YASKAWA MP210 Series User Manual
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YASKAWA MP210 Series User Manual

YASKAWA MP210 Series User Manual

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Machine Controller
MP210/MP210M
USER'S MANUAL
Design and Maintenance
Model: JAPMC-MC2100, -MC2100-E, -MC2102-E
JAPMC-MC2140, -MC2140-E, -MC2142-E
MANUAL NO. SIEP C880700 01D
Overview
Specifications and Functions
Installation and Connection
System Startup and
Sample Programs
Outline of Motion Control Systems
Maintenance, Inspection,
and Troubleshooting
System Registers Lists
Current Value and Setting Data
in SVB Definition
Initializing the Absolute Encoder
Motion Parameter Lists
Motion API
MP2100M Slave CPU
Synchronization Function
1
2
3
4
5
6
A
B
C
D
E
F

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  • Page 1 Machine Controller MP210/MP210M USER'S MANUAL Design and Maintenance Model: JAPMC-MC2100, -MC2100-E, -MC2102-E JAPMC-MC2140, -MC2140-E, -MC2142-E Overview Specifications and Functions Installation and Connection System Startup and Sample Programs Outline of Motion Control Systems Maintenance, Inspection, and Troubleshooting System Registers Lists Current Value and Setting Data in SVB Definition Initializing the Absolute Encoder Motion Parameter Lists...
  • 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 The MP2100/MP2100M is a PCI-board-type Machine Controller that contains the CPU, I/O and MECHA- TROLINK-II communication functions in a single unit. Read this manual carefully to ensure the proper use of the MP2100/MP2100M. Also, keep this manual in a safe place so that it can be referred to whenever necessary.
  • Page 4 • PROFINET is a registered trademark of PROFIBUS & PROFINET International. • CC-Link is a trademark of the Mitsubishi Electric Corporation. • MPLINK is a registered trademark of the YASKAWA Electric Corporation. • Microsoft, Windows, Windows NT, and Internet Explorer are registered trademarks of the Microsoft Corporation.
  • 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 Describes the functions, specifications, and Machine Controller MP2000 Series application methods of the optional SVB-01 Built-in SVB/SVB-01 Motion Module SIEP C880700 33...
  • Page 6 (cont’d) Manual Name Manual Number Contents Describes the functions, specifications, and Machine Controller MP2000 Series application methods of the 267IF-01, CC-Link 267IF-01 CC-Link Master Module SIEP C880712 01 Master Module for the MP2000-series Machine User’s Manual Controllers. Machine Controller MP900/MP2000 Series Describes the instructions used in MP900/ User’s Manual, SIEZ-C887-1.2...
  • Page 7 (cont’d) Manual Name Manual Number Contents Σ-III Series SGMS/SGDS SIEP S800000 11 Describes the models, capacities, selection User’s Manual methods, ratings, characteristics, diagrams, For MECHATROLINK-II communications cables, peripheral devices, wiring, panel installation, trial operation, adjustment, function application methods, maintenance, inspection, and MECHATROLINK communication of the -III Series SERVOPACKs and Servomotors.
  • Page 8 Safety Information The following conventions are used to indicate precautions in this manual. These precautions are provided to ensure the safe operation of the MP2100/MP2100M and connected devices. Information marked as shown below is important for the safety of the user. Always read this information and heed the precautions that are provided.
  • Page 9 Safety Precautions The following precautions apply to inspection when products arrive, storage and transportation, mounting, wiring, operation and inspection, and disposal. These precautions are important and must be observed. WARNING • Before connecting the Machine Controller and starting operation, ensure that an emergency stop pro- cedure has been provided and is working correctly.
  • Page 10  Storage and Transportation CAUTION • Do not store or install the MP2100/MP2100M in the following locations. There is a risk of fire, electrical shock, or device damage. • Direct sunlight • Ambient temperature exceeds the storage or operating conditions •...
  • Page 11  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 12  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 13 • The drawings presented in this manual are typical examples and may not match the product you received. • If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the offices listed on the back of this manual.
  • Page 14 6. Events for which Yaskawa is not responsible, such as natural or human-made disasters (2) Limitations of Liability 1. Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product.
  • Page 15 Check the functionality and safety of the actual devices and equipment to be used before using the product. 6. Read and understand all use prohibitions and precautions, and operate the Yaskawa product correctly to prevent accidental harm to third parties.
  • Page 16 Contents Using this Manual- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii Safety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - viii Safety Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ix Warranty - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xiv...
  • Page 17 3 Installation and Connection 3.1 Installing the MP2100/MP2100M - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2 3.1.1 Computer Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2 3.1.2 Installing the MP2100/MP2100M- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4 3.1.3 Installing the Drivers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-5...
  • Page 18 5 Outline of Motion Control Systems 5.1 Startup Sequence and Basic Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2 5.1.1 MP2100 Mode Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-2 5.1.2 MP2100M Mode Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-4 5.1.3 Startup Sequence - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-5...
  • Page 19 6.3 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6 6.3.1 Basic Flow of Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6 6.3.2 Error Check Flowchart - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7 6.3.3 LED Indicators - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8...
  • Page 20 E Motion API E.1 Motion API- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-2 E.1.1 Common APIs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-2 E.1.2 Sequential APIs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-3 E.1.3 System APIs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-5...
  • Page 21 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 22 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 servo drive, automatic setup, and full system support from design to maintenance.
  • Page 23 1.1 MP2100 Overview 1.1.2 MP2100 Appearance The following figures show the external appearance of the MP2100 and MP2101. MP2100 MP2101...
  • Page 24 1 Overview 1.2.1 MP2100M Features 1.2 MP2100M Overview 1.2.1 MP2100M Features The MP2100M is a Machine Controller that has a CPU Board equivalent to the MP2100 and an SVB Board mounted to the option connector. The SVB Board provides one MECHATROLINK-II port, and can be used to control servo drives, inverters, and I/O devices.
  • Page 25 1.2 MP2100M Overview 1.2.3 MP2100M Appearance The following figures show the external appearance of the MP2100M and MP2101M. MP2100M MP2101M...
  • Page 26 1 Overview 1.3 MP2100/MP2100M Modules The following table shows the names and descriptions of the MP2100/MP2100M Modules and Optional Mod- ules. Group Name Description Model Description JAPMC-MC2100-E MP2100 Basic Module MP2100 MECHATROLINK-I/MECHATROLINK-II, JAPMC-MC2100 16 axes maximum High-speed Version of 5 inputs, 4 outputs MP2101 MP2101 JAPMC-MC2102-E...
  • Page 27 1.3 MP2100/MP2100M Modules (cont’d) Group Name Description Model Description CompoNet Communi- 265IF-01 JAPMC-CM2390-E CompoNet communication cation Module 266IF-01 JAPMC-CM2306-E PROFINET communication (master) PROFINET Communi- Communi- cation Module 266IF-02 JAPMC-CM2307-E PROFINET communication (slave) cation Optional CC-Link Communica- Modules 267IF-01 JAPMC-CM23A0-E CC-Link communication (master) Mod- tion Module ules*...
  • Page 28 2. Up to 9 digital I/O points (5 inputs and 4 outputs) can be used. 3. 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 29 2. 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. 3. Different SERVOPACKs are connected to MECHATROLINK-I and MECHATROLINK-II.
  • Page 30 1 Overview 1.5 Devices Connectable to MECHATROLINK The devices that are compatible with MECHATROLINK and can be connected to the MP2100/MP2100M are listed below. ( 1 ) Compatible SERVOPACKs Model Number Details MECHATROLINK-I MECHATROLINK-II SGD-N MECHATROLINK-I-compatible AC SERVOPACK SGDB-AN Σ-II Series SGDH SERVOPACK SGDH-E NS100 MECHATROLINK-I JUSP-NS100...
  • Page 31 1.5 Devices Connectable to MECHATROLINK (cont’d) Model Number Details MECHATROLINK-I MECHATROLINK-II 64-point I/O Module JEPMC-IO2310 24 VDC, 64 inputs, 64 outputs (sink) 64-point I/O Module JEPMC-IO2330 24 VDC, 64 inputs, 64 outputs (source) Counter Module JEPMC-PL2900 Reversible counter, 2 channels Pulse Output Module JEPMC-PL2910 Pulse output, 2 channels...
  • Page 32 1 Overview 1.6.1 Cables 1.6 Cables, Included Accessories, and Options 1.6.1 Cables The following table shows the cables that can be connected to the MP2100/MP2100M. Connector Module Application Model Specifications Name I/O <−> External I/O MP2100/ External I/O JEPMC-W2062- MP2100M M-I/II JEPMC-W6002-...

  • Page 33: Table Of Contents

    Specifications and Functions This chapter explains specifications in detail for the MP2100/MP2100M and gives an overview of its functions. 2.1 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2 2.1.1 Hardware Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2 2.1.2 Specifications of Operating Environment - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3 2.1.3 Function Lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4...

  • Page 34: Specifications

    2 Specifications and Functions 2.1.1 Hardware Specifications 2.1 Specifications 2.1.1 Hardware Specifications The following table shows the hardware specifications of the MP2100/MP2100M. Item Specifications Name MP2100 MP2101 MP2100M MP2101M JAPMC-MC2100-E JAPMC-MC2140-E Model Number JAPMC-MC2102-E JAPMC-MC2142-E JAPMC-MC2100 JAPMC-MC2140 +5 VDC: Supplied from PCI bus, +5 VDC: Supplied from PCI bus, Power Supply approx.

  • Page 35: Specifications Of Operating Environment

    2.1 Specifications 2.1.2 Specifications of Operating Environment Item Specifications 0 to 55 °C Operating Temperature Ambient Temper- ature −25 to 85 °C Storage Temperature Humidity 30% to 95% (with no condensation) 5 V ±5% Power Supply Voltage Vibration Resistance Depends on the personal computer. Shock Resistance Depends on the personal computer.

  • Page 36: Function Lists

    2 Specifications and Functions 2.1.3 Function Lists 2.1.3 Function Lists (1) PLC Function Specifications The following table shows the PLC function specifications for MP2100/MP2100M. Item Specifications Control Method Sequence: High-speed and low-speed scan methods Ladder diagram: Relay circuit Programming Language Text-type language: Numeric operations, logic operations, etc.
  • Page 37 2.1 Specifications Item Specifications 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 Instructions Numeric comparison instructions: 7 instructions Data manipulation instructions:...
  • Page 38  When using MECHATROLINK-I • SERVOPACK SGD-N SGDB-AN SGDH-E + NS100 SGDH-E + NS115 SGDS-1 SGDX-1 Applicable SERVOPACKs SGDV-1  When using MECHATROLINK-II • SERVOPACK SGDH-E + NS115 SGDS-1 SGDX-1 SJDE-AN SGDV-1 JUSP-IM • Incremental encoder Encoders • Yaskawa absolute encoder...

  • Page 39: Functions Of The Mp2100/Mp2100M Base Module

    2.2 Functions of the MP2100/MP2100M Base Module 2.2 Functions of the MP2100/MP2100M Base Module The MP2100/MP2100M Base Module is a PCI-board-type module that contains the CPU, Built-in SVB and I/O functions in a single unit, and it has both a motion control function and a sequence control function. 2.2.1 MP2100 Appearance/LED Indicators and Switch Settings (1) Appearance (a) JAPMC-MC2100 (non-RoHS-compliant)
  • Page 40 2 Specifications and Functions 2.2.1 MP2100 Appearance/LED Indicators and Switch Settings (c) JAPMC-MC2102-E Reset switch Mode switch 2 LED indicators Mode switch 1 (2) LED Indicators The following table shows the operating status and error status of the LED indicators of the MP2100. Indicator Display Status...
  • Page 41 2.2 Functions of the MP2100/MP2100M Base Module (3) Switch Settings 1. Use these switches to set the operating conditions for the JAPMC-MC2100. Mode Switch 1 (S1) Mode Switch 2 (S2) Reset Switch (a) Mode Switch 1 (S1) Default Name Status Function Details Setting...
  • Page 42 2 Specifications and Functions 2.2.1 MP2100 Appearance/LED Indicators and Switch Settings 2. Use these switches to set the operating conditions for the JAPMC-MC2100-E/JAPMC-MC2102-E. Mode Switch 1 (S1) Mode Switch 2 (S2) Reset Switch (a) Mode Switch 1 (S1) Default Name Status Function Details...

  • Page 43: Mp2100M Appearance/Led Indicators And Switch Settings

    2.2 Functions of the MP2100/MP2100M Base Module 2.2.2 MP2100M Appearance/LED Indicators and Switch Settings (1) Appearance The following diagram shows the layout of the LED indicators and switches for the MP2100M/MP2101M. Mode switch (S1) Reset switch LED indicators SVB Motion Module indicators (LED) (2) LED Indicators (a) CPU Module Status Indicators...
  • Page 44 2 Specifications and Functions 2.2.2 MP2100M Appearance/LED Indicators and Switch Settings (3) Switch Settings Use these switches to set the operating conditions for the MP2100M/MP2101M when the power is turned ON. Reset switch Mode switch 1 (S1) (a) Mode Switch 1 (S1) Default No.

  • Page 45: Module Configuration Definitions

    2.2 Functions of the MP2100/MP2100M Base Module 2.2.3 Module Configuration Definitions Configuration of the MP2100M including Optional Modules can be obtained and modified in the Module Con- figuration window. (1) Module Configuration Window Components A typical MP2100M Module Configuration window is shown below. Information on the MP2100M Information on the mounted Optional Modules Configuration of the...
  • Page 46 2 Specifications and Functions 2.2.3 Module Configuration Definitions The following table lists the items shown in the Module Configuration window. Item Description Modification Slot Number Slot number Not possible Module Type Module detected in the slot Possible Controlling CPU Number Fixed as “01”...

