Yaskawa MP940 Bedienungsanleitung

YASKAWA MANUAL NO. SIEZ-C887-4.1YASKAWAUSER'S MANUALDESIGN AND MAINTENANCEMachine Controller MP940

CONTENTSxi10 SERVOPACK Inspection, Maintenance, and Troubleshooting10.1 Servodrive Inspection and Maintenance - - - - - - - - - - - - - 10-210.1.1

4.2 Serial Communications Function4-74In this example, a CP-717 Programming Device is connected to the RS-232C port, and external devices are connect

MP940 Functions4.2.4 Connectors4-84.2.4 Connectors Serial Port 1The MP940 can communicate with communications devices on the MEMOBUS Network by mea

4.2 Serial Communications Function4-944.2.5 Time Required for TransmissionThis section explains the time required for signal transmissions between a

MP940 Functions4.2.5 Time Required for Transmission4-10The number of bits per character includes not only the number of data bits (8 or 7), but also

4.2 Serial Communications Function4-1144.2.6 Serial Communications ProtocolThe MP940 Module can handle various communications protocols, including t

MP940 Functions4.2.6 Serial Communications Protocol4-12 MELSEC CommunicationsMELSEC Communications SpecificationsThe following table shows the gener

4.2 Serial Communications Function4-134Message FlowAll standard MEMOBUS messages are exchanged between the MP940 and the SERIAL Module.The SERIAL Mod

MP940 Functions4.2.6 Serial Communications Protocol4-14MELSEC CommandsThe following table shows the MELSEC ACPU commands that are supported by the SE

4.2 Serial Communications Function4-154∗ Yes: Command supported by the SERIAL Module.No: Command not supported by the SERIAL Module.Note: Special An

MP940 Functions4.2.6 Serial Communications Protocol4-16∗ Register number offsets can be specified for both input relays and coils by the MSG-SND and

xiiA Dimensions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-1A.1 External of MP940 Module - - - - - - - - - - - - - - - -

4.2 Serial Communications Function4-1744.2.7 Opening the Serial Definition WindowThe Serial Definition Window is opened from the Module Configuratio

MP940 Functions4.2.8 General-purpose Serial Definitions4-18When the Serial Definition Window is opened for the first time without any settings having

4.2 Serial Communications Function4-194 Serial InterfaceRS-232C for CIR#01, and RS-485/422 for CIR#02Only 1 stop bit for CIR#02. Transmission Mode•

MP940 Functions4.2.8 General-purpose Serial Definitions4-20 General-purpose Serial Parameter Default ValuesThe following table shows the default val

4.2 Serial Communications Function4-2144.2.9 Saving General-purpose Serial Definition Data1. Select Save (S) from the File (F) Menu in the General-p

MP940 Functions4.3.1 Overview4-224.3 LIO FunctionThis section explains the local I/O (LIO) function.4.3.1 OverviewThe LIO Module provides 8 digital

4.3 LIO Function4-2344.3.2 LIO SpecificationsThe following tables show the hardware specifications for the LIO function. Digital Input CircuitsItem

MP940 Functions4.3.2 LIO Specifications4-24 Digital Output Circuits∗ DO-07 is the conformity output signal when the CNTR fixed parameter for the c

4.3 LIO Function4-254 Analog InputThe SGDH analog input circuit is used for an analog input. Input data is stored in the register specified on the L

MP940 Functions4.3.3 Opening the Local I/O Definition Window4-26 Analog Output∗ Analog output linearity is only assured between –10.0 and 10.0 (V)

About this ManualxiiiAbout this Manual This manual describes the design and maintenance for the MP940 Machine Con-troller, including the following

4.3 LIO Function4-274 Configuration InformationThe LIO configuration information set on the Module Configuration Definition Window is displayed unde

MP940 Functions4.3.5 Saving LIO Definition Data4-284.3.5 Saving LIO Definition Data1. Select Save (S) from the Local I/O Definition File (F) Menu.2.

4.4 CNTR Function4-2944.4 CNTR FunctionThis section explains the MP940 counter function (CNTR).4.4.1 OverviewThe MP940’s counter function supports

MP940 Functions4.4.2 Counter Specifications4-304.4.2 Counter SpecificationsThe following table shows the Counter hardware specifications.Item Conten

4.4 CNTR Function4-3144.4.3 Counter Function ConfigurationWith the counter, functions selected by fixed parameters and output registers are executed

MP940 Functions4.4.4 Pulse Count Method4-324.4.4 Pulse Count MethodThe methods shown below can be selected by means of fixed parameter 5 (PI Latch D

4.4 CNTR Function4-334Table 4.8 Timing of External Input PulsesPulse Count MethodPolarity Up Count (Forward) Down Count (Reverse)Sign method (for 5-

MP940 Functions4.4.5 Reversible Counter Mode4-344.4.5 Reversible Counter ModeIn Reversible Counter Mode, the count goes up or down according to A/B

4.4 CNTR Function4-354∗ 1. Coinciding points detection value = Coincidence detection set value (IL0004)∗ 2. Coincidence detection request = Operat

MP940 Functions4.4.7 PI Latch Function4-364.4.7 PI Latch FunctionThe PI latch function stores (i.e., latches) in a memory register the current posit

xivUsing This Manual Intended AudienceThis manual is intended for the following users.• Those responsible for estimating the MP940 system• Those re

4.4 CNTR Function4-374 Setting the Electronic GearUse the following procedure (steps 1 to 6) to set the electronic gear.1. Check the machine specifi

MP940 Functions4.4.8 Electronic Gear4-38• When ball screw pitch is 5 mm and reference unit is 0.001 mm:5. Set the gear ratio at the encoder and at t

4.4 CNTR Function4-394 Electronic Gear Setting ExampleThe following example shows settings for various load mechanisms.Electronic Gear Parameter Set

MP940 Functions4.4.9 Opening the Counter Module Definition Window4-404.4.9 Opening the Counter Module Definition WindowOpen the Counter Module Defin

4.4 CNTR Function4-4144.4.10 Defining Counter I/O Setting Fixed ParametersSetting Synchronous ScansSelect System, High, or Low from the scan box.Fi

MP940 Functions4.4.11 Setting I/O Data4-424.4.11 Setting I/O DataClick the I/O Data Settings Tab.Channel NumberThe channel number is always displaye

4.4 CNTR Function4-434• Input Data SettingsOutput Data• Operating Mode (OW0002)The status of each bit in the operating mode register is displayed.

MP940 Functions4.4.12 Saving Counter I/O Definition Data4-444.4.12 Saving Counter I/O Definition DataUse the following procedure to save counter I/O

4.5 MECHATROLINK Functions4-4544.5 MECHATROLINK FunctionsThis section explains the MP940 (JEPMC-MC400) high-speed field network communications using

MP940 Functions4.5.3 Master and Slaves4-464.5.3 Master and SlavesYou can select whether to use the MP940 as a master or as a slave.An example of mas

Safety PrecautionsxvSafety PrecautionsThis section describes precautions that apply to correct use of devices. Before installing, operating, maintai

4.5 MECHATROLINK Functions4-474Connectable Slave The following table shows the slaves that can be connected to the MP940 selected as the master.Set t

MP940 Functions4.5.3 Master and Slaves4-48Control Data ConfigurationsThe data configurations used in data communications with slaves are shown below.

4.5 MECHATROLINK Functions4-494• 120DRA83030 (8-point Output)• 120AVI02030 (Analog Input)• 120AVO01030 (Analog Output)Reference dataResponse dataO

MP940 Functions4.5.3 Master and Slaves4-50• MP940 (Machine Controller) Using the MP940 as a SlaveConnection ExampleWhen the MP940 is selected as a

4.5 MECHATROLINK Functions4-5144.5.4 MECHATROLINK ConnectionsThe following example shows I/O350 Units connected to an MP940 Module.When connecting a

MP940 Functions4.5.5 Opening the MECHATROLINK Window4-524.5.5 Opening the MECHATROLINK WindowThe MECHATROLINK Definition Window is opened from the M

4.5 MECHATROLINK Functions4-5344.5.6 Setting MECHATROLINK DefinitionsThis section explains the setting items for tab windows. Transmission Paramete

MP940 Functions4.5.6 Setting MECHATROLINK Definitions4-54Set the I/O devices and registers connected to MECHATROLINK using the I/O Assignment Tab.Tab

4.5 MECHATROLINK Functions4-554 Deleting Allocated Data1. Position the cursor on the line for the station you want to delete, and select Delete Allo

MP940 Functions4.5.7 Saving MECHATROLINK Definitions4-56STSIn Online Mode, the details of the MECHATROLINK communications status is displayed in hexa

xvi WiringCaution• Always connect a power supply that meets the specifications.Connecting an inappropriate power supply may cause fires.• Wiring mu

4.6 DeviceNet Functions4-5744.6 DeviceNet FunctionsDeviceNet is a multivendor field network whose specifications are managed by ODVA (Open DeviceNet

MP940 Functions4.6.2 I/O Communications Function4-58 MP940D Wiring Example4.6.2 I/O Communications FunctionI/O communications exchange I/O data bet

4.6 DeviceNet Functions4-5944.6.4 260IF Module SetupThe 260IF Module is set up from the CP-717 Engineering Tool. Opening the 260IF Configuration Wi

MP940 Functions4.6.4 260IF Module Setup4-602. Double-click the slot where the 260IF is set and open the 260IF Configuration Window.Fig 4.4 260IF Con

4.6 DeviceNet Functions4-614Parameter SettingsThe following items are set in the Transmission Parameter Tab Page of the 260IF Configura-tion Window.•

MP940 Functions4.6.4 260IF Module Setup4-62• Saving ParametersOnce the parameters have been set, select File (F) and then Save (S) from the menu to

4.6 DeviceNet Functions4-634d) I/O AllocationsAllocate the I/O registers for data exchange between the Controller CPU and the 260IF Card according to

MP940 Functions4.6.4 260IF Module Setup4-64IB11000IB11001IB11002・・・IB1100FOB12000OB12001OB12002・・・OB1200FNode address #00 (MAC ID = 00)MasterNode add

4.7 SVA Function4-6544.7 SVA FunctionThis section explains the SVA function.4.7.1 OverviewThe MP940 Module uses a bus connection to an SGDH SERVOPA

MP940 Functions4.7.3 MP940 Servo Control Function4-66 One-unit SystemThe Controller and SERVOPACK exchange commands and feedback data via shared mem

