Yaskawa MP920 User's Manual Design User Manual

YA S K A WA MANUAL NO. SIEZ-C887-2.1BYASKAWA USER'S MANUALDESIGN AND MAINTENANCEMachine Controller MP920

x Application Maintenance• Do not touch any Module terminals when the system power is ON.There is a risk of electrical shock.WARNING• Do not a

3 Basic System Operation3.5.4 Defining Function I/O3-262. Fig. 3.8 shows an example of the I/O definitions of a function.Fig. 3.8 Graphic Represent

3.5 Functions3-2733.5.5 Creating the Body of the FunctionThe body of the function is created in the same way as the drawings except that the types of

3 Basic System Operation3.5.6 Creating the Program that Calls the Function3-28In the table, address input register AW00000 is allocated to MA00300.

3.6 Registers3-2933.6 RegistersThis section explains the types of register used by MP920 user programs and how these registers are used.3.6.1 Registe

3 Basic System Operation3.6.2 Data Types3-303.6.2 Data TypesThere are five data types: Bit, integer, double-length integer, real number, and address

3.6 Registers3-313Examples of Use by Data Type1. BitsBits are used for relay circuit ON/OFF or for logic operations.• Motion Program Example2. Words

3 Basic System Operation3.6.2 Data Types3-323. Double-length IntegersDouble-length integers are used for numeric operations and logic operations.•

3.6 Registers3-3333.6.3 Types of Register Registers in DrawingsThe seven types of register shown in Table 3.14 can be used in all drawings and motio

3 Basic System Operation3.6.3 Types of Register3-34 Registers in FunctionsThe 11 types of register shown in Table 3.15 can be used in functions.Not

3.6 Registers3-3533.6.4 Using Subscripts I and JTwo types of register, I and J, are used exclusively for modifying relay numbers and register numbers

xi GeneralAlways note the following to ensure safe use.• MP920 was not designed or manufactured for use in devices or systems directly related to hu

3 Basic System Operation3.6.5 I/O and Registers in Functions3-36Programming Example Using SubscriptsThe programming code shown in Fig. 3.11 sets the

3.6 Registers3-3733.6.6 Register Ranges in ProgramsThe following figure shows the ranges that can be called for registers in programs.DWG H03 (Drawin

3 Basic System Operation3.7.1 Symbols in Drawings3-383.7 Managing Symbols3.7.1 Symbols in DrawingsThe symbols used in drawings are all managed with

3.7 Managing Symbols3-393indexed data, define the size to be used in the data configuration. For example, if the data is referenced as PIDDATA_1 and

3 Basic System Operation3.7.4 Automatic Register Number Allocation3-403.7.4 Automatic Register Number AllocationTable 3.19 shows the register number

4-144Motion ControlThis chapter gives an overview of motion control and describes the motion commands.4.1 Overview of Motion Control - - - - - - - -

4 Motion Control4.1.1 Motion Control for the MP9204-24.1 Overview of Motion ControlThis section describes the methods used for motion control and gi

4.1 Overview of Motion Control4-34A wide range of Motion Modules is provided for the MP920, and these can be selected according to the purpose.The fo

4 Motion Control4.1.2 Motion Control Methods4-44.1.2 Motion Control MethodsBy using Motion Modules, motions for a wide variety of applications can b

4.1 Overview of Motion Control4-54The use of the special motion language enables complex operations to be easily programmed. The special motion comma

xiiCONTENTS1 MP920 Overview and Features1.1 Overview of the MP920- - - - - - - - - - - - - - - - - - - - - - - - - - - 1-21.1.1 Appearance of

4 Motion Control4.1.3 Examples of Motion Control Applications4-64.1.3 Examples of Motion Control ApplicationsThe following illustrations show exampl

4.1 Overview of Motion Control4-74 Phase ControlConveyor Synchronization Position ControlConveyorCoaterMP920ServomotorY axisZ axisX axisC axisA axi

4 Motion Control4.2.1 Overview of Control Modes4-84.2 Control ModesThis section describes the motion control modes that can be used by the MP920.4.2

4.2 Control Modes4-944.2.2 Speed Reference Output Mode OverviewThis mode is used to rotate the motor at the desired speed.A speed reference is outpu

4 Motion Control4.2.2 Speed Reference Output Mode4-10* 1. Valid only with an SVB-01 Module.* 2. Valid only with an SVA-02A Module.2. Set the motio

4.2 Control Modes4-114In the examples, SERVOPACK is used as axis 1 of Module No. 1. When the Module number and the axis number are different, see 7.1

4 Motion Control4.2.3 Torque Reference Output Mode4-12Ladder Logic Program ExampleFig. 4.2 RUN Commands (DWG H01)The example in the above illustrat

4.2 Control Modes4-134 DetailsUse the following procedure to perform operations in the torque reference output mode.1. Set the motion fixed paramete

4 Motion Control4.2.3 Torque Reference Output Mode4-144. Set the Servo ON (RUN) to ON (bit 0 of OW01).The torque reference and the speed limit ref

4.2 Control Modes4-154The example in the above illustration has been greatly simplified. In actual operation, each register can be controlled from th

xiii3.6.5 I/O and Registers in Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-363.6.6 Register Ranges in Programs - - - - - -

4 Motion Control4.2.4 Phase Control Mode4-16 DetailsUse the following procedure to perform phase control operation.1. Set the motion fixed paramete

4.2 Control Modes4-174* Valid only with an SVA-02A Module.3. Select the Phase Control Mode (PHCON) (bit 3 of OW00).At this time, also set Phase Re

4 Motion Control4.2.4 Phase Control Mode4-18* 1. Integrates the reference speed reference, and calculates the correspond-ing position (pulse).* 2.

4.2 Control Modes4-194 User Program Example 2: Electronic CamExample of RUN OperationCams are one of the conventional methods for changing a rotatio

4 Motion Control4.2.4 Phase Control Mode4-20Fig. 4.8 Block Diagram of Phase Control LoopFig. 4.9 Block Diagram of Electronic Cam Control LoopThe e

4.2 Control Modes4-214Ladder Logic Program ExampleFig. 4.10 RUN Command (DWG H04)The example in the above illustration has been greatly simplified.

4 Motion Control4.2.5 Zero Return Mode4-224.2.5 Zero Return Mode OverviewThe zero point return operation returns the machine to the machine-specifi

4.2 Control Modes4-234* 2. The limit switch (/DECLS) width must be at least twice that of the high-speed scan setting.1. Set the motion fixed parame

4 Motion Control4.2.5 Zero Return Mode4-24* Valid only with an SVA-02A Module.In the example, the SERVOPACK is used as axis 1 of Module No. 1. When

4.2 Control Modes4-254c) When LSDEC turns from ON to OFF, the point detected by the initial zero point pulse (C-phase pulse) is the zero point positi

xiv5.4 Analog Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-525.4.1 AI-01 Analog Input Module - - - - - - - - - - - -

4 Motion Control4.2.5 Zero Return Mode4-26Operating ConditionsInput a limit switch signal width at least twice that of the high-speed scan setting.L

4.3 Position Control4-2744.3 Position ControlThis section describes the prerequisites for position control, and position control without using motion

4 Motion Control4.3.1 Prerequisites for Position Control4-28When using a motion program, the bit 14 of OW01 (Position Reference Type) must be set

4.3 Position Control4-294Note: The number of digits below the decimal point is specified in motion fixed parameter No. 18 (Number of Digits Below Dec

4 Motion Control4.3.1 Prerequisites for Position Control4-30Table 4.11 shows the meanings of the above parameters and gives some setting examples.Ta

4.3 Position Control4-314Electronic Gear Parameter Setting Example (A): With Ball ScrewIn the above machine system, if the requirement is reference u

4 Motion Control4.3.1 Prerequisites for Position Control4-32Electronic Gear Parameter Setting Example (B): Rotating LoadIn the above machine system,

4.3 Position Control4-334 Position ReferenceThere are two methods of setting the position reference: Direct designation, which directly sets the pos

4 Motion Control4.3.1 Prerequisites for Position Control4-34With the position reference for an infinite length axis, the present travel distance (in

4.3 Position Control4-354With the SVA-02A (2-axis Servo Module), there are position buffers for only 2 axes.Using the Position Buffers1. By first sto

xv8.4 Infinite Length Positioning - - - - - - - - - - - - - - - - - - - - - - - - - 8-78.5 Software Limit Function- - - - - - - - - - - - - - - - -

4 Motion Control4.3.1 Prerequisites for Position Control4-362. Reading Position Buffersa) Set the Position Buffer Access Number (OL38)(1 to 256).b

4.3 Position Control4-374 Position MonitoringTable 4.15 shows the parameters used to monitor positioning.* 1. Machine coordinate system The basic c

4 Motion Control4.3.1 Prerequisites for Position Control4-38 Speed ReferenceThere are two methods of setting the speed reference. One method involv

4.3 Position Control4-394When Motion Commands Are Not UsedWhen motion commands are not used, the Speed Reference Selection Flags are disabled, and th

4 Motion Control4.3.1 Prerequisites for Position Control4-40Table 4.17 shows some examples of the parameter settings.* 1. Select Enabled (= 1) in b

4.3 Position Control4-4142. Speed Reference Value Selection Set to “1”a) When you wish perform operations with the fixed parameters set for a rapid t

4 Motion Control4.3.2 Position Control Without Using Motion Commands4-42 DetailsUse the following procedure to perform position control operations

4.3 Position Control4-434* Valid only with an SVA-02A Module.3. Select the Speed Reference Output Mode (PCON) (bit 2 of OW00).4. Set the Servo ON

4 Motion Control4.3.2 Position Control Without Using Motion Commands4-44 User Program ExampleExample of RUN OperationFig. 4.13 Position PatternOpe

4.4 Position Control Using Motion Commands4-4544.4 Position Control Using Motion CommandsThis section describes position control using motion command

xvi12.2 System Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-612.2.1 Overview of System Errors - - - - - - - - - - -

4 Motion Control4.4.1 Overview of Motion Commands4-463Zero Point Return (ZRET)Returns the system to the machine coordinate system zero point. Eight

4.4 Position Control Using Motion Commands4-4744.4.2 Positioning (POSING) OverviewPositions the axis at the position reference position using the sp

4 Motion Control4.4.2 Positioning (POSING)4-48 DetailsUse the following procedure to perform positioning operations.1. Set the initial values for t

4.4 Position Control Using Motion Commands4-4946. Start positioning command execution.The axis starts positioning according to the specified motion p

4 Motion Control4.4.2 Positioning (POSING)4-507. When the axis enters the Positioning Completed Range (OW0E) after Distribution Completed (bit 2 o

4.4 Position Control Using Motion Commands4-514Ladder Logic Program ExampleFig. 4.16 Positioning Programming Example (DWG H03)The example in the abo

4 Motion Control4.4.3 External Positioning (EX_POSING)4-52 DetailsUse the following procedure to perform external positioning operations.1. Set the

4.4 Position Control Using Motion Commands4-534The specified motion parameters are used to position the axis.Even during positioning, the motion para

