YASKAWA MP2000 Series User Manual
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YASKAWA MP2000 Series User Manual

Machine controller. counter module
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Machine Controller MP2000 Series
Counter Module
CNTR-01 USER'S MANUAL
Model: JAPMC-PL2300-E
MANUAL NO. SIEP C880700 27B

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Summary of Contents for YASKAWA MP2000 Series

  • Page 1 Machine Controller MP2000 Series Counter Module CNTR-01 USER'S MANUAL Model: JAPMC-PL2300-E MANUAL NO. SIEP C880700 27B...
  • Page 2 Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is con- stantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice.

  • Page 3: Using This Manual

    Using this Manual CNTR-01 indicates the counter module for the MP2000 series Machine Controller. Please read this manual to ensure correct usage of the CNTR-01. Keep this manual in a safe place for future reference. ■ Graphic Symbols Used in this Manual The graphic symbols used in this manual indicate the following type of information.
  • Page 4 Linear Servomotors. Machine Controller MP900 Series Describes the programming instructions of the New Ladder New Ladder Editor SIE-C887-13.1 Editor, which assists MP900/MP2000 Series design and Programming Manual maintenance. Machine Controller MP900 Series Describes the operating methods of the New Ladder Editor, New Ladder Editor SIE-C887-13.2...

  • Page 5: Safety Information

    The following conventions are used to indicate precautions in this manual. These precautions are provided to ensure the safe operation of the MP2000 series and connected devices. Information marked as shown below is important for the safety of the user. Always read this information and heed the precautions that are provided.

  • Page 6: Safety Precautions

    • Water, oil, or chemicals • Vibration or shock • Do not subject the MP2000 series to halogen gases, such as fiuorine, chlovine, bromine, and iodine, at any time even during transportation or installation. There is a risk of device damage or injury.
  • Page 7 There is a risk of electrical shock or fire. • Do not step on the MP2000 series or place heavy objects on the MP2000 series. There is a risk of injury. • Do not allow foreign objects to enter the MP2000 series.
  • Page 8 • The drawings presented in this manual are typical examples and may not match the product you received. • If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the offices listed on the back of this manual.

  • Page 9: Warranty

    6. Events for which Yaskawa is not responsible, such as natural or human-made disasters ( 2 ) Limitations of Liability 1. Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product.
  • Page 10 1. It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that apply if the Yaskawa product is used in combination with any other products. 2. The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by the customer.

  • Page 11: Table Of Contents

    CONTENTS Using this Manual - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3 Safety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5 Safety Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6 Warranty - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9...
  • Page 12 3 CNTR-01 Module Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 49 3.1 CNTR-01 Module Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -50 3.1.1 Specifications on Cable and Connector- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 50 3.1.2 Connector Pin Arrangement - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 51...

  • Page 13: Mounting Optional Modules On Machine Controller

    Mounting Optional Modules on Machine Controller This chapter explains on the MP2000 series Machine Controller, that can install the CNTR-01 Mod- ule, and mounting/removing the optional modules. 1.1 CNTR-01 Module Applicable Machine Controllers - - - - - - - - - - - - - - - - - - 14 1.2 Mounting/Removing Option Modules on Machine Controller - - - - - - - - - - - 14...

  • Page 14: Cntr-01 Module Applicable Machine Controllers

    1 Mounting Optional Modules on Machine Controller 1.2.1 Mounting Option Modules 1.1 CNTR-01 Module Applicable Machine Controllers The table below lists the MP2000-series Machine Controllers on which the CNTR-01 Module can be mounted. Max. No. of Applicable Version Name Model Connectable Remarks CPU Module...
  • Page 15 Use the following procedure if the optional cover is installed on the slot. Remove the battery cover. Pull the notch on the side of the MP2000 series towards you to remove the battery cover. Remove the cover of Optional Module.
  • Page 16 1 Mounting Optional Modules on Machine Controller 1.2.1 Mounting Option Modules ( 3 ) Installing Optional Modules Insert Optional Modules. Guide rails are visible at the top and bottom of the Option Slot, as shown in the following diagram. Line up the Module with the guide rail and insert the Module straight.

  • Page 17: Removing Optional Modules

    ( 2 ) Removing Optional Modules Remove the battery cover. Pull the notch on the side of the MP2000 series towards you to remove the battery cover. Remove the panel of Optional Module. Insert the protruding part of the battery cover into the slot on top of the panel of Optional Module to unhook, as shown in the diagram.
  • Page 18 1 Mounting Optional Modules on Machine Controller 1.2.2 Removing Optional Modules Remove the Optional Module from the mounting base. Pull the top of the panel of the Optional Module towards you to remove it. A notch on the Optional Module will be visible from the gap in the cover.

