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Machine Controller MP2000 Series Counter - Support

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1. 38 2 5 1 AB Pulses Counting Mode 38 2 5 2 Mask of Calculation by C Pulse 38 2 5 3 Count Disable assis kai aai iaa agoa ii a anp a aa a a a i ANA a E AA aa A aE R e E A ah 38 2 5 4 Calculating Preset 39 2 6 5 a nn ae Anine enga hed deter meas banns dt heini Goat 40 2 5 6 Coincidence Output Coincidence Interrupt 41 2 5 7 Ring Counter 25 25 eo eee a 43 2 5 8 Number of POSMAX Turns Preset 43 2 5 9 Electronic Gear Function 44 2 5 10 Multipurpose Output Function 47 11 12 3 CNTR 01 Module Connections 49 3 1 CNTR 01 Module Connections 50 3 1 1 Specifications on Cable and Connector 50 3 1 2 Connector Pin Arrangement 51 3 2 CNTR 01 Connection Example 52 INDEX 22 eeee ener e ae seu as ce Sed eee eee ae alee a 53 Revision History 1 Mounting Optional Modules on Machine Controller This chapter explains on the MP2000 series Machine Controller tha
2. Pulse Counting Mode Polarity UP Count Forward DOWN Count Reverse Positive Pulse A Pulse A logic Pulse B Pulse B AIB x1 Negative Pune PER 4 yv logic Pulse B Pulse B oe A ES Positive PulseA AA Pulse A o logic Pulse B Pulse B A B x2 A PulseA i PulseA y Negative y 1 v logic Pulse B Pulse B me A 4 Positive PulseA p A PulseA es logic Bem of Ay Pulse B_ PulseB AIB x4 Negative Pulse A H Koo o Pulse A Tp Aoo logic Pulse B rE a Pulse B moo 25 2 Specifications and Functions for CNTR 01 Module 2 3 1 Reversible Counter 2 3 Counter Modes The CNTR 01 Module has three counter modes The counter mode can be switched by setting the Fixed Parameter Tab Page of CNTR 01 Module Definition Window e Reversible counter Interval counter e Frquency measurement This section outlines each counter mode Refer to 2 4 2 Setting the Counter Fixed Parameters on page 30 2 3 1 Reversible Counter The count is incremented and decremented based on the pulse A and pulse B inputs The Count Disable and Count Preset functions are enabled when specified in the output data setting field of I O Data Tab Page in the CNTR 01 Module Definition Window Also the Mask of Calculation by C Pulse can be selected to prohibit counting while the pulse C is being input The count value is stored in the input register C
3. Maximum value of ring counter POSMAX Zone output minimum value Zone output maximum value For information on the ring counter function refer to 2 5 7 Ring Counter on page 43 Speed Coincidence Output Interval Frequency Measurement The multi purpose output signal is output at the rising edge of Multipurpose Output signal when the output register Multipurpose Output is set to 2 Speed Coincidence and the feedback speed calculated from the difference between the counter values in two control cycles is within the range Speed Coincidence Detection Width whose center point is the set value of the output register Speed Coincidence Detection Setting The software processing for detecting the counter count value cause a delay for 500 u s maximum Frequency Coincidence Output Reversible Interval Frequency Measurement The multi purpose output signal is output at the rising edge of Multipurpose Output signal when the output register Multipurpose Output is set to 3 Frequency Coincidence and the frequency measured by the frequency measurement counter is within the range Speed Coincidence Detection Width whose center point is the set value of the output regis ter Speed Coincidence Detection Setting The software processing for detecting the counter count value cause a delay for 500 u s maximum 3 CNTR 01 Module Connections This chapter explains the detail
4. 4 CNTR 01 Module Status Indication The CNTR 01 Module status is indicated by the combination of LED indicators as shown in the following table Indication a Status CNTR 01 Module Status Description RUN ERR CH1 CH2 This is the status just after the Module s power supply is turned ON The ERR Indicator is turned OFF during initialization A boot error occurred if this LED status does not change The CNTR 01 firmware must be overwritten if a boot error occurs Indicates that the CNTR 01 Module has not been regis O O O O Not defined tered in Module Configuration Register the Module in the Module Configuration Window Indicates that the Machine Controller s CPU is being O s CPU being stopped stopped Execute a CPU RUN command to restore normal operation status Status when power is turned ON Initialization O 0 O O The Module is operating normally and pulse count is e O Operating normally being performed Normal Operation Status gt 2 1 CNTR 01 Module Specifications A _ _ _ _ _ _ ___ o Lu A ur Q e T e o Indication as Status CNTR 01 Module Status Description RUN ERR CH1 CH2 Hardware error 1 2 ROM error 3 RAM error 4 CPU error 6 Shared memory error 7 Counter ASIC error Number indicates the number of times blinking Software error l 2 Watchdog time timeout error 3 Address
5. No Name 2 T a E Description Default Value Rer i a 2 588 Ip Sevay Page D g Tzn 3 128 13 Lg Specify whether the I O data of counter function is SYNC SCAN Valid Valid Valid updated in synchronization with High speed scan or High Low speed scan 01 Channel selection Valid Valid Valid Specify whether to use or not to use the channel 0 Not use 0 Not use 1 Use 02 The First Register Valid Valid Valid Specify the leading register number to be used for the o Number channel 03 A B Pulse Signal Valid Valid Valid Select the signal form of the phase A and B pulses 0 5 V differential form Selection 0 5 V differential input 1 12 V collector input input Select the signal form of the phase C pulse 0 5 V differential 04 C Pulse signal type Valid Valid Valid 0 5 V differential input 1 12 V collector input input gt A B Pulse Signal Set the polarity of the phase A and B pulses of sg Polarity Valid Valid Valid 0 Positive polarity 1 Negative polarity 0 Positive polarity P 38 06 C Pulse signal Valid Valid Valid Set the polarity of the phase C pulse drena o polarity selection 0 Positive polarity 1 Negative polarity 31 32 2 Specifications and Functions for CNTR 01 Module 2 4 2 Setting the Counter Fixed Parameters Counter Mode No Name Reversible Interval Frequency Measurement Description Default Value
6. 35 operation when using the ring counter 48 out data details 36 out data items 35 outline of counter function 29 overflow 27 P PDY 25 24 sie eas a Pe Ce OR RRR O 34 PDVG aiii e it eee ee eee 34 PFB 34 Phase A or B Disconnect 34 PI Latch 29 PI latch 40 PI Latch Completed 34 PI Latch Detect Demand 35 PI latch detection signal 36 PI Latch Value 34 PI Latch Value After Converts 35 pin arrangement 51 PINT Secta ii ee 34 PINTG oS AAA E se cee is emia tien 34 PMAXTURN 35 POSMAX 33 POSMAX Preset 34 POSMAX Presetting 36 Pre Quadrature 33 precautions when using the electronic gear function 42 precautions when using the ring counter 41 Preset Count Completed 34 Preset Data of POSMAX Turns 36 PRSDAT 36 pulse A B method 25 pulse counting meth
7. 14 1 2 2 Removing Optional Modules 17 2 Specifications and Functions for CNTR 01 Module 19 2 1 CNTR 01 Module Specifications 20 2 1 1 CNTR 01 Module Functions 20 2 1 2 CNTR 01 Module Appearance and External Dimensions 20 2 1 3 Specifications 2 2 2 21 2 2 Pulse Counting Methods 24 2 2 1 Sign Method on eee 24 2 2 2 UP DOWN Method Scsi el 24 2 2 3 Pulse A B Method iiis mii a a a a a a i AaS A E e E E e E e E E e a ao D 25 2 3 Counter Modes 26 2 3 1 Reversible Counter 26 2 3 2 Interval Counter 2 5 5 oe ee 27 2 3 3 Frequency Measurement Counter 28 2 4 Counter Functions 2 202 rc cere cc crt ere creer cree 29 2 4 1 Outline of Counter Function 29 2 4 2 Setting the Counter Fixed Parameters 30 2 4 3 Setting the I O Data 33 2 5 Counter Function Details
8. Terminal No Dot Mark Wire Color Dot Mark Terminal No 1 Orange Continuous 21 2 Gray Continuous 22 3 White Continuous 23 4 Yellow Continuous 24 5 Pink Continuous 25 6 Orange 26 7 Gray 27 8 White 28 9 Yellow 29 10 Pink 30 11 Orange 31 12 Gray 32 13 White 33 14 Yellow 34 15 Pink 35 16 Orange 36 17 Gray 37 18 White 38 19 Yellow 39 20 Pink 40 Shielded wire Shell 3 1 2 Connector Pin Arrangement 3 1 CNTR 01 Module Connections The following table shows the connector CN 1 of the pin arrangement and the terminal layout for the CNTR 01 mod ule 1 Pin Arrangement and Terminal Layout Pin Arrangement at Connection Side ayia 5PA1 5PA1 E i El 5PB1 22 5PB1 ata 5PC1 5PC1 A I 5PA2 5PA2 ft al 5PB2 26 5PB2 A i EE 5PC2 5PC2 HT ee s I I I 12VA1 12PA1 e ee 30 12PB1 p I 12 24VC1 12PC1 T a 32 24PC1 E 12VA2 12PA2 ni 34 12PB2 q 2 12 24VC2 12PC2 36 24PC2 COIN1 COIN2 38 OUT2 OV 24V 24V 40 PIL2 2 Terminal Specifications No Siral yo Function No Sianal 0 Function Name Name 1 5PA1 I 5V differential A1 pulse input 21 5PA1 I 5V differential A1 pulse input 2 5PB1 I 5V
9. b In Data Details The following items are displayed in the In data field The abbreviation of the register name to store the corresponding data is given in parentheses in the Data Name col umn Counter Mode Register L z5 Ref No Data Name s Range Unit 2 s 2 E Description Number ge Unip 5 Sg F Page p O 2 F i L g 13 s IWOOOO j 00 mune S Log Bitsetting Valid Valid Valid Refer to a Status RUNSTS incremental pulses woooo 2147483648 to Indicates the difference between the pulse 01 PDV y SE 2147483647 Valid Valid Valid count value at the previous scan and that at the 02 pulse current scan i 2147483648 to ILOOOO 02 eae Value ie 2147483647 Valid Valid Valid Indicates the pulse count value every scan P 26 pulse Es 2147483648 to ILOOOO 03 PI Latch Value PINT 2147483647 Valid Valid Invalid Indicates the current counter count value at P40 06 the moment an external signal is input pulse Indicates the number of incremental pulses 2147483648 to converted into reference units When the E ILOOOO z 04 es Sates ay 2147483647 Valid Valid Valid fixed parameter No 14 Reference Unit Selec ment Pulse reference unit tion is set to pulse the converted value is the same as the number of incremental pulses Indicates the current counter count value con Current Count Va
10. 1 CPU Module for MP2200 Model JAPMC CP2200 Ed ES CPU Module for MP2200 Model JAPMC CP2210 with one slot for CF card and one USB port The Connection Module EXIOIF Model JAPMC EX2200 is required between racks CNTR 01 Module cannot be mounted on the following MP2000 series Machine Controllers MP2100 MP2500 and MP2500M 1 2 Mounting Removing Option Modules on Machine Controller Use the following procedure to mount or remove Option Modules In the photos given here to explain the procedure a Machine Controller MP2200 and an Option Module 217 F 01 are used The procedure to mount a Counter Module CNTR 01 on a Machine Controller MP2300 or MP2100M is the same as that to mount 217IF 01 on MP2200 1 2 1 Mounting Option Modules Use the followin procedure to mount an Option Module For the replacement of Option Module refer to 1 2 2 Removing Optional Modules on page 17 to remove the Option Module to be replaced 1 Preparation 1 Backup the Programs Save the programs written to the Machine Controller in the personal computer using MPE720 Right click the Counter Folder and select Transfer All Files Dump from the pop up menu 14 1 2 Mounting Removing Option Modules on Machine Controller 2 Remove the Machine Controller and Expansion Racks a For MP2300 Turn OFF the power supply and disconnect all the cables from the MP2300 Then remove the MP2300 from the panel or rack and place it whe