  • Page 47: Cpu I/O (Built-In I/O) Module

    2.2 Functions of the MP2100/MP2100M Base Module 2.2.4 CPU I/O (Built-in I/O) Module The CPU I/O Module is a digital I/O module built in the MP2100M, and provides five external input points and four external output points. (1) CPU/IO Module Details For CPU I/O Module details including specifications, refer to 3.2.3 I/O Connection.

  • Page 48: Built-In Svb Modules

    2 Specifications and Functions 2.2.5 Built-in SVB Modules 2.2.5 Built-in SVB Modules The SVB Module is a motion module used to control SERVOPACKs, stepping motor drivers, inverters, distrib- uted I/O devices, etc. via MECHATROLINK interface MECHATROLINK-I/II. The MECHATROLINK-II enables position, speed, torque, and phase control for highly accurate synchronized control.
  • Page 49 Up to 16 SERVOPACK or Inverter axes Up to 16 SERVOPACK or Inverter axes Note: 1. Use the connecting cables and connectors recommended by Yaskawa. Always check the device to be used and select the correct cable for the device by referring to 3.2.2 (3) Cables.
  • Page 50 2 Specifications and Functions 2.2.5 Built-in SVB Modules (3) Synchronization between Modules (a) Overview The MP2100M has a hardware-based function for synchronizing the CPU and Optional Modules. This function makes it possible to synchronize the high-speed scan and MECHATROLINK communication, which means that synchronization between a Built-in SVB Module and an SVB-01 Module, and synchroni- zation among multiple SVB-01 Modules, are possible.
  • Page 51 2.2 Functions of the MP2100/MP2100M Base Module (d) Operation when High-speed Scan Cycle is Changed If the high-speed scan is changed, SVB Module MECHATROLINK communication is continued, but the speed waveform is disrupted when interpolation commands are issued. Change the high-speed scan cycle while the CPU is in the STOP status or while no motion commands are being executed.
  • Page 52 2 Specifications and Functions 2.2.5 Built-in SVB Modules (4) Setting SVB Module A SERVOPACK connected to MECHATROLINK can be controlled by executing the MECHATROLINK trans- mission definition and SVB definition with the MPE720 Engineering Manager. (a) MECHATROLINK Transmission Definition • How to Open the MECHATROLINK Transmission Definition Window In the Module Configuration window, select the SVB Module in the Controller field and double-click the MECHATROLINK cell in the Details field.
  • Page 53 2.2 Functions of the MP2100/MP2100M Base Module • The MECHATROLINK Transmission Definition Window The MECHATROLINK Transmission Definition window has four tabs: Transmission Parameters, Link Assignment, I/O Map, and Status. Click the tab to view the contents. 1. Transmission Parameters Tab The parameters required to use the MECHATROLINK transmission system are displayed.
  • Page 54 2 Specifications and Functions 2.2.5 Built-in SVB Modules Item Display during Self-configuration Options and Precautions on Settings Displays the communication cycle. This can only be set when the communication The indication differs depending on the com- type is MECHATROLINK-II and the Master/ munication type and the master/slave dis- Communication Slave selection is “Master.”...
  • Page 55 2.2 Functions of the MP2100/MP2100M Base Module <With “Slave” Setting> MECHATROLINK-II MECHATROLINK-II Item MECHATROLINK-I (32-Byte Mode) (17 Byte Mode) Transmission − − − bytes Communica- 1 ms 1 ms 2 ms tion cycle Number of retry stations Number of slaves •...
  • Page 56 2 Specifications and Functions 2.2.5 Built-in SVB Modules • Waiting for monitor information to be refreshed An Optional SVB Module (SVB-01) communicates data with the CPU of the Machine Controller using actual shared memory, but the time lapse until it becomes possible to monitor the motion parameters created at the SVB-01 Module with the CPU’s application is one scan longer than if the same processing were done with a Built-in SVB Module (see the figures below).
  • Page 57 2.2 Functions of the MP2100/MP2100M Base Module 2. Link Assignment Tab The data of the slave devices detected in self-configuration (MECHATROLINK connected devices such as SERVOPACKs, inverters, and distributed I/O) are displayed. The items shown on the Link Assignment tab are as follows. The settings can be changed, and all the data can be deleted at once for an entire station.
  • Page 58 2 Specifications and Functions 2.2.5 Built-in SVB Modules  “*****I/O” and “*****SERVO” Since the following slave devices (I/O modules) have no type codes, “*****I/O” (wild card I/O) is shown in the TYPE column for the allocation on self-configuration. • JEPMC-IO350 •...
  • Page 59 2.2 Functions of the MP2100/MP2100M Base Module (b) SVB Definition The SVB Definition file defines the motion parameters (motion fixed parameters, motion setting parameters, and motion monitoring parameters) to control motion axes such as the SERVOPACK, inverter, and stepper. Note: Refer to Appendix D.1 Motion Parameter Lists for details on motion parameters. •...
  • Page 60 2 Specifications and Functions 2.2.5 Built-in SVB Modules 3. Click the Fixed Parameters, Setup Parameters, or Monitor tab to display the desired page. Note: Some of the parameters displayed change as a result of selecting either Rotary or Linear for Servo Type.
  • Page 61 2.2 Functions of the MP2100/MP2100M Base Module (5) Specifications of Built-in SVB Modules (a) MECHATROLINK Communication Specifications Item MECHATROLINK-I Specifications MECHATROLINK-II Specifications Transmission path type Bus type Bus type Transmission path Electric bus Electric bus 50 m Transmission distance 50 m (When using repeaters*: Maximum extension of 100 m possible) Transmission speed...

  • Page 62: Built-In Svr Virtual Motion Module

    2 Specifications and Functions 2.2.6 Built-in SVR Virtual Motion Module 2.2.6 Built-in SVR Virtual Motion Module (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. The SVR is standard feature with the MP2100M. The SVR is configured in the same way as the Built-in SVB Module with fixed parameters, setting parameters, and monitoring parameters, and can be accessed from application programs using I/O registers.
  • Page 63 The following diagram shows an example of system configuration in which SVR is used. MP2100M CP U SVR Virtual Motion Module High-speed scan Virtual servo axis High-speed scan SERVOPACK Ladder program YASKAWA SERVOPACK 200V SGDS-01A12A Motion Module CHARGE (Built-in SVB) High-speed scan Motion program Actual Servomotor...
  • Page 64 2 Specifications and Functions 2.2.6 Built-in SVR Virtual Motion Module (4) SVR Operation (a) SVR Execution Timing The SVR is processed at the beginning of the high-speed scan. SVR processing is performed in the next scan after the processing for the drawing has been completed, and the processing results are reflected in the monitoring parameters.

  • Page 65: Bus Interface Module (Busif)

    2.2 Functions of the MP2100/MP2100M Base Module 2.2.7 BUS Interface Module (BUSIF) (1) Overview The BUS Interface Module (BUSIF) is a virtual module that provides data exchange between the user application program at the host computer and the application program in the MP2100/MP2100M through a BUS interface. The BUSIF module is a standard feature with the MP2100/MP2100M.
  • Page 66 2 Specifications and Functions 2.2.7 BUS Interface Module (BUSIF) With the MP2100/MP2100M, in the Module Configuration window, the seventh slot is the BUSIF. The default setting for the BUSIF Module is UNDEFINED. Only change this to BUSIF when you are going to use the BUSIF.
  • Page 67 2.2 Functions of the MP2100/MP2100M Base Module (2) Details of BUSIF Definition The following items are displayed in the BUSIF window, and the I/O registers, I/O size, and the I/O refresh tim- ing can be set. Item Contents Enable or disable each item by clicking on the cell. : Enabled, : Disabled Displays the register number allocated to the input registers.

  • Page 68: M-Executor Module (Motion Program Executor)

    2 Specifications and Functions 2.2.8 M-EXECUTOR Module (Motion Program Executor) 2.2.8 M-EXECUTOR Module (Motion Program Executor) This section gives an overview of the functions of the M-EXECUTOR Module (Motion Program Executor) and explains the detail window. The M-EXECUTOR Module can be used with the following software versions. Software Version Ver.
  • Page 69 2.2 Functions of the MP2100/MP2100M Base Module (2) Specifications of the M-EXECUTOR Module (a) Programs Registerable in M-EXECUTOR The following table shows the programs that can be registered in M-EXECUTOR. Program Type Number of Registrations Remarks Up to 16 programs in total Motion Program –...
  • Page 70 2 Specifications and Functions 2.2.8 M-EXECUTOR Module (Motion Program Executor) (3) Module Configuration Definition (a) Details of Module Configuration Definition Window Click MP2100 (or MP2100M) in the Controller area to display the details of the functions of MP2100/ MP2100M in the Module Details area. Column No. 8 provides a detailed definition of M-EXECUTOR. Items displayed in the Module Details area show the following: Item Description...
  • Page 71 2.2 Functions of the MP2100/MP2100M Base Module • I/O Register Details An I/O register assigned to M-EXECUTOR is used to run a motion program and sequence program, and to monitor a sequence program. M-EXECUTOR I/O register details are as follows: M-EXECUTOR Input Register M-EXECUTOR Output Register M-EXECUTOR...
  • Page 72 2 Specifications and Functions 2.2.8 M-EXECUTOR Module (Motion Program Executor) (4) Detailed Window This section describes the M-EXECUTOR detail window. • Program definition tab (M-EXECUTOR (list display) window) The Program definition tab page registers a motion or sequence program to be executed. Programs are executed according to the scan, in ascending numeric order.
  • Page 73 2.2 Functions of the MP2100/MP2100M Base Module  Execution type Sets the program execution type. Execution Type Program to Execute Execution Condition ---------- None None (select this to delete the definition) Sequence Program Power-up (during power-up, run only once) (startup) Sequence Program Periodical startup (Executes each time a low-sped Sequence program...
  • Page 74 2 Specifications and Functions 2.2.8 M-EXECUTOR Module (Motion Program Executor) • Allocation Control register tab The Allocation Control register tab page sets an allocation register. A white cell can be set by the user, and a gray cell cannot be set by the user. ...
  • Page 75 2.2 Functions of the MP2100/MP2100M Base Module  Allocation Register Data is exchanged between allocation and M-EXECUTOR control registers in real-time. Any register can be mapped to the allocation register. Registers that can be set as an allocation register: Word type I, O, M (except the motion register) ...
  • Page 76 2 Specifications and Functions 2.2.8 M-EXECUTOR Module (Motion Program Executor) • Program execution registry screen (M-EXECUTOR (Individual display) window) This window is displayed by clicking the Individual display button in the M-EXECUTOR (list display) win- dow. The items that can be set are the same as those on the Program definition tab page and Allocation Control register tab page.
  • Page 77 2.2 Functions of the MP2100/MP2100M Base Module (5) Execution Scheduling Programs registered in M-EXECUTOR are executed based on their priorities (execution type). Programs registered in M-EXECUTOR are executed immediately before ladder processing. Power ON Sequence program (startup) Drawing A (startup process drawing) Per high-speed scan interval Per low-speed scan interval Batch output...
  • Page 78 2 Specifications and Functions 2.2.8 M-EXECUTOR Module (Motion Program Executor) An execution example is as follows: • M-EXECUTOR program definition • Execution scheduling The following diagram shows the execution scheduling when set in the window above. Startup SPM001 DWG.A High-speed scan cycle High-speed scan cycle High-speed scan SPM003...
  • Page 79 Installation and Connection This chapter explains how to install the MP2100/MP2100M in the host computer and how to connect each module. 3.1 Installing the MP2100/MP2100M - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2 3.1.1 Computer Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2 3.1.2 Installing the MP2100/MP2100M - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4 3.1.3 Installing the Drivers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-5...

  • Page 80: Installing The Mp2100/Mp2100M

    3 Installation and Connection 3.1.1 Computer Specifications 3.1 Installing the MP2100/MP2100M 3.1.1 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 81 3.1 Installing the MP2100/MP2100M When the driver (ver.1.0.0.0 for MP2100) is being used with Windows 2000, proper operation can be expected IMPORTANT only when the computer is set as a “Standard PC” with the Start - Settings - Control Panel - System - Hard- ware Tab - Device Manager - System devices - Computer setting.

  • Page 82: Installing The Mp2100/Mp2100M

    3 Installation and Connection 3.1.2 Installing the MP2100/MP2100M 3.1.2 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 Board CAUTION •...

  • Page 83: Installing The Drivers

    3.1 Installing the MP2100/MP2100M 3.1.3 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. This example explains how to install the drivers for Windows 2000. In this case, the CD- ROM drive is drive “D.”...
  • Page 84 3 Installation and Connection 3.1.3 Installing the Drivers 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 85: Verifying Driver Installation

    3.1 Installing the MP2100/MP2100M 3.1.4 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 86 3 Installation and Connection 3.1.4 Verifying Driver Installation 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 87: Mp2100/Mp2100M Connections

    3.2 MP2100/MP2100M Connections 3.2 MP2100/MP2100M Connections 3.2.1 Connectors The following diagram shows the connectors for the MP2100/MP2100M. SVB Module MECHATROLINK connector Battery connector Battery hole I/O connector I/O connector CPU Module MECHATROLINK connector MECHATROLINK connector 　　　　MP2100M 　　　　　　MP2100 3.2.2 MECHATROLINK-I/II Connection (1) MECHATROLINK-I/II Connector (M-I/II) MECHATROLINK-I/II connector is used to connect the MP2100/MP2100M and the SERVOPACKs and distrib- uted I/O Module.
  • Page 88 3 Installation and Connection 3.2.2 MECHATROLINK-I/II Connection (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 –...
  • Page 89 3.2 MP2100/MP2100M Connections (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 Note: The JEPMC-W6003- cable has a ferrite core. (6) Cable Connections between the MP2100/MP2100M and SGD- N and SGDB- ...
  • Page 90 3 Installation and Connection 3.2.2 MECHATROLINK-I/II Connection (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 (terminating resistor) Note: 1. Use standard cables between units.

