YASKAWA MP920 User's Manual Design manuals

Yaskawa MP920 User's Manual Design User Manual (565 pages)

Brand: Yaskawa | Category: Equipment | Size: 4.45 MB |

English

Table of contents

USER'S MANUAL

1

DESIGN AND MAINTENANCE

1

Using this Manual

3

 Related Manuals

5

MP920 Related Manuals

6

Safety Information

7

Safety Precautions

8

PROHIBITED

10

 General

11

CONTENTS

12

5 Modules

13

6 System Startup

14

7 Parameters

14

9 Multi-CPU System

15

12 Troubleshooting

15

Appendix A

16

Revision History

16

MP920 Overview and Features

17

1.1 Overview of the MP920

18

 One-slot Modules

19

1.1.2 List of Modules

20

1.1.3 Features of the MP920

21

MP920 Modules

22

Motion Control Examples

23

Servo Control Examples

23

1. Electronic Shafts

24

2. Electronic Cams

24

1.1 Overview of the MP920

25

Configuration

27

2.1 Specifications

28

2.1.2 Hardware Specifications

29

 Power Supply Module (PS-01)

30

 CPU Module (CPU-01)

31

 CPU Module (CPU-02)

32

 Input Module (DI-01)

33

 Output Module (DO-01)

34

 I/O Module (LIO-01)

35

 Counter Module (CNTR-01)

37

 Analog Input Module (AI-01)

38

2.1 Specifications

39

 Pulse Output Module (PO-01)

43

system)

46

 Expansion Interface Module

48

2.1.3 Function Lists

49

 PLC Function Specifications

50

 Motion Command List

52

2.1.3 Function Lists

54

 Ladder Instruction List

58

MB000010MB000000

59

Menu Lists

65

2.2.1 List of Basic Modules

66

2.2.1 List of Basic Modules

68

2.2.2 Overall Configuration

69

2.2.2 Overall Configuration

70

MP920 CPU-01 DI-01

71

System Configuration

73

Basic System Operation

75

3.1 Operating Modes

77

3.2 Start and Stop Sequences

78

Memory Initialization

79

3.2.2 Start Sequence

80

= Damaged

81

Start watchdog timer

81

Execute DWG.A

81

3.2.2 Start Sequence

82

3.3 Power Failures

83

3.4 User Programs

84

3.4 User Programs

85

 Execution of Drawings

87

Motion Program

89

X1 Y1 Z1 A1 B1

90

 Executing Motion Programs

92

 Motion Program Status Flags

93

3.4.3 Motion Programming

94

3.5 Functions

97

3.5.2 Creating User Functions

98

3.5.4 Defining Function I/O

99

3 Basic System Operation

100

3.5.4 Defining Function I/O

100

3.5 Functions

101

3.6 Registers

103

F EDCBA9876543210

104

Examples of Use by Data Type

105

3.6.2 Data Types

106

3.6.3 Types of Register

107

 Registers in Functions

108

3.6 Registers

109

3.7 Managing Symbols

112

User’s Manual (SIEPC8807005)

113

Motion Control

115

4 Motion Control

116

MSEE MPM001

118

MP9 Series

119

Winder A

120

Winder B

120

 Phase Control

121

Conveyor Synchronization

121

 Position Control

121

Conveyor

121

4.2 Control Modes

122

 Overview

123

 Details

123

2. Set the motion parameters

124

• Using a motion program

124

 User Program Examples

125

Example of RUN Operation

125

Ladder Logic Program Example

126

 User Program Example

128

4.2.4 Phase Control Mode

129

Integra

132

Mechanical cam

133

Follower displacement

133

Follower

133

Servo driver

134

Position bias

135

DISPLACEMENT X

135

PREVIOUS VALUE

135

4.2.5 Zero Return Mode

136

4.2 Control Modes

137

IMPORTANT

138

Operating Conditions

140

4.3 Position Control

141

 Reference Unit

142

 Electronic Gear

143

4.3 Position Control

145

10 rotations

146

 Position Reference

147

Position Buffers

148

Using the Position Buffers

149

Writing to Position Buffers

149

 Position Monitoring

151

 Speed Reference

152

When Motion Commands Are Used

153

Parameter Setting Examples

154

(ABSOFF)