Safety Precautionsxvii Application MaintenanceWARNING• Do not touch any Module terminals when the system power is ON.There is a risk of electrica

4.7 SVA Function4-674The MP940 servo control function has the following functions, which enable accurate, high-speed control. Position, Speed, Torqu

MP940 Functions4.7.3 MP940 Servo Control Function4-68Feed forward gain Can be changed using the Feed Forward Gain motion setting parameter (OWC010).S

4.7 SVA Function4-694 Specifying TorqueDuring a speed reference, position control, or phase control, the torque limit can be con-trolled by setting

MP940 Functions4.7.4 Setting Parameters of the SGDH SERVOPACK4-70 1.5-axis Control Using an External Encoder InputBy using the MP940’s Counter pulse

4.7 SVA Function4-714Pn50A.1 /S-ON Signal Mapping 8 Disabled /S-ON uses signals in shared mem-ory.Pn50A.2 /P-CON Signal Mapping 8 Disabled /P-CON use

MP940 Functions4.7.4 Setting Parameters of the SGDH SERVOPACK4-72 Pn000.1 and Pn002 Control MethodsThe following table shows the details of the pres

4.7 SVA Function4-734 Pn003.0: Analog Monitor 1 and Pn003.1: Analog Monitor 2Parameter Set Value DetailsDefault SettingPn003.0 (Analog Monitor 1)2Se

MP940 Functions4.7.4 Setting Parameters of the SGDH SERVOPACK4-74 Pn005.0: Brake ControlParameter Set Value DetailsDefault SettingPn005.0 0 Brake Co

4.7 SVA Function4-754 Pn50A.0 to Pn50.B，Pn511If using these parameters while connected to an MP940, set the allocation for the sequence input signal

MP940 Functions4.7.4 Setting Parameters of the SGDH SERVOPACK4-76When using parameters of the SGDH SERVOPACK with the MP940 Module, the I/O speci-fic

xviii General PrecautionsAlways note the following to ensure safe use.• The MP940 was not designed or manufactured for use in devices or systems dir

4.8 Flash Memory Operation4-7744.8 Flash Memory Operation4.8.1 OverviewNormally, programs created by the user are stored in RAM. The CPU runs the p

MP940 Functions4.8.2 Saving to Flash4-783. The Save Flash Memory Content Window will be displayed.Select Save/Compare Execute (S) and then Execute (

4.8 Flash Memory Operation4-7944.8.3 Starting Flash MemoryTo transfer the programs stored in flash memory to the CPU before starting operation, set

5-155 System StartupThis chapter explains the method of connecting the system and the startup pro-cedure.5.1 Handling the SERVOPACK - - - - - - - - -

System Startup 5-25.7 Wiring Encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-435.7.1 Connecting an Encoder (CN2) and Output

5.1 Handling the SERVOPACK5-355.1 Handling the SERVOPACKThis section provides the names of the parts of the SERVOPACK and a general explanation of e

System Startup5.2.1 MP940 Module5-45.2 Part NamesThis section provides the names of the parts of the MP920 and a general explanation of each part.5.

5.2 Part Names5-55 LED 2 IndicatorsLED2 indicators show the MECHATROLINK’s status. Battery ConnectorConnects a battery to back up the contents of p

System Startup5.2.1 MP940 Module5-6 Serial Port 1The MP940 Module can perform communications using RS-232C with communications devices on a MEMOBUS

5.2 Part Names5-75 Serial Port 2Use this port to connect RS-422/485.Multiport Connections to External DevicesThe following example shows the multipo

1-111 MP940 Overview andFeaturesThis chapter provides an overview and outlines the features of the MP940 Modules.1.1 Appearance of MP940 Modules- - -

System Startup5.2.1 MP940 Module5-8 Power Supply ConnectorA 24-VDC power supply is supplied to the MP940 Module.The connector is a screw-locked term

5.2 Part Names5-95 I/O ConnectorUse the I/O connector to connect the MP940 Module to external input signals, analog out-puts, and pulse inputs. LE

System Startup5.2.1 MP940 Module5-10MP940 LED Indicator BlockFig 5.1 Appearance of LED Indicator BlockNote: Other numbers and signals are not used.

5.2 Part Names5-115 DeviceNet ConnectorUse this connector to connect an MP940D (JEPMC-MC410) as a DeviceNet slave.Connector Specifications• CN1 Dev

System Startup5.2.1 MP940 Module5-12LED Indicator SpecificationsThe following table shows the 260IF LED indicator specifications. Table 5.1 LED Indi

5.2 Part Names5-135 Switch SpecificationsThis section explains the switches on the MP940D for setting the DeviceNet baud rate and MAC ID settings.MO

System Startup5.2.1 MP940 Module5-14• Mount the MP940 on the side of the SGDH SERVOPACK for use. Be sure to mount the MP940 on the SGDH SERVOPACK in

5.2 Part Names5-1555.2.2 Accessories and Options MP940 Accessories Table OptionsModel Number Name Appearance- Battery holderBL3.5/3F-AU Power supp

System Startup5.3.1 Connectors5-165.3 Connection MethodsThis section describes connection details for each Module.5.3.1 ConnectorsThe following ill

5.3 Connection Methods5-175 JEPMC-MC4105.3.2 Connector SpecificationsThe following table shows the specifications of the connectors shown in 5.3.1

MP940 Overview and Features 1-21.1 Appearance of MP940 ModulesThe MP940 is a single-axis controller with functions such as communications, local I/O

System Startup5.3.3 Serial Port Connector Pin Arrangements and I/O Circuits5-185.3.3 Serial Port Connector Pin Arrangements and I/O Circuits Serial

5.3 Connection Methods5-195Serial Port 1 (RS-232C) ConnectionThe serial port 1 (RS-232C) connection is shown below. Serial Port 2Connector Pin Arran

System Startup5.3.3 Serial Port Connector Pin Arrangements and I/O Circuits5-20To connect terminating resistance, connect it to signals RXR and RX( )

5.3 Connection Methods5-215 RS-485 Connection Example1TX（+）2TX（-）11TXR3RX（+）4RX（-）7RXR14GNDFGMP940 PORT23RX（+）4RX（-）7RXR1TX（+）2TX（-）11TXR14GNDFGMP94

System Startup5.3.3 Serial Port Connector Pin Arrangements and I/O Circuits5-22Note: For the port 2 interface, the terminating resistance activated b

5.3 Connection Methods5-2355.3.4 I/O Connector Pin Arrangement and I/O Circuits I/O Connector Pin ArrangementThe names of the I/O connector termina

System Startup5.3.4 I/O Connector Pin Arrangement and I/O Circuits5-24 I/O Connector I/O CircuitsThe I/O connector connections and I/O circuits are

5.3 Connection Methods5-2555.3.5 Power Supply Connector Cable Power Supply Connector (POWER)The MP940 Module must be supplied with a 24-VDC power s

System Startup5.3.6 MECHATROLINK Cable5-265.3.6 MECHATROLINK CableThe internal cable connection between the MP940 Module I/O Units (e.g., IO350) is

5.3 Connection Methods5-275 The connectors for MECHATROLINK 1 and 2 are exactly the same. You can insert the con-nector into either of them.Insert a

Safety InformationiiiSafety InformationThe following conventions are used to indicate precautions in this manual. Failure to heed precautions provid

1.3 Features of the MP9401-311.3 Features of the MP940The MP940 Machine Controller is a single-axis controller which combines controller and SER-VOP

System Startup5.4.1 Single Phase Power Supply Specifications5-285.4 Connecting Peripheral DevicesA standard connection example for MP940 and SGDH SE

5.4 Connecting Peripheral Devices5-2955.4.2 Three-phase Power Supply SpecificationsBATRDYRUNALMBATPRT1654321NO→PRT2RUNINITTESTFLASHPPCOPYPORT1PORT2P

System Startup5.4.3 Standard Cable Table5-305.4.3 Standard Cable TableYaskawa provides the following standard cables.Use these cables to connect the

5.4 Connecting Peripheral Devices5-315J2 Cable materialsStandard cable (can be wired up to 20 m) JZSP-CMP09-05 5 mJZSP-CMP09-10 10 mJZSP-CMP09-15 15

System Startup5.4.3 Standard Cable Table5-32 MP940 CablesJ4 CN3 Digital Operator(Digital Operator + Cable (1 m))JUSP-OP02A-2 -Cable only JZSP-CMS00

5.5 SERVOPACK Main Circuit Connection5-3355.5 SERVOPACK Main Circuit Connection5.5.1 Names and Descriptions of Main Circuit TerminalsThe following

System Startup5.5.2 Typical Main Circuit Wiring5-345.5.2 Typical Main Circuit WiringThe following diagram shows a typical wiring example. Designing

5.5 SERVOPACK Main Circuit Connection5-3555.5.3 Wiring Main Circuit Terminal BlocksSERVOPACKs with a capacity below 1.5 kW will have connector-type

System Startup5.5.3 Wiring Main Circuit Terminal Blocks5-36 Preparing the End of the WireWire can be used simply by stripping back the outer coating

5.6 SERVOPACK I/O Signals5-3755.6 SERVOPACK I/O SignalsThis section describes I/O signals for the SGDH SERVOPACK.5.6.1 Examples of I/O Signal Conne

MP940 Overview and Features1.3.2 Total Synchronization between Controller and Servo Amplifier1-41.3.2 Total Synchronization between Controller and S

System Startup5.6.2 List of CN1 Terminals5-385.6.2 List of CN1 TerminalsThe following diagram shows the layout and specifications of CN1 terminals.

