SMC Networks Yaskawa 4000, Yaskawa 2000 User Manual

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Yaskawa SMC – Serial Port and TCP

Information Sheet for Crimson v2.0

Compatible Devices

SMC 3010, 4000, 2000

Verified Device

3010

Accessible Data

ABBR

ACTION

ACTION TYPE

AB

Abort Motion and Program

COMMAND

ABA

Abort Motion Only

COMMAND

AC

Acceleration

DATA R/W

AD

After Distance

DATA R/W

AF

Enable Digital Feedback

Send 0 to AXIS

AFA

Enable Analog Feedback

Send 1 to AXIS

AI

After Input

DATA R/W

AL

Arm Latch

COMMAND

AM

After Motion

COMMAND

AO

Analog Output

DATA R/W

AP

After Absolute Postion

DATA R/W

AR

After Relative Distance

DATA R/W

AS

At Speed

COMMAND

AT

At Time

DATA R/W

BG

Begin Motion

COMMAND

BL

Reverse Software Limit

DATA R/W

BN

Burn

COMMAND

BP

Burn Program

COMMAND

BV

Burn Variables

COMMAND

CB

Clear Bit

DATA R/W

CD

Contour Data

DATA R/W

CE

Configure Encoder

DATA R/W

CH

Connect Handle

COMMAND

CHA

Connect Handle - Axis

COMMAND DATA

CHB

Connect Handle - Send

COMMAND DATA

YASKAWASMC – SERIALPORT ANDTCP INFORMATIONSHEET FORCRIMSON V2.0

CHC

Connect Handle - Receive

COMMAND DATA

CM

Contour Mode

COMMAND

DC

Deceleration

DATA R/W

DE

Dual (Auxiliary) Encoder Position

DATA R/W

DP

Define Position

DATA R/W

DT

Delta Time

DATA R/W

DV

Dual Velocity Enable (Dual Loop)

DATA R/W

EA

ECAM Master Axis

COMMAND

EB

Enable ECAM Mode Enable

DATA R/W

EC

ECAM Counter

DATA R/W

EG

ECAM Engage

DATA R/W

EM

ECAM Cycle

DATA R/W

EQ

ECAM Quit (Disengage)

DATA R/W

ER

Error Limit

DATA R/W

FA

Acceleration Feed Forward

DATA R/W

FE

Find Edge

COMMAND

FI

Find Index

COMMAND

FL

Forward Software Limit

DATA R/W

FV

Velocity Feed Forward

DATA R/W

GA

Master Axis for Gearing

COMMAND

GR

Gear Ratio

DATA R/W

HM

Home

COMMAND

HX

Halt Task Execution

COMMAND (Note 1)

IA

Ethernet IP Address (Not Available in TCP)

DATA R/W

IH

Open Internet Handle

COMMAND

IHA

Internet Handle - Handle

COMMAND DATA

IHB

Internet Handle - IP

COMMAND DATA

IHC

Internet Handle - Port

COMMAND DATA

IHD

Internet Handle - Protocol

COMMAND DATA

IHE

Internet Handle - Terminate

COMMAND

IL

Integrator Limit

DATA R/W

IP

Increment Position

DATA R/W

IT

Independent Time Constant

DATA R/W

JG

Jog

DATA R/W

KD

Derivative Constant

DATA R/W

KI

Integrator

DATA R/W

KP

Proportional Constant

DATA R/W

MC

Motion Complete (In Position)

COMMAND

MF

Forward Motion to Position

DATA R/W

MM

Master Modulus

DATA R/W

MO

Motor Off

COMMAND/STATUS

MR

Reverse Motion to Position

DATA R/W

MT

Motor Type

DATA R/W

NA

Number of Axes

DATA R/W

OB

Output Bit

BIT WRITE

YASKAWASMC – SERIALPORT ANDTCP INFORMATIONSHEET FORCRIMSON V2.0

OE

Off on Error - Enable/Disable

DATA R/W

OF

Offset

DATA R/W

OP

Output Port

DATA R/W

PA

Position Absolute

DATA R/W

PR

Position Relative

DATA R/W

RL

Report Latched Position

READ DATA

RS

Reset

DATA R/W

SB

Set Bit

DATA R/W

SH

Servo Here

COMMAND

SP

Speed

DATA R/W

ST

Stop

COMMAND

TB

Tell Status Byte

READ DATA

TC

Tell Error Code

READ DATA

TD

Tell Dual Encoder

READ DATA

TE

Tell Error

READ DATA

TI

Tell Inputs

READ DATA

TL

Torque Limit

DATA R/W

TM

Time Command

DATA R/W

TP

Tell Position

READ DATA

TS

Tell Switches

READ DATA

TT

Tell Torque

READ DATA

TV

Tell Velocity

READ DATA

TW

Timeout for In Position (MC)