  • Page 91: I/O Connection

    3.2 MP2100/MP2100M Connections 3.2.3 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 Module Cable Manufacturer...
  • Page 92 3 Installation and Connection 3.2.3 I/O Connection (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...

  • Page 93: Do_Com

    3.2 MP2100/MP2100M Connections (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. Leakage Current When OFF 0.1 mA max.

  • Page 94: Do_00

    3 Installation and Connection 3.2.3 I/O Connection (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...
  • Page 95 System Startup and Sample Programs This chapter explains the procedure for starting the MP2100/MP2100M system and sample programs for typical operation and control. For details on MP2100M, refer to 4.6 MP2100M Startup. 4.1 Startup Procedure for a Model System - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2 4.1.1 Flowchart for Model System Startup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2 4.1.2 System Configuration Model and Necessary Devices - - - - - - - - - - - - - - - - - - - - - - - - 4-3 4.1.3 Installing the MP2100 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5...

  • Page 96: Startup Procedure For A Model System

    4 System Startup and Sample Programs 4.1.1 Flowchart for Model System Startup 4.1 Startup Procedure for a Model System 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. For differences in the procedure for MP2100M, refer to 4.6 MP2100M Startup.

  • Page 97: System Configuration Model And Necessary Devices

    The system startup in this section is explained by reference to the following configuration model. Prepare the devices indicated in (1) to (3) below and connect them in the manner shown in the following diagram. SERVOPACK SERVOPACK MP2100 Host computer YASKAWA SERVOPACK 200V YASKAWA SERVOPACK 200V SGDS-01A12A SGDS-01A12A Terminator...
  • Page 98 SGDS-01A12A Σ-III Servomotors SGMAS-01ACA21 Motor Cables (3 m) JZSP-CSM01-03 Encoder Cables (3 m) JZSP-CSP01-03 Digital Operator JUSP-OP05A-1-E SVON COIN TGON CHARGE VCMP YASKAWA SCROLL MODE/SET ALARM RESET DATA SVON READ WRITE SERVO SERVO DIGITAL OPERATOR JUSP-OP05A SERVOPACK Servomotor Digital Operator...

  • Page 99: Installing The Mp2100

    4.1 Startup Procedure for a Model System 4.1.3 Installing the MP2100 Install the MP2100 to a PCI slot of the host computer. The MP2100 occupies one half-size PCI slot. PC/AT or compatible computer PCI bus slot MP2100 Board...

  • Page 100: Installing The Drivers

    4 System Startup and Sample Programs 4.1.4 Installing the Drivers 4.1.4 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 101 4.1 Startup Procedure for a Model System 4. Specify the path to the directory containing the driver files (D:\drivers\MP2100\Win2000_XP_VISTA 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 102: Verifying Driver Installation

    4 System Startup and Sample Programs 4.1.5 Verifying Driver Installation 4.1.5 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 103 4.1 Startup Procedure for a Model System 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 104: Connecting And Wiring The System

    4.1.6 Connecting and Wiring the System (1) Connecting the MP2100 and SERVOPACKs Use a MECHATROLINK Cable to connect the MP2100 and SERVOPACKs. SERVOPACK SERVOPACK MP2100 Host computer 200V 200V YASKAWA SERVOPACK YASKAWA SERVOPACK SGDS-01A12A SGDS-01A12A Terminator (terminating resistor) MPE720 MECHATROLINK-II JEPMC-W6002-01...

  • Page 105: Initializing Servopacks

    4.1 Startup Procedure for a Model System 4.1.7 Initializing SERVOPACKs This section describes the procedure for initializing -III SERVOPACKs using the Digital Operator. Always ini- Σ tialize SERVOPACKs that have been transferred from other systems. SERVOPACKs that are being used for the first time do not need to be initialized.

  • Page 106: Setting And Saving Communication Process (Communication Manager)

    4 System Startup and Sample Programs 4.1.8 Setting and Saving Communication Process (Communication Manager) 4.1.8 Setting and Saving Communication Process (Communication Manager) Use the following procedure to set the communication process between the personal computer (MPE720) and the MP2100 using the Communication Manager. These settings are not required if the communication settings have already been made.
  • Page 107 4.1 Startup Procedure for a Model System 4. Select MP2100/2500 under Port Kind in the Logical Port Setting window. 5. Click the Detail button in the Logical Port Setting window. The MP2100/2500 window is displayed. 6. Select MP2100/2500 under Kind. Click the OK button. The Logical Port Setting window is displayed again.
  • Page 108 4 System Startup and Sample Programs 4.1.8 Setting and Saving Communication Process (Communication Manager) 7. Click the OK button. The window returns to the Communication Manager window. 8. Check that MP2100/2500 has been allocated to Logical PT number 1. 9. Save the communication port settings. These settings will be used as the communication port information whenever the communication process is started.
  • Page 109 4.1 Startup Procedure for a Model System 12.Starting the Communication Process Again The communication process must be started again when settings have been made or changed. 13.Select File - Exit to close the Communication Manager window. A confirmation message is displayed. 14.Click the Yes button.

  • Page 110: Executing The Mp2100 Self-Configuration

    4 System Startup and Sample Programs 4.1.9 Executing the MP2100 Self-configuration 4.1.9 Executing the MP2100 Self-configuration Execute self-configuration to automatically recognize the devices connected to the MECHATROLINK connec- tor. This section explains the method for self-configuration of the JAMC-MC2100. For other Modules, refer to 2.2 Functions of the MP2100/MP2100M Base Module.

  • Page 111: Starting Sample Program - Mpe720 Ver 6

    4.2 Starting Sample Program - MPE720 Ver 6. 4.2 Starting Sample Program - MPE720 Ver 6. This section explains how to copy the sample program file from MPE720 Ver 6. installation disk, how to start MPE720 Ver 6. to transfer the sample program to the MP2100, and how to set and save parameters, according to the following flowchart.

  • Page 112: Copying And Transferring Sample Program Files

    4 System Startup and Sample Programs 4.2.1 Copying and Transferring Sample Program Files 4.2.1 Copying and Transferring Sample Program Files Use the following procedure to copy the sample program files from the installation disk to the hard disk of the computer, start MPE720 Ver 6., and transfer the file to the MP2100.
  • Page 113 4.2 Starting Sample Program - MPE720 Ver 6. (2) Starting MPE720 Ver 6. to Transfer the Sample Program to the MP2100 1. Double-click the 2100SMPL_E.YMW file copied to the hard disk. MPE720 Ver 6. starts up and the following message asks for confirmation to connect to the controller. Click the No button.
  • Page 114 4 System Startup and Sample Programs 4.2.1 Copying and Transferring Sample Program Files 5. Click the Individual button to select an individual file transfer, and click the Save to flash after transfer- ring to the controller check box to clear it. Then, select the System Configuration check box. Select the Scan time definition and Data trace check boxes from the list of files that is displayed on the right.
  • Page 115 4.2 Starting Sample Program - MPE720 Ver 6. 9. Click the Yes button to run the MP2100. The MP2100 starts running. This completes the transfer of the sample program files to the MP2100. 4-21...

  • Page 116: Setting Motion Fixed Parameters And Adjusting The Settings For Servo Control

    4 System Startup and Sample Programs 4.2.2 Setting Motion Fixed Parameters and Adjusting the Settings for Servo Control 4.2.2 Setting Motion Fixed Parameters and Adjusting the Settings for Servo Control (1) Setting and Saving Motion Fixed Parameters This section explains how to set and save MP2100 motion fixed parameters for Axes 1 and 2 according to the sample program.
  • Page 117 4.2 Starting Sample Program - MPE720 Ver 6. 3. Select Axis 1 from the axis selection box at the top-left of the window and select mm under No. 4 Reference unit selection. 4. In the Engineering Manager window, select File - Save to save the settings for axis 1 fixed parameters. 5.
  • Page 118 4 System Startup and Sample Programs 4.2.2 Setting Motion Fixed Parameters and Adjusting the Settings for Servo Control 3. Select Edit - Copy Current Value. A confirmation dialog box appears. Note: The data in the Input Data column is the SERVOPACK data saved to the MP2100 and the data in the Current column is the data set to the SERVOPACK.

  • Page 119: Saving And Transferring Data

    4.2 Starting Sample Program - MPE720 Ver 6. 4.2.3 Saving and Transferring Data The module configuration files that were automatically created by the MP2100 during self-configuration and edited program files can be saved in flash memory. This data can be transferred to your computer for synchroni- zation of the data in the MP2100 with the data in the computer.
  • Page 120 4 System Startup and Sample Programs 4.2.3 Saving and Transferring Data (2) Transferring Data from the MP2100 to the Computer Use the following procedure to transfer data from the MP2100 RAM to the computer. 1. Select Online - Read from Controller from the menu bar of the MPE720 Ver 6. main window. The Transfer Program - Read from Controller dialog box appears.

  • Page 121: Starting Sample Program - Mpe720 Ver 5

    4.3 Starting Sample Program - MPE720 Ver 5. 4.3 Starting Sample Program - MPE720 Ver 5. The following flowchart explains the method used for reading the sample program from the installation disk of MPE720 Ver 5., and for setting and saving parameters after starting the MP2100 using MPE720 Ver 5.. →...

  • Page 122: Starting Mpe720 Ver 5. And Creating Folders

    4 System Startup and Sample Programs 4.3.1 Starting MPE720 Ver 5. and Creating Folders 4.3.1 Starting MPE720 Ver 5. and Creating Folders This section explains the preparation for connecting the MPE720 to the MP2100 and the method for installing the sample program for the MP2100. It is assumed that you have already installed MPE720 Ver.
  • Page 123 4.3 Starting Sample Program - MPE720 Ver 5. (2) Creating Group Folders (Option) In the File Manager window, create a Group Folder for storing Order Folders.  Note: Refer to Group, Order, and Controller folders at the bottom of this page for more information about these folders.
  • Page 124 4 System Startup and Sample Programs 4.3.1 Starting MPE720 Ver 5. and Creating Folders (3) Creating Order Folders (Required) In the File Manager window, create an Order Folder for storing Controller Folders. 1. Right-click (root) or the Group Folder in which the Order Folder is to be created and select New - Order Folder from the pop-up menu.
  • Page 125 4.3 Starting Sample Program - MPE720 Ver 5. (4) Creating Controller Folders (Required) In the File Manager window, create a Controller Folder for storing programs. 1. Right-click the Order Folder in which the Controller Folder is to be created and select New Folder - Con- troller Folder from the pop-up menu.

  • Page 126: Reading Sample Programs And Setting And Saving Parameters

    4 System Startup and Sample Programs 4.3.2 Reading Sample Programs and Setting and Saving Parameters 4.3.2 Reading Sample Programs and Setting and Saving Parameters This section explains how to log on to the MP2100, transfer programs, set motion fixed parameters, and log off using sample programs.
  • Page 127 4.3 Starting Sample Program - MPE720 Ver 5. 4. Select the Network tab and check that OnLine is set to Yes. At Logical Port No. (Device Type), select the logical port number to be used from the logical ports set using the communication process. The con- tent displayed on the Network tab page changes according to the selected port number.
  • Page 128 4 System Startup and Sample Programs 4.3.2 Reading Sample Programs and Setting and Saving Parameters • Logging On Online Note: When using MPE720 Ver 5., logging on is performed for each Controller Folder. Controller Fold- ers that have not been logged onto cannot use the MPE720 functions. 7.
  • Page 129 4.3 Starting Sample Program - MPE720 Ver 5. 4. Specify the destination path (a path other than File Manager) and click the Install button. The sample program will be decompressed and saved to the specified path and a folder called 2100SMPL_E is created.
  • Page 130 4 System Startup and Sample Programs 4.3.2 Reading Sample Programs and Setting and Saving Parameters 7. Click the Detail button to open the Select the Folder dialog box. Three sub-folders appear under the 2100SMPL_E folder. 8. Click the Select button. The Execute dialog box appears.
  • Page 131 4.3 Starting Sample Program - MPE720 Ver 5. 11.Select File - Exit to end reading files to the MPE720. This completes the loading of the sample programs. 4-37...
  • Page 132 4 System Startup and Sample Programs 4.3.2 Reading Sample Programs and Setting and Saving Parameters (3) Transferring Individual Programs Transfer the programs that have been read to the MPE720 individually to the MP2100. 1. Right-click on the Controller Folder that has been logged onto online and select Transfer - Selected Files - From MPE720 to Controller from the pop-up menu.
  • Page 133 4.3 Starting Sample Program - MPE720 Ver 5. 3. Select the programs to be transferred and click the OK button. If Select All is selected, all programs for the DWG program are selected. In this example, select Select All and click the OK button to return to the Individual Load window.
  • Page 134 4 System Startup and Sample Programs 4.3.2 Reading Sample Programs and Setting and Saving Parameters 7. Click the OK button. 8. Select File - Exit in the Individual Load window to exit the transfer. This completes the transfer of individual programs. (4) Setting and Saving Motion Fixed Parameters This section explains how to log on to the MP2100, transfer programs, set motion fixed parameters, and log off using sample programs.
  • Page 135 4.3 Starting Sample Program - MPE720 Ver 5. 2. Select 00 in the Controller area and double-click 3 in the Module Details area in the Module Configura- tion window. The Fixed Parameters tab page on the SVB Definition window is displayed. 3.
  • Page 136 4 System Startup and Sample Programs 4.3.2 Reading Sample Programs and Setting and Saving Parameters (5) Making Servo Adjustments and Saving SERVOPACK Parameters This section explains how to make servo adjustments and save the SERVOPACK parameters for each axis to the MP2100.
  • Page 137 4.3 Starting Sample Program - MPE720 Ver 5. 6. Follow steps 2 to 5 to write and save the SERVOPACK current position for axis 2 as settings data as well. 7. Select File - Exit to exit the setting and saving process in the Engineering Manger window. This completes the adjustment of the SERVOPACK and the saving of SERVOPACK parameters.
  • Page 138 4 System Startup and Sample Programs 4.3.2 Reading Sample Programs and Setting and Saving Parameters 4. Click the Yes button in the TrnSys dialog box. The data is saved to flash memory. When saving to flash memory has been completed, a dialog box to confirm that the CPU is to be run is displayed.
  • Page 139 4.3 Starting Sample Program - MPE720 Ver 5. 2. Check the details and click the OK button. The file transfer starts. A notification dialog box is displayed when the transfer has been completed. 3. Select File - Exit to end the dumping of all data. Now, the sample program is available.

