YASKAWA JEPMC-BUB3003-E, MP3200, JEPMC-BUB3005-E, JEPMC-BUB3008-E, JEPMC-PSD3012-E User Manual

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Machine Controller MP3000 Series

MP3200

USER’S MANUAL

Power Supply Unit model: JEPMC-PSA3012-E or JEPMC-PSD3012-E CPU Unit model: JEPMC-CP3201-E or JEPMC-CP3202-E Base Unit model: JEPMC-BUB3003-E, JEPMC-BUB3005-E, or JEPMC-BUB3008-E Rack Expansion Interface Unit model: JEPMC-EXU3001-E or JEPMC-EXU3002-E

MANUAL NO. SIEP C880725 10D

Introduction

Appearances and Parts

CPU Unit Functionality

Specifications

External Dimensions

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All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.

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About this Manual

This manual describes the specifications and system configuration of MP3200 Machine Controllers and the functionality of the CPU Units.

Read this manual carefully to ensure the correct usage of the Machine Controller and apply the Machine Controller to control your manufacturing system.

Keep this manual in a safe place so that it can be referred to whenever necessary.

Using this Manual

 Basic Terms

Unless otherwise specified, the following definitions are used:

Basic Terms Meaning

MP2000 A Machine Controller in the MP2000 Series

MP3000 A Machine Controller in the MP3000 Series

MPE720 The Engineering Tool or a personal computer running the Engineering Tool

PLC A Programmable Logic Controller

MP3200

Motion Control Function Modules

Communications Function Modules

A generic name for the Power Supply Unit, CPU Unit, Base Unit, and Rack Expansion Interface Unit

The Function Modules in the Motion Modules and the Function Modules in the SVC32 or SVR32 built into the CPU Units.

The Function Modules in the Communications Modules and the Function Modules in the 218IFD built into the CPU Units.

 MPE720 Engineering Tool Version Number

In this manual, the operation of MPE720 is described using screen captures of MPE720 version 7.

 Indication of Reverse Signals

In this manual, the names of reverse signals (ones that are valid when low) are written with a forward slash (/) before the signal name, as shown in the following example:

Notation Examples

•S-ON

•P-CON

= /S-ON

= /P-CON

 Terms Used to Describe “Torque”

Although the term “torque” is commonly used when describing rotary Servomotors and “force” is used when describing linear Servomotors, this manual uses “torque” when describing either one (excluding parameter names).

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Important

Note

Example

Information

Terms

 Copyrights

• MECHATROLINK is a trademark of the MECHATROLINK Members Association.

• DeviceNet is a registered trademark of the ODVA (Open DeviceNet Venders Association).

• PROFIBUS is a trademark of the PROFIBUS User Organization.

• Ethernet is a registered trademark of the Xerox Corporation.

• Other product names and company names are the trademarks or registered trademarks of the respective company. “TM” and the

mark do not appear with product or company names in this manual.

 Visual Aids

The following aids are used to indicate certain types of information for easier reference.

Indicates precautions or restrictions that must be observed.

Indicates alarm displays and other precautions that will not result in machine damage.

Indicates items for which caution is required or precautions to prevent operating mistakes.

Indicates operating or setting examples.

Indicates supplemental information to deepen understanding or useful information.

Indicates definitions of difficult terms or terms that have not been previously explained in this manual.

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Related Manuals

The following table lists the related manuals. Refer to these manuals as required.

Be aware of all product specifications and restrictions to product application before you attempt to use any product.

Category Manual Name Manual Number Contents

Describes the functions of the MP2000/ MP3000-series Machine Controllers and the procedures that are required to use the Machine Controller, from installation and connections to settings, programming, trial operation, and debugging.

Describes troubleshooting an MP3000series MP3200 Machine Controller.

Describes the functions, specifications, and application methods of the MP2200 Machine Controller.

Describes the functions, specifications, operating methods, maintenance, inspections, and troubleshooting of the MP2000-series MPU-01 Multi-CPU Module.

Describes the specifications, system configuration, and communications connection methods for the Ethernet communications that are used with an MP3000-series Machine Controller.

Provides information on the Communications Modules that can be connected to an MP2000-series Machine Controller and describes the communications methods.

Describes the specifications and communications methods for the FL-net Communications Module that can be connected to an MP2000-series Machine Controller.

Describes the specifications and communications methods for the EtherNet/IP Communications Module that can be connected to an MP2000-series Machine Controller.

Describes the specifications and communications methods for the CompoNet Communications Module that can be connected to an MP2000-series Machine Controller.

Continued on next page.

Basic functionality

Communications functionality

Machine Controller MP2000/MP3000 Series Machine Controller System Setup Manual

Machine Controller MP3000 Series MP3200 Troubleshooting Manual

Machine Controller MP2200 User’s Manual

Machine Controller MP2000 Series MPU-01 Multi-CPU Module User’s Manual

Machine Controller MP3000 Series Communications User’s Manual

Machine Controller MP2000 Series Communication Module User’s Manual

Machine Controller MP2000 Series 262IF-01 FL-net Communication Module User’s Manual

Machine Controller MP2000 Series 263IF-01 EtherNet/IP Communication Module User’s Manual

Machine Controller MP2000 Series 265IF-01 CompoNet Module User’s Manual

SIEP C880725 00

SIEP C880725 01

SIEP C880700 14

SIEP C880781 05

SIEP C880725 12

SIEP C880700 04

SIEP C880700 36

SIEP C880700 39

SIEP C880700 44

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Category Manual Name Manual Number Contents

Describes the specifications, system con-

Motion control functionality

Programming

Engineering Tools

I/O Modules

Machine Controller MP3000 Series Motion Control User’s Manual

Machine Controller MP2000 Series Pulse Output Motion Module PO-01 User’s Manual

Machine Controller MP2000 Series SVA-01 Motion Module User’s Manual

Machine Controller MP2000 Series Built-in SVB/SVB-01 Motion Module User’s Manual

Machine Controller MP2000 Series SVC-01 Motion Module User’s Manual

Machine Controller MP3000 Series Ladder Programming Manual

Machine Controller MP3000 Series Motion Programming Manual

Machine Controller MP2000/MP3000 Series MPLoader Ver. 4 User’s Manual

Machine Controller MP2000/MP3000 Series MPLoad Maker Version 4 User’s Manual

Machine Controller MP2000/MP3000 Series Engineering Tool MPE720 Version 7 User’s Manual

Machine Controller MP2000 Series Analog Input/Analog Output Module AI-01/AO-01 User’s Manual

Machine Controller MP2000 Series Counter Module CNTR-01 User’s Manual

Machine Controller MP2000 Series I/O Module User’s Manual

SIEP C880725 11

SIEP C880700 28

SIEP C880700 32

SIEP C880700 33

SIEP C880700 41

SIEP C880725 13

SIEP C880725 14

SIEP C880761 01

SIEP C880761 02

SIEP C880761 03

SIEP C880700 26

SIEP C880700 27

SIEP C880700 34

figuration, and operating methods for the SVC32/SVR32 Motion Function Modules that are used in an MP3000-series Machine Controller.