DATA R/W

VA

Vector Acceleration

DATA R/W

VD

Vector Deceleration

DATA R/W

VE

Vector Sequence End

READ DATA

VR

Vector Speed Ratio

DATA R/W

VS

Vector Speed

DATA R/W

VT

Vector Time Constant

DATA R/W

WC

Wait for Contour Data

COMMAND

WT

Wait

DATA R/W

PF

Position Format

DATA R/W

VF

Variable Format

DATA R/W

XQ

Execute Program

COMMAND (Note 1)

YP

User Variable YP

DATA R/W

YQ

User Variable YQ

DATA R/W

YR

User Variable YR

DATA R/W

YS

User Variable YS

DATA R/W

YT

User Variable YT

DATA R/W

YU

User Variable YU

DATA R/W

YV

User Variable YV

DATA R/W

YW

User Variable YW

DATA R/W

YX

User Variable YX

DATA R/W

YY

User Variable YY

DATA R/W

YASKAWASMC – SERIALPORT ANDTCP INFORMATIONSHEET FORCRIMSON V2.0

ACTION TYPE:

1.COMMAND – A new value written to these instructions will execute the command.

2.DATA R/W – Reads the current value and will send a new value.

3.READ DATA – Reads the current value. Ignores any write attempt.

4.COMMAND DATA – Reads data that is stored in HMI. Stores written data in HMI for retrieval when the related command is executed. E. g., the operator writes to CHA, CHB, and CHC. The HMI will store the data, and the values will be transmitted to the SMC only when the CH command is executed.

5.COMMAND/STATUS – Executes the command when a new value is written to it, reads the current status.

6.Send 0/1 to Axis – Executes the command on the selected Axis.

7.BIT WRITE – Clears the configured Output bit if the written data is 0, otherwise sets the bit.

“Reading” any COMMAND will set the item to 0, except as described in Note 1, below.

Note 1: HX and XQ are commands that accept a line number (<32767) as a data input. It is recommended that these two commands be selected with Access set to Read and Write, when declared as a variable. The driver will then set the value of these to –1,so that the command will be executed every time a valid line number is sent.

User Variables

User Variables YP through YY are selectable. If more are needed, it is possible to use one variable as an index, and another for the data. Use the data comparison functions of the software to route the data properly. For example, VariableArray[YY] = YX, will provide as many user variables as needed.

In many cases, a clever programmer might be able to use higher bits of the transferred data word to indicate the source of the data in the lower bits.

For example, VariableArray[(YY & 0xFF000000)>>24] = YY & 0x00FFFFFF, will allow 256 independent results of values less than hex 1000000 (decimal 16777216).

In either case, use “On Update” to transfer the proper values to the proper locations.

TCP Information

The G3 Ethernet Port must be manually configured to a fixed IP. When the Protocol is selected, the SMC must be configured to its internal IP. The programmer may use the 232 port, with the IA command, to set that IP, code the IP in the SMC program, or use the Boot P utility of the Yterm software.

YASKAWASMC – SERIALPORT ANDTCP INFORMATIONSHEET FORCRIMSON V2.0

Cable Information

G3 RS232 Port

SMC 232 Port

TxD - 5

RxD – 3

RxD - 2

TxD – 2

CTS – 6

CTS-OUT4

RTS – 1

CTS-IN1

0V – 3 and/or 4

5

For Multi-AxisControl, with an SMC as a Master that controls other SMC’s, the connection MUST be made as above, or improper operation may occur.

YASKAWASMC – SERIALPORT ANDTCP INFORMATIONSHEET FORCRIMSON V2.0