YASKAWA JAPMC-MC2100 Manuals

Manuals and User Guides for YASKAWA JAPMC-MC2100. We have 3 YASKAWA JAPMC-MC2100 manuals available for free PDF download: User Manual

YASKAWA JAPMC-MC2100 User Manual (557 pages)

Built-in Motion Module. Machine Controller

Brand: YASKAWA | Category: Control Unit | Size: 11 MB

2 Settings and Installation

34
- Safety Information
  6
- Safety Precautions
  7
- Revision History
  18
- Specifications
  27
- Table of Contents
  34
- LED Indicators and Switch Settings
  
  35
  - External Appearance
    35
  - Indicators
    35
  - Module Status Indication
    35
  - Switch Settings
    37
- Applicable Machine Controllers for SVB-01 Modules
  
  39
- Mounting/Removing SVB-01 Modules
  
  40
  - Mounting an SVB-01 Module
    40
  - Removing SVB-01 Modules for Replacement
    42
3 Self-Configuration and Created Definition Files

45
4 Motion Parameters

80
- Motion Parameters Register Numbers
  
  81
  - Motion Parameter Register Numbers for MP2000 Series Machine Controllers
    81
- Motion Parameters Setting Window
  
  83
  - How to Open the Motion Parameter Setting Windows
    83
  - Motor Type and Related Alarms
    84
- Motion Parameter Lists
  
  85
  - Fixed Parameter List
    85
  - Setting Parameter List
    87
  - Register no
    87
  - Name
    87
  - Ow0F
    90
  - Monitoring Parameter List
    93
- MP2000 Series Machine Controller Parameter Details
  
  97
5 Motion Parameter Setting Examples

152
- Electronic Gear
  153
- Example Setting of Motion Parameters for the Machine
  153
- Reference Unit
  153
- Axis Type Selection
  155
- Position Reference
  156
- Speed Reference
  160
- Acceleration/Deceleration Settings
  163
- Acceleration/Deceleration Filter Settings
  164
- Linear Scale Pitch and Rated Speed
  165
6 Motion Commands

166
- Motion Commands
  
  168
  - Motion Command Table
    168
  - Motion Commands Supported by SERVOPACK Models
    169
- Motion Command Details
  
  170
  - Position Mode (POSING) (Positioning)
    170
  - Latch Target Positioning (EX_POSING) (External Positioning)
    176
  - Zero Point Return (ZRET)
    181
  - Interpolation (INTERPOLATE)
    201
  - Interpolation Mode with Latch Input (LATCH)
    205
  - Jog Mode (FEED)
    209
  - Relative Position Mode (STEP) (Step Mode)
    213
  - Set Zero Point (ZSET)
    217
  - Change Acceleration Time (ACC)
    219
  - Change Deceleration Time (DCC)
    221
  - Change Filter Time Constant (SCC)
    223
  - Change Filter Type (CHG_FILTER)
    225
  - Change Speed Loop Gain (KVS)
    227
  - Change Position Loop Gain (KPS)
    229
  - Change Feed Forward (KFS)
    231
  - Read User Constant (PRM_RD)
    233
  - Write User Constant (PRM_WR)
    235
  - Alarm Monitor (ALM_MON)
    237
  - Alarm History Monitor (ALM_HIST)
    239
  - Clear Alarm History (ALMHIST_CLR)
    241
  - Absolute Encoder Reset (ABS_RST)
    243
  - Speed Reference (VELO)
    246
  - Torque /Thrust Reference (TRQ)
    250
  - Phase References (PHASE)
    254
  - Change Position Loop Integral Time Constant (KIS)
    258
  - Stored Parameter Write (PPRM_WR)
    260
  - Multiturn Limit Setting (MLTTRN_SET)
    262
- Motion Subcommands
  
  266
  - Motion Subcommand Table
    266
  - Motion Subcommand Settings
    266
- Motion Subcommand Details
  
