Yaskawa MP940 Reference Manual User Manual

MotionSuite™ MP940 Machine Controller Reference Manual

MotionSuite™ MP940 Machine Controller Reference Manual Outline of the MP9401-5• Run commandsP/PI switching, external torque limit, and speed limit dur

MotionSuite™ MP940 Machine Controller Reference Manual Serial Transmission Function4-9 Connector pin array and signal nameThe table below shows de

Serial Transmission Function MotionSuite™ MP940 Machine Controller Reference Manual4-10 RS422/485 Interface Cable1. Ensure that the drive system,

MotionSuite™ MP940 Machine Controller Reference Manual Serial Transmission Function4-11 RS422 WiringBATRDYRUNALMBATPRT1654321NO→PRT2RUNINITTESTFLA

Serial Transmission Function MotionSuite™ MP940 Machine Controller Reference Manual4-12 RS-485 WiringEnable the terminal resistor in the MP940 Por

MotionSuite™ MP940 Machine Controller Reference Manual Serial Transmission Function4-13Time Needed for TransmissionThe types and content of the time n

Serial Transmission Function MotionSuite™ MP940 Machine Controller Reference Manual4-14 Command Message Transmission Time• This is the time for tr

MotionSuite™ MP940 Machine Controller Reference Manual Serial Transmission Function4-15 Transmission Processing Time for Response Messages by the

Serial Transmission Function MotionSuite™ MP940 Machine Controller Reference Manual4-16*3. Start NumberStart numbers used in MP940 start from zero (0)

MotionSuite™ MP940 Machine Controller Reference Manual LI/O Function4-17LI/O FunctionThe Counter (CNTR) functions of the MP940 are explained below.Out

LI/O Function MotionSuite™ MP940 Machine Controller Reference Manual4-18Local Digital I/O SpecificationsThe hardware specifications of the local digit

MotionSuite™ MP940 Machine Controller Reference Manual Specifications and Functions2-1Chapter 2: SpecificationsThis chapter describes the general spe

MotionSuite™ MP940 Machine Controller Reference Manual LI/O Function4-19 Digital Output Circuit* See the LIO function. DO-07 becomes the coinciden

LI/O Function MotionSuite™ MP940 Machine Controller Reference Manual4-20 Analog InputThe analog input uses the SGDH analog input circuit. The inp

MotionSuite™ MP940 Machine Controller Reference Manual LI/O Function4-21* The linearity of the analog input is guaranteed only within the range of +/-

LI/O Function MotionSuite™ MP940 Machine Controller Reference Manual4-22* The linearity of the analog output is guaranteed only within the range of +/

MotionSuite™ MP940 Machine Controller Reference Manual CNTR Function4-23CNTR FunctionThe counter (CNTR) functions of the MP940 are explained below.Out

CNTR Function MotionSuite™ MP940 Machine Controller Reference Manual4-24External Encoder SpecificationsThe hardware specifications of the external enc

MotionSuite™ MP940 Machine Controller Reference Manual CNTR Function4-25Conformance OutputNumber of Output Circuits1 point (Uses the digital output at

CNTR Function MotionSuite™ MP940 Machine Controller Reference Manual4-26Structure of the External Encoder FunctionThe counter function executes functi

MotionSuite™ MP940 Machine Controller Reference Manual CNTR Function4-27Pulse Calculation FormatThe following formats can be selected by setting fixed

CNTR Function MotionSuite™ MP940 Machine Controller Reference Manual4-28 Signal Calculation Format(Positive Logic)×1 : Calculation at A pulse rise×2

Specifications and Functions MotionSuite™ MP940 Machine Controller Reference Manual2-2Hardware SpecificationsHardware SpecificationsItem Specification

MotionSuite™ MP940 Machine Controller Reference Manual CNTR Function4-29A/B Format ×1 Positive LogicNegative Logic×2 Positive LogicNegative Logic×4 Po

CNTR Function MotionSuite™ MP940 Machine Controller Reference Manual4-30UP/DOWN Format×1 Positive LogicNegative Logic×2 Positive LogicNegative LogicEx

MotionSuite™ MP940 Machine Controller Reference Manual CNTR Function4-31Reversible Counter ModeThis is the mode in which UP or DOWN counts are execute

CNTR Function MotionSuite™ MP940 Machine Controller Reference Manual4-32Conformance Output/Interrupt FunctionThe coincidence output/interrupt function

MotionSuite™ MP940 Machine Controller Reference Manual CNTR Function4-33PI Latch FunctionThe PI latch function records (latches onto) the current posi

Mechatrolink Function MotionSuite™ MP940 Machine Controller Reference Manual4-34Mechatrolink FunctionThis section describes the MP940 high-speed field

MotionSuite™ MP940 Machine Controller Reference Manual Mechatrolink Function4-35Mechatrolink Specifications Mechatrolink Communication Specificati

Mechatrolink Function MotionSuite™ MP940 Machine Controller Reference Manual4-36 Connectable Slave FunctionsThe slave functions that can be connected

MotionSuite™ MP940 Machine Controller Reference Manual Mechatrolink Function4-373. MP930I/O Unit (IO350)4. Absolute Encoder When the MP940 is used as

Mechatrolink Function MotionSuite™ MP940 Machine Controller Reference Manual4-38Mechatrolink ConnectionThe following shows the conneciton of the MP940

MotionSuite™ MP940 Machine Controller Reference Manual Specifications and Functions2-3DeviceNet Setting Switch — DR0.DR1: Baud rateX1: Slave/MasterX

MotionSuite™ MP940 Machine Controller Reference Manual Mechatrolink Function4-39MP940 Servo Control FunctionThe MP940 and SGDH servo amplifier is a un

Mechatrolink Function MotionSuite™ MP940 Machine Controller Reference Manual4-40Operation mode switching is executed according to the motion setting p

MotionSuite™ MP940 Machine Controller Reference Manual Mechatrolink Function4-41Speed Loop Gain Set the following user parameters for SGDH beforehand.

Mechatrolink Function MotionSuite™ MP940 Machine Controller Reference Manual4-424. Designating a Desired Torque.Torque limit control is possible accor

MotionSuite™ MP940 Machine Controller Reference Manual Mechatrolink Function4-436. 1.5 Axis Control by External Encoder Input is PossibleExternal enco

Mechatrolink Function MotionSuite™ MP940 Machine Controller Reference Manual4-44• Application Example: Conveyor Follow-up Machining DeviceSGDH User P

MotionSuite™ MP940 Machine Controller Reference Manual Mechatrolink Function4-45Pn004.0 Option Board Selection 1 Option Board-compatible Automatically

Mechatrolink Function MotionSuite™ MP940 Machine Controller Reference Manual4-46 Pn000.1 Pn002 Control FormatThe conditions assumed when using the

MotionSuite™ MP940 Machine Controller Reference Manual Mechatrolink Function4-47 Pn003.0 Monitor 1/ Pn003.1 Monitor 2User Parameter Setting Conten

Mechatrolink Function MotionSuite™ MP940 Machine Controller Reference Manual4-48 Pn004.0 Option Board Selection* These user parameters are automat

Specifications and Functions MotionSuite™ MP940 Machine Controller Reference Manual2-4Pulse Input Pulse Input Circuit: 5V Deviation 1MHz input maximum

MotionSuite™ MP940 Machine Controller Reference Manual Mechatrolink Function4-49 Pn005.0 Brake ControlUser ParametersSetting ContentFactorySetting

Mechatrolink Function MotionSuite™ MP940 Machine Controller Reference Manual4-50 Pn50A.0~Pn50.B, Pn511<R> UserParametersName Setting Content

MotionSuite™ MP940 Machine Controller Reference Manual Mechatrolink Function4-51The following I/O specifications result upon executing SGDH user param

MotionSuite™ MP940 Machine Controller Reference Manual Handling Each Part5-1Chapter 5: System StartA description follows of the system start-up method

Handling Each Part MotionSuite™ MP940 Machine Controller Reference Manual5-2Battery Holder This stores the backup battery when an absolute encoder is

MotionSuite™ MP940 Machine Controller Reference Manual Handling Each Part5-3 Handling the MP940 ModuleAn external view of the MP940 module (MC400) is

Handling Each Part MotionSuite™ MP940 Machine Controller Reference Manual5-4 LED 2 shows the Mechatrolink status. The battery connector connects the

MotionSuite™ MP940 Machine Controller Reference Manual Handling Each Part5-5 Serial Port 1MP940 can communicate between tranmission devices on the Me

Handling Each Part MotionSuite™ MP940 Machine Controller Reference Manual5-6 Serial Port 2This is the port used in RS-422/485 connection. Branched c

MotionSuite™ MP940 Machine Controller Reference Manual Handling Each Part5-7 Connector pin array and signal nameThe example below depicts the program

MotionSuite™ MP940 Machine Controller Reference Manual Specifications and Functions2-5Function List MP940 Motion Control Function SpecificationssItem

Handling Each Part MotionSuite™ MP940 Machine Controller Reference Manual5-8 The Mechatrolink Connector connects a distributed I/O via Mechatrolink.

MotionSuite™ MP940 Machine Controller Reference Manual Handling Each Part5-9 Example of I/O ConnectionMP940 I/OConnectorAnalogOutputPulseInputDIInput

Handling Each Part MotionSuite™ MP940 Machine Controller Reference Manual5-10 LED ConnectorThe status of the DI/DO connected to the I/O connector can

MotionSuite™ MP940 Machine Controller Reference Manual Handling Each Part5-11 Schematic diagram of the LED blockOther numbers and symbols are unused.