4 Motion Control4.4.3 External Positioning (EX_POSING)4-548. When the axis enters the Positioning Completed Range (OW0E) after Distribution Comple

4.4 Position Control Using Motion Commands4-554Ladder Logic Program ExampleFig. 4.18 External Positioning Programming ExampleThe example in the abov

1-111MP920 Overview and FeaturesThis chapter gives an overview and features of the MP920 Modules.1.1 Overview of the MP920 - - - - - - - - - - - - -

4 Motion Control4.4.4 Zero Point Return (ZRET)4-56 Zero Point Return MethodThe following methods are available with the zero point return (ZRET) mo

4.4 Position Control Using Motion Commands4-574Details on each method are given next. DEC1 + C-phase PulseThis method is used to perform zero point

4 Motion Control4.4.4 Zero Point Return (ZRET)4-58 DEC2 + C-phase PulseThis method is used to perform zero point return using a limit switch (decel

4.4 Position Control Using Motion Commands4-5941. The axis travels at rapid traverse speed in the forward direction.2. The axis decelerates at the fa

4 Motion Control4.4.4 Zero Point Return (ZRET)4-60 DEC1 + LMT + C-phase PulseThis method is used to perform zero point return using a limit switch

4.4 Position Control Using Motion Commands4-6146. After the falling edge of the dog (deceleration limit switch) is detected, the axis stops after tra

4 Motion Control4.4.4 Zero Point Return (ZRET)4-62Zero Point Return Operation Started and Zone (c) Used1. The axis travels at approach speed in the

4.4 Position Control Using Motion Commands4-634 C-phase PulseThis method is used to perform zero point return using only a zero point signal (C-phas

4 Motion Control4.4.4 Zero Point Return (ZRET)4-64 DEC1 + LMT + ZERO Signal MethodThis method can be used only with a 4-axis SVA-01 Module.Zero poi

4.4 Position Control Using Motion Commands4-654 Example of the Zero Point Return OperationsUse the following procedure to perform zero point return

1 MP920 Overview and Features1.1.1 Appearance of MP920 Modules1-21.1 Overview of the MP920This section gives an overview of the MP920.1.1.1 Appearan

4 Motion Control4.4.4 Zero Point Return (ZRET)4-666. Zero point return (ZRET) starts.The axis travels at rapid traverse speed in the direction speci

4.4 Position Control Using Motion Commands4-6749. When the dog goes high, the axis stops after traveling only the zero point return final travel dist

4 Motion Control4.4.4 Zero Point Return (ZRET)4-68• If the machine is in Area B after the power is turned ON, the return cannot be performed correc

4.4 Position Control Using Motion Commands4-6942. Ladder Logic Program ExampleFig. 4.20 Zero Point Return Programming Example (DWG H03)* With SVB-0

4 Motion Control4.4.5 Interpolation (INTERPOLATE, END_OF_INTERPOLATE)4-704.4.5 Interpolation (INTERPOLATE, END_OF_INTERPOLATE) OverviewThis command

4.4 Position Control Using Motion Commands4-7145. Set interpolation (INTERPOLATE = 4) in the motion command code (OW20).6. When interpolation (INTE

4 Motion Control4.4.5 Interpolation (INTERPOLATE, END_OF_INTERPOLATE)4-72 User Program Example: Interpolation Ladder Logic Program ExampleFig. 4.

4.4 Position Control Using Motion Commands4-734The example in the above illustration has been greatly simplified. In actual operation, each register

4 Motion Control4.4.7 Fixed Speed Feed (FEED)4-74 DetailsUse the following procedure to perform fixed speed feed operations.1. Set the initial valu

4.4 Position Control Using Motion Commands4-754The axis performs fixed speed feed using the specified motion parameter.Fixed speed feed cannot be tem

1.1 Overview of the MP9201-31 One-slot ModulesThe following Modules are one-slot Modules.• DI-01 • PO-01• DO-01 • AI-01• LIO-01 • AO-01• SVA-02A • 2

4 Motion Control4.4.8 Fixed Length Feed (STEP)4-76Ladder Logic Program ExampleFig. 4.23 Fixed Speed Feed Programming Example (DWG H03)The example i

4.4 Position Control Using Motion Commands4-774 DetailsUse the following procedure to perform fixed length feed operations.1. Set the initial values

4 Motion Control4.4.8 Fixed Length Feed (STEP)4-78The axis performs positioning using the specified motion parameter. Even during fixed length feed

4.4 Position Control Using Motion Commands4-7947. When the axis enters the Positioning Completed Range (OW0E) after Distribution Completed (bit 2 o

4 Motion Control4.4.9 Zero Point Setting (ZSET)4-80Ladder Logic Program ExampleThe example in the above illustration has been greatly simplified. In

4.4 Position Control Using Motion Commands4-814 OverviewWhen the zero point setting is executed, the current position will be the machine coordinate

5-155ModulesThis chapter explains how to handle each part of the MP920 Modules and how to connect the modules to the system.5.1 Power Supply Modules

5 Modules5.1.1 PS-03 Module5-25.1 Power Supply Modules5.1.1 PS-03 ModuleThe following illustration shows the appearance of the PS-03 Power Supply Mo

5.1 Power Supply Modules5-355.1.2 PS-01 ModuleThe following illustration shows the appearance of the PS-01 Power Supply Module.The details of each pa

5 Modules5.1.2 PS-01 Module5-4 Application PrecautionsObserve the following precautions when using the PS-01 Power Supply Module. • One Power Supp

Copyright © 1998 YASKAWA ELECTRIC CORPORATIONAll rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or tra

1 MP920 Overview and Features1.1.2 List of Modules1-41.1.2 List of ModulesTable 1.1 lists the Modules and devices used for the MP920 system.Table 1.

5.1 Power Supply Modules5-55• Make sure that the maximum total internal current consumption of the Modules mounted to the Mounting Base is always le

5 Modules5.1.2 PS-01 Module5-6 Connecting External Power Supply TerminalsPower Supply SpecificationsSupply an 85- to 276-VAC power supply to the ex

5.1 Power Supply Modules5-75 GroundingProtective Ground Terminal (FG)A ground wire must be connected to the protective ground terminal (FG) of the P

5 Modules5.1.2 PS-01 Module5-8 Built-in FusesThe PS-01 Module has a built-in fuse to prevent the burning of the Module resulting from the following

5.2 CPU Modules5-955.2 CPU Modules5.2.1 CPU-01 ModuleThe following illustration shows the appearance of the CPU-01 CPU Module.The details of each par

5 Modules5.2.1 CPU-01 Module5-10 DIP SwitchThe DIP switch consists of eight pins. The pins are numbered 1 to 8, as shown in the dia-gram with Table

5.2 CPU Modules5-115 MEMOBUS PortsUsing RS-232C, the CPU Module can communicate with other devices on the MEMOBUS network through the MEMOBUS ports.

5 Modules5.2.1 CPU-01 Module5-12MEMOBUS Port Connection ExampleFig. 5.1 Example of Touch Panel Connected to the Port 2 Status Output TerminalsThe

5.2 CPU Modules5-135 BatteryThe battery is used as backup power supply for the SRAM. Connector SpecificationsThe following table shows the specific

5 Modules5.2.1 CPU-01 Module5-14 Serial Port Connection CableModelJEPMC-W5311-AppearanceCable Connection Diagram123456789FGTXDRXDRTSCTSDSRGNDDTR1

1.1 Overview of the MP9201-511.1.3 Features of the MP920The MP920 is a high-speed and multifunctional modular machine controller that can be used for

5.2 CPU Modules5-1555.2.2 CPU-02 ModuleThe following illustration shows the appearance of the CPU-02 CPU Module.For the details of each part of the C

5 Modules5.3.1 DI-01 Input Module5-165.3 I/O Modules5.3.1 DI-01 Input ModuleThe following illustration shows the appearance of the DI-01 Input Modul

5.3 I/O Modules5-175 External Input Connector Connector SpecificationsThe following table shows the specifications of the connectors used to connec

5 Modules5.3.1 DI-01 Input Module5-18 Connector Pin Layout (CN1)The pin layout of the CN1 connector is as follows:50492524262712Pin Layout on Wirin

5.3 I/O Modules5-195The following table shows the name and function of the CN1 connector pins.Pin No.Signal NameFunction Pin No.Signal NameFunction1

5 Modules5.3.1 DI-01 Input Module5-20 Connector Pin Layout (CN2)The pin layout of the CN2 connector is as follows:50492524262712Pin Layout on Wiri

5.3 I/O Modules5-215The following table shows the name and function of the CN2 connector pins.Pin No.Signal NameFunction Pin No.Signal NameFunction1

5 Modules5.3.1 DI-01 Input Module5-22 Module Connection ExamplesAn example of connections to the CN1 connector and an input circuit for the DI-01 I

5.3 I/O Modules5-235An example of connections to the CN2 connector and an input circuit for the DI-01 Input Module are shown below.+5V5.6k12622753063

5 Modules5.3.2 DO-01 Output Module5-245.3.2 DO-01 Output ModuleThe following illustration shows the appearance of the DO-01 Output Module.The detail

1 MP920 Overview and Features1.1.3 Features of the MP9201-6MP920 ModulesThe following Modules are available with the MP920. Select the Modules suita

5.3 I/O Modules5-255 Connector SpecificationsThe following table shows the specifications of the connectors used to connect the DO-01 Module.Name Co

5 Modules5.3.2 DO-01 Output Module5-26 Connector Pin Layout (CN1)The pin layout of the CN1 connector is as follows:50492524262712Pin Layout onWirin

5.3 I/O Modules5-275The following table shows the name and function of the CN1 connector pins.Pin No.Signal NameFunction Pin No.Signal NameFunction1

5 Modules5.3.2 DO-01 Output Module5-28 Connector Pin Layout (CN2)The pin layout of the CN2 connector is as follows:50492524262712Pin Layout onWirin

5.3 I/O Modules5-295The following table shows the name and function of the CN2 connector pins.Pin No.Signal NameFunction Pin No.Signal NameFunction1

5 Modules5.3.2 DO-01 Output Module5-30 Module Connection ExamplesAn example of connections to the CN1 connector and an output circuit for the DO-01

5.3 I/O Modules5-315An example of connections to the CN2 connector and an output circuit for the DO-01 Output Module are shown below.A fuse is insert

5 Modules5.3.3 LIO-01 I/O Module5-325.3.3 LIO-01 I/O ModuleThe following illustration shows the appearance of the LIO-01 I/O Module.The details of e

5.3 I/O Modules5-335 Connector SpecificationsThe following table shows the specifications of the connectors used to connect the LIO-01 Module.Name C

5 Modules5.3.3 LIO-01 I/O Module5-34 External I/O CablesModelsJEPMC-W6060-05: 0.5 mJEPMC-W6060-10: 1.0 mJEPMC-W6060-30: 3.0 mAppearanceCable Connec

1.1 Overview of the MP9201-71 High-speed, Multi-axis, Parallel Processing• The MP920 allows synchronous control of up to 60 axes when using 15 SVA-

5.3 I/O Modules5-355 Connector Pin Layout (CN1)The pin layout of the CN1 connector is as follows:50492524262712Pin Layout onWiring Side50 2549 2448

