YASKAWA MP940 manuals

Yaskawa MP940 User Manual (522 pages)

Brand: Yaskawa | Category: Equipment | Size: 3.45 MB |

English

Table of contents

USER'S MANUAL

1

DESIGN AND MAINTENANCE

1

Safety Information

2

Visual Aids

3

CONTENTS

4

3 Basic System Operation

5

4 MP940 Functions

6

5 System Startup

7

6 Parameters

8

7 Absolute Position Detection

9

8 Maintenance and Inspection

9

9 Troubleshooting

9

11 Motion Control

10

Revision History

11

About this Manual

12

Related Manuals

12

Using This Manual

13

Safety Precautions

14

Manditory

15

Mandatory

15

Prohibited

16

 General Precautions

17

1 MP940 Overview and

18

Features

18

1.2 List of Modules

19

1.3 Features of the MP940

20

Servo Control Examples

21

Features of the MP940

22

SERVOPACK

22

Ball screw

22

1.3.6 Field Networks

23

2.1 General Specifications

25

2.2 Hardware Specifications

26

Specifications and Functions

27

2.3 Function Lists

28

PLC Function Specifications

29

Function Lists

30

Motion Command Descriptions

31

MB000010MB000020

37

MW00280 ＋ 00100 MW00220

38

MW00000 ＜ 10000

39

MB000010

39

MF00100 SIN

41

2.4 Main CP-717 Functions

44

2.5 Function Tree Structure

45

2.6 SERVOPACK Specifications

46

Model Numbers

47

3 Basic System Operation

48

Basic System Operation

49

3.1 Operating Modes

50

RUN/STOP switch

51

3.2 Start and Stop Sequences

52

Memory Initialization

53

3.2.2 Start Sequence

54

Test mode

55

Program mem

55

Start and Stop Sequences

56

3.3 Scan Processing

57

 Timesharing Items

58

 Background

59

 Scan Operations

59

 Opening the Settings Window

60

Setting Scan Time Definitions

61

Scan Processing

62

3.4 User Programs

63

 Execution of Drawings

65

DWG.X YY . ZZ

66

:DWG. X 00

66

 Executing Motion Programs

70

 Motion Program Status Flags

71

Motion Programming

73

3.5 Functions

75

　　　　　　　　　　　　　　　　　　　　　　　　　　　

76

3.5.4 Defining Function I/O

77

Functions

80

3.6 Registers

81

3.6.2 Data Types

82

Examples of Use by Data Type

83

LAG MA00200

84

⇒MW00022

84

 Registers in Drawings

85

 Registers in Functions

86

MW00001j

87

3.7 Managing Symbols

91

4 MP940 Functions

94

 MP940 Functional Modules

96

MP940 Function Block Diagram

97

SERIAL LIO SVA CNTR MLINK

98

4.2.1 Overview

99

4.2.2 System Configuration

99

 Serial Port 1

101

 Overview

102

Slave Processing Time

103

Modem Lag Time at the Slave

103

 MEMOBUS Communications

104

Offset: 100

105

 MELSEC Communications

105

SERIAL MELSEC

106

MELSEC Commands

107

MELSEC Devices

108

MP940 Functions

109

 Configuration Data

110

 Tab Window

110

 Transmission Protocol

111

 Serial Interface

112

 Transmission Mode

112

 Transmission Delay

112

 Automatic Response

112

4.3 LIO Function

115

 Digital Input Circuits

116

 Digital Output Circuits

117

 Analog Input

118

 Analog Output

119

 Configuration Information

120

 Set Items

120

Saving LIO Definition Data

121

4.4 CNTR Function

122

4.4.2 Counter Specifications

123

Coincidence detec

124

4.4.4 Pulse Count Method

125

4.4.7 PI Latch Function

129

4.4.8 Electronic Gear

129

 Setting the Electronic Gear

130

= （指令単位）

131

132

Gear ratio

132

 Tab Windows

133

 Setting Fixed Parameters

134

4.4.11 Setting I/O Data

135

Output Data

136

4.4.12

137

4.5 MECHATROLINK Functions

138

 Using the MP940 as a Master

139

Connectable Slave

140

Control Data Configurations

141

• 120AVI02030 (Analog Input)

