YASKAWA MP940 Reference Manual manuals

Yaskawa MP940 Reference Manual User Manual (525 pages)

Brand: Yaskawa | Category: Equipment | Size: 3.42 MB |

English

Table of contents

Reference Manual

1

Contents

3

SAFETY INFORMATION

5

Chapter 1: General Functions

6

Features of the MP940

7

Synchronous

8

Ball Screw

9

Chapter 2: Specifications

11

Output Range: 0 ~ 10V

14

Function List

15

 Motion Command List

18

Process 1

23

≤, ≠, ≥, >, RCHK

24

 Ladder Command List

25

MB000010MB000020

26

MW00280 ＋ 00100

27

MB000010

28

MF00100 EXP

30

DDC Commands

31

Σ-II Series

33

SGDH Servo Amplifier

33

 Interpretation of Model

34

SGMPH - 01 A A A 2 S

38

Servo Motor Capacities (kW)

39

Serial Encoder (•:Standard

39

:Optional)

39

SGMPH - 01 A A A G 1 2 B

40

Operation Mode

43

Start, Stop Sequence

44

DIP Switch Setting Method

45

Start Sequence

46

Scan Processing

50

Content of S Scan

51

L-scan application (Dwg. L)

52

H-scan application (Dwg. H)

52

Serial communication

52

Scan Time Setting Method

53

System Scan Time Setting

54

Scan Time Definition Setting

56

User Programs

57

Source drawing Sub-drawing

60

Sub-sub

60

Motion Program User Functions

60

DWG.X YY . ZZ

61

:DWG. X 00

61

Motion Programs

62

H drawing

63

Motion Control Functions

65

Functions

69

Register

76

FEDCBA9876543210

78

ML00108 ÷÷18000

80

5. Address

81

Register Types

82

 Function Registers

84

Function Registers

84

MB0000002

85

MB000000i

85

Symbol Management

89

Upper-level Symbol Link

90

Automatic Register Numbering

91

Chapter 4: MP940 Functions

92

Speed Control

93

仮想ビルディングブロック構造

94

SERIAL LIO SVA CNTR MLINK

94

Serial Transmission Function

95

Notebook PC

96

Communication Specifications

97

Connector Hookup

97

 RS422 Wiring

102

 RS-485 Wiring

103

Time Needed for Transmission

104

Serial Transmission Protocol

106

MB001002

107

LI/O Function

108

 Digital Input Circuit

109

 Digital Output Circuit

110

 Analog Input

111

 Analog Output

112

CNTR Function

114

Hardware Specifications

115

Pulse Input Processor

117

Pulse calculation format

118

Signal Calculation Format

119

Reversible Counter Mode

122

Counter Attribute Register

123

PI Latch Function

124

Mechatrolink Function

125

Mechatrolink Specifications

126

Master/Slave

126

Command Data (1 word)

127

Command Data (4 words)

128

Mechatrolink Connection

129

MP940 Servo Control Function

130

Overshoot

131

Undershoot

131

Global Memory

133

SGDH User Parameter Setting

135

Parameter

136

 Pn005.0 Brake Control

140

 Pn50A.0~Pn50.B, Pn511

141

Chapter 5: System Start

143

Connector

145

 Serial Port 2

148

 I/O Connector

150

 Example of I/O Connection

151

 LED Connector

152

Accessories/Options

154

 Options

155

Connection Method

156

Connector Specifications

157

11, and pin 4 to pin 7

162

 I/O Connector I/O Circuit

164

Power Connector Cable

165

Mechatrolink Cable

166

DATADATA

166

Model: JEPMC-W6000-A3

167

Model: JEPMC-W6010-∗∗

167

Model: JEPMC-W6020

167

I/O350 I/O350

168

JEPMC-W6000-A3

168

Standard Cable List

172

MP940-Related Cables

175

2.0s maximum

177

Servo Alarm

177

(ALM) Output

177

Figure A Figure B

179

Servo Amplifier I/O Signal

180

 CN1 Terminal Array

181

 CN1 Specifications

182

Input Signal

183

Output Signal

184

Interface Circuit

185

DC5V~12V

186

Encoder Wiring

188

Servo Amplifier

189

Test Device Configuration

192

Preparation of Devices Used

194

Handling of the MP940 Module

195

Spring Type

196

Spring A

197

Spring B

197

Mounting of Battery Holder

198

Connection and Wiring

199

Chapter 6: Parameters

201

Parameter Editing

202

Parameter Setting

203

Parameter Setting

204

Parameter Deletion

207

Saving Parameters

208

Parameter Details

209

Fixed Parameters (Continued)