5.6 SERVOPACK I/O Signals5-395 CN1 Specifications5.6.3 I/O Signal Names and FunctionsThe following tables describe SERVOPACK I/O signal names and f

System Startup5.6.3 I/O Signal Names and Functions5-40 Output SignalsNote: 1. Pin numbers in parenthesis () indicate signal grounds.2. The functio

5.6 SERVOPACK I/O Signals5-4155.6.4 Interface CircuitsThis section shows examples of SERVOPACK I/O signal connection to the host controller. Interf

System Startup5.6.4 Interface Circuits5-42• Connecting to an Open-collector Output CircuitAlarm code signals are output from open-collector transist

5.7 Wiring Encoders5-4355.7 Wiring EncodersThis section describes the procedure for wiring a SERVOPACK to the encoder.5.7.1 Connecting an Encoder (

System Startup5.7.2 CN2 Encoder Connector Terminal Layout and Types5-44 Absolute Encoders5.7.2 CN2 Encoder Connector Terminal Layout and TypesThe f

5.7 Wiring Encoders5-455Note: 1. FA1394 is the product number for the SERVOPACK-end plug and the Servomotor-end socket set from Molex Japan Co., Ltd

System Startup5.8.1 Overview of the Startup Procedure5-465.8 System StartupThis section explains the procedure when a Test System is used for positi

5.8 System Startup5-4755.8.2 Test System ConfigurationThe following illustration shows the Test System configuration.BATRDYRUNALMBATPRT1654321NO→PRT

1.3 Features of the MP9401-51Synchronous Phase Control Application ExamplesElectronic Cams1.3.5 High-precision Synchronous ControlVarious types of p

System Startup5.8.3 Test System Outline5-485.8.3 Test System Outline Control Outline Operation Outline1. The value of the variable resistor connec

5.8 System Startup5-4955.8.4 Equipment PreparationsPrepare the equipment shown in the following tables. Controller-related Equipment Servo-related

System Startup5.8.5 Mounting the MP940 Module5-505.8.5 Mounting the MP940 ModuleUse the following procedure to mount the MP940 Module to the SGDH S

5.8 System Startup5-515 Type of SpringThere are two types of mounting springs, and the shape of the spring differs depending on the SERVOPACK capaci

System Startup5.8.6 Mounting the Battery Holder5-525.8.6 Mounting the Battery HolderThe procedure for mounting the MP940 battery holder is explained

5.8 System Startup5-5353. Push down the holder, and make sure that it is firmly inserted.BATRDYRUNALMBATPRT1654321NO→PRT2RUNINITTESTFLASHPPCOPYPORT1P

System Startup5.8.7 Connections and Wiring5-545.8.7 Connections and Wiring Connecting External DevicesRTUWWG1CN2CNBATRDYRUNALMBATPRT1654321NO→PRT2R

5.8 System Startup5-555 Operation Using MP940 Analog OutputSERVOPACK (SGD) to Switch Box Connections Connecting a Variable Resistor to the V-REF Te

System Startup5.8.8 MP940 Initialization5-565. Initialize the SGDH SERVOPACK using Fn0014, Fn0005, and Fn0006.This procedure is for confirmation and

5.8 System Startup5-5755.8.9 Starting the CP-717This section explains the Modules configuring the MP940, the module configuration defini-tions for I

MP940 Overview and Features1.3.6 Field Networks1-61.3.6 Field NetworksTwo types of field network are supported to reduce wiring: One for MECHATROLIN

System Startup5.8.9 Starting the CP-7175-583. The group folder (here, “AAA”) will be created. Double-click root or click the icon..The AAA Group Fo

5.8 System Startup5-595 Creating a Controller FolderRegister the new Controller to be used to create the program.Example: Controller name = MP940Co

System Startup5.8.9 Starting the CP-7175-60 Logging On OfflineTo create a Controller program or definition data, you must log onto the Controller. T

5.8 System Startup5-6154. The Definition, Programs, Table Data, and C Register Folders will be displayed in theMP940 Controller folder. This complete

System Startup5.8.9 Starting the CP-7175-62 LIO Definitions1. Double-click LIO in slot 3.If no module configurations have been saved, the Save Modu

5.8 System Startup5-6353. Using the Local I/O Definition Window, you can change only the SCAN settings. Youcannot set REG-No. Make these settings usi

System Startup5.8.9 Starting the CP-7175-642. Set SVA fixed parameter No. 1 (Axis Enabled) to Axis Used.3. Save the fixed parameters.Click Save on th

5.8 System Startup5-655 Default Settings for SGDH SERVOPACK Parameters1. Click SERVOPACK in the SVA Definitions Window. The SERVOPACK Parameter Set

System Startup5.8.9 Starting the CP-7175-66 Defining the Counter Module1. Double-click CNTR in slot 05. If no configurations have been saved, the Ne

5.8 System Startup5-6754. When you return to the Main Module Configurations Window, check that the status dis-play for the function modules reads “Ru

2-122 Specifications and FunctionsThis chapter outlines MP940 Module specifications and functions.2.1 General Specifications - - - - - - - - - - - -

System Startup5.8.9 Starting the CP-7175-683. In the Basic Control Cycle Window, set the Background Time and Watch Dog Set.Change the Set Value. The

6-166 ParametersThis chapter describes the procedure for the setting parameters needed to run the MP940.6.1 Parameter Classifications - - - - - - - -

Parameters 6-26.1 Parameter ClassificationsThis section describes parameters critical to motion functions in the Motion Module. OverviewParameters

6.2 Motion Setting Parameters6-366.2 Motion Setting ParametersThis section explains how to set MP940 motion parameters.6.2.1 Opening the Motion Par

Parameters6.2.2 Setting Motion Parameters6-46.2.2 Setting Motion Parameters Setting Fixed ParametersIn the Fixed Parameters Tab, set the fixed para

6.2 Motion Setting Parameters6-56 Setting Set Up ParametersClick the Set Up Parameters Tab.Refer to 6.3.2 Motion Setting Parameter Details for the d

Parameters6.2.2 Setting Motion Parameters6-6• The default settings are enabled when they are saved to the machine controller registers. Conse-quently

6.2 Motion Setting Parameters6-76 Motion Monitor DisplayClick the Monitor Tag. You cannot change the set values.Refer to 6.3.3 Motion Monitoring Par

Parameters6.2.4 Saving Motion Parameters6-86.2.4 Saving Motion Parameters1. Select File (F) and then Save (S) from the motion parameters menus.2. Cl

6.3 SVA Parameter Details6-966.3 SVA Parameter DetailsThis section explains details on the MP940 parameters.6.3.1 Motion Fixed Parameter DetailsMot

Specifications and Functions 2-22.1 General SpecificationsThe following table lists the general specifications of the MP940 Modules.Table 2.1 Gener

Parameters6.3.1 Motion Fixed Parameter Details6-1014 Additional Function Selections (AFUNCSEL)Set additional functions, such as the signal type used

6.3 SVA Parameter Details6-11617 Bit 4 Electronic Gear Selection (USE_GEAR)Set whether or not to use the elec-tronic gear function.0: Disabled1: Enab

Parameters6.3.1 Motion Fixed Parameter Details6-1217 Bit 9 Override Selection (USE_OV) Set whether or not to use the over-ride function.0: Disabled1:

6.3 SVA Parameter Details6-13619 Distance Traveled Per Machine Rotation (PITCH)The minimum reference unit is determined by this parameter and Referen

Parameters6.3.1 Motion Fixed Parameter Details6-1423 Infinite Length Axis Reset Position (POSMAX)Set the reset position for a rotation when infinite

6.3 SVA Parameter Details6-156The following sections describe the zero point return methods. 0: DEC 1 + Phase-C pulseThis method has three speed lev

Parameters6.3.1 Motion Fixed Parameter Details6-16 7: DEC 1 + LMT + Phase-C pulseThis method gets the current position from the forward/reverse LMT

6.3 SVA Parameter Details6-176 5: DEC 1 + LMT + Zero SignalIn place of the phase-C pulse of the DEC 1 + LMT + phase-C pulse method, this method uses

Parameters6.3.2 Motion Setting Parameter Details6-18Table 6.2 Motion Setting Parameter DetailsNo. NameRegister NumberBit Name Description Default1 R

6.3 SVA Parameter Details6-1961 RUN Mode Settings (RUNMOD), continuedBit 7 Phase Refer-ence Disable (PHREFOFF)Set whether to use phase control for th

2.2 Hardware Specifications2-322.2 Hardware SpecificationsThe following table shows the hardware specifications of the MP940 Module.Table 2.2 Hardw

Parameters6.3.2 Motion Setting Parameter Details6-201 RUN Mode Settings (RUNMOD), continuedBit 11 Feed Forward Compensation during Control Mode Switc

6.3 SVA Parameter Details6-2162 RUN Command settings (SVRUNCMD), continuedBit 12 Position Refer-ence Value Selection (USE_BUF)Set the reference metho

Parameters6.3.2 Motion Setting Parameter Details6-222 RUN Command settings (SVRUNCMD), continuedBit 14 Speed Refer-ence Type (XREFTYPE)Set the type o

6.3 SVA Parameter Details6-2367 Machine Coordinate SystemZero Point Offset Setting (ABSOFF)OLC006-231 to 231-1Position data can be shifted by the val

Parameters6.3.2 Motion Setting Parameter Details6-24No.NameRegister NumberBit Name Description Default13 Linear Acceleration Time Constant (NACC)OWC0

6.3 SVA Parameter Details6-25618 Feed Forward Gain Setting (Kf)OWC011 0 to 200 Reduces positioning time by applying feed for-ward control.• Setting r

Parameters6.3.2 Motion Setting Parameter Details6-2621 Filter Time Constant Setting (NNUM)OWC014 1. Average move filter 0 to 255(0 = 1 = no filter)2.