  • Page 19: Specifications And Functions For Cntr-01 Module

    Specifications and Functions for CNTR-01 Module This chapter explains the detailed specifications and functions of the CNTR-01 Module. 2.1 CNTR-01 Module Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 20 2.1.1 CNTR-01 Module Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 20 2.1.2 CNTR-01 Module Appearance and External Dimensions - - - - - - - - - - - - - - - - - - - - - -20 2.1.3 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -21...

  • Page 20: Cntr-01 Module Specifications

    2 Specifications and Functions for CNTR-01 Module 2.1.1 CNTR-01 Module Functions 2.1 CNTR-01 Module Specifications This section explains the function, appearance, and specifications of CNTR-01 module. 2.1.1 CNTR-01 Module Functions The CNTR-01 module is equipped with 32 bits and 2 channels, and counts the pulse outputs of the pulse generator such as rotary encoder.

  • Page 21: Specifications

    2.1 CNTR-01 Module Specifications 2.1.3 Specifications The following table shows the general and hardware specifications, and the details of LED of the CNTR-01 module. ( 1 ) General Specifications Item Specifications Ambient 0 to 55 °C Operating Temperature Ambient Storage -25 to 85 °C Temperature Ambient...
  • Page 22 2 Specifications and Functions for CNTR-01 Module 2.1.3 Specifications Item Specifications 2-point 24-VDC ±20%, 50 mA current sink mode output, photocoupler interface Coincidence Output Response time: 1ms max. when OFF → ON, 1ms max. when ON → OFF 2-point 24-VDC ±20% , 50 mA current sink mode output, photocoupler interface Response time: 1 ms max.
  • Page 23 2.1 CNTR-01 Module Specifications Indication Status CNTR-01 Module Status Description Hardware error 1: - 2: ROM error 3: RAM error Hardware failure of the CNTR-01 Module occurred. – – 4: CPU error ★ ★ Replace the Module. 6: Shared memory error 7: Counter ASIC error (Number indicates the number of times blinking.)

  • Page 24: Pulse Counting Methods

    2 Specifications and Functions for CNTR-01 Module 2.2.1 Sign Method 2.2 Pulse Counting Methods The CNTR-01 Module supports three pulse counting methods: • Sign • UP/DOWN • A/B This section describes the details on each pulse counting method. 2.2.1 Sign Method The count is incremented and decremended based on the polarity: Polarity: Positive logic When the pulse B input is at Low, the count is incremented by the pulse A input.

  • Page 25: Pulse A/B Method

    2.2 Pulse Counting Methods Pulse Counting Mode Polarity UP Count (Forward) DOWN Count (Reverse) Positive Pulse A Fixed at LOW or HIGH Pulse A logic Pulse B Pulse B Fixed at LOW or HIGH × UP/DOWN ( Pulse A Fixed at LOW or HIGH Negative Pulse A logic...

  • Page 26: Counter Modes

    2 Specifications and Functions for CNTR-01 Module 2.3.1 Reversible Counter 2.3 Counter Modes The CNTR-01 Module has three counter modes. The counter mode can be switched by setting the Fixed Parameter Tab Page of CNTR-01 Module Definition Window. • Reversible counter •...

  • Page 27: Interval Counter

    2.3 Counter Modes Overflow and Underflow When the count value increments to the value MAX (p3), it is automatically reset to the value MIN (p4) When the count value decrements to the value MIN (p5), it is automatically reset to the value MAX (p6). Count disable/Count permit The Counting Mask Using Pulse C function is enabled to stop counting while the pulse C is being input.

  • Page 28: Frequency Measurement Counter

    2 Specifications and Functions for CNTR-01 Module 2.3.3 Frequency Measurement Counter 2.3.3 Frequency Measurement Counter The frequency is calculated from the input pulse A and B trains and stored in the input register (Counter Value) every high-speed scan (or low-speed scan). The diagram below illustrates an example of the frequency measurement counter operation.

  • Page 29: Counter Functions

    2.4 Counter Functions 2.4 Counter Functions 2.4.1 Outline of Counter Function The counter functions are used to write the status and the count value in the input registers according to the counter operation method specified by the counter fixed parameters and output register values. The following table outlines the CNTR-01 Module counter functions.