  • Page 140: Other Operations

    4 System Startup and Sample Programs 4.3.3 Other Operations 4.3.3 Other Operations This section explains the CPU RUN setting and log-off operation required when MPE720 Ver 5. is used. (1) CPU RUN Settings If the CPU STOP status is not cleared after executing processes such as saving to flash memory, use the follow- ing procedure to return to RUN status.
  • Page 141 4.3 Starting Sample Program - MPE720 Ver 5. (2) Logging Off Log off the MP2100 in the following circumstances. • when completing a program and starting another program. • when completing the work with the MPE720. 1. Right-click on the Controller Folder where sample programs are saved and select Log Off from the pop- up menu.

  • Page 142: Checking Sample Program Operation

    4 System Startup and Sample Programs 4.4.1 Opening the Tuning Panel Window 4.4 Checking Sample Program Operation This section explains how to check four operations in the model system applying sample programs started in 4.2 or 4.3 by using the Tuning Panel window. 4.4.1 Opening the Tuning Panel Window (1) From Engineering Manager Window Use the following procedure to open the Tuning Panel window from the Engineering Manager window.
  • Page 143 4.4 Checking Sample Program Operation The Tuning Panel window is displayed. (2) From the File Manager Window (For MPE720 Ver 5. Only) When using MPE720 Ver 5., the Tuning Panel window can also be opened from the File Manager window by using the following procedure.

  • Page 144: Operation Check 1: Manual Operation

    4 System Startup and Sample Programs 4.4.2 Operation Check 1: Manual Operation 4.4.2 Operation Check 1: Manual Operation (1) Program Outline This section explains how to execute JOG and STEP operations for Servomotor 1 or 2 (axis 1 or 2) using a ladder program such as the one shown below.
  • Page 145 4.4 Checking Sample Program Operation (3) Procedure Use the following procedure to confirm operation. Servo ON Start JOG or STEP operation. Confirm operation. The following table gives an outline of the operation when the Tuning Panel window is used. Current Value Data Name Operation Outline Operation...
  • Page 146 4 System Startup and Sample Programs 4.4.2 Operation Check 1: Manual Operation (4) Sample Program Details (a) 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...
  • Page 147 4.4 Checking Sample Program Operation (b) 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 0000...
  • Page 148 4 System Startup and Sample Programs 4.4.2 Operation Check 1: Manual Operation 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;...
  • Page 149 4.4 Checking Sample Program Operation (d) 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 150 4 System Startup and Sample Programs 4.4.2 Operation Check 1: Manual Operation 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...
  • Page 151 4.4 Checking Sample Program Operation (e) 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...
  • Page 152 4 System Startup and Sample Programs 4.4.2 Operation Check 1: Manual Operation P00111 H02. 02 Main Program: Axis 2 Manual operation (JOG and STEP) Axis 2 step stop Axis 2 motion command DB00000A 00011 STORE 0036 Source 00000 NL-1 Dest OW8088 ##########Reverse Rotation Selection########## Axis 2 reverse jog Axis 2 reverse...

  • Page 153: Operation Check 2: Position Control

    4.4 Checking Sample Program Operation 4.4.3 Operation Check 2: Position Control (1) Operation Outline In this example, an X-Y plotter like the one shown in the figure is operated by ladder and motion programs. Servomotor X-Y plotter (2) Program Outline Use the ladder program (H04 Drawing) and three prepared sample programs (MPM001, MPM002, and MPM003) to check the operation, as shown in the figure.
  • Page 154 4 System Startup and Sample Programs 4.4.3 Operation Check 2: Position Control (3) H04 Drawing Tuning Panel Display the H04 Drawing Tuning Panel as shown in 4.4.1 Opening the Tuning Panel Window. Model system operation can be controlled by writing the current values for Common operation and Posi- tioning operation and settings from the Tuning Panel.
  • Page 155 4.4 Checking Sample Program Operation (4) Procedure Use the following procedure to operate the Tuning Panel and check operation. 1. Servo ON Change the Current Value for Servo ON PB from OFF to ON. The servomotor turns ON and the Servo will be clamped. 2.
  • Page 156 4 System Startup and Sample Programs 4.4.3 Operation Check 2: Position Control (5) Sample Program Details (a) H04 Drawing The H04 child drawing shows the ladder program for managing and controlling MPM motion programs. Main Program: Positioning Main Processing P00113 H04 メインプログラム...
  • Page 157 4.4 Checking Sample Program Operation (b) Motion Program MPM001 The MPM001 motion program uses the Servomotor phase-C pulse to perform home return. 00001 "MPM001"; 00002 OW803C=3; "X axis home return method selection (3: Phase C)" 00003 OW80BC=3; "Y axis home return type selection (3: Phase C)" 00004 VEL [X]1000 [Y]1000;...

  • Page 158: Operation Check 3: Phase Control - Electronic Shaft

    4 System Startup and Sample Programs 4.4.4 Operation Check 3: Phase Control - Electronic Shaft 4.4.4 Operation Check 3: Phase Control - Electronic Shaft (1) Machine Outline As shown in the following figure, the servomotor performs the same operation as rolls No. 1 and No. 2 connected to the line shaft.
  • Page 159 4.4 Checking Sample Program Operation (3) H06 Drawing Tuning Panel Display the H06 Drawing Tuning Panel as shown in 4.4.1 Opening the Tuning Panel Window. Model system operation can be controlled by writing the current values for Common operation and Phase con- trol (electric shaft) from the Tuning Panel.
  • Page 160 4 System Startup and Sample Programs 4.4.4 Operation Check 3: Phase Control - Electronic Shaft (5) Sample Program Details (a) H06.01 Drawing The H06.01 grandchild drawing shows the ladder program for controlling phase control (electronic shaft) operation. Main Program Phase Control 1 (Electronic Shaft) P00118 H06.01 メインプログラム...
  • Page 161 4.4 Checking Sample Program Operation 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 162: Operation Check 4: Phase Control - Electronic Cam

    4 System Startup and Sample Programs 4.4.5 Operation Check 4: Phase Control - Electronic Cam 4.4.5 Operation Check 4: Phase Control - Electronic Cam (1) Machine Outline As shown in the following figure, the servomotor performs the same operation as the mechanical cam synchro- nized to a roller connected to the line shaft.
  • Page 163 4.4 Checking Sample Program Operation (3) H06 Drawing Tuning Panel Display the H06 Drawing Tuning Panel as shown in 4.4.1 Opening the Tuning Panel Window. Model system operation can be controlled by writing the current values for Common operation and Phase con- trol (electric shaft) from the Tuning Panel.
  • Page 164 4 System Startup and Sample Programs 4.4.5 Operation Check 4: Phase Control - Electronic Cam (5) Sample Program Details (a) 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)
  • Page 165 4.4 Checking Sample Program Operation 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 Operation command DB000000 Axis 1 speed command setting...
  • Page 166 4 System Startup and Sample Programs 4.4.5 Operation Check 4: Phase Control - Electronic Cam 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...
  • Page 167 4.4 Checking Sample Program Operation (b) L Drawing The L parent drawing manages the 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 168: System Startup Using Self-Configuration

    4 System Startup and Sample Programs 4.5.1 Starting the System for the First Time 4.5 System Startup Using Self-configuration System startup time can be reduced by using self-configuration. This section explains system startup using self-configuration, in the following three circumstances. •...
  • Page 169 4.5 System Startup Using Self-configuration 5. Make sure that all the MECHATROLINK slave devices have started, and then execute self-configuration. Check that all of the MECHATROLINK slave devices have started up normally, turn the power to the MP2100 ON and execute self-configuration. The LED indications on the MP2100 will change as follows.
  • Page 170 OFF. If the information is lost, load the application remaining on the hard disk of the personal computer to the MP2100 and save to flash memory. • Yaskawa recommends that you back up the applications at appropriate times. Applications can be backed up as follows: MPE720 Ver 6.: Select Online - Read from Controller in the main window.

  • Page 171: System Startup When Adding Electronic Devices

    I/O addresses are updated when self-configuration is subsequently executed. If SVR is set to disabled, the setting will return to enabled. Yaskawa recommends that you check the setting again including settings for existing electronic devices, after self-configuration has been executed.
  • Page 172 4 System Startup and Sample Programs 4.5.2 System Startup when Adding Electronic Devices Refer to steps 6 to 9 under 4.5.1 Starting the System for the First Time for details of the rest of this procedure (steps 6 to 9). 6.

  • Page 173: System Startup When Replacing Electronic Devices

    4.5 System Startup Using Self-configuration 4.5.3 System Startup when Replacing Electronic Devices Use the following procedure to start the system when replacing SERVOPACKs, Optional Modules, and other electronic devices because of malfunctions and other problems. 1. Before replacing the electronic devices, backup the application using MPE720. Note: For details on how to create a backup, refer to 4.3.2 (2) Loading the Sample Programs (MPE720 Ver 6.) or 4.3.2 (7) Dumping All Data (MPE720 Ver 5.).
  • Page 174 4 System Startup and Sample Programs 4.5.3 System Startup when Replacing Electronic Devices 8. Turning the MP2100/SERVOPACK power OFF and back ON Turn the power to the MP2100 and SERVOPACKs OFF and back ON to enable the parameters written to the SERVOPACKs.

  • Page 175: Mp2100M Startup

    4.6 MP2100M Startup 4.6 MP2100M Startup This section describes the MPE720 setting method when using the MP2100M. 4.6.1 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 MP2100/2500 window. Set MP2100/2500 in the Port Kind column.

  • Page 176: Controller Configuration Settings

    4 System Startup and Sample Programs 4.6.2 Controller Configuration Settings 4.6.2 Controller Configuration Settings 1. Set the Controller Type to MP2100M in the Information tab page of the Controller Configuration window. 2. Click the Network tab to display the Network tab page. 3.

  • Page 177: Module Configuration Definition Settings

    4.6 MP2100M Startup 4.6.3 Module Configuration Definition Settings 1. Select Controller No.00 MP2100M to display the MECHATROLINK window for Module No. 3 SVB. 2. In the Details field, click MECHATROLINK. The MECHATROLINK window appears. 3. Set the devices connected to the MECHATROLINK connector on the CPU Module. 4.
  • Page 178 4 System Startup and Sample Programs 4.6.3 Module Configuration Definition Settings 4-84...
  • Page 179 Outline of Motion Control Systems This chapter explains the basic operation of MP2100/MP2100M Motion Control Systems and provides an outline of user programs and registers. 5.1 Startup Sequence and Basic Operation - - - - - - - - - - - - - - - - - - - - - - - - - 5-2 5.1.1 MP2100 Mode Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2 5.1.2 MP2100M Mode Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4 5.1.3 Startup Sequence - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5...

  • Page 180: Startup Sequence And Basic Operation

    5 Outline of Motion Control Systems 5.1.1 MP2100 Mode Switch Settings 5.1 Startup Sequence and Basic Operation This section explains the startup sequence and basic operation of the MP2100/MP2100M. The methods for set- ting the mode switch, the types of self-diagnosis, and the indicator patterns are also explained. 5.1.1 MP2100 Mode Switch Settings The mode switch is used to control the startup sequence for the MP2100/MP2101.
  • Page 181 5.1 Startup Sequence and Basic Operation JAPMC-MC2100-E/JAPMC-MC2102-E Default Name Status Function Details Setting System use TEST Always set to OFF. Normal operation System use Always set to OFF. Normal operation Configuration mode Set to ON to execute self-configuration for CNFG connect devices.

  • Page 182: Mp2100M Mode Switch Settings

    5 Outline of Motion Control Systems 5.1.2 MP2100M Mode Switch Settings 5.1.2 MP2100M Mode Switch Settings The mode switches are used to control the startup sequence for the MP2100M/MP2101M. The MP2100M/ MP2101M has the switches indicated in the figure below. The function of each switch is shown in the table below.

  • Page 183: Startup Sequence

    5.1 Startup Sequence and Basic Operation 5.1.3 Startup Sequence A basic outline of the startup sequence and basic operation of the MP2100/MP2100M is shown below. Power ON Startup self- diagnosis (1) Check Memory clear mode switch MP2100: Mode switch 1-1 (INIT) MP2100M: Mode switch 1-4 FLASH...