Handling Each Part MotionSuite™ MP940 Machine Controller Reference Manual5-12Install the MP940 and SGDH in the correct direction when using a cooling

MotionSuite™ MP940 Machine Controller Reference Manual Handling Each Part5-13 OptionsModel NameBA000518 MP940 ModuleMemory Backup BatteryLED Block123

Connection Method MotionSuite™ MP940 Machine Controller Reference Manual5-14Connection MethodThis section describes the connection method for the MP94

MotionSuite™ MP940 Machine Controller Reference Manual Connection Method5-15Connector SpecificationsNameConnector NameNumber of PinsConnector Model

Connection Method MotionSuite™ MP940 Machine Controller Reference Manual5-16Serial Port Connector Pin Array and I/O Circuit Serial Port 1 Connector p

MotionSuite™ MP940 Machine Controller Reference Manual Connection Method5-17 Serial Port 2The connector pin array and signal names in serial port 2 a

Specifications and Functions MotionSuite™ MP940 Machine Controller Reference Manual2-6 PLC Function Specifications Command Language Axis Motion Co

Connection Method MotionSuite™ MP940 Machine Controller Reference Manual5-18 RS422/485 Interface Cable1. Make sure that the drive system, control sys

MotionSuite™ MP940 Machine Controller Reference Manual Connection Method5-19 RS422 Wiring1TX（+）2TX（-）11TXR3RX（+）4RX（-）7RXR3SH14GNDFGMP940 PORT2相手局3RX

Connection Method MotionSuite™ MP940 Machine Controller Reference Manual5-20 RS-485 WiringEnable the terminal resistor in the MP940 Port2 by connecti

MotionSuite™ MP940 Machine Controller Reference Manual Connection Method5-21I/O Connector Pin Array and I/O CircuitThe names and content of each of th

Connection Method MotionSuite™ MP940 Machine Controller Reference Manual5-22 I/O Connector I/O CircuitThe I/O connections, and each of the I/O Circui

MotionSuite™ MP940 Machine Controller Reference Manual Connection Method5-23Power Connector Cable Power Connector (POWER)Supplies DC +24V power suppl

Connection Method MotionSuite™ MP940 Machine Controller Reference Manual5-242. Screw down the wires.Insert the wire core deep within the plug, and tig

MotionSuite™ MP940 Machine Controller Reference Manual Connection Method5-25Below is a wiring diagram for the USB terminator.Red Lead: DATABlack Lead:

Connection Method MotionSuite™ MP940 Machine Controller Reference Manual5-26Insert a USB terminator (JEPMC-W6020) into unused ports.There is only one

MotionSuite™ MP940 Machine Controller Reference Manual Connection with Peripheral Devices5-27Connection with Peripheral DevicesThe MP940 is used in co

MotionSuite™ MP940 Machine Controller Reference Manual Specifications and Functions2-7Data Memory Global Data (M) RegisterSystem (S) RegisterDWG Local

Connection with Peripheral Devices MotionSuite™ MP940 Machine Controller Reference Manual5-28Single-phase Power SpecificationsBATRDYRUNALMBATPRT165432

MotionSuite™ MP940 Machine Controller Reference Manual Connection with Peripheral Devices5-29Three-phase Power SpecificationsBATRDYRUNALMBATPRT1654321

Connection with Peripheral Devices MotionSuite™ MP940 Machine Controller Reference Manual5-30Standard Cable ListYaskawa supplies standard cables used

MotionSuite™ MP940 Machine Controller Reference Manual Connection with Peripheral Devices5-31J2 Cable MaterialsStandard Cables (can be wired up to 20m

Connection with Peripheral Devices MotionSuite™ MP940 Machine Controller Reference Manual5-32J3Connector Kit200V:For 30W~750W No br

MotionSuite™ MP940 Machine Controller Reference Manual Connection with Peripheral Devices5-33MP940-Related CablesNumberConnector NameSpecification Mod

Servo Amplifier Main Circuit Connection MotionSuite™ MP940 Machine Controller Reference Manual5-34Servo Amplifier Main Circuit ConnectionMain Circuit

MotionSuite™ MP940 Machine Controller Reference Manual Servo Amplifier Main Circuit Connection5-35Representative Main Circuit WiringAn example is give

Servo Amplifier Main Circuit Connection MotionSuite™ MP940 Machine Controller Reference Manual5-36Main Circuit Terminal Block WiringObserve the follow

MotionSuite™ MP940 Machine Controller Reference Manual Servo Amplifier Main Circuit Connection5-373. Insert the wiring core into the aperture. After i

Specifications and Functions MotionSuite™ MP940 Machine Controller Reference Manual2-8 Motion Command List Command Language Types Commands Function

Servo Amplifier I/O Signal MotionSuite™ MP940 Machine Controller Reference Manual5-38Servo Amplifier I/O SignalIn this section, a description is given

MotionSuite™ MP940 Machine Controller Reference Manual Servo Amplifier I/O Signal5-39Connector (CN1) terminal array list.The CN1 terminal array and sp

Servo Amplifier I/O Signal MotionSuite™ MP940 Machine Controller Reference Manual5-40 CN1 SpecificationsConnector SpecificationsUsed in Servo Amplifi

MotionSuite™ MP940 Machine Controller Reference Manual Servo Amplifier I/O Signal5-41I/O Signal Names and FunctionsThe names and functions of the serv

Servo Amplifier I/O Signal MotionSuite™ MP940 Machine Controller Reference Manual5-42Pin numbers in parentheses are signal grounds.The output signals

MotionSuite™ MP940 Machine Controller Reference Manual Servo Amplifier I/O Signal5-43Interface CircuitAn example of connecting the servo amplifier I/O

Servo Amplifier I/O Signal MotionSuite™ MP940 Machine Controller Reference Manual5-44 Connection with Open Collector Output Circuit.Alarm code output

MotionSuite™ MP940 Machine Controller Reference Manual Servo Amplifier I/O Signal5-45 Connection with Photocoupler Output CircuitOther sequence outpu

Encoder Wiring MotionSuite™ MP940 Machine Controller Reference Manual5-46Encoder WiringThe wiring of the servo amplifier to the encoder is described b

MotionSuite™ MP940 Machine Controller Reference Manual Encoder Wiring5-47 Absolute EncoderTerminal Array and Model of Encoder Connector (CN2)The term

MotionSuite™ MP940 Machine Controller Reference Manual Specifications and Functions2-9 Motion Command ListSequence Commands = Replacement+, -, ×, /,

Encoder Wiring MotionSuite™ MP940 Machine Controller Reference Manual5-48l• The amplifier-side plug and motor-side socket have the Molex Japan set num

MotionSuite™ MP940 Machine Controller Reference Manual Outline of the Start-up Procedure5-49Outline of the Start-up ProcedureAn outline of the system

Test Device Configuration MotionSuite™ MP940 Machine Controller Reference Manual5-50Test Device ConfigurationThe configuration of the test device is s

MotionSuite™ MP940 Machine Controller Reference Manual Outline of Test Device Configuration5-51Outline of Test Device Configuration Outline of Control

Preparation of Devices Used MotionSuite™ MP940 Machine Controller Reference Manual5-52Preparation of Devices UsedPrepare the following devices.Control

MotionSuite™ MP940 Machine Controller Reference Manual Handling of the MP940 Module5-53Handling of the MP940 ModuleThe procedure for mounting the MP94

Handling of the MP940 Module MotionSuite™ MP940 Machine Controller Reference Manual5-543. Insert the MP940 module fixing spring into the hole on the t

MotionSuite™ MP940 Machine Controller Reference Manual Handling of the MP940 Module5-55YASKAWASERVOPACK200VSGDH-Spring AServo Amplifier Capacities and

Mounting of Battery Holder MotionSuite™ MP940 Machine Controller Reference Manual5-56Mounting of Battery HolderThe method for mounting the MP940 batte

MotionSuite™ MP940 Machine Controller Reference Manual Connection and Wiring5-57Connection and WiringConnection of Peripheral Devices RTUWWG1CN2CNPr

MotionSuite™ MP940 Machine Controller Reference ManualYaskawa manufactures component parts that can be used in a wide variety of industrial applicatio

Specifications and Functions MotionSuite™ MP940 Machine Controller Reference Manual2-10Basic Control CommandsABS Absolute mode ABS; The following coor

Connection and Wiring MotionSuite™ MP940 Machine Controller Reference Manual5-58Connection of the Servo Amplifier (SGD) and Switch BoxPotentiometer Co

MotionSuite™ MP940 Machine Controller Reference Manual Parameter Outline6-1Chapter 6: ParametersThe parameter setting methods (which are needed for t

Parameter Outline MotionSuite™ MP940 Machine Controller Reference Manual6-2To create, edit, or change the parameters, use the following methods:Parame

MotionSuite™ MP940 Machine Controller Reference Manual Parameter Setting6-3 Parameter SettingThe parameter setting methods are explained here in detai

Parameter Setting MotionSuite™ MP940 Machine Controller Reference Manual6-4Parameter Setting Fixed Parameter SettingSet the parameters needed for ser

MotionSuite™ MP940 Machine Controller Reference Manual Parameter Setting6-5Set the default values as follows:1. Select Edit (E) > Default Setting (

Parameter Setting MotionSuite™ MP940 Machine Controller Reference Manual6-6The default values may be set without inputting each parameter. See the def

MotionSuite™ MP940 Machine Controller Reference Manual Parameter Setting6-7 Monitor DisplayClick the Monitor tab. The settings cannot be changed; the

Parameter Setting MotionSuite™ MP940 Machine Controller Reference Manual6-8Saving ParametersSelect File > Save in the Parameters menu.Click the Ye

MotionSuite™ MP940 Machine Controller Reference Manual Parameter Details6-9Parameter DetailsEach of the MP940 parameters are explained here in detail.

