ON ore oN 3 Turn the CARD switch to ON The PWON LED indicator lamp will light up 4 Turn the SAVE switch to ON The batch save will start and the CARD LED indicator lamp will light up When a batch save is com pleted the CARD LED indicator lamp will go out Note Ifthe operation fails the ALM LED indicator lamp will light up and the error will be reported to the system register SW00658 Refer to d Compact Flash Related System Registers in 4 4 4 Compact Flash Interface 1 Specifications Executing batch save again or restarting the MP2200 will extinguish the ALM LED indicator lamp How to Input Data from the Compact Flash to the MPE720 How to store the applications that are saved as a batch in the Compact Flash into the MPE720 Ver 5 3B or later is as follows 1 Log on from off line and open the PLC folder where the data is saved as a batch 2 Select File Transfer Other From CF Card to MPE720 S File Edit View To
216. n the Optional Mod ule will be visible from the gap in the cover Hook the round knob on the battery cover shown in the dia gram into the notch in the Optional Module Hold the center of the battery cover as shown in the following diagram Push the battery cover down and out rotating from the round knob to disconnect the Module and mounting base connectors and then pull the Optional Module forward fa k ggo Me BET p 4 Pull out the Optional Module Hold the Module on the top and bottom and pull it out straight Hold the edges of the Module and avoid touching the components on the Module Put the removed Module into the bag that it was supplied with and store it in this bag 5 1 Handling the MP2200 3 Installing Optional Modules 1 Insert the Optional Module Hold the top and bottom of the Module to be installed Guide rails are visible at the top and bottom of the Option Slot as shown in the above diagram Line up the Module with the guide rail and insert the Module straight The FG bar on the inside bottom of the Unit Case may be damaged if the Module is not inserted straight 2 Mount on to the mounting base Once the Optional Module has been completely inserted place your hand on the front face of the Optional Module and push hard until the Optional Module has been inserted into the mounting base connectors The front face of the Optional Module and the hook will be aligned when the Optional Module has been
217. n005 Parameter Initialization Screen e If the display is not switched and NO OP is displayed in the status display the Write Pro hibited Setting Fn010 0001 is set Check the setting and reset Press the Key to initialize the parame ters Parameter Init will blink during initialization When initialization has been completed Parameter Init will stop blinking and the status display will change as shown below BB gt Done gt A 941 Note A 941 is a warning to indicate that the power must be cycled for a parameter that has been changed Cycle the power after initializing the parameters MODESET e Press the lt Key if you do not want to initialize parameters The display will return to the Utility Function Mode main menu 3 9 3 System Startup 3 1 5 Initializing the System 4 Executing MP2200 Self configuration Execute self configuration to automatically configure the Optional Modules mounted to the Basic Unit and the devices connected to the MECHATROLINK This section explains the method for executing self configuration The power to X IIT SERVOPACKs has already been turned ON prior in this procedure 1 Turn OFF the power Turn OFF the Basic Unit 24 VDC power supply STOP SUP Re INIT 2 Set DIP switches T Turn ON the INIT and CNFG pins on the DIP switch SW1 on the TEST Basic Unit swi OFF ON SA 3 Turn ON the power Turn ON t
218. nction that automatically detects devices connected to MECHATROLINK and sets the required parameters The application program converter can utilize your previous software assets with their accumulated data banks of specific knowledge to improve the system further 4 Compact The mounting area has been reduced to half that of the MP920 1 2 Module Appearance 1 2 Module Appearance 1 2 1 Basic Unit The following figure shows the external appearance of a Basic Unit er o ee LZ MP2200 MBU 01 CPU 01 218IF 01 LIO 01 LIO 01 LIO 02 2601F 01 217IF 01 O wO Oral wO Om wO Ous w O Ou w Qusl wO Qm wO wO Om mO Oca O Que 2O Ouse O Ouel om 7 Sr Om nO Or A wO Ou wO Om wO Qw ie S wO Que wO Qw INT Ra B ES LI vO YW YASKAWA 1 Outline of MP2200 1 2 2 Modules 1 2 2 Modules The following figures show the external appearance of the Modules LED indicators DIP switch LED indicators Switch I O connector LED indicators I O connector 1 4 LIO 04 LED indicators DIP switch Switches station address setting MECHATROLINK connector MECHATROLINK connector LED indicators Switch 1 O connector
219. nd Switch Settings 1 External Appearance The following figure shows the external appearance of the SVA 01 Module LED indicators 5 SVA 01 run OErr pm Servo connectors 24 V input connector II iI e 28 m 3 2 Indicators The following table shows the indicators that show the operating status of the SVA 01 Module and error informa tion Indicator Name Significance When Lit me on control microprocessor is operating normally RUN O O ERR ot lit during error ERR Red Lights blinks for failures Not lit during normal operation 4 6 SVA 01 Module 4 6 3 Hardware Specifications The following table shows the hardware specifications of the SVA 01 Module 6 inputs x 2 channels source mode sink mode inputs 24 V 4 3 mA DI _0 General purpose input ALM DI_1 General purpose input RDY Digital inputs DI_2 General purpose input ZERO External latch signal input DI_3 General purpose input DI_4 General purpose input DI_5 General purpose input EXT External latch signal input 6 outputs x 2 channels sink mode outputs 24 V 100 mA DO_0 General purpose output SV_ON Servo inter DO_1 General purpose output ALM_RST face DO _2 General purpose output PCON Used as the C SEL Digital outputs control mode select signal DO _3 General purpose output 4 DO _4 General purpose output DO_5 General purpose output SEN signa
220. ng A child drawing is called from a parent drawing and a grandchild drawing is called from that child drawing This is called the hierarchical arrangement of drawings Each processing program is prepared with the parent drawing child drawing grandchild drawing hierarchy as shown below Parent drawing Child drawing Grandchild drawing User functions DWG X DWG X01 Dwe xo1 01 DWG X01 02 FUNC 001 DWG X01 99 FUNC 006 DWG Xnn FUNC 032 FUNC 064 Note Replace X with A H or L DWG notation DWG X YY ZZ Eoo Grandchild drawing number 01 to 99 Child drawing number 01 to 99 6 Type of parent drawing A H or L DWG X 00 Operation error processing drawing A H or L 6 9 6 10 6 Basic System Operation 6 3 2 Execution Control of Drawings 4 Execution Processing Method of Drawings Drawings in the hierarchy are executed by the lower level drawings being called from upper level drawings The execution method is shown below using DWG A as an example System program starts when the execution condition is established v Parent drawing Child drawing Grandchild drawing DWG A DWG A01 DWG A01 01 SEE A01 Pir 4 SEE A01 01 a oa Functions FUNC 001 FUNC 001 a DEND DWG A01 02 SEE A01 02 DEND FUNC 001 D
221. ng Models and Peripheral Devices ghapter 1 Applicable Overview of the MP2200 Cheplend Applicable System Configuration Chapter 3 Applicable System Startup Studying T F i Maintenance Specifications Designing Installation Trial and Chapter a and Ratings the System and Wiring Operation Inspection Chapter 4 f 7 Applicable Applicable Applicable Applicable Module Specifications Shapier 5 a Applicable Applicable Applicable Mounting and Wiring Chapter S Applicable Applicable Basic System Operation Chapter 7 Maintenance and Applicable Inspection Chapter 8 Applicable Applicable Troubleshooting E Visual Aids The following aids are used to indicate certain types of information for easier reference IMPORTANT Indicates important information that should be memorized Indicates supplemental information A Q 7 lt q EXAMPLE gt Indicates application examples Describes technical terms that are difficult to understand or appear in the text without an explana tion being given TERMS E 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 e S ON S ON P CON P CON E Copyrights e MECHATROLINK is a trademark of the MECHATROLINK Members Assciation e DeviceNet is a registered trademark of the ODVA Open DeviceNet Venders
222. nic Cam Mode HHHHHT Axis 2 phase Operation reference generation disabled DB000000 0B80851 0007 _ Cam operation Zero speed reference DB000003 MB300008 e HAHAH Master axis speed reference generation HHHHHHHT Master axis linear acceleration deceleration parameter settings parameter settings 0008 EXPRESSION z 0025 NL 1 DB000200 true DB000201 true DF00022 30000 0 DF00024 10 0 DF00026 10 0 Master axis speed settings Operation reference DB000000 0009 STORE a 0026 NL 1 Source DLO0010 Dest DF00012 3 5 Sample Program 4 Phase Control with an Electronic Cam P00122 H06 02 Main Program Phase Control 2 Electronic Cam Processing Operation reference DB000000 0010 STORE a 0028 NL 1 Source 0 000000E 000 Dest DF00012 0011 LAU z ME Input DF00012 Parameter DA00020 Output DF00040 Operation reference DB000000 Axis 1 speed reference setting p12 sine STORE Zero speed Source DF00040 DB000003 Dest 0L8010 Zero speed Zero speed DB00020A DB000003 0013 0034 NL 1 HHHH Slave axis control circuit HHHHHHHHT FHHHHHHHHH Electronic cam phase generation HHHHHHHH Cam operation reference NB300008 0014 STORE 0030 Source 00000 Dest DL00066 Master axis position FB previous value 0015 STORE a 0038 Source 1L8016 Dest DL00060 0016 SUBX a 0039 SourceA DL00060 SourceB DLO0062 Dest DLO0064 Master axis position FB previous value 0017 L STORE STORE Nes Source DL
223. nit a Base Unit with AC input Power Supply e p J MP2200 meuo ai POWERO k Sar A 4 e aot He qa _ z z iz 2 o EQ EAA blll y b Base Unit with DC input Power Supply n a eis Ses J MP2200 meu o2 a a Sr POWERQ i w ie Ef r y BATT 7 LR l I O F IL eca O O OLLIE 3 X 2 Indicator The LED indicator that displays the status of the power supply is detailed in the following table Name POWER a supply is operating nor 4 5 4 6 4 Module Specifications 4 2 3 Hardware Specifications 4 2 3 Hardware Specifications The following table shows the hardware specifications of the Base Unit One Rack Configuration 1 slot for CPU Module Slot Configuration 8 slots for Optional Modules including slots for Expansion Modules Four Rack Configuration 9 slots for Option Modules because a CPU Module is not mounted to Racks 2 3 and
224. nput 16 24V 24 V output m Pa 34 24V 24 output a eneral purpose 3 47 DIO input DI_o mm Lt a ese DI 2 x General purpose SVALM Servo alarm input General purpose SRDY Servo delay input 18 zero Nput DI_2 Popo gel DLS input DI_5 HOME Ls ZERO HOME LS input EXT DEC EXTIDEC signal input Note 1 W Inputs signals with a latch function 2 X Signals that can be used as general purpose I O signals only in general purpose I O mode In normal operation mode the SVA 01 uses these as system I O NS Either 5 V or 24 V can be selected for the SEN signal Connect pin 20 or pin 32 according to the application Pin 20 5 V INFO f 7 is connected in the standard cable f Cables The following standard cables are available for use with the SVA 01 Module These cables are used to con nect the SVA 01 Module to SERVOPACKs overtravel limit switches and other machine connections Table 5 1 Cables Applicable SERVOPACKs Length SGDA OOOS F SGDB OO No standard cable is available i Refer to the following pages for details on these cables 5 20 5 2 Module Connections g SERVOPACK Connection Cables for SGDA OOHOS e Model No standard cable is available Prepare a cable referring to the following cable connections diagram e Cable Connections Diagram Analog input ground