  267
  - No Command (NOP)
    267
  - Read User Constant (PRM_RD)
    268
  - Write User Constant (PRM_WR)
    270
  - Status Monitor (SMON)
    272
  - Read Fixed Parameters (FIXPRM_RD)
    274
7 Switching Commands During Execution

276
- Switchable Motion Commands and Subcommands
  277
  - Switching between Motion Commands
    277
  - Setting a Subcommand During Command Execution
    279
- Motions after Switching Motion Commands
  280
  - Switching from POSING
    281
  - Switching from EX_POSING
    285
  - Switching from ZRET
    289
  - Switching from INTERPOLATE
    292
  - Switching from ENDOF_INTERPOLATE or LATCH
    295
  - Switching from FEED
    296
  - Switching from STEP
    300
  - Switching from ZSET
    303
  - Switching from VELO
    304
  - Switching from TRQ
    309
  - Switching from PHASE
    314
8 Control Block Diagrams

318
- Position Control
  
  319
  - Control Block Diagram for Position Control
    323
- Phase Control
  
  325
  - Control Block Diagram for Phase Control
    329
- Torque Control
  
  331
  - Control Block Diagram for Torque Control
    335
- Speed Control
  
  337
  - Control Block Diagram for Speed Control
    341
9 Absolute Position Detection

343
10 Settings for Connecting Inverters

370
- Specifications for Communications with Connected Inverters
  371
  - Operation Precautions
    373
  - Operation Procedure
    375
- 10.2 Operating Inverters Using an MPE720
  
  373
  - Input Command
    377
    
    Manually Allocating Inverters
    380
    
    I/O Options
    381
    
    Command Details
    386
    
    Subcommand Details
    391
- 10.3 Main Commands and Subcommands
  
  386
  - Motion Parameter Details
    397
    
    Fixed Parameter List
    397
    
    Setting Parameter List
    398
  - 0: Disabled, 1: Enabled
    399
Ow10

402
- Monitoring Parameter List
  406
- Bit 2: Multi-Function Input Command S3
  408
- Bit 3: Multi-Function Input Command S4
  408
- Bit 4: Multi-Function Input Command S5
  408
- Bit 5: Multi-Function Input Command S6
  408
- Bit 6: Multi-Function Input Command S7
  408
- Bit 9: Multi-Function Analog Input A3
  408
- Bit A: Multi-Function Input Terminal
  408
- Bit B: Multi-Function Analog Input A1
  408
- Bit C: Encoder Counter
  408
- Bits D to F Reserved by the System
  408
- 10.5 Inverter Alarm and Warning Codes
  420
  - Communication Warnings
    420
  - Communication Alarm
    420
  - Optional Interface Settings
    420
11 Utility Functions

422

YASKAWA JAPMC-MC2100 User Manual (455 pages)

Machine Controller DESIGN AND MAINTENANCE

Brand: YASKAWA | Category: Controller | Size: 3 MB

2 System Configuration 2

23
- Comparing SVB Motion Module and SVB Built into the CPU Module -
  21
  - Table of Contents
    23
- MP2100 System Configuration
  
  24
  - MP2100 Basic System Configuration
    24
  - Precautions
    24
- MP2100M System Configuration
  
  25
  - MP2100M Basic System Configuration
    25
  - Precautions
    25
- Devices Connectable to MECHATROLINK
  
  26
  - Servopacks
    26
  - I/O Modules
    27
- Cables and Accessories
  
  28
  - Included Accessories
    28
  - Cables
    28
  - Accessories
    28
- Software
  
  28
  - The Programming Device Software
    28
  - Motion API
    28
3 System Startup 3

29
- System Startup
  
  30
  - System Startup Flowchart
    30
  - System Configuration
    31
  - Equipment Preparation
    32
  - Installing the MP2100
    33
  - Installing the Drivers
    34
  - Verifying Driver Installation
    36
  - Connecting and Wiring the System
    38
  - Initializing the System
    39
  - Starting the MPE720
    42
- Sample Program 1: Manual Operation
  
