YASKAWA MP2200 Machine Controller manuals

Yaskawa MP2200 Machine Controller User Manual (529 pages)

Brand: Yaskawa | Category: Equipment | Size: 4.95 MB |

English

Table of contents

Motion Module User’s Manual

1

Using this Manual

3

 Manual Configuration

4

 Related Manuals

6

Safety Information

7

Safety Precautions

8

 Storage and Transportation

9

 Installation

9

外部配線の分離例

10

 Maintenance and Inspection

11

 Disposal

11

Variable Tables

13

Simulate

23

CONTENTS

29

Control Block Diagrams

31

Absolute Position Detection

31

SVR Virtual Motion Module

32

Utility Functions

32

Troubleshooting

33

Appendix

33

Motion Module Overview

35

1.1 List of Motion Modules

36

1.2.1 Overview

38

1.2.2 Features

38

218IF LIO-01SVB-01

39

( 1 ) SERVOPACKs

40

( 2 ) I/O Modules

40

( 1 ) Overview

41

1.3.1 Overview

43

1.3.2 Features

44

Servos for 2 axes

45

1.4.1 Overview

46

1.4.2 System Configuration

46

01 Modules

47

2.1.1 General Specifications

48

( 2 ) Function Lists

49

( 1 ) External Appearance

52

( 2 ) Indicators

52

( 3 ) Switch Settings

53

2.1.3 Module Connections

54

Module Connections

56

MECHATROLINK-MECHATROLINK

57

2.2.1 General Specifications

60

Item Details

63

Item Contents Remarks

63

2.2.3 Module Connections

65

+ side (pin number 2)

66

[ f ] Cables

67

Cable Connections Diagram

68

JEPMC-W2040-05: 0.5 m

70

JEPMC-W2040-10: 1.0 m

70

JEPMC-W2040-30: 3.0 m

70

SGDM / SGDH / SGDS

71

3.1 SVB-01 Module Setup

74

3.1.2 Self-configuration

75

Example for the MP2200

76

SERVOPACK, I/O, inverter

77

• Master

78

• Slaves

78

[ a ] Motion Fixed Parameters

82

[ c ] SERVOPACK Parameters

83

( 3 ) MECHATROLINK Settings

86

Number of retry to slaves

87

I/O Map Tab Page

89

Status Tab Page

90

( 4 ) SVB Definitions

91

Update Current Value

93

SERVOPACK Tab Page

95

3.2 SVA-01 Module Setup

98

MP2300 Example

99

MP2200 Example

100

SVA-01 Module Setup

101

[ a ] Setting Items

102

( 3 ) SVA Definitions

103

IMPORTANT

104

Fixed Parameters Tab Page

105

Set Up Parameters Tab Page

106

Monitor Tab Page

107

N-OT/general-purpose input

109

P-OT/general-purpose input

109

Setting/Monitoring Parameters

111

[ b ] SGDB

112

[ c ] SGDM

112

[ d ] SGDS

113

Therefore;

115

3.3 SVR Module Setup

116

SVR Module Setup

117

Setting Details

117

[ c ] Monitor Tab Page

118

Motion Module Setup

120

Motion Parameters

121

(cont’d)

123

4.2 Motion Parameter Lists

125

4.2.1 Fixed Parameter List

125

4.2.2 Setting Parameter List

127

1 = 1 reference unit

131

( 1 ) Run Mode

137

( 2 ) Function Selection 1

137

( 3 ) Function Selection 2

139

( 4 ) Reference Unit Settings

139

( 6 ) Software Limits

140

( 7 ) Backlash Compensation

141

( 8 ) SERVOPACK Settings

141

( 9 ) Encoder Settings

142

Latch signal

143

( 2 ) Mode 1

145

( 3 ) Mode 2

145

( 4 ) Function 1

146

( 5 ) Function 2

147

( 6 ) Function 3

147

Position

148

( 9 ) Motion Subcommands

150

( 10 ) Torque Reference

150

( 11 ) Speed Reference

151

( 14 ) Speed Override

152

Related Parameters

153

( 20 ) Phase Compensation

155

( 21 ) Latch

156

( 22 ) Gain and Bias Settings

156

NS100/NS115

157

(OL42)