Describes the functions, specifications, and operating methods of the MP2000series PO-01 Motion Module.

Describes the functions, specifications, and operating methods of the MP2000series SVA-01 Motion Module.

Describes the functions, specifications, and operating methods of the MP2000series Motion Module (built-in Function Modules: SVB, SVB-01, and SVR).

Describes the functions, specifications, and operating methods of the MP2000series SVC-01 Motion Module.

Describes the ladder programming specifications and instructions of MP3000series Machine Controller.

Describes the motion programming and sequence programming specifications and instructions of MP3000-series Machine Controller.

Describes how to install and operate the MPLoader.

Describes how to install and operate the MPLoad Maker.

Describes how to operate MPE720 version 7.

Describes the functions, specifications, and operating methods of the AI-01 and AO-01 I/O Modules for MP2000-series Machine Controllers.

Describes the functions, specifications, and operating methods of the CNTR-01 Counter Module for MP2000-series Machine Controllers.

Describes the functions, specifications, and operating methods of the LIO-01, LIO-02, LIO-04, LIO-05, LIO-06, and DO-01 I/O Modules for MP2000-series Machine Controllers.

Continued from previous page.

Continued on next page.

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Continued from previous page.

Category Manual Name Manual Number Contents

Describes the functions, specifications,

MECHATROLINK I/O

MECHATROLINK-III Compatible I/O Module User’s Manual

Machine Controller MP900/MP2000 Series Distributed I/O Module User’s Manual MECHATROLINK System

SIEP C880781 04

SIE-C887-5.1

operating methods, and MECHATROLINK-III communications for the Remote I/O Modules for MP2000/ MP3000-series Machine Controllers.

Describes MECHATROLINK distributed I/O for MP900/MP2000-series Machine Controllers.

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CAUTION

PROHIBITED

MANDATORY

WARNING

Safety Precautions

The following signal words and marks are used to indicate safety precautions in this manual.

Information marked as shown below is important for safety. Always read this information and heed the precautions that are provided.

WARNING

The following precautions are for storage, transportation, installation, wiring, operation, maintenance, inspection, and disposal. These precautions are important and must be observed.

Indicates precautions that, if not heeded, could possibly result in loss of life or serious injury.

Indicates precautions that, if not heeded, could result in relatively serious or minor injury, or property damage.

If not heeded, even precautions classified as cautions ( ) can lead to serious results depending on circumstances.

Indicates prohibited actions. For example, indicates prohibition of open flame.

Indicates mandatory actions. For example, indicates that grounding is required.

CAUTION

 General Precautions

• The installation must be suitable and it must be performed only by an experienced technician.

There is a risk of electrical shock or injury.

• Before connecting the machine and starting operation, make sure that an emergency stop procedure has been provided and is working correctly.

There is a risk of injury.

• Do not approach the machine after a momentary interruption to the power supply. When power is restored, the Machine Controller and the device connected to it may start operation suddenly. Provide safety measures in advance to ensure human safety when operation restarts.

There is a risk of injury.

• Do not touch anything inside the Machine Controller.

There is a risk of electrical shock.

• Do not remove the front cover, cables, connector, or options while power is being supplied.

There is a risk of electrical shock, malfunction, or damage.

• Do not damage, pull on, apply excessive force to, place heavy objects on, or pinch the cables.

There is a risk of electrical shock, operational failure of the product, or burning.

• Do not attempt to modify the Machine Controller in any way.

There is a risk of injury or device damage.

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 Storage and Transportation

• Do not store the Machine Controller in any of the following locations.

• Locations that are subject to direct sunlight

• Locations that are subject to ambient temperatures that exceed the storage conditions

• Locations that are subject to ambient humidity that exceeds the storage conditions

• Locations that are subject to rapid temperature changes and condensation

• Locations that are subject to corrosive or inflammable gas

• Locations that are subject to excessive dust, dirt, salt, or metallic powder

• Locations that are subject to water, oil, or chemicals

• Locations that are subject to vibration or shock There is a risk of fire, electrical shock, or device damage.

• Hold onto the main body of the Machine Controller when transporting it.

Holding the cables or connectors may damage them or result in injury.

• Do not overload the Machine Controller during transportation. (Follow all instructions.)

There is a risk of injury or an accident.

• Never subject the Machine Controller to an atmosphere containing halogen (fluorine, chlorine, bromine, or iodine) during transportation.

There is a risk of malfunction or damage.

• If disinfectants or insecticides must be used to treat packing materials such as wooden frames, pallets, or plywood, the packing materials must be treated before the product is packaged, and methods other than fumigation must be used.

Example: Heat treatment, where materials are kiln-dried to a core temperature of 56°C for 30 minutes or more.

If the electronic products, which include stand-alone products and products installed in machines, are packed with fumigated wooden materials, the electrical components may be greatly damaged by the gases or fumes resulting from the fumigation process. In particular, disinfectants containing halogen, which includes chlorine, fluorine, bromine, or iodine can contribute to the erosion of the capacitors.

CAUTION

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CAUTION

 Installation

• Do not install the Machine Controller in any of the following locations.

• Never install the Machine Controller in an atmosphere containing halogen (fluorine, chlorine,

• Do not step on the Machine Controller or place heavy objects on the Machine Controller.

• Do not block the air exhaust ports on the Machine Controller. Do not allow foreign objects to

• Always mount the Machine Controller in the specified orientation.

• Leave the specified amount of space between the Machine Controller, and the interior surface

• Do not subject the Machine Controller to strong shock.

• Suitable Battery installation must be performed and it must be performed only by an experi-

• Do not touch the electrodes of the Battery.

• Locations that are subject to direct sunlight

• Locations that are subject to ambient temperatures that exceed the operating conditions

• Locations that are subject to ambient humidity that exceeds the operating conditions

• Locations that are subject to rapid temperature changes and condensation

• Locations that are subject to corrosive or inflammable gas

• Locations that are subject to excessive dust, dirt, salt, or metallic powder

• Locations that are subject to water, oil, or chemicals

• Locations that are subject to vibration or shock There is a risk of fire, electrical shock, or device damage.

bromine, or iodine).