MotionSuite™ MP940 Machine Controller Reference Manual Specifications and Functions2-11Sequence Commands/ Division MW = MW / MW;MW = MW / 123456;MW =

Parameter Details MotionSuite™ MP940 Machine Controller Reference Manual6-1016 Simulation Mode 0Bit 0 ~ 1 0: Normal Run Mode1: Simulation Mode0(Normal

MotionSuite™ MP940 Machine Controller Reference Manual Parameter Details6-1117 Bit 8 Soft Limit(Reverse) Selection(USE_SLIMN)Selects whether a reverse

Parameter Details MotionSuite™ MP940 Machine Controller Reference Manual6-1219 Command Units per RevolutionParameter that sets up the load motion amou

MotionSuite™ MP940 Machine Controller Reference Manual Parameter Details6-1321 Gear Ratio (Motor) Parameter that sets up gear ratio between the motor

Parameter Details MotionSuite™ MP940 Machine Controller Reference Manual6-1429 Reverse Software LimitThe Soft Limit function constantly monitors the r

MotionSuite™ MP940 Machine Controller Reference Manual Parameter Details6-15The zero-point return formats are as follows: 0: DEC1 + C-phase Pulse For

Parameter Details MotionSuite™ MP940 Machine Controller Reference Manual6-16 7:DEC1+LMT+C-phase Pulse FormatThis format knows the current position by

MotionSuite™ MP940 Machine Controller Reference Manual Parameter Details6-17 2:DEC1+ZERO Signal FormatExecutes zero-point return using the ZERO signa

Parameter Details MotionSuite™ MP940 Machine Controller Reference Manual6-18Details of Setup Parameters Supplemental ExplanationThe order of priority

MotionSuite™ MP940 Machine Controller Reference Manual Parameter Details6-19RUN Mode Setting (RUNMOD) (Continued)Register NumberBit Name ContentDefaul

Specifications and Functions MotionSuite™ MP940 Machine Controller Reference Manual2-12Sequence CommandsACS Arc Cosine ACS(MF);ACSi_90.0);Obtains the

Parameter Details MotionSuite™ MP940 Machine Controller Reference Manual6-20Bit 7 (contin-ued) Phase Control Loop (Electronic Shaft)∗1.Integrates the

MotionSuite™ MP940 Machine Controller Reference Manual Parameter Details6-21 Supplemental ExplanationThe latch selection is one of the following acco

Parameter Details MotionSuite™ MP940 Machine Controller Reference Manual6-22Run Command Setting (SVRUNCMD)NumberRegister NumberBit Name ContentDefault

MotionSuite™ MP940 Machine Controller Reference Manual Parameter Details6-232Bit 12Position ReferenceSelection (USE_BUF)Selects the position reference

Parameter Details MotionSuite™ MP940 Machine Controller Reference Manual6-242 15 Zero-point Return Deceleration Limit Switch Number(LSDEC)This functio

MotionSuite™ MP940 Machine Controller Reference Manual Parameter Details6-25Other Command/Mode SettingsNumber NameRegister NumberBit Name ContentDefau

Parameter Details MotionSuite™ MP940 Machine Controller Reference Manual6-26 Supplemental ExplanationThe usage method for zero-point offset is shown

MotionSuite™ MP940 Machine Controller Reference Manual Parameter Details6-27(Exp. 2) DWG.AOLC006 -| DL00022 > OLC006Set the above, then open the re

Parameter Details MotionSuite™ MP940 Machine Controller Reference Manual6-28Other Command/Mode Settings (Continued)Number NameRegister NumberSetting R

MotionSuite™ MP940 Machine Controller Reference Manual Parameter Details6-2914 Linear Deceleration TimeOWC00D 0 ~ 32767 — 015 Positioning Completed Ra

MotionSuite™ MP940 Machine Controller Reference Manual Specifications and Functions2-13The “—” symbol in MOV [axis1]— •••; signifies where the numeric

Parameter Details MotionSuite™ MP940 Machine Controller Reference Manual6-3018FeedForwardGainOWC011 0 ~ 200 Positioning time can be shortened by exe-c

MotionSuite™ MP940 Machine Controller Reference Manual Parameter Details6-3121S-curve Acceleration Time OWC014Average MotionFilter 0 ~ 255(0 = 1 = no

Parameter Details MotionSuite™ MP940 Machine Controller Reference Manual6-3222Speed ReferenceOWC015 -32768 ~ 32767During Speed Reference Output ModeSe

MotionSuite™ MP940 Machine Controller Reference Manual Parameter Details6-3328 Torque Refer-enceOWC01B -32768 ~ 32767Set the torque reference in units

Parameter Details MotionSuite™ MP940 Machine Controller Reference Manual6-3433 MotionCommand CodeOWC020 0 ~ 65535 Sets motion commands into the MP940

MotionSuite™ MP940 Machine Controller Reference Manual Parameter Details6-3534 Motion Command OptionsBit 3No 1-dimension Lag (LAGRST)The 1-dimension l

Parameter Details MotionSuite™ MP940 Machine Controller Reference Manual6-3634 Motion Command OptionsBit 14 Position Buffer Write-in(BUF_W)The data se

MotionSuite™ MP940 Machine Controller Reference Manual Parameter Details6-3741 STEP Distance OLC0280 ~ 231-1Sets the amount of motion in motion comma

Parameter Details MotionSuite™ MP940 Machine Controller Reference Manual6-3846 Position Management ControlOWC02DSelects functions related to positioni

MotionSuite™ MP940 Machine Controller Reference Manual Parameter Details6-3946 Position Management ControlBit 3 Position Moni-tor 2(ILC034)Unit Select

Specifications and Functions MotionSuite™ MP940 Machine Controller Reference Manual2-14 Ladder Command List Command Language Types SymbolProg

Parameter Details MotionSuite™ MP940 Machine Controller Reference Manual6-4053 Position Complete Timeout OWC034 0 ~ 66535 Set the positioning time-ove

MotionSuite™ MP940 Machine Controller Reference Manual Parameter Details6-4157 Absolute Position at Power Off (low value)OLC038-231~ 231-1The followin

Parameter Details MotionSuite™ MP940 Machine Controller Reference Manual6-4259 Absolute Position at Power Off (high value)OLC03A-231~ 231-1The followi

MotionSuite™ MP940 Machine Controller Reference Manual Parameter Details6-4363 Modularized Position at Power Off (high value)OLC03E-231 ~ 231-1When th

Parameter Details MotionSuite™ MP940 Machine Controller Reference Manual6-44Monitor Parameter DetailsNumber 1 - Run Status (RUNSTS)Register NumberBit

MotionSuite™ MP940 Machine Controller Reference Manual Parameter Details6-45Bit 8 Motion ControllerRun (SVCRUN)This bit goes ON under the following co

Parameter Details MotionSuite™ MP940 Machine Controller Reference Manual6-46Number 2 - Servo Amplifier Status (SYSTS)IWC001 Messages servo amplifier s

MotionSuite™ MP940 Machine Controller Reference Manual Parameter Details6-4714 Speed Monitor IWC00D -32768 ~ 32767Scales and messages the A/D conversi

Parameter Details MotionSuite™ MP940 Machine Controller Reference Manual6-4822 Servo Module Command StatusBit 2 Feed Comple-tion (DEN)ON upon completi

MotionSuite™ MP940 Machine Controller Reference Manual Parameter Details6-4924 Position Management Status Bit 3 ABS System Rotary Position Management

MotionSuite™ MP940 Machine Controller Reference Manual Specifications and Functions2-15 Ladder Command List Type Name Symbol ContentProgram Co

Parameter Details MotionSuite™ MP940 Machine Controller Reference Manual6-5031 POSMAX Number of TurnsILC01E-231 ~ 231-1This goes up/down each time the

MotionSuite™ MP940 Machine Controller Reference Manual Parameter Details6-5135 Servo Alarms Bit 4 Negative Soft Limit (SOTR)Enabled when in the zero-p

Parameter Details MotionSuite™ MP940 Machine Controller Reference Manual6-5237 Network Servo Alarm CodeIWC024 -32768 ~ 32767Messages the code of the

MotionSuite™ MP940 Machine Controller Reference Manual Parameter Details6-5353 Position Monitor 2 ILC034-231 ~ 231-1Enabled when Motion Command Use Se

SGDH User Parameters MotionSuite™ MP940 Machine Controller Reference Manual6-54SGDH User ParametersStructure of User ParametersThe user parameters con

MotionSuite™ MP940 Machine Controller Reference Manual SGDH User Parameters6-55Parameters for Function SelectionA detailed list of function selection

SGDH User Parameters MotionSuite™ MP940 Machine Controller Reference Manual6-56Pn000Function Selection Basic Switch (continued)1 Control Format Selec

MotionSuite™ MP940 Machine Controller Reference Manual SGDH User Parameters6-57Pn000Function Selection Basic Switch (continued)1 Control Format Selec

SGDH User Parameters MotionSuite™ MP940 Machine Controller Reference Manual6-58Pn001 Function Selection Application Switch 1 (continued)1 Motor stop m

MotionSuite™ MP940 Machine Controller Reference Manual SGDH User Parameters6-59Pn001Function Selection Application Switch 1(continued)1 Motor stop met

Specifications and Functions MotionSuite™ MP940 Machine Controller Reference Manual2-16Relay Circuit CommandsA Contact No limit on series circuitsAll

SGDH User Parameters MotionSuite™ MP940 Machine Controller Reference Manual6-60Pn001Function Selection ApplicationSwitch 1(continued)3 Warning Code Ou

MotionSuite™ MP940 Machine Controller Reference Manual SGDH User Parameters6-61Pn002Function Selection ApplicationSwitch 22 AbsoluteEncoderUsage Metho

SGDH User Parameters MotionSuite™ MP940 Machine Controller Reference Manual6-62Pn004Function Selection ApplicationSwitch 40 Optional Board Selection (

MotionSuite™ MP940 Machine Controller Reference Manual SGDH User Parameters6-63Gain-related ParametersA detailed list of gain-related parameters appea

SGDH User Parameters MotionSuite™ MP940 Machine Controller Reference Manual6-64Pn101Speed Loop Integral Time Constant0.01ms15 ~ 51200Integral elements

MotionSuite™ MP940 Machine Controller Reference Manual SGDH User Parameters6-65Pn1052nd Speed Loop Inte-gral Time Constant0.01ms15 ~ 51200— 2000 Speed

SGDH User Parameters MotionSuite™ MP940 Machine Controller Reference Manual6-66Pn10BGain-relatedApplication Switches (continued)0ModeSwitchSelection(0

MotionSuite™ MP940 Machine Controller Reference Manual SGDH User Parameters6-67Pn10CMode Switch(torque reference)%0 ~ 800When Pn10B.0 = 0 assuming tor

SGDH User Parameters MotionSuite™ MP940 Machine Controller Reference Manual6-68Pn10DMode Switch(speed reference)rpm0 ~ 10000When Pn10B.0 = 1 assuming

MotionSuite™ MP940 Machine Controller Reference Manual SGDH User Parameters6-69Pn10EMode Switch(acceleration)10rpm/s0 ~ 3000When Pn10B.0 = 2 assuming

MotionSuite™ MP940 Machine Controller Reference Manual Specifications and Functions2-17Logical Operation CommandsLogical AND ∧ All registers and param

SGDH User Parameters MotionSuite™ MP940 Machine Controller Reference Manual6-70Pn110OnlineAutotuning Switches0OnlineAutotun-ing Method (0, 1, 2)Sets t

MotionSuite™ MP940 Machine Controller Reference Manual SGDH User Parameters6-71Pn110OnlineAutotuning Switches2 Viscous Friction Compen-sation Function

SGDH User Parameters MotionSuite™ MP940 Machine Controller Reference Manual6-72Pn111Speed FeedbackCompensation*2%1 ~ 500 The speed feedback compensati

MotionSuite™ MP940 Machine Controller Reference Manual SGDH User Parameters6-73Pn111Speed FeedbackCompensation*2(continued)%1 ~ 500 Speed loop gain un