157

Rapid traverse

159

 Zero Point Return Method

170

 DEC1 + C-phase Pulse

171

 DEC2 + C-phase Pulse

172

 DEC1 + LMT + C-phase Pulse

174

 C-phase Pulse

177

 DEC1 + ZERO Signal

177

 DEC2 + ZERO Signal Method

177

 ZERO Signal Method

178

Rapid traverse speed

179

4.4.7 Fixed Speed Feed (FEED)

187

5.1 Power Supply Modules

197

5.1.2 PS-01 Module

198

 Application Precautions

199

5.1 Power Supply Modules

200

Power Supply Specifications

201

Power Supply Connections

201

MANDATORY

202

5.2 CPU Modules

204

 DIP Switch

205

 MEMOBUS Ports

206

 Status Output Terminals

207

 Battery

208

 Connector Specifications

208

Cable Connection Diagram

209

Appearance

209

5.2.2 CPU-02 Module

210

5.3 I/O Modules

211

 External Input Connector

212

 Connector Pin Layout (CN1)

213

5.3 I/O Modules

214

 Connector Pin Layout (CN2)

215

 Module Connection Examples

217

Module are shown below

218

5.3.2 DO-01 Output Module

219

5.3.3 LIO-01 I/O Module

227

 External I/O Cables

229

5.3.3 LIO-01 I/O Module

231

 Module Connection Example 1

234

 Module Connection Example 2

235

 LIO-01 Module Allocations

236

5.3.4 CNTR-01 Counter Module

238

 Pulse Input Connectors

239

Pulse Input Connector 1

239

Pulse Input Connector 2

240

 CN1 Connector

241

 CN2 Connector

242

 Cables

243

(12 VDC)

245

5.4 Analog Modules

247

 Analog Input Connectors

248

 AI-01 Connecting Cables

248

 Circuit Configuration

252

 Input Characteristics

254

Voltage Mode: -10 to +10 V

254

 AI-01 Module Allocations

255

 Offset/Gain Settings

256

OK button

257

 LED Indicator

258

 Analog Output Connectors

258

 AO-01 Connecting Cables

259

 Output Characteristics

261

-10 to +10 V Mode

262

0 to 10 V Mode

262

 AO-01 Module Allocations

263

5.5 Motion Modules

266

5.5.1 Servo Module (4-axis)

267

5.5 Motion Modules

268

 External I/O Connector

269

 Connector Pin Layout (CN5)

272

 Standard Cables

274

SGDA SERVOPACK

276

SGDB/SGDM/SGDS

278

SERVOPACK

278

5.5.2 Servo Module (2-axis)

281

→ 1: Watchdog timeout error

282

 24-V Input Connector (CN3)

283

Analog output

289

(2 channels)

289

5.5.2 Servo Module (2-axis)

291

 LED Indicator 1

292

 LED Indicator 2

294

 MECHATROLINK Connector

294

 CN1 Connections

294

 Cable Connection Diagram

295

MECHATROLINK Cable Appearance

296

 SVB-01 System Configuration

297

 SVB-01 Module Connections

298

 Connector 1

302

 Connector 2

302

 DO Output Circuit

308

 DI Input Circuit (DIn_0)

308

 DIn_0 Application Examples

311

5-V Differential Input

311

12-V Open-collector Input

311

5.6 Communications Modules

312

 DIP Switch (SW1)

313

 10BASE -T Port (CN1)

313

 Connection to Ethernet

314

 LED Indicators

315

 RS-422/485 Port (CN3)

316

5.6 Communications Modules

318

RS232/422

319

 Rotary Switches

321

 DIP Switch (SW3)

321

 DIP Switch (SW4)

322

 215IF Port (CN1)

322

 Rotary Switches SW2 and SW3

325

 CN1 Signal Name

327

5.7 Expansion Module

328

5.7.2 Mounting Base

330

System Startup

331

6.1 Overview

332

6.1.3 Equipment Preparations

334

6.2 System Startup Procedure

335

6.2.1 Installing the Modules

336

6.2.2 Connecting Devices

337

6.2.2 Connecting Devices

338

6.2 System Startup Procedure

339

 Connecting the Switch Box

340

Switch Box Connection Diagram

341

 Memory Initialization

343

6.2.3 Starting the MPE720

344

6.2.3 Starting the MPE720

346

 Logging On Offline

347

 Module Definitions

348

0, 1 2, 3 4 5

349

MP920 SVA-01A DI-01 DO-01

349

No. 04 and then click DI-01

350

No. 05 and then click DO-01

350

 Group Definitions

360

 Scan Time Setting

365

4. Click Save on the Toolbar

366

Saving Motion Programs

368

MPM001 Operation

369

6.2.5 Ladder Logic Programs

370

 External Signal Allocation

371

6.2.5 Ladder Logic Programs

372

H Drawing Main Program

374

 Status monitor

377

MM Manual mode

377

Axis 1 Manual Program

378

 ZRET (zero point return)