225. ns and registers will all be cleared e Executing Self configuration for Additions and Changes CNFG switch ON INIT switch OFF Self configuration is executed for Optional Modules and network devices that have been added or changed Make sure that Modules with existing definition files are connected when self configuration is executed Only definition data for Modules that have been added or changed will be overwritten CNFG switch ON gt Turn ON the power INIT switch ON No CNFG ON INIT ON The RUN indicator blinks during execution of self configuration The ERR indicator lights if an error occurs during self configuration Yes y Self configuration processing yeeo Use the MPE720 to check and change definition files Writes to flash memory using the MPE720 Saves to flash memory CNFG switch OFF INIT switch OFF flash memory startup Turn ON power supply again 6 29 6 30 6 Basic System Operation 6 5 2 SVB 01 Modules 6 5 2 SVB 01 Modules Details on definition information when self configuration is executed are shown below 1 Module Configuration Definition The following illustration shows a Module configuration definition example when SVB 01 and 218IF 01 Mod ules have been mounted to the MP2200 Option Slot and self configuration has been executed Fn alti x Ele View Onder Window tie E odule Configuration MG MPF APPS
226. nterface 4 64 Ethernet settings 3 15 EXIOIF Module connectors 5 61 flash memory saving to 3 31 function registers 6 24 functions 6 7 6 19 functions and specifications CPU 01 Module 4 11 G grandchild drawings 6 7 group folders creating 3 17 H H drawings 3 40 6 7 H01 drawing 3 41 H02 drawing 3 42 H02 01 drawing 3 43 H02 02 drawing 3 45 H06 01 drawing 3 55 H06 02 drawing 3 60 handling MP2200 5 2 hardware specifications 217IF 01 Module 4 69 218IF 01 Module 4 66 260IF 01 Module 4 72 261IF 01 Module 4 76 Base Unit 4 7 CPU 01 Module 4 10 EXIOIF Module 4 78 LIO 01 Module
227. ntial gear SERVO Phase synchronization gt PACK mechanism i 1 1 i Servo H 1 motor Motor 1_______ i H 1 Wiad Bl bs si ei Sal Sab as cape Gb ha RAGES aca A wat ph a di bot ao E J fe ee 2 eg got A A 1 1 1 Moving section i i 1 1 G2 G2 No 1 roll No 2 roll 2 Program Outline The H06 01 drawing ladder program controls the operation e The two axes rotate synchronously according to the entered speed settings The following gear ratio is set in this example Axis 1 No 1 roll Axis 2 No 2 roll 1 1 Refer to 3 4 3 Program Details for details on the sample program il Parent Drawing Child Drawing Grandchild Drawings H Drawing H06 Drawing H06 01 Drawing eer Hose Phase control SEE SEE Electronic shaft Name H06 Name H06 01 e Axis 1 e Axis 2 END END END High speed scan IMPORTANT This program is solely for the purpose of describing the MP2200 system startup Care must be taken because actual applications will differ This program 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 3 52 3 4 Sample Program 3 Phase Control with an Electronic Shaft 3 4 2 Operation 1 Tuning Panel 1 Use the Tuning Panel Window for the H06 drawing to check operat
228. nting to DIN Rail There are two types of DIN rail with different gaps from the mounting base as shown in the following dia gram Gap from the mounting base 7 0 mm 10 0 mm gt Mounting base ee ch DIN rail g 5 1 Handling the MP2200 When mounting the MP2200 to a DIN rail with a 10 mm gap insert spacers behind the MP2200 to protect against vibration rg B E g mm e Spacer DIN rail 10 mm gap IMPORTANT ihe et for iia the MP2200 to DIN rail are supplied separately Purchase the following product when using rail Product name DIN Rail Mounting Parts Model No JEPMC OP300 b Procedure for Mounting to DIN Rail Use the following procedure to mount the MP2200 to DIN rail 1 Release the mounting clips Pull the DIN rail mounting clips down to release them ry a F MP2200 meu o1 Ci Power O Optional Module Optional Module 5 3 5 Mounting and Wiring 5 1 1 Mounting the MP2200 2 Mount the MP2200 to the DIN rail a Hook the MP2200 into the top side of the DIN rail b Push the MP2200 towards the mounting base to secure it in place ial vavatl n 3 Lock the mounting clips Push the DIN rail mounting clips to lock them in place Optional Module Optional Module ine
229. oad S ted Special tool r the OS but this must OS Load ete ee Same as MP2200 Same as MP2200 be considered communication together with M II message transmis sions Note M I MECHATROLINK I M II MECHATROLINK II Engineering Functions o ta 2 5 fa 5 LL L S O 4 12 4 4 CPU 02 Module 4 4 CPU 02 Module 4 4 1 Outline of Functions The CPU 02 Module is used exclusively for the MP2200 and has been developed as a higher level of CPU 01 Module In addition to the expansion of the user memory the CPU 02 Module is highly generalized and has one Compact Flash port and one USB port The Compact Flash already in the Compact Flash slot can be used to back up applications directly without going through the MPE720 to save them as a batch Also applications can be loaded from the Compact Flash directly to the CPU in batch loads The USB connector has only one channel which works as a port only for the MPE720 With a USB hub several CPU 02 Modules can be controlled with one personal computer MPE720 Note MPE720 version 5 31B or later e Example Using Several CPU 02 Modules SSS i Personal Computer MPE720 CPU 02 Module 1 USB cable USB hub USB cable USB cable USB cable 4 4 2 LED Indicators and Switch Settings 1 External Appearance The following figure shows the external appearance of the CP
230. obed Supported Communication Methods eee ees ed Bir Strobed Explicit messages Master function only Max Number of 63 nodes I O Communi See feros O cation i ge 2 048 bytes 256 bytes node for max number of I O bytes Max Number of 63 nodes max number of nodes for simultaneous commu Message Nodes for Message nication 8 communication Max Message Master only Length ZOD Execution Functions Functions MSG SND MSG SND function 0 2 2 rotary switches on front panel Node address switches on front See a TE Node address Settings DIP switch on front panel Baud rate Master Slave selec tion Powe Supply Voltage TorCommuni 24 VDC 10 supplied by special cable Communication power supply 45 mA max supplied from communication connector Current Consumption re Internal circuit power supply supplied from MBU 01 Unit 4 72 4 14 261IF 01 Module 4 14 261IF 01 Module 4 14 1 Outline of Functions The 261IF 01 Module has an RS 232C serial interface and a PROFIBUS interface mounted in it Personal com puters HMI devices and controllers manufactured by other companies can be connected to the 261IF 01 Module via the PORT or PROFIBUS connectors Communication modes include message communication engineering communication and MEMOBUS MELSEC and non procedure protocols are supported Refer to the MP2300 Machine Controller Communication Module Users Manual Manual No SIEPC88070004 for details 4
231. ode Setting Details User program stopped i STOP prog Pp OFF Stops user program execution F User program running Enabled only when the power is turned ON Always leave set to OFF F er Set to ON to clear the memory SW1 Z ZB Z Zz If this switch is set to OFF the program stored in flash memory will be executed Configuration Mode OFF Set to ON to execute self configuration for F Normal operation connected devices System use OFF Always leave set to OFF F Normal operation 5 Sy OFF Always leave set to OFF FF Normal operation O gsl Normal operation ray Z CNFG O OJ O Z m O 6 3 6 4 6 Basic System Operation 6 2 2 Indicator Patterns 6 2 2 Indicator Patterns The MP2200 makes a number of determinations at startup If an error is detected the ERR indicator will blink and the error content will be indicated by the number of times the indicator blinks When the indicator is blink ing the MPE720 cannot be operated For details on the error content and the action to be taken see Chapter 7 Maintenance and Inspection and Chapter 8 Troubleshooting The following table shows the MP2200 indicators Indicator Name Indicator Details Remarks RDY RUN ALM ERR BAT Hardware reset status Initializing Drawing A executing Classification This status is entered when User program stopped offline stop STOP opera
232. odifications and improvements Printed in Japan October 2006 04 9 0 2004 2006 YASKAWA ELECTRIC CORPORATION All rights reserved 05 70
233. odules is the same as with the defined Module e Always save any data that has been set or changed to flash memory e Once the settings or changes have been made cycle the MP2200 power supply 6 49 7 Maintenance and Inspection This chapter explains daily and regular inspection items to ensure that the MP2200 can always be used in its best condition 7 1 Inspection Items 7 2 7 1 1 Daily Inspections 7 2 7 1 2 Regular Inspections 7 3 7 2 MBU 01 MBU 02 Unit Batteries 7 4 7 2 1 Battery Life 7 4 7 2 2 Replacing the Battery 7 4 7 1 7 2 7 Maintenance and Inspection 7 1 1 Daily Inspections 7 1 Inspection Items This section summarizes daily and regular inspection items that must be performed by the customer 7 1 1 Daily Inspections The following table lists the daily inspection items Inspection Nem Inspection Deals Installation conditions of Module etc Check that the mounting screws are not loose and that the cover has not come off The Module must be secured properly Retighten screws Check for terminal The screws must not Retighten terminal screws screw looseness be loose Connection conditions
234. of motion program execution The following table shows the status a 8 Program alarm has been gereed iE o Soma SSCS e Debugging mode EWS te SS o Sarremestsimathisoy SS Note When alarms occur the details are reflected in the system registers 5 Interpolation Override The override for execution of interpolation commands in the motion program is written to the third word of MSEE work registers Unit 1 0 01 The interpolation override is enabled only if bit E in the motion program control signals Interpolation Override Setting is set to ON 6 System Work Number System work numbers used for executing motion programs are set in the fourth word of MSEE work registers e Range to 16 System work numbers are enabled only if bit D in the motion program control signals System Work Number Setting is set to ON If a set work number is out of range or if the specified work number is being used bit E in the motion control status No System Work Error turns ON 7 Monitoring Motion Program Execution Information with System Registers Execution information for motion programs can be monitored using the system registers SW03200 to SW04191 The monitor method depends on the setting of bit D in the motion program control signals System Work Number Setting a Bit D in the Motion Program Control Signals System Work Number Setting ON Execution information is stored in Work n Program Information where n is