5 Modules5.3.3 LIO-01 I/O Module5-36The following table shows the name and funciton of the CN1 connector pins.Pin No.Signal NameFunction Pin No.Sign

5.3 I/O Modules5-375 Connector Pin Layout (CN2)The pin layout of the CN2 connector is as follows:50492524262712Pin Layout onWiring Side50 2549 2448

5 Modules5.3.3 LIO-01 I/O Module5-38The following table shows the name and function of the CN2 connector pins.Pin No.Signal NameFunction Pin No.Sign

5.3 I/O Modules5-395 Module Connection Example 1An example of connections to the CN1 connector and and an input circuit for the LIO-01 Module are sh

5 Modules5.3.3 LIO-01 I/O Module5-40 Module Connection Example 2An example of connections to the CN2 connector and and an input circuit for the LIO

5.3 I/O Modules5-415 LIO-01 Module AllocationsChannels for the LIO-01 Module are allocated according to the following procedure.1. Click the butto

5 Modules5.3.3 LIO-01 I/O Module5-42within the range specified by the start and end I/O register numbers set in the Module Definition Window. Make s

5.3 I/O Modules5-4355.3.4 CNTR-01 Counter ModuleThe following illustration shows the appearance of the CNTR-01 Module.The details of each part of the

5 Modules5.3.4 CNTR-01 Counter Module5-44The table below shows the LED indicator patterns when an error occurs in the CNTR-01 Module. Pulse Input C

1 MP920 Overview and Features1.1.3 Features of the MP9201-8Synchronous Phase Control Application Examples1. Electronic Shafts2. Electronic CamsEXAMP

5.3 I/O Modules5-455Pulse Input Connector 212-V voltage type pulse input, latch input, and coincidence detection output connectorUsed to connect 12-V

5 Modules5.3.4 CNTR-01 Counter Module5-46The CNTR-01 Module has a 5-V differential type pulse input connector with 4 channels and a 12-V voltage typ

5.3 I/O Modules5-475 CN2 ConnectorThe following table below shows the name and function of the CN2 connector pins.Pin No.Signal NameFunction Pin No.

5 Modules5.3.4 CNTR-01 Counter Module5-48 Connector SpecificationsThe following table shows the specifications of the connectors used to connect th

5.3 I/O Modules5-495Cable Connection DiagramConnectorBody FGLabel No.484950123484950123... ..

5 Modules5.3.4 CNTR-01 Counter Module5-50 Module Connection ExamplesConnection to a Pulse Generator with Open-collector Output (12 VDC)An example o

5.3 I/O Modules5-515Connection to a Pulse Generator with 5-V Differential OutputAn example of connection to a pulse generator with 5-V differential o

5 Modules5.4.1 AI-01 Analog Input Module5-525.4 Analog Modules5.4.1 AI-01 Analog Input ModuleThe following illustration shows the appearance of the

5.4 Analog Modules5-535 Analog Input ConnectorsThe use of the analog input connectors is shown below. Connector SpecificationsThe following table s

5 Modules5.4.1 AI-01 Analog Input Module5-54Cable Connection Diagram1231416456171978920221011122325V1G1VG1AA1DP1DN1V2G2VG2AA2DP2DN2V3G3VG3AA3DP3DN3V

1.1 Overview of the MP9201-911.1.4 Comparison between the MP920 and MP930The following table shows differences between the MP920 and the MP930.Item M

5.4 Analog Modules5-555 Connector Pin Layout (CN1)The pin layout of the CN1 connector is as follows:25261312151214CN1 26 pinConnectorPin Layout onWi

5 Modules5.4.1 AI-01 Analog Input Module5-56The following table shows the name and function of the CN1 connector pins.Pin No.Signal NameFunction Pin

5.4 Analog Modules5-575 Circuit Configuration+5V0V+15V-15V0V+5V1012232524-+GNDGNDCH41179202221-+CH3846171918-+GNDCH251314161510kΩ-+GNDCH110kΩ10kΩ10k

5 Modules5.4.1 AI-01 Analog Input Module5-58 AI-01 Module Connection Example: Voltage Input Mode1. When voltage input mode is used, leave the mode

5.4 Analog Modules5-595 Input Characteristics* Linearity cannot be guaranteed if the analog input is more than 10.0 V.Voltage Mode: -10 to +10 VAna

5 Modules5.4.1 AI-01 Analog Input Module5-60Voltage Mode: 0 to 10 V, Current Mode: 0 to 20 mA AI-01 Module AllocationsChannels for the AI-01 Module

5.4 Analog Modules5-615the start and end I/O register numbers set in the Module Definition Window. Make sure that the same values are not set more th

5 Modules5.4.1 AI-01 Analog Input Module5-622. Change the voltage for the external device to 0 V, 5 V, or 10 V to determine the offset value and gai

5.4 Analog Modules5-6355.4.2 AO-01 Analog Output ModuleThe following illustration shows the appearance of the AO-01 Analog Output Module.The dedails

5 Modules5.4.2 AO-01 Analog Output Module5-64 Connector SpecificationsThe following table shows the specifications of the connector used to connect

1 MP920 Overview and Features1.1.4 Comparison between the MP920 and MP9301-10Motion ControlNumber of Controlled Axes SVA-01A: 60 axes max.SVA-02A: 3

5.4 Analog Modules5-655 Connector Pin Layout (CN1)The pin layout of the CN1 connector is as follows:The following table shows the name and function

5 Modules5.4.2 AO-01 Analog Output Module5-66 AO-01 Module Connection Example Output CharacteristicsClick either -10 to +10 V Mode or 0 to 10 V Mo

5.4 Analog Modules5-675-10 to +10 V Mode0 to 10 V Mode327673127610 V10.5 V5 V00 V-10 V-5 V-10.5 V-32767-31276Analog output (V)Output register32767312

5 Modules5.4.2 AO-01 Analog Output Module5-68 AO-01 Module AllocationsChannels for the AO-01 Module are allocated according to the following proced

5.4 Analog Modules5-6953. Set the output range, register number, and scan for channels that will be used. Do not enter settings for channels that wil

5 Modules5.4.2 AO-01 Analog Output Module5-70 Saving the AO-01 Configuration1. Click Save(S) in the File(F) menu in the AO-01 Configuration Window.

5.5 Motion Modules5-7155.5 Motion Modules5.5.1 Servo Module (4-axis)The following illustration shows the appearance of the SVA-01A Four-axis Servo Mo

5 Modules5.5.1 Servo Module (4-axis)5-72Normal operationOne of Servo Module numbers 1 to 16 will be dis-played. The Servo Module is operating normal

5.5 Motion Modules5-735Note: Refer to 12.3.3 Processing Performed When an SVA Module Error Occurs for details.Axis 1 Alarm (SVRDY: ON)Error (SVRDY:

5 Modules5.5.1 Servo Module (4-axis)5-74 Servo Interface Connectors (CN1 to CN4) External I/O Connector Connector SpecificationsThe following tab

2-122MP920 Specifications and SystemConfigurationThis chapter explains the MP920 Module specifications, together with the products used in the system

5.5 Motion Modules5-755 Connector Pin Layout (CN1 to CN4)The pin layout of the CN1 to CN4 connectors are as follows:Note: Although the connector ori

5 Modules5.5.1 Servo Module (4-axis)5-76The following table shows the name and function of the pins of the CN1 to CN4 connectors.Either 5 V or 24 V

5.5 Motion Modules5-775 Connector Pin Layout (CN5)The pin layout of the CN5 connector is as follows:50492524262712CN5 50-pinConnectorPin Layout onWi

5 Modules5.5.1 Servo Module (4-axis)5-78The following table shows the name and function of the CN5 connector pins.Pin No.Signal NameFunction Pin No.

5.5 Motion Modules5-795 Standard CablesThe following standard cables are available for use with the Four-axis Servo Module (SVA-01A). Use these cabl

5 Modules5.5.1 Servo Module (4-axis)5-80Cable Connection Diagram123456789101112131415161718192021222324252627282930313233343536232021242543515171613

5.5 Motion Modules5-815Example of Connections to SGDA- SERVOPACK470Ω4.7kΩ680ΩTo external interfaceAnalog outputPulse input circuit(Phase-A, -B, a

5 Modules5.5.1 Servo Module (4-axis)5-82 SGDB, SGDM, and SGDS SERVOPACK Connecting CablesModels JEPMC-W6050-05: 0.5 mJEPMC-W6050-10: 1.0 mJEPMC-W60

5.5 Motion Modules5-835Example of Connections to SGDB/SGDM/SGDS SERVOPACK470Ω4.7kΩ680ΩTo externalinterfaceAnalog outputPulse input circuit (Phase-A,

5 Modules5.5.1 Servo Module (4-axis)5-84The following SERVOPACK parameters must be set when the brake signal is used.The standard cable is made to c

2 MP920 Specifications and System Configuration2.1.1 General Specifications2-22.1 SpecificationsThis section gives an overview of the specifications

5.5 Motion Modules5-855Example of Connections to External DevicesBAT+24V 024VAxis 1 I/OInput commonOutput commonAxis 2 I/OAxis 3 I/OAxis 4 I/O (Rese

5 Modules5.5.2 Servo Module (2-axis)5-865.5.2 Servo Module (2-axis)The following illustration shows the appearance of the SVA-02A Two-axis Servo Mod

5.5 Motion Modules5-875Normal operationOne of Servo Module numbers 1 to 16 will be dis-played. The Servo Module is operating normally and there is n

5 Modules5.5.2 Servo Module (2-axis)5-88 Servo Interface Connectors (CN1, CN2) 24-V Input Connector (CN3)The CN3 connector is used to connect the

5.5 Motion Modules5-895 Connector SpecificationsThe following table shows the specifications of the connectors used to connect the SVA-02A Module.Na

5 Modules5.5.2 Servo Module (2-axis)5-90 Connector Pin Layout (CN1, CN2)The pin layout of the CN1 and CN2 connectors is shown as follows:CN1/CN2 36

5.5 Motion Modules5-915The following table shows the names and functions of the CN1/CN2 connector pins.Either 5 V or 24V can be selected for the SEN

5 Modules5.5.2 Servo Module (2-axis)5-92 Standard CablesThe following standard cables are available for use with the Two-axis Servo Module (SVA-02A

5.5 Motion Modules5-935Cable Connection Diagram12345678910111215161718192021222324252627282930313233343536FG232021242543515133465292822231814FGGND/GN

5 Modules5.5.2 Servo Module (2-axis)5-94Example of Connections to SGDA- SERVOPACKConnection Example Using Standard Cables JEPMC-W6070--+470Ω4.7

2.1 Specifications2-322.1.2 Hardware Specifications Power Supply Module (PS-03)Table 2.2 shows the hardware specifications of PS-03 the Power Supply

5.5 Motion Modules5-955 SGDB, SGDM, and SGDS SERVOPACK Connecting CablesModelsJEPMC-W6071-05: 0.5 mJEPMC-W6071-10: 1.0 mJEPMC-W6071-30: 3.0 mAppeara