379

 ZRET (zero point setting)

379

 Reverse operation command

379

 Motion command interruption

379

Feed (Fixed speed feed)

380

STEP (Fixed length feed)

380

ZERT (zero point return)

380

ZERT (zero point setting)

380

 Command execution

381

 Stop command

382

 Motion command end

382

Preparations for Transfer

388

 Transfer Procedure

390

6.2.7 Checking Operations

393

6.2.7 Checking Operations

394

Parameters

396

7.1 Description of Parameters

397

the axis number

398

7.2.1 Motion Fixed Parameters

400

8.1 Reference Unit

419

8.2 Electronic Gear

420

8.3 Override Function

422

Mode Axis

425

8.5 Software Limit Function

426

Multi-CPU System

428

9.1 Overview

429

9.1.2 Operation

430

 Program Execution

431

Motion Modules

433

I/O Control

434

Message Communications

434

9.2.1 Hardware Settings

435

Common settings for

436

CPU Module 1 and CPU Module 2

436

Fixed parameters

444

(CPU Module 2)

444

Absolute Position Detection

446

 Basic Terminology

447

Absolute Encoder

447

Absolute Data

447

Holding Absolute Data

448

Reading Absolute Data

448

 MP920 Parameters

450

 SERVOPACK Parameters

451

Pulses/PG Dividing Ratio

453

Axis Selection

454

Σ-II series SERVOPACK

455

(White/orange)

456

(White/gray)

456

 For Σ-II Series SERVOPACKs

457

• 12-bit Encoder

459

• 15-bit Encoder

459

• 16-bit Encoder

459

• 17-bit Encoder

459

Finite Length Mode

461

Infinite Length Mode

461

 Description

464

Length Mode Axis

465

Normal Operation

466

Maintenance and Inspection

473

11.1 Inspection Items

474

11.2 CPU Module Battery

476

Obtain a Replacement Battery

477

 Replacing the Battery

477

11.3 Absolute Encoder Battery

478

11.3.2 General Specifications

479

 Backup Time

481

 System Connection Example

484

 Battery Module Connectors

485

 Connector Pin Layout

486

11.3.6 Replacing the Battery

487

11.3.6 Replacing the Battery

488

Troubleshooting

491

 Checking by Symptoms

492

 Checking by Error Codes

492

12.1.3 Indicator Errors

494

 Indicator Details

495

12.2 System Errors

496

 Program memory had not

497

 Scan time setting error

497

 Operation error (SB000418)

497

 I/O error (SB000419)

497

 System Status

499

 System Error Status

501

 User Operation Error Status

503

12.2 System Errors

505

System I/O Error Status

506

12.3 Motion Errors

509

 Motion Alarm Configuration

510

12.3 Motion Errors

511

 Servo Number LED Display

513

 Alarm Indicator Displays

515

A.1.1 Two-slot Modules

517

 Four-axis Servo Module

519

A.1.2 One-slot Modules

520

 Digital I/O Module

521

 Counter Module

521

 Analog Input Module

522

 Analog Output Module

522

 Two-axis Servo Module

523

 Pulse Output Module

524

A.1.2 One-slot Modules

525

 DeviceNet Interface Module

526

A.1.3 Mounting Bases

527

System Functions

528

MW0200 = 0001

529

MB000000

529

MW00000 < 10000

531

MB000010

531

A.2.2 Motion Command List

534

A.2.2 Motion Command List

535

A.3 Parameter List

539

A.3 Parameter List

540

Setting

542

(OFFSET)

545

“POSMAX.”

548

A.5 List of System Registers

553

 Registers Specific to DWG.H

554

 Registers Specific to DWG.L

555

Memory Capacity

556

 Software Version Number

557

 MP920 Fixed Parameters

557

SVA-01A and SVA-02A Modules

557

SVB-01 Module

557

Numerics

558

- - - - - - - - - 7-11

560

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