6.3 SVA Parameter Details6-27627 Integral Time Setting (Ti)OWC01A 0 to 32767 Set the integral time for PI control in 1 ms units in Phase Control Mode

Parameters6.3.2 Motion Setting Parameter Details6-2834 Motion Command Control Flags (MCMDCTRL)OWC021 Set motion command auxiliary functions. 0Bit 0 C

6.3 SVA Parameter Details6-29634 Motion Command Control Flag (MCMDCTRL), continuedBit 12 Reverse Limit Signal for Zero Point Return (LMT_L)This bit f

Specifications and Functions 2-4Input Signals Inputs 8 points/commonInput Format Combined sinking/sourcingInput Type Type 1 (JIS-B3501)Isolation Meth

Parameters6.3.2 Motion Setting Parameter Details6-3039 Stopping Distance (STOPDIST)OLC026-231 to 231-1This parameter is used by the system. Do not us

6.3 SVA Parameter Details6-31646 Position Control Flags (POSCTRL)OWC02D Set the functions related to position data managed by Motion Modules. The bit

Parameters6.3.2 Motion Setting Parameter Details6-3249 Preset Number of POSMAX Turns Data (TURNPRS)OLC030-231 to 231-1ILC01E: POSMAX Number of Turns

6.3 SVA Parameter Details6-33657 Encoder Position at Shutdown (Lower place)OLC038-231 to 231-1This parameter is used in the following two ways and sh

Parameters6.3.2 Motion Setting Parameter Details6-3459 Encoder Position at Shutdown (Upper place)OLC03A-231 to 231-1This parameter is used in the fol

6.3 SVA Parameter Details6-356 Supplemental Explanation1. The priority of the OWC000: RUN Mode Settings and the OWC001: RUN Command Settings is as f

Parameters6.3.2 Motion Setting Parameter Details6-36ProcedureThe position can be adjusted with the Zero Point Offset. If the zero point offset is set

6.3 SVA Parameter Details6-3766.3.3 Motion Monitoring Parameter DetailsTable 6.3 Motion Monitor Parameter DetailsNo.NameRegister No.Bit Name Descri

Parameters6.3.3 Motion Monitoring Parameter Details6-381 RUN status (RUNSTS), continuedBit 8 Motion Controller RUN (SVCRUN)This bit turns ON under th

6.3 SVA Parameter Details6-3962 Servodrive Status (SYSTS), continuedBit 2 V-C MP Speed coincidence3 TGON Detection during monitor rotation4 S-RDY Ser

2.3 Function Lists2-522.3 Function Lists2.3.1 MP940 Motion Control Function SpecificationsThe following table lists the motion control function spe

Parameters6.3.3 Motion Monitoring Parameter Details6-4017 Cumulative Rotations from Absolute Encoder (ABSREV)ILC010-231 to 231-1This parameter indica

6.3 SVA Parameter Details6-41624 Position Control Status (POSSTS), continuedBit 1 Zero Point Position (ZERO)This parameter turns ON when zero point r

Parameters6.3.3 Motion Monitoring Parameter Details6-4231 Number of POSMAX Turns (PMAXTURN)ILC01E-231 to 231-1The count at this parameter goes up and

6.3 SVA Parameter Details6-43635 Alarms (ALARM), continuedBit 4 Negative Software Limit (SOTR)This parameter is valid if IBC0156: Zero Point Return

Parameters6.3.3 Motion Monitoring Parameter Details6-4438 Servodrive I/O Monitor (SVIOMON)IWC025Bit 0 SIO General input signal1 DEC Deceleration dog

6.3 SVA Parameter Details6-456 Supplemental Explanation1. If the fixed parameter for motion command code selection has been set to enable the use of

Parameters6.4.1 Parameter Configurations6-466.4 Parameters for SGDH SERVOPACK6.4.1 Parameter ConfigurationsParameters are comprised of the types sh

6.4 Parameters for SGDH SERVOPACK6-476Pn000Function Selection Basic Switches (Contd.)1 Control Method Selection(0 to B)SGDH SERVOPACKs can use a tota

Parameters6.4.2 Function Selection Constants6-48Pn001Function Selection Application Switches 10 Stop Mode when Servo Is OFF and an Alarm occurs (0, 1

6.4 Parameters for SGDH SERVOPACK6-496Pn001Function Selection Application Switches 1 (Contd.)1 Overtravel Stop Mode (0, 1, 2)Specify the Servomotor S

Specifications and Functions2.3.2 PLC Function Specifications2-62.3.2 PLC Function SpecificationsThe following table lists the PLC function specific

Parameters6.4.2 Function Selection Constants6-50Pn001Function Selection Application Switches 1 (Contd.)1 Overtravel Stop Mode (0, 1, 2) (Contd.)Relat

6.4 Parameters for SGDH SERVOPACK6-516Pn001Function Selection Application Switches 1 (Contd.)3 Warning Code Output Selec-tion (0, 1) (Contd.)Note: Pa

Parameters6.4.2 Function Selection Constants6-52Pn003Function Selection Application Switches 30 Analog moni-tor 1: Torque refer-ence monitor(0 to 7)Y

6.4 Parameters for SGDH SERVOPACK6-5366.4.3 Gain-related ParametersTable 6.5 Gain-related Parameter TableParameter No. DigitName (Setting Range)Det

Parameters6.4.3 Gain-related Parameters6-54Pn108Bias Addition WidthReference unit0 to 250Do not use this parameter when using an MP940. 7 PositionPn1

6.4 Parameters for SGDH SERVOPACK6-556Pn10BGain-related Application Switches1 IP Control (0, 1)0: PI control1: IP control0 Speed Torque Position2 R

Parameters6.4.3 Gain-related Parameters6-56Pn10DMode Switch: Speed Referencer/min0 to 10000Pn10B.0 = 1: Speed Reference Used as Detection PointWhen t

6.4 Parameters for SGDH SERVOPACK6-576Pn10FMode Switch: Error PulseReference unit 0 to 10000Do not use this parameter when using an MP940. 0 Position

Parameters6.4.3 Gain-related Parameters6-58Pn111Speed Feedback Compensation*%1 to 500Use this function for shortening the setting time of the system

6.4 Parameters for SGDH SERVOPACK6-596∗ Depending on the control mode, undetected signals are treated as OFF. For example, in the speed control mode

ivVisual AidsThe following aids are used to indicate certain types of information for easier reference.Indicates important information that should be

2.3 Function Lists2-72User Drawings, Func-tions, and Motion Pro-gramsStart drawings (DWG.A): Servo-control scan process drawings (DWG.S): 4 drawings

Parameters6.4.5 Speed-related Parameters6-60∗ Types of /WARN signals: Overload, regenerative overload, and option warning.6.4.5 Speed-related Param

6.4 Parameters for SGDH SERVOPACK6-616Pn304Jog Speedr/min0 to 10000Use this parameter to set the motor speed when operating the SERVOPACK from a Pane

Parameters6.4.6 Torque-related Parameters6-626.4.6 Torque-related ParametersTable 6.8 Torque-related Parameter TableParameter No. DigitName (Settin

6.4 Parameters for SGDH SERVOPACK6-636Pn404Forward External Torque Limit%0 to 800Use this parameter to limit the torque after the machine starts to m

Parameters6.4.6 Torque-related Parameters6-64Pn406Emergency Stop Torque%0 to 800Pn406 specifies the stop torque applied for overtravel when the input

6.4 Parameters for SGDH SERVOPACK6-656Pn409Notch Filter FrequencyHz50 to 2000Set the machine vibration frequency.Enabled when Pn408.0 Select Notch Fi

Parameters6.4.7 Sequence-related Parameters6-666.4.7 Sequence-related ParametersTable 6.9 Sequence-related Parameter TableParameter No. DigitName (

6.4 Parameters for SGDH SERVOPACK6-676Pn502Rotation Detection Levelr/min1 to 10000This parameter is used to set the speed at which the SERVOPACK dete

Parameters6.4.7 Sequence-related Parameters6-68Pn506Brake Reference Servo OFF Delay Time10 ms0 to 50Brake ON Timing (Timing when motor is stopped)If

6.4 Parameters for SGDH SERVOPACK6-696Pn506Brake Reference Servo OFF Delay Time10ms0 to 50Related ParametersWhen using /BK signal, make sure to selec

Specifications and Functions2.3.3 Motion Command Descriptions2-82.3.3 Motion Command DescriptionsThe following table describes the motion commands.T

Parameters6.4.7 Sequence-related Parameters6-70Pn509Momentary Hold Timems20 to 1000The SERVOPACK turns the servomotor OFF if it detects an instan-tan

6.4 Parameters for SGDH SERVOPACK6-716 Input Signal SelectionTable 6.10 Sequence-related Parameter TableParameter No. DigitName (Setting Range)Cont

Parameters6.4.7 Sequence-related Parameters6-72 Output Signal SelectionTable 6.11 Sequence-related Parameter TablePn50D 0 /ZCLAMP Sig-nal Mapping0

6.4 Parameters for SGDH SERVOPACK6-736Note: 1. When more than one signal is allocated to the same output circuit, data is output using OR logic.2.

Parameters6.4.8 Other Parameters6-746.4.8 Other ParametersParameter No.Name (Setting Range)Contents DefaultControl ModesPn600Regenerative Resistance

7-177 Absolute Position DetectionThis chapter describes an absolute detection system that uses an absolute encoder. Be sure to read this chapter care

Absolute Position Detection7.1.1 Description of the Function7-27.1 Structure of the Absolute Position Detection FunctionThis section describes the A

7.1 Structure of the Absolute Position Detection Function7-37Absolute DataAbsolute data that is stored in an absolute encoder is comprised of the num

Absolute Position Detection7.1.2 Structure of Absolute Position Detection7-4The following table shows the conditions requiring a battery.Reading Abso

7.1 Structure of the Absolute Position Detection Function7-57 Changes in Status in an Absolute Position Detection SystemThe following shows changes

2.3 Function Lists2-92Classifi-cationCommand Name Programming Format Function/MeaningSpeed and Ac-celera-tion/Decelera-tion Com-mandsACC ACCELERA-TIO

Absolute Position Detection7.2.1 System Startup Procedure7-67.2 Starting the Absolute Position Detection FunctionThis section describes the procedur

7.2 Starting the Absolute Position Detection Function7-777.2.2 Setting Related ParametersThis section describes absolute position detection paramete

Absolute Position Detection7.2.3 Initializing the Absolute Encoder7-8Multi-turn Limit1 Setting (Pn205)Sets the cycle of Infinite Length Axis in refer

7.2 Starting the Absolute Position Detection Function7-97The absolute encoder setup operation is only possible when the servo is OFF. After the setup

Absolute Position Detection7.2.3 Initializing the Absolute Encoder7-10 Setup Using the Built-in Panel Operator1. Press the DSPL/SET Key to select th

7.2 Starting the Absolute Position Detection Function7-1177.2.4 Multi-turn Limit SettingWhen implementing absolute detection systems for a machine w

Absolute Position Detection7.2.4 Multi-turn Limit Setting7-12Alarm Name: Multi-turn Limit DisagreementNote: OFF: Output transistor is OFF (alarm stat

7.2 Starting the Absolute Position Detection Function7-137 Changing the Setting with the Built-in Panel Operator1. Press the DSPL/SET Key to select

Absolute Position Detection7.3.1 Finite Length Mode Axis7-147.3 Using an Absolute EncoderThis section describes precautions regarding use as well as

7.3 Using an Absolute Encoder7-157 Position Control with a Finite Length Mode AxisInitialize the axis position as described next when power is turne

Specifications and Functions2.3.3 Motion Command Descriptions2-10Se-quence Com-mands= SUBSTITUTE (Result) = (Arithmetic expression) Substitutes opera