There is a risk of malfunction or damage.

There is a risk of injury or an accident.

enter the Machine Controller.

There is a risk of internal element deterioration, malfunction, or fire.

There is a risk of malfunction.

of the control panel and other devices.

There is a risk of fire or malfunction.

There is a risk of malfunction.

enced technician.

There is a risk of electrical shock, injury, or device damage.

Static electricity may damage the Battery.

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 Wiring

Example of Separated Cables

Power cable

I/O signal

cables in

control circuits

Steel separator

• Check the wiring to be sure it has been performed correctly.

There is a risk of motor run-away, injury, or accidents.

• Always use a power supply of the specified voltage.

There is a risk of fire or accident.

• In places with poor power supply conditions, ensure that the input power is supplied within the specified voltage range.

There is a risk of device damage.

• Install breakers and other safety measures to provide protection against shorts in external wiring.

There is a risk of fire.

• Provide sufficient shielding when using the Machine Controller in the following locations.

• Locations that are subject to noise, such as from static electricity

• Locations that are subject to strong electromagnetic or magnetic fields

• Locations that are subject to radiation

• Locations that are near power lines There is a risk of device damage.

• Configure the circuits to turn ON the power supply to the CPU Unit before the 24-V I/O power supply. Refer to the following manual for details on circuits.

If the power supply to the CPU Unit is turned ON after the external power supply, e.g., the 24-V I/O power supply, the outputs from the CPU Unit may momentarily turn ON when the power supply to the CPU Unit turns ON. This can result in unexpected operation that may cause injury or device damage.

• Provide emergency stop circuits, interlock circuits, limit circuits, and any other required safety measures in control circuits outside of the Machine Controller.

There is a risk of injury or device damage.

• If you use MECHATROLINK I/O Modules, use the establishment of MECHATROLINK communications as an interlock output condition.

There is a risk of device damage.

• Connect the Battery with the correct polarity.

There is a risk of battery damage or explosion.

• Select the I/O signal wires for external wiring to connect the Machine Controller to external devices based on the following criteria:

• Mechanical strength

• Noise interference

• Wiring distance

• Signal voltage

• Separate the I/O signal cables for control circuits from the power cables both inside and outside the control panel to reduce the influence of noise from the power cables.

If the I/O signal lines and power lines are not separated properly, malfunction may occur.

CAUTION

MP3000 Series CPU Unit Instructions (Manual No.: TOBP C880725 16)

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CAUTION

 Operation

• Follow the procedures and instructions in the user’s manuals for the relevant products to per-

• Implement interlock signals and other safety circuits external to the Machine Controller to

form normal operation and trial operation.

Operating mistakes while the Servomotor and machine are connected may damage the machine or even cause accidents resulting in injury or death.

ensure safety in the overall system even if the following conditions occur.

• Machine Controller failure or errors caused by external factors

• Shutdown of operation due to Machine Controller detection of an error in self-diagnosis and the subsequent turning OFF or holding of output signals

• Holding of the ON or OFF status of outputs from the Machine Controller due to fusing or burning of output relays or damage to output transistors

• Voltage drops from overloads or short-circuits in the 24-V output from the Machine Controller and the subsequent inability to output signals

• Unexpected outputs due to errors in the power supply, I/O, or memory that cannot be detected by the Machine Controller through self-diagnosis.

There is a risk of injury, device damage, or burning.

 Maintenance and Inspection

• Do not attempt to disassemble or repair the Machine Controller.

There is a risk of electrical shock, injury, or device damage.

• Do not change any wiring while power is being supplied.

There is a risk of electrical shock, injury, or device damage.

• Suitable Battery replacement must be performed and it must be performed only by an experienced technician.

There is a risk of electrical shock, injury, or device damage.

• Replace the Battery only while power is supplied to the MP3200.

Replacing the Battery while the power supply to the MP3200 is turned OFF may result in loss of the data stored in memory in the MP3200.

• When you replace the Battery, do not touch the electrodes of the Battery.

Static electricity may damage the Battery.

• Do not forget to perform the following tasks when you replace the CPU Unit:

• Back up all programs and parameters from the CPU Unit that is being replaced.

• Transfer all saved programs and parameters to the new CPU Unit. If you operate the CPU Unit without transferring this data, unexpected operation may occur. There is a

risk of injury or device damage.

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 Disposal

• Dispose of the Machine Controller as general industrial waste.

• Observe all local laws and ordinances when you dispose of used Batteries.

 Other General Precautions

Observe the following general precautions to ensure safe application.

• The products shown in the illustrations in this manual are sometimes shown without covers or protective guards. Always replace the cover or protective guard as specified first, and then operate the products in accordance with the manual.

• The illustrations that are presented in this manual are typical examples and may not match the product you received.

• If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the offices listed on the back of this manual.

CAUTION

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Warranty

 Details of Warranty

 Warranty Period

The warranty period for a product that was purchased (hereinafter called “delivered product”) is one year from the time of delivery to the location specified by the customer or 18 months from the time of shipment from the Yaskawa factory, whichever is sooner.

 Warranty Scope

Yaskawa shall replace or repair a defective product free of charge if a defect attributable to Yaskawa occurs during the warranty period above. This warranty does not cover defects caused by the delivered product reaching the end of its service life and replacement of parts that require replacement or that have a limited service life.

This warranty does not cover failures that result from any of the following causes.

• Improper handling, abuse, or use in unsuitable conditions or in environments not described in product catalogs or manuals, or in any separately agreed-upon specifications

• Causes not attributable to the delivered product itself

• Modifications or repairs not performed by Yaskawa

• Abuse of the delivered product in a manner in which it was not originally intended

• Causes that were not foreseeable with the scientific and technological understanding at the time of shipment from Yaskawa

• Events for which Yaskawa is not responsible, such as natural or human-made disasters

 Limitations of Liability

• Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product.

• Yaskawa shall not be responsible for any programs (including parameter settings) or the results of program execution of the programs provided by the user or by a third party for use with programmable Yaskawa products.

• The information described in product catalogs or manuals is provided for the purpose of the customer purchasing the appropriate product for the intended application. The use thereof does not guarantee that there are no infringements of intellectual property rights or other proprietary rights of Yaskawa or third parties, nor does it construe a license.