160

( 26 ) Step Distance

161

( 29 ) SERVOPACK User Monitor

162

( 30 ) SERVOPACK Commands

163

( 31 ) Supplemental Settings

164

( 1 ) Drive Status

165

( 3 ) Warning

166

( 4 ) Alarm

167

( 6 ) Motion Command Status

169

Range Unit

171

( 10 ) Position Information

172

( 11 ) Reference Monitor

173

( 12 ) SERVOPACK Status

174

( 13 ) SERVOPACK Information

175

( 14 ) SERVOPACK I/O Monitor

176

( 8 ) Hardware Signals

184

( 9 ) Pulse Measurement

185

( 10 ) D/A Outputs

185

( 11 ) A/D Inputs

185

( 12 ) Servo Driver Settings

186

( 13 ) Encoder Settings

187

( 14 ) Feedback Speed

187

( 1 ) Run Commands

188

( 3 ) Function 1

190

( 4 ) Function 2

190

( 5 ) Function 3

191

( 6 ) Motion Command

191

( 8 ) Motion Subcommand

193

( 9 ) Torque Reference

193

( 10 ) Speed Reference

194

( 13 ) Speed Override

195

( 15 ) Position Reference

196

( 19 ) Position Compensation

198

( 21 ) Phase Compensation

198

( 22 ) Latch

199

( 23 ) Gain and Bias Settings

199

( 25 ) Filters

201

( 26 ) Zero Point Return

202

( 27 ) Step Distance

203

( 30 ) Supplemental Settings

204

( 33 ) Various Data

206

( 34 ) Stop Distance

206

( 11 ) Speed Information

216

( 13 ) Position Information 2

217

( 18 ) Monitor Data

219

( 1 ) Reference Unit

220

( 2 ) Electronic Gear

220

Setting Examples

221

Setting Example

221

( 3 ) Axis Type Selection

223

( 4 ) Position References

224

( 5 ) Speed Reference

225

Motion Commands

231

5.1 Motion Commands

232

5.1.1 Motion Command Table

232

5.2 Motion Command Details

234

( 2 ) Holding

235

( 3 ) Aborting

235

( 4 ) Related Parameters

235

[ b ] Monitoring Parameters

236

( 5 ) Timing Charts

237

[ d ] Command Hold

238

( 1 ) Operating Procedure

239

If an OT signal is

248

(setting parameter OL

251

ZERO signal

252

Related Parameters

253

Phase-C signal

261

The positioning

272

(OLxx42)

273

The positioning

276

[ q ] INPUT Signal Method (OW

279

3C = 19)

279

( 3 ) Operating Procedure

281

( 4 ) Holding

281

( 5 ) Aborting

281

( 6 ) Related Parameters

282

( 7 ) Timing Charts

284

Motion Command Details

285

( 2 ) Holding and Aborting

286

( 3 ) Related Parameters

287

( 4 ) Timing Charts

288

5.2.5 Latch (LATCH)

289

5.2.6 JOG Operation (FEED)

294

5.2.7 STEP Operation (STEP)

297

[ b ] Execution when Aborted

301

The Command Pause bit (OB

326

091) cannot be used

326

[ d ] Execution for Pausing

333

[ b ] Executed when Aborted

337

[ c ] Execution when Pausing

338

SVB-01

339

SVA-01

339

5.3 Motion Subcommands

346

5.3.3 No Command (NOP)

347

(SMON) for details

347

( 2 ) Related Parameters

348

( 3 ) Timing Charts

349

5.3.6 Monitor Status (SMON)

352

6.1.1 Position Control

358

Reference unit 0

359

[ c ] Monitoring Parameters

361

Step Distance

362

SERVOPACK

363

6.1.2 Phase Control

364

Phase Control

366

(continued on next page)

368

6.1.3 Torque Control

370

[ b ] Setting Parameters

371

Torque reference operation

375

Speed reference operation

375

6.1.4 Speed Control

376

OL10: Speed Reference

382

Speed Control

384

7.1.2 Basic Terminology

386

( 2 ) SERVOPACK Parameters

388

( 3 ) Detailed Descriptions

389

(White/orange)

393

(White/gray)

393

7.3.1 Finite Length Axis

397

Multiturn data

398

Using an Absolute Encoder

399

Finite Length Axis

400

Save to save the settings to

401

7.3.2 Infinite Length Axis

402

Conditions

404

Is Not Used

406

[ a ] Normal Operation

408

Infinite Length Axis

410

8.1.1 Overview

418

8.1.2 System Configuration

419

( 2 ) Using the MP2200

420

8.1.3 SVR Operation

421

8.2 Motion Parameters

422

( 1 ) Motion Fixed Parameters

424

[ f ] Gear Ratio

425

[ h ] Encoder Settings

425

[ a ] RUN Commands

426

[ b ] Function 1

426

[ c ] Motion Command

426

[ e ] Motion Subcommands

427

[ f ] Torque Reference

427

[ g ] Speed Reference

427

[ i ] Position Reference Type

428

[ j ] Speed Amends

428

[ l ] Filters

428

system

429

[ a ] Drive Status

430

[ c ] Warning

430

[ d ] Alarm

430

[ f ] Motion Command Status

431

[ j ] Position Information

432

[ k ] SERVOPACK Information 2

432

8.3 Motion Commands

433

8.3.1 Motion Commands List

433

8.3.2 Motion Command Details

434

[ b ] Related Parameters

435

Monitoring Parameters

436

[ a ] Operating Procedure

437

( 5 ) Latch (LATCH)

443

( 6 ) JOG Operation (FEED)

445

( 7 ) STEP Operation (STEP)

447

( 9 ) Speed Reference (VELO)

450

( 10 ) Torque Reference (TRQ)

451

( 12 ) Other Commands

454

8.4 Sample Programming

455

8.4.2 Checking Operation

456

Servo ON

457

Confirm operation

457

Start JOG or STEP operation

457

8.4.3 Sample Program Details

458

( 2 ) H01 Drawing

459

( 3 ) H02 Drawing

460

( 4 ) H02.01 Drawing

461

Sample Program Details

462

( 5 ) H02.02 Drawing

463

9.1.1 Overview

466

( 1 ) Connection Example

467

( 2 ) Parameter Settings

467

9.1.3 Connections to

470

Series SGDB SERVOPACK

470

9.1.4 Connections to

473

Series SGD or SGDA SERVOPACK

473

9.2 Overtravel Function

476

9.2.3 Parameter Settings

478

Dynamic brake

479

SERVOPACK

480

9.3 Software Limit Function

481

( 1 ) Alarm Information

482

(MP2200/MP2300 to SERVOPACK)

483

10.1 Motion Errors

488

( 2 ) Motion Error Type 2

489

SVA-01 Module

490

SERVOPACK alarms

491

( 4 ) Analog Servo Alarm List

496

Motion Errors

497

Code Alarm Name Alarm Content

499

04 Bit 1 and Bit 2)

500

26) is set to 0

502

22) is set to 0

503

10.1.2

504

10.1.3 Motion Program Alarms

506

10.2 Error Detection

512

10.2.2

516

SVA-01 Module LED Indicators

516

Appendix A

517

Appendix A.3

522

Revision History

527

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