YASKAWA MP2100 Series User Manual
  1. Manuals
  2. Brands
  3. YASKAWA Manuals
  4. Controller
  5. MP2100 Series
  6. User manual
YASKAWA MP2100 Series User Manual

YASKAWA MP2100 Series User Manual

Machine controller design and maintenance
Hide thumbs
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
Table of Contents

Advertisement

Quick Links

Download this manual
Machine Controller MP2100/MP2100M
USER'S MANUAL
DESIGN AND MAINTENANCE
JAPMC-MC2100
MODEL：
JAPMC-MC2140
YASKAWA
YASKAWA
MANUAL NO. SIEP C880700 01C

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the MP2100 Series and is the answer not in the manual?

Questions and answers

Related Manuals for YASKAWA MP2100 Series

Summary of Contents for YASKAWA MP2100 Series

  • Page 1 YASKAWA Machine Controller MP2100/MP2100M USER'S MANUAL DESIGN AND MAINTENANCE JAPMC-MC2100 MODEL： JAPMC-MC2140 YASKAWA MANUAL NO. SIEP C880700 01C...
  • 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 Please read this manual to ensure correct usage of the MP2100/MP2100M system. Keep this manual in a safe place for future reference. ■ Basic Terms Unless otherwise specified, the following definitions are used: 2100 Machine Controller MP2100 •...
  • Page 4 ■ Visual Aids The following aids are used to indicate certain types of information for easier reference. Indicates important information that should be memorized. IMPORTANT Indicates supplemental information. INFO Indicates application examples. EXAMPLE Describes technical terms that are difficult to understand, or appear in the text without an explana- TERMS tion being given.
  • Page 5 ■ Related Manuals Refer to the following related manuals as required. Thoroughly check the specifications, restrictions, and other conditions of the product before attempting to use it. Manual Name Manual Number Contents Machine Controller MP900 Series SIEZ-C887-1.2 Describes the instructions used in MP900/MP2000 ladder User's Manual programming.
  • Page 6 Safety Information The following conventions are used to indicate precautions in this manual. Failure to heed precautions provided in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment and systems. Indicates precautions that, if not heeded, could possibly result in loss of life or serious WARNING injury.
  • Page 7 Safety Precautions The following precautions are for checking products on delivery, storage, transportation, installation, wiring, operation, maintenance, inspection, and disposal. These precautions are important and must be observed. WARNING • Before starting operation in combination with the machine, ensure that an emergency stop procedure has been provided and is working correctly.
  • Page 8 Installation CAUTION • The MP2100/MP2100M is mounted in the PCI slot of a standard personal computer (IBM PC/AT or compatible). PC/AT or compatible computer PCI bus slot MP2100 board • To prevent the MP2100/MP2100M from being damaged by static electricity, discharge any static electricity by touching a grounded metal object.
  • Page 9 Wiring CAUTION • Check the wiring to be sure it has been performed correctly. There is a risk of motor run-away, injury, or an accident. • Always use a power supply of the specified voltage. There is a risk of burning. •...
  • Page 10 Maintenance and Inspection Precautions CAUTION • Do not attempt to disassemble the MP2100/MP2100M. There is a risk of electrical shock or injury. • Do not change wiring while power is being supplied. There is a risk of electrical shock or injury. •...
  • Page 11 Contents Using this Manual - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -iii Safety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vi Safety Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vii 1 Overview...
  • Page 12 3 System Startup 3.1 System Startup- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2 3.1.1 System Startup Flowchart - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-2 3.1.2 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-3 3.1.3 Equipment Preparation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-4...
  • Page 13 4.4 MP2100M LED Indicators and Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - 4-9 4.4.1 LED Indicator and Switch Arrangement - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9 4.4.2 LED Indicators - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9 4.4.3 Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10 5 Mounting and Wiring...
  • Page 14 7 Motion Parameters 7.1 Motion Parameters Register Numbers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2 7.2 Motion Parameter Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3 7.2.1 Motion Fixed Parameter Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-3 7.2.2 Motion Setting Parameter Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-9 7.2.3 Motion Monitoring Parameter Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-30...
  • Page 15 8.20 Monitor SERVOPACK Alarm History (ALM_HIST) - - - - - - - - - - - - - - - - - - - - 8-69 8.21 Clear SERVOPACK Alarm History (ALMHIST_CLR) - - - - - - - - - - - - - - - - - - 8-71 8.22 Reset Absolute Encoder (ABS_RST) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-73 8.23 Speed Reference (VELO) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-76 8.24 Torque Reference (TRQ) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-80...
  • Page 16 12 Maintenance and Inspection 12.1 Inspection Items - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-2 12.1.1 Daily Inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-2 12.1.2 Regular Inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-2 12.2 Battery for MP2100/MP2100M - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-3...
  • Page 17 Appendix A Motion API A.1 Motion API- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2 A.1.1 Common APIs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2 A.1.2 Sequential APIs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2 A.1.3 System APIs- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-4...
  • Page 18 Overview This chapter explains an overview and features of the MP2100/MP2100M Machine Controller. 1.1 MP2100 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 1.1.1 MP2100 Features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 1.1.2 MP2100 Appearance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3 1.2 MP2100M Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4...
  • Page 19 1 Overview 1.1.1 MP2100 Features 1.1 MP2100 Overview 1.1.1 MP2100 Features The MP2100 is a Machine Controller with complete sequence control and motion control functionality integrated into a half-size PCI board. Just install the MP2100 in a personal computer to provide high-speed communication with the Servodrive, automatic setup, and full system support from design to maintenance.
  • Page 20 1.1 MP2100 Overview 1.1.2 MP2100 Appearance The following figure shows the external appearance of the MP2100.

  • Page 21: Comparing Svb Motion Module And Svb Built Into The Cpu Module -

    1 Overview 1.2.1 MP2100M Features 1.2 MP2100M Overview 1.2.1 MP2100M Features The MP2100M is a Machine Controller equivalent to the MP2100 with an SVB Board mounted to the option connector of the CPU Board (Module). The SVB Board (Motion Module) provides one MECHATROLINK-II port, and can be used to control Servos, inverters, and I/O devices.
  • Page 22 1.2 MP2100M Overview 1.2.3 MP2100M Appearance The following figure shows the external appearance of the MP2100M. M P 2 1 0 0 M...

  • Page 23: Table Of Contents

    System Configuration This chapter explains the product information required for building MP2100/MP2100M systems. 2.1 MP2100 System Configuration - - - - - - - - - - - - - - - - - - - - - - 2-2 2.1.1 MP2100 Basic System Configuration - - - - - - - - - - - - - - - - - - - - - - - - 2-2 2.1.2 Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2 2.2 MP2100M System Configuration - - - - - - - - - - - - - - - - - - - - 2-3...

  • Page 24: Mp2100 System Configuration

    The following precautions must be followed when designing a system using the MP2100. • Use the connecting cables and connectors recommended by Yaskawa. Yaskawa has a range of cables. Always check the device to be used and select the correct cable for the device.

  • Page 25: Mp2100M System Configuration

    • Use MPE720 Ver. 5.10 or higher and Motion API Ver. 1.05 (driver: Ver. 1.1.3.0) or higher. • Use the connecting cables and connectors recommended by Yaskawa. Yaskawa has a range of cables. Always check the device to be used and select the correct cable for the device.

  • Page 26: Devices Connectable To Mechatrolink

    2 System Configuration 2.3.1 SERVOPACKs 2.3 Devices Connectable to MECHATROLINK The devices that are compatible with MECHATROLINK and can be connected to the MP2100/MP2100M are listed below. 2.3.1 SERVOPACKs The following table shows SERVOPACKs that are compatible with MECHATROLINK and can be connected to the MP2100.

  • Page 27: I/O Modules

    2.3 Devices Connectable to MECHATROLINK 2.3.2 I/O Modules The following table shows the I/O Modules that are compatible with MECHATROLINK and can be connected to the MP2100/MP2100M. Model Number Details MECHATROLINK-I MECHATROLINK-II JEPMC-IO350 64-point I/O Module 24 VDC, 64 inputs, 64 outputs JAMSC-120DDI34330 DC Input Module 12/24 VDC, 16 inputs...

  • Page 28: Cables And Accessories

    2 System Configuration 2.4.1 Included Accessories 2.4 Cables and Accessories 2.4.1 Included Accessories Name Model Remarks Relay Cable for Battery JEPMC-W2092-B8 This cable is included with the MP2100M. For details on installation, refer to 12.2 Battery for MP2100/MP2100M. 2.4.2 Cables The following table shows the cables that can be connected to the MP2100/MP2100M.
  • Page 29 System Startup This chapter describes the startup procedure for the MP2100/MP2100M sys- tem using the MP2100 as an example. For details on MP2100M systems, refer to 3.6 MP2100M Startup. Also, typical operation and control are described here. 3.1 System Startup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2 3.1.1 System Startup Flowchart - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2 3.1.2 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3 3.1.3 Equipment Preparation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4...

  • Page 30: System Startup

    3 System Startup 3.1.1 System Startup Flowchart 3.1 System Startup This section explains the system startup procedure using the MP2100 when the sample program on the MPE720 installation disk is used. Details on the machine system design have been omitted here. Differences in the procedure for MP2100M are provided in 3.6 MP2100M Startup.

  • Page 31: System Configuration

    3.1 System Startup 3.1.2 System Configuration The following diagram shows the configuration of devices to help describe the MP2100 system startup. SERVOPACK SERVOPACK MP2100 Host Computer YASKAWA SERVOPACK 200V YASKAWA SERVOPACK 200V SGDS-01A12A SGDS-01A12A Terminator JEPMC-W6002-01 MECHATROLINK-II MPE720 CHARGE CHARGE...

  • Page 32: Equipment Preparation

    3 System Startup 3.1.3 Equipment Preparation 3.1.3 Equipment Preparation Prepare the equipment shown in the following tables. This equipment is required for checking operation using the sample program. (1) Controller-related Equipment Name Model Quantity MP2100 JEPMC-MP2100 MECHATOROLINK Cables (1 m) JEPMC-W6002-01 Terminator JEPMC-W6022...

  • Page 33: Installing The Mp2100

    Σ-III Servomotors SGMAS-01ACA21 Motor Cables (3 m) JZSP-CSM01-03 Encoder Cables (3 m) JZSP-CSP01-03 Digital Operator JUSP-OP05A 1 12 SVON COIN TGON CHARGE VCMP YASKAWA SCROLL MODE/SET ALARM RESET DATA SVON READ WRITE SERVO SERVO DIGITAL OPERATOR JUSP-OP05A Digital Operator Servomotor 　　　SERVOPACK...

  • Page 34: Installing The Drivers

    3 System Startup 3.1.5 Installing the Drivers 3.1.5 Installing the Drivers Use the following procedure to install the Windows drivers for the MP2100. The driver installation procedure varies with different operating systems (OS), so verify which OS is being used in the host computer.
  • Page 35 3.1 System Startup 4. Specify the path to the directory containing the driver files (D:\Driver\Win2000 in this case) and click the OK Button. 5. The wizard program will search for the files. When the Driver Files Search Results Window is displayed, click the Next Button to proceed.

  • Page 36: Verifying Driver Installation

    3 System Startup 3.1.6 Verifying Driver Installation 3.1.6 Verifying Driver Installation Use the following procedure to verify that the MP2100 is recognized properly by the system and the drivers are installed properly. 1. Click the Start Button and select Settings/Control Panel from the Start menu. 2.
  • Page 37 3.1 System Startup 5. Click the Resources Tab. Check the Conflicting device list and verify that it says “No conflicts.” The MP2100 can be used if everything has been normal up to this point. If a problem has been identified, per- form the installation again.

  • Page 38: Connecting And Wiring The System

    3.1.7 Connecting and Wiring the System 3.1.7 Connecting and Wiring the System (1) Connecting the MP2100 and SERVOPACKs Use a MECHATROLINK Cable to connect the MP2100 and SERVOPACKs. MP2100 SERVOPACK SERVOPACK Host Computer YASKAWA SERVOPACK 200V YASKAWA SERVOPACK 200V SGDS-01A12A SGDS-01A12A Terminator JEPMC-W6002-01...

  • Page 39: Initializing The System

    3.1 System Startup 3.1.8 Initializing the System This section describes the initialization and self-configuration procedures required when first starting a MP2100 system. (1) Initializing Σ-III SERVOPACKs This section explains the procedure for initializing the SERVOPACKs. Always initialize SERVOPACKs that have been brought from other systems. This initialization procedure is not required for SERVOPACKs that have not been used before.
  • Page 40 3 System Startup 3.1.8 Initializing the System (3) Operation Procedure Operation Keys Display Example Description - FUNCTION - Press the Key to display the Utility Function F n 0 0 4 Mode main menu, then press the Keys F n 0 0 5 and select Fn005.
  • Page 41 3.1 System Startup (5) Executing MP2100 Self-configuration Execute self-configuration to automatically configure the devices connected to the MECHATROLINK. This section explains the method for self-configuration. In the following procedure, it is assumed that the power supply to the ∑-III SERVOPACK is already turned ON. 1.

  • Page 42: Starting The Mpe720

    3 System Startup 3.1.9 Starting the MPE720 3.1.9 Starting the MPE720 This section describes the preparation for connecting the MPE720 to the MP2100 and the method for installing the sample program for the MP2100. (1) MPE720 Startup Procedure Make sure the MPE720 System Software is installed in advance. Refer to the Machine Controller MP900/ MP2000 Series MPE720 Software for Programming Device User's Manual (manual number: SIEPC88070005) for the MPE installation method.
  • Page 43 3.1 System Startup (2) Starting the MPE720 Start the MPE720 using the procedure below. 1. Double-click the MPE720 icon in the YE_Applications Folder. Double-click 2. The File Manager Window will be displayed. (3) Communication Settings Make communication settings for connecting the MPE720 and the MP2100 using the procedure below. These settings are not required if the communication settings have already been made.
  • Page 44 3 System Startup 3.1.9 Starting the MPE720 2. Double-click Logical PT number 1 in the Communication Process Window to display the Logical Port Setting Window. Double-click 3. Select MP2100 under Port Kind in the Logical Port Setting Window. 4. Setting MP2100 Ports a) Click the Detail Button in the Logical Port Setting Window.
  • Page 45 3.1 System Startup b) The MP2100 Window will be displayed. Select MP2100 under kind. Once the settings have been com- pleted and checked, click the OK Button. c) The Logical Port Setting Window will be displayed. Click the OK Button again. The screen will return to the Communication Process Window.
  • Page 46 3 System Startup 3.1.9 Starting the MPE720 6. Starting the Communication Process Again The communication process must be started again when settings have been made or changed. a) Select File – Exit to close the Communication Process Window. b) An confirmation message will be displayed. Click the Yes Button. c) Double-click the Communication Manager Icon in the YE_Applications Folder to reopen the Com- munication Process Window.
  • Page 47 3.1 System Startup (4) Creating Group Folders Create a group folder in the File Manager Window, using the procedure below. Example: Folder name: MP2100 1. Right-click the root directory and select New – Group folder. 2. Enter the group folder name in the Make New Folder Window and click the OK Button. The group folder name must be 8 characters or less.
  • Page 48 3 System Startup 3.1.9 Starting the MPE720 3. The new “YESAMPLE” Order Folder will be created. Double-click the MP2100 Group Folder or click Button to display the YESAMPLE order folder. (6) Creating a Controller Folder Register the new controller to be used to create the program using the procedure below. Example: Controller name: 2100SMPL Controller type: MP2100 1.
  • Page 49 3.1 System Startup (7) Logging On Online Log on online to the MP2100 using the procedure below. 1. Right-click the 2100SMPL Controller Folder and select Online. The mode will change from offline to online. 2. Right-click the 2100SMPL Controller Folder and check that there is a check mark next to “Online.” Also check that “Online”...
  • Page 50 3 System Startup 3.1.9 Starting the MPE720 3. The Controller Configuration Window will be opened. Select the Network Tab. “Online” should be set to “Yes.” Under Logical Port Number (Device Type), select the same Logical PT that was set for the communica- tion process.
  • Page 51 3.1 System Startup 6. Logging On Online a) Right-click the 2100SMPL Controller Folder and select Log On. b) Input the user name USER-A and the password USER-A and click the OK Button. (8) Loading the Sample Programs Load the sample programs on the MPE720 system CD-ROM using the procedure below. 1.
  • Page 52 3 System Startup 3.1.9 Starting the MPE720 3. The window for specifying the destination of the file will be displayed. Specify the destination of the file and click the Decompress Button. 4. Right-click the 2100SMPL Controller Folder and select File Transfer – All File Transfer – All Program File Transfer (Other Media −>...
  • Page 53 3.1 System Startup 7. The Execute Window will be displayed. Click the OK Button. 8. The Execute Status Window will be displayed. Wait until the transfer has been completed. 9. A message will appear when the transfer has been completed. Click the OK Button. 10.The All File Transfer Disk to Disk Window will be displayed.
  • Page 54 3 System Startup 3.1.9 Starting the MPE720 (9) Individual Loading of Sample Programs Transfer sample programs to the MP2100 individually using the procedure below. 1. Right-click the 2100SMPL Controller Folder and select File Transfer – Individual File Transfer – Indi- vidual Program File Load (HD –>CPU).
  • Page 55 3.1 System Startup 3. Click the Details Button to the right of DWG to display the DWG Detail Data Set Window. Select Select All and click the OK Button. 4. Click the Details Button to the right of Motion Main Program to display the Motion Main Program Detail Set Window.
  • Page 56 3 System Startup 3.1.9 Starting the MPE720 6. A confirmation message will be displayed. Click the Yes Button. 7. The Execute Status Window will be displayed. Wait until the transfer has been completed. 8. A message will appear when the transfer has been completed. Click the OK Button. 9.
  • Page 57 3.1 System Startup (10) Setting Motion Fixed Parameters Set the MP2100 motion fixed parameters to match the sample program using the procedure below. 1. Opening the Module Configuration Window. a) Double-click the 2100SMPL Controller Folder in the File Manager Window to display the 5 folders contained within it.
  • Page 58 3 System Startup 3.1.9 Starting the MPE720 3. Setting the fixed parameters for axis 1 Display the SVB Definition Window in the Engineering Manager Window. Check that the Fixed Parame- ters Tab Page has been selected. a) Select Axis 1 from the list of axes at the top left of the SVB Definition Window. b) Select mm as the Reference Unit for parameter 4 on the Fixed Parameters Tab Page.
  • Page 59 3.1 System Startup (11) Saving to Flash Memory Save sample programs that have been transferred individually to the MP2100 to the MP2100 flash memory using the procedure below. 1. Right-click the 2100SMPL Controller Folder and select File Transfer – Other – Flash Save. 2.
  • Page 60 3 System Startup 3.1.9 Starting the MPE720 6. The Save Flash Memory Content Window will be displayed. Select File – Exit. (12) All Program File Dump Execute an All Program File Dump to back up module configuration definitions self-configured and edited pro- grams by the MP2100 to a computer.
  • Page 61 3.1 System Startup 4. A message will appear when the transfer has been completed. Click the OK Button. 5. The All Dump Window will be displayed. Select File – Exit. (13) CPU RUN Settings The procedure for starting the CPU, which was set to STOP during the flash save process, is explained below. 1.
  • Page 62 3 System Startup 3.1.9 Starting the MPE720 3. A confirmation message will be displayed. Click the Yes Button. Check that the RUN LED indicator on the MP2100 is lit. 4. The Controller Running Status Window will be displayed again. Click the Close Button. (14) Logging Off Log off when you have finished with the MPE720 using the procedure below.