Absolute Position Detection7.3.1 Finite Length Mode Axis7-16 Setting the Zero Point for a Finite Length Mode AxisSet the zero point as described her

7.3 Using an Absolute Encoder7-177The following methods are used to save the Machine Coordinate System Zero Point Offset (OLC006).• Saving in a Ladd

Absolute Position Detection7.3.2 Infinite Length Mode Axis7-187.3.2 Infinite Length Mode Axis DescriptionInfinite Length Positioning is a function

7.3 Using an Absolute Encoder7-197 Setting the Zero Point for an Infinite Length Mode AxisExecute the ZSET motion command (zero point setting).The s

Absolute Position Detection7.3.2 Infinite Length Mode Axis7-20 Ladder Logic Program for Infinite Length Mode Axis Position ControlSpecial ladder log

7.3 Using an Absolute Encoder7-217Use the following flowchart to store values in buffers.YESYESYESNONONONOYESStart the high-speed scan drawing.Are pr

Absolute Position Detection7.3.2 Infinite Length Mode Axis7-22The following programming example (ladder logic program) is for the flowchart shown abo

7.3 Using an Absolute Encoder7-237Turning the System Back ON (Turning the Servo Back ON)Set up position data again from the customer's ladder lo

Absolute Position Detection7.3.2 Infinite Length Mode Axis7-24Execute the following flowchart when Position Data Re-Setup Request is ON.Follow the pr

7.3 Using an Absolute Encoder7-257The following programming example (ladder logic program) is for the flowchart shown in the previous page. The axis

2.3 Function Lists2-112Se-quence Com-mandsTAN TANGENTTAN(MF － )；TAN(45.0)；Obtains the tangent of the real number (deg), and returns a real value.ASN

Absolute Position Detection7.3.2 Infinite Length Mode Axis7-26There are no restrictions in the executing order for ladder logic programs H10 and H11

8-188 Maintenance and InspectionThis chapter describes daily and regular inspection items to ensure that the MP940 can always be used at its best con

Maintenance and Inspection8.1.1 Daily Inspections8-28.1 Inspection ItemsThis section summarizes daily and regular inspection items that must be perf

8.1 Inspection Items8-388.1.2 Regular InspectionsThis section describes inspection items that must be performed once or twice every six months to on

Maintenance and Inspection8.2.1 Battery Life8-48.2 MP940 Module BatteryThe replaceable built-in battery can be connected to the MP940 Module as an o

8.2 MP940 Module Battery8-58Obtain a Replacement BatteryObtain a replacement battery (ZZK000065). This battery is not commercially available, and mus

9-199 TroubleshootingThis chapter describes the details, causes, and remedies for errors that can occur when using the system.9.1 Overview of Trouble

Troubleshooting9.1.1 Troubleshooting Methods9-29.1 Overview of TroubleshootingThis section shows the basic troubleshooting flow and provides a list

9.1 Overview of Troubleshooting9-399.1.2 Basic Troubleshooting FlowWhen a problem occurs, it is important to determine the cause and treat the probl

Troubleshooting9.1.3 Indicator Errors9-4 LED Indicator DetailsThe following describes details and remedies for indicators showing operating status a

Specifications and Functions2.3.3 Motion Command Descriptions2-12Control Com-mandsMSEE SUBROUTINE CALLMSEE MPS － ;Executes the MPS- subroutine.TIM DW

9.2 System Errors9-599.2 System ErrorsThis section describes system error details and remedies.9.2.1 Overview of System ErrorsIndicators on the fro

Troubleshooting9.2.2 Processing Flow When a System Error Occurs9-69.2.2 Processing Flow When a System Error OccursThe following illustration shows t

9.2 System Errors9-799.2.3 Processing Flow When a User Program Error OccursA serious failure has probably occurred if the RUN and ERR indicators are

Troubleshooting9.2.4 System Register Configuration9-89.2.4 System Register Configuration System StatusSystem status indicates the operating status

9.2 System Errors9-99Note: For registers SB00419, SB0041C, SB0041D, and SB0041E, refer to A.9F in 10.2.1 Troubleshooting Problems with Alarm Displays

Troubleshooting9.2.4 System Register Configuration9-10Software Switch Selection StatusSW00047SB000475 Reserved by system. (Not used.)SB000476 to SB00

9.2 System Errors9-119 System Error StatusThe following table lists data when a system error status list is generated.Table 9.2 System Error Status

Troubleshooting9.2.4 System Register Configuration9-12 User Operation Error StatusThe following tables list data when a user operation error occurs.

9.2 System Errors9-139Table 9.4 User Operation Error Status - 2Table 9.5 User Operation Error Status - 3NameRegister No.RemarksDWG.A DWG.I DWG.H DW

Troubleshooting9.2.4 System Register Configuration9-14Real Number Operation0010H Integer storage - non-numeric error Yes Store not executed. [00000]0

2.3 Function Lists2-1322.3.4 Ladder Instructions and Standard System FunctionsThe following table lists the ladder instructions and standard system

9.2 System Errors9-159Table 9.6 User Operation Error Status - 4 System Service Execution StatusTable 9.7 Latest Data Trace Record Number System I

Troubleshooting9.2.4 System Register Configuration9-16 Actions to be Taken when a Transmission Error OccursWhen a transmission error occurs during s

9.2 System Errors9-1792. MECHATROLINK Station Error StatusSlot 6Error flag System Operation Error StatusTable 9.8 System Operation Error Code Statu

Troubleshooting9.2.4 System Register Configuration9-18 Interrupt StatusTable 9.10 Interrupt StatusInterrupt Module Details∗ 1. Modulemm=01H to 05H

9.3 Motion Errors9-1999.3 Motion ErrorsThis section describes the details and remedies for errors that occur in motion functions.9.3.1 Description

Troubleshooting9.3.2 Processing Flow When a Motion Error Occurs9-209.3.2 Processing Flow When a Motion Error Occurs Troubleshooting FlowThe followi

9.3 Motion Errors9-219 List of Motion Program Alarm CodesThe following table lists the List of Motion Program Alarm Codes. Use HEX(H) for the Dis-pl

Troubleshooting9.3.2 Processing Flow When a Motion Error Occurs9-22 Motion Parameter: Alarm ILxx22 DetailsThe following tables lists the axis alarm

10-11010 SERVOPACK Inspection,Maintenance, andTroubleshootingThis chapter describes the basic inspection and maintenance to be carried out by the use

SERVOPACK Inspection, Maintenance, and Troubleshooting10.1.1 Servomotor Inspection10-210.1 Servodrive Inspection and MaintenanceThis section describ

Specifications and Functions2.3.4 Ladder Instructions and Standard System Functions2-14Relay Circuit In-structionsNO CONTACT No limit in a series cir

10.1 Servodrive Inspection and Maintenance10-310 Part Replacement ScheduleThe following parts are subject to mechanical wear or deterioration over t

SERVOPACK Inspection, Maintenance, and Troubleshooting10.1.3 Replacing Battery for Absolute Encoder10-4 Battery Replacement Procedure1. Replace the

10.2 Troubleshooting10-51010.2 TroubleshootingThis section describes causes and remedies for problems which cause an alarm display and for problems

SERVOPACK Inspection, Maintenance, and Troubleshooting10.2.1 Troubleshooting Problems with Alarm Displays10-6 A.03A.03: Main Circuit Encoder ErrorDi

10.2 Troubleshooting10-710 A.05A.05: Combination ErrorDisplay and OutputsNote: OFF: Output transistor is OFF (alarm state).Status and Remedy for Ala

SERVOPACK Inspection, Maintenance, and Troubleshooting10.2.1 Troubleshooting Problems with Alarm Displays10-8Status and Remedy for AlarmNote: E to H

10.2 Troubleshooting10-910Status and Remedy for Alarm A.32A.32: Regenerative OverloadDisplay and OutputsNote: OFF: Output transistor is OFF (alarm s

SERVOPACK Inspection, Maintenance, and Troubleshooting10.2.1 Troubleshooting Problems with Alarm Displays10-10 A.40A.40: Main Circuit DC Voltage Err

10.2 Troubleshooting10-1110Status and Remedy for Alarm A.51A.51: OverspeedDisplay and OutputsNote: OFF: Output transistor is OFF (alarm state).ON: O

SERVOPACK Inspection, Maintenance, and Troubleshooting10.2.1 Troubleshooting Problems with Alarm Displays10-12 A.71A.71: Overload: High LoadThe alar

2.3 Function Lists2-152Numeric Opera-tion InstructionsINTEGER EN-TRYStarts an integer operation.REAL NUM-BER ENTRYStarts a real number operation.STOR

10.2 Troubleshooting10-1310 A.73A.73: Dynamic Brake OverloadDisplay and OutputsNote: OFF: Output transistor is OFF (alarm state).ON: Output transist

SERVOPACK Inspection, Maintenance, and Troubleshooting10.2.1 Troubleshooting Problems with Alarm Displays10-14Status and Remedy for Alarm A.7AA.7A:

10.2 Troubleshooting10-1510 A.81A.81: Absolute Encoder Backup ErrorDisplay and OutputsNote: OFF: Output transistor is OFF (alarm state).Status and R

SERVOPACK Inspection, Maintenance, and Troubleshooting10.2.1 Troubleshooting Problems with Alarm Displays10-16Status and Remedy for Alarm A.83A.83:

10.2 Troubleshooting10-1710 A.84A.84: Absolute Encoder Data ErrorDisplay and OutputsNote: OFF: Output transistor is OFF (alarm state).Status and Rem

SERVOPACK Inspection, Maintenance, and Troubleshooting10.2.1 Troubleshooting Problems with Alarm Displays10-18Status and Remedy for Alarm A.86A.86:

10.2 Troubleshooting10-1910Status and Remedy for AlarmCause of ErrorsIf an error occurs in the MP940, the following error information will be set, an

SERVOPACK Inspection, Maintenance, and Troubleshooting10.2.1 Troubleshooting Problems with Alarm Displays10-20The following table shows the details o

10.2 Troubleshooting10-2110 A.b1A.b1: Reference Speed Input Read ErrorDisplay and OutputsNote: OFF: Output transistor is OFF (alarm state).Status an

SERVOPACK Inspection, Maintenance, and Troubleshooting10.2.1 Troubleshooting Problems with Alarm Displays10-22Status and Remedy for Alarm A.C1A.C1:

Specifications and Functions2.3.4 Ladder Instructions and Standard System Functions2-16Numeric Conver-sion InstructionsSIGN INVER-SIONINVMW00100 INV

10.2 Troubleshooting10-2310 A.C8A.C8: Absolute Encoder Clear Error and Multi-turn Limit Setting ErrorDisplay and OutputsNote: OFF: Output transistor

SERVOPACK Inspection, Maintenance, and Troubleshooting10.2.1 Troubleshooting Problems with Alarm Displays10-24 A.CAA.CA: Encoder Parameter ErrorDisp

10.2 Troubleshooting10-2510 A.CCA.CC: Multi-turn Limit Disagreement AlarmDisplay and OutputsNote: OFF: Output transistor is OFF (alarm state). ON: O

SERVOPACK Inspection, Maintenance, and Troubleshooting10.2.1 Troubleshooting Problems with Alarm Displays10-26Status and Remedy for Alarm A.E0A.E0:

10.2 Troubleshooting10-2710Status and Remedy for Alarm A.E1A.E1: Option TimeoutDisplay and OutputsNote: OFF: Output transistor is OFF (alarm state).