  • Page 184: Startup Sequence Operation Details

    5 Outline of Motion Control Systems 5.1.4 Startup Sequence Operation Details 5.1.4 Startup Sequence Operation Details (1) Self-diagnosis at Startup Self-diagnosis is performed on the following items after the power is turned ON. • Read/write diagnosis of memory (RAM) • System program (ROM) diagnosis •...

  • Page 185: Indicator Patterns

    5.1 Startup Sequence and Basic Operation 5.1.5 Indicator Patterns The MP2100/MP2100M performs a variety of diagnostics at startup. If an error is found, the S1 LED indicator flashes red. The number of times the indicators flash differs depending on the error details, so error details can be determined from counting the number of flashes.
  • Page 186 5 Outline of Motion Control Systems 5.2.1 Drawings (DWGs) 5.2 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/MP2000 Series User's Manual, Ladder Programming (Manual No.: SIEZ-C887-1.2) •...

  • Page 187: User Programs

    5.2 User Programs The following table provides details of the number of drawings for each 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 Pro- 1 (A00) 1 (I00) 1 (H00) 1 (L00) cessing Drawing...
  • Page 188 5 Outline of Motion Control Systems 5.2.2 Execution Control of Drawings (3) Hierarchical Arrangement of Drawings Each processing program is made up of parent drawings, child drawings, and grandchild drawings. Parent draw- ings cannot call child drawings from a different type of drawing and child drawings cannot call grandchild draw- ings from a different type of drawing.
  • Page 189 5.2 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 190: Motion Program

    5 Outline of Motion Control Systems 5.2.3 Motion Program 5.2.3 Motion Program Motion programs are written in a text-based language called motion language. Up to 256 motion programs can be created separate from ladder drawings. The following table shows the two types of motion programs. Classification Designation Method Feature...
  • Page 191 5.2 User Programs (1) Groups A group of axes with related operations can be treated as one group by motion programs and programs can be executed for each group. This allows one MP2100/MP2100M to independently control multiple machines using group operation. Group operation can be single group operation or multiple group operation. Definitions for axes to be grouped together are made under Group Definitions.
  • Page 192 5 Outline of Motion Control Systems 5.2.3 Motion Program (2) Motion Program Execution Example Motion programs are always called from H drawings using the MSEE command (motion program call com- mand). Motion programs can be called from any parent, child, or grandchild drawing in an H drawing. A motion program execution example is shown below.

  • Page 193: Motion Programs And Msee And S Registers

    5.2 User Programs 5.2.4 Motion Programs and MSEE and S Registers Motion program status, control signal, interpolation override, and system work number data is saved in four MSEE registers (4 words) with a DA (: hexadecimal number) leading address. This data is called every time the MSEE command is executed in an H drawing.
  • Page 194 5 Outline of Motion Control Systems 5.2.4 Motion Programs and MSEE and S Registers (2) Motion Program Control Signals (DA+1) Program control signals (e.g., program operation start requests and program stop requests) need to be entered to execute the motion program called from DWG.H using the MSEE command. The second word of the MSEE work registers (DA+1) is the motion program control signal.
  • Page 195 5.2 User Programs • Timing Chart for Motion Program Control Signals The following figure shows an example of a timing chart for motion program control signals. <Program Operation Start Request> Control signal: Operation start request Status: Operating Distribution <Pause Request> Control signal: Operation start request Control signal: Pause request Status: Operating...
  • Page 196 5 Outline of Motion Control Systems 5.2.4 Motion Programs and MSEE and S Registers (5) Monitoring Motion Program Execution Information Using S Registers The S registers (SW03200 to SW04191) can be used to monitor motion program execution information. • Register Areas for Motion Program Execution Information Executing program number Motion program execution information SW03200...
  • Page 197 5.2 User Programs • Details of Program Information Used by Work n Program information used by work n Program status Program control signal Executing program number Executing block number Parallel 0 information Error code Parallel 1 information Parallel 2 information Parallel 3 information Parallel 4 information Parallel 5 information...

  • Page 198: Example Of Ladder Programs For Motion Program Control

    5 Outline of Motion Control Systems 5.2.5 Example of Ladder Programs for Motion Program Control 5.2.5 Example of Ladder Programs for Motion Program Control The following figure shows the minimum ladder programming required for controlling motion programs. Servo ON Start program operation Pause program Stop program Reset alarm...
  • Page 199 5.2 User Programs If the ladder program is used to enter external input signals connected to the MP2100 (IB00000 to IB00005) to DW00001 (second word of MSEE work registers) as the motion program control signals, motion program opera- tions such as run, pause, and stop can be performed using the system’s motion management function. The following tables show an example of the minimum external input signals required to create the ladder pro- gram.

  • Page 200: Functions

    5 Outline of Motion Control Systems 5.2.6 Functions 5.2.6 Functions Functions are executed by calling them from parent, child, or grandchild drawings using the FSTART command. Functions can be called from any drawing, and the same function can be called at the same time from different types of drawings and from different levels of drawings.

  • Page 201: Registers

    S and M register data has a battery backup to ensure the data is held even if the MP2100/MP2100M power is IMPORTANT turned OFF and ON. When data is to be held even when the power is turned OFF and back ON, Yaskawa rec- ommends using the battery backup function to write the data to the M registers.
  • Page 202 5 Outline of Motion Control Systems 5.3.1 Types of Registers (2) Function Registers The following table shows the registers that can be used with each function. Specification Character- Type Name Range Details Method istics Input to functions Bit input: XB000000 to XB00000F Function input XB, XW, XL, XW00000 to...
  • Page 203 5.3 Registers (3) Register Ranges in Programs The register ranges in the programs are shown below. DWG common registers DWG H03 (drawing) System registers Program (SB, SW, SL, SFnnnnn) 1000 steps max. Data registers (MB, MW, ML, MFnnnnn) DWG individual registers Constant data, 16384 words max.

  • Page 204: Data Types And Register Specifications

    5 Outline of Motion Control Systems 5.3.2 Data Types and Register Specifications 5.3.2 Data Types and Register Specifications There are five kinds of data: Bit, integer, double-length integer, real number, and address data. Each is used dif- ferently depending on the application. Address data, however, is used only inside functions when specifying pointers.

  • Page 205: Using I And J Subscripts

    5.3 Registers 5.3.3 Using i and j Subscripts Two special register modifiers, i and j, can be used with relay and register numbers. The functions of i and j are identical. They are used for handling register numbers as variables. Examples of each register data type are used to explain the use of i and j.
  • Page 206 5 Outline of Motion Control Systems 5.3.3 Using i and j Subscripts <Example Program Using Subscripts> The following program finds the total of 100 registers from MW00100 to MW00199, using subscript j, and writes the total to MW00200. 5-28...

  • Page 207: Register Specification Methods

    5.3 Registers 5.3.4 Register Specification Methods Registers can be specified directly by register number or by symbol (register name) specification. A combination of both of these register specification methods can be used in ladder programs. When using the symbol specification method, the relationship between symbols and register numbers must be defined.

  • Page 208: Self-Configuration

    5 Outline of Motion Control Systems 5.4 Self-configuration When the self-configuration function is executed, the MP2100/MP2100M recognizes the mounted Optional Modules, and automatically creates the Module Configuration Definition, Module Details Definition files of each module. The self-configuration function greatly reduces the system startup time. The following figure shows how the self-configuration function works.

  • Page 209: Details Of Self-Configuration

    5.4 Self-configuration 5.4.1 Details of Self-configuration Self-configuration collects MECHATROLINK transmission definition data and slave data according to the sequence shown below. The MP2100 decides the communication type at the point when a slave is detected, and after that point neither communication type selection nor slave detection is performed.

  • Page 210: Procedure For Self-Configuration Using Mode Switch

    5 Outline of Motion Control Systems 5.4.2 Procedure for Self-configuration Using Mode Switch 5.4.2 Procedure for Self-configuration Using Mode Switch Self-configuration can be executed from the mode switch of MP2100/MP2100M. (1) Executing Self-configuration for the First Time after Connecting Devices Turn ON the power to the MP2100 and then use the procedure described below.
  • Page 211 5.4 Self-configuration  Power Restart and RAM Data Clear If the INIT switch of the mode switch on the MP2100 is ON and the power is turned ON, RAM data will be cleared. Also, flash memory data will be read and RAM data will be overwritten when the INIT switch is OFF and the power is turned ON.

  • Page 212: Procedure For Self-Configuration Using Mpe720

    5 Outline of Motion Control Systems 5.4.3 Procedure for Self-configuration Using MPE720 5.4.3 Procedure for Self-configuration Using MPE720 Executing self-configuration from the MPE720 allows self-configuration for individual modules in addition to self-configuration for all the modules. (1) Self-configuration for All the Modules Execute self-configuration for all the Modules when executing self-configuration for the first time after connect- ing devices.
  • Page 213 5.4 Self-configuration 2. Select Order - Self Configure All Modules from the main menu to execute self-configuration. The “S1” LED indicator flashes in green and a message indicating that the module configuration defini- tions are being created is displayed. Once self-configuration has been completed, the message disap- pears and the “S1”...
  • Page 214 5 Outline of Motion Control Systems 5.4.3 Procedure for Self-configuration Using MPE720 (2) Self-configuration of Each Module If devices are added, self-configuration can be executed separately for the Module (port) that has been changed. 1. Start the Engineering Manager of MPE720. •...
  • Page 215 5.4 Self-configuration 2. Right-click the Module for which devices have been added and select Module Self Configuration from the pop menu to execute self-configuration. The S1 LED indicator flashes and a message indicating that the module configuration definitions are being created is displayed. Once self-configuration has been completed, the message disappears and the S1 LED indicator returns to its original state.

  • Page 216: Definition Data Updated By Self-Configuration

    5 Outline of Motion Control Systems 5.4.4 Definition Data Updated by Self-configuration 5.4.4 Definition Data Updated by Self-configuration This section shows the definition data of the MP2100/MP2100M Basic Module that is updated on executing self- configuration. (1) I/O Allocation Item Allocation IW0000 Digital inputs (18 points)
  • Page 217 5.4 Self-configuration (3) Motion Parameters As a result of executing self-configuration, the motion parameters are set based on the information of the SER- VOPACK. Some of the parameters are written to the RAM of the SERVOPACK. For details of the data written, refer to 11.6.5 Parameters Updated during Self-configuration in the Machine Con- troller MP2000 Series Built-in SVB/SVB-01 Motion Module User’s Manual (Manual No.: SIEP C880700 33).

  • Page 218: Precautions When Using The Mp2100/Mp2100M

    5 Outline of Motion Control Systems 5.5.1 Precautions when Setting or Changing User Definition Files 5.5 Precautions when Using the MP2100/MP2100M This section explains precautions for setting or changing user definition files and for setting the scan times. 5.5.1 Precautions when Setting or Changing User Definition Files User definition files (system settings, scan time settings, and module configuration definitions) must be saved to flash memory.

  • Page 219: Precautions When Setting Or Changing Module Configuration Definition Files

    5.5 Precautions when Using the MP2100/MP2100M 5.5.2 Precautions when Setting or Changing Module Configuration Definition Files Observe the following precautions when setting or changing module configuration definition files. • Always check to make sure that the mounted Module is the one that is defined. •...

  • Page 220: Precautions When Setting Or Changing The Scan Time

    5 Outline of Motion Control Systems 5.5.3 Precautions when Setting or Changing the Scan Time 5.5.3 Precautions when Setting or Changing the Scan Time Scan time can be set or changed in the following window. <When Using MPE720 Ver 6.> Scan Time Setting (Select File - Environment Setting - Setup - Scan Time Setting from the menu bar.) <When Using MPE720 Ver 5.>...
  • Page 221 5.5 Precautions when Using the MP2100/MP2100M (1) Scan Time Setting Examples • When the communication cycle is 1 ms (with MECHATROLINK-II only) and the maximum scan time value is 0.8 ms High-speed scan (or low-speed scan) set value ≥ 1.25 × 0.8 (= 1 ms) High-speed scan (or low-speed scan) set value = 1 ms, 2 ms, 3 ms, ...

  • Page 222: Motion Api

    5 Outline of Motion Control Systems 5.6.1 Overview of the Motion API 5.6 Motion API 5.6.1 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 223: Motion Api Software

    5.6 Motion API 5.6.2 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 224: Installing Mp2100/Mp2100M

    5 Outline of Motion Control Systems 5.6.4 Installing MP2100/MP2100M 5.6.4 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 The following files are copied by the Installer program.
  • Page 225 5.6 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. 5-47...
  • Page 226 5 Outline of Motion Control Systems 5.6.4 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. 5-48...
  • Page 227 Maintenance, Inspection, and Troubleshooting This chapter explains items that must be inspected on a daily or regular basis as well as proba- ble causes and troubleshooting measures for errors that might occur. 6.1 Inspection Items - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2 6.1.1 Daily Inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2 6.1.2 Regular Inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3 6.2 Replacing the Battery - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4...

  • Page 228: Inspection Items

    6 Maintenance, Inspection, and Troubleshooting 6.1.1 Daily Inspections 6.1 Inspection Items This section explains daily and regular inspection items that must be performed by the user. 6.1.1 Daily Inspections The following table lists the daily inspection items. Inspection Item Inspection Details Criteria Action Installation condi-...