• Yaskawa shall not be responsible for any damage arising from infringements of intellectual property rights or other proprietary rights of third parties as a result of using the information described in catalogs or manuals.

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 Suitability for Use

• It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that apply if the Yaskawa product is used in combination with any other products.

• The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by the customer.

• Consult with Yaskawa to determine whether use in the following applications is acceptable. If use in the application is acceptable, use the product with extra allowance in ratings and specifications, and provide safety measures to minimize hazards in the event of failure.

• Outdoor use, use involving potential chemical contamination or electrical interference, or use in conditions or environments not described in product catalogs or manuals

• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, vehicle systems, medical equipment, amusement machines, and installations subject to separate industry or government regulations

• Systems, machines, and equipment that may present a risk to life or property

• Systems that require a high degree of reliability, such as systems that supply gas, water, or electricity, or systems that operate continuously 24 hours a day

• Other systems that require a similar high degree of safety

• Never use the product for an application involving serious risk to life or property without first ensuring that the system is designed to secure the required level of safety with risk warnings and redundancy, and that the Yaskawa product is properly rated and installed.

• The circuit examples and other application examples described in product catalogs and manuals are for reference. Check the functionality and safety of the actual devices and equipment to be used before using the product.

• Read and understand all use prohibitions and precautions, and operate the Yaskawa product correctly to prevent accidental harm to third parties.

 Specifications Change

The names, specifications, appearance, and accessories of products in product catalogs and manuals may be changed at any time based on improvements and other reasons. The next editions of the revised catalogs or manuals will be published with updated code numbers. Consult with your Yaskawa representative to confirm the actual specifications before purchasing a product.

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About this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii

Using this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii

Related Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v

Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . viii

Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv

Introduction

1.1

1.2

1.3

1.4

1.5

Definition of Terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-2

MP3200 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-2

Racks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

Main Rack and Expansion Racks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-3

Rack Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-6

Unit Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-7

Slot Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-7

System Configuration Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-8

Devices and Components That Are Required to Build a System . . . . . . .1-9

MP3200 Unit List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11

Optional Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12

Precautions When Combining Products . . . . . . . . . . . . . . . . . . . . . . . . .1-14

Precautions When Combining MP3200 Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-14

Precautions When Combining Optional Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-14

Precautions When Setting the Parameters. . . . . . . . . . . . . . . . . . . . . . .1-15

Precautions When Setting the Circuit Numbers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15

Precautions When Setting Module Configuration Definitions . . . . . . . . . . . . . . . . . . . . .1-15

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Appearances and Parts

2.1

2.2

2.3

Power Supply Units. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2

Appearance and Part Names. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2

Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2

Connectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3

CPU Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-5

Appearance and Part Names. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-5

Display and Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-6

Switches. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-9

Connectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-11

Fan. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12

Temperature Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13

Base Units. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-14

Appearance and Part Names. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-14

Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-14

Page 17

2.4

Rack Expansion Interface Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-15

Appearance and Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-15

Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-16

Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-17

CPU Unit Functionality

3.1

3.2

Basic Functionality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19

Execution Scheduling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-31

Scans . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-32

Function Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-38

Self Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-38

Communications Function Module (218IFD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-48

Motion Control Function Modules (SVC32 and SVR32) . . . . . . . . . . . . . . . . . . . . . . . . 3-50

The M-EXECUTOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-56

Data Logging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-70

USB Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-85

File Transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-89

Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-93

Calendar. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-93

3.3

Multi-CPU Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-94

Differences between Sub CPU Synchronization and Slave CPU Synchronization . . . . 3-94

Sub CPU Synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-95

Slave CPU Synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-108

Specifications

4.1

4.2

4.3

MP3200 Installation and Usage Conditions . . . . . . . . . . . . . . . . . . . . . . . 4-2

Control Panel Cooling Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2

Power Supply Unit Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-4

CPU Unit Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5

Hardware Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5

Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6

Communications Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9

Motion Control Function Module Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10

M-EXECUTOR Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-11

USB Memory Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12

System Register Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13

4.4

4.5

Base Unit Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-80

Rack Expansion Interface Unit Specifications . . . . . . . . . . . . . . . . . . . . 4-81

xvii

Page 18

External Dimensions

5.1

5.2

5.3

5.4

Power Supply Units. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-2

CPU Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-3

Base Units. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-4

Rack Expansion Interface Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-6

Index

Revision History

xviii

Page 19

Introduction

This chapter introduces the MP3200.

1.1

1.2

1.3

1.4

1.5

Definition of Terms . . . . . . . . . . . . . . . . . . . . . . . . 1-2

MP3200 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

Racks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

Main Rack and Expansion Racks . . . . . . . . . . . . . . . . . . . . . . 1-3

Rack Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

Unit Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7

Slot Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7

System Configuration Example . . . . . . . . . . . . . . 1-8

Devices and Components That Are Required to Build a System 1-9

MP3200 Unit List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11

Optional Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12

Precautions When Combining Products . . . . . . 1-14

Precautions When Combining MP3200 Units . . . . . . . . . . . 1-14

Precautions When Combining Optional Modules . . . . . . . . . 1-14

Precautions When Setting the Parameters . . . . 1-15

Precautions When Setting the Circuit Numbers . . . . . . . . . . 1-15

Precautions When Setting Module Configuration

Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15

Page 20

1.1 Definition of Terms

Power

Supply Unit

CPU Unit

Power

Supply Unit

CPU Unit Base Unit

Rack Expansion

Interface Unit

Power

Supply Unit

CPU Unit

Rack Expansion

Interface Unit

Power

Supply Unit

CPU Unit

Base Unit

MP3200

1.1

Definition of Terms

This section defines terms that have specific meanings in this manual.

MP3200

”MP3200” is a collective term that refers to the four Units in the following table.

Unit Name Primary Function

Power Supply Unit

CPU Unit

Base Unit Used to mount Optional Modules.

Rack Expansion Interface Unit Used to expand a Rack.

MP3200 Connection Example

The MP3200 is typically connected as shown in the following examples.

Supplies the power that is needed for the operation of the Units that are connected to each other and to any Optional Modules that are connected in the Controller.

Stores the module definitions and programs, and interprets the programs. The CPU Unit also controls the Optional Modules.

1-2

Page 21

1.1 Definition of Terms

Introduction

Power

Supply Unit

CPU Unit Optional Unit Base Unit

Racks

A Rack is a set of Units that are connected to each other.

Connection Example

Main Rack and Expansion Racks

You can add Units and Optional Modules to a Rack to expand functionality. However, if a restriction such as the power supply capacity or number of Base Unit slots for one Rack is exceeded, you must add an Expansion Rack.