235. ogram number and indirect designation of the register number in which the program number is stored MPMO001 ABS Motion program call instruction MOVIX _ IY MSEE _MPMO001 DA00000 MVSIX _ Y _ F IOW MB0001 MPM number MOVIX _ Y _ Ladder Program Motion Program Calling a Motion Program by Direct Designation MPM003 ABS Motion program call instruction MOV X _ Y _ 013 MVS X _ Y _F MSEE MW00200 DA00000 IOW MB0001 Setting device 7 Register number MOVI X _ Y Using the Da MPM number contents of MW00200 MW00200 3 Ladder Program Motion Program Calling a Motion Program by Indirect Designation 6 11 6 Basic System Operation 6 3 3 Motion Programs 1 Groups With the MP2200 the axes can be grouped by operation so that multiple machines can be independently con trolled by one Machine Controller This enables programming to be done for each axis group The axes to be included in a group are defined in the group definitions Refer to MP900 MP2000 Series Programming Device Software MPE720 User s Manual Manual No SIJPC88070005 for information on group definitions a Operation as One Group MP2200 Heliga dal ial Ilol o lol ol 0 SERVOPACK 1I N N N YO Pees E ee a Characters are axis names b Ope
236. ol Help Log On Delete Ctrl D Properties Ctrl R Log Off Al Fies Backup Motion Programs Selected Files gt Print Ctrl P Continuous File Transfer gt FENE 5 T Compare Flash C From MPE720 to CF Card W From CF Card to MPE720 5 Compare CF Card to MPE720 M 4 21 4 Module Specifications 4 4 4 Compact Flash Interface 3 Click the Change button of the source Enter the drive name of the Compact Flash MP_BKUP BACKUP for the source and click the OK button The data will be transferred to the MPE720 Note If MP_BKUP BACKUP is copied to another folder in another drive after a batch save to the Com pact Flash the source folder can be specified e Writing in from the MPE720 to the Compact Flash Although data can be written into the Compact Flash only data that is dumped simultaneously from the controller can be written If data that is created or edited off line is written in to the Compact Flash an error may occur in a batch load To write data into the Compact Flash select File Transfer Other From CF Card to MPE720 S or Compare CF Card to MPE720 M 4 Batch Load from Compact Flash By using only the DIP switches you can use the batch load function of the CPU 02 Module to read in user appli cation data in the Compact Flash specified folder and file MP_BKUP BACKUP and also flash store the data without going through the MPE720 CPU 02 Compact flash p SDRAM Flash memo
237. on Module Users Manual Manual No SIEPC88070004 for details 4 12 2 LED Indicators and Switch Settings 1 External Appearance The following figure shows the external appearance of the 217IF 01 Module LED indicators DIP switch Serial connector RS 232C Serial connector RS 422 485 2 Indicators The following table shows the status of 217IF 01 Module LED indicators indicator Color RUN Greci Lit during nome operation Not lit during errors ERR Red Lit blinking during malfunctions Not lit during normal operation RUNC QRR ae Lit during RS 232C PORT data transmission and STRXC Orrex STRX Green reception Not lit when data not being transmitted or received Lit during RS 422 485 RS 422 485 data transmis TRX Green sion and reception Not lit when data not being transmitted or received 4 66 4 12 217IF 01 Module 3 Switch Settings The following table shows the 217IF 01 Module switch settings Label Name Sla Function Facto y I3 tus Setting INIT ON Uses the RS422 485 port as an RS 485 TEST T 485 485 Mode p OFF Uses the RS422 485 port as an RS 422 OFF For engineering communication Starts up RS 232C PORT using default parameters excluding auto ON matic reception function settings The RS 422 485 a port is disabled Given higher priority than CPU Initial startup Module Flash Startup and Self configuration Star 0 tup FF OFF Set to OFF for CPU Module Flash
238. on of devices to help describe the MP2200 system startup The following description uses a Basic Unit with a 24 VDC power supply input as an example 218IF 01 SVB 01 MP2200 i CPU 01 218IF 01 LIO 01 24 VDC MP2200 Mec S606 SVB 01 power 2 38 supply D a Z S poh es Tjj gjg me SAE a ES Qa a a a Qa O O O O O EA e t lt oe 7 YASKAWA MECHATROLINK II SERVOPACK SERVOPACK J sen servore ROW Yaskawa SERVOPACK ODT SGDS 01A12A SGDS 01A12A Terminator VAIN sePmc weoo2 01 S J D L1 B 41 amp D L2 Bf 2 t2 elie Lic ba cijo B 5 L2c B 0 3 L2CHO B B 4 1B 1 8 B EX B1 B w B2 ale e2 als e s e logs u B N u lose N v r v a f MPE720 Y ael ga A e j 200 VAC Q Q Servomotor Servomotor The 24 VDC power supply is not required for a Basic Unit with a 100 VAC power supply input INFO Refer to Chapter 5 Mounting and Wiring for information on mounting Modules 3 3 3 System Startup 3 1 3 Device Preparation 3 1 3 Device Preparation Prepare the devices shown in the following tables These devices are required for checking operation using the sample program 1 Controller related Equipment FEPMC BU22T0 or PME BORO I JAPMC MC2310 JEPMC W6002 01 JEPMC W6022 JEPMC W6022 JEPMC W6002 01 o0
239. ondi tions to help determine the cause quickly 1 Checking by Symptoms Factors like indicators on the front of the Module and the control status of all devices are visually checked to determine a cause and implement corrections 2 Checking by Error Codes Error codes generated when errors occur are monitored to determine a cause and implement corrections Errors are classified as follows Classification Type of Error Code Sequence Control Error System S registers Code SW00040 onwards Motion Control Error Code Error in SERVOPACK 3 Checking by Monitor Functions of Peripheral Devices The monitor functions of peripheral devices are used to determine the control status and to find the cause of errors The status of the following functions can be checked e Program monitoring e Position monitoring Error monitoring e Tracing 8 1 Overview of Troubleshooting 8 1 2 Basic Troubleshooting Flow When a problem occurs it is important to determine the cause and treat the problem fast to get the system up and running as quickly as possible The following table shows the basic troubleshooting flow Basic Details Examined Equipment operation status while stopped e Power ON OFF e I O equipment status Visual Check e Wiring status e Status of indicators indicators on all Modules Status of all switches DIP switches and other switches e Parameters and program content check Observe whether the following alt
240. ons 4 3 4 1 2 Function List 4 4 4 2 Base Unit 4 5 4 2 1 Outline of Functions 4 5 4 2 2 LED Indicators 4 5 4 2 3 Hardware Specifications 4 6 4 3 CPU 01 Module 4 7 4 3 1 Outline of Functions 4 7 4 3 2 LED Indicators and Switch Settings 4 7 4 3 3 Hardware Specifications 4 9 4 3 4 Functions and Specifications 4 10 4 4 CPU 02 Module 4 13 4 4 1 Outline of Functions 4 13 4 4 2 LED Indicators and Switch Settings 4 13 4 4 3 Hardware Specifications 4 16 4 4 4 Compact Flash Interface 4 17 4 4 5 USB Interface 4 23 4 5 SVB 01 Module 4 33 4 5 1 O
241. oose screws Check the BAT indi cator on the front The BAT indicator must be If the BAT indicator is lit replace panel of the CPU not lit the battery Module Operating Environment o f 2 fa O O 2 5 s T s D Connection Conditions 7 3 7 4 7 Maintenance and Inspection 7 2 1 Battery Life 7 2 MBU 01 MBU 02 Unit Batteries MBU O01 and MBU 02 Units have a built in replaceable battery This battery is used to back up data to prevent the data stored in the CPU 01 and CPU 02 Modules memories from being lost when power is interrupted e g when the power supply to the MBU 01 or MBU 02 Unit is turned OFF 7 2 1 Battery Life The built in battery can store the memory until the total time of power interruptions reaches one year The war ranty period of the battery is five years from the date of purchase These values however will vary depending on the operating conditions including ambient temperature Always replace the battery with a replacement battery JZSP BA0O1 within two weeks after the CPU 01 or CPU 02 Module BAT indicators first light Any delay in battery replacement will result in the data stored in the mem ory being lost 7 2 2 Replacing the Battery A CAUTION Do not touch the battery electrodes There is a risk of damage caused by static electricity 1 Replacement Preparation a Saving the Memory Contents Before replacing the battery copy and save the program
242. or Details N i LED is OFF when USB transmission Operati n Not lit Not lit During normal operation is not carried out even after the power supply is turned ON Blinking During USB transmission a flashes during USB transmis Hardware error Meaning differs depending on the number of blinks ron Nuber of BARS and ertor Hardware error in the USB control Error Undefined Blinking section Be ROM di gfiostic error The module must be replaced 2 RAM diagnostic error 3 Shared memory diagnostic error 15 Watch dog time over TRX and SYS do not light up during During flash deletion flash write in of the USB firmware Boot Not lit Not lit During flash write in To confirm the flash write in status Flash write in completed successfully check the display of the operation for Flash write in completed with error the flash write in software in the host computer 4 Installing the Hardware Driver Before connecting the MP2200 CPU 02 Module to the personal computer via a USB for the first time the USB communications driver for the MP series must be installed Prepare the setup disc Ver 5 31B or later of the MPE720 and install the USB driver as described in this section 1 Connect the USB port on the CPU 02 Module to the USB port on the personal computer with a USB cable series mini B and turn ON the MP2200 power supply 2 A message Find New Hardware will be displayed Then Found New Hardware Wizard will be dis played Click t
243. ounter current value match MAX 7FFFFFFFH MAX 7FFFFFFFH Count preset 2 l i A i S z Count preset 2 D f D J amp 0 J Q oO g Cc O O Vv MIN MIN 80000000H 80000000H Aor B pulse UP Stop UP DOWI UP Stop DOWN Stop DOWN qs _ Current count X n1 x n2 y n3 Y n4 x n5 x n6 X n7 value Ts Scan setting 1 Current count value Hardware counter ILOOO0O 4 2 Count preset Count preset data OLOOO0 2 Note NOOO Counter fixed parameter No 1 Leading Register Number 4 9 LIO 01 and LIO 02 Module Counter Functions The timing for completing the LIO 01 Module s count preset is as follows Turn ON Count Preset Request Count Value Preset Request We OWOOOCO bit 1 Preset Completed ON Scan Time Ts Count Value Preset Completed IWOOOO bit 2 Count Preset z5 Pa m1 Current Counter Value m2 m3 after Conversion ILOOOO 0x0A lt m1 a mK mo DK m gt DS Data that reflects the 4 Count Preset Value Counter Register Value m4 INFOQ The timing for completing the CNTR 01 count value preset is as follows Turn ON Count Preset Request Count Value Y Scan Time Ts Preset Request owo0o0o00 bit 1 Preset Completed ON Count Value Preset Complete