  • Page 63: Sample Program 1: Manual Operation

    3.2 Sample Program 1: Manual Operation 3.2 Sample Program 1: Manual Operation 3.2.1 Program Outline • The H01 drawing (ladder program) turns ON the servo, resets alarms, and sets parameters. • The H02.01 drawing (ladder program) controls jogging and stepping for axis 1. •...
  • Page 64 3 System Startup 3.2.2 Operation 2. Right-click the H02 drawing in the High Scan Programs Folder and select Open – Tuning Panel. 3. The Tuning Panel Window for the H02 drawing will be displayed. Input position and current value. The details on the Tuning Panel Window display are shown in the following table. Display Definition Current Value Unit...
  • Page 65 3.2 Sample Program 1: Manual Operation (2) Confirming Operation Use the following procedure to confirm operation. Turn Servo ON. Start jogging or stepping operation. Confirm operation. The following table gives an outline of the operation when the Tuning Panel window is used. Data Name Tuning Panel Operation Operation Outline...

  • Page 66: Program Details

    3 System Startup 3.2.3 Program Details 3.2.3 Program Details (1) H Drawing The H parent drawing controls the overall sample program. P00101 H Main Program: High-speed Main Program High-speed main program Servo ON and Alarm reset Servo ON, alarm reset 0000 0000 NL-1...
  • Page 67 3.2 Sample Program 1: Manual Operation (2) H01 Drawing The H01 child drawing turns ON the Servo, resets alarms, and sets common parameters. P00102 H01 Main Program: Axis Common Settings ########## Action Common Settings ########## ########## Motion Command Detection ########## Axis 1 motion command 0 detection Axis 1 motion command 0 MB300010...
  • Page 68 3 System Startup 3.2.3 Program Details Main Program: Axis Common Settings P00103 H01 ##########Linear Acceleration/Deceleration Setting########## Axis 1 and 2 linear acceleration/deceleration setting MPM running MB30020 Linear acceleration/deceleration setting 0010 EXPRESSION 0018 OL8036= 100; NL-1 OL8038= 100; OL80B6= 100; OL80B8= 100; 0011 0020 NL-1...
  • Page 69 3.2 Sample Program 1: Manual Operation (4) H02.01 Drawing The H02.01 grandchild drawing controls JOG and STEP operation for axis 1. P00107 H02.01 Main Program: Axis 1 Manual operation (JOG and STEP) ##########Axis 1 Manual operation (JOG and STEP)########## ##########JOG########## Axis 1 JOG Axis 1 jog command Axis 1 forward jog...
  • Page 70 3 System Startup 3.2.3 Program Details Main Program: Axis 1 Manual operation (JOG and STEP) P00108 H02. 01 Axis 1 step stop Axis 1 motion command DB00000A 00011 STORE 0036 Source 00000 NL-1 Dest OW8008 ##########Reverse Rotation Selection########## Axis 1 reverse step Axis 1 reverse jog Axs 1 jog command DB000000...
  • Page 71 3.2 Sample Program 1: Manual Operation (5) H02.02 Drawing The H02.02 grandchild drawing controls JOG and STEP operation for axis 2. Main Program: Axis 2 Manual operation (JOG and STEP) P00110 H02. 02 ##########Axis 2 Manual operation (JOG and STEP)########## ##########JOG########## Axis 2 JOG Axis 2 forward jog...
  • Page 72 3 System Startup 3.2.3 Program Details P00111 H02. 02 Main Program: Axis 2 Manual operation (JOG and STEP) Axis 2 step stop DB00000A Axis 2 motion command 00011 STORE 0036 Source 00000 NL-1 Dest OW8088 ##########Reverse Rotation Selection########## Axis 2 jog command Axis 2 reverse jog Axis 2 reverse DB000000...

  • Page 73: Sample Program 2: Positioning Control

    3.3 Sample Program 2: Positioning Control 3.3 Sample Program 2: Positioning Control 3.3.1 Program Outline Sample program 2 will use a motion program to operate a hypothetical X-Y plotter, such as the one in the follow- ing diagram. Servomotor X-Y plotter •...

  • Page 74: Operation

    3 System Startup 3.3.2 Operation 3.3.2 Operation (1) Display of Tuning Panel Window 1. Use the Tuning Panel Window for the H04 drawing to check operations, just as described in 3.2.2 Opera- tion. Right-click the H04 drawing in the High Scan Programs Folder and select Open – Tuning Panel. 2.
  • Page 75 3.3 Sample Program 2: Positioning Control (2) Confirming Operation Use the following procedure to confirm operation. Turn Servo ON. Enter motion program number setting. Enter target position for each axis. Start positioning. Confirm motion program operation. The process for confirming operation will be explained based on the above procedure. 1.

  • Page 76: Program Details

    3 System Startup 3.3.3 Program Details 3.3.3 Program Details (1) H04 Drawing The H04 child drawing manages and controls motion programs (MPM programs). Main Program: Positioning Main Processing P00113 H04 メインプログラム 位置決め動作ﾒｲﾝ処理 Positioning Main Processing ########## 位置決め動作ﾒｲﾝ処理　　########## ########## ﾓｰｼｮﾝﾌﾟﾛｸﾞﾗﾑ起動ｼｰｹﾝｽ 　########## Motion Program Startup Sequence Start Start Request...
  • Page 77 3.3 Sample Program 2: Positioning Control (2) Motion Program MPM001 Motion program MPM001 is a text-format program that is started by the MSEE instruction (motion program call instruction) in the H04 drawing. In this example, the motion program MPM001 performs a zero point return using the phase C pulse. EXAMPLE YESAMPLE PRG.

  • Page 78: Sample Program 3: Phase Control With An Electronic Shaft

    3 System Startup 3.4.1 Program Outline 3.4 Sample Program 3: Phase Control with an Electronic Shaft 3.4.1 Program Outline The same operation for the No. 1 and No. 2 rolls connected to the line shaft is performed using a Servomotor. Phase synchronization, however, has not been used.

  • Page 79: Operation

    3.4 Sample Program 3: Phase Control with an Electronic Shaft 3.4.2 Operation (1) Display of Tuning Panel Window 1. Use the Tuning Panel Window for the H06 drawing to check operations, just as described in 3.2.2 Opera- tion. Right-click the H06 drawing in the High Scan Programs Folder and select Open – Tuning Panel. 2.
  • Page 80 3 System Startup 3.4.2 Operation (2) Confirming Operation Use the following procedure to confirm operation. Turn Servo ON. Start electronic shaft. Enter speed settings. Confirm operation. The process for confirming operation will be explained based on the above procedure. 1. Switching between Servo ON and Servo OFF Change the current value setting for Servo ON PB from OFF to ON on the Tuning Panel Window.

  • Page 81: Program Details

    3.4 Sample Program 3: Phase Control with an Electronic Shaft 3.4.3 Program Details (1) H06.01 Drawing The H06.01 grandchild drawing controls phase control (electronic shaft) operation. Main Program Phase Control 1 (Electronic Shaft) P00118 H06.01 メインプログラム 位置制御１（電子ｼｬﾌﾄ）処理 Phase Control 1 (Electronic Shaft) ########## 位置制御１（電子ｼｬﾌﾄ）処理　　########## ##########Electronic Shaft Operation Command########## ########## 電子ｼｬﾌﾄ運転指令...
  • Page 82 3 System Startup 3.4.3 Program Details P00119 H06.01 Main Program Phase Control 1 (Electronic Shaft) S-curve accelerator/decelerator gear output 0010 SLAU 0026 Input DF00012 NL-1 Parameter DA00020 Output DF00040 Axis 1 and Axis 2 Speed Command Settings Electronic Shaft Operation Command DB000000 Axis 1 and axis 2 speed command settings 0011...

  • Page 83: Sample Program 4: Phase Control With An Electronic Cam

    3.5 Sample Program 4: Phase Control with an Electronic Cam 3.5 Sample Program 4: Phase Control with an Electronic Cam 3.5.1 Program Outline The same operation for the mechanical cam synchronized to the roller connected to the line shaft will be per- formed using a Servomotor.

  • Page 84: Operation

    3 System Startup 3.5.2 Operation 3.5.2 Operation (1) Displays of Tuning Panel Window 1. Use the Tuning Panel Window for the H06 drawing to check operations, just as described in 3.4.2 Opera- tion. Right-click the H06 drawing in the High Scan Programs Folder and select Open – Tuning Panel. 2.
  • Page 85 3.5 Sample Program 4: Phase Control with an Electronic Cam (2) Confirming Operation Use the following procedure to confirm operation. Turn Servo ON. Enter electronic cam settings data. Turn ON electronic cam start. Enter main axis speed settings. Confirm operation. The process for confirming operation will be explained based on the above procedure.

  • Page 86: Program Details

    3 System Startup 3.5.3 Program Details 3.5.3 Program Details (1) H06.02 Drawing The H06.02 grandchild drawing controls phase control (electronic cam) operation. P00121 H06.02 Main Program: Phase Control 2 (Electronic Cam) ########## Phase Control 2 (Electronic Cam)　########## ########## Description 　########## Axis 1: Master axis = Phase control (electronic shaft) Axis 2: Slave axis = Phase control (electronic cam) ########## Phase Control Operation Command 　##########...
  • Page 87 3.5 Sample Program 4: Phase Control with an Electronic Cam P00122 H06.02 Main Program: Phase Control 2 (Electronic Cam) Operation command DB000000 Linear accelerator/decelerator input 0010 STORE 0028 Source 0.000000E+000 NL-1 Dest DF00012 Linear accelerator/decelerator input 0011 0030 Input DF00012 NL-1 Parameter DA00020 Output DF00040...
  • Page 88 3 System Startup 3.5.3 Program Details Main Program Phase Control 2 (Electronic Shaft) P00123 H06.02 メインプログラム 位置制御２（電子ｶﾑ）処理 Detection in forward direction 正方向検出 Electronic cam phase 電子ｶﾑ位相 DB000008 0020 SUBX 0043 SourceA DL00066 NL-1 SourceB ML30202 Dest 　DL00066 Detection in negative direction 負方向検出...
  • Page 89 3.5 Sample Program 4: Phase Control with an Electronic Cam (2) L Drawing The L parent drawing is a low-speed scan that controls the overall sample program. Main Program: Low-speed Main Program P00125 L メインプログラム 低速ﾒｲﾝﾌﾟﾛｸﾞﾗﾑ Low-speed Main Program ########## 低速ﾒｲﾝﾌﾟﾛｸﾞﾗﾑ　　########## ##########Electronic Cam Table Data Generation########## ########## 電子ｶﾑﾃｰﾌﾞﾙﾃﾞｰﾀ生成...

  • Page 90: Mp2100M Startup

    3 System Startup 3.6.1 Communication Process Settings 3.6 MP2100M Startup This section describes the MPE720 setting method using the MP2100M. 3.6.1 Communication Process Settings 1. Select MP2100 under Port Kind in the Logical Port Setting Window. 2. Click the Detail Button in the Logical Port Setting Window to display the MP2100 Window. Set the type of MP2100 being used.

  • Page 91: Module Configuration Definition

    3.6 MP2100M Startup 2. Select the Network Tab in the Controller Configuration Window, and set the Logical Port Number (Device Type) with the same Logical PT number that was set for the communication process. 3.6.3 Module Configuration Definition 1. Select Controller No.00 MP2100M to display the MECHATROLINK Window for Module No. 3 SVB, and then set the devices connected to the MECHATROLINK Connector on the CPU Module.
  • Page 92 3 System Startup 3.6.3 Module Configuration Definition 2. Click Controller No.01 SVB-01 to display the MECHATROLINK Window for Module No. 1 SVB01, and then set the devices connected to the MECHATROLINK Connector of the SVB Motion Module. Open the MECHATROLINK Window by selecting MECHATROLINK from the Detail field. 3-64...
  • Page 93 Specifications This chapter explains detailed specifications for the MP2100/MP2100M. 4.1 Hardware Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2 4.1.1 General Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2 4.1.2 Hardware Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3 4.2 Function Lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4 4.2.1 PLC Function Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4...

  • Page 94: Hardware Specifications

    4 Specifications 4.1.1 General Specifications 4.1 Hardware Specifications 4.1.1 General Specifications The following table lists the general hardware specifications of the MP2100/MP2100M. Item Specifications 0 to 55 °C Ambient Temper- Operating Temperature ature −25 to 85 °C Storage Temperature Humidity 30% to 95% (with no condensation) 5 V ±5% Power Supply Voltage...

  • Page 95: Hardware Specifications

    4.1 Hardware Specifications 4.1.2 Hardware Specifications The following table shows the hardware specifications of the MP2100/MP2100M. Item Specifications Name MP2100 MP2100M Model Number JAPMC-MC2100 JAPMC-MC2140 Power Supply +5VDC: Supplied from PCI bus, 510 mA Flash Memory 8 MBytes (User area 5.5 MBytes) SDRAM 16 MBytes SRAM...

  • Page 96: Function Lists

    4 Specifications 4.2.1 PLC Function Specifications 4.2 Function Lists 4.2.1 PLC Function Specifications The following table lists the PLC function specifications for MP2100/MP2100M. Item Specifications Control Method Sequence: High-speed and low-speed scan methods Programming Ladder diagram: Relay circuit Language Text-type language:Numeric operations, logic operations, etc. Scanning Two scan levels: High-speed scan and low-speed scan •...

  • Page 97: Motion Control Function Specifications

    4.2 Function Lists (cont’d) Item Specifications Instructions Program control instructions: 14 instructions Direct I/O instructions: 2 instructions Relay circuit instructions: 14 instructions (including set and reset coils) Logic operation instructions: 3 instructions Numeric operation instructions: 16 instructions Numeric conversion instructions: 9 instructions Numeric comparison instructions: 7 instructions...

  • Page 98: Mechatrolink Communication Specifications

    4 Specifications 4.2.3 MECHATROLINK Communication Specifications (cont’d) Item Specifications Zero DEC1+ Phase-C pulse Point Re- ZERO signal turn DEC1+ ZERO signal Phase-C pulse Only Phase-C pulse POT and Phase-C pulse Home limit switch and Phase-C pulse HOME NOT and Phase-C pulse INPUT and Phase-C pulse INPUT Applicable SERVOPACKs...

  • Page 99: Mp2100 Led Indicators And Switch Settings

    4.3 MP2100 LED Indicators and Switch Settings 4.3 MP2100 LED Indicators and Switch Settings 4.3.1 Layout The following diagram shows the layout of the LED indicators and switches for the 2100. Mode switch 2 Reset switch LED indicators System LED Mode switch 1 MECHATROLINK /battery alarm LED...

  • Page 100: Switch Settings

    4 Specifications 4.3.3 Switch Settings 4.3.3 Switch Settings The following table shows the switch settings of the MP2100. Mode Switch 1 Mode Switch 2 Reset Switch (1) Mode Switch 1 (S1) Name Status Function Factory Details Setting INIT Memory Clear Set to ON to clear memory.

  • Page 101: Mp2100M Led Indicators And Switch Settings

    4.4 MP2100M LED Indicators and Switch Settings 4.4 MP2100M LED Indicators and Switch Settings 4.4.1 LED Indicator and Switch Arrangement The following figure shows the names and locations of LED indicators on the MP2100M. Reset switch Mode switch (S1) Indicators SVB Module indicators MP2100M 4.4.2 LED Indicators...

  • Page 102: Switch Settings

    4 Specifications 4.4.3 Switch Settings 4.4.3 Switch Settings Use these switches to set the operating conditions for the MP2100M when the power is turned ON. Mode switch 1 (S1) Reset switch (1) Mode Switch 1 (S1) Name Status Function Factory Details Setting TEST...
  • Page 103 Mounting and Wiring This chapter explains how to handle MP2100/MP2100M and the connection methods. 5.1 Installing the MP2100/MP2100M - - - - - - - - - - - - - - - - - - - - 5-2 5.1.1 Recommended Computer Specifications - - - - - - - - - - - - - - - - - - - - - 5-2 5.1.2 Installing the MP2100/MP2100M - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3 5.1.3 Installing the Drivers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4 5.1.4 Verifying Driver Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6...

  • Page 104: Installing The Mp2100/Mp2100M

    5 Mounting and Wiring 5.1.1 Recommended Computer Specifications 5.1 Installing the MP2100/MP2100M 5.1.1 Recommended Computer Specifications The following tables show the specifications for the host computer in which the MP2100/MP2100M is installed. (1) Hardware Specifications The MP2100/MP2100M occupies one of the host computer's PCI slots. Up to four MP2100/MP2100M Boards can be installed in one personal computer.

  • Page 105: Installing The Mp2100/Mp2100M

    5.1 Installing the MP2100/MP2100M 5.1.2 Installing the MP2100/MP2100M Install the MP2100/MP2100M to a PCI slot of the host computer. The MP2100/MP2100M occupies one half-size PCI slot. PC/AT or compatible computer PCI bus slot MP2100 borad CAUTION • Before installing or removing the MP2100/MP2100M, always turn OFF the host computer's power supply and unplug the computer's power cord.

  • Page 106: Installing The Drivers

    5 Mounting and Wiring 5.1.3 Installing the Drivers 5.1.3 Installing the Drivers Use the following procedure to install the Windows drivers for the MP2100/MP2100M. The driver installation procedure varies with different operating systems (OS), so verify which OS is being used in the host computer.
  • Page 107 5.1 Installing the MP2100/MP2100M 4. Specify the path to the directory containing the driver files (D:\Driver\Win2000 in this case) and click the OK Button. 5. The wizard program will search for the files. When the Driver Files Search Results Window is displayed, click the Next Button to proceed.

  • Page 108: Verifying Driver Installation

    5 Mounting and Wiring 5.1.4 Verifying Driver Installation 5.1.4 Verifying Driver Installation Use the following procedure to verify that the MP2100/MP2100M is recognized properly by the system and the drivers are installed properly. 1. Click the Start Button and select Settings/Control Panel from the Start menu. 2.
  • Page 109 5.1 Installing the MP2100/MP2100M 5. Click the Resources Tab. Check the Conflicting device list and verify that it says “No conflicts.” The MP2100/MP2100M can be used if everything has been normal up to this point. If a problem has been identi- fied, perform the installation again.

  • Page 110: Mp2100/Mp2100M Connections

    5 Mounting and Wiring 5.2.1 Connectors 5.2 MP2100/MP2100M Connections 5.2.1 Connectors The following diagram shows the connectors for the MP2100/MP2100M. Battery connector SVB Module MP2100M MECHATROLINK connector I/O connector I/O connector CPU Module MECHATROLINK MECHATROLINK connector connector Battery hole MP2100 MP2100M 5.2.2 MECHATROLINK-I/II Connection (1) MECHATROLINK-I/II Connector (M-I / II)
  • Page 111 5.2 MP2100/MP2100M Connections (3) Cables Name and Specification Model Number Length 0.5 m MECHATROLINK Cable JEPMC-W6002-A5 USB Connector – USB Connector JEPMC-W6002-01 JEPMC-W6002-03 JEPMC-W6002-05 10 m JEPMC-W6002-10 20 m JEPMC-W6002-20 30 m JEPMC-W6002-30 0.5 m MECHATROLINKCable JEPMC-W6003-A5 USB Connector – USB Connector (with Core) JEPMC-W6003-01 JEPMC-W6003-03 JEPMC-W6003-05...
  • Page 112 5 Mounting and Wiring 5.2.2 MECHATROLINK- I / II Connection (5) Cable Connections between the MP2100/MP2100M and I/O Units and the MP2100/ MP2100M and SERVOPACKs JEPMC-W6002- JEPMC-W6003- Pin number Signal Name Signal Name (NC) (NC) DATA /DATA DATA DATA Shield Shield Shell Shell...
  • Page 113 5.2 MP2100/MP2100M Connections (8) Connection Example between MP2100/MP2100M, SERVOPACK, and IO2310 MP2100 IO2310 YASKAWA JEPMC-IO2310 OUT1 OUT2 YASKAWA SERVOPACK YASKAWA SERVOPACK YASKAWA SERVOPACK SGDH- SGDH- SGDH- NS100 NS100 NS100 Terminator Note: 1. Use standard cables between units. ≤ 2. Use under the conditions that L1 + L2 + L3 + . . . + Lu 50 m The MP2100/MP2100M has a built-in terminator.