5 Modules5.5.2 Servo Module (2-axis)5-96Example of Connections to SGDB, SGDM, and SGDS SERVOPACKsConnection Example Using Standard Cables JEPMC-W607

5.5 Motion Modules5-9755.5.3 MECHATROLINK Interface Module (SVB-01)The following illustration shows the appearance of the SVB-01 MECHATROLINK Inter-f

5 Modules5.5.3 MECHATROLINK Interface Module (SVB-01)5-98Normal operationOne of Servo Module numbers 1 to 16 will be dis-played. The Servo Module

5.5 Motion Modules5-995 LED Indicator 2The TRX indicator displays the communications status of the SVB-01 Module. MECHATROLINK Connector Connector

5 Modules5.5.3 MECHATROLINK Interface Module (SVB-01)5-100 Cable Connection DiagramThe following figure shows the cable internal connection between

5.5 Motion Modules5-1015MECHATROLINK Cable AppearanceFig. 5.2 USB Terminator Connection DiagramModel: JEPMC-W6000-A3Model: JEPMC-W6010-Model: JEPM

5 Modules5.5.3 MECHATROLINK Interface Module (SVB-01)5-102 SVB-01 System ConfigurationThe SVB-01 Module has a MECHATROLINK port for one channel. Tw

5.5 Motion Modules5-1035 SVB-01 Module ConnectionsConnecting IO350 Units to an SVB-01 Module• Use the standard cable JEPMC-W6000-A3 for connection

5 Modules5.5.3 MECHATROLINK Interface Module (SVB-01)5-104Assemble the cables for connection between the SVB-01 Module and MECHATROLINK SERVOPACK an

iiiUsing this ManualPlease read this manual to ensure correct usage of the MP920 system. Keep this manual in a safe place for future reference.  Over

2 MP920 Specifications and System Configuration2.1.2 Hardware Specifications2-4 Power Supply Module (PS-01)Table 2.3 shows the hardware specificati

5.5 Motion Modules5-10555.5.4 Pulse Output Module (PO-01)The following illustration shows the appearance of the PO-01 Pulse Output Module.The details

5 Modules5.5.4 Pulse Output Module (PO-01)5-106Normal operationOne of Module numbers 1 to 16 will be displayed. The Module is operating normally an

5.5 Motion Modules5-1075 Connector 1 Connector 2 Pulse Interface Connector SpecificationsThe following table shows the specifications of the conne

5 Modules5.5.4 Pulse Output Module (PO-01)5-108 Connector Pin Layout (CN1)The pin layout of the CN1 connector is as follows:CN1 50-pin ConnectorPin

5.5 Motion Modules5-1095The following table shows the name and function of the CN1 connector pins.Pin No.Signal NameFunction Pin No.Signal NameFuncti

5 Modules5.5.4 Pulse Output Module (PO-01)5-110 Connector Pin Layout (CN2)The pin layout of the CN2 connector is as follows:CN2 50-pinConnectorPin

5.5 Motion Modules5-1115The table below shows the name and function of the CN2 connector pins.Pin No.Signal NameFunction Pin No.Signal NameFunction1

5 Modules5.5.4 Pulse Output Module (PO-01)5-112 External I/O CablesModelsJEPMC-W6060-05: 0.5 mJEPMC-W6060-10: 1.0 mJEPMC-W6060-30: 3.0 mAppearanceC

5.5 Motion Modules5-1135 DO Output Circuit DI Input Circuit (DIn_0)The DIn-0 input circuit is isolated from the circuits of DIn-1 to DIn-4.(with re

5 Modules5.5.4 Pulse Output Module (PO-01)5-114 DI Input Circuits (DIn_1 to DIn_4)The positive (+) side (DI_COM) of the DIn_1 to DIn_4 is connected

2.1 Specifications2-52 CPU Module (CPU-01)Table 2.4 shows the hardware specifications of the CPU-01 Module.Table 2.4 Hardware Specifications of the

5.5 Motion Modules5-1155 PO-01 Module Connection ExampleRL, etc.RL, etc.Emergency stopn = 1, 2, 3, or 4Pulse Amplifier24-V powersupplyCW+CW+CW-CW-CC

5 Modules5.5.4 Pulse Output Module (PO-01)5-116 DIn_0 Application ExamplesThe DIn_0 can be used with not only 24 V but also 5-V differential input

5.6 Communications Modules5-11755.6 Communications Modules5.6.1 218 I/F Communications Module (218IFA)The following illustration shows the appearance

5 Modules5.6.1 218 I/F Communications Module (218IFA)5-118The LED indicators indicate error or failure occurred in the Module as shown below.Note: T

5.6 Communications Modules5-1195 Connection to Ethernet218IFA10Base-T conversiontranceiverHubRepeater Repeater HubStationStationStation100 m100 m100

5 Modules5.6.2 217 I/F Communications Module (217IF)5-1205.6.2 217 I/F Communications Module (217IF)The following illustration shows the appearance

5.6 Communications Modules5-1215The LED indicators indicate error or failure occurred in the Module as shown below.Note: The number in parentheses (

5 Modules5.6.2 217 I/F Communications Module (217IF)5-122 Specifications of RS-232C Ports 1 and 2 (CN1 and CN2)The following table shows the name a

5.6 Communications Modules5-1235 RS-232C Port Connection ExampleTable 5.7 217IF Module RS-232C Transmission Line ConnectionMP920 217IF (CN1, CN2)Ca

5 Modules5.6.2 217 I/F Communications Module (217IF)5-124 RS-485 Port Connection ExampleNote: 1. With the CN3 interface, the terminator is enabled

2 MP920 Specifications and System Configuration2.1.2 Hardware Specifications2-6 CPU Module (CPU-02)Table 2.5 shows the hardware specifications of t

5.6 Communications Modules5-12555.6.3 215IF Communications Module (215IF)The following illustration shows the appearance of the 215IF Communications

5 Modules5.6.3 215IF Communications Module (215IF)5-126 Rotary SwitchesThe SW1 and SW2 are used to set the station address on the 215IF transmissio

5.6 Communications Modules5-1275 DIP Switch (SW4)The SW4 is used to set the network number of the 215IF transmission. Set a network num-ber between

5 Modules5.6.3 215IF Communications Module (215IF)5-128 Specifications of CN1 Connector PinThe following table shows the names and functions of the

5.6 Communications Modules5-12955.6.4 DeviceNet Interface Module (260IF)The following illustration shows the appearance of the 260IF DeviceNet Inter

5 Modules5.6.4 DeviceNet Interface Module (260IF)5-130 Rotary Switches SW2 and SW3The SW2 and SW3 are used to set the MAC ID of the DeviceNet. LED

5.6 Communications Modules5-1315The LED test sequence after the power is turned ON is shown below. Check to see if there is a LED failure according

5 Modules5.6.4 DeviceNet Interface Module (260IF)5-132 CN1 Signal NamePin No. Signal Name I/O1 V −I2 CAN_LI/O3 SHIELD−4 CAN_HI/O5 V +I

5.7 Expansion Module5-13355.7 Expansion Module5.7.1 Expansion Interface Module (EXIOIF)The following illustration shows the appearance of the EXIOIF

5 Modules5.7.1 Expansion Interface Module (EXIOIF)5-134The following illustration shows how to connect the I/O connectors.EXIOIFEXIOIFEXIOIFEXIOIFRa

2.1 Specifications2-72 Input Module (DI-01)Table 2.6 shows the hardware specifications of the DI-01 Input Module.Table 2.6 Hardware Specifications

5.7 Expansion Module5-13555.7.2 Mounting BaseThe following illustration shows the appearances of the MB-01 and MB-02 Mounting Bases. MB-01 MB-02The

6-166System StartupThis chapter describes the procedure to start up the MP920 system.6.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - -

6 System Startup6.1.1 Overview of the Startup Procedure6-26.1 OverviewThis section overviews the system startup procedure and describes the test sys

6.1 Overview6-366.1.2 Test System ConfigurationThe Test System is a simple system for explaining MP920 system startup. The Test System is different f

6 System Startup6.1.3 Equipment Preparations6-46.1.3 Equipment PreparationsPrepare the equipment shown in the following tables. Controller-related

6.2 System Startup Procedure6-566.2 System Startup ProcedureThis section explains the procedure when a Test System is used for positioning control.

6 System Startup6.2.1 Installing the Modules6-6Use the following procedure to install a Module.1. Align the two protrusions on the back of the Modul

6.2 System Startup Procedure6-766.2.2 Connecting Devices Connecting the Programming DeviceThe following illustration shows the method of connecting

6 System Startup6.2.2 Connecting Devices6-8 Local Input Module Connector WiringThe following illustration shows the method of connecting the extern

6.2 System Startup Procedure6-96 Remote Output Module Connector WiringThe following illustration shows the method of connecting the external output

2 MP920 Specifications and System Configuration2.1.2 Hardware Specifications2-8 Output Module (DO-01)Table 2.7 shows the hardware specifications of

6 System Startup6.2.2 Connecting Devices6-10 Connecting the Switch BoxThe switch box used by the ladder logic program that is automatically generat

6.2 System Startup Procedure6-116Switch Box Connection DiagramThe following illustration shows a switch box connection diagram.JOG+JOG-STEP+STEP-ZRNS

6 System Startup6.2.2 Connecting Devices6-12 Connection of SERVOPACK and ServomotorUse the special cable and encoder cable to connect the SERVOPACK

6.2 System Startup Procedure6-136 Memory InitializationUse the following procedure to initialize the memory. The user programs and definition data w

6 System Startup6.2.3 Starting the MPE7206-146.2.3 Starting the MPE720This section explains the Modules configuring the MP920, the module configurat

6.2 System Startup Procedure6-1562. In the dialog box, input the order folder name and click the OK button. The order folder name must be eight chara

6 System Startup6.2.3 Starting the MPE7206-162. In the Controller Configuration Window, set the Controller Name and Controller Type, and click the O

6.2 System Startup Procedure6-176 Logging On OfflineWhen creating a Controller program or definition data, you must log onto the Controller.1. Doubl

6 System Startup6.2.3 Starting the MPE7206-18 Module DefinitionsSet the MP920 CPU Module, SVA-01 Module and I/O Module.1. On the File Manager Windo

6.2 System Startup Procedure6-1963. To select the rack kind, click the button on the right side of Rack 1 and then click Short.4. Use the following

2.1 Specifications2-92 I/O Module (LIO-01)Table 2.8 shows the hardware specifications of the LIO-01 I/O Module.Table 2.8 Hardware Specifications of

6 System Startup6.2.3 Starting the MPE7206-20c) To allocate the DI-01 Module to slot 4, click the button on the right side of Module No. 04 and th

6.2 System Startup Procedure6-216e) Set the I/O start register numbers (0 for DI-01, 10 for D0-01).This completes the module allocation procedure.5.