SGDH User Parameters MotionSuite™ MP940 Machine Controller Reference Manual6-74Position-related ConstantsA detailed list of position-related parameter

MotionSuite™ MP940 Machine Controller Reference Manual SGDH User Parameters6-75Pn205Multi-turnLimit Setting ∗3rev0 ~ 65535In systems where an absolute

SGDH User Parameters MotionSuite™ MP940 Machine Controller Reference Manual6-76Speed-related ParametersA detailed list of speed-related parameters app

MotionSuite™ MP940 Machine Controller Reference Manual SGDH User Parameters6-77Pn305Soft StartAcceleration Timems0 ~ 10000Speed control is performed b

SGDH User Parameters MotionSuite™ MP940 Machine Controller Reference Manual6-78Torque-related ConstantsA detailed list of torque-related constants app

MotionSuite™ MP940 Machine Controller Reference Manual SGDH User Parameters6-79Pn403Reverse Torque Limit—— ——Pn404Forward External TorqueLimit%0 ~ 800

Specifications and Functions MotionSuite™ MP940 Machine Controller Reference Manual2-18Numerical Conversion CommandsSign Inversion INVMW00100 INVOper

SGDH User Parameters MotionSuite™ MP940 Machine Controller Reference Manual6-80Pn405 Reverse External Torque LimitP-CL at ON Applies the torqueOBC0013

MotionSuite™ MP940 Machine Controller Reference Manual SGDH User Parameters6-81Pn407Speed Limit DuringTorque Controlrpm0 ~ 10000Sets a motor speed lim

SGDH User Parameters MotionSuite™ MP940 Machine Controller Reference Manual6-82Pn408TorqueFunctionSwitches0NotchFilterFunction SelectionSelects whethe

MotionSuite™ MP940 Machine Controller Reference Manual SGDH User Parameters6-83Sequence-related ParametersBelow is a detailed list of sequence-related

SGDH User Parameters MotionSuite™ MP940 Machine Controller Reference Manual6-84Pn501Zero Clamp Level (continued)rpm0 ~ 10000The motor enters the zero-

MotionSuite™ MP940 Machine Controller Reference Manual SGDH User Parameters6-85Pn503Speed Coincidence Signal Output Widthrpm1 ~ 1000Sets the output co

SGDH User Parameters MotionSuite™ MP940 Machine Controller Reference Manual6-86Pn506Brake Reference - Servo OFF Delay Time10ms0 ~ 50Brake ON Timing(Ti

MotionSuite™ MP940 Machine Controller Reference Manual SGDH User Parameters6-87Pn506Brake Reference - Servo OFF Delay Time (continued)10ms0 ~ 50The br

SGDH User Parameters MotionSuite™ MP940 Machine Controller Reference Manual6-88Pn507Brake Command OutputSpeed Levelrpm0 ~ 10000— 100 Speed TorquePosit

MotionSuite™ MP940 Machine Controller Reference Manual SGDH User Parameters6-89Pn509Momentary Hold Timems20 ~ 1000When the power voltage to the servo

MotionSuite™ MP940 Machine Controller Reference Manual Specifications and Functions2-19Data Operation CommandRight Bit Rotation ROTR Bit-addr

SGDH User Parameters MotionSuite™ MP940 Machine Controller Reference Manual6-90Input Signal SelectionA detailed list of sequence-related parameters ap

MotionSuite™ MP940 Machine Controller Reference Manual SGDH User Parameters6-91Pn50A (continued)2 /P-CON Signal Mapping0 ~ F Set to 8 - disabled 8:dis

SGDH User Parameters MotionSuite™ MP940 Machine Controller Reference Manual6-92Pn511 Input Signal Selections 50 /DEC Signal Mapping0 ~ F Set to 1 - th

MotionSuite™ MP940 Machine Controller Reference Manual SGDH User Parameters6-93Output Signal SelectionA detailed list of sequence-related parameters a

SGDH User Parameters MotionSuite™ MP940 Machine Controller Reference Manual6-94Note: Output by OFF logic if a number of signals have been assigned to

MotionSuite™ MP940 Machine Controller Reference Manual Outline of Absolute Encoder Functions7-1Chapter 7: Absolute EncoderThis chapter explains the a

Outline of Absolute Encoder Functions MotionSuite™ MP940 Machine Controller Reference Manual7-2Absolute Encoder BasicsAbsolute Encoder <F *13>Ab

MotionSuite™ MP940 Machine Controller Reference Manual Outline of Absolute Encoder Functions7-3BatteryWhen using an absolute encoder, a battery is nee

Outline of Absolute Encoder Functions MotionSuite™ MP940 Machine Controller Reference Manual7-4Handling of SGDH BatteryA battery backup is needed so t

MotionSuite™ MP940 Machine Controller Reference Manual Outline of Absolute Encoder Functions7-5Status Shift of the Absolute Encoder SystemThe status s

iContentsChapter 1: General Functions . . . . . . . . . . . . . . . . . . . . . . . 1-1Outline of the MP940 . . . . . . . . . . . . . . . . . . . .

Specifications and Functions MotionSuite™ MP940 Machine Controller Reference Manual2-20Basic Function CommandsSquare Root SQRT The square roots of neg

Outline of Absolute Encoder Functions MotionSuite™ MP940 Machine Controller Reference Manual7-63. Run Preparation Complete StateIn this state, zero-po

MotionSuite™ MP940 Machine Controller Reference Manual Starting the Absolute Encoder Function7-7Starting the Absolute Encoder FunctionThis section exp

Starting the Absolute Encoder Function MotionSuite™ MP940 Machine Controller Reference Manual7-8 Setting of Related ParametersAn explanation is given

MotionSuite™ MP940 Machine Controller Reference Manual Starting the Absolute Encoder Function7-9• Machine Coordinate Zero-point Position Offset Settin

Starting the Absolute Encoder Function MotionSuite™ MP940 Machine Controller Reference Manual7-10Restart power after the setup process.Setup with the

MotionSuite™ MP940 Machine Controller Reference Manual Starting the Absolute Encoder Function7-11The absolute encoder setup operation is now complete.

Starting the Absolute Encoder Function MotionSuite™ MP940 Machine Controller Reference Manual7-126. Press the DATA/SHIFT key for at least 1 second. Th

MotionSuite™ MP940 Machine Controller Reference Manual Starting the Absolute Encoder Function7-13Select the absolute encoder usage method by the follo

Starting the Absolute Encoder Function MotionSuite™ MP940 Machine Controller Reference Manual7-14Next, the multi-turn limit within the encoder must be

MotionSuite™ MP940 Machine Controller Reference Manual Starting the Absolute Encoder Function7-15Setting Modification with the Integrated Panel Operat

MotionSuite™ MP940 Machine Controller Reference Manual Specifications and Functions2-21DDC CommandsDead Zone A DZAMW00100 DZA 00100Dead Zone B DZBMW00

Absolute Encoder Usage Method MotionSuite™ MP940 Machine Controller Reference Manual7-16Absolute Encoder Usage MethodThis section explains various cau

MotionSuite™ MP940 Machine Controller Reference Manual Absolute Encoder Usage Method7-17Pay attention to the following items when using an absolute en

Absolute Encoder Usage Method MotionSuite™ MP940 Machine Controller Reference Manual7-18Example: When Setting the Current Machine Coordinate Position

MotionSuite™ MP940 Machine Controller Reference Manual Absolute Encoder Usage Method7-19• Save the zero-point position offset as follows:Saving to the

Absolute Encoder Usage Method MotionSuite™ MP940 Machine Controller Reference Manual7-20“Save” operation. Upon turning power ON again, the value of th

MotionSuite™ MP940 Machine Controller Reference Manual Absolute Encoder Usage Method7-21• Motion during power OFF is significant (phase position of en

Absolute Encoder Usage Method MotionSuite™ MP940 Machine Controller Reference Manual7-22In a rotary axis, the setting parameter “zero-point setting of

MotionSuite™ MP940 Machine Controller Reference Manual Absolute Encoder Usage Method7-23Configure the M register into which the above monitor paramete

Absolute Encoder Usage Method MotionSuite™ MP940 Machine Controller Reference Manual7-24Observe the following flowchart as a procedure for saving valu

MotionSuite™ MP940 Machine Controller Reference Manual Absolute Encoder Usage Method7-25 ABS System Infinite-length Axis: No. 1Toggle Buffer HEad Addr

Specifications and Functions MotionSuite™ MP940 Machine Controller Reference Manual2-22Display Data Operation CommandsBlock Write TBLBR TBLBR TBL1, MA

Absolute Encoder Usage Method MotionSuite™ MP940 Machine Controller Reference Manual7-26When Restarting System Power (including turning servo power ON

MotionSuite™ MP940 Machine Controller Reference Manual Absolute Encoder Usage Method7-27High-Speed Scan DrawingStartIs this the 1st scan after high-sp

Absolute Encoder Usage Method MotionSuite™ MP940 Machine Controller Reference Manual7-28The following shows an example for programming (ladder program

MotionSuite™ MP940 Machine Controller Reference Manual Absolute Encoder Usage Method7-29Continued on next pageIFONIFONIs it the 1st scan or is the ser

Absolute Encoder Usage Method MotionSuite™ MP940 Machine Controller Reference Manual7-30When using the absolute encoder as a rotary axis, there is no

MotionSuite™ MP940 Machine Controller Reference Manual Inspection Items8-1Chapter 8: Maintenance InspectionThis chapter explains the daily and period

Inspection Items MotionSuite™ MP940 Machine Controller Reference Manual8-2Periodic InspectionThe spot inspection items that must be executed once or t

MotionSuite™ MP940 Machine Controller Reference Manual MP940 Module Battery8-3MP940 Module BatteryOne replaceable battery is integrated into the MP940

MP940 Module Battery MotionSuite™ MP940 Machine Controller Reference Manual8-4 Preparation for Battery ReplacementPrepare the replacement battery (Mo

MotionSuite™ MP940 Machine Controller Reference Manual Troubleshooting Outline9-1Chapter 9: TroubleshootingThis chapter deals with the content of var

MotionSuite™ MP940 Machine Controller Reference Manual Specifications and Functions2-23Servo Amplifier Specifications External Appearence and Namepla

Troubleshooting Outline MotionSuite™ MP940 Machine Controller Reference Manual9-2 Verification by Peripheral Device MonitorsIn this method, the cause