244. ox will appear asking if you want to quit the Communication Manager Click the Yes button ma Communication Manager xi File View Tool Control Modem lt 9 OK to Close Setting 8 To restart the Communication Manager double click the Communication Manager Icon in the YE_Applications Folder i YE_Applications l loj x File Edit View Favorites Tools Help e Back v Qsearch Fyrolders 69 R GE x aj Address C YE_Applications z Go Rail oe ul O A MPE720 YE_Applications ha Select an item to view its description Restarting the Communication Manager Window validates the setting of the communications process 4 28 4 4 CPU 02 Module 7 Creating a PLC Folder for USB Connection How to create a PLC folder for whose model name the CPU 02 Module and the local address are specified is as follows Before creating a PLC folder create an order file Note For details on how to make order file folders refer to 4 Creating Group Folders and 5 Creating an Order Folder in 3 1 6 Starting the MPE720 1 Select the order folder where a PLC folder is to be created and right click it Point to New Folder and then select Controller Folder root File Name a New Folder Controller Folder Rename Delete Ctrl D The Controller Configuration box will appear 2 In the Controller Name Field enter the name of the order folder to
245. p deceleration Position Control Position Compensation mm inch deg pulse According to the speed unit selection parame Speed Compensation aF 8 P p ms Constant Speed Feed Forward Compensation Position derivative percentage designation Rated torque percentage designation 0 01 Positive Speed Limit Rated speed percentage designation 0 01 Negative Speed Limit Rated speed percentage designation 0 01 According to the speed unit selection parame ter According to the speed unit selection parame ter Phase Compensation mm inch deg pulse Phase Control Control functions Phase Control Proportional Gain Same as position loop gain parameter Phase Control Integral Time Con Same as position loop integral time constant stant parameter Rated torque percentage designation 0 01 Positive Speed Limit Rated speed percentage designation 0 01 Negative Speed Limit Rated speed percentage designation 0 01 4 40 4 6 SVA 01 Module cont d Positioning external positioning zero point return interpolation interpolation with Motion Commands position detection function JOG operation STEP operation speed references torque references phase control etc Method deceleration filter moving average filter Motion Functions Torque Units Rated torque percentage designation Elecronie Gea ba Finite length position control infinite length position control absolute infinite length Position Control Method
246. p Sequence 6 5 6 3 User Program 6 7 6 3 1 Drawings DWGs 6 7 6 3 2 Execution Control of Drawings 6 8 6 3 3 Motion Programs 6 11 6 3 4 Functions 6 19 6 4 Registers 6 20 6 4 1 Data Types 6 20 6 4 2 Types of Registers 6 23 6 4 3 Register Designation Methods 6 26 6 4 4 Subscripts i andj 6 27 6 5 Self configuration 6 29 6 5 1 Overview of Self configuration 6 29 6 5 2 SVB 01 Modules 6 30 6 5 3 SVA 01 Modules 6 39 6 5 4 LIO 01 Modules 6 40 6 5 5 LIO 02 Modules 6 41 6 5 6 LIO 04 Modules 6 4
247. pearance of the LIO 01 Module LED indicators Switch I O connector 4 42 4 7 LIO 01 Module 2 LED Indicators and Switch Settings The LIO 01 Module status display LED indicators LD1 to LD8 change based on the SW1 rotary switch setting The following table shows the ON OFF indicator display for DI and DO Indi swt Status when Lit cator LD4 LD5 LD6 LD7 D8 Green DI input indicators When D100 to DIO7 turn ON corresponding indicators LD1 to LD8 are lit Pulse A B input Lit when phase A B is turned ON Normal operation Lit Error Not lit DI 08 to DI 15 status Lit when any DI is turned ON DO 08 to DO 15 status Lit when any DO is turned ON Pulse Z input Lit when phase Z is turned ON L DI input indicators When D108 to DI15 turn ON corresponding indicators LD1 to LD8 are lit za DO output indicators When DO00 to DOO7 turn ON corresponding indicators LD1 to LD8 are lit hed DO output indicators When DO08 to DO15 turn ON corresponding indicators LD1 to LD8 are lit 4 PI Input Indicators LD1 Pulse A input Coincidence detection 5 LD2 Pulse B input Phase Z latch LD3 Pulse Z input DI latch LD4 a LD1 0O OLDS LD2 O O LD6 LD3 O O LD7 LD4 O O LD8 Indicators Swi 4 43 4 44 4 Module Specifications 4 7 3 Hardware Specifications 4 7 3 Hardware Specifications 1 Module Specifications The following table shows the hardware specifications o
248. pen Tuning Panel i mE EEE Eee ale es aa md mi o ae ad Input position and current value The details on the Tuning Panel Window display are shown in the following table Data Name Display Current Units Lower Limit Upper Limit REG No DWG Definition Value a Axis 1 current position XXXXXXXXXX 0000000000 2147483648 2147483647 IL8016 5 Axis 2 current position XXXXXXXXXX 0000000000 a 2147483648 2147483647 IL8096 9 Phase control electronic shafe XXXxx 00000 __ 00000 32767 DW00010 Speed setting motor rated speed 30000 mm min XXXXXX 000000 030000 030000 DL00010 H06 02 seee Phase control electronic cam XXXXX 0000 OOo 0000 32767 DW00010 14 Main axis speed setting motor rated speed s XXXXXX 00000 mm min 00000 030000 DL00010 Ho6 01 30000 mm min Cam axis amplitude setting double amplitude XXX XXX 010 000 000 000 999 999 ML30200 Cam axis main axis moving amount per cycle XXXXX XXX 00500 000 00000 000 50000 000 ML30202 O 3 58 3 5 Sample Program 4 Phase Control with an Electronic Cam 2 Confirming Operation Use the following procedure to confirm operation Turn ON the Servo Enter electronic cam settings data Turn ON electronic cam start Enter main axis speed settings Confirm operation The process for confirming operation will be explained based on the above procedure 1 Switching between Servo ON an
249. pka Corea miros k bee P rA Cathe 4 eye Pie Trae PPETI ter A a ht Paiet DDH A UO fma r AFT rhode Type MPTSOD Areri ogm cone erain i namei Uit i j E O o Camne a pirg are Mie orae aie RT 3 23 3 System Startup 3 1 6 Starting the MPE720 4 The Execute Window will be displayed The transfer source path must be changed so click the Change button Click came HERPE Chaews PURTA A j Title Mote Eng T onpa tearen gt Foye F Contd arahe apti Dei j ri f Cag ee 5 The Transfer Path Window will be displayed Make the settings given below and click the OK button Drive Select the drive where the sample program was stored The A drive in this example Transfer path 2200SMPL Chee Ieee Hi xj Faker Haaa LE Dest _ _ twee 6 The Execute Window will be displayed Click the OK button ee zs Taye FTOMERFLE Chara Horace iain e j Tibie ia b D opam iaren T Pjr F Come parara epee Dewi P fagi r me 7 The Execute Status Window will be displayed Wait until the transfer has been completed Same HENLE Daimin EOP CS AA A a A T mae Mi Hare at dure Cinni SOAS EENE ETA 8 A message will appear when the transfer has been completed Click the OK button CE Sie Crisia La 3 24 3 1 Outline 9 The All File Transfer Disk to Disk Window will be displayed Select File Exit U Mi Abeta gt PP lx Tis Vew bei
250. puter incorporating the MPE720 directly or via USB hub with the CPU 02 Mod ule MP2200 controller engineering is possible from the personal computer MPE720 e Example of Configuration Using Several CPU 02 Modules CPU 02 Module 1 i 1 CPU 02 Module 2 USB cable Personal Computer MPE720 USB cable ll cre a USB cable ajf Note 1 USB corresponding communications process and exclusive use device driver must be installed for this function For an installation guide refer to 4 Compact Flash Related System Registers in 4 4 4 Compact Flash Interface 2 Up to 5 USB hubs can be connected 2 General Specifications The following table describes the general specifications of the USB interface Remarks Standard in accordance wih USB20 Falkspeod meio OOOO iE Bus speed Pisem OOOO S Foma amsa O G Communication Method Half duplex Connected Devices One USB host 127 slaves Including hub Connector Cable USB cable available at most electronics stores PC side Series A plug Module side Series mini B plug Full speed 5 m able Length 30 m at full speed with Hub S layer connection a i l Connector Type Series mini B plug Power Supply Self powered type Shares power supply with the MP2200 4 23 4 Module Specifications 4 4 5 USB Interface 3 Details of LED LED2 for USBs eee ERR a indore ome Name Indicat
251. r A Drawings Startup process executed once only when the power is DWG A turned ON Executed by external interrupts Drawings DWG 1 Interrupt process such as Optional Module DI interrupts or i counter interrupts DWG H process executed during each high speed scan Low speed scan Started at a fixed interval 500 DWG L process executed during each low speed scan 6 7 6 Basic System Operation 6 3 2 Execution Control of Drawings The following table gives details of the number of drawings for each type of drawing Drawing Operation Error l Gaw Drawing Child Child Drawing Grandchild Drawing 6 3 2 Execution Control of Drawings 1 Execution Control of Drawings Number of Drawings DWG A DWG DWG H DWG L Child Drawing Maximum a of Maximum total of Maximum total of Maximum a of 62 drawings 62 drawings 198 drawings 498 drawings Each drawing is executed based on its priority level as shown in the diagram below Turn ON the power One high speed scan M One low speed scan Yy DWG A Startup drawing y Each high speed scan Each low speed scan Operation error Interrupt signal Yy 4 Yy Batch inputs Batch inputs DWG X00 DWG Z gt d Y Operation error Interrupt process y drawing drawing Batch outputs Batch outputs Vx ALHL it y DWG H DWG L Continue from start Continue from sta
252. r explains detailed specifications for the Basic Unit and Optional Modules of the MP2200 4 1 General Specifications 4 3 4 1 1 Hardware Specifications 4 3 4 1 2 Function List 4 4 4 2 Base Unit 4 5 4 2 1 Outline of Functions 4 5 4 2 2 LED Indicators 4 5 4 2 3 Hardware Specifications 4 6 4 3 CPU 01 Module 4 7 4 3 1 Outline of Functions 4 7 4 3 2 LED Indicators and Switch Settings 4 7 4 3 3 Hardware Specifications 4 9 4 3 4 Functions and Specifications 4 10 4 4 CPU 02 Module 4 13 4 4 1 Outline of Functions 4 13 4 4 2 LED Indicators and Switch Settings 4 13 4 4 3 Hardware Specifications 4 16 4 4 4 Compact Flash Interface 4 17 4 4 5 USB Interface
253. r supply The battery backs up M registers system registers and trace memory Always save the program to flash memory whenever it is input or changed 2 4 2 2 List of Modules 2 2 List of Modules 2 2 1 MP2200 Modules The following table shows the Modules that make up MP2200 systems EEE y AC MBU 01 JEPMC BU2200 a ota with 85 to 276 VAC power supply Boe UM i U iG DC Basic Unit with 24 VDC 420 ase Unit for MBU 02 JEPMC BU2210 asic Unit wit 420 power sup power supply ply 9 slots Mog CPU Module CPU 01 TAPMC CP2200 CP2200 1 mezo system CPU MECHATROLINK MO ete and Motion Interface Servo SVB 01 APMC MC2310 MECHATROLINK II compatible Modules Module SERVOPACKs 16 axes max Analog Servo Inter SVA 01 TAPMC MC2300 MC2300 Analog servo interface 2 axes face Module IO Module LIO 01 APMC 102300 16 inputs and 16 outputs sink mode outputs 1 pulse input Basic Unit I O Modules 16 inputs and 16 outputs source mode out T O Module LIO 02 JAPMC IO2301 1 puts 1 pulse input T O Modules LIO 04 APMC I02303 poao o 32 inputs and 32 outputs sink mode outputs Pihema Commun 2181F 01 01 JAPMC CM2300 cation Module General purpose Communi Serial Communica 217IF 01 JAPMC CM2310 cation Mod tion Module ES RS 232C Ethernet communication ules DeviceNet Commu 2601F 01 JAPMC 102320 RS 232C and DeviceNet communication nication Module RS 232C RS 422 and RS 485 communica tion Option