11. Ref Page Pulse Counting OF Mode Selection Valid Valid Valid Select the pulse counting method from the following seven methods 0 Sign x1 Sign x2 Up Down x1 Up Down x2 Phase A B pulses x1 Phase A B pulses x2 6 Phase A B pulses x4 AB WN 6 Phase A B pulses x4 P 38 08 Counter Mode Se Valid Valid lection Valid Select the counter mode 0 Reversible counter 1 Interval counter 2 Frequency measurement 0 Reversible counter mode P 26 Coincidence Detec 09 tion Function Use Selection Valid Valid Valid Set whether to use or not to use the coincidence detec tion function 0 Not use 1 Use 0 Not use P 41 Coincidence Inter 10 rupt Function Use Selection Valid Valid Valid Set whether to use or not to use the coincidence inter rupt function 0 Not use 1 Use Valid only when the No 09 Coincidence Interrupt Function Use Selection is set to 1 Use 0 Not use P 41 Frequency 11 calculation selection Invalid Invalid Valid Set the number of digits of the detected frequency when the fixed parameter No 08 Counter Mode Selec tion is set to 2 Frequency Measurement The actually detected frequency multiplied by the value set here will be written as the detected frequency 0 x1 1 x10 2 x100 3 x1000 Mask of Calculation 12 by c Pulse vag Invalid Invalid Set whether t
12. gt P Load axis 5 Orr foc NGYD O 4 P Pitch D Pully diameter Load axis One _ P 360 nD rotation F Can One __ Reference unit Reference unit rotation Reference unit Set the Encoder Gear Ratio and the Machine Gear Ratio in the fixed parameters No 17 and No 18 When the encoder axis has rotated m times and the mechanical configuration allows the load axis to rotate n times set the following values No 17 Encoder Gear Ratio m rotations No 18 Machine Gear Raio n rotations Setting range 1 to 65 535 rotations lt Setting Example gt 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 No 17 Encoder Gear Ratio 4 rotations No 18 Machine Gear Ratio 21 rotations 45 46 2 Specifications and Functions for CNTR 01 Module 2 5 9 Electronic Gear Function 3 Setting Examples The following are setting examples for each kind of load mechnical configuration a Setting Example for Ball Screw m 7 rotations Ball screw pitch n 5 rotations P 6 mm rotation In the above machine system if the reference unit 0 001 mm the setting of each parameter will be as follows e Moving Amount per Machine Rotation 6mm 0 001mm 6000 No 17 Encoder Gear Ratio 7
13. 32 TURNPRS 36 U underflow 27 UP DOWN method 24 Z Zone Output 29 zone output 47 Zone output maximum value 37 Zone output minimum value 36 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover MANUAL NO SIEP C880700 27A February 2008 05 9 lt 0 gt 1 Published in Japan T WEB revision number Date of Revision number publicanorn h Date of original publication o Rey Rev Section Revised Contents May 2010 5 2 4 2 Revision Counter mode of feedback speed moving average time constant no 21 2 4 3 3 b Revision Bit no November 2009 4 3 1 1 3 Revision Dot mark s description Sequence number to Continuous September 2009 3 Preface Addition Warranty Back cover Revision Address May 2008 2 2 2 3 Revision The diagrams of down count reverse of pulse A B method x1 February 2008 1 All chapters Slightly revised 2 1 3 4 Addition CNTR 01 Module status indication 2 5 4 Addition Count preset completion timing Back cover Revision Address September 2005 First edition Machine Controller MP2000 Series Counter Module CNTR 01 USER S MANUAL IRU
14. O Open collector output 51 52 3 CNTR 01 Module Connections 3 2 CNTR 01 Connection Example The following diagram shows the connection example of the CNTR 01 CNTR 01 Pulse generator 5V line driver lt A tE A Fixed 5PB1 output CH1 pulse B meter setting 5PC1 O EI E CH1 pulse C Fixed para meter setting CH2 pulse A Fixed para CH2 pulse B meter setting Pulse generator 12V open collector output avez ts I 1 Fixed R Ixe CH2 pulse C 12PB2 i para meter setting EEN cas 1 5KQ emo 12PC2 24PC2 390 q euluJa uonounf CH1 Coincidence detection output CH2 Coincidence detection output CH1 Multi purpose output CH2 Multi purpose output CH1 Latch input CH2 Latch input I ble Standard ca a JEPMC W2063 00 E If not connecting the phase C with modules set the fixed parameter No 12 Counting Mask Using Pulse C to Dis abled INDEX INDEX A B Pulse 0 34 A B Pulse Signal from Selection 31 A B Pulse Signal Polarity 31 A B pulses counting mode 38 After Convert Increment Pulse 34 Agreed Detection Value 36 appearance and external dimensions 20 applicable machine controllers 14 A Pulse Status Monitor
15. in data details 34 in data items om 34 Incremental Pulses 34 installing optional modules 16 interval counter 27 interval data 2S SSeS eee SSeS eS AA 27 Inverval Latch 27 JEPMC W2063 00 E 50 L LED indicators oer er rrr eee er ee ee 22 list of fix parameter set 7c rrr 31 M Machine Gear Ratio 2 55604555 oonoo 33 Mask of Calculation by C Pulse 29 32 mask of calculation by C pulse 38 maximum value of ring counter 33 minimum width of pulse counting 23 Module Ready gt er crc ere eet eee 34 mounting option modules 14 mounting removing option modules on machine controller 14 Multipurpose output 6 eo en ee eee ee eee 36 multipurpose output function 47 Multipurpose Outputs eee eee ene ee 29 Multipurpose signal eee er eee 34 N Number of Digits Below Decimal Point 32 Number of POSMAX Turns 35 number of POSMAX turns preset 43 53 54 INDEX open the fix parameter set tab page 30 Operation Mode 36 operation mode
16. tak 2 point 24 VDC 20 50 mA current sink mode output photocoupler interface Coincidence Output Response time 1ms max when OFF gt ON 1ms max when ON gt OFF 2 point 24 VDC 20 50 mA current sink mode output photocoupler interface DO Output Response time 1 ms max when OFF ON 1 ms max when ON gt OFF Can be switched using the Zone output MPE720 Speed coincidence Frequency coincidence DI 2 point 24 VDC 20 souce mode input photocoupler I F Response time 30 us max when OFF ON 600 us max when ON OFF PI Latch Output Phase C In 5 V differential input mode the minimum ON pulse width is 125 ns In 12 24 V input mode the minimum ON pulse width is 4 2 us Latch input response time 95 to 125 ns response delay for pulse A or B input Connector CNI I O connector RUN green Indicators ERR red CH1 green CH2 green Current Consumption 600mA at 5 V Dimensions mm 125 x 95 H x D Mass Approx 85 g Note that the DO output may turn ON at the moment the power supply turns OFF for 3 or 4 ms 3 LED Indicators Name Color Status when Lit Status when Unlit RUN O O ERR RUN Green Normally operating Being stopped ERR Red Malfunction occurs Normally operating CHi O Q one CH1 Green CH1 counter count value increments or decrements No pulse input CH2 Green CH2 counter count value increments or decrements No pulse input
17. E Li UP DOWN x1 Negative Pulse A Pulse A Fixed at LOW or HIGH logic Pulse B Fixed at LOW or HIGH Pulse B gt 2 2 Pulse Counting Methods Pulse Counting Mode Polarity UP Count Forward DOWN Count Reverse Positive Pulse A ff yo Pulse A Fixed at LOW or HIGH logic Puses __ Pulse A Fixed at LOW or HIGH Pulse B Fixed at LOW or HIGH UP DOWN x2 Negative Pulse A logic Pulse B Fixed at LOW or HIGH Pulse B 4 4 0 when the pulses A and B are input at a time 2 2 3 Pulse A B Method The count is incremented and decremented based on the polarity as explained below Polarity Positive logic The count is incremented when the phase of the pulse A input is advanced from the pulse B Positive in the frequency measurement The count is decrmented when the phase of the pulse A input is lagged behind the pulse B Negative in the fre quency measurement Polarity Negative logic The count is incremented when the phase of the pulse A input is advanced from the pulse B 0 Positive in the frequency measurement The count is decremented when the phase of the pulse A input is lagged behing the pulse B 0 Negative in the frequency measurement The following table shows the pulse counting operations with difference multiplications and polatiries
18. any separately agreed upon specifications Causes not attributable to the delivered product itself Modifications or repairs not performed by Yaskawa Abuse of the delivered product in a manner in which it was not originally intended Causes that were not foreseeable with the scientific and technological understanding at the time of shipment from Yaskawa Events for which Yaskawa is not responsible such as natural or human made disasters Limitations of Liability 1 Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product Yaskawa shall not be responsible for any programs including parameter settings or the results of program execu tion of the programs provided by the user or by a third party for use with programmable Yaskawa products The information described in product catalogs or manuals is provided for the purpose of the customer purchasing the appropriate product for the intended application The use thereof does not guarantee that there are no infringe ments of intellectual property rights or other proprietary rights of Yaskawa or third parties nor does it construe a license Yaskawa shall not be responsible for any damage arising from infringements of intellectual property rights or other proprietary rights of third parties as a result of using the information described in catalogs or manuals 10 3 Suitabilit
19. decrements to the value MIN p5 it is automatically reset to the value MAX p6 Count disable Count permit The Counting Mask Using Pulse C function is enabled to stop counting while the pulse C is being input Also executing the Count Prohibit command stops counting until the command is cancelled regardless of the pulse C input 2 3 2 Interval Counter The count is incremented and decremented based on the pulse A and B inputs and the count value is stored in the input register Current Counter Count Value every high speed scan or low speed scan The count value is latched and the counter is reset when the pulse C is input Inverval Latch The latched data is stored in the input register Interval Data every set scan The diagram below illustrates an example of the interval counter operation p2 p3 2147483647 MAX n7 A i i i m3 A mi d m2 sni n2 n3 n4 Counter k count 0 register i n6 m4 v f n5 2147483648 MIN a Time s ho ne A Pulses A and B UP DOWN UP DOWN UP Pulse C terminal positive logic Pulse C terminal negative logic Interval data DOCG Kom Xe XXX KK Ts scan setting ae IREEN A A A Counter value lt Explanation gt Counter value ILOOOO 4 Stores sequentially the count value n1 to