MotionSuite™ MP940 Machine Controller Reference Manual Troubleshooting Outline9-3LED Error ListThe content of errors can be verified by the LED displa

Troubleshooting Outline MotionSuite™ MP940 Machine Controller Reference Manual9-4 Content of LED DisplayThe display content and countermeasure method

MotionSuite™ MP940 Machine Controller Reference Manual System Errors9-5System ErrorsThis section deals with the content of system errors and their cou

System Errors MotionSuite™ MP940 Machine Controller Reference Manual9-6 Processing Flow at System Error GenerationThe following shows the troubleshoot

MotionSuite™ MP940 Machine Controller Reference Manual System Errors9-7Processing Flow at User Program Error GenerationWhen both the RUN and ERR LEDs

System Errors MotionSuite™ MP940 Machine Controller Reference Manual9-8Configuration of System RegisterThe system status display indicates the system

MotionSuite™ MP940 Machine Controller Reference Manual System Errors9-9CPU ErrorStatusSW00041 SB000410 Major Fault 1: WDGE, undefined commandFor deta

System Errors MotionSuite™ MP940 Machine Controller Reference Manual9-10Although there is no ALARM LED on the front of the MP940, there is an alarm bi

MotionSuite™ MP940 Machine Controller Reference Manual System Errors9-11 The list containing the system error status appears below. System Err

Specifications and Functions MotionSuite™ MP940 Machine Controller Reference Manual2-24 Interpretation of ModelSGDH-10 A E- □Σ-ⅡシリーズSGDH形サーボパック最大適用サー

System Errors MotionSuite™ MP940 Machine Controller Reference Manual9-12Function Referenceby DWG TypeSW00057 Types of function reference drawings occu

MotionSuite™ MP940 Machine Controller Reference Manual System Errors9-13User Operation Error Status - 1 Name Register NumberSetting Contents

System Errors MotionSuite™ MP940 Machine Controller Reference Manual9-14User Operation Error Status - 2NameRegister NumberNotes DWG A DWG I DWG H D

MotionSuite™ MP940 Machine Controller Reference Manual System Errors9-15 User Operation Error Status - 3ErrorCodeError ContentUs

System Errors MotionSuite™ MP940 Machine Controller Reference Manual9-16Note: ×: OFF; :ON; —:UndefinedReal Number Operation0034H Real number sto

MotionSuite™ MP940 Machine Controller Reference Manual System Errors9-17The latest data trace record number appears below.User Operation Error Status

System Errors MotionSuite™ MP940 Machine Controller Reference Manual9-18 Transmission Error CountermeasuresThe error status is messaged in the system

MotionSuite™ MP940 Machine Controller Reference Manual System Errors9-192. Mechatrolink Station Error Status For Slot 6 System Operation Error Status

System Errors MotionSuite™ MP940 Machine Controller Reference Manual9-20 Interrupt StatusInterrupt Module Details Note: Model = 01H~05H:Reserved by S

MotionSuite™ MP940 Machine Controller Reference Manual Motion Error9-21Motion ErrorThis section deals with the content of errors occurring in the moti

MotionSuite™ MP940 Machine Controller Reference Manual Specifications and Functions2-25Only SGMAH and SGMPH servo motors of 0.2kW or less can be used

Motion Error MotionSuite™ MP940 Machine Controller Reference Manual9-22Processing Flow at Motion Error Generation Troubleshooting FlowThe following

MotionSuite™ MP940 Machine Controller Reference Manual Motion Error9-23 Structure of Motion AlarmsThe structure of motion alarms stored in the alarm

Motion Error MotionSuite™ MP940 Machine Controller Reference Manual9-24Note: The axis number is stored in bit8 ~ bit11 for axis alarms.Axis Alarm*80h

MotionSuite™ MP940 Machine Controller Reference Manual Motion Error9-25 Content of Motion Parameter Alarm (ILxx22)The detailed content of the axis al

MotionSuite™ MP940 Machine Controller Reference Manual Servo Amplifier Maintenance/Inspection10-1Chapter 10: Servo Amplifier Maintenance and Inspectio

Servo Amplifier Maintenance/Inspection MotionSuite™ MP940 Machine Controller Reference Manual10-2Servo Amplifier InspectionThe inspection of the servo

MotionSuite™ MP940 Machine Controller Reference Manual Servo Amplifier Maintenance/Inspection10-3Replacing the Absolute Encoder BatteryThe servo ampli

Troubleshooting MotionSuite™ MP940 Machine Controller Reference Manual10-4TroubleshootingThis section describes causes and remedies for problems which

MotionSuite™ MP940 Machine Controller Reference Manual Troubleshooting10-5 A.03A.03 is a main circuit detection alarm.The alarm output appears below.

Troubleshooting MotionSuite™ MP940 Machine Controller Reference Manual10-6 A.04A.04 is the alarm display for user parameter setting errors. The alarm

Specifications and Functions MotionSuite™ MP940 Machine Controller Reference Manual2-26200V Three-phase0.50 05AD SGMGH–05A _A1.4 4 LF-310 Three-phase

MotionSuite™ MP940 Machine Controller Reference Manual Troubleshooting10-7 A.05A.05 is the alarm display for sizing errors. The alarm output appears

Troubleshooting MotionSuite™ MP940 Machine Controller Reference Manual10-8 A.10A.10 is the overcurrent or heat sink overheat alarm display. The alarm

MotionSuite™ MP940 Machine Controller Reference Manual Troubleshooting10-9 A.30A.30 is the alarm display for regenerative error detection. The alarm

Troubleshooting MotionSuite™ MP940 Machine Controller Reference Manual10-10 A.32A.32 is the alarm display for regenerative overload. The alarm output

MotionSuite™ MP940 Machine Controller Reference Manual Troubleshooting10-11 A.40A.40 is the alarm display for DC overvoltage error detection. The al

Troubleshooting MotionSuite™ MP940 Machine Controller Reference Manual10-12 A.41A.41 is the alarm display for DC undervoltage error. The alarm outpu

MotionSuite™ MP940 Machine Controller Reference Manual Troubleshooting10-13 A.51A.51 is the overspeed alarm display. The alarm output appears below.

Troubleshooting MotionSuite™ MP940 Machine Controller Reference Manual10-14 A.71A.71 is the overload alarm display. The alarm display and status whe

MotionSuite™ MP940 Machine Controller Reference Manual Troubleshooting10-15 A.73A.73 is the alarm display DB (dynamic brake) overload. The alarm out

Troubleshooting MotionSuite™ MP940 Machine Controller Reference Manual10-16 A.74A.74 is the overload alarm display for the surge current limit resist

MotionSuite™ MP940 Machine Controller Reference Manual Specifications and Functions2-27All values are given at rated load.When selecting the actual fu

MotionSuite™ MP940 Machine Controller Reference Manual Troubleshooting10-17 A.7AA.7A is the heat sink overheat alarm display. The alarm output appea

Troubleshooting MotionSuite™ MP940 Machine Controller Reference Manual10-18 A.81A.81 is the alarm display for an absolute encoder backup error. The

MotionSuite™ MP940 Machine Controller Reference Manual Troubleshooting10-19 A.82A.82 is the alarm display for an encoder checksum error. The alarm o

Troubleshooting MotionSuite™ MP940 Machine Controller Reference Manual10-20 A.83A.83 is the alarm display for an absolute encoder battery error. The

MotionSuite™ MP940 Machine Controller Reference Manual Troubleshooting10-21 A.84A.84 is the absolute encoder data alarm display. The alarm output ap

Troubleshooting MotionSuite™ MP940 Machine Controller Reference Manual10-22 A.85A.85 is the alarm display for an encoder overspeed. The alarm output

MotionSuite™ MP940 Machine Controller Reference Manual Troubleshooting10-23 A.86A.86 is the alarm display for an encoder overheat. The alarm output

Troubleshooting MotionSuite™ MP940 Machine Controller Reference Manual10-24 A.9FA.9F is the MP940 module alarm display. The alarm output appears bel

MotionSuite™ MP940 Machine Controller Reference Manual Troubleshooting10-25 A.b1A.b1 is the alarm display for the speed reference input read error al

Troubleshooting MotionSuite™ MP940 Machine Controller Reference Manual10-26 A.b2A.b2 is the alarm display for the torque reference input read error a

Specifications and Functions MotionSuite™ MP940 Machine Controller Reference Manual2-28Servo Motors Example of External Appearence and Nameplate Int

MotionSuite™ MP940 Machine Controller Reference Manual Troubleshooting10-27 A.C1A.C1 is the alarm display for servo overrun. The alarm output appear

Troubleshooting MotionSuite™ MP940 Machine Controller Reference Manual10-28 A.C8A.C8 is the alarm display for absolute encoder clear errors and multi

MotionSuite™ MP940 Machine Controller Reference Manual Troubleshooting10-29 A.C9A.C9 is the alarm display for an encoder communication error. The al

Troubleshooting MotionSuite™ MP940 Machine Controller Reference Manual10-30 A.CAA.CA is the alarm display for encoder parameter errors. The alarm ou

MotionSuite™ MP940 Machine Controller Reference Manual Troubleshooting10-31 A.CbA.Cb is the alarm display for encoder echoback errors. The alarm out

Troubleshooting MotionSuite™ MP940 Machine Controller Reference Manual10-32 A.d0A.d0 is the alarm display for position deviation pulse overflow. The

MotionSuite™ MP940 Machine Controller Reference Manual Troubleshooting10-33 A.E0A.E0 is the alarm display for MP940 non-response. The alarm output a

Troubleshooting MotionSuite™ MP940 Machine Controller Reference Manual10-34 A.E1A.E1 is the option timeout alarm display. The alarm output appears b

MotionSuite™ MP940 Machine Controller Reference Manual Troubleshooting10-35 A.E2A.E2 is the alarm display for an option WDC error. The alarm output

Troubleshooting MotionSuite™ MP940 Machine Controller Reference Manual10-36 A.F1A.F1 is the power line open phase alarm display. The alarm output app

MotionSuite™ MP940 Machine Controller Reference Manual Specifications and Functions2-29Servo Motor Capacities (kW)Serial Encoder (•:Standard ♦:Optiona

MotionSuite™ MP940 Machine Controller Reference Manual Troubleshooting10-37 CPF00CPF00 is the alarm display for Digital Operator Transmission Error-1

Troubleshooting MotionSuite™ MP940 Machine Controller Reference Manual10-38 CPF01CPF01 is the alarm display for Digital Operator Transmission Error-2

MotionSuite™ MP940 Machine Controller Reference Manual Troubleshooting10-39 A.--This is not an alarm display, but rather indicates normal operation.