  • Page 114: I/O Connection

    5 Mounting and Wiring 5.2.3 I/O Connection 5.2.3 I/O Connection (1) I/O Connector I/O connector is used to connect the MP2100/MP2100M and external I/O signals. External input: 5 points; External output: 4 points (2) Connector Specifications Connector Model Connector No. of Name Name Pins...
  • Page 115 5.2 MP2100/MP2100M Connections (6) Input Circuits The following table shows the I/O Connector input circuit specifications. Item Specifications Inputs 5 points DI-00 General-purpose input (shared with interrupts) DI-01 to DI-04 General-purpose input Input Format Sink mode/source mode input Isolation Method Photocoupler Input Voltage ±24 VDC, ±20％...
  • Page 116 5 Mounting and Wiring 5.2.3 I/O Connection (7) Output Circuit The following table shows the I/O Connector output circuit specifications. Item Specifications Outputs 4 points Output Format Transistor, open-collector, sink mode output Isolation Method Photocoupler Output Voltage +24 VDC, ±20％ Output Current 100 mA max.
  • Page 117 5.2 MP2100/MP2100M Connections (8) I/O Connector Connections The following diagram shows the connections for the I/O connector. DI_COM DC24V (DI) 24 VDC Digital input DI_00 External DI_01 input DI_02 signals DI_03 DI_04 24 VDC DC24V (DO) Fuse DO_00 Digital output External DO_01 ouput...
  • Page 118 Basic System Operation This chapter explains the basic operation of the MP2100/MP2100M system. 6.1 Operating Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2 6.1.1 Online Operating Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2 6.1.2 Offline Stop Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2 6.2 Startup Sequence and Basic Operation - - - - - - - - - - - - - - - - 6-3...

  • Page 119: Operating Modes

    6 Basic System Operation 6.1.1 Online Operating Mode 6.1 Operating Modes This section explains the online operating mode and the offline stop mode, both of which indicate the MP2100/MP2100M operating status. Online operating mode Operating mode 動作モード オンライン運転モード • S1 and S2 indicators lit ・「RDY」，｢RUN」LED点灯...

  • Page 120: Startup Sequence And Basic Operation

    6.2 Startup Sequence and Basic Operation 6.2 Startup Sequence and Basic Operation This section explains the startup sequence and basic operation of the MP2100/MP2100M. The methods for setting the mode switch, the types of self-diagnosis, and the indicator patterns are also explained. 6.2.1 MP2100 Mode Switch Settings The mode switch is used to control the startup sequence for the MP2100.

  • Page 121: Mp2100M Mode Switch Settings

    6 Basic System Operation 6.2.2 MP2100M Mode Switch Settings 6.2.2 MP2100M Mode Switch Settings The mode switch pins are used to control the startup sequence for the MP2100M. The following table shows the function of each pin on the switch. Mode Switch 1 (S1) Name Status...

  • Page 122: Indicator Patterns

    6.2 Startup Sequence and Basic Operation 6.2.3 Indicator Patterns The MP2100/MP2100M makes a number of determinations at startup. If an error is detected, the S1 indicator will blink red and the error content will be indicated by the number of times the indicator blinks. When the indi- cator is blinking, the MPE720 cannot be operated.

  • Page 123: Startup Sequence

    6 Basic System Operation 6.2.4 Startup Sequence 6.2.4 Startup Sequence A basic outline of the startup sequence and basic operation of the MP2100/MP2100M is shown below. Power ON Startup self- diagnosis Memory clear Check mode switch *1. MP2100: Mode switch 1-1 (INIT)* MP2100M: Mode switch 1-4 FLASH...
  • Page 124 6.2 Startup Sequence and Basic Operation (1) Startup Self-diagnosis The following operations are provided for startup self-diagnosis: • Memory (RAM) read/write diagnosis • System program (ROM) diagnosis • Main processor (CPU) function diagnosis • Floating point unit (FPU) function diagnosis If an error occurs in the diagnostic result, the S1 and S2 indicators will blink (red) the specified number of times.

  • Page 125: User Programs

    6 Basic System Operation 6.3.1 Drawings (DWGs) 6.3 User Programs This section explains the basic operation of the user program. The MP2100/MP2100M’s user programs include ladder program and motion program. For details, refer to the following manuals. • Machine Controller MP900 Series User’s Manual Ladder Programming (Manual No.: SIEZ-C887-1.2) •...

  • Page 126: Execution Control Of Drawings

    6.3 User Programs The following table gives details of the number of drawings for each type of drawing. Number of Drawings Drawing DWG.A DWG.I DWG.H DWG.L Parent Drawing 1 (A) 1 (I) 1 (H) 1 (L) Operation Error 1 (A00) 1 (I00) 1 (H00) 1 (L00)
  • Page 127 6 Basic System Operation 6.3.2 Execution Control of Drawings (3) Hierarchical Arrangement of Drawings Drawings are arranged in the following order: Parent drawing, child drawings, grandchild drawings. A parent drawing cannot call a child drawing of a different type, and a child drawing cannot call a grandchild drawing of a different type.
  • Page 128 6.3 User Programs (4) Execution Processing Method of Drawings Drawings in the hierarchy are executed by the lower-level drawings being called from upper-level drawings. The execution method is shown below, using DWG.A as an example. Starts according to the system program execution condition Parent Drawing Child Drawings...

  • Page 129: Motion Program

    6 Basic System Operation 6.3.3 Motion Program 6.3.3 Motion Program Motion program is a textual program utilized motion language. Maximum 256 motion program can be created, separated from the ladder programs. Two types of motion program are provided. Classification Designation Method Feature Number of Programs Main Programs...
  • Page 130 6.3 User Programs (1) Groups With the MP2100/MP2100M, the axes can be grouped by operation so that multiple machines can be indepen- dently controlled by one MP2100/MP2100M Machine Controller. This enables programming to be done for each axis group. The axes to be included in a group are defined in the group definitions. Operation is possible either as one group or with multiple groups.
  • Page 131 6 Basic System Operation 6.3.3 Motion Program (2) Motion Program Execution Processing Method A motion program must be called from DWG.H using the MSEE instruction. Motion programs can be called from any DWG.H, i.e., from parent, child, and grandchild DWG.H. A motion program execution example is shown below.
  • Page 132 6.3 User Programs (3) Motion Program Control Signals To execute a motion program called from a DWG.H by the MSEE instruction, program control signals (such as program start requests and program stop requests) must be input. The second word in the MSEE work registers contains the control signals.
  • Page 133 6 Basic System Operation 6.3.3 Motion Program (4) Motion Program Status The first word of the MSEE work registers consists of motion program status, which indicate the status of motion program execution. The following table shows the status. Bit No. Status Program is running.
  • Page 134 6.3 User Programs The registers for motion program execution information are shown below. Executing Program Numbers Motion Program SW03200 Execution Information Work 1 Program Number SW03200 SW03201 Executing Program Numbers Work 2 Program Number (Numbers of main programs SW03202 Work 3 Program Number being executed) 16 words SW03203...
  • Page 135 6 Basic System Operation 6.3.3 Motion Program The configuration of Work n Program Information is shown below. Work n Program Information Program Status Program Control Signal Executing Program Number Executing Block Number Parallel 0 Information 3 words Alarm Code 3 words Parallel 1 Information 3 words Parallel 2 Information...
  • Page 136 6.3 User Programs (8) Example of a Ladder Program for Motion Program Control The minimum ladder program required to control a motion program is shown in the following illustration. 0000 IB00100 OB80000 Servo ON IB00000 DB000300 0002 DB000010 Program start IB00001 DB000011 0005...

  • Page 137: Functions

    6 Basic System Operation 6.3.4 Functions 6.3.4 Functions Functions are executed by being called from a parent, child, or grandchild drawing using the FSTART instruc- tion.Unlike child and grandchild drawings, functions can be called from any drawing. The same function can also be called simultaneously from drawings of different types and different hierarchies.

  • Page 138: Registers

    6.4 Registers 6.4 Registers This section explains the types of register used by MP2100/MP2100M user programs (mainly ladder programs) and how these registers are used. 6.4.1 Types of Register (1) Registers in Drawings The registers shown in the following table can be used in all drawings. Charac- Type Name...
  • Page 139 6 Basic System Operation 6.4.1 Types of Register (2) Registers in Functions The types of register shown in the following table can be used in functions. Charac- Type Name Designation Method Range Description teristic Function input XB, XW, XL, XFnnnnn XW00000 to Input to a function.
  • Page 140 6.4 Registers (3) Register Ranges in Programs The programs and register ranges are shown below. Registers common to all drawings DWG共通レジスタ DWG H03 (Drawing) DWG H03（図面） System registers システムレジスタ Program プログラム (SB,SW,SL,SFnnnnn) ① 1,000 steps max. Max. 1000ステップ Data registers ②...

  • Page 141: Register Designation Methods

    6 Basic System Operation 6.4.2 Register Designation Methods 6.4.2 Register Designation Methods Registers can be designated by direct designation of the register number or by symbolic designation. These two types of register designation can be used together in the same ladder program. When symbolic designation is used, the correspondence between the symbols and the register numbers must be defined.

  • Page 142: Data Types

    6.4 Registers 6.4.3 Data Types There are five data types: Bit, integer, double-length integer, real number, and address. Use them as required. Address data is used only for pointer designations inside functions. The following table shows the data types. Type Data Type Numeric Range Remarks...
  • Page 143 6 Basic System Operation 6.4.3 Data Types (a) Examples of Use by Data Type 1. Bits Bits are used for relay circuit ON/OFF. IB00010 MB000101 IB00001 IFON 2. Words Words are used for numeric operations and logic operations. H00FF MW00101 MW00100 ＋...

  • Page 144: Using Subscripts I And J

    6.4 Registers 5. Addresses Addresses are used only for pointer designations. MF00200 to MF00228 are used as the parameter table in the following example. MF00200～MF00228をパラメータテーブルとして使用します。 Error input value MF00200 偏差入力値 PID MA00200 ⇒MF00022 PID output value Parameter table leading PID出力値 パラメータテーブル...
  • Page 145 6 Basic System Operation 6.4.4 Using Subscripts i and j (4) Subscripts Attached to Real Number Data When a subscript is attached to real number integer data, the value of i or j is added to the register number. For example, if i = 1, MF00000i will be the same as MF00001.

  • Page 146: Self-Configuration

    6.5 Self-configuration 6.5 Self-configuration 6.5.1 Overview of Self-configuration Self-configuration eliminates the need to make settings for Module definitions, making it possible to perform startup work easily and quickly for the MP2100/MP2100M system. MECHATROLINK information about the station configuration is collected and definition files are generated automatically.

  • Page 147: Mp2100/Mp2100M Self-Configuration

    6 Basic System Operation 6.5.2 MP2100/MP2100M Self-configuration 6.5.2 MP2100/MP2100M Self-configuration Details on definition information when self-configuration is executed are shown below. (1) I/O Allocation Item Allocation Digital inputs (5 points) IW0000 Digital output (4 points) OW0001 MECHATROLINK I/O leading registers: IW/OW0010 I/O end registers: IW/OW040F IW0010 to IW040F OW0010 to OW040F...
  • Page 148 6.5 Self-configuration (a) Devices Recognized in Self-configuration The devices that are recognized in self-configuration are listed below. Type Model Number Details SERVO- SGD- Σ Series AC Servodrives PACK SGDB- Σ-II Series SGDH Servodrives SGDH- JUSP-NS100 Application Module MECHATROLINK-I Interface Unit Σ-II Series SGDH Servodrives SGDH- JUSP-NS115...
  • Page 149 6 Basic System Operation 6.5.2 MP2100/MP2100M Self-configuration (c) Motion Fixed Parameters When self-configuration is executed, all motion fixed parameters, except the ones listed below, will return to their default settings. For details on motion fixed parameters, refer to Chapter 7 Motion Parameters. Name Set Value Encoder Type...
  • Page 150 6.5 Self-configuration Table 6.2 SGDH+NS100 and SGDH+NS115 Parameters Parameters Meaning Default Set Value Pn100 Speed Loop Gain 2000 2000 Pn101 Speed Loop Integration Time Constant Pn102 Position Loop Gain Pn109 Feed Forward Pn11F Position Loop Integration Time Constant Pn202 Electronic Gear Ratio B (Numerator) Pn203 Electronic Gear Ratio A (Denominator) Pn500...

  • Page 151: Motion Api

    6 Basic System Operation 6.6.1 Overview of the Motion API 6.6 Motion API 6.6.1 Overview of the Motion API The Motion API is a group of C-language service functions that send commands to the MP2100/MP2100M from a user application running in the host computer. Commands such as motion commands can be sent easily from the host computer based on the mechanical characteristics of the system.

  • Page 152: Motion Api Software

    6.6 Motion API 6.6.2 Motion API Software The following diagram shows the software configuration of the MP2100/MP2100M's Motion API. Host computer Include General-purpose Header file User application C-language (ymcAPI*.H *.EXE development environment (such as Visual C++) Link Library file Motion API DLL ymcPCAPI.LIB ymcPCAPI.DLL MP2100 device drivers...

  • Page 153: Installing Mp2100/Mp2100M

    6 Basic System Operation 6.6.4 Installing MP2100/MP2100M 6.6.4 Installing MP2100/MP2100M (1) Overview of the Software Package The following table shows an overview of the MP2100/MP2100M's Motion API package. Name Model Specifications Package Overview Motion API for the CPMC-MPA700 Motion API for the The following files are copied by the Installer MP2100/MP2100M MP2100/MP2100M...
  • Page 154 6.6 Motion API 3. Specify the destination directory where the Motion API will be installed and click the Next Button. 4. The following driver installation prompt will be displayed. Click the OK Button. 5. The host computer must be restarted to enable the environment variable path. 6-37...
  • Page 155 6 Basic System Operation 6.6.4 Installing MP2100/MP2100M (3) Verifying the Installation After restarting the host computer, open Windows Explorer and verify that the folders were created as shown below. Refer to the MP2100 API reference file (PCAPI.chm) for details on the Motion API. 6-38...
  • Page 156 Motion Parameters This chapter provides information on the motion parameters. 7.1 Motion Parameters Register Numbers - - - - - - - - - - - - - - - - - 7-2 7.2 Motion Parameter Details - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3 7.2.1 Motion Fixed Parameter Details - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3 7.2.2 Motion Setting Parameter Details - - - - - - - - - - - - - - - - - - - - - - - - - - 7-9 7.2.3 Motion Monitoring Parameter Details - - - - - - - - - - - - - - - - - - - - - - - 7-30...

  • Page 157: Motion Parameters Register Numbers

    7 Motion Parameters 7.1 Motion Parameters Register Numbers The motion parameters register numbers are determined by the circuit number and axis number. The following tables lists the motion parameters register numbers. The register numbers for the motion parameters for each axis can be obtained using the following equation. INFO Motion parameters register number = 　...

  • Page 158: Motion Parameter Details

    7.2 Motion Parameter Details 7.2 Motion Parameter Details 7.2.1 Motion Fixed Parameter Details (1) Run Mode Run Mode No. 0 Setting Range Setting Unit Default Value − 0 to 3 Specify the application method of the axis. 0: Normal Running (default) Use this setting when actually using an axis.
  • Page 159 7 Motion Parameters 7.2.1 Motion Fixed Parameter Details Function Selection 1 No. 1 Setting Range Setting Unit Default Value − − 0000H No. 1 (cont.) Bit 3 Positive Over Travel Set whether or not to use the overtravel detection function in the positive direction. A setting must also be made in the SERVOPACK.
  • Page 160 7.2 Motion Parameter Details (4) Command Unit Command Unit No. 4 Setting Range Setting Unit Default Value 0 to 3 − Set the unit for the reference that is input. The minimum reference unit is determined by this parameter and, the Number of Decimal Places (fixed parameter 5). If pulse is selected, the Electronic Gear Ratio (fixed parameters 8 and 9) will be disabled.
  • Page 161 7 Motion Parameters 7.2.1 Motion Fixed Parameter Details (5) Maximum Value of Rotary Counter (POSMAX) Maximum Value of Rotary Counter (POSMAX) Setting Range Setting Unit Default Value No. 10 Reference unit 360000 1 to 2 −1 Set the reset position when an infinite length axis is set. Enabled when bit 0 of Function Selection 1 (fixed parameter) is set to an infinite axis.
  • Page 162 7.2 Motion Parameter Details (7) Backlash Compensation Backlash Compensation Setting Range Setting Unit Default Value No. 16 Reference unit −2 to 2 −1 Set the backlash compensation in reference units. Backlash compensation can be disabled by setting this parameter to 0. Perform backlash compensation using the functions at the SERVOPACK.
  • Page 163 7 Motion Parameters 7.2.1 Motion Fixed Parameter Details (9) Encoder Settings Rated Speed Setting Range Setting Unit Default Value No. 34 −1 1 to 32000 3000 −1 Set the rated motor speed in 1 min units. Set this parameter based on the specifications of the motor that is used. Encoder Resolution Setting Range Setting Unit...