210

Details of Setup Parameters

218

Integral

220

 Supplemental Explanation

221

Selection

222

Position Reference Data 1

223

Position Reference Data 100

223

Other Command/Mode Settings

225

Home Approach

228

Home Creep

228

Normal Responsiveness

229

40 ~ 250

229

Responsiveness is

229

S-curve

231

Acceleration Time

231

Average Motion

231

Filter 0 ~ 255

231

(0 = 1 = no filter)

231

Speed Reference

232

No 1-dimension

235

Lag (LAGRST)

235

Filter Type

235

(FILTER TYPE)

235

Disabled

237

Work Coordinate

239

Monitor Parameter Details

244

Absolute Position

245

Read Completion

245

Signal (ABSRDC)

245

Other Monitor Parameters

246

the currently used

253

SGDH User Parameters

254

User Parameters

255

User Parameters (Continued)

256

Gain-related Parameters

263

Inertia Ratio =

264

Load inertia of motor axis

264

2 π Speed loop gain

272

Position-related Constants

274

Tor qu e

275

Position

275

Speed-related Parameters

276

Torque-related Constants

278

Decel Stop

280

Speed Limit

281

Sequence-related Parameters

283

BK-RY : Brake Control Relay

288

Input Signal Selection

290

Output Signal Selection

293

Chapter 7: Absolute Encoder

295

Absolute Encoder Basics

296

電池搭載スペース

298

System Startup Procedure

301

Flashes for

304

When a key is mis-operated

305

Multi-turn Limit Setting

306

Flashes for 1

308

Absolute Encoder Usage Method

310

When Used as a Rotary Axis

314

Servo ON

315

Move to zero point in

315

STEP operation

315

Set 0 into OLxx06

316

Inspection Items

325

Periodic Inspection

326

MP940 Module Battery

327

BA000518 (battery w/ cables)

328

Chapter 9: Troubleshooting

329

Basic Troubleshooting Flow

330

LED Error List

331

 Content of LED Display

332

System Errors

333

“LED Error List”

334

System Status Display

336

CPU Status Alarm Bit

338

System Error Status

339

343

Error Content

344

System I/O Error Status

346

 Interrupt Status

348

Interrupt Module Details

348

Motion Error

349

 Troubleshooting Flow

350

Alarm Axis Data

351

Alarm Code

351

Axis Alarm

351

Chapter 10: Servo Amplifier

354

Maintenance and Inspection

354

Servo Amplifier Inspection

355

Troubleshooting

357

 Status when Alarm Occurred

358

 Alarm Output

392

Refer to sections 7.2.4 and

394

Alarm Display List

395

Chapter 11: Motion Control

398

Control Mode

403

1 Speed Pattern

406

Torque Control Mode

408

Phase Control

412

Calculation

416

Mechanical Camming

417

Electonic Camming

417

Ladder Program Example

419

Zero-point Return Mode

420

(ABSOFF)

422

Position Control

426

を設定します。12000

429

No.19 ==

429

Setting Example

430

Deceleration

430

Position Pattern Generation

454

Positioning Completion Range

456

Zero-point Return (ZRET)

460

Approach Speed

461

Interpolation (INTERPOLATE)

476

Detailed Description

478

Set Speed Feed (FEED)

479

Stepping (STEP)

482

Zero-point Setting (ZSET)

486

Appendix A

488

User Parameter List

489

Switch List

494

– (-) power input

495

Input Signal Selection List

499

Auxiliary Functions List

502

Monitor Mode List

503

Parameters

504

Motion Setup Parameters

507

Monitor Parameters

514

S Scan Interrupt Period

520

(250µs/500µs/1ms/2ms/4ms)

520

(500µs/1ms/2ms/4ms)

521

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