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JAPMC-MC2140-E
YASKAWA JAPMC-MC2140-E Manuals
Manuals and User Guides for YASKAWA JAPMC-MC2140-E. We have
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YASKAWA JAPMC-MC2140-E manuals available for free PDF download: User Manual
YASKAWA JAPMC-MC2140-E User Manual (557 pages)
Built-in Motion Module. Machine Controller
Brand:
YASKAWA
| Category:
Control Unit
| Size: 11.99 MB
Table of Contents
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
Self-Configuration Overview
46
How to Execute Self-Configuration
48
System Startup Using Self-Configuration
49
Starting the System for First Time
49
System Startup When Adding Electronic Devices
51
System Startup When Replacing Electronic Devices
53
Self-Configuration and Definition Files
54
Module Configuration Definition
55
Engineering Tool MPE720 Version
55
MECHATROLINK Transmission Definition
58
SVB Definition
64
Current Value and Setting Data in SVB
72
Precautions When Saving SERVOPACK Parameters
79
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
Ow0F
90
Monitoring Parameter List
93
MP2000 Series Machine Controller Parameter Details
97
Motion Fixed Parameter Details
97
Motion Setting Parameter Details
104
Motion Monitoring Parameter Details
137
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
Absolute Position Detection Function
344
Outline of the Function
344
Reading Absolute Data
344
Finite Length/Infinite Length Axes and Absolute Position Detection
345
Setting Procedure of Absolute Position Detection Function
346
System Startup Flowchart
346
Initializing the Absolute Encoder
347
Absolute Position Detection for Finite Length Axes
348
Parameter Settings for Finite Length Axes
348
Setting the Zero Point for a Finite Length Axis
351
Turning on the Power after Setting the Zero Point of Machine Coordinate System
354
Absolute Position Detection for Infinite Length Axes
355
Simple Absolute Infinite Length Position Control
355
Setting the Zero Point and Turning on Power as Simple Absolute Positions
360
Turning on the Power after Setting the Zero Point
361
Infinite Length Position Control Without Simple Absolute Positions
361
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
Ow10
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
User Constants Self-Writing Function Enabled) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
422
Controlling Vertical Axes
424
Holding Brake Function of the SERVOPACK
424
Connections to Σ-II Series SGDH Servopacks, Σ-III Series SGDS Servopacks
424
Σ-V Series SGDV Servopacks, and Σ-7 Series SGD7S Servopacks
424
Connections to Σ-I Series SGDB SERVOPACK
427
Connections to Σ-I Series SGD SERVOPACK
429
Overtravel Function
431
Connections to Σ-II Series SGDH Servopacks, Σ-III Series SGDS Servopacks, Σ-V Series SGDV Servopacks, and Σ-7 Series SGD7S Servopacks
431
Connections to Σ-I Series SGDB or SGD SERVOPACK
434
Software Limit Function
436
Fixed Parameter Settings
436
Processing after an Alarm Occurs
437
Modal Latch Function
438
Bank Switching Function
439
Bank Switching Specifications
439
Bank Switching Function Unsupported Motion Commands
439
SERVOPACK Parameter Settings for Bank Switching
439
Bank Member Setting
441
Parameters Updated When a MECHATROLINK Connection Is Established
444
Parameters Updated When a MECHATROLINK Connection Is Established
445
Parameters Updated When a Setting Parameter Is Changed
445
Parameters Updated When a Motion Command Is Executed
446
Parameters Updated During Self-Configuration
447
Precautions When Using Σ-V-Series SGDV Servopacks
450
Software Limit Settings
450
When the Tuning-Less Function Is Enabled
450
Saving the Parameter Bank Data
450
Motion Command Operation for External Latches with DC Power Input Σ-V-Series Servopacks
451
Precautions When Using Σ-7-Series SGD7S Servopacks with Rotary Servomotors
452
SGD7S Electronic Gear Ratio Settings
452
Link Assignment
452
Number of Pulses Per Motor Rotation
452
Motion Image
452
Software Limit Settings
453
When the Tuning-Less Function Is Enabled
453
Saving the Parameter Bank Data