254. ration with Multiple Groups MP2200 al falilal e pI OM ROMS li lt SERVOPACK no o o n n Motor ei eae p CORES Ea eE Maes Characters are axis names 6 12 6 3 User Program 2 Motion Program Execution Processing Method A motion program must be called from DWGH using the MSEE instruction Motion programs can be called from any DWG H i e from parent child and grandchild DWG H A motion program execution example is shown below System program starts when the execution condition is established Parent drawing Child drawing Grandchild drawing Motion main programs DWG H01 DWG H01 01 MPMO01 gt SEE H01 01 gt VEL a1 5000 b1 lt FMX 710000000 MSEE IAC T25 MPM001 Dotan MOV a1 300 b1 MVS a1 200 b1 DEND END MPM002 MSEE MPM002 lt 4 DEND END MPM003 Subprogram al MPS101 MSEE gt MPS101 lt END RET In each high speed scanning cycle the ladder instructions for DWG H are executed in the following hierarchical order Parent drawing child drawing grandchild drawing Motion programs are called in the scanning cycle but as with ladder programs all programs cannot necessarily be executed in one scan Motion programs are executed and controlled by special system motion management functions
255. re generated automatically For details refer to 6 5 Self configuration 2 The RUN indicator blinks during execution of self configuration 4 Operation Start If the Stop Switch is OFF RUN or if it is turned OFF RUN from ON STOP the CPU starts the watchdog timer and then executes DWGA The initial scan is executed only after the time for the high speed or low speed scan has ended following the completion of DWG A System inputs and outputs are executed from the first scan 5 Operation Stop The MP2200 stops operating in the following cases The power supply is interrupted PRY p Turn power OFF and ON A power failure has occurred A fatal error has occurred Determine the error by the indicator status and turn the power OFF and ON A STOP operation has been performed from the MPE720 Perform a RUN operation from the MPE720 6 3 User Program 6 3 User Program The MP2200 user program includes ladder and motion programs This section explains the basic operation of the user program Refer to the following manuals for details on programming MP900 MP2000 Series Machine Controller User s Manual Ladder Programs Manual No SIEZ C887 1 2 MP900 MP2000 Series Machine Controller User s Manual Motion Programs Manual No SIEZ C887 1 3 e MP900 MP2000 Series Machine Controller New Ladder Editor User s Manual Programming Instruc tions Manual No SIEZ C887 13 1 MP900 MP2000 Series Machine Con
256. reference DB000000 Axis 1 jog start DB000001 Axis 1 jog stop DB000002 Axis 1 step reference DB000008 Axis 1 step start DB000009 Axis 1 step stop DB00000A 3 43 3 System Startup 3 2 3 Program Details P00108 H02 01 Main Program Axis 1 Manual Jog and Step Operation Processing Axis 1 step stop DBOOOOOA 00011 STORE EY pede Source 00000 Dest OW8008 HHH Reverse rotation selection HHHHHHHH Axis 1 jog reference Axis 1 Reverse Jog Axis 1 Reverse DB000000 DB000011 0B80092 0012 A 0038 NL 1 Axis 1 step Axis 1 Reverse reference Step DB000008 DB000013 0013 0043 END NL 1 3 44 3 2 Sample Program 1 Manual Operation 5 HO2 02 Drawing P00110 H02 02 Main Program 0000 0000 NL 1 0001 0006 NL 1 0002 0006 NL o FS o 0007 0025 NL 1 0008 0009 0032 NL 1 0010 0034 NL 1 The H02 02 grandchild drawing controls jog and step operation for axis 2 Axis 2 Manual Jog and Step Operation Processing HHHH Axis 2 manual jog and step operation processing HHHHHHH HHHH Jog and step operation HHHHHHHT Axis 2 jog operation Axis 2 Forward Jog DB000010 Axis 2 Forward Jog DB000010 Axis 2 jog reference WORK DB000000 Axis 2 Reverse Jog Axis 2 SV_ON DB000011 Axis 2 Reverse Jog DB000011 Axis 2 jog reference WORK DB000000 Axis 2 jog start DB000001 Axis 2 jog start DB000001 Axis 2 jog stop DB000002 DB000051 Axis 2 speed r
257. rt High speed scan Low speed scan process drawing process drawing X is replaced by A l H or L completed completed 2 Execution Scheduling of Scan Process Drawings The scan process drawings are not executed simultaneously As shown below they are scheduled based on the priority level and are executed according to the schedule Low speed scan time setting High speed scan High speed scan High speed scan High speed scan time setting time setting time setting time setting 4 it it it One high gt speed scan DWG H Unused time Unused time Unused time Unused time Unused time Unused time i One low speed i 4 iscan I 1 gt 1 1 DWG L Unused time Background Executing Used for internal system processes such as communication The low speed scan process is executed in the unused time of the high speed scan process Therefore as a guide line set a time that is twice the execution time of all the DWG H drawings as the high speed scan time 6 8 6 3 User Program 3 Hierarchical Arrangement of Drawings Drawings are arranged in the following order Parent drawing child drawings grandchild drawings A parent drawing cannot call a child drawing of a different type and a child drawing cannot call a grandchild drawing of a different type A parent drawing also cannot directly call a grandchild drawi
258. ry MP_BKUP BACKUP folder User User bp tin User application application application To load data in a batch from the Compact Flash use the following procedure 1 Insert the Compact Flash with the backup application data into the CF slot of the CPU 02 Module with the power supply OFF 2 Turn the CARD and LOAD switches in SW2 of the CPU 02 Module to ON CARD LOAD SAVE USB1 Sw2 OFF ON 3 Turn ON the MP2200 power supply The PWON LED indicator lamp will light up and the batch load will start The CARD LED indicator lamp will light up and the RUN LED indicator lamp will blink When all of the data has been success fully read out from the Compact Flash the CARD LED indicator lamp will turn OFF After the data has been successfully saved the RUN and PWON LED indicator lamps will turn OFF Note Ifthe batch load fails the ALM LED indicator lamp will light up and the error will be reported to sys tem register SW00658 Refer to d Compact Flash Related System Registers in 4 4 4 Compact Flash Interface 1 Specifications If you restart the MP2200 the ALM LED indicator lamp will turn OFF 4 Turn OFF the MP2200 power supply 5 Turn OFF the CARD LOAD and INIT switches Then turn ON the MP2200 power supply to start from the flash memory 4 22 4 4 CPU 02 Module 4 4 5 USB Interface 1 Outline By connecting a personal com
259. s 4 Switches x 10 slave address 4 35 4 Module Specifications 4 5 4 Function Lists 4 5 4 Function Lists The following table shows the list of motion control functions for the SVB 01 Module Details Number of Communication 7 1 line Lines Number of Communication PERA Ports Connectors po Terminating Resistance JEPMC W6022 Terminator must be purchased separately MECHATROLINK II Total Network length of 50 m minimum distance between stations of 0 5 m MECHATROLINK I Total Network length of 50 m minimum distance between stations of 0 3 m pecan MECHATROLINK II MECHATROLINK I Communication Interface CP 216 2 N synchronous 1 N synchronous Baud Rate 10 Mbps 4 Mbps 2 Mbps or 4 Mbps Number of Link Commu nication Bytes 17 bytes or 32 bytes 17 bytes 17 bytes Number of Connectable Up to 21 stations SERVO l PACK for up to 16 axes Up to 14 stations Up to 14 stations C1 Messaging Master Supported selectable Not supported ot supported ag allege Supported selectable Not supported ot supported Retry Function Supported selectable Not supported ot supported Supported Slave Devices For details refer to 2 3 Devices Connectable to MECHATROLINK a MECHATROLINK II MECHATROLINK I Communication Interface 2 N asynchronous 1 N asynchronous Baud Rate 10 Mbps 4 Mbps Transmission Distance MECHATROLINK communication Master Functions Slave Functions Number of Link Commu ni
260. s Machine Controller for flexible system construction In addition to I O and Communication Modules it has a wide range of Optional Modules including various Motion Mod ules that support a variety of motor drives It provides ideal motion control for a range of machines from stand alone machines to FA systems 1 Flexibility e With an option slot configuration that enables expansion to 35 slots Optional Modules can be selected freely and the optimum system can be built for your machine 2 High Performance e Control characteristics have been improved by increasing the CPU and Motion Network MECHATROLINK I speed e Completely synchronous operation can be achieved for up to 256 axes e MECHATROLINK II baud rate 2 5 times faster than MP920 e CPU processing speed 2 0 times faster than MP920 e Larger user memory area e High speed 0 5 ms motion control is now possible e MECHATROLINK II enables position control speed control torque control and phase control and makes precise synchronous control possible The control mode can also be changed online facilitating complicated machine operations The range of possible motion control applications is increased even further with the Virtual Motion Module SVR The following open networks are supported when optional Communication Modules are used Ethernet e DeviceNet e PROFIBUS 3 Easy to Use e Machine startup times can be greatly reduced by using the self configuration fu
261. s and data from the memory of the CPU 01 or CPU 02 Module to floppy disks or a hard disk The saved programs and data will be used as back up if anything is accidentally deleted during battery replacement b Preparing a Replacement Battery Prepare a replacement battery JZSP BAO1 This battery is not commercially available and must be ordered from your nearest Yaskawa sales representative The battery is illustrated below O LITHIUM a Red lead Black lead JZSP BA01 Battery with Cable 7 2 MBU 01 MBU 02 Unit Batteries 2 Replacement Use the following procedure to replace the battery 1 Confirm that the MBU 01 MBU 02 Unit POWER indicator is lit 2 Insert a coin or other flat object into the notch on the side of the battery s cover on the base unit Pry open and remove the cover BATTERY 3 Disconnect the battery cable from the connector on the MBU 01 MBU 02 Unit then remove the built in battery from the battery holder 4 Firmly connect the replacement battery cable to the connector on the MBU 01 MBU 02 Unit Then place the replacement battery into the battery holder BATTERY BATTERY 5 Make sure that the BAT indicator on the CPU 01 or CPU 02 Module is not lit 6 Reattach the cover This completes the battery replacement procedure IMPORTANT Be sure to replace the battery while the power supply to the MBU 01 MBU 02 Unit turned ON Replacing the batter