20. differential B1 pulse input 22 5PB1 I 5V differential B1 pulse input 3 5PC1 I 5V differential C1 pulse input 23 5PC1 I SV differential C1 pulse input 4 SG Ground for pulse input 24 SG Ground for pulse input 5 5PA2 I 5V differential A2 pulse input 25 5PA2 I 5V differential A2 pulse input 6 5PB2 I SV differential B2 pulse input 26 5PB2 I SV differential B2 pulse input 7 5PC2 I 5V differential C2 pulse input 27 5PC2 I SV differential C2 pulse input 8 28 9 12VA1 P_ Power supply 12VA1 input 29 12PA1 I 12VA1 pulse input 10 12VB1 P_ Power supply 12VB1 input 30 12PB1 I 12VB1 pulse input 11 12 24VC1 P Power supply 12 24VC1 input 31 12PC1 I 12VC1 pulse input 12 32 24PC1 I 24VC1 pulse input 13 12VA2 P_ Power supply 12VA2 input 33 12PA2 I 12VA2 pulse input 14 12VB2 P_ Power supply 12VB2 input 34 12PB2 I 12VB2 pulse input 15 12 24VC2 P Power supply 12 24VC2 input 35 12PC2 I 12VC2 pulse input 16 36 24PC2 I 24VC2 pulse input 17 COIN1 O Coincidence detection output 1 37 COIN2 O Coincidence detection output 2 18 OUT1 O Multi purpose output 1 38 OUT2 O Multi purpose output 2 19 OV 24V Ground 24V 8 39 24V P 24V power supply input 20 PIL1 I Latch input 1 40 PIL2 I Latch input 2 P Power supply input I Input signal
21. error reading exception O 4 Address error writing exception 6 General illegal instruction exception 7 Slot illegal instruction exception Hardware failure of the CNTR 01 Module occurred Replace the Module Error Software failure of the CNTR 01 Module occurred Replace the Module Number indicates the number of times blinking Lit Unlit Blinking Oe 1 Not specified 5 Minimum Width of Pulse Counting Fill the following pulse width with the loose wire side of the standard cable JEPMC W2063 H010 E E Input 5 V Differential Input 250ns 125ns 62 5ns A B method lt E Input 12V 84us e a 42us altl 2 1 us A B method m 23 24 2 Specifications and Functions for CNTR 01 Module 2 2 1 Sign Method 2 2 Pulse Counting Methods The CNTR 01 Module supports three pulse counting methods e Sign UP DOWN A B This section describes the details on each pulse counting method 2 2 1 Sign Method The count is incremented and decremended based on the polarity Polarity Positive logic When the pulse B input is at Low the count is incremented by the pulse A input Positive in the frequency mea surement When the pulse B input is at High the count is decremented by the pulse A input Negative in the frequency measurement Polarity Negative logic When the puls
22. following fixed parameters No Name Details Default Value Set the polarity of phase A and B pulse signals o5 Be Piles Signal Folarity 0 Positive logic 1 Negative logic 0 Positive logic Select the pulse counting method 0 Sign x 1 Sign x 2 Up Down x 1 Up Down x 2 1 Pulse Counting Mode 2 3 4 Pulses A B x 1 gt 6 Of Selection 6 A B x 4 Pulses A B x 2 Pulses A B x 4 For details on the pulse counting methods refer to 2 2 Pulse Counting Methods on page 24 Mask of Calculation by C Pulse Interval Frequency Measurement This function is used to stop counting while the pulse C is being input This function is enabled by setting the fixed parameter No 12 Mask of Calculation by C Pulse to 0 Enabled However this function is invalid while the PI Latch Detection Demand using the pulse C is ON While the pulse counting is being stopped counting the following values is stopped Number of Incremental Pulses PDV ILOOOO 2 Counter Value PFB ILOOOO 4 After Convert Increment Pulse PDVG ILODOO 8 and Current Count Value After Conversion PFBG ILOOOO A An operation example of the Mask of Calculation by C Pulse is given in 2 3 1 Reversible Counter on page 26 Count Disable Frequency Measurement This function stops counting while the bit 0 Count Disable of the Operation Mode OWON0N01 00 of the Setting Output Data is ON This
23. function can be used independently from the Mask of Calculation by C Pulse While the pulse counting is being stopped counting the following values is stopped Number of Incremental Pulses PDV ILOODOO 2 Counter Value PFB ILOOOO 4 After Convert Increment Pulse PDVG ILOOO0 8 and Current Count Value After Conversion PFBG ILODOO A An operation example of the Count Prohibit function is given in 2 3 1 Reversible Counter on page 26 2 5 Counter Function Details 2 5 4 Calculating Preset Interval Frequency Measurement This function forcibly resets the counter count value to the value specificied in the Count Preset Data OLOOOO 2 The counter value is reset to the preset value when the the signal of the bit 2 Calculating Preset of the Operation Mode OWO0N01 00 of the Setting Output Data is input detection at the signal rising edge When the value is reset to the preset value the bit 2 Preset Count Completed of the Status IWOO00 00 of the In Data turns ON Calculating Preset y a 1 1 1 Mu Preset Count Completed An operation example of the Calculating Preset function is given in 2 3 1 Reversible Counter on page 26 When using the ring counter function set the calculating preset data to a value between 0 and the value POSMAX 2 T The following diagram shows the count preset completion timing of the CNTR 01 Module Calculating Preset Count Prese
24. heed the precautions that are provided The conventions are as follows Indicates precautions that if not heeded could possibly result in loss of life serious A WARNING injury or property damage Indicates precautions that if not heeded could result in relatively serious or minor injury A CAUTION or property damage If not heeded even precautions classified under CAUTION can lead to serious results depending on circumstances S PROHIBITED Indicates prohibited actions Specific prohibitions are indicated inside S For example amp indicates prohibition of open flame Indicates mandatory actions Specific actions are indicated inside MANDATORY s p For example indicates mandatory grounding 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 N 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 MP2000 series 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
25. min Conditions P Conforming to JIS B 3502 Shock Resistance Peak acceleration of 147 m s 15 G twice for 11 ms each in the X Y and Z directions Electrical Conforming to EN 61000 6 2 EN 55011 Group 1 Class A Operating Noise Resistance Power supply noise FT noise 2 Kv min for one minute Conditions Radiation noise FT noise 1 Kv min for one minute Installation Ground Ground to 100 Q max Requirements Cooling Method Natural cooling 2 Hardware Specifications Item Specifications Description Counter Module Name CNTR 01 Model Number JAPMC PL2300 E Number of Channels 2 Input Circuits Can be switched using the MPE720 5 V differential Max frequency 4 MHz RS422 non isolated 12V Max frequency 120 KHz 12 V 7 mA current source mode input photocoupler 1 F Pulse Counting Methods Can be switched using the MPE720 A B x1 x2 and x4 Up Down xl and x2 Sign xl and x2 Counter Function Can be switched using the MPE720 Reversible counter mode Interval counter mode Frequency measurement mode Coincidence Interrupt Outputs to the CPU Module via the system bus Simultaneously outputs a DO 21 2 Specifications and Functions for CNTR 01 Module E _ ______ gt x_ _ __ _________ o F_ oune z__ gt gt _ _Qooo oro53oE3E gt 3mzmm gt o o q q A Qz gt ____Rr e Qu 2 1 3 Specifications Item Specifications
26. pulse sec is used as reference unit th e unit erate 2147483648 to Indicates the frequency detected at the 09 Detected Frequency 2147483647 Invalid Invalid Valid moment an external signal is input P26 FREQ 12 pa m indicates the set value of the fixed param 10 Hz eter No 11 Frequency calculation selection Indicates the average of the detected fre EE 2147483648 to quency values of the number of times speci IL i i 10 Average Frequency 2147483647 Invalid Invalid Valid fed i the output data No 10 Averaging FRQAVE 14 E count setting 10 Hz m indiates the value set in the fixed parameter No 11 Frequency calculation selection ILODOO 2147483648 to 11 i Valid Valid Valid F t lysi e System Monitor 15 2147483647 or system analysis TOD O indicates the leading register number 3 Out Data Items Click the Set Button to output the settings made in the Out data field a Operation Mode Set the following items for the bits 0 to 5 of the Operation Mode RUNMOD OWOOIOO 00 Counter Mode v E Name Bit No Description 2 sw Default Value Ret 2 ge Page Q g 332 2a Count Disable o Prohibited 0 Permitted ee Valid Valid Invalid 0 Permitted P38 Specify whether to prohibit or permit counting Calculati 1 Reset 0 Not reset a ou aung 1 Specify whether to reset or not to reset the count Valid Invalid Invalid 0 Not reset P 39 Preset value to the preset
27. signal rising edge storage of the PI latch data in the register When the electronic gear function is enabled when the fixed parameter No 14 Reference Unit Selection is set to other than pulse the latch data converted into reference units is written in the input register PI Latch Value After Con verts Interval Data After Conversion A Pa EERE LE ER AS Signal rising edge detected PI Latch Data Current counter count value 0 lt Hardware latch Time s gt PI Latch Detection Request Discrete PI ON for 30 y s min Pulse C ON for 125 ns min External input signal LD discrete PI input or pulse C PI Latch Completed signal PI Latch Register lt PINT PI Latch Data display Atleast 600 us must elapse before accepting the ON signal after the signal turns OFF from ON 2 5 Counter Function Details 2 5 6 Coincidence Output Coincidence Interrupt This function outputs the coincidence output signal and outputs an interrupt signal to the Machine Controller when the count value becomes the value predefined in the output register Agreed Detection Value OLDO0DOO The Coincidence Detection Operation Mode of Out Data is enabled when the fixed parameter No 9 Coincidence Detection Function Use Selection is set to 1 Use And the Coincidence Interrupt Request is enabled when the fixed parameter No 10 Coinc
28. to 1 um To move the workpiece 10 mm 10 mm 1 u m 10000 reference units Input 10000 reference units Ball screw pitch Gear ratio 2 Confirm the number of encoder pulses displayed in Counter Value and set this value to the fixed parameter No 20 Encoder Resolution Pre Quadrature 3 Set the reference unit the smallest unit for the reference data to move the load according to the set tings of the fixed parameter No 14 Reference Unit Selection and No 15 Number of Digits Below Decimal Point Reference to move a table in units of 0 001 mm Reference unit 0 001mm gt Consider the machine specifications and positioning precision when setting the reference unit When reference unit is 1 yu m inputting 50 000 reference pulses moves the workpiece by 50000 x 1 m 50 mm 2 5 Counter Function Details Find the load travel distance per load axis rotation using the reference unit and set to the fixed parameter No 16 Travel Distance per Machine Rotation Travel distance per machine rotation axis Load travel distance per load axis rotation reference unit reference unit Reference unit lt Calculation Example gt For a ball screw pitch of 5 mm and a reference unit is 0 001 mm 5 5000 Reference unit 0 001 Ball screw Round table Belt pully Load axis lt