SERVOPACK Inspection, Maintenance, and Troubleshooting10.2.1 Troubleshooting Problems with Alarm Displays10-28Status and Remedy for Alarm A.F1A.F1:

10.2 Troubleshooting10-2910Display and OutputsStatus and Remedy for Alarm CPF01CPF01: Digital Operator Transmission Error 2This alarm is not stored

SERVOPACK Inspection, Maintenance, and Troubleshooting10.2.1 Troubleshooting Problems with Alarm Displays10-30 A. －－A.- -: Normal OperationThis is n

10.2 Troubleshooting10-311010.2.2 Troubleshooting Problems with No Alarm DisplayRefer to the tables below to identify the cause of a problem which

SERVOPACK Inspection, Maintenance, and Troubleshooting10.2.2 Troubleshooting Problems with No Alarm Display10-32Servomotor Vibrates at Approximately

CONTENTSvCONTENTSSafety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iiiVisual Aids - - - - - - - - - - -

2.3 Function Lists2-172Data Operation InstructionsBIT ROTATION RIGHTROTR Bit-addr Count WidthROTR MB00100A N=1 W=20MOVE BITS MOVB

10.2 Troubleshooting10-331010.2.3 Alarm Display TableA summary of alarm displays and alarm code outputs is given in the following table.Table 10.5

SERVOPACK Inspection, Maintenance, and Troubleshooting10.2.3 Alarm Display Table10-34A.81 OFF OFF OFF OFFEncoder Backup Error*2All the power supplies

10.2 Troubleshooting10-3510∗ 1. This alarm display appears only within the range of 30 W to 1000 W.∗ 2. These alarms are not reset for the alarm re

11-11111 Motion ControlThis chapter gives an overview of motion control and describes the motion commands.11.1 Overview of Motion Control - - - - -

Motion Control11.1.1 Motion Control for the MP94011-211.1 Overview of Motion ControlThis section describes the methods used for motion control and g

11.1 Overview of Motion Control11-311 Ladder Logic ProgrammingLadder logic programs are designed mainly for sequence control. The setting parameters

Motion Control11.1.2 Motion Control Methods11-4Com-mandsAxis move commands: 6 typesMOV, MVS, ZRN, SKP, MVT, EXMBasic control commands: 6 typesABS, IN

11.1 Overview of Motion Control11-51111.1.3 Examples of Motion Control ApplicationsThe following illustrations show application examples of the MP94

Motion Control11.1.3 Examples of Motion Control Applications11-6 Application Example 3: Cut-to-length Unit Application Example 4: Conveyor Follow-u

11.2 Control Modes11-71111.2 Control ModesThis section describes the motion control modes that can be used by the MP940.11.2.1 Overview of Control

Specifications and Functions2.3.4 Ladder Instructions and Standard System Functions2-18Basic Function InstructionsSQUARE ROOTSQRT Taking the square r

Motion Control11.2.2 Speed Control Mode11-8 DetailsUse the following procedure to perform operation in the Speed Control Mode.When the power is turn

11.2 Control Modes11-911Table 11.1 Examples of Setting Parameters2. Select the Speed Control Mode (NCON) (bit 0 of OWC000).3. Set the Servo ON (RUN)

Motion Control11.2.2 Speed Control Mode11-10Ladder Logic Program ExampleFig 11.2 RUN Commands (DWG H01)The example in the above illustration has bee

11.2 Control Modes11-1111Fig 11.3 MP940 SVA Speed Control Mode Block DiagramNLIMP0NLIMNSGDHvtIWC00C(SPDREF)ILC006(LPOS)ILC008(APOS)ILC010(ABSREV)ILC

Motion Control11.2.3 Torque Control Mode11-1211.2.3 Torque Control Mode OverviewThis mode is used to generate a constant torque, regardless of the

11.2 Control Modes11-1311 User Program ExampleExample of RUN OperationFig 11.4 Torque PatternLadder Logic Program ExampleFig 11.5 RUN Commands (DW

Motion Control11.2.3 Torque Control Mode11-14Fig 11.6 MP940 SVA Torque Control Mode Block DiagramSGDHIWC00C(SPDREF)ILC006(LPOS)ILC008(APOS)ILC010(AB

11.2 Control Modes11-151111.2.4 Phase Control Mode OverviewThis mode is used to rotate the motor according to the specified speed reference, and at

Motion Control11.2.4 Phase Control Mode11-16The following table shows the related parameters when the phase control mode is used.Table 11.3 Examples

11.2 Control Modes11-1711 User Program Example 1: Electronic ShaftExample of RUN OperationPhase control can be called “speed control with position c

2.3 Function Lists2-192DDC Instructions DEAD ZONE A DZAMW00100 DZA 00100DEAD ZONE B DZBMW00100 DZB 00100UPPER LIMIT LIMITMW00100 LIMIT -001

Motion Control11.2.4 Phase Control Mode11-18Ladder Logic Program ExampleFig 11.9 RUN Commands (DWG H04)The example in the illustration on the previo

11.2 Control Modes11-1911Fig 11.10 MP940 SVA Phase Control Mode Block DiagramSGDHILC006(LPOS)ILC008(APOS)ILC010(ABSREV)ILC012(IPULSE)位置制御モード用パラメータIL

Motion Control11.2.4 Phase Control Mode11-20 User Program Example 2: Electronic CamExample of RUN OperationCams are one of the conventional methods

11.2 Control Modes11-2111Fig 11.12 Block Diagram of Electronic Cam Control LoopThe electronic cam control loop is processed in the SVA Module. There

Motion Control11.2.4 Phase Control Mode11-22Ladder Logic Program ExampleFig 11.13 RUN Command (DWG H04)The example in the above illustration has bee

11.2 Control Modes11-231111.2.5 Zero Point Return Mode OverviewThe zero point return operation returns the machine to the machine-specific zero poi

Motion Control11.2.5 Zero Point Return Mode11-24∗ 2. The limit switch (/DECLS) width must be at least twice that of the high-speed scan setting.1. S

11.2 Control Modes11-2511A user program must be created to connect the Limit Switch Signal DECLS (the DI signal included in the LIO Module) to the Ze

Motion Control11.2.5 Zero Point Return Mode11-26Operating ConditionsInput a limit switch signal width at least twice that of the high-speed scan sett

11.2 Control Modes11-2711Fig 11.16 MP940 SVA Zero Point Return Mode Block DiagramSGDHILC006(LPOS)ILC008(APOS)ILC010(ABSREV)ILC012(IPULSE)IWC00C(SPDR

Specifications and Functions2.3.4 Ladder Instructions and Standard System Functions2-20Standard Sys-tem FunctionsCOUNTER COUNTER Increments or decrem

Motion Control11.3.1 Prerequisites for Position Control11-2811.3 Position ControlThis section describes the prerequisites for position control, and

11.3 Position Control11-2911The following table shows the differences when motion commands (OWC020) are used, and when no motion commands are used.Ta

Motion Control11.3.1 Prerequisites for Position Control11-30Table 11.6 Minimum Reference Unit (1 Reference Unit)Note: The number of digits below the

11.3 Position Control11-3111The following table shows the meanings of the above parameters and gives some setting examples.Table 11.8 Electronic Gea

Motion Control11.3.1 Prerequisites for Position Control11-32Electronic Gear Parameter Setting Example (A): With Ball ScrewIn the above machine system

11.3 Position Control11-3311Electronic Gear Parameter Setting Example (B): Rotating LoadIn the above machine system, if the requirement is reference

Motion Control11.3.1 Prerequisites for Position Control11-34 Position ReferenceThere are two methods of setting the position reference: Direct desig

11.3 Position Control11-3511Table 11.11 Position Reference Value SelectionWith the position reference for an infinite length axis, the present trave

Motion Control11.3.1 Prerequisites for Position Control11-36Position BuffersThe position buffers are a collection of position data stored in the SVA

11.3 Position Control11-3711a) Set the Position Buffer Access Number (OLC038). Any number between 1 and 256 can be set.b) Set the Position Buffer Wri

2.4 Main CP-717 Functions2-2122.4 Main CP-717 FunctionsThe CP-717 is configured of five managers for managing and controlling the MP940 system. The

Motion Control11.3.1 Prerequisites for Position Control11-38Using the Position Buffers as Position References1. Set bit 12 of the RUN Command Setting

11.3 Position Control11-3911∗ 1. When an infinite length axis is selected, a range of 0 to (infinite length axis reset position - 1) is reported.Wit

Motion Control11.3.1 Prerequisites for Position Control11-40 Speed ReferenceThere are two methods of setting the speed reference. One method involve

11.3 Position Control11-4111When Motion Commands Are UsedWhen motion commands are used, the meanings of the speed-related parameters differ according

Motion Control11.3.1 Prerequisites for Position Control11-42Parameter Setting Examples1. Speed Reference Value Selection Set to “0”a) Pulses Selected

11.3 Position Control11-431111.3.2 Precautions in Changing to Position Control ModePosition operations when changing to the position control mode or

Motion Control11.3.2 Precautions in Changing to Position Control Mode11-44Pattern 2: Present position ＜ Target position, Present position ＞Decelerati

11.3 Position Control11-4511Pattern 1: Present position＜Target position, Present position≦Target positionSpeed is decelerated for a time set in the d