You can achieve the following things by adding Units or Optional Modules to a Rack.

• Increase the number of Optional Modules that you can use.

• Increase the number of axes that are controlled.

• Use more than one CPU Unit to increase the speed of system response.

* You can not only add Expansion Racks, but you can also achieve more things by expanding the system.

Refer to the following section for details on Sub CPU synchronization and slave CPU synchronization.

If you add Racks, the Racks are classified into the Main Rack and Expansion Racks.

Type Description

Main Rack

Expansion Racks

The method for adding Expansion Racks depends on the number of CPU Units that you use.

Number of CPU Units in Use Method to Add Expansion Racks

One CPU Unit

Two CPU Units

Three or more CPU Units

*1. Refer to the following manual for details on the MP2200 Base Unit and EXIOIF Module.

MP2200 Series User’s Manual (Manual No.: SIEP C880700 14)

• If you add an Expansion Rack, you can use Sub CPU synchronization under a Main CPU Unit.

• If you expand the system, you can use slave CPU synchronization with the CPU Units.

3.3 Multi-CPU Functions (page 3-94)

The Main Rack contains the Main CPU Unit. There can be only one Main Rack in any one system configuration.

Expansion Racks are connected to the Main Rack. You can connect up to six Expansion Racks to the Main Rack. (You can connect up to three Expansion Racks by using a Rack Expansion Interface Unit and up to three Expansion Racks by using EXIOIF Modules.)

Use MP2200 Base Units and EXIOIF Modules (MP2000-series Optional Mod-

ules) to add Expansion Racks.

Use one of the following methods.

• Method 1

Expand the Main Rack by connecting two CPU Units to it.

• Method 2 Use a Rack Expansion Interface Unit to add Expansion Racks.

Use the following method 1 and method 2 together, or use only method 2.

• Method 1

Expand the Main Rack by connecting two CPU Units to it.

• Method 2 Use a Rack Expansion Interface Unit to add Expansion Racks.

1-3

Page 22

1.1 Definition of Terms

Main Rack and Expansion Racks

*2. To mount the Unit with screws, use the JEPMC-OP3006-E or JEPMC-OP3007-E Rack Reinforcement Bracket.

Refer to the following section for an expansion example.

MP3200 Expansion Example (page 1-5)

1-4

Page 23

Introduction

MP3200 Expansion Example

An MP3200 expansion example is given in the following figure.

1.1 Definition of Terms

Main Rack and Expansion Racks

Rack Expansion Interface Unit

MP2200

MBU-02

EXIOIF Module

MP2200 Base Unit

EXIOIF Module

EXIOIF

CPU Unit

Main Rack

Expansion Racks (up to 6 Racks)

MP2200

EXIOIF

MBU-02

EXIOIF

EXIOIF Module

MP2200 Base Unit

MP2200

MBU-02

EXIOIF Module

MP2200 Base Unit

EXIOIF

Expansion Racks added by using EXIOIF Modules (up to 3 Racks)

CPU Unit Rack Expansion Interface Unit

Expansion Racks added by using a Rack Expansion Interface Unit (up to 3 Racks)

CPU Unit Rack Expansion Interface Unit

*1. Refer to the following manual for details on the MP2200 Base Unit and EXIOIF Module.

MP2200 Series User’s Manual (Manual No.: SIEP C880700 14)

*2. If you use two CPU Units, you can connect to the Main Rack without adding an Expansion Rack. To mount the CPU

Units with screws, use the JEPMC-OP3006-E or JEPMC-OP3007-E Rack Reinforcement Bracket.

1-5

Page 24

1.1 Definition of Terms

Information

Rack 1 Racks 2 and 3 Rack 5

Rack number of Expansion Racks added by using the Rack Expansion Interface Unit Rack numbers of Expansion Racks added by using EXIOIF Modules Rack number of Main Rack

Rack Numbers

When you add Expansion Racks, the MPE720 automatically assigns a number to each Rack so that the Racks can be identified.

Rack No. Description

Rack 1 Main Rack

Rack 2

Rack 4

Rack 5

Rack 6

Rack 7

Expansion Racks added by using EXIOIF ModulesRack 3

The Expansion Rack that is connected to port 1 on the Rack Expansion Interface Unit on the Main Rack

Expansion Racks added by using a Rack Expansion Interface Unit

The Expansion Rack that is connected to port 2 on the Rack Expansion Interface Unit on the Main Rack

The Expansion Rack that is connected to port 3 on the Rack Expansion Interface Unit on the Main Rack

Depending on how the Expansion Racks are connected, the Rack numbers may not be sequential. Example: If two Expansion Rack were connected with EXIOIF Modules and one Expansion Rack was connected with a Rack Expansion Interface Unit, the Rack numbers would be as shown below.

There would be no rack 4.

The following figure illustrates Rack numbers.

EXIOIF

MP2200

BU-02

WER

Rack 2 Rack 3 Rack 4

EXIOIF

Rack 1

MP2200

WER

BU-02

Rack 5

Rack 6

MP2200

EXIOIF

BU-02

WER

EXIOIF

Rack 7

1-6

Page 25

1.1 Definition of Terms

Introduction

Unit Numbers

The MPE720 automatically assigns Unit numbers to the Units on each Rack so that the Units can be identified.

Numbers 1 to 5 are assigned to the Units in order from the left.

Slot Numbers

The MPE720 automatically assigns slot numbers to the slots on the Base Unit so that the slots can be identified.

Numbers 1 to 9* are assigned to the slots in order from the left.

* The highest slot number depends on the specifications of the Base Unit.

1-7

Page 26

1.2 System Configuration Example

MP2200

MBU-02

EXIOIF

MP2200

MBU-02

EXIOIF

Ethernet



Ethernet communications cables

Ethernet

266IF-02

217IF-01

218IF-01

218IF-02

260IF-01

261IF-01

263IF-01

264IF-01

265IF-01

266IF-01

SVA-01

SVB-01

PO-01

SVC-01

MPU-01

Motion Modules

EXIOIF

Expansion Rack Module

MPALL00-0

MPAL000-0

AFMP-01

MPANL00-0

AFMP-02-C/-CA

MPAN000-0

Other Modules (including those from other manufacturers)

External outputs

External inputs

RS-232C

Ethernet

DeviceNet

PROFIBUS

RS422/485

215 communications

SERVOPACKs

AnyWire

A-net/A-link

CC-Link

Up to 42 stations, including I/O (Up to 32 of the stations can be Servos.)