29. which the number of POSMAX 03 POSMAX Turns 2147483647 Valid Invalid Invalid turns is reset when the POSMAX Turn Number P 43 TURNPRS 06 turn Presetting Demand is executed Zone output OLOOOO 2147483648 to D 17 a ba ache 2147483647 Valid Invalid Invalid P P saree P47 minimum value 08 Detect and the Multi purpose Output Selection reference unit 1s set to Zone Output 2 4 Counter Functions Counter Mode 9 E Register Faj oo Ref lt No Data Name Number Range Unit 5 g 5S Details Page z 8 a es Set th limit when the Multi pur Zone output OLD 247483648 to pose Output Detection Request is seo E 05 2147483647 Valid Invalid Invalid a P 47 maximum value 0A Detect and the Multi purpose Output Selection reference unit 1s set to zone output Set the detection speed when the Multi purpose 08 Speed coincidence OLOOOO 2147483648 to Valid Invalid Invalid Output Detection Request is set to 1 Detect and P48 detection setting 0C 2147483647 the Multi purpose Output Selection is set to Speed Coincidence Set the speed detection width when the Multi L fs 1 1 07 Speed coincidence OLOOOO 2147483648 to Valid Invalid Invatia PUEPOS Output Detection Request is set to 1 P48 detection width 0E 2147483647 Detect and the Multi purpose Output Selection is set to speed coincidence Set the detection
30. 0 Describes the models capacities selection methods ratings characteristics diagrams cables peripheral devices wiring panel installation trial operation adjustment function application methods maintenance inspection and MECHATROLINK communication of the gt III Series SERVOPACKs and Servomotors Machine Controller MP900 MP2000 Series Linear Servomotor Manual SIEPC880700060 Describes the connection methods setting methods and other information for Linear Servomotors Machine Controller MP900 Series New Ladder Editor Programming Manual SIE C887 13 10 Describes the programming instructions of the New Ladder Editor which assists MP900 MP2000 Series design and maintenance Machine Controller MP900 Series New Ladder Editor User s Manual SIE C887 13 20 Describes the operating methods of the New Ladder Editor which assists MP900 MP2000 Series design and maintenance Machine Controller MP900 MP2000 Series User s Manual MECHATROLINK System SIEZ C887 5 10 Describes the distributed I O Module for the MECHA TROLINK Modules for MP900 MP2000 Series Machine Con trollers Safety Information The following conventions are used to indicate precautions in this manual These precautions are provided to ensure the safe operation of the MP2000 series and connected devices Information marked as shown below is important for the safety of the user Always read this information and
31. 0 MP2000 Series MPE720 Software for Programming Device User s Manual SIEPC880700050 Describes how to install and operate the MP900 MP2000 Series programming system MPE720 Y Series SGMO SGD User s Manual SIE S800 26 30 Describes the 2 Series SERVOPACK models specifications and capacity selection methods Y Series SGMO SGDB User s Manual SIE S800 26 40 Describes the Y Series SERVOPACK models specifications and capacity selection methods Y I Series SGMOH SGDM User s Manual SIEPS800000050 Describes the installation wiring trial operation function applications methods maintenance and inspection of the 2 II Series SERVOPACKs Y I Series SGMOH SGDM User s Manual SIEPS800000150 Describes the installation wiring trial operation function applications methods maintenance and inspection of the X II Series SERVOPACKs Y TII Series SGMOS SGDS User s Manual SIEPS800000000 Describes the models capacities selection methods ratings characteristics diagrams cables peripheral devices wiring panel installation trial operation adjustment function application methods maintenance and inspection of the X I Series SERVOPACKs and Servomotors 2 III Series SGMOS SGDS Digital Operator Instructions TOBPS800000010 Describes the operation methods of the JUSP OPO05A Digital Operator 2 III Series SGMOS SGDS User s Manual For MECHATROLINK II communications SIEPS80000011
32. 2 5 9 Electronic Gear Function Nada ENE Frequency Measurement The Electronic Gear function can be used when other than pulse is set to the fixed parameter No 14 Reference Unit Selection Outline The Electronic Gear function is used to set per pulse input to the CNTR 01 Module to any reference unit value To calculate the number of required pulses for the system shown below the operations when using the electronic gear and when not using the electronic gear differ as explained below No of encoder pulses 8192 gt Workpiece lt When the Electronic Gear is Not Used gt If 13653 pulses are input the number of revolutions is 13653 8192 1 666 revolutions 1 revolution moves the workpiece 6mm therefore the travel amount by 1666 revolutions is 6 mm revolution X 1 666 revolutions 9 999 mm Therefore the workpiece moves for 9999 mm by inputting 13653 pulses This equation must be calculated at the host controller 2 Settings Use 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 e Pully diameter etc eee eae Ball screw pitch 6 mm lt When the Electronic Gear is Used gt Mechanical conditions such as the moving amount per machine rotation encoder gear ratio anc machine gear ratio are predefined and the minimum reference unit is set
33. 34 Average Frequency 35 Averaging count setting 37 B B Pulse Stats Monitor 34 C cable wiring 50 Calculating Preset 35 calculating preset 39 Channel selection 31 Coincidence Detection 34 35 Coincidence Detection Function Use Selection 32 Coincidence Interrupt 29 coincidence interrupt 41 Coincidence Interrupt Function Use Selection 32 Coincidence Output 29 coincidence output 41 COINDAT 36 connection example 52 connector 50 connector pin arrangement 51 Count Disable 29 35 count disable 27 38 Count Preset 29 count preset 7 7 rrr rr rr rrr rere 26 Count Presetting Data 36 counter function details 38 counter functions 29 Counter Mode Selection 32 counter modes 26 Counter Value 34 counte
34. Invalid Invalid 0 PI P40 signal be used for PI latch 2 Pulse C Valid Invalid Invalid f When the Multi purpose 0 Invalid Valid Valid e Multipurpose Output Detection 1 Zone output Valid Invalid Invalid q P 47 Sitout Request is set to 1 4 to 7 Waid laa inalia Invalid Pas p Detect set the output 2 Speed coincidence al nvali nvali detection method 3 Frequency coincidence Invalid Invalid Valid P 48 c Out Data Details The abbreviation of the register name to store the corresponsing data is given in the parentheses in the Data Name column Counter Mode 0 r Register Faj oo Ref No Data Name Number Range Unit D E 5 S Details Page s B i owOOOO Cuneo 4 00 Bit settings Refer to a Operation Mode on page 35 owaoaoo Set Function oi Bit settings Refer to b Set Function 2147483648 to Set a value to which the current counter count i LOOOO 01 Gount Fresetting 9 2147483647 Valid Invalid Invalid value is reset when the Count Preset Request is P 39 Data PRSDAT 02 reference unit executed Agreed Detection oLooog 2147483648 to Set the current counter count value to output the 02 Value a 2147483647 Valid Valid Valid coincidence detection signal and output the P 41 COINDAT 5 04 reference unit interrupt signal to the Machine Controller Preset Data of OLOD00 2147483648 to Set a value to
35. Latch input Coincidence output y Counter control DO output processing System Shared bus gt memory 2 1 2 CNTR 01 Module Appearance and External Dimensions The following diagram shows the appearance of the CNTR 01 and the external dimensions when connecting the cable connector Indicators LED 125 1 0 connector CN1 Units mm Loa CNTR 01 Module Appearance External Dimensions when installing the cable connector side view 2 1 CNTR 01 Module Specifications 2 1 3 Specifications The following table shows the general and hardware specifications and the details of LED of the CNTR 01 module 1 General Specifications Item Specifications Ambient Operating 0 to 55 C Temperature Ambient Storage 25 to 85 C Temperature Ambient Environmental Operating 30 to 95 with no condensation Conditions Humidity Amprent Slorage 5 to 95 with no condensation Humidity Pollution Level Pollution level 1 conforming to JIS B 3501 Corrosive Gas There must be no combustible or corrosive gas Operating 2 000 m above sea level or lower Altitude Conforming to JIS B 3502 TARE 10 to 57 Hz with single amplitude of 0 075 mm Vibration 2 57 to 150 Hz with fixed acceleration of 9 8 m s Mechanical Resistance ee e 10 sweeps each in X Y and Z directions Operating sweep time 1 octave
36. MA BUSINESS CENTER SOLUTION CENTER 480 Kamifujisawa Iruma Saitama 358 8555 Japan Phone 81 4 2962 5696 Fax 81 4 2962 6138 YASKAWA ELECTRIC AMERICA INC 2121 Norman Drive South Waukegan IL 60085 U S A Phone 800 YASKAWA 800 927 5292 or 1 847 887 7000 Fax 1 847 887 7370 YASKAWA EL TRICO DO BRASIL LTDA Avenida Fagundes Filho 620 S o Paulo SP CEP 04304 000 Brazil Phone 55 11 3585 1100 Fax 55 11 5581 8795 YASKAWA ELECTRIC EUROPE GmbH Hauptstra e 185 65760 Eschborn Germany Phone 49 6196 569 300 Fax 49 6196 569 398 YASKAWA ELECTRIC UK LTD 1 Hunt Hill Orchardton Woods Cumbernauld G68 9LF United Kingdom Phone 44 1236 735000 Fax 44 1236 458182 YASKAWA ELECTRIC KOREA CORPORATION 7F Doore Bldg 24 Yeoido dong Youngdungpo Ku Seoul 150 877 Korea Phone 82 2 784 7844 Fax 82 2 784 8495 YASKAWA ELECTRIC SINGAPORE PTE LTD 151 Lorong Chuan 04 02A New Tech Park 556741 Singapore Phone 65 6282 3003 Fax 65 6289 3003 YASKAWA ELECTRIC SHANGHAI CO LTD No 18 Xizang Zhong Road Room 1702 1707 Harbour Ring Plaza Shanghai 200001 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 YASKAWA ELECTRIC SHANGHAI CO LTD BEIJING OFFICE Room 1011A Tower W3 Oriental Plaza No 1 East Chang An Ave Dong Cheng District Beijing 100738 China Phone 86 10 8518 4086 Fax 86 10 8518 4082 YASKAWA ELECTRIC TAIWAN CORPORATION 9F 16 Nanking E Rd Sec 3 Taipei Taiwan Phone 886 2 2502 5003 Fax 886 2 2505 1280 YASKAWA ELECT
37. Motion Start Register fl _ _ __ Ja ENTRO1 Counter function For Help press F1 The Counter Module Definition Window will open 30 2 4 Counter Functions 3 Select the Fix Parameter Set Tab Page to display the page F gEngineering Manager Counter Module 2300 PIC MP2300 Offline Local 15 xj Tl File Edit Set View Window Help l xj pasm Dee SH R ETA Piia RACK 01 Slot 01 Fix Parameter Set 1 0 DJ Set SYNESCAN High gt nu Fixed Parameter Name cm cm2 o1 Channel selection Y Junused y The First Register Number 03 A B Pulse Signal form Seled 5V differential inp 7 5V differential input Y 5V differential inpu y 5Y differential input Y Frock toge Y 06 C Pulse signal polarity selel Y fPositive logic ha Counter Mode Selection 0402 0441 Positive Logic b Positive logic Not Use Not Use Coincidence Detection Fund 10 Coincidence Interrupt Func 18 Machine Gear Ratio Feedback speed moving a For Help press F1 rf num 4a Fig 2 1 Fix Parameter Set Tab Page in the Counter Module Definition Window Set the fixed parameters for each channel in the Fix Parameter Set Tab Page 2 List of Fix Parameter Set The following table lists the fixed parameters Refer to the reference page for details Counter Mode