Troubleshooting MotionSuite™ MP940 Machine Controller Reference Manual10-40Troubleshooting Problems with No Alarm DisplayRefer to the table below to i

MotionSuite™ MP940 Machine Controller Reference Manual Troubleshooting10-41Servo motor moves momentarily, then stops.Servo motor or encoder wiring inc

Troubleshooting MotionSuite™ MP940 Machine Controller Reference Manual10-42Alarm Display ListThe ON/OFF relationship between the “Alarm Display” and t

MotionSuite™ MP940 Machine Controller Reference Manual Troubleshooting10-43A.73 — — — — DB Overload The rotational energy has exceeded the capacity of

Troubleshooting MotionSuite™ MP940 Machine Controller Reference Manual10-44Note:  indicates ON (“L”) signal; x indicates OFF (“H”) signal(*1) Occurs

MotionSuite™ MP940 Machine Controller Reference Manual Outline of Motion Control11-1Chapter 11: Motion ControlThis chapter presents an outline of mot

Outline of Motion Control MotionSuite™ MP940 Machine Controller Reference Manual11-2Ladder Program FormatThe program which is the focus of sequence co

iiSGDH User Parameters. . . . . . . . . . . . . . . . . . . . . 6-54Chapter 7: Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . 7-1

Specifications and Functions MotionSuite™ MP940 Machine Controller Reference Manual2-30Servo Motors with GearboxSGMPH - 01 A A A G 1 2 Bブレーキ仕様軸端仕様（表1.

MotionSuite™ MP940 Machine Controller Reference Manual Outline of Motion Control11-3Using the dedicated motion language, complex motions within progra

Outline of Motion Control MotionSuite™ MP940 Machine Controller Reference Manual11-4Application Example 2 - Alignment MachineApplication Example 3 - S

MotionSuite™ MP940 Machine Controller Reference Manual Outline of Motion Control11-5Application Example 4 - Conveyor Follow-on Machine ToolWorkMachini

Control Mode MotionSuite™ MP940 Machine Controller Reference Manual11-6Control Mode This section provides details on the motion control modes used in

MotionSuite™ MP940 Machine Controller Reference Manual Control Mode11-7• This can also be used as a general-purpose D/A converter. In this case, set b

Control Mode MotionSuite™ MP940 Machine Controller Reference Manual11-8There are three parameter setting methods: 1. Setting motion parameters used i

MotionSuite™ MP940 Machine Controller Reference Manual Control Mode11-9User Program ExamplesExample of Running Desired Operation1 Speed PatternLadder

Control Mode MotionSuite™ MP940 Machine Controller Reference Manual11-10Torque Limit SettingFwd Torque Limit Setting (OWC002)Machine Coordinate Posiit

MotionSuite™ MP940 Machine Controller Reference Manual Control Mode11-11Torque Control ModeOutlineUse the torque control mode to generate a fixed torq

Control Mode MotionSuite™ MP940 Machine Controller Reference Manual11-123. Torque control mode run start operates as follows:• Turns the RUN command (

MotionSuite™ MP940 Machine Controller Reference Manual Specifications and Functions2-31Servo Motor Capacities (kW)The number of encoder pulses for the

MotionSuite™ MP940 Machine Controller Reference Manual Control Mode11-13Although the examples in the above figures illustrating torque pattern are ext

Control Mode MotionSuite™ MP940 Machine Controller Reference Manual11-14Machine Coordinate Feedback (ILC006)Zero Point Position Offset (OLC006)Positio

MotionSuite™ MP940 Machine Controller Reference Manual Control Mode11-15Phase ControlPhase control is used to rotate an axis according to the transmit

Control Mode MotionSuite™ MP940 Machine Controller Reference Manual11-16This item sets motion parameters used in the phase control mode, and executes

MotionSuite™ MP940 Machine Controller Reference Manual Control Mode11-173. Phase control mode run start• Turns the RUN command (Bit 0 of OWC001) ON.•

Control Mode MotionSuite™ MP940 Machine Controller Reference Manual11-18The processing of these control loops inside the SVA module permits the custom

MotionSuite™ MP940 Machine Controller Reference Manual Control Mode11-19Torque Limit SettingFwd Torque Limit Setting (OWC002)Machine Coordinate Feedba

Control Mode MotionSuite™ MP940 Machine Controller Reference Manual11-20User Program Example 2 (Electronic Camming)From the beginning, camming has bee

MotionSuite™ MP940 Machine Controller Reference Manual Control Mode11-21The following shows a block diagram of the phase control loop.A block diagram

Control Mode MotionSuite™ MP940 Machine Controller Reference Manual11-22Ladder Program ExampleH0188RUNMOD⇒ OWC000Position Control Mode ONDisable Phase

Specifications and Functions MotionSuite™ MP940 Machine Controller Reference Manual2-32Types with Gearboxes (•:Standard)Gearbox (differs according to

MotionSuite™ MP940 Machine Controller Reference Manual Control Mode11-23Although the example above of the run command (Dwg H04) is extremely simplifie

Control Mode MotionSuite™ MP940 Machine Controller Reference Manual11-24• After power ON, the machine will not be able to return correctly if in range

MotionSuite™ MP940 Machine Controller Reference Manual Control Mode11-252. Turning the zero-point return mode (ZRN) (Bit 4 of OWC000) ON.3. Zero-point

Control Mode MotionSuite™ MP940 Machine Controller Reference Manual11-26c.) A user program must be created to connect the limit switch signal DECLS (D

MotionSuite™ MP940 Machine Controller Reference Manual Control Mode11-27Ladder Program Example (Run Command Dwg H01)Although the examples in the above

Control Mode MotionSuite™ MP940 Machine Controller Reference Manual11-28Torque Limit SettingPositive Torque Limti Setting (OWC002)Machine Coordinate F

MotionSuite™ MP940 Machine Controller Reference Manual Position Control11-29Position ControlThis section deals with preparatory knowledge for position

Position Control MotionSuite™ MP940 Machine Controller Reference Manual11-30The following table shows the different conditions under which motion comm

MotionSuite™ MP940 Machine Controller Reference Manual Position Control11-31Note: Set the minimum command unit in fixed motion parameter number 18 “Nu

Position Control MotionSuite™ MP940 Machine Controller Reference Manual11-32The meaning and setting examples of the electronic gearing parameters are

MotionSuite™ MP940 Machine Controller Reference Manual Operation Mode3-1Chapter 3: Basic System OperationAn explanation of the basic system operation

MotionSuite™ MP940 Machine Controller Reference Manual Position Control11-33In the case of Electronic Gearing Parameter Setting Example (A) “Ball Scre

Position Control MotionSuite™ MP940 Machine Controller Reference Manual11-34In the case of Electronic Gearing Parameter Setting Example (B) “Rotating

MotionSuite™ MP940 Machine Controller Reference Manual Position Control11-35There are also two types of infinite-length position control: a form in wh

Position Control MotionSuite™ MP940 Machine Controller Reference Manual11-36The parameters related to the position reference are shown in the table be

MotionSuite™ MP940 Machine Controller Reference Manual Position Control11-37In infinite length axis position references, add the current travel distan

Position Control MotionSuite™ MP940 Machine Controller Reference Manual11-38Position Buffer Usage MethodIn machines in which the motion pattern has be

MotionSuite™ MP940 Machine Controller Reference Manual Position Control11-39a.) Sets the position buffer access number OLC038.1 ~ 256b.)Sets the posit

Position Control MotionSuite™ MP940 Machine Controller Reference Manual11-401. Method for Use as a Position Reference1. Set the RUN command setting (b

MotionSuite™ MP940 Machine Controller Reference Manual Position Control11-411 Messages a range of 0 ~ (unlimited length axis reset position-1) when th

Position Control MotionSuite™ MP940 Machine Controller Reference Manual11-42Speed ReferenceThere are two methods for setting speed references (fast fe

Start, Stop Sequence MotionSuite™ MP940 Machine Controller Reference Manual3-2The stop mode results in the following four situations:1. When the progr

MotionSuite™ MP940 Machine Controller Reference Manual Position Control11-43If no Motion Commands are UsedIf motion commands are not used, the speed r

Position Control MotionSuite™ MP940 Machine Controller Reference Manual11-44Setting examples of the parameters are shown in the table below:Note: Sele

MotionSuite™ MP940 Machine Controller Reference Manual Position Control11-45When operating with fast feed speed = 900mm/min, approach speed = 180mm/mi

Position Control MotionSuite™ MP940 Machine Controller Reference Manual11-46Position Control without the Use of Motion CommandsIn accordance with the

MotionSuite™ MP940 Machine Controller Reference Manual Position Control11-47There are three methods for setting the parameters:• Setting by the Motion

Position Control MotionSuite™ MP940 Machine Controller Reference Manual11-48Turn the RUN command (Bit 0 of OWC001) ON.The axis executes the positionin

MotionSuite™ MP940 Machine Controller Reference Manual Position Control11-49User Program ExamplesExample of Running Desired Operation (Position Patter

Position Control by Motion Commands MotionSuite™ MP940 Machine Controller Reference Manual11-50Position Control by Motion CommandsThis section deals w

MotionSuite™ MP940 Machine Controller Reference Manual Position Control by Motion Commands11-513 Zero-point Return (ZRET)Operation for retuning to the

Position Control by Motion Commands MotionSuite™ MP940 Machine Controller Reference Manual11-52Positioning (POSING)The MP940 positions to a designated

MotionSuite™ MP940 Machine Controller Reference Manual Start, Stop Sequence3-3DIP Switch Setting MethodThe DIP switches on the CPU are used for start/

MotionSuite™ MP940 Machine Controller Reference Manual Position Control by Motion Commands11-53Detailed DescriptionThe order of operations in the posi

Position Control by Motion Commands MotionSuite™ MP940 Machine Controller Reference Manual11-546. Positioning Command Run StartThe axis executes the p

MotionSuite™ MP940 Machine Controller Reference Manual Position Control by Motion Commands11-55d. Command AbortTurns the ABORT command (bit 1 of OWC02

Position Control by Motion Commands MotionSuite™ MP940 Machine Controller Reference Manual11-56User Program Example (positioning)Example of Running De

MotionSuite™ MP940 Machine Controller Reference Manual Position Control by Motion Commands11-57Torque Limit SettingMachine Coordinate Feedback (ILC006