  • Page 30: Setting The Counter Fixed Parameters

    2 Specifications and Functions for CNTR-01 Module 2.4.2 Setting the Counter Fixed Parameters 2.4.2 Setting the Counter Fixed Parameters This section describes the procedure to set the counter fixed parameters.  In this manual, the fixed parameters indicate the counter fixed parameters unless otherwise specified. ( 1 ) Open the Fix Parameter Set Tab Page Set the fixed parameters for the counter funcions in the Fixed Parameters Tab Page of the Counter Module Definition Window.
  • Page 31 2.4 Counter Functions Select the Fix Parameter Set Tab Page to display the page. Fig 2.1 Fix Parameter Set Tab Page in the Counter Module Definition Window Set the fixed parameters for each channel in the Fix Parameter Set Tab Page. ( 2 ) List of Fix Parameter Set The following table lists the fixed parameters.
  • Page 32 2 Specifications and Functions for CNTR-01 Module 2.4.2 Setting the Counter Fixed Parameters Counter Mode Ref. Name Description Default Value Page Select the pulse counting method from the following seven methods. 0: Sign (×1) 1: Sign (×2) Pulse Counting 6: Phase-A/-B pulses 2: Up/Down (×1) Valid Valid Valid P.38...

  • Page 33: Setting The I/O Data

    2.4 Counter Functions Counter Mode Ref. Name Description Default Value Page Set the value m in the range between 1 and 65535 when Valid Valid the load axis rotates n times while the encoder axis rotates P.44 Encoder Gear Ratio Invalid m times.
  • Page 34 2 Specifications and Functions for CNTR-01 Module 2.4.3 Setting the I/O Data ( 2 ) In Data Items [ a ] Status (RUNSTS) The status of each register bit is displayed in the Status field. “ ● ” is displayed when the bit is ON while “ ○ ” is displayed when the bit is OFF.
  • Page 35 2.4 Counter Functions Counter Mode Register Ref. Data Name Range (Unit) Description Page Number Indicates the value of PI latch data/interval -2147483648 to data converted into reference units. IL PI Latch Value After 2147483647 Valid Valid When the fixed parameter No. 14 (Reference Invalid ─...
  • Page 36 2 Specifications and Functions for CNTR-01 Module 2.4.3 Setting the I/O Data Counter Mode Ref. Name Bit No. Description Default Value Page 1: Reset, 0: Not reset POSMAX Specify whether to reset or not to reset the number of Valid 0: Not reset P.43 Invalid Invalid...
  • Page 37 2.4 Counter Functions Counter Mode Ref. Register Data Name Range (Unit) Details Number* Page Set the zone upper limit when the Multi-pur- -2147483648 to OL Zone output pose Output Detection Request is set to 1: 2147483647 Valid P.47 Invalid Invalid maximum value Detect and the Multi-purpose Output Selection 　＋...

  • Page 38: Counter Function Details

    6: Pulses A/B (× 4)  For details on the pulse counting methods, refer to 2.2 Pulse Counting Methods on page 24.  If connecting the CNTR-01 module to a Yaskawa SERVOPACK, set either the fixed parameter or the SERVOPACK parameter as follows.

  • Page 39: Calculating Preset

    2.5 Counter Function Details 2.5.4 Calculating Preset Reversible Interval Frequency Measurement This function forcibly resets the counter count value to the value specificied in the Count Preset Data (OL+2). The counter value is reset to the preset value when the the signal of the bit 2 (Calculating Preset) of the Operation Mode OW+00 of the Setting Output Data is input (detection at the signal rising edge).

  • Page 40: Pi Latch

    2 Specifications and Functions for CNTR-01 Module 2.5.5 PI Latch The following diagram shows the count preset completion timing of the LIO-01 Module. INFO Count Preset Request: ON Scan cycle Ts Calculating Preset (Count Preset Request) Bit 1) Count Preset Completed: ON Preset Count Completed Bit 2) Count Preset...

  • Page 41: Coincidence Output/Coincidence Interrupt

    2.5 Counter Function Details 2.5.6 Coincidence Output/Coincidence Interrupt Reversible Interval Frequency Measurement This function outputs the coincidence output signal and outputs an interrupt signal to the Machine Controller when the count value becomes the value predefined in the output register (Agreed Detection Value: OL+4). The Coincidence Detection (Operation Mode of Out Data) is enabled when the fixed parameter No.
  • Page 42 2 Specifications and Functions for CNTR-01 Module 2.5.6 Coincidence Output/Coincidence Interrupt When the fixed parameter No. 13 (Ring-Counter function selection) is set to 1: Use, the coincidence detection value exists every cycle as shown in the diagram above. For the coincidence detection processing when the ring counter function is enabled, the coincidence detection set value closest to the current counter count value after conversion is obtained and set every scan.

  • Page 43: Ring Counter

    2.5 Counter Function Details 2.5.7 Ring Counter Reversible Interval Frequency Measurement The Ring Counter function cyclicly controls the counter count value to be written in the input register within the range between 0 and the maximum ring counter value (POSMAX). Set the maximum ring counter value in the fixed param- eter No.