  • Page 164: Motion Setting Parameter Details

    7.2 Motion Parameter Details 7.2.2 Motion Setting Parameter Details The motion setting parameters are listed in the following tables. Note: : The labels shown in reverse type indicate that the parameter is enabled during the Position corresponding control modes. (1) RUN Commands RUN Commands Speed Position...
  • Page 165 7 Motion Parameters 7.2.2 Motion Setting Parameter Details RUN Commands Speed Phase Torque Position Setting Range Setting Unit Default Value − − 0000H Bit 6 POSMAX Preset (cont.) Presets the POSMAX Number of Turns (monitoring parameter IL 1E) to the value set for the Preset Data of POSMAX Turn (setting parameter OL 4C).
  • Page 166 7.2 Motion Parameter Details (2) Mode 1 Mode 1 Phase Speed Torque Position Setting Range Setting Unit Default Value − − 0000H Bit 0 Deviation Abnormal Detection Error Level Set whether excessively following errors are treated as warnings or as alarms. 0: Warning (default): Axis continues to operate even if an excessively following error is detected.
  • Page 167 7 Motion Parameters 7.2.2 Motion Setting Parameter Details (4) Function 1 Function 1 Speed Position Phase Torque Setting Range Setting Unit Default Value − − 0011H Bit 0 to Bit 3 Speed Units Set the unit for speed references. 0: Reference unit/s 1: 10 reference unit/min.
  • Page 168 7.2 Motion Parameter Details (6) Function 3 Function 3 Phase Speed Position Torque Setting Range Setting Unit Default Value − − 0000H Bit 1 Close Position Loop Using OL Disables/enables phase reference generation processing when executing phase refer- ence commands. Enable this processing when an electronic shaft is being used, and disable it when a electronic cam is being used.
  • Page 169 7 Motion Parameters 7.2.2 Motion Setting Parameter Details (8) Motion Command Options Motion Command Options Speed Position Phase Torque Setting Range Setting Unit Default Value − − 0000H Bit 0 Command Pause The axis will decelerate to a stop if this bit is changed to 1 while an axis is moving dur- ing positioning, external positioning, STEP operation, or speed reference.
  • Page 170 7.2 Motion Parameter Details (9) Motion Subcommands Motion Subcommand Phase Speed Torque Position Setting Range Setting Unit Default Value 0 to 5 − Set the motion subcommand to be used with the motion command. 0: NOP No command 1: PRM_RD Read SERVOPACK Parameter 2: PRM_WR Write SERVOPACK Parameter...
  • Page 171 7 Motion Parameters 7.2.2 Motion Setting Parameter Details (11) Speed Limit at Torque Reference Speed Limit at Torque Reference Position Speed Torque Phase Setting Range Setting Unit Default Value 0.01% −32768 to 32767 15000 Set the speed limit for torque references as a percentage of the rated speed. Torque control is used to control the Servomotor to output the specified torque, so it does not control the motor speed.
  • Page 172 7.2 Motion Parameter Details (13) Positive Side Limiting Torque Setting at the Speed Reference Positive Side Limiting Torque Setting at the Speed Reference Position Speed Phase Torque Setting Range Setting Unit Default Value 0.01% 30000 −2 −1 to 2 Set the torque limit for the speed references. The same value is used for both the positive and negative directions.
  • Page 173 7 Motion Parameters 7.2.2 Motion Setting Parameter Details (16) Position Reference Type Position Reference Type Speed Position Phase Torque Setting Range Setting Unit Default Value Reference unit −2 −1 to 2 Set the position reference. This parameter is used by the following commands. 1: POSING Positioning 2: EX_POSING...
  • Page 174 7.2 Motion Parameter Details (18) Positioning Completed Width 2 Positioning Completed Width 2 Phase Speed Position Torque Setting Range Setting Unit Default Value Reference unit 0 to 65535 The Position Proximity (IB 0C3) will be turned ON when the absolute value of the difference between the command position and the feedback position is less than the value set here.
  • Page 175 7 Motion Parameters 7.2.2 Motion Setting Parameter Details (20) Position Complete Timeout Position Complete Timeout Speed Position Phase Torque Setting Range Setting Unit Default Value 0 to 65535 Set the time to detect a Positioning Time Over. If the Positioning Completed bit does not turn ON within the time set here after reference pulses have been distributed dur- ing position control, a Positioning Time Over alarm (monitoring parameter IB 046) will occur.
  • Page 176 7.2 Motion Parameter Details (23) Gain and Bias Settings Position Loop Gain Phase Speed Position Torque Setting Range Setting Unit Default Value 0 to 32767 0.1/s Determine the responsiveness for the SERVOPACK’s position loop. If the position loop gain is set high, the responsiveness is high and the positioning time is short. Set the optimum value for the machine rigidity, inertia, and type of Servomotor.
  • Page 177 7 Motion Parameters 7.2.2 Motion Setting Parameter Details Speed Integration Time Constant Setting Range Setting Unit Default Value 15 to 65535 0.01 ms 2000 The speed loop has an integral element to enable responding to minute inputs. This element, however, causes a delay in the Servo system, adversely affecting the response if the time constant is set too large.
  • Page 178 7.2 Motion Parameter Details (24) Acceleration/Deceleration Settings Linear Acceleration Time Speed Position Phase Torque Setting Range Setting Unit Default Value Depends on the Accelera- tion/Deceleration Units −1 0 to 2 03, bits 4 to 7). Set the rate or the time constant for linear acceleration. The actual machine operation depends on the settings in the SERVOPACK parameters.
  • Page 179 7 Motion Parameters 7.2.2 Motion Setting Parameter Details (25) S-Curve Acceleration Time S-Curve Acceleration Time Speed Position Phase Torque Setting Range Setting Unit Default Value 0 to 5100 0.1 ms Set the acceleration/deceleration filter time constant. Always make sure that pulse distribution has been completed (i.e., that monitoring parameter IB 0C0 is ON) before changing the time constant.
  • Page 180 7.2 Motion Parameter Details (26) Zero Point Return Home Return Type Speed Position Phase Torque Setting Range Setting Unit Default Value 0 to 19 − Set the operation method when the Zero Point Return (ZRET) motion command is executed. With an incremental encoder, there are 13 different methods that can be used for the zero point return operation. With an absolute encoder, the axis is returned to the zero point of the machine coordinate system regardless of which method is being used.
  • Page 181 7 Motion Parameters 7.2.2 Motion Setting Parameter Details (27) Step Distance Step Distance Speed Position Phase Torque Setting Range Setting Unit Default Value Reference unit 1000 −1 0 to 2 Set the moving amount for STEP commands. Refer to 8.8 STEP Operation (STEP) for details on STEP commands. Rated speed 100% Speed...
  • Page 182 7.2 Motion Parameter Details Preset Data of POSMAX Turn Setting Range Setting Unit Default Value −2 to 2 −1 When the POSMAX Preset bit (setting parameter OW 00, bit 6) is set to 1, the value set here will be preset as the POS- MAX Number of Turns (monitoring parameter IL 1E).
  • Page 183 7 Motion Parameters 7.2.2 Motion Setting Parameter Details Servo User Constant Setting Range Setting Unit Default Value − −2 to 2 −1 Set the setting for the SERVOPACK parameter. Set the setting value to be written to the SERVOPACK parameter with the PRM_WR motion command. Refer to Chapter 8 Motion Commands for details.
  • Page 184 7.2 Motion Parameter Details (33) Absolute Infinite Length Axis Position Control Information Absolute Position at Power OFF (Low Value) Speed Position Phase Torque Setting Range Setting Unit Default Value pulse −2 −1 to 2 This information is for infinite length axis position control when an absolute encoder is used. The encoder position is stored in 4 words.

  • Page 185: Motion Monitoring Parameter Details

    7 Motion Parameters 7.2.3 Motion Monitoring Parameter Details 7.2.3 Motion Monitoring Parameter Details The motion monitoring parameters are listed in the following table. (1) Drive Status Drive Status Range Unit − − Bit 0 Motion Controller Operation Ready This bit turns ON when RUN preparations for the MP2100 have been completed. This bit will be OFF for the following conditions: •...
  • Page 186 7.2 Motion Parameter Details (3) Warning Warning Range Unit − − Bit 0 Excessively Following Error This bit turns ON if the following error exceeds the value set for Deviation Abnormal Detection Value (setting parameter OL 22) when excessively following error is set to be treated as warnings by setting the Deviation Abnormal Detection Error Level to 1 in Mode 1 (setting parameter OW 01, bit 0).
  • Page 187 7 Motion Parameters 7.2.3 Motion Monitoring Parameter Details (4) Alarm Alarm Range Unit − − Bit 0 Servo Driver Error This bit turns ON when there is an alarm in the SERVOPACK for MECHATROLINK communication. The content of the alarm can be confirmed using the Servo Alarm Code (monitoring parameter IW 2D).
  • Page 188 7.2 Motion Parameter Details Alarm Range Unit − − Bit 8 Excessive Speed (cont.) This bit turns ON when a speed is set that exceeds the setting range for the speed refer- ence. OFF: Speed normal ON: Excessive speed Bit 9 Excessively Following Error This bit turns ON if the following error exceeds the value set for the Deviation Abnor- mal Detection Value (setting parameter OL...
  • Page 189 7 Motion Parameters 7.2.3 Motion Monitoring Parameter Details (5) Motion Command Response Codes Servo Command Type Response Range Unit 0 to 65535 − Stores the motion command code for the command that is being executed. This is the motion command code that is currently being executed and is not necessarily the same as the Motion Command (setting parameter OW 08).
  • Page 190 7.2 Motion Parameter Details (8) Motion Subcommand Status Motion Subcommand Status Range Unit − − Bit 0 Command Executing (BUSY) This bit indicates the motion subcommand status. OFF: READY (completed) ON: BUSY (processing) This bit turns ON during execution of commands that have completions or during abort processing.
  • Page 191 7 Motion Parameters 7.2.3 Motion Monitoring Parameter Details (9) Position Management Status Position Management Status Range Unit − − Bit 0 Distribution Completed (DEN) This bit turns ON when pulse distribution has been completed for a move command. This bit turns ON when the SERVOPACK parameter Distribution Completed (monitoring parameter IB 2C8) turns ON and the SVB-01 Module’s internal distri- bution processing is completed.
  • Page 192 7.2 Motion Parameter Details Position Management Status Range Unit − − Bit 6 Machine Lock ON (MLKL) (cont.) This bit turns ON when the Machine Lock bit is set to 1 in the RUN Commands (set- ting parameter OW 00, bit 1) and the axis has actually entered machine lock mode. OFF: Machine lock mode released ON: Machine lock mode Bit 8...
  • Page 193 7 Motion Parameters 7.2.3 Motion Monitoring Parameter Details Machine Coordinate Feedback Position (APOS) Range Unit Reference unit −2 to 2 −1 Stores the feedback position in the machine coordinate system managed by the MP2100/MP2100M. • This parameter will be set to 0 when a Zero Point Return (ZRET) is executed. When an infinite length axis type is selected, a range of 0 to (Maximum Value of Rotary Counter (POSMAX) (fixed parameter 10) –...
  • Page 194 7.2 Motion Parameter Details (12) SERVOPACK Status Network Servo Status Range Unit − − Bit 0 Alarm Occurred (ALM) OFF: No alarm occurred. ON: Alarm occurred. Bit 1 Warning Occurred (WARNING) OFF: No warning occurred. ON: Warning occurred. Bit 2 Command Ready (CMDRDY) OFF: Command cannot be received.
  • Page 195 7 Motion Parameters 7.2.3 Motion Monitoring Parameter Details (13) SERVOPACK Information Servo Alarm Code Range Unit −32768 to 32767 − Stores the alarm code (leftmost 2 digits) from the SERVOPACK. Example: The code for a communication error that occurs in an SGDS SERVOPACK is E6. Refer to the manual for the SERVOPACK for details on alarms.
  • Page 196 7.2 Motion Parameter Details (14) SERVOPACK I/O Monitor Stores I/O information of the SERVOPACK. Network Servo I/O Monitor Range Unit − − Bit 0 Positive Drive Prohibited Input (P_OT) OFF: OFF ON: ON Bit 1 Negative Drive Prohibited Input (N_OT) OFF: OFF ON: ON Bit 2...
  • Page 197 7 Motion Parameters 7.2.3 Motion Monitoring Parameter Details (15) SERVOPACK User Monitor Information The Monitor Selection made by the user when using a SERVOPACK for MECHATROLINK communication is stored in this parameter. Network Servo User Monitor Information Range Unit − −...
  • Page 198 7.2 Motion Parameter Details Auxiliary Servo User Constant Range Unit − −2 to 2 −1 Stores the data of the parameter being read. This parameter stores the data of the SERVOPACK parameter read using the MECHATROLINK subcommand area. Refer to Chapter 8 Motion Commands for details. Motor Type Range Unit...
  • Page 199 7 Motion Parameters 7.2.3 Motion Monitoring Parameter Details (18) Absolute Infinite Length Axis Position Control Information Absolute Position at Power OFF (Low Value) Range Unit pulse −2 to 2 −1 Stores information used for infinite length axis position control when an absolute encoder is used. These parameters store the encoder position in 4 words.

  • Page 200: Example Of Setting Motion Parameters For The Machine

    7.3 Example of Setting Motion Parameters for the Machine 7.3 Example of Setting Motion Parameters for the Machine Set the following seven motion parameters to enable motion control that suits the machine’s specifications. • Reference Unit • Electronic Gear • Axis Type •...
  • Page 201 7 Motion Parameters 7.3.2 Electronic Gear Parameter No. Default Parameter Name Description (Register No.) Value 10000 Motion Fixed No. 6 Command Unit • This parameter shows the load moving amount for each Parameters per Revolution rotation of the load axis. Sets the load moving amount value divided by the reference unit.
  • Page 202 7.3 Example of Setting Motion Parameters for the Machine (a) Parameter Setting Example Using Ball Screw EXAMPLE Motor 7 rotations Ball screw pitch P = 6 mm/rotation 5 rotations In the above machine system, if the requirement is reference unit = output unit = 0.001 mm, the setting of each parameter will be as follows: 6 mm No.6 =...

  • Page 203: Axis Type Selection

    7 Motion Parameters 7.3.3 Axis Type Selection 7.3.3 Axis Type Selection There are two types of position control: Finite length position control: Return and other operations are performed only within a specified range, i.e., within a prescribed positioning interval. Infinite length position control: Used for moving in one direction only. •...
  • Page 204 7.3 Example of Setting Motion Parameters for the Machine Use incremental addition mode for an infinite length axis. In other words, the new moving amount (an incremental moving INFO amount) is added to the previous position reference in OL 1C and set as the new position reference in OL It is important to note that the position reference is not necessarily set between 0 and one less than the Maximum Value of Rotary Counter (POSMAX).

  • Page 205: Speed References

    7 Motion Parameters 7.3.5 Speed References 7.3.5 Speed References There are two methods of setting the speed reference for the feed speed or other speeds. One method involves using reference units and the other method involves setting the percentage (%) of the rated speed. The following table shows the parameters relating to speed references.
  • Page 206 7.3 Example of Setting Motion Parameters for the Machine (a) Speed Reference Parameter Setting Examples EXAMPLE No. 5 = 3 digits No. 34 = 3,000 min No. 36 = 65,536 pulses/rotation Therefore, rated speed = 3,000 min 　　　　　　　　　　 = 3,000 × 65,536 　　　　　　　　　...
  • Page 207 7 Motion Parameters 7.3.5 Speed References (b) Speed Reference Parameter Setting Examples (2) EXAMPLE 1. When the Speed Unit (OW 03, bits 0 to 3) is set as follows: 0: Reference units/s 1: 10 reference units/min Speed Speed Reference Time 2.

  • Page 208: Acceleration/Deceleration Settings

    7.3 Example of Setting Motion Parameters for the Machine 7.3.6 Acceleration/Deceleration Settings The acceleration/deceleration can be set to either the rate of acceleration/deceleration or the time required to reach the rated speed from 0. The parameters related to acceleration/deceleration settings are listed in the follow- ing table.

  • Page 209: Acceleration/Deceleration Filter Settings

    7 Motion Parameters 7.3.7 Acceleration/Deceleration Filter Settings (a) Acceleration/Deceleration Unit (OW 03, bits 4 to 7) set to 0: Reference units/s Speed EXAMPLE (100%) Specified speed Linear Acceleration Time Linear Deceleration Time Time (b) Acceleration/Deceleration Units (OW 03, bits 4 to 7) set to 1: ms Speed EXAMPLE (100%)
  • Page 210 Motion Commands This chapter describes motion commands. 8.1 Command Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2 8.1.1 Motion Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2 8.1.2 Motion Subcommands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3 8.1.3 Motion Command Support by SERVOPACK Model - - - - - - - - - - - - - - 8-4...

  • Page 211: Command Table

    8 Motion Commands 8.1.1 Motion Commands 8.1 Command Table 8.1.1 Motion Commands Command Command Name Description Code No command POSING Positioning Positions to the specified position using the specified acceleration/deceleration times and the specified speed. EX_POSING External Positioning Positions by moving the external positioning travel distance from the point an external positioning signal was input when already performing a positioning operation.

  • Page 212: Motion Subcommands

    8.1 Command Table 8.1.2 Motion Subcommands Command Command Name Description Code No command PRM_RD Read SERVOPACK parame- Reads a SERVOPACK parameter. PRM_WR Write SERVOPACK parame- Writes a SERVOPACK parameter. Reserved. SMON Monitor Status Monitors the data selected in the Servodriver user moni- tor settings.

  • Page 213: Motion Command Support By Servopack Model

    8 Motion Commands 8.1.3 Motion Command Support by SERVOPACK Model 8.1.3 Motion Command Support by SERVOPACK Model The following tables shows the motion commands supported by each model of SERVOPACK. A Motion Com- mand Setting Error warning will occur if a command that is not supported is specified. SERVOPACK SGD- SGDH-...

  • Page 214: Positioning (Posing)

    8.2 Positioning (POSING) 8.2 Positioning (POSING) The POSING command positions the axis to the target position using the specified target position and speed. Parameters related to acceleration and deceleration are set in advance. The speed and target position can be changed during operation. When the target position is changed so that there is not sufficient deceleration distance or after the new target position has already been passed, the system will first decelerate to a stop and then reposition according to the new target position.
  • Page 215 8 Motion Commands (3) Aborting Axis travel can be stopped during command execution and the remaining travel cancelled by aborting execution of a command. A command is aborted by setting the Command Abort bit (OB 091) to 1. 1. Set the Command Abort bit (OB 091) to 1.
  • Page 216 8.2 Positioning (POSING) (b) Monitoring Parameters Parameter Name Monitor Contents Servo ON Indicates the Servo ON status. ON: Power supplied to Servomotor, 0: Power not supplied to Servomotor Warning Stores the most current warning. Alarm Stores the most current alarm. Servo Command Indicates the motion command that is being executed.
  • Page 217 8 Motion Commands (5) Timing Charts (a) Normal Execution 08 = 1 (POSING) 08 = 1 (POSING) 090 (BUSY) 093 (FAIL) 098 (COMPLETE) 0C0 (DEN) 0C1 (POSCOMP) 1 scan Undefined length of time (b) Execution when Aborted 08 = 1 (POSING) 091 (ABORT) 08 = 1 (POSING) 090 (BUSY)
  • Page 218 8.2 Positioning (POSING) (d) Command Hold 08 = 1 (POSING) 090 (HOLD) 08 = 1 (POSING) 090 (BUSY) 091 (HOLDL) 093 (FAIL) 098 (COMPLETE) 0C0 (DEN) 0C1 (POSCOMP) 1 scan Undefined length of time (e) Execution when an Alarm Occurs 08 = 1 (POSING) 08 = 1 (POSING) 090 (BUSY)

  • Page 219: External Positioning (Ex_Posing)

    8 Motion Commands 8.3 External Positioning (EX_POSING) The EX_POSING command positions the axis to the target position using the specified target position and speed. Parameters related to acceleration and deceleration are set in advance. If the external positioning signal turns ON during axis movement, the axis will move the distance specified for the External Positioning Move Distance from the point at which the external positioning signal turned ON, and then stop.
  • Page 220 8.3 External Positioning (EX_POSING) (2) Holding Axis travel can be stopped during command execution and then the remaining travel can be restarted. A com- mand is held by setting the Command Pause bit (OB 090) to 1. 1. Set the Command Pause bit (OB 090) to 1.
  • Page 221 8 Motion Commands (cont’d) Parameter Name Setting Latch Zone Upper Set the boundary in the positive direction of the area in which the external positioning Limit signal is to be valid. Positioning Complet- Set the range in which the Position Proximity bit (IB 0C3) will turn ON.
  • Page 222 8.3 External Positioning (EX_POSING) (5) Timing Charts (a) Normal Execution This position is stored. (IL Travel distance 08 = 2 (EX_POSING) 08 = 2 (EX_POSING) 090 (BUSY) 093 (FAIL) 098 (COMPLETE) 0C0 (DEN) 0C1 (POSCOMP) Latch signal 1 scan Undefined length of time Phase-C, EXT1,2,3 0C2 (LCOMP) (Latch Completed)
  • Page 223 8 Motion Commands (d) Execution when an Alarm Occurs 08 = 2 (EX_POSING) 08 = 2 (EX_POSING) 090 (BUSY) 093 (FAIL) 098 (COMPLETE) 0C0 (DEN) 0C1 (POSCOMP) 1 scan Undefined length of time Alarm 8-14...

