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Ausrüstung
MP940
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System S
tartup
5.8.9
S
tarting the CP-717
5-64
2.
Set SV
A fixed parameter No. 1 (
Axis Enabled
) to
Axis Used
.
3.
Save the fixed par
ameters.
Click
Save
on the toolbar
.
The Save SV
A Definitions Message Box wi
ll be displayed.
Click the
Ye
s
(
Y
)
Button.
1
2
...
231
232
233
234
235
236
237
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240
241
...
521
522
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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