  • Page 44: Electronic Gear Function

    2 Specifications and Functions for CNTR-01 Module 2.5.9 Electronic Gear Function 2.5.9 Electronic Gear Function Reversible Interval Frequency Measurement The Electronic Gear function can be used when other than pulse is set to the fixed parameter No. 14 (Reference Unit Selection).
  • Page 45 2.5 Counter Function Details Find the load travel distance per load axis rotation using the reference unit, and set to the fixed parameter No. 16 (Travel Distance per Machine Rotation). Load travel distance per load axis rotation reference unit Travel distance per machine rotation axis (reference unit) Reference unit <Calculation Example>...
  • Page 46 2 Specifications and Functions for CNTR-01 Module 2.5.9 Electronic Gear Function ( 3 ) Setting Examples The following are setting examples for each kind of load mechnical configuration. [ a ] Setting Example for Ball Screw 7 rotations Encoder Ball screw pitch 5 rotations P = 6 mm/rotation In the above machine system, if the reference unit = 0.001 mm, the setting of each parameter will be as follows.

  • Page 47: Multipurpose Output Function

    2.5 Counter Function Details 2.5.10 Multipurpose Output Function The function is used to output the multi-purpose output signal externally when the specified output condition is satis- fied and the Multipurpose Output is executed. The output condition can be selected by setting the output register Multi-purpose Output Selection according to the selected counter mode.
  • Page 48 2 Specifications and Functions for CNTR-01 Module 2.5.10 Multipurpose Output Function ■ When Zone Output Maximum Value = Zone Output Minimum Value The Multi-purpose Output signal is output when the counter value and the zone output minimum value (= the zone out- put upper limit) match.

  • Page 49: Cntr-01 Module Connections

    CNTR-01 Module Connections This chapter explains the detailed specifications and functions, connection methods, and settings of the CNTR-01 Module. 3.1 CNTR-01 Module Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 50 3.1.1 Specifications on Cable and Connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -50 3.1.2 Connector Pin Arrangement - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 51 3.2 CNTR-01 Connection Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 52...

  • Page 50: Cntr-01 Module Connections

    3 CNTR-01 Module Connections 3.1.1 Specifications on Cable and Connector 3.1 CNTR-01 Module Connections 3.1.1 Specifications on Cable and Connector ( 1 ) Connector Specifications Used to connect for the multi-purpose output signals or pulse input signals. Connector Model Connector No.

  • Page 51: Connector Pin Arrangement

    3.1 CNTR-01 Module Connections 3.1.2 Connector Pin Arrangement The following table shows the connector (CN1) of the pin arrangement and the terminal layout for the CNTR-01 mod- ule. ( 1 ) Pin Arrangement and Terminal Layout Pin Arrangement at Connection Side +5PA1 -5PA1 +5PB1...

  • Page 52: Cntr-01 Connection Example

    3 CNTR-01 Module Connections 3.2 CNTR-01 Connection Example The following diagram shows the connection example of the CNTR-01. CNTR-01 Pulse generator 5V-line driver output +5PA1 -5PA1 CH1 pulse Fixed +5PB1 para- -5PB1 CH1 pulse B meter setting +5PC1 ∗ -5PC1 12VA1 1.5K 1.5K...

  • Page 53: Index

    INDEX INDEX - - - - - - - - - - - - - - - - - - - - - - - - - Error Setting the Data - - - - - - - - - - - - - - - - - - - - - - - - - external I/O connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - Feedback Speed...
  • Page 54 INDEX - - - - - - - - - - - - - - - - - Speed coincidence detection width - - - - - - - - - - - - - - - - - - - - - - speed coincidence output - - - - - - - - - - - - - - - - - open the fix parameter set tab page...

  • Page 55: Revision History

    Revision History The date of publication, revision number, and web revision number are given at the bottom right of the back cover. Refer to the following example. MANUAL NO. SIEP C880700 27A <0>-1 Web revision number Revision number Published in Japan February 2008 Date of publication Date of Rev.
  • Page 56 Phone: +81-4-2962-5151 Fax: +81-4-2962-6138 http://www.yaskawa.co.jp YASKAWA AMERICA, INC. 2121, Norman Drive South, Waukegan, IL 60085, U.S.A. Phone: +1-800-YASKAWA (927-5292) or +1-847-887-7000 Fax: +1-847-887-7310 http://www.yaskawa.com YASKAWA ELÉTRICO DO BRASIL LTDA. 777, Avenida Piraporinha, Diadema, São Paulo, 09950-000, Brasil Phone: +55-11-3585-1100 Fax: +55-11-3585-1187 http://www.yaskawa.com.br...

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