LIO-01

LIO-02

LIO-04

LIO-05

DO-01

LIO-06

AI-01

AO-01

CNTR-01

I/O

Servomotor



MP3200

EXIOIF Module Cable

MECHATROLINK-III

EXIOIF

262IF-01

215AIF-01

MPCUNET-0

*1, *2

MPE720 Integrated Engineering Tool Version 7



Optional Modules

Communications Modules



MECHATROLINK-III Cable

SERVOPACK with

MECHATROLINK-III

Communications



I/O Module with

MECHATROLINK-

III

Communications

I/O Modules

Host PLC

24-VDC power supply, AC power supply, or status monitoring device



Power supply cable

24-VDC power supply or AC power supply



Battery



Front cover for

unused slot



RLYOUT

connector cable



Battery



Front cover for

unused slot



Battery



Front cover for

unused slot



Power supply cable



Power supply cable



Power supply cable

24-VDC power supply or AC power supply



Battery



Front cover for

unused slot

Rack Expansion Interface Unit Cable

1.2

System Configuration Example

The following figure shows a typical system configuration. Refer to the following section for details on 1 to 11 in the following figure.

1.3 Devices and Components That Are Required to Build a System (page 1-9)

1-8

*1. This manual primarily describes this area. *2. Refer to the following section for an MP3200 expansion example.

MP3200 Expansion Example (page 1-5)

Page 27

1.3 Devices and Components That Are Required to Build a System

Introduction

1.3

Devices and Components That Are Required to Build a System

The following table lists the devices and components that are required to build the system that is shown in

1.2 System Configuration Example (page 1-8). The numbers 1 to 13 correspond to the numbers in the figure in 1.2 System Configuration Example (page 1-8).

No. Name Use Model Remarks

Supplies the power that is needed for the operation

Power Supply Unit



MP3200

CPU Unit

Base Unit

Rack Expansion Interface Unit

Ethernet communica-



tions cables

Battery with Special



Connector

Power supply cable



RLYOUT connector



cable

Front cover for



unused slot

Optional Modules



of the Units that are connected to each other and to any Optional Modules that are connected in the Controller.

Stores the module definitions and programs, and interprets the programs. The CPU Unit also controls the Optional Modules.

Used to mount Optional Modules.

Used to expand a Rack.

Used to connect the CPU Unit to Ethernet communications devices or to connect the CPU Unit to a PC that has the MPE720 installed on it.

Provides power for the calendar and backup memory while the power is turned OFF.

Connects the Power Supply Unit to a 24-VDC power supply or an AC power supply.

Connects the Power Supply Unit to a 24-VDC power supply, an AC power supply, or a status monitoring device.

Used to cover unused slots on the Base Unit.

Motion Modules, I/O Modules, and Communications Modules are selected based on the application.

Refer to the following section for details.

MP3200 Unit List (page 1-11)

Use a commercially available cable that meets the following conditions:

• Ethernet specification: 100Base-TX

• Category 5 or higher

• Twisted-pair cable with RJ-45 connectors

Use a cross cable that meets the above conditions to connect the Main CPU Unit to a Sub CPU Unit or to connect two Sub CPU Units.

JEPMC-OP3005 The Battery is provided with the CPU Unit.

Use a commercially available cable that meets the following conditions:

• Wire size: AWG18 to AWG13 (0.8 to 2.6 mm

• Twisted-pair cable

Use a commercially available cable that meets the following conditions:

• Wire size: AWG28 to AWG14 (0.08 to 2.0 mm

JEPMC-OP2300 −

Refer to the following section for details.

Optional Modules (page 1-12)

)

Continued on next page.

1-9

Page 28

1.3 Devices and Components That Are Required to Build a System

Continued from previous page.

No. Name Use Model Remarks

Standard cable Length: 0.2 to 50 m

Cable with ferrite cores Length: 10 to 50 m

Cable with loose wires at one end Length: 0.5 to 50 m

Σ-V-series AC SERVOPACK with MECHATROLINK-III Communications for Rotational Motor

Σ-V-series AC SERVOPACK with MECHATROLINK-III Communications for Linear Motor

MECHATROLINK-



III Cable

SERVOPACK with MECHATROLINK-



III Communications

Connects the CPU Unit to MECHATROLINK-III Communications devices.

Used to control Servomotors.

JEPMC-W6012-E

JEPMC-W6013-E

JEPMC-W6014-E

SGDV- 21

SGDV- 25

64-point I/O Module

Analog Input Module



Analog Output Module

Pulse Train Input Module

I/O Modules with MECHATROLINK-III Communications

Pulse Train Output Module

MPE720 Integrated Engineering Tool Ver sio n 7

Rack Expansion Interface Unit Cable

EXIOIF Module Cable*

Used to input or output digital, analog, or pulse train signals.

Used to adjust, maintain, and program AC Servo Drives and Inverters that are connected to the network.

Used to use a Rack Expansion Interface Unit to connect the Main Rack to an Expansion Rack.

Used to use an EXIOIF Module to connect the Main Rack to an Expansion Rack or to connect two Expansion Racks.

JEPMC-MTD2310-E 24 VDC, 64 inputs, 64 outputs

JEPMC-MTA2900-E 8 analog input channels

JEPMC-MTA2910-E 4 analog output channels

JEPMC-MTP2900-E 2 pulse-train inputs

JEPMC-MTP2910-E 4 pulse-train outputs

CPMC-MPE780 −

JEPMC-W3401-A5-E Length: 0.5 m

JEPMC-W3401-2A5-E Length: 2.5 m

JEPMC-W3401-06-E Length: 6.0 m

JEPMC-W2094-A5-E Length: 0.5 m

• Connector on both ends with ferrite cores

• Wire size: AWG28

• Twin coaxial cable

• If you use more than one Cable, do not allow the total cable length to

JEPMC-W2094-01-E Length: 1.0 m

exceed 6 m.

• Connector on both ends with ferrite cores

JEPMC-W2094-2A5-E Length: 2.5 m

• Wire size: AWG28

• Equivalent to UL20276.

Continued on next page.

1-10

Page 29

1.3 Devices and Components That Are Required to Build a System

Introduction

Continued from previous page.

No. Name Use Model Remarks

Panel-mounting

−

Bracket

Rack Reinforcement

−

Bracket

* You cannot use an MP2000-series EXIOIF Module Cable (model: JEPMC-W2091-()).

Used to mount the MP3200 inside a control panel.

Used to mount the Sub CPU Unit to the Main Rack with screws.