  • Page 229: Regular Inspections

    Inspections must also be performed when the system is relocated or modified or when the wiring is changed. PROHIBITED • Do not replace the built-in fuse. If the user replaces the built-in fuse, the MP2100/MP2100M may malfunction or break down. Contact your Yaskawa representative. Periodic Inspection Items Inspection Item Inspection Details...

  • Page 230: Replacing The Battery

    6.2.1 Installing the Battery Fully insert the connector attached to the end of the battery leads for the JZSP-BA01 Battery specified by YASKAWA into the MP2100/MP2100M connector. (1) JAPMC-MC2100, JAPMC-MC210-E, or JAPMC-MC214-E Connect the Battery to the BAT connector on the front panel.

  • Page 231: Battery Replacement

    MP2000 Series MPE720 Software for Programming Device User's Manual (Manual No.: SIEP C880700 05). (b) Preparing a New Battery Prepare a New battery (JZSP-BA01). This battery is not commercially available, and must be ordered from your nearest Yaskawa sales representative. The appearance of the battery is illustrated below. LiTHIUM Red lead Black lead Fig.

  • Page 232: Troubleshooting

    6 Maintenance, Inspection, and Troubleshooting 6.3.1 Basic Flow of Troubleshooting 6.3 Troubleshooting This section explains the basic troubleshooting procedure and provides a list of errors. 6.3.1 Basic Flow of Troubleshooting When problems occur, it is important to quickly find the cause of the problems and get the system running again as soon as possible.

  • Page 233: Error Check Flowchart

    6.3 Troubleshooting 6.3.2 Error Check Flowchart Find the correction to the problem using the following flowchart if the cause of the problem is thought to be the MP2100/MP2100M or SERVOPACK. START LED indicators on MP2100/MP2100M See 6.3.3 LED Indicators. front panel S1, S2 are lit in red. TX is unlit.

  • Page 234: Led Indicators

    6 Maintenance, Inspection, and Troubleshooting 6.3.3 LED Indicators  * 3. For details on system work number, refer to 5.2.4 (4) System Work Number (DA +3). * 4. For details on the relationship between the registers from SW03200 to SW03215 and system work numbers, refer to 6.4.5 (9) Motion Program Execution Information.
  • Page 235 6.3 Troubleshooting (2) Indicator Details The following describes details and remedies for indicators showing operating status and errors in the MP2100/ MP2100M. Indicator Type Indicator Details Remedy (Red) (Red) (Green) (Green) Not lit Not lit Not lit Hardware reset status Normally the CPU activates within 10 seconds from power ON.

  • Page 236: Troubleshooting System Errors

    6 Maintenance, Inspection, and Troubleshooting 6.4.1 Outline of System Registers 6.4 Troubleshooting System Errors This section explains troubleshooting information for system errors. 6.4.1 Outline of System Registers The LED indicators on the front of the MP2100/MP2100M can be used to determine MP2100/MP2100M operat- ing status and error status.

  • Page 237: Accessing System Registers

    6.4 Troubleshooting System Errors 6.4.2 Accessing System Registers To access the contents of system registers, start the MPE720 Programming Tool and use the Register List or Quick Reference function. The method to display a register list differs depending on the MPE720 version number, Ver 6. or Ver 5.. The method for each version is described below.
  • Page 238 6 Maintenance, Inspection, and Troubleshooting 6.4.2 Accessing System Registers 3. In the Register No. input field, enter the leading register number of the system register “SW” to be accessed. In the D (Display) box, enter the number of the system registers to be displayed. The max- imum allowable number is 96.

  • Page 239: Troubleshooting When S1 Indicator Is Lit In Red

    6.4 Troubleshooting System Errors 6.4.3 Troubleshooting when S1 Indicator Is Lit in Red When the S1 LED indicator on the front panel of the MP2100/MP2100M lights/flashes in red, it is likely that a serious failure (software error or hardware error) is occurring. Set the MP2100/MP2100M in the stopped status (DIP SW 6: ON), and then investigate the cause using the following flowchart.

  • Page 240: Troubleshooting When S2 Indicator Is Lit In Red

    6 Maintenance, Inspection, and Troubleshooting 6.4.4 Troubleshooting when S2 Indicator Is Lit in Red 6.4.4 Troubleshooting when S2 Indicator Is Lit in Red When the S2 LED indicator on the front panel of the MP2100/MP2100M lights/flashes in red, it is likely that a hardware error (calculation error or I/O error) is occurring.

  • Page 241: System Registers And Error Statuses

    6.4 Troubleshooting System Errors 6.4.5 System Registers and Error Statuses (1) System Status This is data that indicates the operating status of the system and error details, and it is stored in registers SW00040 to SW00048. Checking the system status details makes it possible to determine whether the hardware or software is the cause of an error.
  • Page 242 6 Maintenance, Inspection, and Troubleshooting 6.4.5 System Registers and Error Statuses Table 6.1 System Status List (cont’d) Name Register No. Description SW00048 Bit 0 TEST SW00048 Bit 1 SW00048 Bit 2 CNFG Mode switch alarms SW00048 Bit 3 INIT 0: ON, 1: OFF SW00048 Bit 4 Hardware SW00048...
  • Page 243 6.4 Troubleshooting System Errors Table 6.2 System Error Status List (cont’d) Name Register No. Description Number of drawing that calls the ladder program function in which an error occurred. Parent drawing: FFFFH SW00058 Ladder Program Child drawing: 00H (H: Child drawing number) Function Calling Grandchild drawing: yyH (Hyy: Grandchild drawing number) Drawing Number...
  • Page 244 6 Maintenance, Inspection, and Troubleshooting 6.4.5 System Registers and Error Statuses (3) Ladder Program User Operation Error Status This data indicates the detailed information when a user operation error has occurred in the ladder program, and it is stored in registers SW00080 to SW00089 (Error Status 1) and in SW00110 to SW00189 (Error Status 2). Table 6.3 Ladder Program User Operation Error Status 1 Name Register No.
  • Page 245 6.4 Troubleshooting System Errors Table 6.5 Ladder Program User Operation Error Status 3 Error Error Contents User* System Default Setting* Code −32768 [−32768] 0001H Integer operation - underflow 0002H Integer operation - overflow 32767 [32767] 0003H Integer operation - division error The A register remains the same.
  • Page 246 6 Maintenance, Inspection, and Troubleshooting 6.4.5 System Registers and Error Statuses Table 6.6 Ladder Program User Operation Error Status 4 Error Error Contents User* System Default Code Execute again when corresponding to i, j = 0. Νο 1000H Index error within drawing The i and j registers remain the Integer - Real same.
  • Page 247 6.4 Troubleshooting System Errors (6) System I/O Error Status Name Register No. Remarks SW00200 I/O Error Count Number of I/O errors SW00201 Input Error Count Number of input errors Latest input error address SW00202 Input Error Address (IW register number) SW00203 Output Error Count Number of output errors...
  • Page 248 6 Maintenance, Inspection, and Troubleshooting 6.4.5 System Registers and Error Statuses (b) Error Statuses of MP2100M Name Register No. Remarks SW00208 to SW00215 Slot 0 error status Error status of MP2100 SW00216 to SW00223 Reserved for System Use Not used. SW00224 to SW00231 Slot 1 error status SVB-01 error status...
  • Page 249 6.4 Troubleshooting System Errors • Register Allocations for MP2100M Error Statuses (Bit No.) SW00208 Error code (I/O error = 2) Subslot No. (= 2) SW00209 Error code (Station error = 1) Subslot No. (= 3) ST#15 ST#1 Not used SW00210 STR#2 SW00211 Not used...
  • Page 250 6 Maintenance, Inspection, and Troubleshooting 6.4.5 System Registers and Error Statuses (8) MP2100/MP2100M Module Information (a) MP2100 Module Information Name Register No. Remarks SW00800 MP2100 ID(C180H) SW00801 CPU hardware version (BCD) SW00802 CPU software version (BCD) SW00803 Number of sub-slots (0008H) SW00804 CPU Function Module ID (C110H) SW00805...
  • Page 251 6.4 Troubleshooting System Errors (9) Motion Program Execution Information Motion Program Alarm Main Program Parallel 0 Parallel 1 Parallel 2 Parallel 3 Parallel 4 Parallel 5 Parallel 6 Parallel 7 System Program Information Work No. in Offset Offset Offset Offset Offset Offset Offset...

  • Page 252: Motion Program Alarms

    6 Maintenance, Inspection, and Troubleshooting 6.5.1 Motion Program Alarm Configuration 6.5 Motion Program Alarms If the result of investigation using 6.3.2 Error Check Flowchart indicates that a motion program alarm has occurred, use the alarm code to determine the cause of the error. 6.5.1 Motion Program Alarm Configuration Motion program alarms stored in the alarm output register (default: SW03268) are displayed as shown in the fol- lowing diagram.
  • Page 253 6.5 Motion Program Alarms (cont’d) Alarm Code Name Description Corrective Actions Linear interpolation moving amount Moving amount exceeded the valid range Review the moving amount in the linear exceeded in the linear interpolation command. interpolation command. LONG_MAX FMX command not executed in the Perform an FMX command.

  • Page 254: List Of Causes For Command Error Occurrence

    6 Maintenance, Inspection, and Troubleshooting 6.6 List of Causes for Command Error Occurrence The Command Error Completed Status (Command Error Occurrence) bit (IW09, bit 3) turns ON when the set motion command cannot be executed or when the execution of a motion command ends error. The triggers for which this bit turns ON depend on the motion command.
  • Page 255 6.6 List of Causes for Command Error Occurrence (cont’d) Warning (W:) and Alarm (A:) That Motion Command Cause of Command Error Occurrence Occur at Command Error Occurrence The travel specified for one scan has exceeded the segment that can be specified for a MECHATROLINK SERVOPACK, or the speed A: Excessive Speed feed forward value has exceeded the maximum...
  • Page 256 6 Maintenance, Inspection, and Troubleshooting (cont’d) Warning (W:) and Alarm (A:) That Motion Command Cause of Command Error Occurrence Occur at Command Error Occurrence − An alarm is occurring. A: Servo Driver Synchronization Asynchronous communication status Communications Error Change Filter Type Executed before distribution has been com- A: Filter Time Constant Change (CHG_FILTER)
  • Page 257 6.6 List of Causes for Command Error Occurrence (cont’d) Warning (W:) and Alarm (A:) That Motion Command Cause of Command Error Occurrence Occur at Command Error Occurrence − An alarm is occurring. A: Servo Driver Synchronization Asynchronous communication status Change Position Loop Communications Error Integral Time Constant SERVOPACK parameter writing was not com-...

  • Page 258: Troubleshooting Motion Errors

    6 Maintenance, Inspection, and Troubleshooting 6.7.1 Overview of Motion Errors 6.7 Troubleshooting Motion Errors This section explains the details and corrective actions for errors that occur in motion control functions. 6.7.1 Overview of Motion Errors Motion errors in the MP2000-series Machine Controller include axis alarms detected for individual SERVO- PACKs.

  • Page 259: Motion Error Details And Corrections

    6.7 Troubleshooting Motion Errors 6.7.2 Motion Error Details and Corrections The following tables show the contents of the axis alarms (IL04) and axis alarm details. (1) Alarm IL04 List IL04 Alarm Contents IL04 Alarm Contents Bit 0 Servo Driver Error Bit 10 Servo Driver Synchronization Communications Error Bit 1...
  • Page 260 6 Maintenance, Inspection, and Troubleshooting 6.7.2 Motion Error Details and Corrections (3) Bit 1: Positive Direction Overtravel and Bit 2: Negative Direction Overtravel • Overtravel is continuously monitored by the position management section during execution of a motion command. Detection Timing •...
  • Page 261 6.7 Troubleshooting Motion Errors (6) Bit 6: Positioning Time Over • Positioning was not completed within the time specified in OW26 (Positioning Completion Detection Timing Check Time) after completing pulse distribution. • The current command was ended forcibly. Processing when •...
  • Page 262 6 Maintenance, Inspection, and Troubleshooting 6.7.2 Motion Error Details and Corrections (10) Bit A: Filter Type Change Error Detection Timing • Continuously monitored by the motion command processing section. • The Change Filter Type command will not be executed. Processing when •...
  • Page 263 6.7 Troubleshooting Motion Errors (14) Bit 11: Servo Driver Communication Error • Detected by the communication control section when communication is not synchronized between Detection Timing the MP2100/MP2100M and SERVOPACK. Processing when • The current command will be aborted. Alarm Occurs •...