6 System Startup6.2.3 Starting the MPE7206-22e) Click Save on the Toolbar.f) Click the Ye s button in the following message box.This completes the

6.2 System Startup Procedure6-236The SVA-01A Motion Parameter Window will be displayed.c) Set fixed parameter No. 1 Axis used SEL (Axis Selection) as

6 System Startup6.2.3 Starting the MPE7206-24d) Set fixed parameter No. 17 Motion controller functional SEL flag (Motion Control-ler Function Select

6.2 System Startup Procedure6-256f) Set the setting parameters as follows:Click the Setting parameter tab to display the Setting Parameter Tab.g) Set

6 System Startup6.2.3 Starting the MPE7206-26h) Click Save on the Toolbar.This completes the setting parameter setting procedure.The Module Definiti

6.2 System Startup Procedure6-276c) Double-click Discrete Input1 in the REG-No column, and then input 0 after IW.d) Click the button on the right s

6 System Startup6.2.3 Starting the MPE7206-28f) Click Save on the Toolbar.g) Click the Ye s button in the following message box. The definition dat

6.2 System Startup Procedure6-296c) Double-click Discrete Output1 in the REG-No column, and then input 10 after OW.d) Click the button on the right

2 MP920 Specifications and System Configuration2.1.2 Hardware Specifications2-10Hot Swapping (Insert/Remove while power is being supplied)Not allow

6 System Startup6.2.3 Starting the MPE7206-30g) Click the Ye s button in the following message box. The definition data will be saved. Group Defin

6.2 System Startup Procedure6-3163. Click the OK button in the following message box. 4. Click the Group 01 tab in the Group Definition window.The Gr

6 System Startup6.2.3 Starting the MPE7206-32c) PGM Automatic GenerationConfirm that PGM automatic generation is set to ON. (The default setting is

6.2 System Startup Procedure6-336• When the settings are made as shown in g) and h), the following registers will be allocated.Number of parallel pr

6 System Startup6.2.3 Starting the MPE7206-34The Group Definition Window will be as shown in the following illustration after the settings have been

6.2 System Startup Procedure6-356 Scan Time SettingThe MP920 sets the cycle for executing user programs (high-speed drawings and low-speed drawings)

6 System Startup6.2.3 Starting the MPE7206-364. Click Save on the Toolbar.5. Click the Ye s button in the following message box.This completes the

6.2 System Startup Procedure6-3766.2.4 Creating and Saving Motion Programs1. Click Refresh (R) under View (V) on the File Manager menu. This will ref

6 System Startup6.2.4 Creating and Saving Motion Programs6-383. Input the following program between the MPM001 “ ”; and end; linesSaving Motion Prog

6.2 System Startup Procedure6-396MPM001 OperationFig. 6.1 Move Operation Chart According to ProgramStartX, Y axis origin returnAxis moves by rapid t

2.1 Specifications2-112 Counter Module (CNTR-01)Table 2.9 shows the hardware specifications of the CNTR-01 Counter Module.Table 2.9 Hardware Specif

6 System Startup6.2.5 Ladder Logic Programs6-406.2.5 Ladder Logic Programs OverviewLadder logic programs are automatically generated on the MPE720

6.2 System Startup Procedure6-416 External Signal AllocationThe external signals used by motion management ladder logic programs are allocated accor

6 System Startup6.2.5 Ladder Logic Programs6-42A detailed description of the registers is given in the following table.Registers in Subroutine Logic

6.2 System Startup Procedure6-436A detailed description of the registers is given in the following table.Manual status(DW00100)Axis Command/Response(

6 System Startup6.2.5 Ladder Logic Programs6-44 Motion Management Ladder Logic ProgramsThe programs that are automatically generated on the Group D

6.2 System Startup Procedure6-456Main Motion Management Ladder Logic Program1stServo parameter(SVRUNCMD)Servo parameter(SVRUNCMD)Axis alarm generated

6 System Startup6.2.5 Ladder Logic Programs6-46DB00000DB001013 DB000004 DB001004Task 1 blockoperationstoppedDB000000DB001008IB00003DB001009DB001000

6.2 System Startup Procedure6-476H01.01Axis 2 manual mode statusDB00100AManual mode statusCommand duplication alarm generated Command duplication ala

6 System Startup6.2.5 Ladder Logic Programs6-48Axis 1 Manual ProgramHigh-speed 1 scanFixed speedfeedOperating manuallyFixed lengthfeedZero point ret

6.2 System Startup Procedure6-496R-NOP R-STEP R-POS R-INT R-E-INTCommand BUSY(Servo parameter)STEPcommandoperatingAlarmresetCommandduplication alarmS

2 MP920 Specifications and System Configuration2.1.2 Hardware Specifications2-12 Analog Input Module (AI-01)Table 2.10 shows the hardware specifica

6 System Startup6.2.5 Ladder Logic Programs6-50CommandBUSYCommandBUSYCommandBUSYZero point returncompleted(Servo parameter)Axis alarmgeneratedR-FEED

6.2 System Startup Procedure6-516FEED command operatingSTEP+ STEP-ZRETZSET command operatingABORTFEED command operatingSTEP command operatingZRET com

6 System Startup6.2.5 Ladder Logic Programs6-52(ZSET)Stop Command BUSYAutomatic modeCommandcancelledFEEDcompletedSTEPcompletedZRETcompletedManual sy

6.2 System Startup Procedure6-5366.2.6 Transferring Definitions, Parameters, and Programs Setting Up Communications EnvironmentUse the following pro

6 System Startup6.2.6 Transferring Definitions, Parameters, and Programs6-54c) Click the OK button.The Detail Setting Window will return.d) Click th

6.2 System Startup Procedure6-5563. Use the following procedure to set up the communications environment for Port 2.a) Double-click 2 in the Logical

6 System Startup6.2.6 Transferring Definitions, Parameters, and Programs6-56d) Click the OK button.The Port 2 setting procedure is completed and the

6.2 System Startup Procedure6-5765. Click the Ye s button in the following message box.This completes the serial port setting procedures for the MP9

6 System Startup6.2.6 Transferring Definitions, Parameters, and Programs6-58Preparations for TransferUse the following procedure to set the CPU to S

6.2 System Startup Procedure6-596b) Double-click the XY-TABLE PLC folder.c) Input the user name USER-A and password USER-A, then click the OK button.

2.1 Specifications2-132 Analog Output Module (AO-01)Table 2.11 shows the hardware specifications of the AO-01 Analog Output Module.Table 2.11 Hardw

6 System Startup6.2.6 Transferring Definitions, Parameters, and Programs6-60b) Click the Stop button in the following message box.c) Click the Yes

6.2 System Startup Procedure6-6162. Registers do not need to be transferred, so turn OFF the register selection, and click OK to start the transfer.T

6 System Startup6.2.6 Transferring Definitions, Parameters, and Programs6-624. Starting CPU OperationOnce the transfer has been completed, start CPU

6.2 System Startup Procedure6-6366.2.7 Checking OperationsAfter wiring has been completed, and after the definitions, parameters, motion programs, an

6 System Startup6.2.7 Checking Operations6-64The procedure for displaying and checking the current position is as follows:1. On the File Manager Win

6.2 System Startup Procedure6-6562. On the File Manager Window, scroll down in order of Programs → High Scan Pro-grams → Motion Programs → Mgrp1 → MP

7-177ParametersThis chapter describes the procedure for the setting parameters needed to run the MP920.7.1 Description of Parameters - - - - - - - -

7 Parameters7.1.1 Parameter Classifications7-27.1 Description of ParametersThis section describes parameters critical to motion functions in the SVA

7.1 Description of Parameters7-37Refer to the MP920 Machine Controller User's Manual: Motion Modules (SIEZ-C887-2.5) for details on SVB and PO M

7 Parameters7.1.2 Module Numbers and Motion Parameter Register Numbers7-4Axis offset = (axis number - 1) × 40H (64 words)This yields the following s

iv Visual AidsThe following aids are used to indicate types of information for easier reference. Indication of Reverse Signals In this manual, t

2 MP920 Specifications and System Configuration2.1.2 Hardware Specifications2-14 Four-axis Servo Module (SVA-01A)Table 2.12 shows the hardware spec

7.2 Parameters for Each Motion Module7-577.2 Parameters for Each Motion Module This section describes the functions and settings of parameters for

7 Parameters7.2.1 Motion Fixed Parameters7-6Table 7.2 Motion Fixed Parameters (cont’d)No. Name Setting Range Meaning RemarksSVA-01ASVA-02ASVB-01PO-

7.2 Parameters for Each Motion Module7-7716 Simulation Mode Selection(SIMULATE)0 to 2(Default = 0)0: Normal operation mode√√√1: Simulation mode√√√2:

7 Parameters7.2.1 Motion Fixed Parameters7-821 Servomotor Gear Ratio (GEAR_MOTOR)1 to 65535(Default = 1)1 = 1 rev (rotation)√√√√22 Machine Gear Ra-t

7.2 Parameters for Each Motion Module7-9737 Pulse Output Sig-nal Form Selec-tion(AFUNCSEL)Bits 0 to 7: Not usedBit: 8: ABPOSEL Pulse output signal po

7 Parameters7.2.2 Motion Setting Parameters7-107.2.2 Motion Setting ParametersMotion setting parameters serve as instructions to SVA Modules. They a

7.2 Parameters for Each Motion Module7-1172 RUN Command Settings(SVRUNCMD)(cont’d)OW01 Bit 11: EMRST Emergency Stop/Deceleration to a Stop Signal R

7 Parameters7.2.2 Motion Setting Parameters7-1214 Linear Decelera-tion Time Con-stant(NDEC)OW0D 0 to 32767(Default = 01 = 1 ms (300 = 0.300 s)9999

7.2 Parameters for Each Motion Module7-13728 Torque Reference Setting(TREF)OW1B −32768 to 32767(Default = 0.00)1 = 0.01 % (10000 = 100.00 %)929 Spe

7 Parameters7.2.2 Motion Setting Parameters7-1433 Motion Com-mand Code(MCMDCODE)(cont’d)OW20 0 to 65535(Default = 0) 19: ALM_MON Monitor current a

2.1 Specifications2-152 Two-axis Servo Module (SVA-02A)Table 2.13 shows the hardware specifications of the SVA-02A 2-axis Servo Module.Table 2.13 H

7.2 Parameters for Each Motion Module7-15734 Motion Com-mand Control Flags(MCMDCTRL)(Default = 0, all the bits are set to OFF)(cont’d)OW21 Bit 14:

7 Parameters7.2.2 Motion Setting Parameters7-1646 Position Control Flags(POSCTRL)(Default = 0, all the bits are set to OFF)(cont’d)OW2D Bit 3: PUN

7.2 Parameters for Each Motion Module7-177* Valid when using an SGDH+NS100.57 Encoder Position at Shutdown(Lower-place two words)OL38−231 to 231−1

7 Parameters7.2.3 Motion Monitoring Parameter7-187.2.3 Motion Monitoring ParameterMotion monitoring parameters are parameters reported by SVA Module

7.2 Parameters for Each Motion Module7-1979 Machine Coordi-nate System Feedback Posi-tion(APOS)IL08−231to 231−11 = 1 reference unit(1 = 1 pulse for

7 Parameters7.2.3 Motion Monitoring Parameter7-2024 Position Control Status(POSSTS)(cont’d)IW17 Bit 4: TPRSE No. of POSMAX turns preset completed