JEPMC-OP3001-E

JEPMC-OP3006-E

JEPMC-OP3007-E

This Attachment is provided with the Power Supply Unit.

Refer to the following manual for information on model selection and mounting methods.

MP2200/MP3000 Series Machine Controller System Setup Manual (Manual No.: SIEP C880725 00)

MP3200 Unit List

The following table lists the MP3200 Units.

MP3200 Unit List

Observe all precautions when combining MP3200 Units. Refer to the following section for details.

Note

Power Supply Units

CPU Unit

Base Units

Rack Expansion Interface Unit

* Refer to the following section for details.

3.2 Function Modules - Motion Control Function Modules (SVC32 and SVR32) (page 3-50)

Precautions When Combining MP3200 Units (page 1-14)

Unit

Motion Control Function Module

Communications Function Module

Abbrevia-

tion

PSA-12 JEPMC-PSA3012-E AC power supply −

PSD-12 JEPMC-PSD3012-E DC power supply −

CPU-201 JEPMC-CP3201-E − 2,000 mA

CPU-202 JEPMC-CP3202-E − 4,000 mA

SVC32 − MECHATROLINK -III −

SVR32 − Virtual axes* −

218IFD − Ethernet −

MBU-B03 JEPMC-BUB3003-E 3 slots 10 mA

MBU-B05 JEPMC-BUB3005-E 5 slots 10 mA

MBU-B08 JEPMC-BUB3008-E 8 slots 10 mA

EXU-001 JEPMC-EXU3001-E For Main Rack 1,500 mA

EXU-002 JEPMC-EXU3002-E For Expansion Rack 1,500 mA

Model Description

Maximum

Internal Current

Consumption

1-11

Page 30

1.3 Devices and Components That Are Required to Build a System

Optional Modules

You can add the Optional Modules that are listed in the following table for as many open slots there are in the Base Unit.

Observe all precautions when combining Optional Modules. Refer to the following section for details.

Note

Unit Abbreviation Model Description

Motion Modules

Communications Modules

* Refer to the manuals for individual Optional Modules for details.

Precautions When Combining Optional Modules (page 1-14)

SVC-01 JAPMC-MC2320-E MECHATROLINK -III × 1 460 mA

SVB-01 JAPMC-MC2310-E MECHATROLINK -II × 1 470 mA

SVA-01 JAPMC-MC2300 2-axis analog servo interface 540 mA

PO-01 JAPMC-PL2310-E 4-axis control with pulse-train output 760 mA

MPU-01 JAPMC-CP2700-E

217IF-01 JAPMC-CM2310-E RS-232C/RS-422 communications 240 mA

218IF-01

218IF-02

JAPMC-CM2300-E

JAPMC-CM2302-E

260IF-01 JAPMC-CM2320-E RS-232C/DeviceNet communications 150 mA

261IF-01

262IF-01

263IF-01

264IF-01

JAPMC-CM2330-E RS-232C/PROFIBUS communications 260 mA

JAPMC-CM2303-E FL-net communications 480 mA

JAPMC-CM2304-E EtherNet/IP communications 480 mA

JAPMC-CM2305-E EtherCAT (EtherCAT slave) 540 mA

265IF-01 JAPMC-CM2390-E

266IF-01 JAPMC-CM2306-E PROFINET master 540 mA

266IF-02 JAPMC-CM2307-E PROFINET slave 540 mA

215AIF-01

JAPMC-CM2360-E RS-232C/MPLINK communications 410 mA

JAPMC-CM2361 RS-232C/CP-215 communications 420 mA

AFMP-01 −

AFMP-02-C − CC-Link by Anywire Corporation

AFMP-02-CA −

MPANL00-0

MPALL00-0

MPAL000-0

MPAN000-0

− A-net/A-Link by ALGO System

− A-Link/A-Link by ALGO System

− A-Link by ALGO System

− A-net by ALGO System

MPCUNET-0 − CUnet by ALGO System

Optional Module with CPU Unit and SVC-01 functionality MECHATROLINK -III × 1

RS-232C/Ethernet communications (10Base-T)

RS-232C/Ethernet communications (100Base-TX/10Base-T)

CompoNet (I/O communications and message communications)

Anywire-Master DB by Anywire Corporation

CC-Link and Anywire-Master DB by Anywire Corporation

Continued on next page.

Maximum

Internal Current

Consumption

580 mA

360 mA

480 mA

200 mA

1-12

Page 31

1.3 Devices and Components That Are Required to Build a System

Introduction

Unit Abbreviation Model Description

16 inputs, 16 sinking outputs, 1 pulsetrain input

16 inputs, 16 sourcing outputs, 1 pulsetrain input

8 digital inputs, 8 digital sinking outputs 1 analog input channel and 1 analog output channel 1 pulse-train counter channel

2 counter channels, input circuits: 5 V or 12 V

I/O Modules

Expansion Rack Module

LIO-01 JAPMC-IO2300-E

LIO-02 JAPMC-IO2301-E

LIO-04 JAPMC-IO2303-E 32 inputs, 32 sinking outputs 400 mA

LIO-05 JAPMC-IO2304-E 32 inputs, 32 sourcing outputs 400 mA

LIO-06 JAPMC-IO2305-E

DO-01

AI-01 JAPMC-AN2300-E 8 analog input channels 340 mA

AO-01 JAPMC-AN2310-E 4 analog output channels 740 mA

CNTR-01

EXIOIF JAPMC-EX2200-E −−

JAPMC-DO2300-E 64 sinking outputs 500 mA

JAPMC-PL2300-E

Optional Modules

Continued from previous page.

Maximum

Internal Current

Consumption

300 mA

500 mA

610 mA

1-13

Page 32

1.4 Precautions When Combining Products

Power Supply Unit CPU Unit Base Unit

Rack Expansion

Interface Unit (for Main Rack or Expansion Rack)

Precautions When Combining MP3200 Units

1.4

Precautions When Combining Products

The following precautions must be observed when combining the MP3200 Units and Optional Modules.

Precautions When Combining MP3200 Units

There are restrictions in the order in which you can connect the Units. Build the Rack by connecting each Unit in the order that is shown below.

The Units will not operate if they are connected in the wrong order (e.g., if the Base Unit is connected to the left side of the Power Supply Unit).

Note

Precautions When Combining Optional Modules

When combining Optional Modules, make sure the following conditions are met.

• The output current of the Power Supply Unit or less of the rated current capacity.