  • Page 224: Zero Point Return (Zret)

    8.4 Zero Point Return (ZRET) 8.4 Zero Point Return (ZRET) When the Zero Point Return command (ZRET) is executed, the axis will return to the zero point of the machine coordinate system. The operation to detect the position of the zero point is different between an absolute encoder and an incremental encoder.
  • Page 225 8 Motion Commands (2) Zero Point Return Operation and Parameters This section explains the operation that occurs after starting a zero point return and the parameters that need to be set before executing the command. (a) DEC1 + C-Phase Method Travel is started at the zero point return speed in the direction specified in the parameters.
  • Page 226 8.4 Zero Point Return (ZRET) (b) ZERO Signal Method Travel is started at the approach speed in the direction specified in the parameters. When the rising edge of the ZERO signal is detected, the speed is reduced to the creep speed and positioning is performed. When positioning has been completed, a machine coordinate system is established with the final position as the zero point.
  • Page 227 8 Motion Commands (c) DEC1 + ZERO Signal Method Travel is started at the zero point return speed in the direction specified in the parameters. When the rising edge of the DEC1 signal is detected, the speed is reduced to the approach speed. When the rising edge of the ZERO signal is detected after passing the DEC1 signal, the speed is reduced to the creep speed and position- ing is performed.
  • Page 228 8.4 Zero Point Return (ZRET) (d) C-Phase Method Travel is started at the approach speed in the direction specified in the parameters. When the rising edge of the phase-C pulse is detected, the speed is reduced to the creep speed and positioning is performed. When positioning has been completed, a machine coordinate system is established with the final position as the zero point.
  • Page 229 8 Motion Commands (e) C Pulse Only Method Travel is started at the creep speed in the direction specified by the sign of the creep speed. When the rising edge of the phase-C pulse is detected, positioning is performed at the positioning speed. When positioning has been completed, a machine coordinate system is established with the final position as the zero point.
  • Page 230 8.4 Zero Point Return (ZRET) (f) POT & C Pulse Method Travel is started at the approach speed in the positive direction until the stroke limit is reached. When the POT signal is detected, the direction is reversed to return at creep speed. When the phase-C pulse is detected during the return after passing the POT signal, positioning is performed.
  • Page 231 8 Motion Commands (g) POT Only Method Travel is started at the approach speed in the positive direction until the stroke limit is reached. When the POT signal is detected, the direction is reversed to return at Positioning speed. When a change in the POT signal status from ON to OFF is detected, positioning is performed.
  • Page 232 8.4 Zero Point Return (ZRET) (h) Home LS & C Pulse Method Travel is started at the approach speed in the direction specified by the sign of the approach speed. When the rising edge of the home signal is detected, the speed is reduced to creep speed. When the first phase-C pulse is detected after the falling edge of the home signal, positioning is performed at positioning speed.
  • Page 233 8 Motion Commands (i) Home Only Method Travel is started at the creep speed in the direction specified by the sign of the creep speed. When the rising edge of the home signal is detected, positioning is performed at the positioning speed. When positioning has been completed, a machine coordinate system is established with the final position as the zero point.
  • Page 234 8.4 Zero Point Return (ZRET) (j) NOT & C Pulse Method Travel is started at the approach speed in the negative direction until the stroke limit is reached. When the NOT signal is detected, the direction is reversed to return at creep speed. When the phase-C pulse is detected during the return after passing the NOT signal, positioning is performed.
  • Page 235 8 Motion Commands (k) NOT Only Method Travel is started at the approach speed in the negative direction until the stroke limit is reached. When the NOT signal is detected, the direction is reversed to return at Positioning speed. When a change in the NOT signal status from ON to OFF is detected, positioning is performed.
  • Page 236 8.4 Zero Point Return (ZRET) (l) INPUT & C Pulse Method Travel is started at the approach speed in the direction specified by the sign of the approach speed. When the rising edge of the INPUT signal is detected, the speed is reduced to creep speed. When the first phase-C pulse is detected after the falling edge of the INPUT signal, positioning is performed at positioning speed.
  • Page 237 8 Motion Commands (m) INPUT Only Method Travel is started at the creep speed in the direction specified by the sign of the creep speed. When the rising edge of the INPUT signal is detected, positioning is performed at the positioning speed. When positioning has been completed, a machine coordinate system is established with the final position as the zero point.
  • Page 238 8.4 Zero Point Return (ZRET) (3) Operating Procedure Execution Conditions Confirmation Method There are no alarms. Both IL 02 and IL 04 are 0. The Servo ON condition. 001 is ON. Motion command execution has been completed. 08 is 0 and IB 090 is OFF.
  • Page 239 8 Motion Commands (6) Related Parameters (a) Setting Parameters Parameter Name Setting Servo ON Turn the power to the Servomotor ON and OFF. 1: Power ON to Servomotor, 0: Power OFF to Servomotor Turn ON the power before setting the Motion Command Code (OW 08) to 3.
  • Page 240 8.4 Zero Point Return (ZRET) (7) Timing Charts (a) Normal Execution Depends on zero point return method. 08 = 3 (ZRET) 08 = 3 (ZRET) 090 (BUSY) 093 (FAIL) 098 (COMPLETE) 0C0 (DEN) 0C1 (POSCOMP) 1 scan Undefined length of time 0C5 (ZRNC) (b) Execution when Aborted 08 = 3 (ZRET)
  • Page 241 8 Motion Commands (d) Execution when an Alarm Occurs 08 = 3 (ZRET) 08 = 3 (ZRET) 090 (BUSY) 093 (FAIL) 098 (COMPLETE) 0C0 (DEN) 0C1 (POSCOMP) 1 scan Undefined length of time 0C5 (ZRNC) Alarm 8-32...

  • Page 242: Interpolation (Interpolate)

    8.5 Interpolation (INTERPOLATE) 8.5 Interpolation (INTERPOLATE) The INTERPOLATE command positions the axis according to the target position that changes in sync with the high-speed scan. The positioning data is generated by a ladder program. (1) Operating Procedure Execution Conditions Confirmation Method There are no alarms.
  • Page 243 8 Motion Commands (3) Related Parameters (a) Setting Parameters Parameter Name Setting Servo ON Turns the power to the Servomotor ON and OFF. 1: Power ON to Servomotor, 0: Power OFF to Servomotor Set this bit to 1 before setting the Motion Command (OW 08) to 4.
  • Page 244 8.5 Interpolation (INTERPOLATE) (4) Timing Charts (a) Normal Execution Change target position each high-speed scan. 08 = 4 (INTERPOLATE) 08 = 4 (INTERPOLATE) 090 (BUSY) 093 (FAIL) 098 (COMPLETE) 0C0 (DEN) 1 scan Undefined length of time (b) Execution when an Alarm Occurs 08 = 4(INTERPOLATE) Alarm 08 = 4(INTERPOLATE)

  • Page 245: Latch (Latch)

    8 Motion Commands 8.6 Latch (LATCH) The LATCH command saves in a register the current position when the latch signal is detected during interpola- tion positioning. The latch signal type is set in setting register OW 04 and can be set to the phase-C pulse or the /EXT1, / EXT2, or /EXT3 signal.
  • Page 246 8.6 Latch (LATCH) (3) Related Parameters (a) Setting Parameters Parameter Name Setting Servo ON Turn the power to the Servomotor ON and OFF. 1: Power ON to Servomotor, 0: Power OFF to Servomotor Set this bit to 1 before setting the Motion Command (OW 08) to 6.
  • Page 247 8 Motion Commands (cont’d) Parameter Name Monitor Contents Position Proximity The operation depends on the setting of the Positioning Completed Width 2 (setting parameter OL 20). 20 = 0: Turns ON when pulse distribution has been completed (DEN = ON). 20≠0: Turns ON when MPOS - APOS <...

  • Page 248: Jog Operation (Feed)

    8.7 JOG Operation (FEED) 8.7 JOG Operation (FEED) The FEED command starts movement in the specified travel direction at the specified travel speed. To stop the operation, execute the NOP motion command. The axis will decelerate to a stop when the NOP motion command is executed.
  • Page 249 8 Motion Commands (4) Related Parameters (a) Setting Parameters Parameter Name Setting Servo ON Turn the power to the Servomotor ON and OFF. 1: Power ON to Servomotor, 0: Power OFF to Servomotor Turn ON the power before setting the Motion Command (OW 08) to 7.
  • Page 250 8.7 JOG Operation (FEED) (b) Monitoring Parameters Parameter Name Monitor Contents Servo ON Indicates the Servo ON status. ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor Warning Stores the most current warning. Alarm Stores the most current alarm. Servo Command Indicates the motion command that is being executed.
  • Page 251 8 Motion Commands (5) Timing Charts (a) Normal Execution 08 = 7 (FEED) 08 = 7 (FEED) 090 (BUSY) 093 (FAIL) 098 (COMPLETE) 0C0 (DEN) 1 scan Undefined length of time (b) Execution when Aborted 08 = 7 (FEED) 091 (ABORT) 08 = 7 (FEED) 090 (BUSY) 093 (FAIL)

  • Page 252: Step Operation (Step)

    8.8 STEP Operation (STEP) 8.8 STEP Operation (STEP) The STEP command executes a positioning for the specified travel direction, moving amount, and travel speed. Parameters related to acceleration and deceleration are set in advance. The speed can be changed during axis movement.
  • Page 253 8 Motion Commands (4) Related Parameters (a) Setting Parameters Parameter Name Setting Servo ON Turn the power to the Servomotor ON and OFF. 1: Power ON to Servomotor, 0: Power OFF to Servomotor Turn ON the power before setting the Motion Command (OW 08) to 8.
  • Page 254 8.8 STEP Operation (STEP) (b) Monitoring Parameters Parameter Name Monitor Contents Servo ON Indicates the Servo ON status. ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor Warning Stores the most current warning. Alarm Stores the most current alarm. Servo Command Indicates the motion command that is being executed.
  • Page 255 8 Motion Commands (b) Execution when Aborted 08 = 8 (STEP) 091 (ABORT) 08 = 8 (STEP) 090 (BUSY) 093 (FAIL) 098 (COMPLETE) 0C0 (DEN) 0C1 (POSCOMP) 1 scan Undefined length of time (c) Execution when Aborting by Changing the Command 08 = 8 (STEP) 08 = 8 (STEP) 090 (BUSY)

  • Page 256: Zero Point Setting (Zset)

    8.9 Zero Point Setting (ZSET) 8.9 Zero Point Setting (ZSET) The ZSET command sets the current position as the zero point of the machine coordinate system. This enables establishing the zero point without performing a zero point return operation. Either a zero point return or zero point setting must be performed to enable using the soft limits. (1) Operating Procedure Execution Conditions Confirmation Method...
  • Page 257 8 Motion Commands (4) Timing Charts • Normal Execution 08 = 9 (ZSET) 08 = 9 (ZSET) 090 (BUSY) 093 (FAIL) 098 (COMPLETE) 0C5 (ZRNC) 8-48...

  • Page 258: Change Linear Acceleration Time Constant (Acc)

    8.10 Change Linear Acceleration Time Constant (ACC) 8.10 Change Linear Acceleration Time Constant (ACC) The ACC command transfers the setting of the Linear Acceleration Time (motion setting parameter OL 36) to the Second-step Linear Acceleration Time Constant in the SERVOPACK and enables the setting. For the SGD- N and SGDB- AN SERVOPACKs, the deceleration time constant will be the same as the...
  • Page 259 8 Motion Commands (3) Related Parameters (a) Setting Parameters Parameter Name Setting Function 1 Set the speed unit, acceleration/deceleration unit, and filter type. Motion Command The linear acceleration time constant is changed when this parameter is set to 10. Command Pause This parameter is ignored for ACC command.

  • Page 260: Change Linear Deceleration Time Constant (Dcc)

    8.11 Change Linear Deceleration Time Constant (DCC) 8.11 Change Linear Deceleration Time Constant (DCC) The DCC command transfers the setting of the Linear Deceleration Time (motion setting parameter OL 38) to the Second-step Linear Deceleration Time Constant in the SERVOPACK and enables the setting. For the SGD- N and SGDB- AN SERVOPACKs, this command is ignored.
  • Page 261 8 Motion Commands (b) Monitoring Parameters Parameter Name Monitor Contents Warning Stores the most current warning. Alarm Stores the most current alarm. Servo Command Indicates the motion command that is being executed. Type Response The response code will be 11 during DCC command execution. Command Executing Turns ON during DCC command execution and turns OFF when execution has been completed.

  • Page 262: Change Filter Time Constant (Scc)

    8.12 Change Filter Time Constant (SCC) 8.12 Change Filter Time Constant (SCC) The SCC command transfers the setting of the S-Curve Acceleration Time (motion setting parameter 3A) to the Moving Average Time in the SERVOPACK and enables the setting. Always execute the CHG_FILTER command before executing SCC command. (1) Operating Procedure Execution Conditions Confirmation Method...
  • Page 263 8 Motion Commands (b) Monitoring Parameters Parameter Name Monitor Contents Warning Stores the most current warning. Alarm Stores the most current alarm. Servo Command Indicates the motion command that is being executed. Type Response The response code is 12 during SCC command execution. Command Executing Turns ON during SCC command execution and turns OFF when execution has been completed.

  • Page 264: Change Filter Type (Chg_Filter)

    8.13 Change Filter Type (CHG_FILTER) 8.13 Change Filter Type (CHG_FILTER) The CHG_FILTER command enables the current setting of the Filter Type (motion setting parameter OW for execution of the following motion commands: POSING, EX_POSING, ZRET, INTERPOLATE, LATCH, FEED, and STEP. Always execute CHG_FILTER command after changing the setting of OW (1) Operating Procedure Execution Conditions Confirmation Method...
  • Page 265 8 Motion Commands (b) Monitoring Parameters Parameter Name Monitor Contents Warning Stores the most current warning. Alarm Stores the most current alarm. Servo Command Indicates the motion command that is being executed. Type Response The response code will be 13 during CHG_FILTER command execution. Command Executing Turns ON during CHG_FILTER command execution and turns OFF when execution has been completed.

  • Page 266: Change Speed Loop Gain (Kvs)

    8.14 Change Speed Loop Gain (KVS) 8.14 Change Speed Loop Gain (KVS) The KVS command transfers the setting of the Speed Loop Gain (motion setting parameter OW 2F) to the Speed Loop Gain in the SERVOPACK and enables the setting. (1) Operating Procedure Execution Conditions Confirmation Method...
  • Page 267 8 Motion Commands (4) Timing Charts (a) Normal End 08 = 14 (KVS) 08 = 14 (KVS) 090 (BUSY) Undefined length of time 093 (FAIL) 098 (COMPLETE) (b) Error End 08 = 14 (KVS) 08 = 14 (KVS) 090 (BUSY) Undefined length of time 093 (FAIL)

  • Page 268: Change Position Loop Gain (Kps)

    8.15 Change Position Loop Gain (KPS) 8.15 Change Position Loop Gain (KPS) The KPS command transfers the setting of the Position Loop Gain (motion setting parameter OW 2E) to the Position Loop Gain in the SERVOPACK and enables the setting. (1) Operating Procedure Execution Conditions Confirmation Method...
  • Page 269 8 Motion Commands (3) Related Parameters (a) Setting Parameters Parameter Name Setting Motion Command The position loop gain is changed when this parameter is set to 15. Command Pause This parameter is ignored for KPS command. Command Abort This parameter is ignored for KPS command. Position Loop Gain Set the gain for the SERVOPACK position control loop.

  • Page 270: Change Feed Forward (Kfs)

    8.16 Change Feed Forward (KFS) 8.16 Change Feed Forward (KFS) The KFS command transfers the setting of the Speed Feed Forward Compensation (motion setting parameter 30) to the Feed Forward in the SERVOPACK and enables the setting. (1) Operating Procedure Execution Conditions Confirmation Method There are no alarms.
  • Page 271 8 Motion Commands (4) Timing Charts (a) Normal End 08 = 16 (KFS) 08 = 16 (KFS) 090 (BUSY) Undefined length of time 093 (FAIL) 098 (COMPLETE) (b) Error End 08 = 16 (KFS) 08 = 16 (KFS) 090 (BUSY) Undefined length of time 093 (FAIL)

  • Page 272: Read Servopack Parameter (Prm_Rd)

    8.17 Read SERVOPACK Parameter (PRM_RD) 8.17 Read SERVOPACK Parameter (PRM_RD) The PRM_RD command reads the setting of the SERVOPACK parameter with the specified parameter number and parameter size and stores the parameter number in Servo Constant Number (monitoring parameter 36) and the setting in Servo User Constant (monitoring parameter IL 38).
  • Page 273 8 Motion Commands (3) Related Parameters (a) Setting Parameters Parameter Name Setting Motion Command The SERVOPACK parameter is read when this parameter is set to 17. Command Pause This parameter is ignored for PRM_RD command. Command Abort This parameter is ignored for PRM_RD command. Servo Constant Set the number of the SERVOPACK parameter to be read.

  • Page 274: Write Servopack Parameter (Prm_Wr)

    8.18 Write SERVOPACK Parameter (PRM_WR) 8.18 Write SERVOPACK Parameter (PRM_WR) The PRM_WR command writes the SERVOPACK parameter using the specified parameter number, parameter size, and setting data. (1) Operating Procedure Execution Conditions Confirmation Method There are no alarms. Both IL 02 and IL 04 are 0.
  • Page 275 8 Motion Commands (b) Monitoring Parameters Parameter Name Monitor Contents Warning Stores the most current warning. Alarm Stores the most current alarm. Servo Command Indicates the motion command that is being executed. Type Response The response code will be 18 during PRM_WR command execution. Command Executing Turns ON during PRM_WR command execution and turns OFF when execution has been completed.

  • Page 276: Monitor Servopack Alarms (Alm_Mon)

    8.19 Monitor SERVOPACK Alarms (ALM_MON) 8.19 Monitor SERVOPACK Alarms (ALM_MON) The ALM_MON command reads the alarm or warning that has occurred in the SERVOPACK and stores it in Servo Alarm Code (monitoring parameter IW 2D). (1) Operating Procedure Execution Conditions Confirmation Method Motion command execution has been completed.
  • Page 277 8 Motion Commands (b) Monitoring Parameters Parameter Name Monitor Contents Warning Stores the most current warning. Alarm Stores the most current alarm. Servo Command Indicates the motion command that is being executed. Type Response The response code will be 19 during ALM_MON command execution. Command Executing Turns ON during ALM_MON command execution and turns OFF when execution has been completed.

  • Page 278: Monitor Servopack Alarm History (Alm_Hist)

    8.20 Monitor SERVOPACK Alarm History (ALM_HIST) 8.20 Monitor SERVOPACK Alarm History (ALM_HIST) The ALM_HIST command reads the alarm history that is stored in the SERVOPACK and stores it in Servo Alarm Code (monitoring parameter IW 2D). (1) Operating Procedure Execution Conditions Confirmation Method Motion command execution has been completed.
  • Page 279 8 Motion Commands (b) Monitoring Parameters Parameter Name Monitor Contents Warning Stores the most current warning. Alarm Stores the most current alarm. Servo Command Indicates the motion command that is being executed. Type Response The response code will be 20 during ALM_HIST command execution. Command Executing Turns ON during ALM_HIST command execution and turns OFF when execution has been completed.

  • Page 280: Clear Servopack Alarm History (Almhist_Clr)

    8.21 Clear SERVOPACK Alarm History (ALMHIST_CLR) 8.21 Clear SERVOPACK Alarm History (ALMHIST_CLR) The ALMHIST_CLR command clears the alarm history in the SERVOPACK. (1) Operating Procedure Execution Conditions Confirmation Method Motion command execution has been completed. 08 is 0 and IB 090 is OFF.
  • Page 281 8 Motion Commands (4) Timing Charts (a) Normal End 08 = 22 (ABS_RST) 08 = 22 (ABS_RST) 090 (BUSY) Undefined length of time (approx 2 s) 093 (FAIL) 097 (ABS_RSTC) 098 (COMPLETE) 000 (SVCRDY) Undefined here (b) Error End 08 = 22 (ABS_RST) 08 = 22 (ABS_RST) 090 (BUSY) Undefined...