7.2 Parameters for Each Motion Module7-21735 Alarms(ALARM)(cont’d)IL22 Bit 15: COM_ERR Servo driver communications error9Bit 16: SVTI-MOUTServo dri

7 Parameters7.2.3 Motion Monitoring Parameter7-2247 Calculated Refer-ence Coordinate System Position(POS)IL2E−231 to 231−11 = 1 reference unit9999

8-188Controlled Axis Support FunctionsThis chapter describes controlled axis support functions for positioning control in systems that use the MP920.8

8 Controlled Axis Support Functions 8-28.1 Reference UnitA reference unit is the unit of measure used for positioning. In the MP920, the reference u

2 MP920 Specifications and System Configuration2.1.2 Hardware Specifications2-16 MECHATROLINK Interface Module (SVB-01)Table 2.14 shows the hardwar

8.2 Electronic Gear8-388.2 Electronic GearAn electronic gear converts position or speed units into user units (reference units) and internal controll

8 Controlled Axis Support Functions 8-4The following parameters are related to the electronic gear.Parameter No.Name Description Default18 Number of

8.3 Override Function8-588.3 Override FunctionWhen an axis is moving via rapid traverse or interpolation feed for example, the speed of move-ment can

8 Controlled Axis Support Functions 8-6• The following illustration shows speed change timing for changes to the override1.1 overrideThe meaning o

8.4 Infinite Length Positioning8-788.4 Infinite Length PositioningInfinite Length Positioning is a function that automatically updates the machine po

8 Controlled Axis Support Functions 8-8• Procedure for Specifying Absolute Mode in Infinite Length Mode AxisReference codes signify the direction o

8.5 Software Limit Function8-988.5 Software Limit FunctionThe software limit function is used to set upper and lower limits in fixed parameters for m

8 Controlled Axis Support Functions 8-10• Be sure to return to the zero point after power is turned ON.Type of Axis MovementCheck RemarksProgram Op

9-199Multi-CPU SystemThis chapter describes the features of a Multi-CPU System and how to set up the CPU Modules.9.1 Overview - - - - - - - - - - -

9 Multi-CPU System9.1.1 Features9-29.1 OverviewThis section describes the features of a Multi-CPU System.9.1.1 FeaturesA Multi-CPU System can be con

2.1 Specifications2-172 Pulse Output Module (PO-01)Table 2.15 shows the hardware specifications of the PO-01 Pulse Output Module.Table 2.15 Hardwar

9.1 Overview9-399.1.2 OperationThe CPU Module mounted in slots 0 and 1 of the Mounting Base is called CPU Module 1, and the CPU Module mounted in the

9 Multi-CPU System9.1.2 Operation9-4 Program ExecutionLoad user application programs, such as ladder and motion programs, to both CPU Module 1 and

9.1 Overview9-59Synchronizing the High-speed ScansFig. 9.4 CPU Module Processing Timing Example 2 Harmony Stop and Stand Alone OperationIf one CPU

9 Multi-CPU System9.1.2 Operation9-6 CPU Module Registers and Shared MemoryBy default, the CPU Module 1 and CPU Module 2 data memory areas (M, S, D

9.1 Overview9-79Fig. 9.5 Synchronization with a Motion ModuleI/O ControlFor Communications Modules, such as the 215IF and 260IF Modules, that perfor

9 Multi-CPU System9.2.1 Hardware Settings9-89.2 Setting Up a Multi-CPU SystemThis section describes the settings unique to a Multi-CPU System. For s

9.2 Setting Up a Multi-CPU System9-999.2.2 Setup Procedure Using the MPE720 Setup Procedure for a Multi-CPU SystemUse the following procedure to set

9 Multi-CPU System9.2.2 Setup Procedure Using the MPE7209-101. Creating an Order FolderThe procedure is the same as for a Single-CPU System.2. Creat

9.2 Setting Up a Multi-CPU System9-1193. Logging On in Offline ModeLog on to the CPU1 and CPU2 folder in the PLC folder to input settings and program

9 Multi-CPU System9.2.2 Setup Procedure Using the MPE7209-12b) Multi-CPU System Synchronized Scan Setting (Sync Scan)Set the scans for which the sta

2 MP920 Specifications and System Configuration2.1.2 Hardware Specifications2-18 218I/F Communications Module (218IFA)Table 2.16 shows the specific

9.2 Setting Up a Multi-CPU System9-1395. Settings on the Common Memory Assignment Tab Page of the System Configuration WindowWith a Multi-CPU System,

9 Multi-CPU System9.2.2 Setup Procedure Using the MPE7209-14This setting must be made only for the CPU Module to read the data. If the common memory

9.2 Setting Up a Multi-CPU System9-159b) Setting the Optional ModulesThe module configuration must be set according to the actually mounted Optional

9 Multi-CPU System9.2.2 Setup Procedure Using the MPE7209-16If the settings for CPU Module 1 and CPU Module 2 are different, the transmission parame

9.2 Setting Up a Multi-CPU System9-179e) Motion Module DefinitionsSet the motion fixed parameters to the same values for CPU Module 1 and CPU Module

9 Multi-CPU System9.2.2 Setup Procedure Using the MPE7209-187. Group DefinitionsThe group definition procedure is the same as for a Single-CPU Syste

10-11010Absolute Position DetectionThis chapter describes an absolute detection system that uses an absolute encoder. Be sure to read this chapter car

10 Absolute Position Detection10.1.1 Description of the Function10-210.1 Structure of the Absolute Position Detection FunctionThis section describes

10.1 Structure of the Absolute Position Detection Function10-310Holding Absolute DataAn absolute encoder uses a battery to maintain absolute data at

10 Absolute Position Detection10.2.1 System Startup Procedure10-410.2 Starting the Absolute Position Detection FunctionThis section describes the pr

2.1 Specifications2-192 217I/F Communications Module (217IF)Table 2.17 shows the specifications of the 217IF Communications Module.* The max. baud

10.2 Starting the Absolute Position Detection Function10-51010.2.2 Setting Related ParametersThis section describes absolute position detection relat

10 Absolute Position Detection10.2.2 Setting Related Parameters10-6 SERVOPACK ParametersMP920 Parameters for SVB-01 ModuleParameter No. Name Settin

10.2 Starting the Absolute Position Detection Function10-710 DetailsEncoder Selection/Absolute Encoder Usage• MP920 fixed parameter No. 3• SERVOPA

10 Absolute Position Detection10.2.2 Setting Related Parameters10-8Number of Feedback Pulses per Motor Rotation/Number of Encoder Pulses/PG Dividing

10.2 Starting the Absolute Position Detection Function10-910Axis Selection• MP920 fixed parameter No. 17, bit 5Set either an infinite or finite leng

10 Absolute Position Detection10.2.3 Initializing the Absolute Encoder10-10Validation of Number of Feedback Pulses for High Resolution/ Num-ber of F

10.2 Starting the Absolute Position Detection Function10-11104. Turn ON the system.Repeat the procedure starting from step 1 if an Absolute Encoder A

10 Absolute Position Detection10.2.3 Initializing the Absolute Encoder10-12 For Σ-II Series SERVOPACKsSetup Using a Hand-held Digital Operator1. Pr

10.2 Starting the Absolute Position Detection Function10-1310Setup Using the Built-in Panel Operator1. Press the MODE/SET Key to select the utility f

10 Absolute Position Detection10.2.3 Initializing the Absolute Encoder10-14 The following Servomotor models have absolute encoders.• 12-bit Encode

2 MP920 Specifications and System Configuration2.1.2 Hardware Specifications2-20 215I/F Communications Module (215IF)Table 2.18 shows the specifica

10.3 Using an Absolute Encoder10-151010.3 Using an Absolute EncoderThis section describes precautions regarding use as well as the procedure for sett

10 Absolute Position Detection10.3.1 Finite Length Mode Axis10-16 Position Control with a Finite Length Mode AxisInitialize the axis position as de

10.3 Using an Absolute Encoder10-1710 Setting the Zero Point for a Finite Length Mode AxisSet the zero point as described here after initializing th

10 Absolute Position Detection10.3.1 Finite Length Mode Axis10-18 The following methods are used to save the Zero Point Offset (OL06).• Saving i

10.3 Using an Absolute Encoder10-191010.3.2 Infinite Length Mode Axis DescriptionInfinite Length Positioning is a function that automatically update

10 Absolute Position Detection10.3.2 Infinite Length Mode Axis10-20 Setting the Zero Point for an Infinite Length Mode AxisExecute the ZSET motion

10.3 Using an Absolute Encoder10-2110 Ladder Logic Program for Infinite Length Mode Axis Position ControlSpecial ladder logic programs for normal op

10 Absolute Position Detection10.3.2 Infinite Length Mode Axis10-22Use the following flowchart to store values in buffers.The following programming

10.3 Using an Absolute Encoder10-2310IFONIFONIFONIBC0002SB000001 IBC0153MB300001Toggle Buffer Selection FlagMonitor parameters saved in buffer 0IFONM

10 Absolute Position Detection10.3.2 Infinite Length Mode Axis10-24Turning the System Back ON (Turning the Servo Back ON)Set up position data again

2.1 Specifications2-212 DeviceNet Interface Module (260IF)Table 2.19 shows the hardware specifications of the 260IF DeviceNet Interface Module.Table

10.3 Using an Absolute Encoder10-2510Execute the following flowchart when Position Data Re-Setup Request is ON.Follow the procedure below to set up p

10 Absolute Position Detection10.3.2 Infinite Length Mode Axis10-26The following programming example (ladder logic program) is for the flowchart sho

10.3 Using an Absolute Encoder10-2710There are no restrictions in the executing order for ladder logic programs H10 and H11 when an abso-lute encoder

11-11111Maintenance and InspectionThis chapter describes daily and regular inspection items to ensure that the MP920 can always be used at its best co

11 Maintenance and Inspection11.1.1 Daily Inspections11-211.1 Inspection ItemsThis section summarizes daily and regular inspection items that must b

11.1 Inspection Items11-31111.1.2 Regular InspectionsThis section describes inspection items that must be performed once or twice every six months to

11 Maintenance and Inspection11.2.1 Battery Life11-411.2 CPU Module BatteryThe CPU Module has one replaceable built-in battery, which is used to pre

11.2 CPU Module Battery11-511Obtain a Replacement BatteryObtain a replacement battery. This battery is not commercially available, and must be order

11 Maintenance and Inspection11.3.1 Appearance of the Battery Module11-611.3 Absolute Encoder BatteryThe Absolute Encoder Battery Module is connecte

11.3 Absolute Encoder Battery11-71111.3.2 General SpecificationsThe table below shows the general specifications of the Absolute Encoder Battery Modu

2 MP920 Specifications and System Configuration2.1.2 Hardware Specifications2-22 Expansion Interface ModuleTable 2.20 shows the hardware specificat

11 Maintenance and Inspection11.3.3 Specifications of Battery Module11-811.3.3 Specifications of Battery ModuleThe table below shows the specificati

11.3 Absolute Encoder Battery11-91111.3.4 Functions of Battery ModuleThis section describes the functions of the Battery Module. Data Backup for Abs

