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Motion Control
11.1.2
Motion Control Methods
11-4
Com-
mands
Axis move commands: 6 types
MOV, MVS, ZRN, SKP, MVT, EXM
Basic control commands: 6 types
ABS, INC, POS, PLN, MVM, PLD
Speed and acceleration/deceleration commands: 7 types
ACC, DCC, SCC, VEL, IAC, IDC, IFP, FMX
High-level control commands: 4 types
PFN, INP, SNG, UFC
Control commands: 10 types
MSEE, TIM, IOW, END, RET, EOX, IF ELSE IEND,
WHILE WEND, PFORK JOINTO PJOINT,
SFORK JOINTO SJOINT
Math and sequence control commands: 32 types
=, +, - , ∗, /, MOD, | , ^, &, !, ( ), S{ }, R{ }, SIN, COS, TAN, ASN, ACS,
ATN, SQRT, BIN, BCD, = =, < >, >, <, >=, <=, SFR, SFL, BLK, CLR
- USER'S MANUAL 1
- DESIGN AND MAINTENANCE 1
- Safety Information 2
- Visual Aids 3
- CONTENTS 4
- 3 Basic System Operation 5
- 4 MP940 Functions 6
- 5 System Startup 7
- 6 Parameters 8
- 7 Absolute Position Detection 9
- 8 Maintenance and Inspection 9
- 9 Troubleshooting 9
- 11 Motion Control 10
- Revision History 11
- About this Manual 12
- Related Manuals 12
- Using This Manual 13
- Safety Precautions 14
- Manditory 15
- Mandatory 15
- Prohibited 16
- General Precautions 17
- 1 MP940 Overview and 18
- Features 18
- 1.2 List of Modules 19
- 1.3 Features of the MP940 20
- Servo Control Examples 21
- Features of the MP940 22
- SERVOPACK 22
- Ball screw 22
- 1.3.6 Field Networks 23
- 2.1 General Specifications 25
- 2.2 Hardware Specifications 26
- Specifications and Functions 27
- 2.3 Function Lists 28
- PLC Function Specifications 29
- Function Lists 30
- Motion Command Descriptions 31
- MB000010MB000020 37
- MW00280 ＋ 00100 MW00220 38
- MW00000 ＜ 10000 39
- MB000010 39
- MF00100 SIN 41
- 2.4 Main CP-717 Functions 44
- 2.5 Function Tree Structure 45
- 2.6 SERVOPACK Specifications 46
- Model Numbers 47
- 3 Basic System Operation 48
- Basic System Operation 49
- 3.1 Operating Modes 50
- RUN/STOP switch 51
- 3.2 Start and Stop Sequences 52
- Memory Initialization 53
- 3.2.2 Start Sequence 54
- Test mode 55
- Program mem 55
- Start and Stop Sequences 56
- 3.3 Scan Processing 57
- Timesharing Items 58
- Background 59
- Scan Operations 59
- Opening the Settings Window 60
- Setting Scan Time Definitions 61
- Scan Processing 62
- 3.4 User Programs 63
- Execution of Drawings 65
- DWG.X YY . ZZ 66
- :DWG. X 00 66
- Executing Motion Programs 70
- Motion Program Status Flags 71
- Motion Programming 73
- 3.5 Functions 75
- 76
- 3.5.4 Defining Function I/O 77
- Functions 80
- 3.6 Registers 81
- 3.6.2 Data Types 82
- Examples of Use by Data Type 83
- LAG MA00200 84
- ⇒MW00022 84
- Registers in Drawings 85
- Registers in Functions 86
- MW00001j 87
- 3.7 Managing Symbols 91
- 4 MP940 Functions 94
- MP940 Functional Modules 96
- MP940 Function Block Diagram 97
- SERIAL LIO SVA CNTR MLINK 98
- 4.2.1 Overview 99
- 4.2.2 System Configuration 99
- Serial Port 1 101
- Overview 102
- Slave Processing Time 103
- Modem Lag Time at the Slave 103
- MEMOBUS Communications 104
- Offset: 100 105
- MELSEC Communications 105
- SERIAL MELSEC 106
- MELSEC Commands 107
- MELSEC Devices 108
- MP940 Functions 109
- Configuration Data 110
- Tab Window 110
- Transmission Protocol 111
- Serial Interface 112
- Transmission Mode 112
- Transmission Delay 112
- Automatic Response 112
- 4.3 LIO Function 115
- Digital Input Circuits 116
- Digital Output Circuits 117
- Analog Input 118
- Analog Output 119
- Configuration Information 120
- Set Items 120
- Saving LIO Definition Data 121
- 4.4 CNTR Function 122
- 4.4.2 Counter Specifications 123
- Coincidence detec 124
- 4.4.4 Pulse Count Method 125
- 4.4.7 PI Latch Function 129
- 4.4.8 Electronic Gear 129
- Setting the Electronic Gear 130
- = （指令単位） 131
- 132
- Gear ratio 132
- Tab Windows 133