  • Page 282: Reset Absolute Encoder (Abs_Rst)

    8.22 Reset Absolute Encoder (ABS_RST) 8.22 Reset Absolute Encoder (ABS_RST) The ABS_RST command resets the multiturn data in the absolute encoder to 0. If an Encoder Backup Alarm (A.810) or Encoder Checksum Alarm (A.820) occurs when the ABS_RST command is executed, the encoder will be reset.
  • Page 283 8 Motion Commands (b) Monitoring Parameters Parameter Name Monitor Contents Motion Controller Indicates the synchronized communication status between the Machine Controller Operation Ready and the SERVOPACK. ON: Synchronized communication, OFF: Communication disconnected Servo ON Indicates the Servo ON status. ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor Warning Stores the most current warning.
  • Page 284 8.22 Reset Absolute Encoder (ABS_RST) (4) Timing Charts (a) Normal End 08 = 22 (ABS_RST) 08 = 22 (ABS_RST) 090 (BUSY) Undefined length of time (approx 2 s) 093 (FAIL) 097 (ABS_RSTC) 098 (COMPLETE) 000 (SVCRDY) Undefined here (b) Error End 08 = 22 (ABS_RST) 08 = 22 (ABS_RST) 090 (BUSY)

  • Page 285: Speed Reference (Velo)

    8 Motion Commands 8.23 Speed Reference (VELO) With the MECHATROLINK-II, the VELO command is used to operate the SERVOPACK under the speed con- trol mode, enabling the same type of operation as is possible with the analog speed reference input of the SERVOPACK.
  • Page 286 8.23 Speed Reference (VELO) (4) Related Parameters (a) Setting Parameters Parameter Name Setting Servo ON Turn the power to the Servomotor ON and OFF. 1: Power ON to Servomotor, 0: Power OFF to Servomotor Motor will start to rotate when this bit is set to 1 under the speed control data mode.
  • Page 287 8 Motion Commands (5) Timing Charts (a) Normal Execution 08 = 23 (VELO) 08 = 23 (VELO) 090 (BUSY) 093 (FAIL) 098 (COMPLETE) 0C0(DEN) 1 scan Undefined length of time (b) Execution when Aborted 08 = 23 (VELO) 091 (ABORT) 08 = 23 (VELO) 090 (BUSY) 093 (FAIL)
  • Page 288 8.23 Speed Reference (VELO) (d) Execution when an Alarm Occurs 08 = 23 (VELO) 08 = 23 (VELO) 090 (BUSY) 093 (FAIL) 098 (COMPLETE) 0C0 (DEN) 1 scan Alarm 8-79...

  • Page 289: Torque Reference (Trq)

    8 Motion Commands 8.24 Torque Reference (TRQ) With the MECHATROLINK-II, the TRQ command is used to operate the SERVOPACK under the torque control mode, enabling the same type of operation as is possible with the analog torque reference input of the SERVOPACK.
  • Page 290 8.24 Torque Reference (TRQ) (4) Related Parameters (a) Setting Parameters Parameter Name Setting Servo ON Turn the power to the Servomotor ON and OFF. 1: Power ON to Servomotor, 0: Power OFF to Servomotor Motor torque will start to generate when the Servo is turned ON after switching to Torque Control Mode.
  • Page 291 8 Motion Commands (5) Timing Charts (a) Normal Execution 08 = 24 (TRQ) 08 = 24 (TRQ) 090 (BUSY) 093 (FAIL) 098 (COMPLETE) 0C0 (DEN) 1 scan (b) Executed when Aborted 08 = 24 (TRQ) 091 (ABORT) 08 = 24 (TRQ) 090 (BUSY) 093 (FAIL) 098 (COMPLETE)

  • Page 292: Phase References (Phase)

    8.25 Phase References (PHASE) 8.25 Phase References (PHASE) The PHASE command is used for the synchronized operation of multiple axes under phase control mode, using the specified speed, phase bias, and speed compensation value. (1) Operating Procedure Execution Conditions Confirmation Method There are no alarms.
  • Page 293 8 Motion Commands (b) Monitoring Parameters Parameter Name Monitor Contents Servo ON Indicates the Servo ON status. ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor Warning Stores the most current warning. Alarm Stores the most current alarm. Servo Command Indicates the motion command that is being executed.

  • Page 294: Change Position Loop Integration Time Constant (Kis)

    8.26 Change Position Loop Integration Time Constant (KIS) 8.26 Change Position Loop Integration Time Constant (KIS) The KIS command transfers the setting of the Position Integration Time Constant (motion setting parameter 32) to the Position Loop Integration Time Constant in the SERVOPACK and enables the setting. (1) Operating Procedure Execution Conditions Confirmation Method...
  • Page 295 8 Motion Commands (4) Timing Charts (a) Normal End 08 = 26 (KIS) 08 = 26 (KIS) 090 (BUSY) Undefined length of time 093 (FAIL) 098 (COMPLETE) (b) Error End 08 = 26 (KIS) 08 = 26 (KIS) 090 (BUSY) Undefined length of time 093 (FAIL)
  • Page 296 Control Block Diagrams This chapter explains the motion control block diagrams for the MP2100/ MP2100M. 9.1 Motion Control Block Diagrams - - - - - - - - - - - - - - - - - - - - - 9-2 9.1.1 Position Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2 9.1.2 Phase Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-6 9.1.3 Torque Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-10...
  • Page 297 9 Control Block Diagrams 9.1.1 Position Control 9.1 Motion Control Block Diagrams 9.1.1 Position Control (1) Motion Parameters for Position Control (a) Fixed Parameters Name Setting Unit Default Value Setting Range − Run Mode 0 to 5 Function Selection 1 −...
  • Page 298 9.1 Motion Control Block Diagrams Name Setting Unit Default Value Setting Range Approach Speed Depends on speed unit. 1,000 −2 −1 to 2 Creep Speed Depends on speed unit. −2 to 2 −1 Home Offset Reference unit −2 −1 to 2 Step Distance Reference unit 1,000...
  • Page 299 9 Control Block Diagrams 9.1.1 Position Control (2) Control Block Diagram for Position Control Run Commands Mode 1 Mode 2 Function 1 Function 2 Function 3 Motion Command Motion Command Options 0A Motion Subcommand Speed Reference Speed Override Position Reference Type Positioning Completed Width Electronic Positioning Completed Width 2...
  • Page 300 9.1 Motion Control Block Diagrams Acceleration/ deceleration processing Speed Feed Forward POSING Compensation command INTERPOLATE Current command loop Position Integration Speed Integration Time Constant Time Constant LPOS...
  • Page 301 9 Control Block Diagrams 9.1.2 Phase Control 9.1.2 Phase Control (1) Motion Parameters for Phase Control (a) Fixed Parameters Name Setting Unit Default Value Setting Range Run Mode − 0 to 5 − Function Selection 1 0000 h Bit Setting Function Selection 2 −...
  • Page 302 9.1 Motion Control Block Diagrams Name Setting Unit Default Value Setting Range Creep Speed Depends on speed unit. −2 −1 to 2 Home Offset Reference unit −2 to 2 −1 Step Distance Reference unit 1,000 −1 0 to 2 External Positioning Move Distance Reference unit −2 to 2...
  • Page 303 9 Control Block Diagrams 9.1.2 Phase Control (2) Control Block Diagram for Phase Control 00 Run Commands 03 Function 1 05 Function 3 08 Motion Command 09 Motion Command Options 0A Motion Subcommand Target Target position Speed Reference position difference operation operation Positioning Completed Width...
  • Page 304 9.1 Motion Control Block Diagrams Speed Feed Forward Compensation* Current loop Position Integration Speed Integration Time Constant Time Constant LPOS * The speed feedback gain is 0 for the phase reference.
  • Page 305 9 Control Block Diagrams 9.1.3 Torque Control 9.1.3 Torque Control (1) Motion Parameters for Torque Control (a) Fixed Parameters Name Setting Unit Default Value Setting Range Run Mode − 0 to 5 − Function Selection 1 0000 h Bit Setting Function Selection 2 −...
  • Page 306 9.1 Motion Control Block Diagrams Name Setting Unit Default Value Setting Range Creep Speed Depends on speed unit. −2 −1 to 2 Home Offset Reference unit −2 to 2 −1 Step Distance Reference unit 1,000 −1 0 to 2 External Positioning Move Distance Reference unit −2 to 2...
  • Page 307 9 Control Block Diagrams 9.1.3 Torque Control (2) Control Block Diagram for Torque Control Run Commands Function 1 Motion Command Motion Command Options Motion Subcommand Torque Reference Speed Limit at Torque Reference Zero Point Offset Work Coordinate System Offset Preset Data of POSMAX Turn Drive Status Warning Alarm...
  • Page 308 9.1 Motion Control Block Diagrams Speed Feed Forward Compensation Current loop Speed Integration Position Integration Time Constant Time Constant Speed reference operation Torque reference operation LPOS 9-13...
  • Page 309 9 Control Block Diagrams 9.1.4 Speed Control 9.1.4 Speed Control (1) Motion Parameters for Speed Control (a) Fixed Parameters Name Setting Unit Default Value Setting Range Run Mode − 0 to 5 Function Selection 1 − 0000 h Bit Setting −...
  • Page 310 9.1 Motion Control Block Diagrams Name Setting Unit Default Value Setting Range Creep Speed Depends on speed unit. −2 −1 to 2 Home Offset Reference unit −2 to 2 −1 Step Distance Reference unit 1,000 −1 0 to 2 External Positioning Move Distance Reference unit −2 to 2...
  • Page 311 9 Control Block Diagrams 9.1.4 Speed Control (2) Control Block Diagram for Speed Control Run Commands Function 1 Motion Command Motion Command Options Motion Subcommand Speed Reference Positive Side Limiting Torque Setting at the Speed Reference Speed Override Linear Acceleration Time Acceleration/deceleration Linear Deceleration Time processing...
  • Page 312 9.1 Motion Control Block Diagrams Speed Feed Forward Compensation Current loop Position Integration Speed Integration Time Constant Time Constant LPOS 9-17...
  • Page 313 Absolute Position Detection This chapter explains an absolute position detection system that uses an abso- lute encoder. Be sure to read this chapter carefully when using a Servomotor equipped with an absolute encoder. 10.1 Structure of the Absolute Position Detection Function - - - - 10-2 10.1.1 Outline of the Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2 10.1.2 Basic Terminology - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2 10.2 Startup the Absolute Position Detection Function - - - - - - - 10-3...

  • Page 314: Structure Of The Absolute Position Detection Function

    10 Absolute Position Detection 10.1.1 Outline of the Function 10.1 Structure of the Absolute Position Detection Function This section explains the Absolute Position Detection Function in the MP2100/MP2100M. 10.1.1 Outline of the Function The Absolute Position Detection Function detects the position of the machine even if power is turned OFF. This allows it to establish the machine coordinate system automatically and to begin operating automatically without having to execute the zero point return (ZRET) command after power is turned ON.

  • Page 315: Startup The Absolute Position Detection Function

    10.2 Startup the Absolute Position Detection Function 10.2 Startup the Absolute Position Detection Function This section explains the procedure that is used to start the Absolute Position Detection Function. Perform the absolute position detection system startup procedure in the following situations. •...

  • Page 316: Setting Related Parameters

    10 Absolute Position Detection 10.2.2 Setting Related Parameters 10.2.2 Setting Related Parameters CAUTION • The parameters for which IMPORTANT precautions are provided must be set. If they are not set correctly, the current position after turning ON the power supply may not be correct. Machine damage may occur.
  • Page 317 10.2 Startup the Absolute Position Detection Function (2) SERVOPACK Parameters SERVOPACK Parameter Name Setting Range Units Model Cn-0001, bit E Encoder Selection 0: Incremental encoder Σ － Series 1: Absolute encoder Cn-0002, bit 0 Rotation Direction 0: Sets counterclockwise (CCW) rotation as forward －...
  • Page 318 10 Absolute Position Detection 10.2.2 Setting Related Parameters (b) Axis Selection • MP2100/MP2100M fixed parameter 1, bit 0 This setting is used to set either an infinite or finite length axis for controlled axis movement. Refer to 10.3 Using an Absolute Encoder for position management methods for finite and infinite length axes.

  • Page 319: Initializing The Absolute Encoder

    10.2 Startup the Absolute Position Detection Function 10.2.3 Initializing the Absolute Encoder Initialize the absolute encoder in the following situations. • When the absolute position detection system is started up for the first time • When the multiturn data needs to be initialized to 0 •...
  • Page 320 10 Absolute Position Detection 10.2.3 Initializing the Absolute Encoder ii) Use a short piece to short-circuit together connector pins R and S on the encoder end. SERVOPACK サーボパック Key position キー位置 Encoder エンコーダ側 CN2-1 SERVOPACK (White/orange) （白／橙） CN2-13 CN2-12 CN2-10 (White/gray) （白／灰）...
  • Page 321 10.2 Startup the Absolute Position Detection Function 4. Press the UP Key. The display will change as shown below. Then press the UP Key until “PGCL5” is dis- played. If a mistake is made in the key operation, “nO_OP” will blink on the display for 1 second and then the display will return to the Auxiliary Function Mode.
  • Page 322 10 Absolute Position Detection 10.2.3 Initializing the Absolute Encoder 4. Press the UP Key. The display will change as shown below. Then press the UP Key until “PGCL5” is dis- played. If a mistake is made in the key operation, “nO_OP” will blink on the display for 1 second and then the display will return to the Auxiliary Function Mode.
  • Page 323 10.2 Startup the Absolute Position Detection Function (3) Σ-ΙΙΙ Series Use a digital operator to initialize the absolute encoder. Step Operation Key Display Example Description Open the Utility Function Mode main menu and select − F U N C T I O N − Fn008.

  • Page 324: Using An Absolute Encoder

    10 Absolute Position Detection 10.3.1 Finite Length Axis 10.3 Using an Absolute Encoder This section explains precautions regarding use as well as the procedure for setting the zero point when using an absolute encoder. 10.3.1 Finite Length Axis CAUTION • Do not change the Zero Point Offset (OL 48) while operating a machine with a finite length axis.
  • Page 325 10.3 Using an Absolute Encoder The Zero Point Offset (setting parameter OL 48) is always valid for a finite length axis. If the machine coor- dinate system zero point is changed during machine operation, the current position may become inaccurate. The meaning of setting parameter OL 48 will differ for a finite length axis and infinite length axis.
  • Page 326 10 Absolute Position Detection 10.3.1 Finite Length Axis (4) Turning ON the Power for a Finite Length Axis The Zero Point Return (Setting) Completed bit 0C5) will turn OFF when the power supply to the MP2100/MP2100M is turned OFF and ON, the communication are interrupted by the power OFF to the SERVOPACK, or communication are interrupted in any other reason after the zero point has been set.

  • Page 327: Infinite Length Axis

    10.3 Using an Absolute Encoder 10.3.2 Infinite Length Axis (1) Overview Infinite length positioning is a function that automatically resets the machine position, program position (abso- lute values in the program coordinate system), and current position at regular intervals according to the Maxi- mum Value of Rotary Counter (POSMAX) (fixed parameter 10).
  • Page 328 10 Absolute Position Detection 10.3.2 Infinite Length Axis ■ Calculating the Reset Value for the Number of Turns • Reset Value When the Reference Unit is Pulses Reset value = Infinite length axis reset position / Number of pulses per motor rotation •...
  • Page 329 10.3 Using an Absolute Encoder (c) Application Example of Simple Absolute Infinite Length Position Control Function An example of using the simple absolute infinite length position control function is given below. EXAMPLE Name Setting 2: deg Command Unit ■ Calculation of the Number to Turns to Reset 360000 360000 * 6 / 360000 * 5 = 6/5 (number of turns to reset) Command Unit per Revolution...
  • Page 330 10 Absolute Position Detection 10.3.2 Infinite Length Axis (3) Turning ON the Power for a Simple Absolute Infinite Length Axis The Zero Point Return (Setting) Completed bit 0C5) will turn OFF when the power supply to the MP2100/MP2100M is turned OFF and ON, the communication are interrupted by the power OFF to the SERVOPACK, or communication are interrupted in any other reason after the zero point has been set.
  • Page 331 10.3 Using an Absolute Encoder (4) Managing Positions when the Simple Absolute Infinite Length Position Control Func- tion Is Not Used When power is turned ON to the system, the position managed by the MP2100/MP2100M is calculated from the relative absolute position in pulse units using the following equation. The modularized position and absolute position are always stored as paired information in backup memory.
  • Page 332 10 Absolute Position Detection 10.3.2 Infinite Length Axis (5) Setting the Zero Point for an Infinite Length Axis Execute the ZSET motion command (zero point setting). The system will settle pulse position at power OFF, encoder position at power OFF, and all position data when the zero point is set.
  • Page 333 10.3 Using an Absolute Encoder (6) Ladder Program for Infinite Length Axis Position Control Ladder program for normal operation and for restarting the system is needed for absolute infinite length axis position control when the simple absolute infinite length position control function is not used. (a) Normal Operation 1.
  • Page 334 10 Absolute Position Detection 10.3.2 Infinite Length Axis Use the following flowchart to store values in buffers. Start the high-speed 高速スキャン図面始まり scan drawing. First scan since high- 高速スキャン始動後， speed scan started? 1スキャン目か？ Has the zero point been set? 原点設定完了？ Toggle Buffer Enabled Flag ON トグルバッファ有効フラグON Toggle Buffer Selection Flag ON? トルグバッファ選択フラグ＝1？...
  • Page 335 10.3 Using an Absolute Encoder The following programming example (ladder program) is for the flowchart shown above. The axis used here is axis 1 of module 1. Change the motion parameter register number if the module and axis numbers are dif- ferent.
  • Page 336 10 Absolute Position Detection 10.3.2 Infinite Length Axis (a) Turning the System Back ON (Turning the Servo Back ON) Set up position data again from the ladder program using high-speed scan timing as shown below. This is done when system power or servo power is turned back ON. 1.
  • Page 337 10.3 Using an Absolute Encoder Use the following flowchart to set up position data again. Start the high-speed scan 高速スキャン図面　始まり drawing. First scan after the start of high-speed 高速スキャン始動後，1スキャン目か？ scan or signal indicating that the servo power supply was turned back ON? サーボ電源再投入信号...
  • Page 338 10 Absolute Position Detection 10.3.2 Infinite Length Axis The following programming example (ladder program) is for the flowchart shown above. The axis used here is axis 1 of module 1. Change the motion parameter register number if the module and axis numbers are different.
  • Page 339 10.3 Using an Absolute Encoder Buffer 0 contents saved in setting parameters ML30002 OL805E OL8060 ML30004 ML30006 OL8062 OL8064 ML30008 ELSE Buffer 1 contents saved in setting parameters ML30010 OL805E OL8060 ML30012 ML30014 OL8062 OL8064 ML30016 IEND $ONCOIL ABS System Infinite Length Position Control Data Initialization Request Flag ON SB000004 OB80007...
  • Page 340 SVR Virtual Motion Module This chapter gives an overview of the SVR Virtual Motion Module and describes the system configuration, applicable motion parameters, motion commands, and sample programs. 11.1 SVR Virtual Motion Module - - - - - - - - - - - - - - - - - - - - - - - 11-2 11.1.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2 11.1.2 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-3 11.1.3 SVR Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-4...

  • Page 341: Svr Virtual Motion Module

    11 SVR Virtual Motion Module 11.1.1 Overview 11.1 SVR Virtual Motion Module This section gives an overview of the SVR Virtual Motion Module and describes the system configuration. 11.1.1 Overview The Virtual Motion Module (SVR) is a Software Module that provides an interface for virtual axes that are not actually connected to Servomotors.

  • Page 342: System Configuration

    Ladder program IB00000 DB00000 0 1 0000 IB00000 DB000020 DB000010 1 0002 IB00001 DB000011 1 0005 IB00002 DB000012 1 0007 SERVOPACK IB00005 DB000015 200V YASKAWA SERVOPACK 1 0009 SGDS-01A12A CHARGE Motion program Motion Module High-speed scan Servomotor 11-3...

  • Page 343: Svr Operation

    11 SVR Virtual Motion Module 11.1.3 SVR Operation 11.1.3 SVR Operation (1) SVR Execution Timing The SVR is processed at the beginning of the high-speed scan. SVR processing is performed in the next scan after specification, and the processing results are reflected in the monitoring parameters. Reflected in monitoring Reference set parameters...