453
Troubleshooting
454
Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
503
Appendix A System Registers Lists
507
A.3 Program Software Numbers and Remaining Program Memory Capacity Name - - - - - - - - - - - -
507
Appendix B Settings When Connecting MECHATROLINK Compatible I/O Modules
522
Appendix C Initializing the Absolute Encoder
522
Appendix D Setting the Multiturn Limit
522
Appendix E Fixed Parameter Setting According to Encoder Type and Axis Type
522
I.3 Motion Parameters that Can be Used in Servo Driver Transmission Reference Mode - - - - - -
542
Parameter Settings for Simple Absolute Infinite Length Position Control - - - - - - - - - - - - - - -
551
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YASKAWA JAPMC-MC2140-E User Manual (375 pages)
Machine Controller, Motion Module
Brand:
YASKAWA
| Category:
Controller
| Size: 3.49 MB
Table of Contents
Table of Contents
13
1 Overview
18
Module Overview and Features
19
Overview
19
Features
20
System Configuration Example
21
Specifications
22
Hardware Specifications
22
Functional Specifications
24
Performance Specifications
25
Applicable Servopacks
26
2 Settings and Installation
27
External Appearance and LED Indicators
28
External Appearance
28
LED Indicators
28
Module Status Indication
29
Applicable Machine Controllers for SVA-01 Modules
30
Mounting/Removing SVA-01 Modules
31
Mounting a SVA-01 Module
31
Removing SVA-01 Modules for Replacement
33
Module Connections
35
Connectors
35
Connection Procedure for 24-V Input Cable
36
CN1 and CN2 Connector Pin Arrangement
37
Cable Specifications and Connections
38
Cables
38
JEPMC-W2040--E Details
38
JEPMC-W2041--E Details
40
Restrictions for Feedback Pulse Inputs
43
Restrictions for SERVOPACK Pulse Output Frequency
43
Restrictions in SVA-01 Module Pulse Input Frequency
44
3 Setup
45
Setting Items
46
Module Configuration Definition of Machine Controller
47
How to Execute Self-Configuration
47
Opening the Module Configuration Window
48
Module Configuration Window
49
Manually Allocating Modules
50
SVA Definition
51
Opening the SVA Definition Window
51
Setting the SVA-01 Module Fixed Parameters
53
SERVOPACK Parameter Settings
54
SGDA SERVOPACK Parameter Settings
54
SGDB SERVOPACK Parameter Settings
55
SGDM, SGDH, SGDS, SGDV, and SGD7S SERVOPACK Parameter Settings
56
SERVOPACK Reference Offset Adjustment
57
Automatic Adjustment of the Analog Reference Offset
57
Manual Servo Tuning of the Speed Reference Offset
58
4 Operation Modes
60
Module Operation Mode Selection
61
Normal Operation Mode
62
Motion Parameters that Can be Used in Normal Operation Mode
62
DI/DO Signals in Normal Operation Mode
62
Simulation Mode
63
Motion Parameters that Can be Used in Simulation Mode
63
Position and Speed in Simulation Mode
63
Torque in Simulation Mode
63
Functions that Cannot be Simulated
63
Output Signals in Simulation Mode
64
General-Purpose I/O Mode
65
Motion Parameters that Can be Used in General-Purpose I/O Mode
65
Correspondence between Motion Parameter and Connector Pin Number
67
General-Purpose I/O Signal Connection Example
68
Pulse Input Modes
69
Pulse Counter Connection Example
71
5 Motion Parameters
72
Motion Parameters Register Numbers
73
Motion Parameter Register Numbers for MP2000 Series Machine Controllers
73
Motion Parameters Setting Window
74
How to Open the Motion Parameter Setting Windows
74
Selecting a Motor Type
75
Motion Parameter Lists
76
Fixed Parameter List
76
Setting Parameter List
79
Monitoring Parameter List
84
MP2000 Series Machine Controller Parameter Details
88
Motion Fixed Parameter Details
88
Motion Setting Parameter Details
96
Motion Monitoring Parameter Details
114
6 Motion Parameter Setting Examples
124
Example Setting of Motion Parameters for the Machine
125
Reference Unit
125
Electronic Gear
125
Axis Type Selection
127
Position Reference
128
Speed Reference
132
Acceleration/Deceleration Settings
134
Acceleration/Deceleration Settings
135
Acceleration/Deceleration Filter Settings
136
Linear Scale Pitch and Rated Motor Speed
138
Motion Command Table
141
Motion Commands
141