- Setting Fixed Parameters 134
- 4.4.11 Setting I/O Data 135
- Output Data 136
- 4.4.12 137
- 4.5 MECHATROLINK Functions 138
- Using the MP940 as a Master 139
- Connectable Slave 140
- Control Data Configurations 141
- • 120AVI02030 (Analog Input) 142
- Using the MP940 as a Slave 143
- I/O350 I/O350 144
- JEPMC-W6000-A3 144
- I/O Assignment Tab Window 146
- Deleting Allocated Data 148
- I/O Map Tab Window 148
- Status Tab Window 148
- FEDCBA9876543210 149
- 4.6 DeviceNet Functions 150
- MP940D Wiring Example 151
- 0000 to 07FF 152
- Setting Methods 153
- Parameter Settings 154
- 260IF Module Setup 155
- COMMENTS 156
- 4.7 SVA Function 158
- One-unit System 159
- MP940 Servo Control Function 161
- Specifying Torque 162
- Application Example 163
- SVA Function 164
- Pn005.0: Brake Control 167
- Pn50A.0 to Pn50.B，Pn511 168
- SERVOPACK I/O Signals 169
- RAM FLASH 170
- Saving to Flash 171
- 4.8.3 Starting Flash Memory 172
- 5 System Startup 173
- System Startup 174
- 5.1 Handling the SERVOPACK 175
- 5.2 Part Names 176
- LED 2 Indicators 177
- Battery Connector 177
- DIP Switch 177
- Serial Port 2 179
- Power Supply Connector 180
- I/O Connector 181
- LED Indicator Connector 181
- MP940 LED Indicator Block 182
- DeviceNet Connector 183
- LED Indicator Specifications 184
- Switch Specifications 185
- Correct Wrong 186
- MP940 Accessories Table 187
- Options 187
- 5.3 Connection Methods 188
- JEPMC-MC410 189
- Serial Port 2 191
- RS-422/485 Interface Cable 192
- RS-422 Connection Example 192
- RS-485 Connection Example 193
- I/O Connector Pin Arrangement 195
- I/O Connector I/O Circuits 196
- 5.3.6 MECHATROLINK Cable 198
- Connecting MECHATROLINK 199
- SERVOPACK Cables 202
- Connecting Peripheral Devices 203
- MP940 Cables 204
- ∗ 1. No B3 terminal 205
- Designing a Power ON Sequence 206
- Connection Procedure 207
- Preparing the End of the Wire 208
- 5.6 SERVOPACK I/O Signals 209
- CN1 Terminal Layout 210
- CN1 Specifications 211
- Input Signals 211
- Output Signals 212
- 5.6.4 Interface Circuits 213
- 5.7 Wiring Encoders 215
- Absolute Encoders 216
- CN2 Connector Models 216
- • Refer to Σ-ΙΙ Series SGM 217
- (Manual No.: SIE-S800-31.1) 217
- 5.8 System Startup 218
- Control Outline 220
- Operation Outline 220
- Servo-related Equipment 221
- Other Required Equipment 221
- SERVOPACKYASKAWA 222
- Type of Spring 223
- SERVOPACK 200V 224
- Connecting External Devices 226
- 5.8.8 MP940 Initialization 227
- MP940 Initialization 228
- Creating a Group Folder 229
- Creating an Order Folder 230
- Creating a Controller Folder 231
- Logging On Offline 232
- Module Definitions 233
- LIO Definitions 234
- SVA Definitions 235
- Starting the CP-717 236
- Defining the Counter Module 238
- Setting the Scan Time 239
- 6 Parameters 241
- Parameter Tables 242
- Editing Parameters 242
- Motion Setting Parameters 243
- Setting Set Up Parameters 245
- Setting SERVOPACK Parameters 246
- Motion Monitor Display 247
- 2. Click the 248
- Button in the message box 248
- 3. Click the 248
- Button in the message box 248
- 6.3 SVA Parameter Details 249
- Parameters 250
- SVA Parameter Details 251
- 0: DEC 1 + Phase-C pulse 255
- 6: DEC 2 + Phase-C pulse 255
- 3: Phase-C pulse 256
- 2: DEC 1 + Zero Signal 256
- 4: DEC 2 + Zero Signal 256
- 1: Zero Signal 257
- Position reference data 261
- 1. 2. 3. 4 263
- EOV_MULTI 264
- (OFFSET) 271
- Supplemental Explanation 275
- 2. OBC02D3 = 1 285
- Coast to a stop 288
- Function Selection Constants 290
- 24-V power 291
- Kv(1+ ) 293
- Overshooting 295
- Without mode switch 296
- Parameters for SGDH SERVOPACK 297
- 速度ループ積分時定数＝ 298
- 2 速度ループゲイン 298
- Speed-related Parameters 300
- Speed reference 306
- Servo ON/OFF 308
- /BK Brake 309
- Input Signal Selection 311