38. Pulse 38 2 5 3 Count Disable 38 2 5 4 Calculating Preset 39 2 5 5 Pl Lache 40 2 5 6 Coincidence Output Coincidence Interrupt 41 2 5 7 Ring Counter 43 2 5 8 Number of POSMAX Turns Preset 43 2 5 9 Electronic Gear Function 44 2 5 10 Multipurpose Output Function 47 19 20 2 Specifications and Functions for CNTR 01 Module 2 1 1 CNTR 01 Module Functions 2 1 CNTR 01 Module Specifications This section explains the function appearance and specifications of CNTR 01 module 2 1 1 CNTR 01 Module Functions The CNTR 01 module is equipped with 32 bits and 2 channels and counts the pulse outputs of the pulse generator such as rotary encoder CNTR 01 module can be mounted to the MP2300 option slot with up to 2 modules and to the MP2200 base unit when 4 units are connected with up to 30 modules when CPU 01 is used or 31 modules when CPU 02 is used and to the MP2100M and MP2100MEX expansion lack when 3 lacks are connected with 24 modules ___ 5 V differential type interface Pulse input processing g 12V voltage type interface CN1 Lb
39. RIC CORPORATION YASKAWA In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations Therefore be sure to follow all procedures and submit all relevant documentation according to any and all rules regulations and laws that may apply Specifications are subject to change without notice for ongoing product modifications and improvements O 2005 2010 YASKAWA ELECTRIC CORPORATION All rights reserved MANUAL NO SIEP C880700 27A Published in Japan May 2010 05 9 lt gt 5 09 8 2
40. YASKAWA Machine Controller MP2000 Series Counter Module CNTR 01 USER S MANUAL Model JAPMC PL2300 E Y YASKAWA MANUAL NO SIEP C880700 27A Copyright O 2005 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 CNTR 01 indicates the counter module for the MP2000 series Machine Controller Please read this manual to ensure correct usage of the CNTR 01 Keep this manual in a safe place for future reference E Graphic Symbols Used in this Manual The graphic symbols used in this manual indicate the following type of information Y This symbol is used to indicate important information that should be memorized or minor precautions such as precautions that will result in a
41. able when more than one pulse is input within a measurement cycle If no pulse is input within a measurement cycle the frequency estimated from the previously calculated value is set as the result f5 in the above diagram and the true value f6 in the above diagram is calculated in the following mea surement cycle when pulses are input 2 4 Counter Functions 2 4 Counter Functions 2 4 1 Outline of Counter Function The counter functions are used to write the status and the count value in the input registers according to the counter operation method specified by the counter fixed parameters and output register values The following table outlines the CNTR 01 Module counter functions The counter functions that can be used differ depending on the counter mode Counter Mode o _ 3s Function Name Details 2 g S 5 Reference o s 25 gt 2 30 o f 2 g a L 0 PI Latch Latches the count value at the phase C signal of DI signal input Y P 35 P 40 naar Outputs a DO signal when the count value agrees with the preset ez Y P 35 P 36 Coincidence Output value and writes the status in the status register P 41 i i i P 35 P 36 Coincidence Interrupt Sends an interrupt signal to the CPU of the Machine Controller when p y Y 7 the count value agrees with the preset value P 41 Mask of Calculation by C Pulse Stops counting while the phase C pulse is being input Y P 32 P 38 Coun
42. e B input is at High the count is incremented by the pulse A input Positive in the frequency mea surement When the pulse B input is at Low the count is decremented by the pulse A input Negative in the frequency mea surement For information on the frequency measurement refer to 2 3 3 Frequency Measurement Counter on page 28 The following table shows the pulse counting operations with different multiplications and polarities Pulse Counting Method Polarity UP Count Forward DOWN Count Reverse Positive Pulse A fo Pulse A A logic Puseg PE PulseB men Sign x1 Negative on Y Pulse A A ae Pulse B HIGH Pulse 8 LM Positive Pulse A ee aoe Pulse A E A logic HIGH 8 Pulse B E Pulse B Sign X2 A ulse Negative 4 Pulse 4 logi Low LOW ony Pulse B LOW Pulse B_ ______ 2 2 2 UP DOWN Method The count is incremented ane decremented in the following way regardless of the polarity The count is incremented by the pulse A input Positive in the frequency measurement The count is decremented by the pulse B input Negative in the frequency measurement The following table shows the pulse counting operations with different multiplications and polarities Pulse Counting Mode Polarity UP Count Forward DOWN Count Reverse Positive Pulse A lt E PulseA Fixed at LOW or HIGH logic Pulse B Fixed at LOW or HIGH Pulse B
43. e Output Coincidence Interrupt When the fixed parameter No 13 Ring Counter function selection is set to 1 Use the coincidence detection value exists every cycle as shown in the diagram above For the coincidence detection processing when the ring counter function is enabled the coincidence detection set value closest to the current counter count value after conversion is obtained and set every scan There fore if a pulse that exceeds one cycle is input within 1 scan the coincidence detection may not be executed For details on the ring counter function refer to 2 5 7 Ring Counter on page 43 m Precautions When Using the Electronic Gear Function Errors in the result of unit conversion from to reference unit from to pulse may cause the following differences in the coinci dence detection operation For details on the electronic gear function refer to 2 5 9 Electronic Gear Function on page 44 When 1 reference unit n pulses n gt 1 The value py converted from the coincidence detection set value m reference unit into pulses is the coincidence detected value The counter value whose value after conversion is equal to m is pp or more but less than p When the pulse to increment the count in the direction indicated with the arrow A is input the CNTR 01 executes coincidence detection at the timing the counter value m When the pulse to decrement the count in the direction indicated with the arrow B is input the current counter
44. e detailed specifications and functions ofthe CNTR 01 Module 2 1 CNTR 01 Module Specifications 20 2 1 1 CNTR 01 Module Functions 20 2 1 2 CNTR 01 Module Appearance and External Dimensions 20 2 1 3 Specifications 21 2 2 Pulse Counting Methods 24 2 2 4 Sign Method sesa aiia ma i i a p tine se Sins S 24 2 2 2 UP DOWN Method 24 2 2 3 Pulse A B Method 25 2 3 Counter Modes 26 2 3 1 Reversible Counter 26 2 3 2 Interval Counter 27 2 3 3 Frequency Measurement Counter 28 2 4 Counter Functions 29 2 4 1 Outline of Counter Function 29 2 4 2 Setting the Counter Fixed Parameters 30 2 4 3 Setting the I O Data 33 2 5 Counter Function Details 38 2 5 1 A B Pulses Counting Mode 38 2 5 2 Mask of Calculation by C
45. ed specifications and functions connection methods and settings of the CNTR 01 Module 3 1 CNTR 01 Module Connections 50 3 1 1 Specifications on Cable and Connector 50 3 1 2 Connector Pin Arrangement 51 3 2 CNTR 01 Connection Example 52 49 50 3 CNTR 01 Module Connections 3 1 CNTR 01 Module Connections 3 1 1 Specifications on Cable and Connector 1 Connector Specifications Used to connect for the multi purpose output signals or pulse input signals Connector No of Connector Model Connector i Name Pins Module Cable Manufacturer Connector 10140 6000EL External I O Sumitomo 40 E Connector CN1 10240 52A3PL Shell 3M 10340 3210 006 One touch lock type 2 Connector Models and External Appearance of Standard Cable Cable Model Length Apprearance JEPMC W2063 00 E L 150 JEPMC W2063 A5 E 0 5m Laminate tape j Cable for CNTR 01 eric w2063 01 E 1m Module i Ge E j 36 JEPMC W2063 03 E 3m NSE Shielded wire 3 Standard Cable Wiring The following table shows thewiring for the JEPMC W2063 00 E standard cable loose wire
46. equency coincidence del 09 lFrenuency cninridence del0L0434 For Help press F1 Fig 2 2 I O Data Set Tab Page in the Counter Module Definition Window The status to be checked and the I O data to be specified are explained below 33 34 2 Specifications and Functions for CNTR 01 Module 2 4 3 Setting the I O Data 2 In Data Items a Status RUNSTS The status of each register bit is displayed in the Status field is displayed when the bit is ON while O is dis played when the bit is OFF Gray circles are displayed in offline mode Name Bit No Meaning Remarks Error Setting the Data 0 1 ON Data setting error Fixed Parameter Error 1 1 ON Fixed parameter setting error Preset Count Completed 2 1 ON Count value preset completed PI Latch Completed 3 1 ON PI latch completed A B Pulse 0 4 1 ON Feedback pulse is 1 or less Coincidence Detection 5 1 ON Coincidence detection sitnal ON Detected in pulse units A Pulse Status Monitor 6 1 ON High B Pulse Stats Monitor 7 1 ON High C Pulse Status Display 8 1 ON High Fixed Parameter Write 9 1 ON Writing a fixed parameter ON only during write Phase A or B Disconnect A Fixed to 0 OFF For future use POSMAX Preset C 1 ON Completed Multipurpose signal D 1 ON Multi purpose signal ON Module Ready F 1 ON Counter processing being executed
47. etween 1 and 65535 when 17 Encoder Gear Ratio Valid Valid Invalid the load axis rotates n times while the encoder axis rotates 1 P 44 m times Set the value n in the range between 1 and 65535 when 18 Machine Gear Ratio Valid Valid Invalid the load axis rotates n times while the encoder axis 1 P 44 rotates m times When the fixed parameter No 13 Ring Counter func Maximum value of Os ihe tion selection is set to 1 Use set the position to be 19 Ring Counter Valid Invalid Invalid 360000 P 43 POSMAX reset every turn in the range between 1 and 2147483647 reference units 20 Encoder Resolution Valid Valid Valid Set the number of input pulses per encoder rotation in pe Itioli P44 Pre Quadrature the range between 1 and 2147483647 pulses rev Dee ion Feedback speed Set the moving average filter time constant to be used 21 moving average Valid Valid Invalid to calculate the feedback speed in the range between 0 1 time constant and 32 1 With MPE720 Ver 5 33 the default value of Mask of Calculation by C Pulse is 0 Enabled 2 When the fixed parameter No 14 Reference Unit Selection is set to 0 pulse the settings of No 16 through 19 are disregarded 2 4 3 Setting the I O Data 1 Opening the l O Data Set Tab Page Set the O Data in the I O Data Set Tab Page of the Counter Module Definition Window Refer to 2 4 2 Setting the C