11 Maintenance and Inspection11.3.4 Functions of Battery Module11-101. The Battery Module performs a lithium battery voltage check sequence and out

11.3 Absolute Encoder Battery11-1111• One of the lithium battery characteristics is that battery voltage sharply declines once a voltage drop starts

11 Maintenance and Inspection11.3.5 Connecting to SVA-01A Module11-1211.3.5 Connecting to SVA-01A ModuleThis section describes how to connect the Ba

11.3 Absolute Encoder Battery11-1311 Battery Module ConnectorsNote: 1. The models in the upper row of the Cable column are a connector body (soldere

11 Maintenance and Inspection11.3.5 Connecting to SVA-01A Module11-14 Connector Pin Layout1CN: External Power Supply/External I/O ConnectorThe exte

11.3 Absolute Encoder Battery11-1511 Connecting to SVA-01A ModuleThe following illustration shows how to connect the battery connector (BAT) on the

11 Maintenance and Inspection11.3.6 Replacing the Battery11-16 Battery Replacement ProcedureUse the following procedure to replace the lithium batt

11.3 Absolute Encoder Battery11-17114. Replace the lithium battery.a) When replacing the lithium battery, be careful not to touch the internal circui

2.1 Specifications2-2322.1.3 Function Lists MP920 Motion Control Function SpecificationsTable 2.21 lists the motion control function specifications

11 Maintenance and Inspection11.3.6 Replacing the Battery11-187. Check the indicators and output signals.a) IndicatorsIt is normal if the POWER indi

12-11212TroubleshootingThis chapter describes the details, causes, and remedies for errors that can occur when using the system.12.1 Overview of Trou

12 Troubleshooting12.1.1 Troubleshooting Methods12-212.1 Overview of TroubleshootingThis section shows the basic troubleshooting flow and provides a

12.1 Overview of Troubleshooting12-31212.1.2 Basic Troubleshooting FlowWhen a problem occurs, it is important to determine the cause and treat the pr

12 Troubleshooting12.1.3 Indicator Errors12-412.1.3 Indicator ErrorsError details can be checked by the status of indicators on the front of the MP9

12.1 Overview of Troubleshooting12-512 Indicator DetailsThe following describes details and remedies for indicators showing operating status and err

12 Troubleshooting12.2.1 Overview of System Errors12-612.2 System ErrorsThis section describes system error details and remedies.12.2.1 Overview of

12.2 System Errors12-71212.2.2 Processing Flow When a System Error OccursThe following illustration shows the processing flow when a system error occ

12 Troubleshooting12.2.3 Processing Flow When a User Program Error Occurs12-812.2.3 Processing Flow When a User Program Error OccursA serious failur

12.2 System Errors12-91212.2.4 System Register Configuration System StatusSystem status indicates the operating status and error details for the sys

v Related ManualsRefer to the following related manuals as required.Thoroughly check the specifications, restrictions, and other conditions of the pr

2 MP920 Specifications and System Configuration2.1.3 Function Lists2-24 PLC Function SpecificationsTable 2.22 lists the PLC function specifications

12 Troubleshooting12.2.4 System Register Configuration12-10Software SwitchSelectionStatusSW00047 SB000470 Startup mode in case of power interruption

12.2 System Errors12-1112 System Error StatusThe following table lists data when a system error status list is generated.* These errors occur only

12 Troubleshooting12.2.4 System Register Configuration12-12Table 12.2 System Error Status List (cont’d)Name Register No. ContentsError DWG No.SW0005

12.2 System Errors12-1312 User Operation Error StatusThe following tables list data when a user operation error occurs.Table 12.3 User Operation Er

12 Troubleshooting12.2.4 System Register Configuration12-14Table 12.5 User Operation Error Status - 3 Name Error CodeError Contents User System Def

12.2 System Errors12-1512 System Service Execution StatusReal Number Operation0040H to 0059H0200H: MOV 0201H: MVS 0202H: MCC 0203H: MCW0204H: 0205H:

12 Troubleshooting12.2.4 System Register Configuration12-16 System I/O Error Status Actions to be Taken when a Transmission Error OccursWhen a tra

12.2 System Errors12-17121. CP-215 Station Error StatusSlot 22. LIO Error StatusSlot 2Error flag System Operation Error StatusBit No.F 3210SW00208 S

12 Troubleshooting12.2.4 System Register Configuration12-18Table 12.9 System Operation Error Code Status - 2Name Error CodeError Contents System De

12.3 Motion Errors12-191212.3 Motion ErrorsThis section describes the details and remedies for errors that occur in motion functions.12.3.1 Descripti

2.1 Specifications2-252Data Types Bit (relay): ON/OFFInteger: -32768 to +32767Double-length integer: -2147483648 to +2147483647Real number: ± (1.17

12 Troubleshooting12.3.2 Processing Flow When a Motion Error Occurs12-20 Motion Alarm ConfigurationThe following illustration shows the motion alar

12.3 Motion Errors12-2112* Axis numbers are stored in bits 8 to 11 when an axis alarm occurs.Axis Alarm*80h Logic-control axis use prohibited Check

12 Troubleshooting12.3.2 Processing Flow When a Motion Error Occurs12-22 Motion Parameter: Alarm IL22 DetailsThe following tables lists the axis

12.3 Motion Errors12-231212.3.3 Processing Performed When an SVA Module Error Occurs Servo Number LED Display The status LED indicators display a se

12 Troubleshooting12.3.3 Processing Performed When an SVA Module Error Occurs12-24Servo number. No. 9 A servo number (1 to 16) is displayed when the

12.3 Motion Errors12-2512 Alarm Indicator DisplaysWhen an error or alarm occurs, refer to the following table.Table 12.13 Alarm Indicator DisplaysD

A-1AAppendix AA.1 Module Dimensional Drawings - - - - - - - - - - - - - - - - - - - - -A-2A.1.1 Two-slot Modules - - - - - - - - - - - - - - - -

Appendix A A.1.1 Two-slot ModulesA-2A.1 Module Dimensional DrawingsThis appendix shows the appearance of the Modules used in the MP920 Machine Contr

A.1 Module Dimensional DrawingsA-3A Power Supply Module (AC Input)Description: PS-01Model: JEPMC-PS210 CPU Module (CPU-01)Description: CPU-01Model:

Appendix A A.1.1 Two-slot ModulesA-4 CPU Module (CPU-02)Description: CPU-02Model: JEPMC-CP210 Four-axis Servo ModuleDescription: SVA-01Model: JEPM

2 MP920 Specifications and System Configuration2.1.3 Function Lists2-26 Motion Command ListThe following table lists the motion commands.Classifica

A.1 Module Dimensional DrawingsA-5AA.1.2 One-slot Modules Digital Input ModuleDescription: DI-01Model: JEPMC-IO200 Digital Output ModuleDescription

Appendix A A.1.2 One-slot ModulesA-6 Digital I/O ModuleDescription: LIO-01Model: JEPMC-IO220 Counter ModuleDescription: CNTR-01Model: JEPMC-PL200L

A.1 Module Dimensional DrawingsA-7A Analog Input ModuleDescription: AI-01Model: JEPMC-AN200 Analog Output ModuleDescription: AO-01Model: JEPMC-AN21

Appendix A A.1.2 One-slot ModulesA-8 Two-axis Servo ModuleDescription: SVA-02AModel: JEPMC-MC220A MECHATROLINK Interface Servo ModuleDescription:

A.1 Module Dimensional DrawingsA-9A Pulse Output ModuleDescription: PO-01Model: JEPMC-PL210 218I/F Communications ModuleDescription: 218IFAModel: J

Appendix A A.1.2 One-slot ModulesA-10 217I/F Communications ModuleDescription: 217IFModel: JEPMC-CM200 215I/F Communications ModuleDescription: 21

A.1 Module Dimensional DrawingsA-11A DeviceNet Interface ModuleDescription: 260IFModel: JEPMC-CM230 Expansion Interface ModuleDescription: EXIOFMod

Appendix A A.1.3 Mounting BasesA-12A.1.3 Mounting Bases Long Mounting Base (9 Slots)Description: MB-01Model: JEPMC-MB200 Short Mounting Base (6 Sl

A.2 Motion Commands, Ladder Instructions, and Standard System FunctionsA-13AA.2 Motion Commands, Ladder Instructions, and Standard System FunctionsTh

Appendix A A.2.1 Ladder Instruction ListA-14Relay Circuit InstructionNO CONTACT No limit in a series circuit.Bit designation of any register as a re

2.1 Specifications2-272Basic Control CommandsABS ABSOLUTE MODE ABS; Treats all subsequent coordinate words as absolute values.INC INCREMENTAL MODEINC

A.2 Motion Commands, Ladder Instructions, and Standard System FunctionsA-15ANumeric Conversion Instructions(cont’d)STORE Stores the operation result

Appendix A A.2.1 Ladder Instruction ListA-16Numeric Comparison Instructions<<==>>RANGE CHECK RCHK Checks whether or not the value in th

A.2 Motion Commands, Ladder Instructions, and Standard System FunctionsA-17ABasic Function InstructionsSQUARE ROOT SQRT Taking the square root of a

Appendix A A.2.1 Ladder Instruction ListA-18Tab l e D ata Operation InstructionsTABLE READ TBLBR TBLBR TBL1, MA00000, MA00100TABLE WRITE TBLBW TBL

A.2 Motion Commands, Ladder Instructions, and Standard System FunctionsA-19AA.2.2 Motion Command ListThe motion commands are listed in the following

Appendix A A.2.2 Motion Command ListA-20Basic Control Commands(cont’d)PLN COORDINATE PLANE SETTINGPLN [axis1] [axis2] Designates the coordinate plan

A.2 Motion Commands, Ladder Instructions, and Standard System FunctionsA-21AHigh-Level Control Commands(cont’d)SNG IGNORE SINGLE BLOCK SIGNALSNG MVS

Appendix A A.2.2 Motion Command ListA-22Sequence Commands(cont’d)SIN SINE SIN (MW−);SIN (90);Obtains the sine of the integer or real number (deg), a

A.2 Motion Commands, Ladder Instructions, and Standard System FunctionsA-23A* − in MOV [axis1] − ⋅⋅⋅; indicates the numerical data of [axis1].Contro

Appendix A A.3.1 Motion Fixed ParametersA-24A.3 Parameter ListThe motion fixed parameters, motion setting parameters, and motion monitoring paramete

2 MP920 Specifications and System Configuration2.1.3 Function Lists2-28High-Level Control CommandsPFN IN-POSITION CHECKMVS [axis1] − [axis2] − ··· P

A.3 Parameter ListA-25A13 DI Latch Signal Selection(DIINTSEL)0 or 1(Default = 0)0: DI input signal1: C pulse input signal0 (DI input signal)(Set an a

Appendix A A.3.1 Motion Fixed ParametersA-26* 1. Use motion commands.* 2. Does not use motion commands.32 Backlash Compensation(BKLSH)0 to 32767(D

A.3 Parameter ListA-27AA.3.2 Motion Setting ParametersThe following table lists motion setting parameters.No. Name Register NumberSetting RangeMeanin