  63
  - Program Outline
    63
  - Operation
    63
  - Program Details
    66
- Sample Program 2: Positioning Control
  
  73
  - Program Outline
    73
  - Operation
    74
  - Program Details
    76
- Sample Program 3: Phase Control with an Electronic Shaft
  
  78
  - Program Outline
    78
  - Operation
    79
  - Program Details
    81
- Sample Program 4: Phase Control with an Electronic Cam
  
  83
  - Program Outline
    83
  - Operation
    84
  - Program Details
    86
- MP2100M Startup
  
  90
4 Specifications

93
- Hardware Specifications
  
  94
  - General Specifications
    94
  - Hardware Specifications
    95
- Function Lists
  
  96
- MP2100 LED Indicators and Switch Settings
  
  99
  - Layout
    99
  - LED Indicators
    99
  - Switch Settings
    100
- MP2100M LED Indicators and Switch Settings
  
  101
  - LED Indicator and Switch Arrangement
    101
  - LED Indicators
    101
  - Switch Settings
    102
5 Mounting and Wiring

103
- Installing the MP2100/MP2100M
  104
  - Recommended Computer Specifications
    104
  - Installing the MP2100/MP2100M
    105
  - Installing the Drivers
    106
  - Verifying Driver Installation
    108
- MP2100/MP2100M Connections
  110
  - Connectors
    110
  - MECHATROLINK-I/II Connection
    110
  - I/O Connection
    114
6 Basic System Operation

118
- Operating Modes
  
  119
  - Online Operating Mode
    119
    
    Offline Stop Mode
    119
- Startup Sequence and Basic Operation
  
  120
  - MP2100 Mode Switch Settings
    120
  - MP2100M Mode Switch Settings
    121
  - Indicator Patterns
    122
  - Startup Sequence
    123
- User Programs
  
  125
  - Drawings (Dwgs)
    125
  - Execution Control of Drawings
    126
  - Motion Program
    129
  - Functions
    137
- Registers
  
  138
  - Types of Register
    138
  - Register Designation Methods
    141
  - Data Types
    142
  - Using Subscripts I and J
    144
- Self-Configuration
  
  146
  - Overview of Self-Configuration
    146
  - MP2100/MP2100M Self-Configuration
    147
- Motion API
  
  151
  - Overview of the Motion API
    151
  - Motion API Software
    152
  - Installed Files List
    152
  - Installing MP2100/MP2100M
    153
7 Motion Parameters

156
- Motion Parameters Register Numbers
  
  157
- Motion Parameter Details
  
  158
- Example of Setting Motion Parameters for the Machine
  
  200
  - Reference Unit
    200
  - Electronic Gear
    200
  - Axis Type Selection
    203
  - Position References
    203
  - Speed References
    205
  - Acceleration/Deceleration Settings
    208
  - Acceleration/Deceleration Filter Settings
    209
8 Motion Commands

210
- Command Table
  211
  - Motion Commands
    211
  - Motion Subcommands
    212
  - Motion Command Support by SERVOPACK Model
    213
- Positioning (POSING)
  214
- External Positioning (EX_POSING)
  219
- Zero Point Return (ZRET)
  224
- Interpolation (INTERPOLATE)
  242
- Latch (LATCH)
  245
- JOG Operation (FEED)
  248
- STEP Operation (STEP)
  252
- Zero Point Setting (ZSET)
  256
- Change Linear Acceleration Time Constant (ACC)
  258
- Change Linear Deceleration Time Constant (DCC)
  260
- Change Filter Time Constant (SCC)
  262
- Change Filter Type (CHG_FILTER)
  264
- Change Speed Loop Gain (KVS)
  266
- Change Position Loop Gain (KPS)
  268
- Change Feed Forward (KFS)
  270
- Read SERVOPACK Parameter (PRM_RD)
  272
- Write SERVOPACK Parameter (PRM_WR)
  274
- Monitor SERVOPACK Alarms (ALM_MON)
  276
- Monitor SERVOPACK Alarm History (ALM_HIST)
  278
- Clear SERVOPACK Alarm History (ALMHIST_CLR)
  280
- Reset Absolute Encoder (ABS_RST)
  282
- Speed Reference (VELO)
  285
- Torque Reference (TRQ)
  289
- Phase References (PHASE)
  292
- Change Position Loop Integration Time Constant (KIS)
  294
10 Absolute Position Detection