  • Page 344: Motion Parameters

    11.2 Motion Parameters 11.2 Motion Parameters The following table gives motion parameters used by the SVR and the default values of the parameters. 11.2.1 Motion Parameter Details Type Name Default Value Fixed Parameters Run Mode Function Selection 1 0000 Hex Command Unit Number of Decimal Places Command Unit per Revolution...
  • Page 345 11 SVR Virtual Motion Module 11.2.1 Motion Parameter Details (cont’d) Type Name Default Value Monitoring Drive Status Parameters Over Range Parameter Number Warning Alarm Servo Command Type Response Servo Module Command Status Motion Subcommand Response Code Motion Subcommand Status Position Management Status Machine Coordinate Target Position (TPOS) Target Position (CPOS) Machine Coordinate System Position (MPOS)
  • Page 346 11.2 Motion Parameters 11.2.2 Motion Parameter Settings This section describes the motion parameters used by the SVR. (1) Motion Fixed Parameters (a) Run Mode Run Mode No. 0 Setting Range Setting Unit Default Value − 0 or 1 Specify the application method of the axis. 0: Normal Running 1: Axis unused (default) (b) Function Selection 1...

  • Page 347: Motion Parameter Settings

    11 SVR Virtual Motion Module 11.2.2 Motion Parameter Settings (f) Gear Ratio Gear Ratio [MOTOR] No. 8 Setting Range Setting Unit Default Value 1 to 65535 No. 9 Setting Range Setting Unit Default Value 1 to 65535 Set the gear ratio between the motor and the load. The following two values are set for a configuration in which the load shaft will turn n times in response to m turns of the motor shaft.
  • Page 348 11.2 Motion Parameters (2) Motion Setting Parameters Note: : The labels shown in reverse type indicate that the parameter is enabled during the Position corresponding control mode (position control shown here). (a) Run Command Run Commands Phase Speed Torque Position Setting Range Setting Unit Default Value...
  • Page 349 11 SVR Virtual Motion Module 11.2.2 Motion Parameter Settings (d) Motion Command Control Flags Motion Command Options Phase Speed Torque Position Setting Range Setting Unit Default Value − − 0000 H Command Pause Bit 0 0: Command pause OFF (default) 1: Command pause ON Command Abort Bit 1...
  • Page 350 11.2 Motion Parameters (i) Position Reference Position Reference Speed Position Phase Torque Setting Range Setting Unit Default Value Reference unit −2 to 2 −1 Set the position reference. (j) Speed Amends Speed Amends Phase Speed Position Torque Setting Range Setting Unit Default Value −32768 to 32767 0.01%...
  • Page 351 11 SVR Virtual Motion Module 11.2.2 Motion Parameter Settings (n) Step Distance Step Distance Speed Position Phase Torque Setting Range Setting Unit Default Value Reference Unit 1000 −1 0 to 2 Set the moving amount for STEP commands. (o) Coordinate System Settings Speed Zero Point Offset Position...
  • Page 352 11.2 Motion Parameters (3) Motion Monitoring Parameters (a) Drive Status Drive Status Range Unit − − Motion Controller Operation Ready Turns ON when the Run Mode (fixed parameter 0) is set to 0 (Normal Running). Bit 0 OFF: Not ready for operation ON: Ready for operation Running (Servo ON) Bit 1...
  • Page 353 11 SVR Virtual Motion Module 11.2.2 Motion Parameter Settings (f) Motion Command Status Servo Module Command Status Range Unit − − Command Executing (BUSY) Bit 0 OFF: Ready (completed) ON: Busy (processing) Command Hold Completed (HOLDL) Bit 1 OFF: Command hold processing not completed ON: Command hold processing completed Command Error Occurrence (FAIL) Bit 3...
  • Page 354 11.2 Motion Parameters (i) Position Management Status Position Management Status Range Unit − − Distribution Completed (DEN) Bit 0 OFF: Distributing pulses ON: Distribution completed Positioning Completed (POSCOMP) Bit 1 OFF: Outside positioning completed width ON: In positioning completed width Position Proximity (NEAR) Bit 3 OFF: Outside position proximity range...
  • Page 355 11 SVR Virtual Motion Module 11.2.2 Motion Parameter Settings (k) Servo Driver Information 2 Feedback Speed Range Unit Depends on speed unit −2 to 2 −1 03, bits 0 to 3) Stores the feedback speed. Torque (Thrust) Reference Monitor Range Unit 0.01%, 0.001% −2...

  • Page 356: Motion Commands

    11.3 Motion Commands 11.3 Motion Commands The SVR reads and writes motion parameters and executes commands at the beginning of the high-speed scan. 11.3.1 Motion Command Table The following table lists the motion commands that can be used with the SVR. Command Command Name...

  • Page 357: Motion Command Details

    11 SVR Virtual Motion Module 11.3.2 Motion Command Details 11.3.2 Motion Command Details Basically, the SVR provides functions to loop from a Motion Command (OW 08) to the Servo Command Type Response (IW 08). For positioning-related motion commands, the SVR updates position information toward the final target position using a positioning function.
  • Page 358 11.3 Motion Commands (b) Related Parameters • Setting Parameters Parameter Name Setting Servo ON Turn the power to the Servomotor ON and OFF. 1: Servo ON to Servomotor, 0: Power OFF to Servomotor Turn ON the power before setting the Motion Command (OW 08) to 1.
  • Page 359 11 SVR Virtual Motion Module 11.3.2 Motion Command Details (2) External Positioning (EX_POSING) The latch function cannot be used for the SVR. EX_POSING thus performs the same operation as the POSING command. (a) Operating Procedure Execution Conditions Confirmation Method There are no alarms. Both IL 02 and IL 04 are 0.
  • Page 360 11.3 Motion Commands (b) Related Parameters • Setting Parameters Parameter Name Setting Servo ON Turn the power to the Servomotor ON and OFF. 1: Power ON to Servomotor, 0: Power OFF to Servomotor Turn ON the power before setting the Motion Command (OW 08) to 2.
  • Page 361 11 SVR Virtual Motion Module 11.3.2 Motion Command Details (3) Zero Point Return (ZRET) When a ZRET command is executed, the zero point return will be completed immediately. Position information will not be updated. (a) Operating Procedure Execution Conditions Confirmation Method There are no alarms.
  • Page 362 11.3 Motion Commands • Monitoring Parameters Parameter Name Monitor Contents Servo ON Indicates the Servo ON status. ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor. Warning Stores the most current warning. Alarm Stores the most current alarm. Servo Command Type Indicates the motion command that is being executed.
  • Page 363 11 SVR Virtual Motion Module 11.3.2 Motion Command Details (4) Interpolation (INTERPOLATE) The INTERPOLATE command positions the axis according to the target position that changes in sync with the high-speed scan. The positioning data is generated by a ladder program. (a) Operating Procedure Execution Conditions Confirmation Method...
  • Page 364 11.3 Motion Commands (b) Related Parameters • Setting Parameters Parameter Name Setting Servo ON Turn the power to the Servomotor ON and OFF. 1: Power ON to Servomotor, 0: Power OFF to Servomotor Turn ON the power before setting the Motion Command (OW 08) to 4.
  • Page 365 11 SVR Virtual Motion Module 11.3.2 Motion Command Details (5) Latch (LATCH) The latch function cannot be used for the SVR. The LATCH command will thus perform the same operation as the INTERPOLATE command. (a) Operating Procedure Execution Conditions Confirmation Method There are no alarms.
  • Page 366 11.3 Motion Commands (b) Related Parameters • Setting Parameters Parameter Name Setting Servo ON Turn the power to the Servomotor ON and OFF. 1: Power ON to Servomotor, 0: Power OFF to Servomotor Set this bit to 1 before setting the Motion Command (OW 08) to 6.
  • Page 367 11 SVR Virtual Motion Module 11.3.2 Motion Command Details (6) JOG Operation (FEED) The FEED command starts movement in the specified travel direction at the specified travel speed. To stop the operation, execute the NOP motion command. The axis will decelerate to a stop when the NOP motion command is executed.
  • Page 368 11.3 Motion Commands (b) Related Parameters • Setting Parameters Parameter Name Setting Servo ON Turn the power to the Servomotor ON and OFF. 1: Power ON to Servomotor, 0: Power OFF to Servomotor Turn ON the power before setting the Motion Command (OW 08) to 7.
  • Page 369 11 SVR Virtual Motion Module 11.3.2 Motion Command Details (7) STEP Operation (STEP) The STEP command executes positioning for the specified travel direction, moving amount, and travel speed. Parameters related to acceleration and deceleration are set in advance. The speed can be changed during axis movement.
  • Page 370 11.3 Motion Commands (b) Related Parameters • Setting Parameters Parameter Name Setting Servo ON Turn the power to the Servomotor ON and OFF. 1: Power ON to Servomotor, 0: Power OFF to Servomotor Turn ON the power before setting the Motion Command (OW 08) to 8.
  • Page 371 11 SVR Virtual Motion Module 11.3.2 Motion Command Details (8) Zero Point Setting (ZSET) The ZSET command sets the current position as the zero point of the machine coordinate system. (a) Operating Procedure Execution Conditions Confirmation Method There are no alarms. Both IL 02 and IL 04 are 0.
  • Page 372 11.3 Motion Commands (9) Speed Reference (VELO) The SVR does not support a speed control function. (a) Operating Procedure Execution Conditions Confirmation Method There are no alarms. Both IL 02 and IL 04 are 0. Motion command execution has been completed. 08 is 0 and IB 090 is OFF.
  • Page 373 11 SVR Virtual Motion Module 11.3.2 Motion Command Details (10) Torque Reference (TRQ) The SVR does not support a torque control function. (a) Operating Procedure Execution Conditions Confirmation Method There are no alarms. Both IL 02 and IL 04 are 0. Motion command execution has been completed.
  • Page 374 11.3 Motion Commands (11) Phase References (PHASE) PHASE performs the same operation as the FEED Command. (a) Operating Procedure Execution Conditions Confirmation Method There are no alarms. Both IL 02 and IL 04 are 0. The Servo ON condition. 001 is ON. Motion command execution has been completed.
  • Page 375 11 SVR Virtual Motion Module 11.3.2 Motion Command Details (b) Related Parameters • Setting Parameters Parameter Name Setting Servo ON Turn the power to the Servomotor ON and OFF. 1: Power ON to Servomotor, 0: Power OFF to Servomotor Turn ON the power before setting the Motion Command code (OW 08) to Function 1 Set the speed unit, acceleration/deceleration unit, and filter type.
  • Page 376 11.3 Motion Commands (12) Other Commands The SVR does not support the following commands. The Motion Command (setting parameter OW 08) is just returned to the Servo Command Type Response (monitoring parameter IW 08). (a) Operating Procedure • ALM_MON, ALM_HIST, or ALMHIST_CLR Execution Conditions Confirmation Method Motion command execution has been completed.

  • Page 377: Sample Programming

    11 SVR Virtual Motion Module 11.3.2 Motion Command Details 11.4 Sample Programming The motion parameters used by the SVR have the same meanings as those used by the SVB. Basically speaking, sample programming used by the SVB can thus be used with the SVR. There are some parameters, however, that are not implemented for the SVR, so some program changes will be required.
  • Page 378 11.4 Sample Programming (2) H01 Drawing The H01 child drawing turns ON the Servo, resets alarms, and sets common parameters. P00102 H01 Main Program: Axis Common Settings ########## Axis Common Settings　　########## ########## Motion Command Detection 　########## Axis 1 motion command 0 detection Axis 1 motion command 0 MB300010 0000...
  • Page 379 11 SVR Virtual Motion Module 11.3.2 Motion Command Details Main Program: Axis Common Settings P00103 H01 ##########Linear Acceleration/Deceleration Setting########## Axis 1 and 2 linear acceleration/deceleration setting MPM running Linear acceleration/deceleration setting MB30020 0010 EXPRESSION 0018 OL8036= 100; NL-1 OL8038= 100; OL80B6= 100;...
  • Page 380 11.4 Sample Programming (4) H02.01 Drawing The H02.01 grandchild drawing controls JOG and STEP operation for axis 1. P00107 H02.01 Main Program: Axis 1 Manual operation (JOG and STEP) ##########Axis 1 Manual operation (JOG and STEP)########## ##########JOG########## Axis 1 JOG Axis 1 jog command Axis 1 forward jog Axis 1 reverse jog...
  • Page 381 11 SVR Virtual Motion Module 11.3.2 Motion Command Details Main Program: Axis 1 Manual operation (JOG and STEP) P00108 H02. 01 Axis 1 step stop Axis 1 motion command DB00000A 00011 STORE 0036 Source 00000 NL-1 Dest OW8008 ##########Reverse Rotation Selection########## Axis 1 reverse step Axis 1 reverse jog Axs 1 jog command...
  • Page 382 11.4 Sample Programming (5) H02.02 Drawing The H02.02 grandchild drawing controls JOG and STEP operation for axis 2. Main Program: Axis 2 Manual operation (JOG and STEP) P00110 H02. 02 ##########Axis 2 Manual operation (JOG and STEP)########## ##########JOG########## Axis 2 JOG Axis 2 forward jog Axis 2 reverse jog Axis 2 SV_ON...
  • Page 383 11 SVR Virtual Motion Module 11.3.2 Motion Command Details P00111 H02. 02 Main Program: Axis 2 Manual operation (JOG and STEP) Axis 2 step stop DB00000A Axis 2 motion command 00011 STORE 0036 Source 00000 NL-1 Dest OW8088 ##########Reverse Rotation Selection########## Axis 2 reverse jog Axis 2 reverse Axis 2 jog command...
  • Page 384 Maintenance and Inspection This chapter explains daily and regular inspection items to ensure that the MP2100/MP2100M can always be used at its best conditions. 12.1 Inspection Items - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-2 12.1.1 Daily Inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-2 12.1.2 Regular Inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-2 12.2 Battery for MP2100/MP2100M - - - - - - - - - - - - - - - - - - - - 12-3...

  • Page 385: Inspection Items

    12 Maintenance and Inspection 12.1.1 Daily Inspections 12.1 Inspection Items This section summarizes daily and regular inspection items that must be performed by the customer. 12.1.1 Daily Inspections The following table lists the daily inspection items. Inspection Item Inspection Details Criteria Action Installation conditions...

  • Page 386: Battery For Mp2100/Mp2100M

    Fully insert the connector attached to the end of the battery leads for the ZZK000064 Battery specified by YASKAWA into the MP2100/MP2100M connector. The battery connector on the MP2100M is the CN2 connector on the SVA Motion Module. The faceplate of the MP2100M has a hole provided for the battery cable.
  • Page 387 12.2.3 Battery Replacement (b) Preparing a Replacement Battery Prepare a replacement battery (ZZK000064). This battery is not commercially available, and must be order from your nearest Yaskawa sales representative. The appearance of the battery is illustrated below. LiTHIUM Red lead Black lead 赤色リード...
  • Page 388 Troubleshooting This chapter explains the details, causes, and remedies for errors that can occur when using the system. 13.1 Overview of Troubleshooting - - - - - - - - - - - - - - - - - - - - - 13-2 13.1.1 Troubleshooting Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-2 13.1.2 Basic Troubleshooting Flow - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-3 13.1.3 Indicator Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-3...

  • Page 389: Overview Of Troubleshooting

    13 Troubleshooting 13.1.1 Troubleshooting Methods 13.1 Overview of Troubleshooting This section shows the basic troubleshooting flow and provides a list of errors. 13.1.1 Troubleshooting Methods There are three checks available for checking the system when an errors occurs. They are checks by symptoms, error codes, and monitor functions of peripheral devices.

  • Page 390: Basic Troubleshooting Flow

    13.1 Overview of Troubleshooting 13.1.2 Basic Troubleshooting Flow When a problem occurs, it is important to determine the cause and treat the problem fast to get the system up and running as quickly as possible. The following table shows the basic troubleshooting flow. Point Basic Details Examined Visual Check...
  • Page 391 13 Troubleshooting 13.1.3 Indicator Errors (2) Indicator Details The following describes details and remedies for indicators showing operating status and errors in the MP2100/ MP2100M. Indicator Classific Indicator Details Remedy ation (red) (red) (green) (green) Not lit Not lit Not lit Normal Hardware reset status Normally the CPU activates within...

  • Page 392: Motion Program Alarms

    13.1 Overview of Troubleshooting 13.1.4 Motion Program Alarms (1) Motion Program Alarms Motion program alarms stored in the alarm output register are displayed as follows. bit15 bit12 bit8 bit7 bit0 Information of Alarm Occurring Axis Alarm Code (1 to 14) Axis Alarm (2) Motion Program Alarm List The following table describes the motion program alarm codes and contents and remedies.

  • Page 393: System Errors

    13 Troubleshooting 13.2.1 Overview of System Errors 13.2 System Errors This section explains system error details and remedies. 13.2.1 Overview of System Errors Indicators on the MP2100/MP2100M indicate the operating and error status of the MP2100/MP2100M. Use the system (S) registers to get for more details on errors. Carefully check system register details to figure out the fail- ure location and implement corrections.

  • Page 394: Processing Flow When A System Error Occurs

    13.2 System Errors 13.2.2 Processing Flow When a System Error Occurs The following illustration shows the processing flow when a system error occurs. START Classify error contents based on the indicator pattern.* Battery alarm? Replace (BAT indicator lit?) battery Warning Classification = Warning? (S2 indicator lit (red) or blinking (red)?)

  • Page 395: Processing Flow For A Ladder Program Error

    13 Troubleshooting 13.2.3 Processing Flow for a Ladder Program Error 13.2.3 Processing Flow for a Ladder Program Error A serious failure has probably occurred if the S1 and S2 indicators are lit (red) on the MP2100/MP2100M. Place the MP2100/MP2100M in Stop Status (MP2100: 2 of mode switch 1 ON; MP2100M: 6 of mode switch 1 ON) and investigate the problem.

  • Page 396: System Register Configuration

    13.2 System Errors 13.2.4 System Register Configuration (1) System Status System status indicates the operating status and error details for the system. System status details are used to determine whether hardware or software is the cause of an error. Name Register No.
  • Page 397 13 Troubleshooting 13.2.4 System Register Configuration Name Register No. Contents SW00047 SB000470 Reserved by Reserved by system. System SB000471 Reserved by system. SB000472 SB000473 Reserved by system. SB000474 Reserved by system. SB000475 Reserved by system. SB000476 Reserved by system. SB00047F SW00048 SB000480 Hardware...
  • Page 398 13.2 System Errors (2) System Error Status The following table lists data when a system error occurs. Name Register No. Contents SW00050 0001H 32-bit Error Code Watchdog time error 0041H ROM diagnosis error 0042H RAM diagnosis error 0043H CPU diagnosis error 0044H FPU diagnosis error 00E0H...
  • Page 399 13 Troubleshooting 13.2.4 System Register Configuration Name Register No. Contents SW00056 Ladder Program Ladder program parent drawing: FFFFH Error DWG Number Ladder program function: 0100H Ladder program child drawing: 00H (H : Child drawing No.) Ladder program grandchild drawing: yyH (Hyy: Grandchild drawing No.) SW00057 Ladder Program Type of drawing that calls the ladder program function in which an error...
  • Page 400 13.2 System Errors (3) Ladder Program User Operation Error Status The following tables list data available when a user operation error occurs in a ladder program. Table 13.1 Ladder Program User Operation Error Status - 1 Name Register No. Contents SW00080 DWG.A Error Count Error Code...
  • Page 401 13 Troubleshooting 13.2.4 System Register Configuration Table 13.3 Ladder Program User Operation Error Status - 3 Error User∗ Error Contents System Default Code 0001H Integer Integer operation - underflow −32768［−32768］ Operation 0002H Integer operation - overflow 32767［32767］ 0003H Integer operation - division error The A register remains the same.
  • Page 402 13.2 System Errors Table 13.4 Ladder Program User Operation Error Status - 4 Error Code Error Contents User System Default Integer - 1000H Index error within drawing Re-executed with i, j = 0 Real 2000H Index error within function Re-executed with i, j = 0 Number Operations Integer...
  • Page 403 13 Troubleshooting 13.2.4 System Register Configuration (5) System I/O Error Status Name Register No. Remarks SW00190 Current Alarm Cleared when power is turned ON. SW00191 Number of Alarm History Records The number of alarms in the alarm history. SW00192 Alarm Clear 1: Clear alarms 2: Clear current alarm and alarm history SW00200...
  • Page 404 13.2 System Errors (7) Module Information Register Name Remarks Number SW00800 Module MP2100ID (C180H) Information SW00801 Reserved by system. SW00802 CPU software version (BCD) SW00803 Number of sub-slots (0004H) SW00804 CPU Function ID (C310H) SW00805 CPU Function Status 1: No module 2: Running 3: Reserved by system 4: Failure...