Appendix A A.3.2 Motion Setting ParametersA-2815 Positioning Completed Range Setting(PEXT)OW0E 0 to 65535(Default = 10)1 = 1 pulse or1 = 1 refer-e

A.3 Parameter ListA-29A31 Pulse Bias Setting(PULBIAS)OW1E0 to ±231-1(Default = 0)1 = 1 pulse −−−0 −33 Motion Command Code(MCMDCODE)OW20 0 to 6553

Appendix A A.3.2 Motion Setting ParametersA-3035 Rapid Traverse Speed(RV)OL220 to 231-1(Default = 3000)1 = 10n reference units/min−−−− 5000 (5000

A.3 Parameter ListA-31ANote: 1. A horizontal line indicates the parameter is not used in that mode. Set the default setting.2. In the Position column

Appendix A A.3.3 Motion Monitor ParametersA-32A.3.3 Motion Monitor ParametersThe following table lists motion monitor servo parameters.No. Name Regi

A.3 Parameter ListA-33A17 Cumulative Rotations from Absolute Encoder (ABSREV)IL10 0 to ±99999 1 = 1 turn√√√√√√√√√√√√19 Initial Incremen-tal Pulses

Appendix A A.3.3 Motion Monitor ParametersA-3433 Not used IL20 −−35 Alarms (ALARM)IL22 Reports alarm information.37 Servo Driver Alarm Code (SVA

2.1 Specifications2-292Sequence Commands(cont’d)| OR (logical OR) MB− = MB− | MB−;MB− = MB− | 1;MW− = MW− | MW−;MW− = MW− | H00FF;Performs bit/intege

A.3 Parameter ListA-35A56 Not used IW37 −−57 Lower-place Two Words of the Encoder Position at Shut-down (eposmL)IL38-231 to 231-11 = 1 pulse(*For

Appendix A A.4.1 Setting Errors in Fixed and Setting ParametersA-36A.4 Monitoring Parameter AlarmsThis section describes the monitoring parameter al

A.4 Monitoring Parameter AlarmsA-37AA.4.2 Monitoring Parameter Number 23 AlarmsThe following table shows the servo-related alarms for each axis.Regis

Appendix A A.5.1 System (S) Register AllocationA-38A.5 List of System RegistersThis section outlines the system (S) registers that contain MP920 ope

A.5 List of System RegistersA-39A Registers Specific to DWG.HThese registers are set when HSCAN starts.Name Register Number Remarks1-scan Flicker Re

Appendix A A.5.2 System Service RegistersA-40 Registers Specific to DWG.LThese registers are set when LSCAN starts.Name Register Number Remarks1-sc

A.5 List of System RegistersA-41AA.5.3 Scan Execution Status and CalendarA.5.4 System Program Software Numbers and Remaining Program Memory CapacityN

Appendix A A-42A.6 Connection between Σ-II Series SERVOPACKs and MP920 ModulesThe following conditions must be satisfied to connect Σ-II series SERVO

IndexIndex-1INDEXNumerics215I/F communications module215IF port (CN1)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-127connection exampl

IndexIndex-2LED indicators - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-9MEMOBUS ports - - - - - - - - - - - - - - - - - - - -

2 MP920 Specifications and System Configuration2.1.3 Function Lists2-30Sequence Commands(cont’d)ATN ARC TANGENT ATN (MW−);ATN (45);Obtains the arc t

IndexIndex-3infinite length positioning - - - - - - - - - - - - - - - - - - - - - - - - 1-10, 8-7initializing a 12-bit absolute encoder- - - - - - - -

IndexIndex-4negative speed limiter setting - - - - - - - - - - - - - - - - - - - - - - - - - 7-11number of controlled axes - - - - - - - - - - - - - -

IndexIndex-5pulse position at shutdown (upper-place two words) - - - - - 7-17, 7-22Rrapid feed speed - - - - - - - - - - - - - - - - - - - - - - - -

IndexIndex-6user functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-24user operation error status - - - - - - - - - -

Revision HistoryThe revision dates and numbers of the revised manuals are given on the bottom of the back cover.Date of Printing Rev. No.WEB Rev. No.

YASKAWA ELECTRIC CORPORATIONIn the event that the end user of this product is to be the military and said product is to be employed in any weapons sys

2.1 Specifications2-312Control CommandsMSEE SUBROUTINE CALL MSEE MPS− ; Executes the MPS- subroutine.TIM DWELL TIME TIM T−; Waits for the period of t

2 MP920 Specifications and System Configuration2.1.3 Function Lists2-32 Ladder Instruction ListTable 2.23 lists the ladder instructions.Table 2.23

2.1 Specifications2-332Relay Circuit Instruction(cont’d)RISING PULSE No limit in a series circuit.Bit designation of any register as a relay number i

viMP920 Related Manuals ConfigurationThe MP920 related manuals are configured as follows.DeviceNet ModuleCommunications ModuleMotion ModuleDesign

2 MP920 Specifications and System Configuration2.1.3 Function Lists2-34Numeric Operation Instructions(cont’d)EXTENDED SUBTRACTION - - Closed numeric

2.1 Specifications2-352Numeric Conversion Instructions(cont’d)ASCII CONVERSION 2 BINASC Converts 16-bit binary data to 4-digit hexadecimal ASCII code

2 MP920 Specifications and System Configuration2.1.3 Function Lists2-36Basic Function InstructionsSQUARE ROOT SQRT Taking the square root of a nega

2.1 Specifications2-372Table Data Operation InstructionsTABLE READ TBLBR TBLBR TBL1, MA00000, MA00100TABLE WRITE TBLBW TBLBW TBL1, MA00000, MA00100

2 MP920 Specifications and System Configuration2.1.3 Function Lists2-38 Program Development Support Tool Function SpecificationsTable 2.24 lists th

2.1 Specifications2-392 Tree Structure of Program Development Support ToolThe following illustration shows the tree structure of the program develop

2 MP920 Specifications and System Configuration2.2.1 List of Basic Modules2-402.2 Basic System ConfigurationThis section gives an overview of the sy

2.2 Basic System Configuration2-412Use the cables listed below for the system with MP920 Modules.Table 2.26 List of SERVOPACKsModel Name SVA-01A SVA

2 MP920 Specifications and System Configuration2.2.1 List of Basic Modules2-42Note: Standard JEPMC-W6060-05, JEPMC-W6060-10, and JEPMC-W6060-30 Cab

2.2 Basic System Configuration2-4322.2.2 Overall Configuration* For connection with Σ-II series servomotors, refer to A.6 Connection between Σ-II S

viiSafety InformationThe following conventions are used to indicate precautions in this manual. Failure to heed provided in this manual can result in

2 MP920 Specifications and System Configuration2.2.2 Overall Configuration2-44 Four-axis System Configuration ExampleUp to four axes can be control

2.2 Basic System Configuration2-452 Eight-axis System Configuration ExampleUp to eight axes can be controlled using two SVA-01A, one DI-01, and one

2 MP920 Specifications and System Configuration2.2.2 Overall Configuration2-46 Example of Maximum Configuration Using Short Mounting Bases (MB-02)U

2.2 Basic System Configuration2-472 Example of Maximum Configuration Using Long Mounting Bases (MB-01)Up to four racks can be used for the Mounting

2 MP920 Specifications and System Configuration2.2.2 Overall Configuration2-48 MP920 System Connection ExampleThe following diagram shows a connect

3-133Basic System OperationThis chapter explains the basic operation of the MP920 system.3.1 Operating Modes - - - - - - - - - - - - - - - - - - - -

3 Basic System Operation 3-23.7 Managing Symbols - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-383.7.1 Symbols in Drawings - - - -

3.1 Operating Modes3-333.1 Operating ModesThis section explains the online operating mode and the offline stop mode, both of which indi-cate the MP92

3 Basic System Operation3.2.1 DIP Switch Settings3-43.2 Start and Stop SequencesThis section explains the start and stop sequences of the MP920. The

3.2 Start and Stop Sequences3-53Memory InitializationWhen the DIP switch is set according to the following procedure and the power is turned ON and O

viiiSafety PrecautionsThis section describes precautions to ensure the correct application of the product. Before installing, operating, maintaini

3 Basic System Operation3.2.2 Start Sequence3-63.2.2 Start SequenceThe MP920 makes a number of determinations at startup. If an error is detected, t

3.2 Start and Stop Sequences3-73 MP920 Start Sequence and Basic Operation* The time for momentary power loss is defined on the MPE720 System Defini

3 Basic System Operation3.2.2 Start Sequence3-8The MP920 start sequence and basic operations are as follows:1. Startup Self-diagnosisThe following o

3.3 Power Failures3-933.3 Power FailuresThis section explains the processing when an MP920 power failure occurs.3.3.1 Power Failure DetectionTable 3.

3 Basic System Operation3.4.1 Drawings (DWGs)3-103.4 User ProgramsThis section explains the basic operation of the MP920, such as the types of user

3.4 User Programs3-113Table 3.5 gives details of the number of drawings for each type of drawing.3.4.2 Execution Control of Parent DrawingsEach drawi

3 Basic System Operation3.4.2 Execution Control of Parent Drawings3-12 Execution Scheduling of Scan Process DrawingsThe scan process drawings are n

3.4 User Programs3-133 Execution of DrawingsThe user prepares each processing program with the parent drawing, child drawing, grand-child drawing hi

3 Basic System Operation3.4.2 Execution Control of Parent Drawings3-14 Execution Processing Method of DrawingsDrawings in the hierarchy are execute

3.4 User Programs3-1533.4.3 Motion Programming Overview of Motion ProgramsMotion programming is a textual motion programming language. Motion progra

ix Wiring• Always connect a power supply that meets the given specifications.Connecting an inappropriate power supply may cause fires.• Wiring must

3 Basic System Operation3.4.3 Motion Programming3-16Fig. 3.6 Starting a Motion Program by Indirect Designation GroupsWith the MP920, the axes can

3.4 User Programs3-173 Motion Program Execution Processing MethodA motion program must be executed from DWG.H using the MSEE instruction. Motion pro

3 Basic System Operation3.4.3 Motion Programming3-18 Executing Motion ProgramsTo execute a motion program called from a DWG.H drawing by the MSEE i

3.4 User Programs3-1933. The following illustration shows the method of executing a motion program. Motion Program Status FlagsThe first word of the

3 Basic System Operation3.4.3 Motion Programming3-20 Example of a Ladder Logic Program for Motion Program Control 1. The minimum ladder logic progr

3.4 User Programs3-213Table 3.7 shows an example of external input signals required to create the minimum ladder logic program for running motion pro

3 Basic System Operation3.4.3 Motion Programming3-22• The ladder logic programs that are generated for motion program control are created automatic

3.5 Functions3-2333.5 FunctionsThis section explains the methods of using and the advantages of the MP920 functions.Functions are executed by being c

3 Basic System Operation3.5.2 Creating User Functions3-243.5.2 Creating User FunctionsThe body of the function (program) and the function definition

3.5 Functions3-2533.5.4 Defining Function I/O1. The function name and other specifications determined in the previous step are defined using the MPE7