Motion Control11.3.2 Precautions in Changing to Position Control Mode11-46Pattern 3: Present position ≧ Target positionDeceleration stops after a tim

11.3 Position Control11-471111.3.3 Position Control without Using Motion Commands OverviewPosition control performs speed acceleration/deceleration

Specifications and Functions2-222.5 Function Tree Structure The following diagram shows the commands started from each manager. With the CP-717 the F

Motion Control11.3.3 Position Control without Using Motion Commands11-482. Select the Position Control Mode (PCON) (bit 2 of OWC000).3. Set the Servo

11.3 Position Control11-4911Operating ConditionsIn the pattern shown in the above illustration on the previous page, the axis is stopped at an absolu

Motion Control11.4.1 Overview of Motion Commands11-5011.4 Position Control Using Motion CommandsThis section describes position control using motion

11.4 Position Control Using Motion Commands11-51114 Interpolation (INTERPOLATE)Performs interpolation feeding using the position data distributed fro

Motion Control11.4.2 Positioning (POSING)11-5211.4.2 Positioning (POSING) OverviewPositions the axis at the position reference position using the s

11.4 Position Control Using Motion Commands11-5311 DetailsUse the following procedure to perform positioning operations.1. Set the initial values fo

Motion Control11.4.2 Positioning (POSING)11-546. Start operation using positioning commands.Use the specified motion parameters to perform positionin

11.4 Position Control Using Motion Commands11-55117. When the axis enters the Positioning Completed Range (OWC00E) after DistributionCompleted (bit 2

Motion Control11.4.2 Positioning (POSING)11-56Ladder Logic Program ExampleFig 11.20 Positioning Programming Example (DWG H03)The example in the abov

11.4 Position Control Using Motion Commands11-5711Fig 11.21 MP940 SVA Position Control Mode Block Diagram）OWC004(NLIMP)0OWC005(NLIMN)SGDHIWC00C(SPDR

2.6 SERVOPACK Specifications2-2322.6 SERVOPACK Specifications2.6.1 Outer Appearance and Nameplate Example2.6.2 Model NumbersΣ-II SeriesSGDH SERVOP

Motion Control11.4.3 External Positioning (EX_POSING)11-5811.4.3 External Positioning (EX_POSING) OverviewIn the same way as the positioning (POSIN

11.4 Position Control Using Motion Commands11-59113. Set the motion setting parameters.4. Set Servo ON (RUN) to ON (bit 0 of OWC001).5. Set external

Motion Control11.4.3 External Positioning (EX_POSING)11-60At abort completion, operations remain stopped even if the abort is released (ABORT turns O

11.4 Position Control Using Motion Commands11-6111Ladder Logic Program ExampleFig 11.23 External Positioning Programming ExampleThe example in the a

Motion Control11.4.4 Zero Point Return (ZRET)11-62 Zero Point Return MethodThe following methods are available with the zero point return (ZRET) mot

11.4 Position Control Using Motion Commands11-63111. The axis travels at rapid traverse speed in the direction specified in the motion setting parame

Motion Control11.4.4 Zero Point Return (ZRET)11-64• With this method, the axis recognizes the machine position by the deceleration limit switch ON/OF

11.4 Position Control Using Motion Commands11-6511Zero Point Return Operation Started with the Dog (Deceleration Limit Switch) Signal in the Low Area

Motion Control11.4.4 Zero Point Return (ZRET)11-66Zero Point Return Operation Started and Interval (a) Used1. The axis travels at rapid traverse spee

11.4 Position Control Using Motion Commands11-67113. The axis travels at rapid traverse speed in the forward direction.4. The axis decelerates at the

Specifications and Functions2.6.2 Model Numbers2-24Note: The only 100-V servomotor models are the SGMAH and SHMPH Servomotors of 0.2 kW or less.For d

Motion Control11.4.4 Zero Point Return (ZRET)11-683. The axis travels at creep speed in the forward direction.4. After the falling edge of the dog (d

11.4 Position Control Using Motion Commands11-6911 ZERO Signal MethodZero point return is performed using a ZERO signal (DI signal) in place of the

Motion Control11.4.4 Zero Point Return (ZRET)11-70The axis travels at rapid traverse speed in the direction specified by the zero point return direct

11.4 Position Control Using Motion Commands11-7111Point Offset OLC006 is set in advance to 100, the position data will be 100.)10.The zero point retu

Motion Control11.4.4 Zero Point Return (ZRET)11-72User Program Example: Zero Point Return• Example of RUN OperationFig 11.24 Example of a Zero Poin

11.4 Position Control Using Motion Commands11-7311The example in the above illustration has been greatly simplified. In actual operation, each regist

Motion Control11.4.6 Interpolation with Position Detection (LATCH)11-746. When interpolation (INTERPOLATE) is set as the motion command, the axis per

11.4 Position Control Using Motion Commands11-751111.4.7 Fixed Speed Feed (FEED) OverviewThis command performs rapid traverse in the infinite lengt

Motion Control11.4.7 Fixed Speed Feed (FEED)11-76The axis performs fixed speed feed using the specified motion parameter.Fixed speed feed cannot be t

11.4 Position Control Using Motion Commands11-7711Ladder Logic Program ExampleFig 11.27 Fixed Speed Feed Programming Example (DWG H03)The example in

3-133 Basic System OperationThis chapter explains the basic operation of the MP940 system.3.1 Operating Modes - - - - - - - - - - - - - - - - - - - -

Motion Control11.4.8 Fixed Length Feed (STEP)11-7811.4.8 Fixed Length Feed (STEP) OverviewThis command positions the axis at rapid traverse speed i

11.4 Position Control Using Motion Commands11-7911The axis performs positioning using the specified motion parameter. Even during fixed length feed o

Motion Control11.4.8 Fixed Length Feed (STEP)11-808. Once positioning has been completed, the fixed length feed motion command isreleased.Note: Fixed

11.4 Position Control Using Motion Commands11-8111Ladder Logic Program ExampleThe example in the above illustration has been greatly simplified. In a

Motion Control11.4.9 Zero Point Setting (ZSET)11-82 OverviewWhen the zero point setting is executed, the current position will be the machine coordi

A-1AA DimensionsThis appendix shows external dimensions of the MP940 Module.A.1 External of MP940 Module - - - - - - - - - - - - - - - - - - - - - -

DimensionsA.1 External of MP940 ModuleA-2A.1 External of MP940 Module Description: MP940Model: JEPMC-MC400A.2 Dimensions of MP940DDescription: MP940D

B-1BB Lists of ParametersThis section provides lists of SGDH SERVOPACK parameters, switches, input signal selections, output signal selections, auxil

Lists of ParametersB.1 Classification of ParametersB-2B.1 Classification of ParametersParameters can be classified into the following types.B.2 Param

B-3BGain Re-lated Con-stantsPn100 Speed Loop Gain Hz 1 2000 40Pn101 Speed Loop Integral Time Constant0.01 ms 15 51200 2000Pn102 Position Loop Gain 1/s

Basic System Operation 3-23.6 Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-34 3.6.1 Register Designation Meth

Lists of ParametersB.2 ParametersB-4Position Related ConstantsPn200 Position Control Reference Selection Switches (See note 3.)- - - 0000Pn201 PG Div

B-5B∗ 1. The multi-turn limit is enabled only when the absolute encoder mode is set to 2. With all other settings, the multi-turn limit will be pro-c

Lists of ParametersB.3 SwitchesB-6∗ 3. After changing these parameters, turn OFF the main circuit and con-trol power supplies and then turn them ON

B-7BPn001Function Selection Application Switches0 Servo OFF or Alarm Stop Mode0 Stops the motor by applying dynamic brake (DB). 01 Stops the motor by

Lists of ParametersB.3 SwitchesB-8Pn003Function Selection Applica-tion Switches0 Analog Monitor 1Torque Reference Moni-torAnalog Monitor 2Speed Refer

B-9BPn110Online Au-totuning Switches0 Online Autotuning Method0 Tunes only at the beginning of operation. 01 Always tunes.2 Does not perform autotunin

Lists of ParametersB.4 Input Signal SelectionsB-10B.4 Input Signal SelectionsThe following list shows input signal selections and their default setti

B-11BNote: When Pn50A.0 is set to 0 for the SGDB SERVOPACK, only the fol-lowing modes are compatible: Pn50A.1=7, Pn50A.3=8, and Pn50B.0=8.B.5 Output S

Lists of ParametersB.6 Auxiliary FunctionsB-12Note: 1. When more than one signal is allocated to the same output circuit, data is output using OR lo

B-13BB.7 Monitor ModesThe following list shows the available auxiliary functions.Fn010 Password setting (protects parameters from being changed).Fn011

vi3 Basic System Operation3.1 Operating Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-33.1.1 Online Operating Mode - - - - -

3.1 Operating Modes3-333.1 Operating ModesThis section explains the online operating mode and the offline stop mode, both of which indi-cate the MP9

C-1CC Motion Parameter TablesThis section explains the meaning of, and difference between using or not using the motion parameters.C.1 Motion Fixed P

Motion Parameter TablesC.1 Motion Fixed ParametersC-2C.1 Motion Fixed ParametersMotion fixed parameters are set only once unless there is a configura

C-3C17 Motion Controller Function Selection Flags (SVFUNCSEL)(Contd.)Bit 11 to 12: Not used. - -Bit 13: OVT1_SEL Positive Overtravel Selection 0: Disa

Motion Parameter TablesC.1 Motion Fixed ParametersC-436 Bias Speed for Exponential Acceleration and Deceleration Filter (EXPBIAS)0 to 327671 = 10n re

C-5CC.2 Motion Setting ParametersMotion setting parameters serve as instructions to SVA Modules. They are located at the top of high-speed scans and a

Motion Parameter TablesC.2 Motion Setting ParametersC-62 RUN Command Settings (SVRUNCMD) (Contd.)OWC001 Bit 9: SEGSEL Position Control ModeSegment pa

C-7C11 Approach Speed Setting (Napr)OWC00A 0 to 32767(Default = 0)The unit will vary with the speed reference selec-tion (OBC001D).When the speed refe

Motion Parameter TablesC.2 Motion Setting ParametersC-823 Phase Bias Setting (PHBIAS)OLC016-231 to 231-1(Default = 0)1 = 1pulse25 Speed Compensation

C-9C34 Motion Command Control Flags (MCMDCTRL)(Default = 0, all bits OFF)OWC021 Bit 0: HOLD Command HoldBit 1: ABORT Command AbortBit 2: DIRECTION Dir

Motion Parameter TablesC.2 Motion Setting ParametersC-1045 Override (OV) OWC02C 0 to 32767(Default =10000)1 = 0.01% (10000 = 100.00)46 Position Contr

Basic System Operation3.1.2 Offline Stop Mode3-43. The online operating mode is entered by turning ON (RUN) the RUN/STOP switch.