7 Motion Commands
141
Motion Command Details
142
Positioning (POSING)
142
External Positioning (EX_POSING)
148
Zero Point Return (ZRET)
154
Interpolation (INTERPOLATE)
196
Latch (LATCH)
199
JOG Operation (FEED)
202
STEP Operation (STEP)
206
Zero Point Setting (ZSET)
210
Speed Reference (VELO)
212
Torque Reference (TRQ)
216
Phase References (PHASE)
220
Motion Subcommands
224
No Command (NOP)
224
Read Fixed Parameters (FIXPRM_RD)
225
8 Switching Commands During Execution
227
Switchable Motion Commands
228
Switching between Motion Commands
228
Switching from POSING
229
Switching from EX_POSING
233
Switching from ZRET
237
Switching from INTERPOLATE
239
Switching from ENDOF_INTERPOLATE or LATCH
242
Switching from FEED
243
Switching from STEP
247
Switching from ZSET
250
Switching from VELO
251
Switching from TRQ
256
Switching from PHASE
262
9 Control Block Diagram
268
Module Control Block Diagram
269
10 Absolute Position Detection
271
Absolute Position Detection Function
272
Outline of the Function
272
Reading Absolute Data
272
Finite Length/Infinite Length Axes and Absolute Position Detection
273
Setting Procedure of Absolute Position Detection Function
274
System Startup Flowchart
274
Initializing the Absolute Encoder
275
Absolute Position Detection for Finite Length Axes
276
Parameter Settings for Finite Length Axes
276
Detailed Descriptions on Parameter Settings for Finite Length Axes
278
Setting the Zero Point for a Finite Length Axis
280
Setting the Zero Point for a Finite Length Axis
281
Turning on the Power after Setting the Zero Point of Machine Coordinate System
283
Absolute Position Detection for Infinite Length Axes
284
Simple Absolute Infinite Length Position Control
284
Parameters Setting for Simple Absolute Infinite Length Position Control
286
Detailed Descriptions on Parameter Settings for Simple Absolute Infinite Length Axes
288
Setting the Zero Point and Turning on Power as Simple Absolute Positions
290
Turning on the Power after Setting the Zero Point for Simple Absolute Infinite Length Axes
291
Infinite Length Position Control Without Simple Absolute Positions
292
11 Utility Functions
300
Controlling Vertical Axes
301
Holding Brake Function of the SERVOPACK
301
Connections to Σ-II, Σ-III, Σ-V, or Σ-7 Series SGDM, SGDH, SGDS, SGDV, and SGD7S Servopacks
301
Connections to Σ-I Series SGDB SERVOPACK
303
Connections to Σ-I Series SGDA SERVOPACK
305
Overtravel Function
307
Connections to Σ-II, Σ-III, Σ-V, or Σ-7 Series SGDH, SGDS, SGDV, and SGD7S Servopacks
307
Connections to Σ-I Series SGDB or SGDA SERVOPACK
309
Rotation Direction Selection
311
Software Limit Function
312
Parameter Settings
312
Software Limit Detection Function
312
Axis Stopping Operation at Alarm Occurrence
313
Processing after an Alarm Occurs
313
Other Utility Functions
314
Modal Latch Function
314
Reading Absolute Data after Power Is Turned on
315
Reading Absolute Data Online
315
General-Purpose DO_2 Signal Selection
316
12 Troubleshooting
319
Basic Flow of Troubleshooting
320
Troubleshooting
320
MP2000 Series Machine Controller Error Check Flowchart
321
LED Indicators (MP2200/MP2300)
322
Troubleshooting System Errors
324
Outline of System Errors
324
Outline of System Errors
325
Troubleshooting Flowchart for System Errors
327
Correcting User Program Errors
328
System Register Configuration and Error Status
329
Motion Program Alarms
345
Motion Program Alarm Configuration
345
Motion Program Alarm Code List
345
Troubleshooting Motion Errors
346
Overview of Motion Errors
346
Axis Alarm Details and Corrections
347
Analog Servo Alarm List
350
Appendix A System Registers Lists
357
System Service Registers
357
A System Registers Lists
357
Scan Execution Status and Calendar
359
Program Software Numbers and Remaining Program Memory Capacity
359
Appendix B Initializing the Absolute Encoder
360
Σ-III, Σ-V, or Σ-7 Series SERVOPACK
360
B Initializing the Absolute Encoder
360
Σ-II Series Servopacks
361
Σ-I Series SERVOPACK
363
C Fixed Parameter Setting According to Encoder Type and Axis Type
366
Appendix C Fixed Parameter Setting According to Encoder Type