  • Page 405: Motion Errors

    13 Troubleshooting 13.3.1 Description of Motion Errors 13.3 Motion Errors This section explains the details and remedies for errors that occur in motion control functions. 13.3.1 Description of Motion Errors Motion errors in the MP2100/MP2100M include axis alarms detected for individual SERVOPACKs. The failure location can be determined and appropriate corrections can be taken simply by checking the contents of the Warning (IL 02) and Alarm (IL...
  • Page 406 13.3 Motion Errors (2) Motion Error Type 2 The specific motion alarms for the MP2100/MP2100M is shown below. Warning (IL Bit 1: Setting Parameter Error Bit 2: Fixed Parameter Error Over Range Parameter Number (IW Bit 0: Excessively Following Error Bit 3: Servo Driver Error Bit 4: Motion Command Setting Error Bit 0: Servo Driver Error...

  • Page 407: Motion Error Details And Corrections

    13 Troubleshooting 13.3.2 Motion Error Details and Corrections 13.3.2 Motion Error Details and Corrections (1) Alarm IL 04 Details The details stored in the axis Alarm (IL 04) are listed in the following table. Alarm Contents Bit 0 Servo Driver Error Bit 1 Positive Overtravel Bit 2...
  • Page 408 13.3 Motion Errors (2) Servo Driver Error (IL 04, bit 0) Detection Timing • SERVOPACK alarms are continuously monitored by the alarm management section. Processing when Alarm Occurs • The current command execution will be aborted. If SERVOPACK Error is detected during execution of a POSING command, the positioning will be aborted and the axis will decelerate to a stop.
  • Page 409 13 Troubleshooting 13.3.2 Motion Error Details and Corrections (3) Servo Alarm Code (IW When a Servo Driver Error (IL 04, bit 0) turns ON, a SERVOPACK alarm will exist. Refer to the Servo Alarm Code (IW 2D) for details on the type of alarm that has occurred. The alarm codes are listed in the fol- lowing tables.
  • Page 410 13.3 Motion Errors (b) Σ-II Series Register Name Code Meaning Number Servo Alarm Normal Code Overload Warning Regeneration Overload Warning Data Setting Warning Command Warning Communication Warning Parameter Corrupted Main Circuit Detector Error Parameter Setting Error Combination Error Overcurrent or Heat Sink Overheat Regeneration Error Regeneration Overload Overvoltage...
  • Page 411 13 Troubleshooting 13.3.2 Motion Error Details and Corrections (c) Σ-III Series Register Name Code Meaning Number Servo Alarm Normal Code Excessive Position Error Excessive Position Error at Servo ON Overload Vibration Regeneration Overload Absolute Encoder Battery Error Parameter Change Requiring Power Recycling Data Setting Warning 1 (Parameter Number) Data Setting Warning 2 (Outside Data Range) Data Setting Warning 3 (Calculation Error)
  • Page 412 13.3 Motion Errors (cont’d) Register Name Code Meaning Number Servo Alarm Encoder Over Speed Code Encoder Overheat Full-closed Serial Encoder Checksum Alarm Full-closed Serial Encoder Data Alarm Full-closed Serial Encoder Scale Error Full-closed Serial Encoder Module Error Full-closed Serial Encoder Sensor Error (Incremental) Full-closed Serial Encoder Position Error (Absolute Value) Current Detection Error 1 Current Detection Error 2...
  • Page 413 13 Troubleshooting 13.3.2 Motion Error Details and Corrections (4) Positive Overtravel and Negative Overtravel (IL 04, bit 1 and bit 2) Detection Timing • Overtravel is continuously monitored by the position management section during execution of a motion command. • Overtravel is detected when the OT signal in the direction of movement turns OFF. Processing when Alarm Occurs •...
  • Page 414 13.3 Motion Errors (6) Servo OFF (IL 04, bit 5) Detection Timing • Servo OFF status is detected when a move command is executed. Processing when Alarm Occurs • The specified movement command will not be executed. • The Command Execution End with Error in the Motion Command Status (IW 09, bit 3) will turn Error and Cause •...
  • Page 415 13 Troubleshooting 13.3.2 Motion Error Details and Corrections (9) Excessive Speed (IL 04, bit 8) Detection Timing • Enabled when the electronic gear is used and detected when positioning is executed. Processing when Alarm Occurs • The move command is not executed. •...
  • Page 416 13.3 Motion Errors (11) Filter Type Change Error (IL 04, bit 10) Detection Timing • Continuously monitored by the motion command processing section. Processing when Alarm Occurs • The Change Filter Type command will not be executed. • The Command Execution End with Error bit in the Motion Command Status (IW 09, bit 3) will turn ON.
  • Page 417 13 Troubleshooting 13.3.2 Motion Error Details and Corrections (13) Zero Point Not Set (IL 04, bit 13) Detection Timing • Detected when an absolute encoder is used for an infinite length axis and a command is set in the Motion Command (OW Commands: Positioning, External Positioning, Interpolation, or Latch Processing when Alarm Occurs...
  • Page 418 13.3 Motion Errors (16) Servo Driver Command Timeout Error (IL 04, bit 18) Detection Timing • Detected during execution of motion commands. • Detected at the MECHATROLINK communication control section when Servo command responses are checked for each process. Processing when Alarm Occurs •...
  • Page 419 13 Troubleshooting 13.3.2 Motion Error Details and Corrections (18) Monitoring Status (IW The status of the SERVOPACK can be monitored in the bits of monitoring parameter IW Bit No. Status Description Bit 0 Alarm (ALARM) OFF: No alarm occurred. ON: Alarm occurred. Bit 1 Warning (WARNG) OFF: No warning occurred.
  • Page 420 Application Precautions This chapter explains precautions for using the MP2100/MP2100M. 14.1 Controlling a Vertical Axis - - - - - - - - - - - - - - - - - - - - - - - - 14-2 14.1.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-2 14.1.2 Connections to SGDH- E or SGDS-...

  • Page 421: Controlling A Vertical Axis

    14 Application Precautions 14.1.1 Overview 14.1 Controlling a Vertical Axis This section explains connection methods and parameter settings required to use the SERVOPACK to control a vertical axis. 14.1.1 Overview When the system power is turned OFF when using a SERVOPACK to control a vertical axis or an axis to which an external force is being applied, a servomotor with a brake must be used to prevent the axis from dropping or moving due to gravity or the external force.

  • Page 422: Servopack

    14.1 Controlling a Vertical Axis 14.1.2 Connections to SGDH- E or SGDS- SERVOPACK (1) Connection Example Servomotor SGDH or SGDS ブレーキ付き SGDHまたはSGDS with brake SERVOPACK サーボモータ サーボパック Power supply 電源 A(1) B(2) C(3) D(4) E(5) BK-RY F(6) /BK+ +24V /BK- BK-RY Blue or yellow 青または黄...
  • Page 423 14 Application Precautions 14.1.2 Connections to SGDH- E or SGDS- SERVOPACK (b) Pn506 (Brake ON Timing after Motor Stops) Adjust brake timing with the following parameter if the machine moves slight due to gravity or other factors. Pn506 Delay Time from BK Signal Setting Speed, torque, or Units...

  • Page 424: An Servopack

    14.1 Controlling a Vertical Axis 14.1.3 Connections to SGDB- AN SERVOPACK (1) Connection Example Servomotor ブレーキ付き SGDB- AN SERVOPACK with brake SGDB-□□ANサーボパック サーボモータ Power supply 電源 BK-RY +24V 50 mA 50mA max. SG-COM BK-RY Blue or yellow 青または黄 赤 White Black 白...
  • Page 425 14 Application Precautions 14.1.3 Connections to SGDB- AN SERVOPACK (b) Cn-12 (Brake ON Timing after Motor Stops) Adjust brake timing with the following parameter if the machine moves slight due to gravity or other factors. Cn-12 Delay Time from BK Signal Setting Speed, torque, or Units...

  • Page 426: N Servopack

    14.1 Controlling a Vertical Axis 14.1.4 Connections to SGD- N SERVOPACK (1) Connection Example SGD- N SERVOPACK Servomotor with brake SGD-□□□Nサーボパック ブレーキ付きサーボモータ Power supply 電源 BK-RY +24V 50 mA 50mA max. SG-COM BK-RY Blue or yellow 青または黄 赤 White Black 白...
  • Page 427 14 Application Precautions 14.1.4 Connections to SGD- N SERVOPACK (b) Cn-15 and Cn-16 (Output ON Timing When Motor Running) Adjust the timing of the holding brake when the motor is running with the following parameters so that the brake is applied after the servomotor stops. Cn-15 Speed Level for BK Signal Units...

  • Page 428: Overtravel Function

    14.2 Overtravel Function 14.2 Overtravel Function This section explains the overtravel function. 14.2.1 Overview The overtravel function forces the machine to stop when the moving part of the machine exceeds the range of movement. With the MP2100/MP2100M, processing for stopping as a result of overtravel is achieved by using SERVOPACK functions.

  • Page 429: Parameter Settings

    14 Application Precautions 14.2.3 Parameter Settings 14.2.3 Parameter Settings (1) Using/Not Using Overtravel Input Signals The following parameters are used to enable and disable using the overtravel input signals. (a) SGDH- E or SGDS- SERVOPACK Parameter Contents Setting Item Default Pn50A.3 P-OT Signal Mapping Enables use of Positive Prohibit Input...
  • Page 430 14.2 Overtravel Function (2) Selecting Motor Stopping Methods for Overtravel When using the overtravel function has been enabled, the following parameters are used to set the methods for stopping the motor. Select the methods for stopping when the P-OT or N-OT is input during motor running. (a) SGDH- E or SGDS- SERVOPACK...
  • Page 431 14 Application Precautions 14.2.3 Parameter Settings (b) SGDA- N or SGDB- AN SERVOPACK Select the stopping method and processing after stopping when the OT signal is input during motor running. Parameter Contents Setting Item Default Cn-01, bit 8 Selection of stopping Stops the motor according to CN-01 bit 6 method for overtravel setting (dynamic brake or coasting) when...

  • Page 432: Software Limit Function

    14.3 Software Limit Function 14.3 Software Limit Function This section explains the soft limit function. 14.3.1 Overview The soft limit function is used to set upper and lower limits for the range of machine movement in fixed parame- ters so the MP2100/MP2100M can constantly monitor the operating range of the machine. The function can be used to help prevent machine runaway or damage due to incorrect operation as well as incorrect references in a motion program.

  • Page 433: Fixed Parameter Settings

    14 Application Precautions 14.3.2 Fixed Parameter Settings 14.3.2 Fixed Parameter Settings The following fixed parameters must be set in order to use the soft limit function. No. of Fixed Name Units Setting Range Parameter Function Selection 1 0: Disabled, 1: Enabled Bit 1: Forward Soft Limit Enabled 0: Disabled, 1: Enabled Bit 2: Reverse Soft Limit Enabled...

  • Page 434: Processing After An Alarm Occurs

    14.3 Software Limit Function 14.3.3 Processing after an Alarm Occurs (1) Alarm Information If a soft limit is exceeded, a Positive/Negative Soft Limit alarm will occur. This alarm can be monitored in the Alarm monitoring parameter (IL Name Register Number Meaning Alarms Bit 3:...

  • Page 435: Setting And Changing User-Defined Files Or Data

    14 Application Precautions 14.4.1 Saving User-defined Files or Data 14.4 Setting and Changing User-defined Files or Data This section explains precautions when changing the scan times, Module configuration definition, or other set- tings. • Scan times: The cycles used to refresh all I/O, execute the ladder programs, etc. •...

  • Page 436: Setting And Changing The Module Configuration Definition

    14.4 Setting and Changing User-defined Files or Data (1) High-speed Scan Setting Examples (a) Communication cycle = 1 ms (with MECHATROLINK-II only) and Max. execution time ≤ 0.8 ms High-speed scan setting ≥ (1.25 × 0.8) = 1 ms High-speed scan setting = 1 ms, 2 ms, 3 ms, etc. (an integer of 1 ms or higher) (b) Communication cycle = 1 ms (with MECHATROLINK-II only) and Max.
  • Page 437 Appendix A Motion API This chapter shows the list of motion API. For details, refer to the MP2100/ MP2100M Motion API reference file (PCAPI.chm) which is installed in the CD-ROM (CPMC-MPA700) for MP2100/MP2100M Motion API. A.1 Motion API - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-2 A.1.1 Common APIs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2 A.1.2 Sequential APIs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2 A.1.3 System APIs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-4...
  • Page 438 Appendix A Motion API A.1.1 Common APIs A.1 Motion API A.1.1 Common APIs The following tables show the list of common APIs. (1) Device Function Name Summary ymcClearAllAxes ( ) Deletes all axis definitions that were defined by the MP2100/MP2100M. ymcClearAxis ( ) Deletes the axis definition specified by the axis handle.
  • Page 439 A.1 Motion API (2) Interpolation Function Function Name Summary ymcMoveLinear ( ) Executes linear interpolation in the axis specified by the device handle. ymcMoveCircularCenter ( ) Executes circular interpolation in the specified direction at the specified tangential speed along an arc with the center point coordinate (u, v) specified by lpCenter. ymcMoveCircularRadius ( ) Executes circular interpolation in the specified direction at the specified tangential speed along an arc with the specified radius.
  • Page 440 Appendix A Motion API A.1.3 System APIs A.1.3 System APIs The following tables show the list of system APIs. (1) Data Operations Function Name Summary ymcSetIoDataBit ( ) Sets the specified device type bit. ymcSetIoDataValue ( ) Sets the specified device type data. ymcGetIoDataValue ( ) Gets the specified device type data.
  • Page 441 Appendix B Parameters That are Automatically Updated B.1 Parameters Updated when a Connection is Established (MP2100/MP2100M to SERVOPACK) - - - - - - - - - - - - - - - -B-2 B.2 Parameters Updated when a Setting Parameter is Changed (MP2100/MP2100M to SERVOPACK) - - - - - - - - - - - - - - - -B-3 B.3 Parameters Updated when a Motion Command is Started (MP2100/MP2100M to SERVOPACK) - - - - - - - - - - - - - - - -B-4...

  • Page 442: Parameters Updated When A Connection Is Established (Mp2100/Mp2100M To Servopack

    Appendix B Parameters That are Automatically Updated B.1 Parameters Updated when a Connection is Established (MP2100/MP2100M to SERVOPACK) SERVOPACK MP2100/MP2100M Remarks SGD-N, NS100 NS115 SGDS SGDB-N Pn81B Pn214 Fixed Pa- − − No. 16 Backlash Compensation rameters − − Pn500 Pn522 →...

  • Page 443: Parameters Updated When A Setting Parameter Is Changed (Mp2100/Mp2100M To Servopack

    B.2 Parameters Updated when a Setting Parameter is Changed (MP2100/MP2100M to SERVOPACK) B.2 Parameters Updated when a Setting Parameter is Changed (MP2100/MP2100M to SERVOPACK) When using the MECHATROLINK-II at 10 Mbps in 32-byte mode, the following parameters are updated when a setting parameter is changed as along as bit 10 of fixed parameter 1 is set to enable automatic updating of parameters.

  • Page 444: Parameters Updated When A Motion Command Is Started (Mp2100/Mp2100M To Servopack

    Appendix B Parameters That are Automatically Updated B.3 Parameters Updated when a Motion Command is Started (MP2100/MP2100M to SERVOPACK) SERVOPACK MP2100/MP2100M Remarks SGD-N, NS100 NS115 SGDS SGDB-N Pn822 Setting Latch Zone Lower Limit Updated when EX_POSING − − − → Parame- Setting command execution is started.

  • Page 445: (Mp2100/Mp2100M To Servopack

    B.5 Parameters Updated at Self-configuration (MP2100/MP2100M to SERVOPACK) B.5 Parameters Updated at Self-configuration (MP2100/MP2100M to SERVOPACK) The following parameters are updated automatically for any communication method and regardless of the setting of bit 10 of fixed parameter 1. SERVOPACK MP2100/ MP2100M Remarks SGD-N, NS100 NS115 SGDS...

  • Page 446: C.3 Program Software Numbers And Remaining Program Memory Capacity - - - - - -

    Appendix C List of System Registers C.1 System Service Registers - - - - - - - - - - - - - - - - - - - - - - - - C-2 C.1.1 Registers Common to All Drawings - - - - - - - - - - - - - - - - - - - - - - - - - C-2 C.1.2 Registers Specific to High-speed Scan Drawings - - - - - - - - - - - - - - - C-3 C.1.3 Registers Specific to Low-speed Scan Drawings - - - - - - - - - - - - - - - C-4 C.2 Scan Execution Status and Calendar - - - - - - - - - - - - - - - - C-5...

  • Page 447: System Service Registers

    Appendix C List of System Registers C.1.1 Registers Common to All Drawings C.1 System Service Registers C.1.1 Registers Common to All Drawings Register Name Remarks Number Reserved for system SB000000 Not used First High-speed Scan SB000001 ON for only the first scan after high-speed scan is started.

  • Page 448: Registers Specific To High-Speed Scan Drawings

    C.1 System Service Registers C.1.2 Registers Specific to High-speed Scan Drawings These registers are set when high-speed scan starts. Register Name Remarks Number 1-scan Flicker Relay SB000010 1 scan 1スキャン 1 scan 1スキャン 0.5-s Flicker Relay SB000011 0.5s 0.5s 1.0-s Flicker Relay SB000012 1.0s 1.0s...

  • Page 449: Registers Specific To Low-Speed Scan Drawings

    Appendix C List of System Registers C.1.3 Registers Specific to Low-speed Scan Drawings C.1.3 Registers Specific to Low-speed Scan Drawings These registers are set when low-speed scan starts. Register Name Remarks Number 1-scan Flicker Relay SB000030 1 scan 1スキャン 1 scan 1スキャン...

  • Page 450: Scan Execution Status And Calendar

    C.2 Scan Execution Status and Calendar C.2 Scan Execution Status and Calendar Register Num- Name Remarks High-speed Scan Set Value SW00004 High-speed scan set value (0.1 ms) High-speed Scan Current Value SW00005 High-speed scan current value (0.1 ms) High-speed Scan Maximum Value SW00006 High-speed scan maximum value (0.1 ms) Reserved for system...
  • Page 451 Index INDEX daily inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-2 DCC - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-51 DEC1 + C-phase method - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-16 DEC1 + ZERO signal method - - - - - - - - - - - - - - - - - - - - - - - - 8-18 drawings...
  • Page 452 Index KFS- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-61 NOT &...
  • Page 453 Index sample program 1 VELO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-76 manual operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-35 verifying driver installation - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6 sample program 2...
  • Page 454 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover. MANUAL NO. SIEPC88070001A Printed in Japan December 2003 03-04 Revision number Date of Date of original printing publication Rev. Date of Printing Section Revised Contents −...
  • Page 455 TAIPEI OFFICE 9F, 16, Nanking E. Rd., Sec. 3, Taipei, Taiwan Phone 886-2-2502-5003 Fax 886-2-2505-1280 SHANGHAI YASKAWA-TONGJI M & E CO., LTD. 27 Hui He Road Shanghai China 200437 Phone 86-21-6553-6060 Fax 86-21-5588-1190 BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO., LTD.

This manual is also suitable for:

Japmc-mc2100Mp2100m seriesJapmc-mc2140

Table of Contents