262. s button Er ay The data changed cP EANA 3 21 3 System Startup 3 1 6 Starting the MPE720 7 Logging On Online a Right click the 2200SMPL Controller Folder and select Log On Fylde Feamaayer alaia Fe mi Gss Tmi Hp EIK g Em h T imer Usige hm dertcban piam FT Pe Pet lar Mbain Lara Once Cri ire Logon A b Input the user name USER A and the password USER A and click the OK button 3 22 3 1 Outline 8 Loading the Sample Programs Load the sample programs on the MPE720 system CD ROM using the procedure below Insert MPE720 system CD ROM into the computer CD ROM drive 1 Double click the 2200 SMPL E EXE file in the SAMPLE Folder on the CD ROM eee pe r wa ou Jg E z bise co ae Ee Removable Disk n Ein eS pe iiaa Double click Capacty ILMB Bisset ie O r arm _ 2 The window for specifying the destination of the file will be displayed Specify the destination of the file and click the Decompress button 3 2ZA0SMPL_E EXE 3 Right click the 2200SMPL Controller Folder and select File Transfer All File Transfer All Program File Transfer Other Media HD E ala xy Be pi See Imi he ee ee be Ai ow T T ane Contre mkin kha HA Er Frog ene Fide a Kaaa PeT Tabi Cu a F Fakie rh ed OF pai cea Big Bre Da ta ee Prenee marani oar cri Poen Prog Gaui Duti Fie Tee b Papan Pile Due CP re ragnam ia Corpa CALs PT A
263. sczommezozao ours eames J permcr ze00 Rewnitecomm 2eaames pever asmone Ervoan As owo vaene e ae ae eo eee a a as ee a a aa D A Module ERMC ANZ910 Analog outputs 10 to 10 V 2 channels JEVSA YV250 MYVIS YV250 Machine Vision System 2 4 Cables and Accessories 2 4 Cables and Accessories 2 4 1 Cables The following table shows the cables that can be connected to the MP2200 Specicatons Between SVB 01 and I O Unit Between SVB 01 and SGDH OOE NS100 e Between SVB 01 and SGDH JEPMC W6002 O00 OOE NS115 JEPMC W6003 00 Between SVB 01 and SGDS MECHATROLINK I oooiog0 d i SVB 01 M I II an With USB connector on both ends ME AROLE Note The JEPMC W6003 O0 has a fer Cables rite core e Between SVB 01 and SGD OOON JEPMC W6010 00 Between SVB 01 and SGDB OOAN Between USB connector and loose wires MEWA JEP Between SVA 01 and SGDS SVA 01 CH1 CH2 SGDS Cable JEPMC W2040 00 O00010 EP oe External I O Cable JEPMC w2061 00 an LIO 01 or LIO 02 and external LIO 04 CN1 CN2 External I O Cable JEPMC W6060 O00_ Between LIO 04 and external I O Communi JEPMC Ws310 0O0 Between RS 232C port and 25 pin D sub cation PORT RS 232C Cable connector male Modules JEPMC W5311 O10_ Between RS 232C port and DOS 218IF 01 10Base T Ethernet Cable Po Cross cable Category 3 min 1010214 52A2JL wo connector manufactured by 217IF 01 RS 422 485 RS 422 and RS 485 Cable
264. ster is used for the speed reference unit Therefore a real number linear acceleration deceleration reference 2 SLAU S shaped accelerator decelerator instruction is applied Electronic shaft speed setting Electronic shaft operation reference ihr 0008 TORE 0022 Source DLOO0TO Dest DF00012 Electronic shaft operation reference DB000000 S shaped accelerator decelerator input STORE NL 1 Source 0 000000E 000 Dest DF00012 3 55 3 56 3 System Startup 3 4 3 Program Details P00119 H06 01 Main Program Phase Control 1 Electronic Shaft Processing 0010 0026 NL 1 0011 0027 NL 1 0012 0030 NL 1 0013 0032 NL 1 0014 0033 NL 1 S shaped accelerator decelerator output SLAU Input DF00012 Parameter DA00020 Output DF00040 HHHH Axis 1 and 2 speed reference settings HHHHHHHT Electronic shaft operation reference DB000000 EXPRES ON a Zero speed 0L8010 DF00040 DB000003 0L8090 DF00040 1 Zero speed DB00020A HHHH Inter axial error monitor HHHHHHHHE SourceA 1L8016 SourceB 1L8096 Dest DL00090 Zero speed DB000003 3 5 Sample Program 4 Phase Control with an Electronic Cam 3 5 Sample Program 4 Phase Control with an Electronic Cam 3 5 1 Description 1 Machine Outline The same operation for the mechanical cam synchronized to the roller connected to the line shaft will be per formed using a Servomotor Phase synchronization however has not been used New
265. sters SAnnnnn MB MW ML M Data registers MFnnnnn MAnnnnn Same as drawing registers i IB IW IL IFhhhh These registers are common to drawings and functions so care must Input registers IAhhhh be taken with how they are used when calling the same function RA from drawings with different priority levels OB OW OL OF Output registers OAhhhh c Constant CB CW CL CFnnnnn registers CAnnnnn Note 1 Register number nnnnn is expressed as a decimal number Register number hhhh is expressed as a hexadecimal number 2 SA MA IA OA DA A and CA can also be used in the program 6 24 6 4 Registers 3 Register Ranges in Programs The programs and register ranges are shown below HO3 drawing Program Registers common to all drawings System registers SB SW SL SFnnnnn 1 000 steps max Data registers Registers unique to each MB MW ML MFnnnnn drawing B W L Fnnnnn Individual data 16 384 words max FUNC 000 Function Input registers i i i i i i i i i i i i i i i i i i i i i i i i i i i i i i IB IW IL Fhhhh i i i i i i i i i i i i i i i i i i i i i i i i i i i i i i i i Program 1 000 steps max External function registers AB AW AL AFnnnnn Registers unique to each D Output registers function OB OW OL OFhhhh Function output regist
266. t Flash b General Specifications The following table shows the general specifications of the Compact Flash interface Number of SI a Interface PC card ATA True IDE is not supported The Compact Flash described in the following Corresponding Media Compact Flash TYPE 1 i H table is recommended 3 F 32 MB 64 MB 128 MB For Partition Not available FAT12 16 32 Up to 256 characters of a file name are available Corresponding FAT VEAT I when VFAT is used but only 246 characters are long name actually allowed because of full path designation C WSS CS Report of updating date avail able Max Length of File Name Total number of characters in file names and direc 256 characters and Directory Name tory names Current Directory Function Not available e OE Max No of Simultaneous 16 Open Files Micro drive I O device or HDD is not supported e Recommended Compact Flash Adapter Available from YASKAWA Mode Specticaions Hagiwara Sys Com Co Ltd File Information Calendar function of the controller is used CFC ADP03 PC card adapter for the PCMCIA connector Use a PC card type adapter when the Compact Flash is used with a personal computer By mounting the Compact Flash on a PC card adapter it can be used as a PC Card Type II Flash Card 4 17 4 18 4 Module Specifications 4 4 4 Compact Flash Interface e Operation Confirmed Compact Flash Available from an electronics
267. tal output Ce Example If LIO 01 Modules are mounted in slots 1 and 2 digital outputs will be allocated in the following way LIO 01 Module mounted in slot 1 OW0411 LIO 01 Module mounted in slot 2 OW0441 Out of the 48 words allocated to one Module the last 32 words are automatically allocated to the input and output registers 16 points Example If LIO 01 Modules are mounted in slots 1 and 2 counters will be allocated in the following way LIO 01 Module mounted in slot 1 1W0420 OW0420 LIO 01 Module mounted in slot 2 1W0450 OW0450 Counters Note The above allocations are simply an example The leading register number will change for manual allocations 2 Counter Fixed Parameters When self configuration is executed all of the counter fixed parameters will take their default settings For details on fixed parameters refer to 4 8 4 Counter Parameters 6 40 6 5 Self configuration 6 5 5 LIO 02 Modules Details on definition information when self configuration is executed are shown below 1 I O Allocations Modules mounted in option slots are detected and input registers and output registers are allocated automatically Allocation is performed in ascending order from the Module with the lowest option slot number With LIO 02 Modules 48 words are allocated to both input registers and output registers Aooatons Digital inputs 16 points Digital output 16 points Counters Out of the 48
268. tch settings I O Leading Register Number Depends on switch settings I O End Register Number Depends on switch settings 2 RS 232C Interface When self configuration is executed the following parameter settings will be made for the RS 232C interface of 260IF 01 Modules Transmission Delay Automatic Reception Leading Register No of Words Reading input relays TW0000 5120 Reading input registers TW0000 5120 Interface Register Settings at the Reading writing coils MW00000 32768 Slave Reading writing holding registers MW00000 32768 Writing range for coil holding regis MW00000 ters LO MW00000 HI MW32767 INFON An engineering communication connection with the MPE720 is possible using self configuration Also depending on the 4 settings of connected devices MEMOBUS message communication may be possible using the automatic reception func tion 6 46 6 5 Self configuration 6 5 10 261IF 01 Modules 1 PROFIBUS Interface When self configuration is executed the following parameter settings will be made for the PROFIBUS interface of 261IF 01 Modules Allocations SYNC SCAN Own Station Number Local Sta Depends on switch settings tion Number I O Allocations Depend on switch settings Communication Speed Automatically detected from the masters transmission data I O Leading Register Number Depends on switch settings I O End Register Number Depends on switch settings 2 RS 232C Interface When self
269. ter number hhhh is expressed as a hexadecimal number Output OB OW OL OFhhhh OW0000 to registers OAhhhh OW7FFF program Register number nnnnn is expressed as a decimal number registers are read only registers can be B W L Fnnnnn W00000 to read only in the corresponding drawing The registers HA EW 16383 actual range used is specified by the user on Annnnn the MPE720 Register number nnnnn is Registers expressed as a decimal number unique to Internal registers unique to each drawing D each DB DWDL registers can be read only in the correspond drawing D registers DFnnnnn DW00000 to ing drawing The actual range used is speci DAnnnnn DW16383 fied by the user on the MPE720 Register number nnnnn is expressed as a decimal registers CAnnnnn CW16383 number Constant CB CW CL CFnnnnn CW00000 to Constant registers can be read only in the The ranges of integer data is given as typical examples Note Register number nnnnn is expressed as a decimal number Register number hhhh is expressed as a hexadecimal number 6 23 6 Basic System Operation 6 4 2 Types of Registers 2 Registers in Functions The types of register shown in the following table can be used in functions F S e Charac Input to a function Bit input XB000000 to XB00000F Function input XW00000 to Integer input XW00001 to XW00016 registers XB XW XL XFnnnnn XW00016 Double length integer input XL00001 to XL
270. ters are set automatically as shown below 1 SVB 01 Module gt SERVOPACK SERVOPACK SGD N SGDH SGDH SGDB N NS100 NS115 Sone Conforms to the connected Servomotor specifica tions Encoder Type Rated Motor Speed Number of Pulses per Motor Rotation Maximum Number of Absolute 38 Encoder Turns Note 1 The above processing is not performed if the axis is set a a a Pt 2 All other parameters are on the default settings 2 SVB 01 Module gt SERVOPACK SERVOPACK SGDN seon lt 5 No SGDB N NS100 NS115 oo Mee Note 1 The default is written if the axis is not set 2 The above parameters are written to the SERVOPACK RAM b Motion Setting Parameters Motion setting parameters and SERVOPACK parameters are set automatically as shown below 1 SVB 01 Module gt SERVOPACK SVB 01 Module Setting Parameters OWOZE Position Loop Gain OWOD2F Speed Loop Gain SERVOPACK SGD N SGDH SGDH SGDB N NS100 NS115 Ra OWOD30 Speed Feed Forward Gain ow0032 Position Loop Integration Time Constant owo034 Speed Loop Integration Time Constant OWDDSA Filter Time Constant Note 1 The above processing is not performed if the axis is set Cn 001D Pn109 Cn 0005 Pn101 Cn 0026 Pn812 2 All other parameters are on the default settings 6 36 6 5 Self configuration 2 SVB 01 Module gt SERVOPACK SVB 01 Module Setting Parameters Address SERVOPACK SGD N SGD