367
Appendix D Terminology
367
D Terminology
367
Revision History
373
YASKAWA JAPMC-MC2140-E User Manual (351 pages)
Machine Controller
Brand:
YASKAWA
| Category:
Controller
| Size: 22.16 MB
Table of Contents
Specifications and Functions
33
Table of Contents
33
Specifications
34
Hardware Specifications
34
Specifications of Operating Environment
35
Function Lists
36
Functions of the MP2100/MP2100M Base Module
39
MP2100 Appearance/Led Indicators and Switch Settings
39
MP2100M Appearance/Led Indicators and Switch Settings
43
Module Configuration Definitions
45
CPU I/O (Built-In I/O) Module
47
Built-In SVB Modules
48
Built-In SVR Virtual Motion Module
62
BUS Interface Module (BUSIF)
65
M-EXECUTOR Module (Motion Program Executor)
68
Installation and Connection
79
Installing the MP2100/MP2100M
80
Computer Specifications
80
Installing the MP2100/MP2100M
82
Installing the Drivers
83
Verifying Driver Installation
85
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
Startup Procedure for a Model System
96
Flowchart for Model System Startup
96
System Configuration Model and Necessary Devices
97
Installing the MP2100
99
Installing the Drivers
100
Verifying Driver Installation
102
Connecting and Wiring the System
104
Initializing Servopacks
105
Setting and Saving Communication Process (Communication Manager)
106
Executing the MP2100 Self-Configuration
110
Starting Sample Program - MPE720 Ver 6
111
Copying and Transferring Sample Program Files
112
Setting Motion Fixed Parameters and Adjusting the Settings for Servo Control
116
Saving and Transferring Data
119
Starting Sample Program - MPE720 Ver 5
121
Starting MPE720 Ver 5. and Creating Folders
122
Reading Sample Programs and Setting and Saving Parameters
126
Other Operations
140
Checking Sample Program Operation
142
Opening the Tuning Panel Window
142
Operation Check 1: Manual Operation
144
Operation Check 2: Position Control
153
Operation Check 3: Phase Control - Electronic Shaft
158
Operation Check 4: Phase Control - Electronic Cam
162
System Startup Using Self-Configuration
168
Starting the System for the First Time
168
System Startup When Adding Electronic Devices
171
System Startup When Replacing Electronic Devices
173
MP2100M Startup
175
Communication Process Settings
175
Controller Configuration Settings
176
Module Configuration Definition Settings
177
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
Details of Self-Configuration
209
Procedure for Self-Configuration Using Mode Switch
210
Procedure for Self-Configuration Using MPE720
212
Definition Data Updated by Self-Configuration
216
Precautions When Using the MP2100/MP2100M
218
Precautions When Setting or Changing User Definition Files
218
Precautions When Setting or Changing Module Configuration Definition Files
219
Precautions When Setting or Changing the Scan Time
220
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
Outline of System Registers
236
Accessing System Registers
237
Troubleshooting When S1 Indicator Is Lit in Red
239
Troubleshooting When S2 Indicator Is Lit in Red
240
System Registers and Error Statuses
241
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
Overview of Motion Errors
258
Motion Error Details and Corrections
259
Servo Driver Status and Servo Driver Error Codes
264
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
Overview of the Function
316
What Is the MP2100M Slave CPU Synchronization Function
316
Execution Conditions and Settings
317
Compatible Versions
317
Slave CPU Synchronization Function Execution Conditions
318
Setting the MP2100M Slave CPU Synchronization Function
319
Procedure for Executing the MP2100M Slave CPU Synchronization Function
322
Operation
325
Judging the MP2100M Slave CPU Synchronous Status
330
Calculating MP2100M Slave CPU Synchronization Delay Time
331
How to Use the Scan Counter
332
Judging Input Errors
333
Managing Restarting of MP2100M Slave CPU Synchronization
340
Precautions
344
Precautions on Use
344
Effects of Errors on Slave CPU Synchronization Operation
346
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