External Positioning (EX_POSING) MotionSuite™ MP940 Machine Controller Reference Manual11-58External Positioning (EX_POSING)Just as in positioning (PO

MotionSuite™ MP940 Machine Controller Reference Manual External Positioning (EX_POSING)11-591. Set initial fixed motion parameter and motion setting p

External Positioning (EX_POSING) MotionSuite™ MP940 Machine Controller Reference Manual11-60b. The axis executes the external positioning operation by

MotionSuite™ MP940 Machine Controller Reference Manual External Positioning (EX_POSING)11-61g. Command AbortTurns the ABORT command (bit 1 of OWC021)

External Positioning (EX_POSING) MotionSuite™ MP940 Machine Controller Reference Manual11-62User Program Example (external positioning)Example of Runn

Start, Stop Sequence MotionSuite™ MP940 Machine Controller Reference Manual3-4 Memory InitializationThe memory as initialized, and the user programs

MotionSuite™ MP940 Machine Controller Reference Manual Zero-point Return (ZRET)11-63Zero-point Return (ZRET)The zero-point return operation returns th

Zero-point Return (ZRET) MotionSuite™ MP940 Machine Controller Reference Manual11-64See the section on “Zero-Point Return Mode” for details.• Set the

MotionSuite™ MP940 Machine Controller Reference Manual Zero-point Return (ZRET)11-651. Moves at fast feed speed in the direction designated in the mot

Zero-point Return (ZRET) MotionSuite™ MP940 Machine Controller Reference Manual11-66Operation when the transition signal (deceleration LS) is in the h

MotionSuite™ MP940 Machine Controller Reference Manual Zero-point Return (ZRET)11-67Operation when the transition signal (deceleration LS) is in the l

Zero-point Return (ZRET) MotionSuite™ MP940 Machine Controller Reference Manual11-68• Zero-point Return Reverse Limit Signal (OBC021C)• Zero-point Ret

MotionSuite™ MP940 Machine Controller Reference Manual Zero-point Return (ZRET)11-695. Moves in a forward direction at approach speed.6. After detecti

Zero-point Return (ZRET) MotionSuite™ MP940 Machine Controller Reference Manual11-70Operation in Area (c) at Zero-point Return Operation Start1. Moves

MotionSuite™ MP940 Machine Controller Reference Manual Zero-point Return (ZRET)11-711. Moves in a reverse direction at approach speed.2. Decelerates a

Zero-point Return (ZRET) MotionSuite™ MP940 Machine Controller Reference Manual11-72DEC2+ZEROSignal FormatExecutes zero-point return using the ZERO si

MotionSuite™ MP940 Machine Controller Reference Manual Start, Stop Sequence3-5:OFF, :ON, :Flash, ?:UndefinedTypeLEDDisplay ContentRDY RUN ALMBAT

MotionSuite™ MP940 Machine Controller Reference Manual Zero-point Return (ZRET)11-731. Set initial fixed motion parameter and motion setting parameter

Zero-point Return (ZRET) MotionSuite™ MP940 Machine Controller Reference Manual11-74The axis moves at fast feed speed in the direction specified in “Z

MotionSuite™ MP940 Machine Controller Reference Manual Zero-point Return (ZRET)11-75The axis remains stopped even if ABORT is released (ABORT OFF) at

Zero-point Return (ZRET) MotionSuite™ MP940 Machine Controller Reference Manual11-76• After power ON, the machine cannot return correctly if it is in

MotionSuite™ MP940 Machine Controller Reference Manual Zero-point Return (ZRET)11-77User Program Example (zero-point return DEC1+C-phase pulse sig-nal

Zero-point Return (ZRET) MotionSuite™ MP940 Machine Controller Reference Manual11-78Ladder Program Example (zero-point return program example dwg H03)

MotionSuite™ MP940 Machine Controller Reference Manual Interpolation (INTERPOLATE)11-79Interpolation (INTERPOLATE)Executes interpolation feed accordin

Interpolation (INTERPOLATE) MotionSuite™ MP940 Machine Controller Reference Manual11-806. The axis executes interpolation feed by the designated motio

MotionSuite™ MP940 Machine Controller Reference Manual Interpolation with Position Detection (LATCH)11-81Interpolation with Position Detection (LATCH)

Set Speed Feed (FEED) MotionSuite™ MP940 Machine Controller Reference Manual11-82Set Speed Feed (FEED)Executes fast feed in an unbounded direction at

Start, Stop Sequence MotionSuite™ MP940 Machine Controller Reference Manual3-6MP940 Start Sequence and Basic OperationPower ONTest Mode Switch= Test M

MotionSuite™ MP940 Machine Controller Reference Manual Set Speed Feed (FEED)11-837. The axis executes the fast feed operation by a designated motion p

Set Speed Feed (FEED) MotionSuite™ MP940 Machine Controller Reference Manual11-84User Program Example (set speed feed)Example of Running Desired Opera

MotionSuite™ MP940 Machine Controller Reference Manual Stepping (STEP)11-85Stepping (STEP)Executes positioning at fast feed speed in a designated dire

Stepping (STEP) MotionSuite™ MP940 Machine Controller Reference Manual11-866. Set stepping (STEP = 8) in the motion commands (OWC020). Step Feed (STE

MotionSuite™ MP940 Machine Controller Reference Manual Stepping (STEP)11-87Turns the ABORT command (bit 1 of OWC021) ON or sets NOP (= 0) into the mot

Stepping (STEP) MotionSuite™ MP940 Machine Controller Reference Manual11-88Ladder Program ExampleAlthough the examples in the above figures are extrem

MotionSuite™ MP940 Machine Controller Reference Manual Zero-point Setting (ZSET)11-89Zero-point Setting (ZSET)When executing zero-point setting, assum

Zero-point Setting (ZSET) MotionSuite™ MP940 Machine Controller Reference Manual11-902. Select the position control mode (PCON) (Bit 2 of OWC000).Note

MotionSuite™ MP940 Machine Controller Reference Manual User Parameter ListA-1Appendix AUser Parameter ListA list of SGDH servo amplifier user paramete

MotionSuite™ MP940 Machine Controller Reference Manual User Parameter ListA-2User Parameter ListTable 1: User ParametersTypeUser Parameter NumberName

MotionSuite™ MP940 Machine Controller Reference Manual Start, Stop Sequence3-7The starting sequence and basic operation of the MP940 are as follows:1.

MotionSuite™ MP940 Machine Controller Reference Manual User Parameter ListA-3Gain-related Parameters (continued)Pn109 Feed Forward % 0 100 0Pn10A Feed

MotionSuite™ MP940 Machine Controller Reference Manual User Parameter ListA-4Position-related ParametersPn200 Position Control Reference Selection*3—

MotionSuite™ MP940 Machine Controller Reference Manual User Parameter ListA-5Torque-related ParametersPn400 Torque Reference Input Gain 0.1V/RatedTorq

MotionSuite™ MP940 Machine Controller Reference Manual User Parameter ListA-6*1 The multi-turn limit is only enabled when the absolute encoder usage m

MotionSuite™ MP940 Machine Controller Reference Manual Switch ListA-7Switch ListA list of switches is shown below.Table 2: SwitchesUser Parameter Num

MotionSuite™ MP940 Machine Controller Reference Manual Switch ListA-8Pn001Function SelectionApplica-tion0 Stop Method at Servo OFFand Alarm Occur-renc

MotionSuite™ MP940 Machine Controller Reference Manual Switch ListA-9Pn003Function SelectionApplica-tion0,1 Analog Monitor 1Torque Reference MonitorAn

MotionSuite™ MP940 Machine Controller Reference Manual Switch ListA-10Pn10BGain-related Applica-tion0 Mode Switch Selection0 Assumes the internal torq

MotionSuite™ MP940 Machine Controller Reference Manual Switch ListA-11Pn200Position Control0 Command Pulse Form0 Sign + pulse, positive logic 01 CWCCW

MotionSuite™ MP940 Machine Controller Reference Manual Input Signal Selection ListA-12Input Signal Selection ListAn input signal selection list is sho

iiiPRECAUTIONS1. Read this instruction manual in its entirety before using the MP940.2. The following symbols are used to indicate precautions of whic

Scan Processing MotionSuite™ MP940 Machine Controller Reference Manual3-8Scan ProcessingOutline of Scan ProcessingThere are three types of MP940 scan

MotionSuite™ MP940 Machine Controller Reference Manual Input Signal Selection ListA-13Only Pn50A.1 = 7, Pn50A.3 = 8, and Pn50B.0 = 8 can be set in th

MotionSuite™ MP940 Machine Controller Reference Manual Output Signal SelectionA-14Output Signal SelectionNotes: Output by OFF logic if a number of sig

MotionSuite™ MP940 Machine Controller Reference Manual Auxiliary Functions ListA-15Auxiliary Functions ListA list of the auxiliary functions is shown

MotionSuite™ MP940 Machine Controller Reference Manual Monitor Mode ListA-16Monitor Mode ListA list of the monitor modes is shown below.Table 6: Moni

MotionSuite™ MP940 Machine Controller Reference Manual ParametersA-17ParametersThe following table details the meaning of each parameter, and the diff

MotionSuite™ MP940 Machine Controller Reference Manual ParametersA-1817(cont)Servo Axis FunctionalityBit 8: USE_SLIMN Enable Soft Limit (reverse) Sele

MotionSuite™ MP940 Machine Controller Reference Manual ParametersA-1932 Backlash Compensation0~32767(default = 0)1 = 1 command unit —37~48Unused — — —

MotionSuite™ MP940 Machine Controller Reference Manual ParametersA-20Motion Setup ParametersThe setup parameters are used as commands to the motion mo

MotionSuite™ MP940 Machine Controller Reference Manual ParametersA-212 Run Commands OWC001 Bit 0: RUN (D00) Run (Servo ON)Bit 1: P-CON Speed Loop P/PI

MotionSuite™ MP940 Machine Controller Reference Manual ParametersA-225 Forward SpeedLimitOWC004 0~32767(default = 15000)1 = 0.01% (15000 = 150.00%)6 R

MotionSuite™ MP940 Machine Controller Reference Manual Scan Processing3-9 Service Scan of each FunctionExcept for SVA, a scan can be selected to exec

MotionSuite™ MP940 Machine Controller Reference Manual ParametersA-2321 S-curve Acceleration TimeOWC014 The S-curve time constant is 0~255 (1 = 1 turn