271. tion 5 LD2 Pulse B input Phase Z latch LD3 Pulse Z input DI latch LD4 LD1 O OLDS5 LD2 O O LD6 LD3 O O LD7 LD4 O O LD8 Indicators SWw1 4 46 4 8 LIO 02 Module 4 8 3 Hardware Specifications 1 Module Specifications The following table shows the hardware specifications of the LIO 02 Module Specifications TAPMCTO2301 Digital Inputs Digital Outputs Pulse Input Indicators 16 inputs 24 VDC 4 1 mA combined sink mode source mode inputs DI 00 also used for interrupts DI 01 also used for pulse latch inputs 16 outputs 24 VDC transistor open collector outputs source mode outputs DO 00 also used for coincidence outputs Phase A B Z inputs Phase AB 5 V differential input not isolated max frequency 4 MHz Phase Z 5 V 12 V photocoupler input max frequency 500 kHz Latch input Pulse latch on phase Z or DI 01 LD1 green LD2 green 4 LD3 green LD4 green LD5 green LD6 green LD7 green LD8 green Rotary switch SWD 2595 XD 4 47 4 Module Specifications 4 9 1 Outline of Functions 4 9 LIO 01 and LIO 02 Module Counter Functions 4 9 1 Outline of Functions For the counter function the command is selected in the counter fixed parameters and counter setting parameters and status and the counter value are stored in counter monitor parameters The following diagram shows the data flow for the counter function MP2200 LIO 01 or LIO 02 Modu
272. tion is per formed from a switch or the MPE720 User program executing normally i sss The ERR indicator lights Serious failure when there is a failure in the CPU Number of blinks for software errors 3 Address read error 4 Address write error 5 FPU error 6 Illegal general command error 7 Illegal slot command error 8 General FPU inhibited error The ERR indicator blinks 9 Slot FPU inhibited error when there is an error 10 TLB multi bit error 11 LTB read error 12 LTB write error 13 LTB protection violation read 14 LTB protection violation write 15 Initial page write error Number of blinks for hardware errors 2 RAM diagnosis error The ALM and ERR indica 3 ROM diagnosis error tors blink when there is a 4 CPU function diagnosis error self diagnosis failure 5 FPU function diagnosis error The BAT indicator lights when the battery voltage drops The ALM indicator lights when a calculation or I O error is detected Operation error T O error Note The symbols under Indicator Name have the following meanings Not lit O Lit X Blinking Undefined 6 2 3 Startup Sequence 6 2 Startup Sequence and Basic Operation A basic outline of the startup sequence and basic operation of the MP2200 is shown below Interrupt signal DWG I execution ae ae Completed once High Ladder Program High speed Low speed DWG H execution Turn ON the power Startup sel
273. tions between the SVB 01 and SGD OOON and SGDB OOAN SERVOPACKs Cable model number JEPMC W6011 000 SVB 01 SERVOPACK SERVOPACK SERVOPACK terminating Per ep aap tg Gh Oy wn NAR a gl Fae ae Oe aig mene gS Oe a Og te USB Connector MR Connector MR Connector MR Connector l i Name i Name Name Name 1 1 NC 1 i 1 DATA 1 VDATA 1 DaTa i i 1 1 IDATA 2 l 2 DATA H 2 DATA HH 2 DATA i i 1 P Ma 1 DATA 3 3 i i i 1 i SH TERM 4 TERM 4 TERM i i 1 Shield FG 5 FG 5 FG 1 1 1 1 e DATA 6 DATA g PATA _ Connect a terminator between i ea T LA pi i i pins 6 and 7 1 Sect bos Resistance 130 Q 5 1 2 W 1 DATA DATA DATA i 7 7 7 t 1 i 1 1 i 8 8 8 i i iy e I Note 1 The JEPMC 6010 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 2 The terminating resistance for SGD OOON SGDB OODAN must be provided by the user 3 Prepare the cables according to following MECHATROLINK I specifications Connections that do not meet the specifications will prevent normal communication due to the influence of reflected waves or other factors
274. to 16 inputs and 16 outputs b Connector Specifications The following table shows the connector specifications 3 f ConnectorModel Model onnector 0 0 Se Cable Models Name Pins Module side Cable side facturer CNI e Connector body 10150 3000VE e Shell External I O 10250 52A3JL 10350 52A0 008 connector 1 Screw locking 10350 52F0 008 One touch locking CN2 50 e Connector body 10150 3000VE e Shell External I O 10250 52A3JL 10350 52A0 008 connector 2 Screw locking 10350 52F0 008 One touch locking i JEPMC W6060 00 3M JEPMC W6060 00 5 37 5 38 5 Mounting and Wiring 5 2 5 LIO 04 Module Connections c External I O Cables e Cables JEPMC W6060 05 Cable for LIO 04 Modules JEPMC W6060 10 JEPMC W6060 30 3m e Cable Appearance NP JEPMC W6060 05 H FT A ox 2 a J Z P Z 50 cores l loose wires Ney rs i L 150 UE a S k gt Cable Connections Diagram Connector Rasen Label No i 4 2 lt 2 3 lt 3 1 1 I 1 l 1 I 1 1 48 lt i 48 49 lt l 49 50 lt i 50 5 2 Module Connections d Connector Pin Arrangement The following table shows the connector pin arrangement for LIO 04 Modules e CN1 Pin Arrangement 1 ome eee ee eee ee E 2 eee ee 26 mm mm m ee D 27 m m m m mm m m m m a 40 Arrangement from Connection Side
275. troller New Ladder Editor User s Manual Operation Manual No SIEZ C887 13 2 6 3 1 Drawings DWGs User programs are managed in units of programming called drawings Each drawing is identified by a drawing number DWG No These drawings serve as the basis of user programs The drawings include parent drawings child drawings grandchild drawings and operation error drawings Besides the drawings there are functions that can be freely called from each drawing e Parent Drawings Parent drawings are executed automatically by the system program when the execution condition is estab lished e Child Drawings Child drawings are executed by being called from a parent drawing using the SEE instruction e Grandchild Drawings Grandchild drawings are executed by being called from a child drawing using the SEE instruction e Operation Error Drawings Operation error drawings are executed automatically by the system program when an operation error occurs e Functions Functions are executed by being called from a parent child or grandchild drawing using the FSTART instruction 1 Types and Priority Levels of Drawings Drawings are classified by the first character of the drawing number A I H L according to the purpose of the process The priority levels and execution conditions are as shown in the following table Type of Par Number of Role of Drawing i Execution Conditions ent Drawing Drawings Turn ON the powe
276. uble click the Communication Process Icon in the task tray to view the Communication Manager Window P En 32 2 29 PM In this example the USB connection setting is allocated to number 3 of Logical PT in the Communica tion Manager window 3 Double click 3 in the Logical PT Column in the Communication Manager Window Communication Manager File View Tool Control Modem Help gt Py S ven Logica pTkind DuaL Physica Device Timeout 1 Serial COMI 10000 2 CP 218 1 10000 4 5 6 7 The Logical Port Setting Dialog Box will appear 4 27 4 Module Specifications 4 4 5 USB Interface 4 Set Port Kind to USB and do not change the TimeOut setting from the default value of 10 000 ms Then click the OK button Logical Port Setting i x Logical Port 3 Port Kind TimeOut fi 000 ms Dual gff Gn coc 5 The Communication Manager Window will appear again Confirm that the USB has been allocated to number 3 of Logical PT Communication Manager k File View Tool Control Modem Help 2S ee S ma 6 On the File menu select Save A Dialog Box will appear asking if you want to save the communication port settings Click the Yes button x Communication Manager File View Tool Control Modem P The Information will be Saved Are You Ready Yes No 7 On the File menu select Exit to close the Communication Manager Window A Dialog B
277. ue Setti 0to7 messages etting range 0 to Automatically determined by the SigmaWin setting and the number of retry stations setting The results is displayed and cannot be changed Setting range 0 to 15 The number of slave stations is calculated using the following equation SigmaWin Yes 1 No 0 Number of slave e Communication cycle 0 5 ms stations Number of slave stations 4 No of retry stations SigmaWin e Communication cycle 1 ms Number of slave stations 9 No of retry stations SigmaWin e Communication cycle 1 ms Number of slave stations 15 No of retry stations SigmaWin e Communication cycle 1 ms Number of slave stations 21 No of retry stations SigmaWin Ifthe communication cycle is 0 5 ms the maximum number of retry stations is 3 e Slaves Default Value Fixed value display only Fixed value display only No send bytes 31 bytes 31 bytes Communication Setting not required 1 ms cycle No of retry sta tions Setting not required messages Number of slave Fixed value display only 30 stations 30 6 34 6 5 Self configuration INFON m MECHATROLINK Transmission Definitions for SVB Built into the MP2300 CPU The MECHATROLINK transmission definitions are set automatically according to the detected communication method and number of slaves Communication MECHATROLINK II MECHATROLINK II Method 32 bytes 17 bytes MESRATROLINKI Comm
278. umeric operations The values in parenthe mee 8000H 7FFFH ses are used in logic operations Double length 2147483648 to 2147483647 Used in numeric operations The values in parenthe integer data 80000000H 7FFFFFFFH ses are used in logic operations Address data 0 to 32767 sed only for pointer designations Register Designation and Data Types m MB001006 FEDCBA9876543210 ML00100 MF00100 MW00100 MW00102 ML00102 i MF00102 w001 03 MB00103A 6 4 Registers Pointer Designation Register area Memory address nn gt MB001003 MW00100 ML00100 MW00101 4 MF00100 MW00102 MW00103 MW00100 gt MW00101 p MW00102 gt MW00103 lt q EXAMPLE gt e Examples of Use by Data Type 1 Bits Bits are used for relay circuit ON OFF status IB00010 MBO000101 IB00001 6 2 Words Words are used for numeric operations and logic operations mwoo100 vV HOOFF gt Mwo0101 mwoo102 12345 gt MW00103 MW00104 INV gt MW00105 3 Double length Integers Double length integers are used for numeric operations and logic operations ML00100 ML00102 gt ML00104 H ML00106 x ML00108 18000 ML00110 L ML00112 BIN gt ML00114 6 21 6 22 6 Basic System Operation 6 4 1 Data Types 4 Real Numbers Real nu
279. unication Speed No of Send Byies Communication Cycle Stations No ofRetryStatins f 1 o SigmaWin Xo P The communication cycle and number of retry stations when using MECHATROLINK II 32 byte mode will change as shown in the following table depending on the highest station number in the detected slave stations Highest Slave Communication pe 29 a E S a ee ae a l 10 to 16 5 Determined by the following equation 17 to 21 2 e ee m Devices Unable To Be Recognized in Self configuration The following Slave devices I O Modules do not have model codes and are therefore recognized as wild card I O O Assign a model code in the MPE720 Module Configuration Screen e JEPMC IO350 e JAMSC 120DAI53330 e JAMSC 120DAI73330 e JAMSC 120DA083330 e JAMSC 120DRA83030 SERVOPACKs with special specifications or that cannot be automatically configured are recognized as wild card SERVOPACKs SERVO Allocate these SERVOPACKs in the MPE720 Module Configuration Screen 6 35 6 Basic System Operation 6 5 2 SVB 01 Modules 3 Motion Parameters The motion parameters for each axis are set as described below when self configuration is executed Refer to Chapter 4 Motion Parameters in MP2200 MP2300 Machine Controller Motion Module User s Manual Manual No SIEPC88070016 for information on motion parameters a Motion Fixed Parameters Motion fixed parameters and SERVOPACK parame