313
- Structure of the Absolute Position Detection Function
  
  314
  - Outline of the Function
    314
  - Basic Terminology
    314
- Startup the Absolute Position Detection Function
  
  315
  - System Startup Procedure
    315
  - Setting Related Parameters
    316
  - Initializing the Absolute Encoder
    319
- Using an Absolute Encoder
  
  324
  - Finite Length Axis
    324
  - Infinite Length Axis
    327
11 Svr Virtual Motion Module

340
- SVR Virtual Motion Module
  
  341
  - Overview
    341
  - System Configuration
    342
  - SVR Operation
    343
- Motion Parameters
  
  344
  - Motion Parameter Details
    344
  - Motion Parameter Settings
    347
- Motion Commands
  
  356
  - Motion Command Table
    356
  - Motion Command Details
    357
- Sample Programming
  
  377
12 Maintenance and Inspection

384
- Inspection Items
  385
  - Daily Inspections
    385
  - Regular Inspections
    385
- Battery for MP2100/MP2100M
  386
  - Battery Installation
    386
  - Battery Replacement
    386
13 Troubleshooting

388
- Overview of Troubleshooting
  
  389
  - Troubleshooting Methods
    389
  - Basic Troubleshooting Flow
    390
  - Motion Program Alarms
    392
- System Errors
  
  393
- Motion Errors
  
  405
  - Description of Motion Errors
    405
  - Motion Error Details and Corrections
    407
14 Application Precautions

420

YASKAWA JAPMC-MC2100 User Manual (351 pages)

Machine Controller

Brand: YASKAWA | Category: Controller | Size: 22 MB

Specifications and Functions

33
Installation and Connection

79
- Installing the MP2100/MP2100M
  80
- MP2100/MP2100M Connections
  87
  - Connectors
    87
  - MECHATROLINK-I/II Connection
    87
I\/O Connection

91
- I/O Connection
  91
- Do_Com
  93
- Di_02
  94
- Di_03
  94
- Do_00
  94
- Do_01
  94
- Do_02
  94
- Do_03
  94
- Do_Com
  94
System Startup and Sample Programs

95
Outline of Motion Control Systems

179
- Startup Sequence and Basic Operation
  
  180
  - MP2100 Mode Switch Settings
    180
  - MP2100M Mode Switch Settings
    182
  - Startup Sequence
    183
  - Startup Sequence Operation Details
    184
  - Indicator Patterns
    185
- User Programs
  
  187
  - Drawings (Dwgs)
    187
  - Execution Control of Drawings
    187
  - Motion Program
    190
  - Motion Programs and MSEE and S Registers
    193
  - Example of Ladder Programs for Motion Program Control
    198
  - Functions
    200
- Registers
  
  201
  - Types of Registers
    201
  - Data Types and Register Specifications
    204
  - Using I and J Subscripts
    205
  - Register Specification Methods
    207
- Self-Configuration
  
  208
- Precautions When Using the MP2100/MP2100M
  
  218
- Motion API
  
  222
  - Overview of the Motion API
    222
  - Motion API Software
    223
  - Installed Files List
    223
  - Installing MP2100/MP2100M
    224
Maintenance, Inspection, and Troubleshooting

227
- Inspection Items
  
  228
  - Daily Inspections
    228
  - Regular Inspections
    229
- Replacing the Battery
  
  230
  - Installing the Battery
    230
  - Battery Life
    230
  - Battery Replacement
    231
- Troubleshooting
  