48. frequency when the Multi pur rreguency OLOOOO ose Output Detection Request is set to 1 08 coincidence 0 to 2147483647 Invalid Invalid Valid P P A a P 48 10 Detect and the Multi purpose Output Selection detection setting a A is set to Frequency Coincidence Frequency Set the frequency detection width when the OLOOOO i de l oincidenc 2147483648 to Invalid Invalid Valid Multi purpose Output Detection Request is set P48 E f 12 2147483647 to 1 Detect and the Multi purpose Output detection width SE ee Selection is set to Frequency Coincidence Set the number of times of frequency detection Averaging count owoadoo f 10 Sa ci 14 0 to 255 Invalid Invalid Valid to calculate the input data No 10 Average Fre 9 quency OowHdHodo 2147483648 to z 11 System Monitor KAE 2147483647 Valid Valid Valid For system analysis OOOO indicates the leading register number 37 38 2 Specifications and Functions for CNTR 01 Module 2 5 1 A B Pulses Counting Mode 2 5 Counter Function Details This section describes the details on the fixes parameter and input output data setting items The counter function is valid in the counter mode indicated with EJOY while it is not valid in the counter mode indi cated with DO 2 5 1 A B Pulses Counting Mode 2 5 2 2 5 3 The pulses A and B counting method can be selected by setting the
49. hock Do not subject the MP2000 series to halogen gases such as fiuorine chlovine bromine and iodine at any time even during transportation or installation There is a risk of device damage or injury Do not overload the MP2000 series during transportation There is a risk of injury or an accident E Installation A CAUTION e Never use the MP2000 series 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 MP2000 series or place heavy objects on the MP2000 series There is a risk of injury Do not allow foreign objects to enter the MP2000 series There is a risk of element deterioration inside an accident or fire Always mount the MP2000 series in the specified orientation There is a risk of an accident Do not subject the MP2000 series to strong shock There is a risk of an accident E Wiring A CAUTION e Check the wiring to be sure it has been performed correctly There is a risk of motor run away injury or an accident Always use a power supply of the specified voltage There is a risk of burning e In places with poor power supply conditions take all steps necessary to ensure that the input power supply is within the specified voltage range There is a risk of device damage e Install breakers and other safety measure to provide protection against shorts in exte
50. idence Interrupt Function Use Selection is set to 1 Use The following graph shows the Coincidence Output Coincidence Interrupt process Execution of the coincidence detection request detection of the coincidence point and reception of the interrupt BURRS Sang Otro A A A Coincidence point Agreed Detection Value COINDAT Counter value 2 Time s gt Coincidence point detection value X COINT Coincidence Detection Request Coincidence output signal gt gt Interrupt Request To signal Ae T 7 Interrupt received TO Maximum time from when the Machine Controller receives an interrupt request signal until it starts interrupt processing 70 to 120 us Tl Time from when an interrupt request signal is received until the DWG I interrupt drawing execution starts Normal program execution Approx 90 to 170 us Approx 90 to 1460 40 N us N No of direct I O words Max 8 Use the Coincidence Detection Signal of the Status to monitor the coincidence detection signal output Direct I O command execution m Precautions When Using the Ring Counter 4 A RP A ttl cl acces cities A Maximum value of ring counter POSMAX Current llo ola aeaoe oe eee Agreed Detection Value counter COINDAT value i j after conversion 41 2 Specifications and Functions for CNTR 01 Module A a 2 5 6 Coincidenc
51. larms if not heeded E Indication of Reverse Signals In this manual the names of reverse signals ones that are valid when low are written with a forward slash before the signal name as shown in the following example Notation Examples e S ON P CON S ON P CON El Copyrights 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 Ml 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 Manual Name Manual Number Contents Machine Controller MP2300 Communication Module User s Manual SIEPC880700040 Describes the functions specifications and application methods of the MP2300 Communication Modules 217IF 218IF 260IF 2611F Machine Controller MP900 Series User s Manual Ladder Programming SIEZ C887 1 20 Describes the instructions used in MP900 MP2000 ladder programming Machine Controller MPOO User s Manual Motion Programming SIEZ C887 1 30 Describes the instructions used in MP900 MP2000 motion programming Machine Controller MP90
52. lue ILODOO 2147483648 to verted into reference units When the fixed 05 After Conversion eN 2147483647 Valid Valid Valid parameter No 14 Reference Unit Selection PINTG id reference unit is set to pulse the converted value is the same as the current count value 2 4 Counter Functions i SS e e o qu o _ gs ss no Counter Mode Register 2 35 Ref a os sg ree No Data Name Number Range Unit p g 55 Description Page gt E 332 0 us Indicates the value of PI latch data interval 2147483648 to data converted into reference units ILOOOO i a 06 2 es ence 2147483647 Valid Valid Invalid When the fixed parameter No 14 Reference onverts 0C reference unit Unit Selection is set to pulse the converted value is the same as the PI latch data Number of POSMAX LOO000 2147483648 to i Indicates the number of turns up to the present 07 T PMAXTURN 0 2147483647 Valid Invalid Invalid when the fixed parameter No 13 Ring P 43 A TOE turn Counter function selection is set to be used When the electronic gear function is not used 2147483648 to ILOOOO 08 Feedback Speed 2147483647 Valid Valid Invalid the fixed parameter No 14 Reference Unit P47 FSPD 10 Selection is set to pulse
53. mor ZTN P MP2200 MOUS gpm me Om meee no mon ga 2 Remove the panel of Optional Module Insert the protruding part of the battery cover into the slot on top of the panel of Optional Module to unhook as shown in the diagram Face the front of the battery cover towards you for this operation Unhook the bottom in the same way 17 1 Mounting Optional Modules on Machine Controller 1 2 2 Removing 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 on the Optional Module will be visible from the gap in the cover Hook the round knob on the battery cover shown in the diagram into the notch in the Optional Module A SN tound knob 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 Fulcrum je gt i cpu 0l 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 parts on the Module Put the removed Module into the bag that it was supplied with and store it in this bag Y The optional cover must be installed on the empty slot 18 2 Specifications and Functions for CNTR 01 Module This chapter explains th
54. n7 in the above diagram every scan Interval data ILOOOd 6 The count value m1 to m4 in the above diagram is latched and reset at the rising edge of the pulse C The latched data is stored in the register Interval Data ILOOOO 6 Overflow and Underflow When the count value decrements to the value MIN p1 it is automatically reset to the value MAX p2 When the count value increments to the value MAX p3 it is automatically reset to the value MIN p4 27 2 Specifications and Functions for CNTR 01 Module 2 3 3 Frequency Measurement Counter 2 3 3 Frequency Measurement Counter The frequency is calculated from the input pulse A and B trains and stored in the input register Counter Value every high speed scan or low speed scan The diagram below illustrates an example of the frequency measurement counter operation Nn 2 Nn 1 Nn Nn 1 Nn 2 Input pulse Frequency 1 X t2 X ta X ta X ts X te X f7 X fe y X Nn 2 X Nn 1 Y Nn X Nn 1 Y Nn 1 X Nn 2 y Nns2 Y Ts i Counter value Ts scan setting s lt Principle of Frequency Measurement gt The frequency is calculated using the following equation N N Sa Xx MULT f Frequency Np Np 1 Current counter count value of input pulse of every control cycle T Time between input pulses The measurement time minimum unit 4 MHz 0 25 u s MULT Frequency coeffecient set in the fixed parameter The above equation is applic
55. o prohibit or permit counting while the pulse C is being input 0 Enabled prohibits counting 1 Disabled permits counting 1 Disabled P 38 Ring Counter 18 function selection Valid Invalid Invalid Set whether to use or not to use the ring counter func tion 0 Not use 1 Use 0 Not use P 43 Reference Unit Se 14 Valid Valid Valid lection 2 Specify the unit to be used for monitoring When the unit other than pulse is selected the electronic gear function can be used When pulse is selected the elec tronic gear function cannot be used 0 pulse 1 mm 2 deg 3 inch 0 pulse P 44 Number of Digits B Below Decimal Point Valid Valid Valid Set the number of degits to the right of the decimal point for the minimum reference unit in the range between 0 to 5 lt Example gt If the minimum reference unit is 1 u m 107mm set the Reference Unit Selection to 3 mm and Num ber of Decimal Places to 3 Travel Distance per 16 Machine Rotation scale pitch Valid Valid Invalid Set the load moving amount per load axis rotation in the range between and 2147483647 reference units 10000 P 44 2 4 Counter Functions SEES i i S FS SS SSS ss sees Counter Mode Ref Description Default Value Page No Name Reversible Interval Frequency Measurement Set the value m in the range b
56. ods 24 Pulse Counting Mode Selection 32 R Reference Unit Selection 32 removing optional cover 15 removing optional modules 17 reversible counter 26 Ring Counter 29 ring counter 43 Ring Counter function selection 32 RUNMOD 36 RUNSTS 34 S scale pitch 32 Set Function 36 set function 36 setting the counter fixed parameters 30 sign method 24 specifications 21 specifications on cable and connector 50 Speed Coincidence 29 Speed coincidence detection setting 37 Speed coincidence detection width 37 speed coincidence output 48 standard cable 50 standard cable wiring 50 Stat s Sess ee ee See Sere aoe ees 34 SYNC SCAN 31 System Monitor 35 37 T The First Register Number 31 Travel Distance per Machine Rotation
57. odule 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 installed properly 3 Install the panel of the Optional Module Place the hole on the bottom of the panel of the Optional Module onto the hook on the bottom of the MP2300 This completes the installation procedure 16 1 2 Mounting Removing Option Modules on Machine Controller 1 2 2 Removing Optional Modules 1 Preparation 1 Backup the Programs Save the programs written to the Machine Controller in the personal computer using MPE720 Right click the Controller Folder and select Transfer All Files Dump from the pop up menu 2 Remove the Machine Controller and Expansion Racks a For MP2300 Turn OFF the power supply and disconnect all the cables from the MP2300 Then remove the MP2300 from the panel or rack and place it on a place with sufficient space such as working table b For MP2200 and MP2100M Turn OFF the power supply and disconnect all the cables from the expansion rack MP2200 base unit where the Option Module to be replaced is mounted Then remove the expansion rack and place it in a place with sufficient space such as working table 2 Removing Optional Modules 1 Remove the battery cover Pull the notch on the side of the MP2000 series towards you to remove the battery cover ld 7 epuot