- Output Signal Selection 312
- 6.4.8 Other Parameters 314
- Basic Terminology 316
- Battery 317
- Reading Absolute Data 318
- Encoder Selection (Pn202.2) 321
- Multi-turn Limit 322
- Setting (Pn205) 322
- OFF the power 324
- Flashes for 327
- Finite Length Mode 329
- Infinite Length Mode 329
- OLC006 value 330
- Description 332
- is only enabled when 333
- Example: 333
- Normal Operation 334
- $FSCAN-H 336
- Using an Absolute Encoder 337
- 8 Maintenance and Inspection 341
- 8.1 Inspection Items 342
- 8.2 MP940 Module Battery 344
- Replacing the Battery 345
- 9 Troubleshooting 346
- Checking by Symptoms 347
- Checking by Error Codes 347
- LED Indicators 348
- LED Indicator Details 349
- 9.2 System Errors 350
- System Errors 352
- System Status 353
- System Error Status 356
- User Operation Error Status 357
- Troubleshooting 359
- System Register Configuration 359
- System I/O Error Status 360
- 1. LIO Station Error Status 361
- System Operation Error Status 362
- Interrupt Status 363
- 9.3 Motion Errors 364
- Troubleshooting Flow 365
- Motion Alarm Configuration 365
- Motion Errors 366
- 10 SERVOPACK Inspection 368
- Maintenance, and 368
- 10.1.2 SERVOPACK Inspection 369
- Part Replacement Schedule 370
- Battery Replacement Procedure 371
- 10.2 Troubleshooting 372
- A.04: Parameter Setting Error 373
- Display and Outputs 374
- Status and Remedy for Alarm 374
- A.86: Encoder Overheated 385
- A.9F: MP940 Module Error 385
- Cause of Errors 386
- Determining Causes 386
- Number of 387
- A,B,CA,B,C 390
- A.CA: Encoder Parameter Error 391
- A.Cb: Encoder Echoback Error 391
- A.E1: Option Timeout 394
- A.E2: Option WDC Error 394
- A,B,C,DA,B,C,D 396
- 10.2.2 399
- 10.2.3 Alarm Display Table 400
- 10.2.3 401
- Alarm Display Table 401
- 11 Motion Control 403
- Operation 404
- Communications 404
- Ladder Logic Programming 405
- Motion Programming 405
- Motion Control 406
- 11.1.2 406
- Motion Control Methods 406
- 11.2 Control Modes 409
- Details 410
- User Program Examples 411
- Ladder Logic Program Example 412
- Control Modes 413
- Speed monitor 413
- Torque monitor 413
- User Program Example 415
- External 416
- 11.2.4 418
- Phase Control Mode 418
- Example of RUN Operation 419
- Position 423
- Integration 423
- 11.2.5 426
- Zero Point Return Mode 426
- Operating Conditions 428
- 11.3 Position Control 430
- Reference Unit 431
- Electronic Gear 432
- を設定します。12000 433
- No.19 == 433
- Axis Selection 435
- Position Reference 436
- Position Buffers 438
- Using the Position Buffers 438
- Position Control 439
- Position buffer 439
- Position Monitoring 440
- Speed Reference 442
- When Motion Commands Are Used 443
- Parameter Setting Examples 444
- Deceleration start position 445
- (ABSOFF) 449
- Rapid traverse 452
- Zero Point Return Method 464
- DEC1 + Phase-C Pulse 464
- DEC2 + Phase-C Pulse 465
- DEC1 + LMT + Phase-C Pulse 467
- Phase-C Pulse 470
- DEC1 + ZERO Signal 470
- DEC2 + ZERO Signal Method 470
- ZERO Signal Method 471
- • Example of RUN Operation 474
- =NOP II ENDOF_INTERPOLATE? 481
- A Dimensions 485
- A.1 External of MP940 Module 486
- A.2 Dimensions of MP940D 486
- B Lists of Parameters 487
- B.2 Parameters 488
- Lists of Parameters 490
- B.3 Switches 492
- Switches 494
- B.4 Input Signal Selections 496
- B.5 Output Signal Selections 497
- B.6 Auxiliary Functions 498
- B.7 Monitor Modes 499
- C Motion Parameter Tables 500
- C.1 Motion Fixed Parameters 501
- Motion Parameter Tables 503
- Motion Fixed Parameters 503
- C.2 Motion Setting Parameters 504
- Setting (ABSOFF) 505
- Register 512
- D Lists of System Registers 516
- Ragisters Specific to DWG.H 517
- Registers Specific to DWG.S 518
- Registers Specific to DWG.L 519
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