142

 Using the MP940 as a Slave

143

I/O350 I/O350

144

JEPMC-W6000-A3

144

 I/O Assignment Tab Window

146

 Deleting Allocated Data

148

 I/O Map Tab Window

148

 Status Tab Window

148

FEDCBA9876543210

149

4.6 DeviceNet Functions

150

 MP940D Wiring Example

151

0000 to 07FF

152

 Setting Methods

153

Parameter Settings

154

260IF Module Setup

155

COMMENTS

156

4.7 SVA Function

158

 One-unit System

159

MP940 Servo Control Function

161

 Specifying Torque

162

Application Example

163

SVA Function

164

 Pn005.0: Brake Control

167

 Pn50A.0 to Pn50.B，Pn511

168

SERVOPACK I/O Signals

169

RAM FLASH

170

Saving to Flash

171

4.8.3 Starting Flash Memory

172

5 System Startup

173

System Startup

174

5.1 Handling the SERVOPACK

175

5.2 Part Names

176

 LED 2 Indicators

177

 Battery Connector

177

 DIP Switch

177

 Serial Port 2

179

 Power Supply Connector

180

 I/O Connector

181

 LED Indicator Connector

181

MP940 LED Indicator Block

182

 DeviceNet Connector

183

LED Indicator Specifications

184

 Switch Specifications

185

Correct Wrong

186

 MP940 Accessories Table

187

 Options

187

5.3 Connection Methods

188

JEPMC-MC410

189

Serial Port 2

191

RS-422/485 Interface Cable

192

RS-422 Connection Example

192

RS-485 Connection Example

193

I/O Connector Pin Arrangement

195

I/O Connector I/O Circuits

196

5.3.6 MECHATROLINK Cable

198

Connecting MECHATROLINK

199

 SERVOPACK Cables

202

Connecting Peripheral Devices

203

 MP940 Cables

204

∗ 1. No B3 terminal

205

Designing a Power ON Sequence

206

 Connection Procedure

207

Preparing the End of the Wire

208

5.6 SERVOPACK I/O Signals

209

 CN1 Terminal Layout

210

 CN1 Specifications

211

 Input Signals

211

 Output Signals

212

5.6.4 Interface Circuits

213

5.7 Wiring Encoders

215

 Absolute Encoders

216

 CN2 Connector Models

216

• Refer to Σ-ΙΙ Series SGM

217

(Manual No.: SIE-S800-31.1)

217

5.8 System Startup

218

 Control Outline

220

 Operation Outline

220

 Servo-related Equipment

221

 Other Required Equipment

221

SERVOPACKYASKAWA

222

 Type of Spring

223

SERVOPACK 200V

224

 Connecting External Devices

226

5.8.8 MP940 Initialization

227

MP940 Initialization

228

 Creating a Group Folder

229

 Creating an Order Folder

230

Creating a Controller Folder

231

 Logging On Offline

232

 Module Definitions

233

 LIO Definitions

234

 SVA Definitions

235

Starting the CP-717

236

 Defining the Counter Module

238

 Setting the Scan Time

239

6 Parameters

241

 Parameter Tables

242

 Editing Parameters

242

Motion Setting Parameters

243

 Setting Set Up Parameters

245

Setting SERVOPACK Parameters

246

 Motion Monitor Display

247

2. Click the

248

Button in the message box

248

3. Click the

248

Button in the message box

248

6.3 SVA Parameter Details

249

Parameters

250

SVA Parameter Details

251

 0: DEC 1 + Phase-C pulse

255

 6: DEC 2 + Phase-C pulse

255

 3: Phase-C pulse

256

 2: DEC 1 + Zero Signal

256

 4: DEC 2 + Zero Signal

256

 1: Zero Signal

257

Position reference data

261

1. 2. 3. 4

263

EOV_MULTI

264

(OFFSET)

271

 Supplemental Explanation

275

2. OBC02D3 = 1

285

Coast to a stop

288

Function Selection Constants

290

24-V power

291

Kv(1+ )

293

Overshooting

295

Without mode switch

296

Parameters for SGDH SERVOPACK

297

速度ループ積分時定数＝

298

2 速度ループゲイン

298

Speed-related Parameters

300

Speed reference

306

Servo ON/OFF

308

/BK Brake

309

 Input Signal Selection

311

 Output Signal Selection

312

6.4.8 Other Parameters

314

 Basic Terminology

316

 Battery

317

Reading Absolute Data

318

Encoder Selection (Pn202.2)