58. ollowing general precautions to ensure safe application The products shown in illustrations in this manual are sometimes shown without covers or protective guards Always replace the cover or protective guard as specified first and then operate the products in accordance with the manual The drawings presented in this manual are typical examples and may not match the product you received e If the manual must be ordered due to loss or damage inform your nearest Yaskawa representative or one of the offices listed on the back of this manual Warranty 1 Details of Warranty E Warranty Period The warranty period for a product that was purchased hereafter called delivered product is one year from the time of delivery to the location specified by the customer or 18 months from the time of shipment from the Yaskawa factory whichever is sooner Warranty Scope Yaskawa shall replace or repair a defective product free of change if a defect attributable to Yaskawa occurs during the warranty period above This warranty does not cover defects caused by the delivered product reaching the end of its service life and replacement of parts that require replacement or that have a limited service life This warranty does not cover failures that result from any of the following causes Improper handling abuse or use in unsuitable conditions or in environments not described in product catalogs or manuals or in
59. ounter Fixed Parameters on page 30 for information on how to open the Counter Module Definition Window Engineering Manager Counter Module 2300 PIC MP2300 Offline Local E loj xj TJ Fie Edit Set View Window Help 18 x ESPE A ES PT CPU RACK 01 Slot 01 0402 0441 as CHI f CH2 In Data Out Data Status 1W0422 Operation Mode O w0422 Error Setting the Data C B Pulse Status Monitor Count Disable C Disabled Enabled C Fixed Parameter Error la Pulse C status display Calculating Preset C Yes No C Preset Count Completed C Fixed Parameter Write PI Latch Detect Demand C Yes No Pl Latch Completed C Phase A or B Disconnect Coincidence Detection C Yes No IC 4 8 Puse 0 C POSMAX Preset ES Cos No es a 7 Multipurpose output Yes No C Coincidence Detection C Multi purpose signal a IC APulse Status Monitor C Module Ready STE ns Pl latch detection signal py x Daa Name al Incremental Pulses 1LO424 car A de Disable E Yoo ourer value 0 26 los Pltatch Value Lo928 fp fitescomin ncremens 0423 IL042C e ILO42E eee EE RRA 1L0434 10436 10440 nul 01 Count Presetting Data 010424 02 Agreed Detection Value 0L0426 Preset Data of POSMAX T Zone output minimum val 05 Zone output maximum val Speed coincidence detecti 07 Speed coincidence detecti og Fr
60. ounter Value every high speed scan or low speed scan Refer to 2 4 3 3 Out Data Items on page 35 The diagram below illustrates an example of the reversible counter operation when the Counting Mask Using Pulse C function is enabled p3 p6 2147483647 MAX j i p2 Count preset 1 p7 i A i n3 Count preset 2 n2 p1 Counter 9 i i i pel count i i a n6 register Restarts counting Stops Restarts Stops counting T Y O Ly n7 v i i i gt f en ns Count Count i prohibited permitted 2147483648 MIN L gt Time s T i i pa PS y Y i Pulses A and B UP Stop UP DOWN UP Stop DOWN Stop DOWN Pulse C terminal positive logic Pulse C terminal negative logic Counter value a AA PO SO x n1 x n2 y n3 X n4 X n5 X n6 Y n7 E gt Ts scan setting s lt Explanation gt Counter value ILOOOO 4 Stores sequentially the count value every scan n1 to n7 in the above diagram Count preset 1 and 2 As the Count Preset Request is executed at the positions p1 and p7 in the above diagram the count values are forcibly reset to the preset values p2 and p8 26 2 3 Counter Modes Overflow and Underflow When the count value increments to the value MAX p3 it is automatically reset to the value MIN p4 When the count value
61. r value 26 27 C Pulse signal polarity selection 31 C Pulse signal type 31 C Pulse Status Display 34 Current Count Value After Conversion 34 D Detected Frequency 35 E Electronic Gear 29 electronic gear function 44 Encoder Gear Ratio 33 Encoder Resolution 33 Error Setting the Data 34 external I O connector cre rere ree 50 F Feedback Speed 35 Feedback speed moving average time constant 33 Fixed Parameter Error 34 Fixed Parameter Write 34 ERE ie i Sas Sees ata ee Sie 35 FREQG lt 4 05 secre reser cc rns 35 Frequency calculation selection 32 Frequency Coincidence 29 Frequency coincidence detection setting 37 Frequency coincidence detection width 37 frequency coincidence output 48 frequency measurement counter 28 FRQAVE aa naea d t aa a eer secre sss a 35 FSPD 35 functions sos A A A se 20 general specifications 21 H hardware specifications 21 l
62. re there is sufficient space such as working table b For MP2200 and MP2100M Turn OFF the power supply and disconnect all the cables from the expansion rack MP2200 base unit where the Option Module to be replaced is mounted Then remove the expansion rack and place it on a place with suffi cient space such as working table 2 Removing Optional Cover Use the following procedure if the optional cover is installed on the slot 1 Remove the battery cover Pull the notch on the side of the MP2000 series towards you to remove the battery cover ino MT 2 Remove the cover of Optional Module Insert the protruding part of the battery cover into the slot on top of the cover of Optional Module to unhook as shown in the diagram Face the front of the battery cover towards you for this operation Unhook the bottom in the same way 15 1 Mounting Optional Modules on Machine Controller 1 2 1 Mounting Option Modules 3 Installing Optional Modules 1 Insert Optional Modules Guide rails are visible at the top and bottom of the Option Slot as shown in the following 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 inserted without following the guide rail 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 M
63. rnal wiring There is a risk of fire e Provide sufficient shielding when using the MP2000 series in the following locations There is a risk of device damage e Noise such as from static electricity Strong electromagnetic or magnetic fields e Radiation e Near to power lines E Selecting Separating and Laying External Cables Z CAUTION e Consider the following items when selecting the I O signal lines external cables to connect the MP2000 series to external devices e Mechanical strength e Noise interference e Wiring distance Signal voltage etc Separate the I O signal lines from the power lines both inside and outside the control box to reduce the influence of noise from the power lines If the I O signal lines and power lines are not separated properly malfunctioning may result Example of Separated External Cables Steel separator General control circuit cables 0000 Digital I O signal cables 0000 Power circuit cables 0000 E Maintenance and Inspection Precautions N CAUTION Do not attempt to disassemble the MP2000 series 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 E Disposal Precautions Z CAUTION e Dispose of the MP2000 series as general industrial waste E General Precautions Observe the f
64. rotations No 18 Machine Gear Ratio 5 rotations b Setting Example for Rotating Load m 30 rotations E n 10 rotations Rotating load 360 rotation In the above machine system if the reference unit 0 1 the setting of each parameter will be as follows e Moving Amount per Machine Roration 360 0 1 3600 No 17 Encoder Gear Ratio 3 rotations e No 18 Machine Gear Ratio 1 rotation 2 5 Counter Function Details 2 5 10 Multipurpose Output Function The function is used to output the multi purpose output signal externally when the specified output condition is satis fied and the Multipurpose Output is executed The output condition can be selected by setting the output register Multi purpose Output Selection according to the selected counter mode This section describes each output condition Zone Output Interval Frequency Measurement The multi purpose output signal is output at the rising edge of Multi purpose Detection Request signal when the output register Multipurpose Output is set to 1 Zone Output and the counter value is in the range between the zone output minimum value and the zone output maximum value As the counter value is detected by software processing there will be a delay of maximum 500 us Operation examples of the Zone Output is illustrated below E When Zone Output Maximum Value lt Zone Output Minimum Value 2147483647 MAX A Maximum
65. t Disable Stops counting during the time specified in the output data v v P 35 P 38 P 35 P 36 Count Preset Resets the count value to the preset value Y P30 Electronic Gear Converts the count value into reference units viv P 32 P 44 Ring Counter Controls cyclicly the count value in the range between 0 to the set Y P32 P 43 value Zone Output Outputs a DO signal when the count value is in the zone specified by the Y P 35 P 36 mee upper limit and lower limit and writes the status in the status register P 47 Multi Outputs a DO signal when the feedback speed is in th ified by th P 35 P 36 Jay gnal when the ack speed is in the range specified by the 35 P at Puts FRESA Colneigence detection value and width and writes the status in the status register P 48 Frequency Coinci Outputs a DO signal when the detected frequency is in the range specified by Y P 35 P 36 dence the detection value and width and writes the status in the status register P 48 In the counter mode marked with Y the counter function can be used The above functions can be used by setting the fixed parameters see P 30 and output data see P 35 29 2 Specifications and Functions for CNTR 01 Module 2 4 2 Setting the Counter Fixed Parameters 2 4 2 Setting the Counter Fixed Parameters This section describes the procedure to set the counter fixed parameters In this manual the fixed parameters indicate the counter fixed parameters unless other
66. t Request Count Preset Request ON Scan cycle Ts OWOOOD Bit 1 Count Preset Completed ON Preset Count Completed IWOOOD Bit 2 Count Preset Counter count register value Current Count Value After Converts L m1 m2 m3 ILOOOO 000A A A Data that reflects count preset value 39 2 Specifications and Functions for CNTR 01 Module 2 5 5 Pl Latch INFO N The following diagram shows the count preset completion timing of the LIO 01 Module y Count Preset Request ON NS Scan cycle Ts Calculating Preset Count Preset Request OWOOOD Bit 1 Count Preset Completed ON Preset Count Completed IWOOOD Bit 2 Count Preset ZO Counter count register value m3 m2 i m3 gt lt m4 gt Data that reflects count preset value Current Count Value After Converts ILOOOO 000A 2 5 5 Pl Latch Interval Frequency Measurement This function stores latches the counter count value at the moment an external signal is input at the rising edge detecting point in the register ILOOOO 06 PINT as the PI latch data Either a discrete input PI input or pulse C can be selected for the external signal to be used The following graph shows the PI latch process Execution of PI latch detection request detection of the external input