MotionSuite™ MP940 Machine Controller Reference Manual ParametersA-2434 Motion CommandOptionsOWC021 Bit 0: HOLD Command HoldBit 1: ABORT Command Abort

MotionSuite™ MP940 Machine Controller Reference Manual ParametersA-2541 Step Distance OLC0280~231-1(default = 0)1 = 1 command unit43 Home Offset OLC02

MotionSuite™ MP940 Machine Controller Reference Manual ParametersA-2657 Absolute Position at Power Off (low value)OLC038-231~231-1(default = 0)Encoder

MotionSuite™ MP940 Machine Controller Reference Manual ParametersA-27Monitor ParametersThe monitor parameters are sent to the controller as a group at

MotionSuite™ MP940 Machine Controller Reference Manual ParametersA-283 Target Position ILC002-231~231-11 = 1 pulse or 1 = 1 command unitUpdate will oc

MotionSuite™ MP940 Machine Controller Reference Manual ParametersA-2924 Position Management StatusIWC017 Bit 0: MLKL Machine lockBit 1: ZERO Zero-po

MotionSuite™ MP940 Machine Controller Reference Manual ParametersA-3035 Servo Alarms ILC022 Bit 0: SVERROR Servo amplifier errorBit 1: OTF Positive ov

MotionSuite™ MP940 Machine Controller Reference Manual ParametersA-3145 Integral Output Value ILC02C-231~231-1—47 Reference Coordinate Calculation Pos

MotionSuite™ MP940 Machine Controller Reference Manual Scan ProcessingA-32Scan ProcessingScan Processing Timing ChartWhen the H-scan is 2× the S-scan

Scan Processing MotionSuite™ MP940 Machine Controller Reference Manual3-10 Items Completed within the S Scan Time-shared Items BackgroundcntrLIOＨＳ

MotionSuite™ MP940 Machine Controller Reference Manual Scan ProcessingA-33I DrawingEventInterruptProcessingS Scan Interrupt Period(250µs/500µs/1ms/2ms

MotionSuite™ MP940 Machine Controller Reference Manual Scan ProcessingA-34I DrawingEventInterruptProcessingS Scan Interrupt Period(500µs/1ms/2ms/4ms)B

IndexAAbsolute Encoderbasics 7-2 - 7-6battery 7-3initialization 7-9linear axes 7-16multi-turn limit setting 7-12overview 7-1parameter setting 7-8rotar

IndexMMain Circuitterminal block wiring 5-36terminal names/functions 5-34wiring 5-35Maintenance 8-1 - 8-4servo amplifier 10-1, 10-2Mechatrolinkconnect

IndexSpringsmounting 5-55Start-updiagram 5-49Stop Mode 3-1Structuremodule 4-1virtual building block 4-2Switches A-7 - A-11Symbolsin drawings 3-47in fu

YASKAWA ELECTRIC AMERICA, INC.Chicago-Corporate Headquarters 2121 Norman Drive South, Waukegan, IL 60085, U.S.A.Phone: (847) 887-7000 Fax: (847)

MotionSuite™ MP940 Machine Controller Reference Manual Scan Processing3-11 Notes on Scan Processing1. Complete item processing within the S scan in a

Scan Processing MotionSuite™ MP940 Machine Controller Reference Manual3-12The ScanTime Setting window is displayed.System Scan Time SettingThe MP940 h

MotionSuite™ MP940 Machine Controller Reference Manual Scan Processing3-13The following relationship exists in the setting criteria for the various sc

Scan Processing MotionSuite™ MP940 Machine Controller Reference Manual3-14Scan Time Definition SettingThe machine controller high-speed scan time is d

MotionSuite™ MP940 Machine Controller Reference Manual User Programs3-15In the online mode, the maximum value may be cleared to "0" by input

User Programs MotionSuite™ MP940 Machine Controller Reference Manual3-16• Sub-sub-drawingThese are executed by reference from a sub-drawing using the

MotionSuite™ MP940 Machine Controller Reference Manual User Programs3-17An annotated description of the number of drawings for each type of drawing is

MotionSuite™ MP940 Machine Controller Reference Manual Outline of the MP9401-1Chapter 1: General FunctionsThis chapter describes the general function

User Programs MotionSuite™ MP940 Machine Controller Reference Manual3-18 Layer Structure of DrawingsEach drawing comprises source, sub-, and sub-sub-

MotionSuite™ MP940 Machine Controller Reference Manual User Programs3-19Reference motion programs from the H drawing with an MSEE command. Source draw

User Programs MotionSuite™ MP940 Machine Controller Reference Manual3-20Motion Programs Outline of Motion Programs1. A motion program is a program wr

MotionSuite™ MP940 Machine Controller Reference Manual User Programs3-21 Motion Program Execution Processing FormatsReference motion programs from th

User Programs MotionSuite™ MP940 Machine Controller Reference Manual3-221. The ladder commands of the H drawing are executed at each high-speed scan p

MotionSuite™ MP940 Machine Controller Reference Manual User Programs3-232. Control of motion program run/stop/hold, etc., is possible by inputting th

User Programs MotionSuite™ MP940 Machine Controller Reference Manual3-24 Motion Program Status FlagsThe first word of the MSEE work register is a mot

MotionSuite™ MP940 Machine Controller Reference Manual User Programs3-252. The content of the above ladder program is as follows:3. Motion program run

User Programs MotionSuite™ MP940 Machine Controller Reference Manual3-26The motion control ladders are automatically generated according to external i

MotionSuite™ MP940 Machine Controller Reference Manual Functions3-27FunctionsThis section describes the usage method, characteristics, etc. of the MP9

Outline of the MP940 MotionSuite™ MP940 Machine Controller Reference Manual1-2Features of the MP940The MP940 machine controller functions in a variety

Functions MotionSuite™ MP940 Machine Controller Reference Manual3-281. See the following manual for details on MotionWorksTM operating methods. MP9xx

MotionSuite™ MP940 Machine Controller Reference Manual Functions3-29Determination of I/O SpecificationsWhen creating a user funtion, determine the num

Functions MotionSuite™ MP940 Machine Controller Reference Manual3-30 Note: After the graphical display format of the function has been created, define

MotionSuite™ MP940 Machine Controller Reference Manual Functions3-314. The function input register is automatically assigned for “Graphical Function D

Functions MotionSuite™ MP940 Machine Controller Reference Manual3-323. Use the FOUT command to create the output data program. For exam-ple, the I/O

MotionSuite™ MP940 Machine Controller Reference Manual Functions3-33The address input register AW00000 in the above table is assigned to MW00300. AW00

Register MotionSuite™ MP940 Machine Controller Reference Manual3-34RegisterThis section describes register types and usage formats used in MP940 user

MotionSuite™ MP940 Machine Controller Reference Manual Register3-35Data TypesThere are five data types used according to purpose: bit, integer, double

Register MotionSuite™ MP940 Machine Controller Reference Manual3-36[ ML00100 ][ MF00100 ][ ML00102 ][ MF00102 ][ MB00103A ][ MB001006 ][ MW00100 ][ MW

MotionSuite™ MP940 Machine Controller Reference Manual Register3-37 Usage examples by data type1. BitUsed in relay circuit ON/OFF or logical calculat

MotionSuite™ MP940 Machine Controller Reference Manual Outline of the MP9401-3 Synchronized controller and servo amplifierHigh-speed/high-prescision

Register MotionSuite™ MP940 Machine Controller Reference Manual3-383. Double-length IntegersUsed in numerical calculations and logical calculations.•

MotionSuite™ MP940 Machine Controller Reference Manual Register3-395. AddressUsed only in pointer designation.MF00200~MF00204 are used as a parameter

Register MotionSuite™ MP940 Machine Controller Reference Manual3-40Register Types DWG RegisterEach drawing or motion program can use the seven regist

MotionSuite™ MP940 Machine Controller Reference Manual Register3-411. # registers cannot be used in motion programs.2. The following registers are sav

Register MotionSuite™ MP940 Machine Controller Reference Manual3-42 Function RegistersThe 11 types of registers shown below can be used in each funct

MotionSuite™ MP940 Machine Controller Reference Manual Register3-43SA, MA, IA, OA, DA, A, and CA can be used within functions as well.Usage Method for

Register MotionSuite™ MP940 Machine Controller Reference Manual3-44 If the suffix is in double-length integer formThe value of I is the same as the v

MotionSuite™ MP940 Machine Controller Reference Manual Register3-45Suffixes I and J cannot be used in motion programs.• I and J require initialization

Register MotionSuite™ MP940 Machine Controller Reference Manual3-46Program Register Reference RangeFUNC-000（関数）ProgramRegisters, byfunctionFunction In

MotionSuite™ MP940 Machine Controller Reference Manual Symbol Management3-47Symbol ManagementSymbol Management in DrawingsManage all symbols used in d

Outline of the MP940 MotionSuite™ MP940 Machine Controller Reference Manual1-4The following figure provides an example of a synchronous phase control

Symbol Management MotionSuite™ MP940 Machine Controller Reference Manual3-48Symbol Management in FunctionsManage all symbols used in functions accordi

MotionSuite™ MP940 Machine Controller Reference Manual Symbol Management3-49Automatic Register NumberingThe following table shows where register auton

MotionSuite™ MP940 Machine Controller Reference Manual Outline of MP940 Functions4-1Chapter 4: MP940 FunctionsAn explanation of the various MP940 func

Outline of MP940 Functions MotionSuite™ MP940 Machine Controller Reference Manual4-2 Block Diagram of MP940 FunctionsA block diagram of the MP940

MotionSuite™ MP940 Machine Controller Reference Manual Outline of MP940 Functions4-3 Main Module Structure Definiton WindowSet slots 00 through 06

Serial Transmission Function MotionSuite™ MP940 Machine Controller Reference Manual4-4Serial Transmission FunctionOutline of Serial Transmission Funct

MotionSuite™ MP940 Machine Controller Reference Manual Serial Transmission Function4-5programming device and the display panel in a serial MP940.Below

Serial Transmission Function MotionSuite™ MP940 Machine Controller Reference Manual4-6Communication SpecificationsA description of the serial communic

MotionSuite™ MP940 Machine Controller Reference Manual Serial Transmission Function4-7 Connection with Programming DeviceThe following is an examp

Serial Transmission Function MotionSuite™ MP940 Machine Controller Reference Manual4-8 Connection of Serial Port 1 (RS-232C)The following is an ex