  • Page 264: Servo Driver Status And Servo Driver Error Codes

    6 Maintenance, Inspection, and Troubleshooting 6.7.3 Servo Driver Status and Servo Driver Error Codes 6.7.3 Servo Driver Status and Servo Driver Error Codes (1) Servo Driver Status (IW2C) The status of a SERVOPACK for MECHATROLINK communication can be monitored in Servo Driver Status monitoring parameter IW2C.
  • Page 265 6.7 Troubleshooting Motion Errors (2) Servo Driver Alarm Code (IW2D) When the Servo Driver Error (IL04, bit 0) turns ON, a SERVOPACK alarm will exist. The content of the alarm can be confirmed using the Servo Driver Alarm Code (monitoring parameter IW2D). The Servo alarm codes are listed in the following table.
  • Page 266 6 Maintenance, Inspection, and Troubleshooting 6.7.3 Servo Driver Status and Servo Driver Error Codes (b) Σ-II Series Name Register No. Code Meaning Normal Excessive Position Error Warning Overload Warning Regeneration Overload Warning Absolute Encoder Battery Error Data Setting Warning Command Warning Communication Warning Parameter Corrupted Main Circuit Detector Error...
  • Page 267 6.7 Troubleshooting Motion Errors Name Register No. Code Meaning Option WDC Error WDT Error Communication Error Failed to Detect Application Module Bus OFF Error SERVOPACK Failure Servo Driver IW2D Alarm Code SERVOPACK Initial Access Error (cont’d) (cont’d) SERVOPACK WDC Error Command Execution Not Completed Application Module Alarm Broken Phase in Power Line...
  • Page 268 6 Maintenance, Inspection, and Troubleshooting 6.7.3 Servo Driver Status and Servo Driver Error Codes (c) Σ-III Series Name Register No. Code Meaning Normal 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)
  • Page 269 6.7 Troubleshooting Motion Errors Name Register No. Code Meaning Encoder Data Alarm Encoder Overspeed 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 270 6 Maintenance, Inspection, and Troubleshooting 6.7.3 Servo Driver Status and Servo Driver Error Codes (d) Σ-V Series Name Register No. Code Meaning Parameter Checksum Error 1 Parameter Format Error 1 System Checksum Error 1 Parameter Password Error 1 Main Circuit Detector Error 1 Parameter Setting Error 1 Encoder Output Pulse Setting Error Parameter Combination Error...
  • Page 271 6.7 Troubleshooting Motion Errors (cont’d) Name Register No. Code Meaning System Alarm 3 System Alarm 4 Servo Overrun Detected Phase Detection Error Hall Sensor Error Phase Information Disagreement Polarity Detection Error Overtravel Detection at Polarity Detection Polarity Detection Uncompleted Out of Range for Polarity Detection Polarity Detection Error 2 Absolute Encoder Clear Error and Multi-turn Limit Setting Error Encoder Communications Error...
  • Page 272 6 Maintenance, Inspection, and Troubleshooting 6.7.3 Servo Driver Status and Servo Driver Error Codes 6-46...
  • Page 273 Appendix A System Registers Lists A.1 System Service Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2 A.1.1 Shared by All Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2 A.1.2 DWG.H Only - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2 A.1.3 DWG.L Only - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-3...

  • Page 274: System Service Registers

    Appendix A System Registers Lists A.1.1 Shared by All Drawings A.1 System Service Registers A.1.1 Shared by All Drawings Name Register No. Remarks Reserved SB000000 Not used. (Reserved for system use) ON for only the first scan after high-speed scan is SB000001 First High-speed Scan started.

  • Page 275: Dwg.l Only

    A.1 System Service Registers A.1.3 DWG.L Only The following relays begin operation at the start of the low-speed scan. Name Register No. Remarks 1 scan SB000030 1-scan Flicker Relay 1 scan 0.5s 0.5s SB000031 0.5-s Flicker Relay 1.0s 1.0s SB000032 1.0-s Flicker Relay 2.0s 2.0s...

  • Page 276: Scan Execution Status And Calendar

    Appendix A System Registers Lists A.2 Scan Execution Status and Calendar Name Register No. Remarks SW00004 High-speed Scan Set Value High-speed Scan Set Value (0.1 ms) SW00005 High-speed Scan Current Value High-speed Scan Current Value (0.1 ms) High-speed Scan Maximum SW00006 High-speed Scan Maximum Value (0.1 ms) Value...
  • Page 277 Appendix B Current Value and Setting Data in SVB Definition B.1 Current Value and Setting Data in SVB Definition - - - - - - - - - - - - - - - - - B-2 B.2 Operations and Parameter Data Flow - - - - - - - - - - - - - - - - - - - - - - - - - B-3 B.3 Precautions when Saving SERVOPACK Parameters - - - - - - - - - - - - - - - B-11...
  • Page 278 Appendix B Current Value and Setting Data in SVB Definition B.1 Current Value and Setting Data in SVB Definition In MECHATROLINK systems, SERVOPACK parameters can be read or written directly from the MP2100*. This means that parameters are saved in the memory areas of both the MP2100 and the SERVOPACK. So consider the relationship between the settings in both memory areas.
  • Page 279 B.2 Operations and Parameter Data Flow B.2 Operations and Parameter Data Flow (1) Power ON • Parameter data saved in the SERVOPACK’s EEPROM is copied to SERVOPACK’s RAM • Parameter data saved in the MP2100’s flash memory for all axes is copied to SDRAM Some gain-related settings are sent from the MP2100 to SERVOPACK RAM MECHATROLINK Send...
  • Page 280 Appendix B Current Value and Setting Data in SVB Definition (3) When the SERVOPACK Tab Page Is Open The data flow for SERVOPACK parameters is as follows when the SERVOPACK tab page is open in the SVB window of the MPE720. For details on how to open the SERVOPACK tab page, refer to 2.2.5 (4) (b) Definition SVB Definition.
  • Page 281 B.2 Operations and Parameter Data Flow (4) Performing the Save Operation on the SERVOPACK Tab Page The data flow for SERVOPACK parameters is as follows when File - Save is selected from the SERVOPACK tab page in the SVB Definition window of the MPE720: •...
  • Page 282 Appendix B Current Value and Setting Data in SVB Definition The following figure shows a display example after having executed save operation on the SERVOPACK tab page in the SVB Definition window. After having saved the data, the values in Input Data of all the parameters are reflected in the values in Current Value on the SERVOPACK tab page.
  • Page 283 B.2 Operations and Parameter Data Flow (5) Copying Current Values to Set Values (Input Data) in the SERVOPACK Tab Page The data flow for SERVOPACK parameters is as follows when selecting Edit - Copy Current Value from the tab page in the SVB Definition window of the MPE720: SERVOPACK •...
  • Page 284 Appendix B Current Value and Setting Data in SVB Definition (6) Changing Parameters in the SERVOPACK Tab Page The data flow for SERVOPACK parameters is as follows when a parameter at the cursor position is changed from the SERVOPACK tab page in the SVB Definition window of the MPE720: •...
  • Page 285 B.2 Operations and Parameter Data Flow The following figure shows a display example after having changed the value (2nd Speed Loop Gain) in Input Data on the SERVOPACK tab page. After having pressed the ENTER key, the values of Speed Loop Gain, Speed Loop Integral Time Constant, and Position Loop Gain (boxed in dotted line) in Input Data remain dif- ferent from the values in Current Value since the parameters other than the one that has been changed are not written.
  • Page 286 Appendix B Current Value and Setting Data in SVB Definition (7) Saving Data to Flash Memory The data flow for SERVOPACK parameters is as follows when saving the parameters to flash memory on the MPE720: • The MP2100 writes the parameters data (Input Data) held in SDRAM to flash memory. MECHATROLINK Send Send...
  • Page 287 B.3 Precautions when Saving SERVOPACK Parameters B.3 Precautions when Saving SERVOPACK Parameters Before executing saving operation in the SERVOPACK tab page in any cases excluding the SERVOPACK replacement, always select Edit - Copy Current Value to copy the values in Current Value to Input Data. B-11...
  • Page 288 Appendix B Current Value and Setting Data in SVB Definition B-12...
  • Page 289 Appendix C Initializing the Absolute Encoder C.1 Initializing the Absolute Encoder - - - - - - - - - - - - - - - - - - - - - - - - - - - - - C-2 C.1.1 Σ-V Series/Σ-III Series SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - C-2 C.1.2 Σ-II Series SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - C-3 C.1.3 Σ-I Series SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - C-5...

  • Page 290: Initializing The Absolute Encoder

    Appendix C Initializing the Absolute Encoder C.1.1 Σ-V Series/Σ-III Series SERVOPACKs C.1 Initializing the Absolute Encoder The procedure for initializing an absolute encoder for a -III/ -II/ -I series SERVOPACK is given below. Σ Σ Σ Σ • For the procedure for absolute-position detection, refer to 9.2.1 System Startup Flowchart in the Machine Controller MP2000 Series Built-in SVB/SVB-01 Motion Module User's Manual (Manual No.: SIEP C880700 33).

  • Page 291: Σ-Ii Series Servopacks

    C.1 Initializing the Absolute Encoder C.1.2 Σ-II Series SERVOPACKs Σ • For details on Σ-II series SERVOPACKs, refer to -II Series SGM  H/SGDH User's Manual (Manual No.: Σ  SIEP S800000 05) and -II Series SGM H/SGDM User's Manual (Manual No.: SIEP S800000 15). (1) Initialization Using a Hand-held Digital Operator 1.
  • Page 292 Appendix C Initializing the Absolute Encoder C.1.2 Σ-II Series SERVOPACKs (2) Initialization Using the Built-in Panel Operator 1. Press the MODE/SET Key to select the Auxiliary Function Mode. 2. Press the UP and DOWN keys to select parameter Fn008. 3. Press the DATA/LEFT key for 1 second or longer. The display will change as shown below.

  • Page 293: Σ-I Series Servopacks

    C.1 Initializing the Absolute Encoder C.1.3 Σ-I Series SERVOPACKs Σ • For details on Σ-I series SERVOPACKs, refer to Series SGM/SGMP/SGD-  N User's Manual (Manual Σ  No.: SIE-S800-26.3) and Series SGM /SGDB User's Manual (Manual No.: SIE-S800-26.4). (1) Initializing a 12-bit Absolute Encoder Use the following procedure to initialize a 12-bit absolute encoder.
  • Page 294 Appendix C Initializing the Absolute Encoder C.1.3 Σ-I Series SERVOPACKs c) Remove the short piece and insert the connector securely in its original position. SERVOPACK Key position Encoder CN2-1 (White/ orange) CN2-13 CN2-12 CN2-10 (White/gray) PG cable Short-circuit here. 3. Connect the cables using normal wiring and make sure the encoder battery is connected. 4.
  • Page 295 Appendix D Motion Parameter Lists D.1 Motion Parameter Lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - D-2 D.1.1 Fixed Parameter List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - D-2 D.1.2 Setting Parameter List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - D-4 D.1.3 Monitoring Parameter List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - D-10...

  • Page 296: Motion Parameter Lists

    Appendix D Motion Parameter Lists D.1.1 Fixed Parameter List D.1 Motion Parameter Lists This chapter shows the lists of the motion parameters (fixed parameters, setting parameters, and monitoring parameters) for SVB and SVR Modules. For information on how to use each motion parameter, refer to Machine Controller MP2000 Series Built-in SVB/ SVB-01 Motion Module User's Manual (Manual No.: SIEP C880700 33).
  • Page 297 D.1 Motion Parameter Lists (cont’d) Name Contents SVB SVR 1 = 1 rotation Machine Gear Ratio Note: Invalid for linear type 1 = 1 reference unit Infinite Length Axis Reset Position (POSMAX) Note: Invalid for linear type – Positive Software Limit Value 1 = 1 reference unit Negative Software Limit −...

  • Page 298: Setting Parameter List

    Appendix D Motion Parameter Lists D.1.2 Setting Parameter List D.1.2 Setting Parameter List The register number “OW00” indicates the leading output register number + 00. Note: The Yes in the SVB or SVR column indicates that the motion parameter is supported by the corresponding module.
  • Page 299 D.1 Motion Parameter Lists Register No. Name Contents SVB SVR Bits 0 to 3: Latch Detection Signal Selection 0: − 1: − 2: Phase-C pulse input signal 3: /EXT1 4: /EXT2 5: /EXT3 Bits 4 to 7: External Positioning Signal Setting OW04 Function Setting 2 0: −...
  • Page 300 Appendix D Motion Parameter Lists D.1.2 Setting Parameter List Register No. Name Contents SVB SVR 0: NOP (No Command) 1: POSING (Position Mode) (Positioning) 2: EX_POSING (Latch Target Positioning) (External position- ing) 3: ZRET (Zero Point Return) 4: INTERPOLATE (Interpolation) 5: ENDOF_INTERPOLATE (Last Interpolation Segment) (Reserved for system use) 6: LATCH (Interpolation Mode with Latch Input)
  • Page 301 D.1 Motion Parameter Lists Register No. Name Contents SVB SVR Speed Limit Setting at OW0E the Torque/Thrust 1 = 0.01% (percentage of rated speed) Reference – – OW0F − Reserved for system use Speed Reference Unit is according to OW03, bits 0 to 3 (Speed Unit Selec- OL10 Setting tion).
  • Page 302 Appendix D Motion Parameter Lists D.1.2 Setting Parameter List Register No. Name Contents SVB SVR Bias Speed for Expo- Unit is according to OW03, bits 0 to 3 (Speed Unit Selec- OW3B nential Acceleration/ tion). Deceleration Filter 0: DEC1 + C (DEC1 and C-phase) 1: ZERO (Zero signal) 2: DEC1 + ZERO (DEC1 and ZERO Signal) 3: C (C-phase)
  • Page 303 D.1 Motion Parameter Lists Register No. Name Contents SVB SVR Servo Driver for Assis- tance User Constant OW54 No. (SERVOPACK Set the number of the SERVOPACK parameter. parameter No. for mo- tion subcommand) Servo Driver for Assis- tance User Constant OW55 Size (SERVOPACK Sets the number of words in the SERVOPACK parameter.