67. t can install the CNTR 01 Mod ule and mounting removing the optional modules 1 1 CNTR 01 Module Applicable Machine Controllers 14 1 2 Mounting Removing Option Modules on Machine Controller 14 1 2 1 Mounting Option Modules 14 1 2 2 Removing Optional Modules 17 13 1 Mounting Optional Modules on Machine Controller 1 2 1 Mounting Option Modules 1 1 CNTR 01 Module Applicable Machine Controllers The table below lists the MP2000 series Machine Controllers on which the CNTR 01 Module can be mounted Max Number of Applicable Applicable Name Model Connecttable PP MPE720 Remarks CPU Version i Modules Version rte a 30 modules 200 VAC JEPMC BU2200 when using the Max Number of CNTR 01 Mod MP Input cpPu 01 ules that Can Be Connected when 2200 31 modules using 4 racks extended to the max Base Unit when using the imum with 24 VDC JEPMC BU2210 Input CPU 02 MP2300 JEPMC MP2300 2 modules Ver 2 44 or Ver 5 33 or z Can be mounted on an expansion later later i rack when mounting an expansion I F board MP2100MEX model JAPMC EX2200 and connecting an expansion rack can be used als as MP2100M JAPMC MC2140 24 modules the MP2200 base unit Max Number of CNTR 01 Mod ules that Can Be Connected when using 3 racks extended to the max imum
68. urement 2 5 8 2 5 Counter Function Details The Ring Counter function cyclicly controls the counter count value to be written in the input register within the range between 0 and the maximum ring counter value POSMAX Set the maximum ring counter value in the fixed param eter No 19 Maximum value of Ring Counter When the fixed parameter No 13 Ring Counter function selection is set to 1 Use the value of the input register Number of POSMAX Turns PMAXTURN ILOOODO E increments by 1 for forward rotation or decrements by 1 for reverse rotation every time the count value exceeds the ring counter reset position This function can be used for the machine configuration to be reset cyclicly without using a special application pro gram Maximum value of ring counter POSMAX Current counter value after conversion Number of POSMAX Turns Preset Interval Frequency Measurement This function forcibly resets the value of Number of POSMAX Turns PMAXTURNILOOO0O E to the value spec ified in Preset Data of POSMAX Turns of the Operation Mode TURNPRS OLOOOO 6 of the Out Data When the value is reset to the preset value the bit C POSMAX Turn Number Presetting Completed of the Status IWOO00 00 of the In Data turns ON POSMAX Presetting DES POSMAX Preset 43 44 2 Specifications and Functions for CNTR 01 Module 2 5 9 Electronic Gear Function
69. value PI Latch 1 Latch 0 Not latch aic 2 Specify whether to store or not to store the count Valid Valid Invalid 0 Not latch P 40 Detect Demand ul value when an external signal is input 1 Output 0 Not output Coincidence 3 Specify whether to output or not to output the coinci Valid Valid Valid 0 Not output P41 Detection dence detection signal when the counter count value and the coincidence detection set value match 35 2 Specifications and Functions for CNTR 01 Module 2 4 3 Setting the I O Data Counter Mode Ref Default Value Page Name Bit No Description Reversible Interval Frequency Measurement 1 Reset 0 Not reset 4 Specify whether to reset or not to reset the number of Valid Invalid Invalid 0 Not reset P 43 POSMAX turns to its preset value 1 Detect 0 Not detect Multipurpose Specify whether to detect or not to detect the multi Valid output purpose output zone output speed coincidence fre quency coincidence POSMAX Presetting Invalid Valid 0 Not detect P 47 b Set Function Set the following items using the bit 0 to 7 of the Set Function OWO0000 01 Counter Mode ne Bit 2 gt 3 Default Ref 2 E Name Description No Setting D E g 5 Value Page oO o gt 28 2 PI latch detection Set the external signal to 0to3 0 PI discrete input Valid
70. value after con version is equal to m when the counter value p 1 pj 1ifpy lt 0 However the CNTR 01 Module does not execute the coincidence detection at this timing but executes at the timing the counter value po lt When Po is a positive value gt lt When pois a negative value gt puse Reference ma m dd pa units i f Aa a or ENE A i i gt Reference m 1 m mH units pulse When pulse n reference units n gt 1 The value p converted from the agreed detection value mg reference units into pulses is the coincidence detected value The current counter value after conversion converted from the counter value p is mg or more but less than my When the pulse to increment the count in the direction indicated with the arrow A is input the CNTR 01 Module executes coincidence detec tion at the timing the current count value mp When the pulse to decrement the count in the direction indicated with the arrow B is input the CNTR 01 Module executes coincidence detection at the timing the current counter value after conversion m 1 my 1 if mg lt 0 before the current counter value after conversion becomes mp lt When Mo is a positive value gt lt When Mo is a negative value gt pulse Reference mi MM S units 7 gt pH E p pt p 14 ba P A a EI TE E Lp 1 iae iaaa gt Reference 1 m m 1 units pulse 2 5 7 Ring Counter Interval Frequency Meas
71. value of ring counter POSMAX Zone output maximum value Counter count 0 register Zone output minimum value Y 2147483648 MIN Multi purpose output signal E When Zone Output Maximum Value gt Zone Output Minimum Value 2147483647 MAX G Maximum value of ring counter A POSMAX Zone output minimum value Counter count register 0 Zone output maximum value Y 2147483648 MIN Multi purpose output signal 47 48 2 Specifications and Functions for CNTR 01 Module 2 5 10 Multipurpose Output Function 2 E When Zone Output Maximum Value Zone Output Minimum Value The Multi purpose Output signal is output when the counter value and the zone output minimum value the zone out put upper limit match m Operation When Using the Ring Counter The zone output operation will be as shown below when the fixed parameter No 13 Ring Counter function selection is set to 1 Use When Zone Output Minimum Value lt Zone Output Maximum Value Current counter value after conversion Multi purpose Maximum value of ring counter POSMAX Zone output maximum value Zone output minimum value output signal When Zone Output Minimum Value gt Zone Output Maximum Value Current counter value after conversion Multi purpose output signal
72. vel of safety with risk warnings and redundancy and that the Yaskawa product is properly rated and installed 5 The circuit examples and other application examples described in product catalogs and manuals are for reference Check the functionality and safety of the actual devices and equipment to be used before using the product 6 Read and understand all use prohibitions and precautions and operate the Yaskawa product correctly to prevent accidental harm to third parties 4 Specifications Change The names specifications appearance and accessories of products in product catalogs and manuals may be changed at any time based on improvements and other reasons The next editions of the revised catalogs or manuals will be pub lished with updated code numbers Consult with your Yaskawa representative to confirm the actual specifications before purchasing a product CONTENTS Using this Manual a A a E a a 3 Safety Information 5 Safety Precautions 6 Warranty se 0d eae rice pie ti o o o 9 1 Mounting Optional Modules on Machine Controller 13 1 1 CNTR 01 Module Applicable Machine Controllers 14 1 2 Mounting Removing Option Modules on Machine Controller 14 1 2 1 Mounting Option Modules
73. 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 module front cover cables connector while power is being supplied There is a risk of electrical shock Do not damage pull on apply excessive force to place heavy objects on or pinch cables There is a risk of electrical shock operational failure or burning of the MP2000 series Do not attempt to modify the MP2000 series 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 controller and the connecting devices may start operation suddenly Provide suitable safety measures to protect people when operation restarts There is a risk of injury Do not allow installation disassembly or repairs to be performed by anyone other than specified personnel There is a risk of electrical shock or injury E Storage and Transportation Z CAUTION e Do not store or install the MP2000 series in the following locations 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 Excessive dust dirt salt or metallic powder e Water oil or chemicals e Vibration or s
74. wise specified 1 Open the Fix Parameter Set Tab Page Set the fixed parameters for the counter funcions in the Fixed Parameters Tab Page of the Counter Module Definition Window Use the following procedure to open the Counter Module Definition Window 1 Double click the Module Configuration under the Definition Folder in the File Manager Window 10 x File Edit View Tool Help EEE be les root 2300 Ep PIC C C Register Folder H Database egan Definition Folder Application Information Setting gt CUNA System Configuration J Programs 1 1 Table Data Folder 6 File Hame Module Configuration File Type The Engineering Manager will start and the Module Configuration Window will open 2 Point to CNTR 01 in Module Type row of the Controller section of the Module Configuration Win dow Double click the slot number of the CNTRO7 in the Module Details section E Engineering Manager Module Configuration 2300 PIC MP2300 Offline Local 0 xj T File View Order Window Help 8 x 1 EB Mo i 5 t pos ea ee eee or nR RRE e m Nla era CPUH r Controller Module Type mp2300 cwre o1 _ YJOEFINED gt Circuit Number ro Stat Register E ee Disable Cup C MAA A gt CNTR 01 The Module has counter functions Module Details CNTR 01 SLOTH01 Controller Number MS Circuit Number 10 Start Register ERA Disable Output Enab
75. y for Use 1 It is the customer s responsibility to confirm conformity with any standards codes or regulations that apply if the Yaskawa product is used in combination with any other products 2 The customer must confirm that the Yaskawa product is suitable for the systems machines and equipment used by the customer 3 Consult with Yaskawa to determine whether use in the following applications is acceptable Ifuse in the application is acceptable use the product with extra allowance in ratings and specifications and provide safety measures to minimize hazards in the event of failure e Outdoor use use involving potential chemical contamination or electrical interference or use in conditions or environments not described in product catalogs or manuals e Nuclear energy control systems combustion systems railroad systems aviation systems vehicle systems medical equipment amusement machines and installations subject to separate industry or government regula tions e Systems machines and equipment that may present a risk to life or property e Systems that require a high degree of reliability such as systems that supply gas water or electricity or sys tems that operate continuously 24 hours a day e Other systems that require a similar high degree of safety 4 Never use the product for an application involving serious risk to life or property without first ensuring that the sys tem is designed to secure the required le

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