C-11C57 Lower-place Two Words of the Encoder Position at ShutdownOLC038-231 to 231-1(Default = 0)ABS System Infinite Length Position Control DataWhen

Motion Parameter TablesC.3 Motion Monitoring ParametersC-12C.3 Motion Monitoring ParametersMotion monitoring parameters are parameters reported by SV

C-13C9 Machine Coordinate System Feedback Position (APOS)ILC008-231 to 231-11 = 1 reference unit(1 = 1 pulse for pulse unit)Note: Will not be updated

Motion Parameter TablesC.3 Motion Monitoring ParametersC-1425 Machine Coordinate System Reference Position (MPOS)ILC018-231 to 231-11 = 1 pulse for p

C-15C37 Servo Driver Alarm Code (SVALARM)IWC024 -32768 to 32767 Error Code for Absolute Position Read Errors38 Servodriver I/O Monitor (SVIOMON)IWC025

Motion Parameter TablesC.3 Motion Monitoring ParametersC-1663 Upper-place Two Words of the Pulse Position at ShutdownILC03E-231 to 231-11 = 1 pulse(*

D-1DD Lists of System RegistersThis section shows tables of the system (S) registers that store the operation status, error information, etc., for th

Lists of System RegistersD.1 System (S) Register AllocationsD-2D.1 System (S) Register AllocationsD.2 System Service Registers Registers Common to A

D-3D Registers Specific to DWG.SSet at start of S scan0.5-s Sampling Relay SB0000141.0-s Sampling Relay SB0000152.0-s Sampling Relay SB00001660.0-s S

Lists of System RegistersD.2 System Service RegistersD-4 Registers Specific to DWG.LSet at start of L scan2.0-s Sampling Relay SB00002660.0-s Sampli

3.2 Start and Stop Sequences3-533.2 Start and Stop SequencesThis section explains the start and stop sequences of the MP940. The methods of setting

D-5DD.3 Scan Execution Status and CalendarD.4 System Program Software Number and Available Program MemoryRelay 1.0 s after Scan Processing StartsSB000

Revision HistoryThe revision dates and numbers of the revised manuals are given on the bottom of the back cover. Date of Publication Rev. No. Sec

USER'S MANUALDESIGN AND MAINTENANCEMachine Controller MP940英文 No.4-3（インタ） メカトロ製品用In the event that the end user of this product is to be the mili

Basic System Operation3.2.1 DIP Switch Settings3-6Memory InitializationWhen the DIP switch is set according to the following procedure and the power

3.2 Start and Stop Sequences3-733.2.2 Start SequenceThe MP940 makes a number of determinations at startup. If an error is detected, the ERR indicato

Basic System Operation3.2.2 Start Sequence3-8 MP940 Start Sequence and Basic OperationPower ONTest mode switch= Test mode= Normal mode Offline self-

3.2 Start and Stop Sequences3-93The MP940 start sequence and basic operations are as follows:1. Startup Self-diagnosisThe following operations are pr

Basic System Operation3.3.1 Overview of Scan Processing3-103.3 Scan Processing3.3.1 Overview of Scan ProcessingThere are three types of MP940 scan

3.3 Scan Processing3-1133.3.2 S Scan DetailsThe following diagram shows the internal processing and order of processing of an S scan. Items Always

Basic System Operation3.3.3 Setting Scan Times3-12 BackgroundPrecautions for Scan Processing• When processing is to be completed within the S scan,

CONTENTSvii4 MP940 Functions4.1 MP940 Function Configuration - - - - - - - - - - - - - - - - - - - - - - 4-34.1.1 Overview - - - - - - - - - - - - -

3.3 Scan Processing3-133The Scan Time Settings Window will be displayed.3.3.4 Setting the System Scan TimeThe MP940 has three scan time levels (syst

Basic System Operation3.3.5 Setting Scan Time Definitions3-14• The power supply must first be turned OFF before changing the basic control cycle. • E

3.3 Scan Processing3-153In the Online Mode, the maximum scan time value can be cleared to 0 by entering “0” in the maximum value field and saving it.

Basic System Operation3.4.1 Drawings (DWGs)3-163.4 User ProgramsThis section explains the basic operation of the MP940, such as the types of user pr

3.4 User Programs3-173The following table gives details of the number of drawings for each type of drawing.Table 3.4 Details of Drawings3.4.2 Execu

Basic System Operation3.4.2 Execution Control of Parent Drawings3-18 Hierarchical Arrangement of DrawingsDrawings are arranged in the following orde

3.4 User Programs3-193• A parent drawing cannot call a child drawing of a different type, and a child drawing cannot call a grandchild drawing of a d

Basic System Operation3.4.3 Motion Programming3-203.4.3 Motion Programming OverviewMotion programming is a textual motion programming language. Mot

3.4 User Programs3-213Fig 3.5 Starting a Motion Program by Indirect Designation MW00200MSEE MW00200 DA00000 3

Basic System Operation3.4.3 Motion Programming3-22 Motion Program Execution Processing MethodA motion program must be executed from DWG.H using the

viii4.5.6 Setting MECHATROLINK Definitions - - - - - - - - - - - - - - - - - - - - - - - 4-534.5.7 Saving MECHATROLINK Definitions - - - - - - - - -

3.4 User Programs3-233 Executing Motion ProgramsTo execute a motion program called from a DWG.H drawing by the MSEE instruction, pro-gram control si

Basic System Operation3.4.3 Motion Programming3-24The following illustration shows the method for executing a motion program. Motion Program Status

3.4 User Programs3-253 Example of a Ladder Logic Program for Motion Program ControlThe minimum ladder logic program required to control a motion pro

Basic System Operation3.4.3 Motion Programming3-26The following table shows an example of external input signals required to create the mini-mum ladd

3.4 User Programs3-273 Automatic Generation of Motion Management Ladder Logic ProgramsAn automatic generation function for the ladder logic programs

Basic System Operation3.5.1 Standard System Functions3-283.5 FunctionsThis section explains the methods of using and the advantages of the MP940 fun

3.5 Functions3-2933.5.2 Creating User FunctionsThe body of the function (program) and the function definitions can be set by the user. The maximum n

Basic System Operation3.5.4 Defining Function I/O3-303.5.4 Defining Function I/OThe function name and other specifications determined in the previou

3.5 Functions3-313The following figure shows an example of the I/O definitions of a function.Fig 3.7 Graphic Representation of a Function 2 (Example

Basic System Operation3.5.6 Creating the Program that Calls the Function3-323.5.6 Creating the Program that Calls the FunctionThe user function is c

CONTENTSix5.6 SERVOPACK I/O Signals- - - - - - - - - - - - - - - - - - - - - - - - - 5-375.6.1 Examples of I/O Signal Connections - - - - - - - - - -

3.5 Functions3-333In the table, address input register AW00000 is allocated to MA00300. That is, registers AW00000, AW00001, and so on, used inside t

Basic System Operation3.6.1 Register Designation Methods3-343.6 RegistersThis section explains the types of register used by MP940 user programs and

3.6 Registers3-3533.6.2 Data TypesThere are five data types: Bit, integer, double integer, real number, and address. Use them as required. Address d

Basic System Operation3.6.2 Data Types3-36Examples of Use by Data TypeBitsBits are used for relay circuit ON/OFF or for logic operations.• Motion Pr

3.6 Registers3-373Double IntegersDouble integers are used for numeric operations and logic operations.• Motion Program ExampleML00104=ML00100+ML0010

Basic System Operation3.6.3 Types of Register3-383.6.3 Types of Register Registers in DrawingsThe seven types of register shown in the following ta

3.6 Registers3-393 Registers in FunctionsThe 11 types of register shown in the following table can be used in functions.Table 3.14 Types of Functio

Basic System Operation3.6.4 Using Subscripts I and J3-40Note: SA, MA, IA, OA, DA, #A, and CA can be used within functions.3.6.4 Using Subscripts I

3.6 Registers3-413 Subscripts Attached to Double Integer DataWhen a subscript is attached to double integer data, the value of I or J is added to th

Basic System Operation3.6.5 I/O and Registers in Functions3-423.6.5 I/O and Registers in FunctionsThe following table shows the I/O and registers re

x7 Absolute Position Detection7.1 Structure of the Absolute Position Detection Function- - - - - - 7-27.1.1 Description of the Function - - - - - -

3.6 Registers3-4333.6.6 Register Ranges in ProgramsFUNC-000（関数）①②③①④DWG H03 (Drawing)Program500 steps max.Registers for individual drawingsConstant

Basic System Operation3.7.1 Symbols in Drawings3-443.7 Managing Symbols3.7.1 Symbols in DrawingsThe symbols used in drawings are all managed with a

3.7 Managing Symbols3-453∗ If a program is prepared using data configurations such as arrays or indexed data, define the size to be used in the data

Basic System Operation3.7.4 Automatic Register Number Allocation3-46Table 3.19 Automatic Allocation of Register NumbersNote: Yes: Automatic number a

4-144 MP940 FunctionsThis chapter explains the various MP940 functions.4.1 MP940 Function Configuration - - - - - - - - - - - - - - - - - - - - - -

MP940 Functions 4-24.4 CNTR Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-294.4.1 Overview - - - - - - - - - - - - - -

4.1 MP940 Function Configuration4-344.1 MP940 Function Configuration4.1.1 OverviewThe MP940 is a single-axis controller with a bus connection to an

MP940 Functions4.1.1 Overview4-4 MP940 Function Block DiagramThe following is a block diagram showing MP940 functions.CP-717SVASERIAL CNTRMP940CPUDI

4.1 MP940 Function Configuration4-544.1.2 Simulated MP940 Building Block ConfigurationThe MP940 is a one-unit Machine Controller that saves space by

MP940 Functions4.2.1 Overview4-64.2 Serial Communications Function4.2.1 OverviewThe MP940 provides one serial communications interface for RS-232C