  232
  - Basic Flow of Troubleshooting
    232
  - Error Check Flowchart
    233
  - LED Indicators
    234
- Troubleshooting System Errors
  
  236
- Motion Program Alarms
  
  252
  - Motion Program Alarm Configuration
    252
  - Motion Program Alarm Code List
    252
- List of Causes for Command Error Occurrence
  
  254
- Troubleshooting Motion Errors
  
  258
Appendix A

273
- System Service Registers
  
  274
  - Shared by All Drawings
    274
  - DWG.H Only
    274
  - DWG.L Only
    275
- Scan Execution Status and Calendar
  
  276
- Program Software Numbers and Remaining Program Memory
  
  276
  - Capacity
    276
Appendix C

289
- Initializing the Absolute Encoder
  290
  - Σ-V Series/Σ-III Series Servopacks
    290
  - Σ-II Series Servopacks
    291
  - Σ-I Series Servopacks
    293
Appendix D

295
- Motion Parameter Lists
  296
  - Fixed Parameter List
    296
  - Setting Parameter List
    298
  - Monitoring Parameter List
    304
Appendix F

315

YASKAWA Categories

Controller DC Drives Servo Drives Robotics Control Unit

More YASKAWA Manuals

YASKAWA JAPMC-MC2100 Manuals

YASKAWA JAPMC-MC2100 User Manual (557 pages)

Table of Contents

2 Settings and Installation

LED Indicators and Switch Settings

Applicable Machine Controllers for SVB-01 Modules

Mounting/Removing SVB-01 Modules

3 Self-Configuration and Created Definition Files

Self-Configuration Overview

How to Execute Self-Configuration

System Startup Using Self-Configuration

Self-Configuration and Definition Files

4 Motion Parameters

Motion Parameters Register Numbers

Motion Parameters Setting Window

Motion Parameter Lists

MP2000 Series Machine Controller Parameter Details

5 Motion Parameter Setting Examples

6 Motion Commands

Motion Commands

Motion Command Details

Motion Subcommands

Motion Subcommand Details

7 Switching Commands During Execution

8 Control Block Diagrams

Position Control

Phase Control

Torque Control

Speed Control

9 Absolute Position Detection

Absolute Position Detection Function

Setting Procedure of Absolute Position Detection Function

Absolute Position Detection for Finite Length Axes

Absolute Position Detection for Infinite Length Axes

10 Settings for Connecting Inverters

10.2 Operating Inverters Using an MPE720

10.3 Main Commands and Subcommands

Ow10

11 Utility Functions

Controlling Vertical Axes

Overtravel Function

Software Limit Function

Modal Latch Function

Bank Switching Function

Precautions When Using Σ-V-Series SGDV Servopacks

Precautions When Using Σ-7-Series SGD7S Servopacks with Rotary Servomotors

Appendix A System Registers Lists

Appendix B Settings When Connecting MECHATROLINK Compatible I/O Modules

Appendix C Initializing the Absolute Encoder

Appendix D Setting the Multiturn Limit

Appendix E Fixed Parameter Setting According to Encoder Type and Axis Type

YASKAWA JAPMC-MC2100 User Manual (455 pages)

Table of Contents

2 System Configuration 2

MP2100 System Configuration

MP2100M System Configuration

Devices Connectable to MECHATROLINK

Cables and Accessories

Software

3 System Startup 3

System Startup

Sample Program 1: Manual Operation

Sample Program 2: Positioning Control

Sample Program 3: Phase Control with an Electronic Shaft

Sample Program 4: Phase Control with an Electronic Cam

MP2100M Startup

4 Specifications

Hardware Specifications

Function Lists

MP2100 LED Indicators and Switch Settings

MP2100M LED Indicators and Switch Settings

5 Mounting and Wiring

6 Basic System Operation

Operating Modes

Startup Sequence and Basic Operation

User Programs

Registers

Self-Configuration

Motion API

7 Motion Parameters