280. unt Per Machine Rotation 1 to 23 1 1 1 reference unit 10000 20 Encoder Gear Ratio 1 to 65535 fiword 1 fs 21 Machine Gear Ratio 1 to 65535 piword 1 of Maximum Value of Rotary Counter 1 to 231 1 1 1 reference unit 2 words 360000 POSMAX Number of Pulses Per Encoder Rotation 1 to 27 1 1 1 pulse rev 2 words 2048 before Multiplication N N ay 00 O N A ma 0 4 58 4 9 LIO 01 and LIO 02 Module Counter Functions 2 Counter Setting Parameters The following table shows the counter setting parameters details Name Register Number Setting Range Command eam rae wOOOO 0000 Function a Latch Detection Signal Selec Set Function tion owOOO00 0001 Bit setting 0000H DI latch Set Function 0002H Z latch OOOOH DI latch 0002H Z latch Sang CONDA gt OCTAGON atwaa 15 1refeonceunit OLOOOO 0008 Reserved to OLOOOO 001C System Monitor OLOOOO 0x1E System use 4 The following table shows the Command Settings RUNMOD details Countpronibted 0 i Comtprohibied Y Coincidence detection request 1 Coincidence detection request POSMAX tums preset request Reserved SE TC 4 59 4 Module Specifications 4 9 4 Counter Parameters 3 Counter Monitor Parameters The following table shows counter monitor parameters details Register Number Salus RUNSTS WOOO Bivens PS wooo S Number of Incremental T 3 a
281. unted in option slots are detected and input registers and output registers are allocated automatically Allocation is performed in ascending order from the Module with the lowest option slot number With LIO 04 Modules 2 words are allocated to both input registers and output registers Alocatons Out of the 2 words allocated to one Module the first word is automatically allocated to input registers Example If LIO 04 Modules are mounted in slots 1 and 2 digital inputs will be allocated in the following way LIO 04 Module mounted in slot 1 W0410 and W0411 LIO 04 Module mounted in slot 2 W0420 and W0421 Two words per Module are automatically allocated to output registers Digital inputs 16 points Example If LIO 04 Modules are mounted in slots 1 and 2 digital outputs will be allocated in the following way LIO 04 Module mounted in slot 1 OW0410 and OW0411 LIO 04 Module mounted in slot 2 OW0420 and OW0421 Digital output 16 points Note The above allocations are simply an example The leading register number will change for manual alloca tions 6 5 Self configuration 6 5 7 218IF 01 Modules 1 Ethernet Interface When self configuration is executed the following parameter settings will be made for the Ethernet interface of 218IF 01 Modules Item Allocations cations INFON An engineering communication connection with the MPE720 is possible using self configuration To perform MEMOBUS 4 message
282. us 8 10 transmission errors 8 16 user operation error status 8 12 system functions 6 19 system initialization 3 8 system registers 6 23 system startup equipment 24 VDC power supply 3 5 connecting the MPE720 and MP2200 3 6 controller related equipment 3 4 MECHATROLINK Cable connection 3 6 programming device related equipment 3 4 servodrive related equipment 3 5 SERVOPACK and Servomotor connection 3 7 system startup procedure 3 2 system status 8 8 CPU error status 8 8 CPU Status c reepa tee eS ey Stee Stee Steet 8 8 hardware status configuration 8 9 T T branch multi branch and drop line connections 5 57 troubleshooting 8 2 basic flow 8 3 tuning panel 3 37 3 48 3 53 3 58 U user functions 6 19 user na
283. uting program number Executing block number Refer to 10 1 Motion Errors in MP2200 MP2300 Machine Controller Motion Module User s Manual Manual No SIJPC88070016 for information on motion program alarms 6 Basic System Operation 6 3 3 Motion Programs 8 Example of a Ladder Program for Motion Program Control The minimum ladder program required to control a motion program is shown in the following illustration 1 0000 1B00100 OB80000 O Servo ON 1 0002 1B00000 DB000300 DB000010 O Program start 1 0005 1B00001 DB000011 O Program pause 1 0007 1B00002 DB000012 O Program stop 1 0009 1B00005 DB000015 O Alarm reset 1 0011 MSEE MPM001 DA00000 1B00005 OB8000F 1 0013 O Alarm reset The contents of this ladder program are shown in the following table Step No Program Content BE Sets motion setting parameter OB80000 Servo ON using external input signal IB00100 and turns ON the servo The signals connected to the MP2200 external input signals are stored as the motion program control sig nals TW0000 external input signal DW00001 second word of MSEE register e Program start e Program pause e Program stop e Alarm reset Calls motion program MPM001 MSEE MPM001 DA00000 11 12 Motion program number MSEE work register address 13 14 Sets the operating mode and alarm clear OBOOOOF in the setting parameters using the alarm reset signal IB00005 and clears the alar
284. utline of Functions 4 69 4 13 2 LED Indicators and Switch Settings 4 69 4 13 3 Hardware Specifications 4 71 4 14 261IF 01 Module 4 73 4 14 1 Outline of Functions 4 73 4 14 2 LED Indicators and Switch Settings 4 73 4 14 3 Hardware Specifications 4 75 4 15 EXIOIF Module 4 77 4 15 1 Outline of Functions 4 77 4 15 2 LED Indicators and Switch Settings 4 77 4 15 3 Hardware Specifications 4 77 4 16 External Appearance 4 78 4 16 1 Basic Unit 4 78 4 16 2 Mounting Optional Module Connectors 4 79 5 Mounting and Wiring 5 1 Handling the MP2200 5 2 5 1 1 Mounting the MP2200 5 2 5 1 2 Replacing and Adding Optional Modules 5 5 xiii
285. utline of Functions 4 33 4 5 2 LED Indicators and Switch Settings 4 33 4 5 3 Hardware Specifications 4 35 4 5 4 Function Lists 4 36 4 6 SVA 01 Module 4 38 4 6 1 Outline of Functions 4 38 4 6 2 LED Indicators and Switch Settings 4 38 4 6 3 Hardware Specifications 4 39 4 6 4 Function Lists 4 40 4 7 LIO 01 Module 4 42 4 7 1 Outline of Functions 4 42 4 7 2 LED Indicators and Switch Settings 4 42 4 7 3 Hardware Specifications 4 44 AG NG 02 Modules este tet sete ee eet ea toe ee ald oe 4 45 4 8 1 Outline of Functions 4 45 4 8 2 LED Indicators and Switch Settings 4 45 4 8 3 Hardware Specifications 4 47 4 9 LIO 01 and LIO 02 Module Counter Functions
286. words allocated to one Module the first word is automatically allocated to input regis ters Example If LIO 02 Modules are mounted in slots 1 and 2 digital inputs will be allocated in the following way LIO 02 Module mounted in slot 1 1W0410 LIO 02 Module mounted in slot 2 IW0440 Out of the 48 words allocated to one Module the second word is automatically allocated to output registers Example If LIO 02 Modules are mounted in slots 1 and 2 digital outputs will be allocated in the following way LIO 02 Module mounted in slot 1 OW0411 LIO 02 Module mounted in slot 2 OW0441 Out of the 48 words allocated to one Module the last 32 words are automatically allocated to the input and output registers Example If LIO 02 Modules are mounted in slots 1 and 2 counters will be allocated in the following way LIO 02 Module mounted in slot 1 IW0420 0W0420 LIO 02 Module mounted in slot 2 IW0450 OW0450 Note The above allocations are simply an example The leading register number will change for manual alloca tions 2 Counter Fixed Parameters When self configuration is executed all of the counter fixed parameters will take their default settings For details on fixed parameters refer to 4 8 4 Counter Parameters 6 41 6 42 6 Basic System Operation 6 5 6 LIO 04 Modules 6 5 6 LIO 04 Modules Details on definition information when self configuration is executed are shown below 1 I O Allocations Modules mo
287. ws the connector specifications Connector No of Connector Model Name Pins Module Side Cable Side 1 0 Connector o 48 Fen3gsposg ay FCN 3600048 E cover Fujitsu compo FCN 364J048 AU nent c Cables 9 Cable for LIO Modules d External Appearance of Cables for LIO Module JEPMC w2061 00 o 5 31 5 32 5 Mounting and Wiring 5 2 4 LIO Module Connections e Connector Pin Arrangement The following table shows the connector pin arrangement for the LIO 02 Module P Num ber Remarks I TS gaer s Signal Name Phase A pulse G Phase B pulse C N Pulse input ground DO_COM Output common 24 V input Output 15 Output 13 Output 11 Output 9 Output 7 Output 5 Output 3 Output 1 Input 15 EA EE poe o CAA pom o Do 0 ES EJ EZ EA EN in A1 A2 A3 A4 A5 A6 A7 A8 A9 A10 A11 A12 A13 A14 A15 A16 A17 i Input 13 Input 11 eee Se Deom e Input 9 A19 Input 7 a oo oO A Input 5 A21 Input 3 Input 1 E A A 3 Input common 0 2 2 A2 2 2 E Frame ground Pin Num ber B1 B2 Phase A pulse Phase B pulse I Phase Z pulse 5 V input Phase Z pulse 12 V input PL output common DP aaVinpor E o foma o om o om o oms o ome o oma o om o fomo CP conmo C Fame around PAL PBL B3 PCLS B4 PCL12 ol DO_COM DO_24V DO 14 DO 12 DO 10 DO_
288. xed Parameter Phase Aor BDiscomedtAam A dT CCS Rewa SOS SY POSMAX Turns Preset Completed ceon oooi Reema ooo o o S T e Module Ready F oe processing being exe i ne 4 60 4 10 LIO 04 Module 4 10 LIO 04 Module 4 10 1 Outline of Functions The LIO 04 Module is an Optional Board for the MP2200 MP2300 that provides a digital I O function There are 32 digital inputs DI and 32 digital outputs DO sink mode outputs for the digital I O function T O is refreshed on a fixed cycle for the digital I O function occurring every MP2200 MP2300 high speed and low speed scan 4 10 2 LED Indicators and Switch Settings 1 External Appearance The following figure shows the external appearance of the LIO 04 Module LED indicators 1 O connectors 2 Indicators The following table shows the status of LIO 04 Module LED indicators Indicator Indicator Status Name Color RUN Green Lit Module normal RUNC Oru Not lit Module error FU Red Lit One of the output protection fuses is blown Not lit All of the output protection fuses are normal Note The burnout detection circuit will not function when there is no external 24 V power supply 4 61 4 Module Specifications 4 10 3 Hardware Specifications 4 10 3 Hardware Specifications 1 Module Specifications The following table shows the hardware specifications of the LIO 04 Module Specifications TAPMCTO2303 32 inputs 24 VDC 4 1 mA co
289. y with the power supply to the MBU 01 MBU 02 Unit turned OFF will result in the pro grams and data stored in the CPU 01 or CPU 02 Module memory being lost 7 5 8 Troubleshooting This chapter describes the errors that can occur when using the MP2200 system their probable causes and the appropriate countermeasures 8 1 Overview of Troubleshooting 8 2 8 1 1 Troubleshooting Methods 8 2 8 1 2 Basic Troubleshooting Flow 8 3 8 1 3 Indicator Errors 8 3 8 2 System Errors 8 5 8 2 1 Overview of System Errors 8 5 8 2 2 Processing Flow When a System Error Occurs 8 6 8 2 3 Processing Flow for a User Program Error 8 7 8 2 4 System Register Configuration 8 8 8 1 8 2 8 Troubleshooting 8 1 1 Troubleshooting Methods 8 1 Overview of Troubleshooting This section shows the basic troubleshooting flow and provides a list of errors 8 1 1 Troubleshooting Methods There are three checks available for checking the system when an errors occurs They are checks by symptoms error codes and monitor functions of peripheral devices Checking procedures are categorized by status c
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