321

Multi-turn Limit

322

Setting (Pn205)

322

OFF the power

324

Flashes for

327

Finite Length Mode

329

Infinite Length Mode

329

OLC006 value

330

 Description

332

is only enabled when

333

Example:

333

Normal Operation

334

$FSCAN-H

336

Using an Absolute Encoder

337

8 Maintenance and Inspection

341

8.1 Inspection Items

342

8.2 MP940 Module Battery

344

 Replacing the Battery

345

9 Troubleshooting

346

 Checking by Symptoms

347

 Checking by Error Codes

347

 LED Indicators

348

 LED Indicator Details

349

9.2 System Errors

350

System Errors

352

 System Status

353

 System Error Status

356

 User Operation Error Status

357

Troubleshooting

359

System Register Configuration

359

 System I/O Error Status

360

1. LIO Station Error Status

361

System Operation Error Status

362

 Interrupt Status

363

9.3 Motion Errors

364

 Troubleshooting Flow

365

 Motion Alarm Configuration

365

Motion Errors

366

10 SERVOPACK Inspection

368

Maintenance, and

368

10.1.2 SERVOPACK Inspection

369

 Part Replacement Schedule

370

Battery Replacement Procedure

371

10.2 Troubleshooting

372

A.04: Parameter Setting Error

373

Display and Outputs

374

Status and Remedy for Alarm

374

A.86: Encoder Overheated

385

A.9F: MP940 Module Error

385

Cause of Errors

386

Determining Causes

386

Number of

387

A,B,CA,B,C

390

A.CA: Encoder Parameter Error

391

A.Cb: Encoder Echoback Error

391

A.E1: Option Timeout

394

A.E2: Option WDC Error

394

A,B,C,DA,B,C,D

396

10.2.2

399

10.2.3 Alarm Display Table

400

10.2.3

401

Alarm Display Table

401

11 Motion Control

403

Operation

404

Communications

404

 Ladder Logic Programming

405

 Motion Programming

405

Motion Control

406

11.1.2

406

Motion Control Methods

406

11.2 Control Modes

409

 Details

410

 User Program Examples

411

Ladder Logic Program Example

412

Control Modes

413

Speed monitor

413

Torque monitor

413

 User Program Example

415

External

416

11.2.4

418

Phase Control Mode

418

Example of RUN Operation

419

Position

423

Integration

423

11.2.5

426

Zero Point Return Mode

426

Operating Conditions

428

11.3 Position Control

430

 Reference Unit

431

 Electronic Gear

432

を設定します。12000

433

No.19 ==

433

 Axis Selection

435

 Position Reference

436

Position Buffers

438

Using the Position Buffers

438

Position Control

439

Position buffer

439

 Position Monitoring

440

 Speed Reference

442

When Motion Commands Are Used

443

Parameter Setting Examples

444

Deceleration start position

445

(ABSOFF)

449

Rapid traverse

452

 Zero Point Return Method

464

 DEC1 + Phase-C Pulse

464

 DEC2 + Phase-C Pulse

465

 DEC1 + LMT + Phase-C Pulse

467

 Phase-C Pulse

470

 DEC1 + ZERO Signal

470

 DEC2 + ZERO Signal Method

470

 ZERO Signal Method

471

• Example of RUN Operation

474

=NOP II ENDOF_INTERPOLATE?

481

A Dimensions

485

A.1 External of MP940 Module

486

A.2 Dimensions of MP940D

486

B Lists of Parameters

487

B.2 Parameters

488

Lists of Parameters

490

B.3 Switches

492

Switches

494

B.4 Input Signal Selections

496

B.5 Output Signal Selections

497

B.6 Auxiliary Functions

498

B.7 Monitor Modes

499

C Motion Parameter Tables

500

C.1 Motion Fixed Parameters

501

Motion Parameter Tables

503

Motion Fixed Parameters

503

C.2 Motion Setting Parameters

504

Setting (ABSOFF)

505

Register

512

D Lists of System Registers

516

 Ragisters Specific to DWG.H

517

 Registers Specific to DWG.S

518

 Registers Specific to DWG.L

519

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