  • Page 304: Monitoring Parameter List

    Appendix D Motion Parameter Lists D.1.3 Monitoring Parameter List D.1.3 Monitoring Parameter List Register number “IW00” indicates the leading input register number + 00. Note: The Yes in the SVB or SVR column indicates that the motion parameter is supported by the corresponding module.
  • Page 305 D.1 Motion Parameter Lists (cont’d) Register No. Name Contents SVB SVR Motion Command IW08 Same as OW08 (Motion Command). Response Code Bit 0: Command Execution Flag (BUSY) Bit 1: Command Hold Completed (HOLDL) Bit 2: Reserved for system use Bit 3: Command Error Completed Status (FAIL) (Command Motion Command Encoder Type Error) IW09...
  • Page 306 Appendix D Motion Parameter Lists D.1.3 Monitoring Parameter List (cont’d) Register No. Name Contents SVB SVR Reference Position IL1C Incrementing Value 1 = 1 reference unit Monitor 1 = 1 turn Number of POSMAX IL1E Turns Note: Invalid for linear type Speed Reference –...
  • Page 307 D.1 Motion Parameter Lists (cont’d) Register No. Name Contents SVB SVR Servo Driver User Constant No. (SERVOPACK – IW36 Stores the number of the parameter being processed. parameter No. for MECHATROLINK command area) Supplementary Servo Driver User Constant – IW37 (SERVOPACK Stores the number of the parameter being processed.
  • Page 308 Appendix D Motion Parameter Lists D.1.3 Monitoring Parameter List (cont’d) Register No. Name Contents SVB SVR Pulse Position When – IL64 the Power is OFF 1 = 1 pulse (Upper 2 Words) IW66 to – – − Reserved for system use IW6F Response Buffer for IW70 to...
  • Page 309 Appendix E 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. E.1 Motion API - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-2 E.1.1 Common APIs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-2 E.1.2 Sequential APIs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-3 E.1.3 System APIs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-5...
  • Page 310 Appendix E Motion API E.1.1 Common APIs E.1 Motion API E.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 311 E.1 Motion API E.1.2 Sequential APIs The following tables show the list of Sequential APIs. (1) Positioning Function Function Name Summary Executes PTP positioning in the axis specified by the device handle at the specified ymcMovePositioning ( ) acceleration/deceleration rates. ymcMoveJOG ( ) Executes JOG operation in the axis specified by the device handle.
  • Page 312 Appendix E Motion API E.1.2 Sequential APIs (6) Motion Operations Function Name Summary Changes the motion data (acceleration, deceleration, position, and speed) for the speci- ymcChangeDynamics ( ) fied axis. Stops the axis specified by the device handle by the specified stop method (immediate or ymcStopMotion ( ) decelerating to stop).
  • Page 313 E.1 Motion API E.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. ymcGetIoDataBit ( ) Gets the specified device type bit. ymcSetIoDataValue ( ) Sets the specified device type data.
  • Page 314 Appendix E Motion API E.1.3 System APIs...
  • Page 315 Appendix F MP2100M Slave CPU Synchronization Function This chapter explains the details of the MP2100M slave CPU synchronization function, and the precautions on using it. F.1 Overview of the Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -F-2 F.1.1 What is the MP2100M Slave CPU Synchronization Function? - - - - - - - - - - - - - - - - - - F-2 F.2 Execution Conditions and Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - -F-3 F.2.1 Compatible Versions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - F-3...

  • Page 316: Overview Of The Function

    Appendix F MP2100M Slave CPU Synchronization Function F.1.1 What is the MP2100M Slave CPU Synchronization Function? F.1 Overview of the Function F.1.1 What is the MP2100M Slave CPU Synchronization Function? The MP2100M slave CPU synchronization function can only be used with the MP2100M model JAPMC- MC2140-ET3.

  • Page 317: Execution Conditions And Settings

    F.2 Execution Conditions and Settings F.2 Execution Conditions and Settings F.2.1 Compatible Versions Slave devices, a master device, Optional Modules and an engineering tool are associated with the MP2100M slave CPU synchronization function. In order to use the function, all of these have to be of a compatible version. The compatible versions are summarized below.

  • Page 318: Slave Cpu Synchronization Function Execution Conditions

    Appendix F MP2100M Slave CPU Synchronization Function F.2.2 Slave CPU Synchronization Function Execution Conditions (3) Optional Modules When connecting a to SVB-01 or SVC-01 Modules, the modules must be of the following versions. SERVOPACK Module Model Version Ver. 1.26 or later MP2000 series SVB-01 JAPMC-MC2310(-E) Ver.

  • Page 319: Setting The Mp2100M Slave Cpu Synchronization Function

    F.2 Execution Conditions and Settings F.2.3 Setting the MP2100M Slave CPU Synchronization Function The settings for using the slave CPU synchronization function are shown below. (1) Setting at the Master Device There is no setting for enabling/disabling the slave CPU synchronization function at the master device. On the MECHATROLINK Link Assignment tab page, set High for the synchronous scan setting of the Built-in SVB Module of MP2100M.
  • Page 320 Appendix F MP2100M Slave CPU Synchronization Function F.2.3 Setting the MP2100M Slave CPU Synchronization Function (2) Setting at the Slave Devices 1. Select Slave synchronous function = Enable in the MECHATROLINK communication parameters. Double-click here to open the MECHATROLINK detailed definition window. Select Slave synchronous function = Enable.
  • Page 321 F.2 Execution Conditions and Settings 2. On the MECHATROLINK Link Assignment tab page, set High for the synchronous scan setting. Set the synchronous scan setting to High.

  • Page 322: Procedure For Executing The Mp2100M Slave Cpu Synchronization Function

    Appendix F MP2100M Slave CPU Synchronization Function F.2.4 Procedure for Executing the MP2100M Slave CPU Synchronization Function F.2.4 Procedure for Executing the MP2100M Slave CPU Synchronization Function Since slave CPU synchronization processing will be executed automatically after communication between the master device and MP2100M has been established provided the execution conditions described in F.2.2 Slave CPU Synchronization Function Execution Conditions have been satisfied, there is no need for the user to explic- itly issue a command for starting.
  • Page 323 F.2 Execution Conditions and Settings (2) When the Power to the Slave Devices Is Turned On First Confirm that the slave devices have completed startup, then set the control bit SLVSC to ON in the application program. After that, turn on the power to the master device. After confirming that the axes connected to the Motion Modules mounted in the slave device option slots are not moving, set the control bit SLVSC to OFF to execute slave CPU synchronization.
  • Page 324 Appendix F MP2100M Slave CPU Synchronization Function F.3.1 I/O Registers F.3 Operation F.3.1 I/O Registers The details of the I/O registers set in link allocation are presented here. (1) Master Device I/O Data [Input registers] [Output registers] 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 Scan counter Scan counter...

  • Page 325: Operation

    F.3 Operation • Details of slave status bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 SYNC SYNCRDY SBUSY CMDRDY WARNG Name Definition Explanation Normal When a slave detects any of the following abnormalities this bit comes ON.
  • Page 326 Appendix F MP2100M Slave CPU Synchronization Function F.3.1 I/O Registers (2) I/O Data at Slave Devices [Input registers] [Output registers] 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 Scan counter Scan counter Not used Not used Slave status...
  • Page 327 F.3 Operation • Details of output data Item Details This is a 1-byte data area whose value, set and refreshed by the application at the slave device, is checked by the application at the master device. Its applications include the following. •...
  • Page 328 Appendix F MP2100M Slave CPU Synchronization Function F.3.1 I/O Registers (3) Flow of I/O Data Among Master and Slave Devices • MP2000 (Master) MP2100M (Slave) → MP2000 (Master) MP2100M (Slave) [Output registers] [Input registers] [MECHATROLINK transmission path] 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 Scan counter...
  • Page 329 F.3 Operation • MP2000 (Master) ← MP2100M (Slave) MP2000 (Master) MP2100M (Slave) [Input registers] [Output registers] [MECHATROLINK transmission path] 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 Scan counter Scan counter DATA_RWA...

  • Page 330: Judging The Mp2100M Slave Cpu Synchronous Status

    Appendix F MP2100M Slave CPU Synchronization Function F.3.2 Judging the MP2100M Slave CPU Synchronous Status F.3.2 Judging the MP2100M Slave CPU Synchronous Status The method for judging the status of slave CPU synchronization from the application program is as follows. (1) Method for Checking with the Application at the Master Device Check bit 7 “SYNC”...

  • Page 331: Calculating Mp2100M Slave Cpu Synchronization Delay Time

    F.3 Operation F.3.3 Calculating MP2100M Slave CPU Synchronization Delay Time In the slave CPU synchronous status, commands from the master device are processed and conveyed to the slave devices according to the flow shown below. Note that the time from step (1) to step (4) is fixed. Execution of application at master device Refreshing of output data ↓...

  • Page 332: How To Use The Scan Counter

    Appendix F MP2100M Slave CPU Synchronization Function F.3.4 How to Use the Scan Counter F.3.4 How to Use the Scan Counter Using the scan counter makes it possible to check at the receiving side that data has been refreshed at the trans- mitting side.

  • Page 333: Judging Input Errors

    F.3 Operation (2) When Checking the Operation Status of a Slave Device with the Application at the Master Device Master device Slave device Input registers Output registers Scan Scan counter counter Refreshed by the application every Checks that the data has been scan refreshed.
  • Page 334 Appendix F MP2100M Slave CPU Synchronization Function F.3.5 Judging Input Errors An example of an application for checking for input errors is shown on the next page. [Conditions] An MP2200/CPU-02 is used and an SVB-01 Module is mounted in slot 1 of rack 1. The MP2100M is allocated to station #1.
  • Page 335 F.3 Operation • Example Application Continued on next page F-21...
  • Page 336 Appendix F MP2100M Slave CPU Synchronization Function F.3.5 Judging Input Errors Continued from previous page F-22...
  • Page 337 F.3 Operation (b) For Slave Devices 1. Check the S register “I/O error status.” In the I/O error status of the Built-in SVB Module of the MP2100M, check whether the bit for the local station number is ON. The ON status indicates that an input error has occurred. When an input error has occurred, the input data is cleared to 0.
  • Page 338 Appendix F MP2100M Slave CPU Synchronization Function F.3.5 Judging Input Errors • Example Application Continued on next page F-24...
  • Page 339 F.3 Operation Continued from previous page (2) Method for Resetting Input Errors These errors are reset automatically, so no operation is required. However, if input errors occur frequently, check the following points. • Has a station address been duplicated? • Has a scan timeout error occurred? •...

  • Page 340: Managing Restarting Of Mp2100M Slave Cpu Synchronization

    Appendix F MP2100M Slave CPU Synchronization Function F.3.6 Managing Restarting of MP2100M Slave CPU Synchronization F.3.6 Managing Restarting of MP2100M Slave CPU Synchronization Slave CPU synchronization processing is executed automatically whenever the execution conditions are all satis- fied. When this happens, the following operations are performed by the system in the status of transition between the slave CPU asynchronous status and the slave CPU synchronous status.
  • Page 341 F.3 Operation An example of controlling restarting of slave CPU synchronization with the application at a slave device is described here. In this example the concept is of a division into three statuses, as shown in the following status transition dia- gram.
  • Page 342 Appendix F MP2100M Slave CPU Synchronization Function F.3.6 Managing Restarting of MP2100M Slave CPU Synchronization • Example Application Continued on next page F-28...
  • Page 343 F.3 Operation Continued from previous page F-29...

  • Page 344: Precautions

    Appendix F MP2100M Slave CPU Synchronization Function F.4.1 Precautions on Use F.4 Precautions F.4.1 Precautions on Use (a) The MP2100M slave CPU synchronization function can only be used with the MP2100M model JAPMC-MC2140-ET3. Install the T-branch module (model: JEPMC-W6023-E) packaged with it by connecting it to the MECHATROLINK connector (PORT 1) of the MP2100M CPU Board.
  • Page 345 F.4 Precautions (l) When the following operations are performed, the status changes from the slave CPU syn- chronous status to the asynchronous status. [Operations at the master device] • Changing the high-speed scan setting • Saving a MECHATROLINK communication definition •...

  • Page 346: Effects Of Errors On Slave Cpu Synchronization Operation

    Appendix F MP2100M Slave CPU Synchronization Function F.4.2 Effects of Errors on Slave CPU Synchronization Operation F.4.2 Effects of Errors on Slave CPU Synchronization Operation The operation of the slave devices when errors occur during slave CPU synchronization are as follows. Phenomenon/Procedure Operation Operation is continued in the slave CPU asynchronous status.
  • Page 347 Index Index filter time constant change error - - - - - - - - - - - - - - - - - - - - - - 6-36 filter type change error - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-36 fixed parameter list - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - D-2 flash memory - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-43 Symbols...
  • Page 348 Index M-EXECUTOR Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-36 registers allocation control register tab - - - - - - - - - - - - - - - - - - - - - - 2-42 # registers- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-23 execution scheduling - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-45 constants registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-23...
  • Page 349 Index toubleshooting when S1 indicator is lit in red - - - - - - - - - - - - - - 6-13 transferring individual programs - - - - - - - - - - - - - - - - - - - - - - 4-38 Transmission Parameters tab - - - - - - - - - - - - - - - - - - - - - - - - - 2-21 troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6 troubleshooting when S2 indicator is lit in red - - - - - - - - - - - - - 6-14...
  • Page 350 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover. MANUAL NO. SIEP C880700 01D <5>-1 WEB revision number Revision number Published in Japan April 2011 Date of publication Rev. Date of Publication Rev.
  • Page 351 Phone 81-4-2962-5151 Fax 81-4-2962-6138 http://www.yaskawa.co.jp YASKAWA AMERICA, INC. 2121, Norman Drive South, Waukegan, IL 60085, U.S.A. Phone 1-800-YASKAWA (927-5292) or 1-847-887-7000 Fax 1-847-887-7310 http://www.yaskawa.com YASKAWA ELÉTRICO DO BRASIL LTDA. 777, Avenida Piraporinha, Diadema, São Paulo, 09950-000, Brasil Phone 55-11-3585-1100 Fax 55-11-3585-1187 http://www.yaskawa.com.br...

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