* This is the total of the maximum internal current consumption of the Base Units and Optional Modules that are con-

nected to the Power Supply Unit.

Always attach the front covers to unused slots on the Base Unit.

Note

must be held to approximately 75% (approximately 9 A)

1-14

Page 33

1.5 Precautions When Setting the Parameters

Introduction

Precautions When Setting the Circuit Numbers

1.5

Precautions When Setting the Parameters

Observe the following precautions when setting the MP3200.

Precautions When Setting the Circuit Numbers

When assigning circuit numbers to the Motion Control and Communications Function Modules, the numbers must be within the following ranges.

Circuit

numbers

1 to 16

1 to 8

Function Modules in CPU Unit

Optional Modules

Unit Abbreviations of Built-in Modules

Motion Control Function Module

Communications Function Module

Motion Modules

Communications Modules

SVC32, SVR32 1 to 16

218IFD 1 to 8

SVA-01 (SVA), SVB-01 (SVB01), SVC-01 (SVC), MPU-01 (MPUIF), PO-01 (PO)

217IF-01 (217IF) 1 to 16

218IF-01 (218IF), 218IF-02 (218IFB), 260IF-01 (260IF (DeviceNet)), 261IF-01 (261IFS (Profibus)), 262IF-01 (FL-net),

263IF-01 (EtherNet/IP), 264IF-01 (EtherCAT-S), 265IF-01 (Componet), 266IF-01, 266IF-02, 215AIF-01 (MPLINK), 215AIF-01 (CP-215)

Precautions When Setting Module Configuration Definitions

Observe the following precautions when writing module configuration definitions.

• Write the module configuration definitions only when the high-speed scan has sufficient unused processing time. Otherwise, processing may exceed the time limit of the high-speed scan.

• Before writing module configuration definitions, make sure the machine is not in operation.

• Before you use the Machine Controller, save any written data to flash memory and turn the power supply to the Racks OFF and ON again.

1-15

Page 34

Appearances and Parts

This section describes the appearance and parts of the MP3200.

2.1

2.2

2.3

2.4

Power Supply Units . . . . . . . . . . . . . . . . . . . . . . . 2-2

Appearance and Part Names . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3

CPU Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

Appearance and Part Names . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

Display and Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6

Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9

Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11

Fan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12

Temperature Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13

Base Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14

Appearance and Part Names . . . . . . . . . . . . . . . . . . . . . . . . 2-14

Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14

Rack Expansion Interface Unit . . . . . . . . . . . . . . 2-15

Appearance and Part Names . . . . . . . . . . . . . . . . . . . . . . . . 2-15

Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-16

Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-17

Page 35

2.1 Power Supply Units

Indicators

RLYOUT connector

Power connector

Unit connector

Appearance and Part Names

2.1

Power Supply Units

The Power Supply Unit supplies the connected Units and Optional Modules with the power needed to operate. There are two Power Supply Units available: an AC Power Supply Unit and a DC Power Supply Unit.

This section shows the appearance and part names of the Power Supply Unit and describes the indicators and connectors.

Appearance and Part Names

The following figure shows the appearance of the Power Supply Unit and the part names.

Indicators

These indicators show the load on the Power Supply Unit.

Output Current 8.9 A or less 9.0 to 11.4 A

Load

Green   

Indi-

cator

Note: : Lit, : Not lit.

* Reduce the number of Optional Modules that are connected.

Yellow   

Red   

Normal: Within power supply

capacity

11.5 to 13.9 A*14.0 A or more

Normal: Maxi-

mum power

supply capacity

Error: Over

power supply

capacity

2-2

Page 36

2.1 Power Supply Units

Appearances and Parts

DC Power Supply UnitAC Power Supply Unit

Connectors

The Power Supply Unit has three connectors: RLYOUT, power supply, and Unit connectors.

RLYOUT Connector

This connector outputs the operating status of the CPU Unit.

Model: 734-302

 Pin Assignments

No. Signal Label Description

1OUT

2OUT

• Normal operation: Circuit closed.

• Error: Circuit open.

Connectors

Power Connector

Connect the power supply to this connector.

Type Model Color

AC Power Supply Unit 721-203/026-304 Black

DC Power Supply Unit 721-203/026-000 White

 Pin Assignments: AC Power Supply Unit

Pin No. Signal Label Description

3 AC AC input

2 AC AC input

1 FG Connects to the frame ground. (Ground to 100 Ω max.)

 Pin Assignments: DC Power Supply Unit

Pin No. Signal Label Description

3 24 VDC Power input wire for 24 VDC

2 0 VDC Power input wire for 0 VDC

1 FG Connects to the frame ground. (Ground to 100 Ω max.)

2-3

Page 37

2.1 Power Supply Units

Connectors

Unit Connector

This connector is used to connect the next Unit.

Refer to the following manual for details on connecting Units.

MP2000/MP3000 Series Machine Controller System Setup Manual (Manual No.: SIEP C880725 00)

2-4

Page 38

2.2 CPU Unit

Appearances and Parts

Display

Rotary switches

USB status indicator

STOP/SAVE switch*

USB connector*

MECHATROLINK-

III status indicators

MECHATROLINK-

III connectors

Status indicators

Unit connector

DIP switch: Mode switch 1 DIP switch: Mode switch 2

Ethernet status indicators

Ethernet connectors

Appearance and Part Names

2.2

CPU Unit

The CPU Unit stores the module definitions and programs, and interprets the programs. The CPU Unit also controls the Optional Modules.

This section shows the appearance and part names of the CPU Unit and describes the indicators, switches, connectors, Fan,

* These are built into the CPU-202 only.

Appearance and Part Names

The following figure shows the appearance of the CPU Unit and the part names.

CPU-201

and temperature sensor.

* Open the cover to access the switch and USB connector.

CPU-202

* Open the cover to connect or remove the Battery.

Rotary switches

USB status indicator

STOP/SAVE switch

MECHATROLINK-

Display

Battery*

USB connector

III

connectors

Fan

Status indicators

Unit connector

DIP switch: Mode switch 1 DIP switch: Mode switch 2

Ethernet status indicators Ethernet connectors

2-5

Page 39

2.2 CPU Unit

Display and Indicators

The CPU Unit has the following display and four indicators.

•Display

• Status indicators

• USB status indicator

• MECHATROLINK-III status indicators

• Ethernet status indicators

Display

The display shows the execution or error status of the CPU Unit.

Color Display Status Description

Red

Lit dot at lower right

Flashing dot at lower right

(Displayed by CPU-202 only.)

Three digits after or

Initializing

Normal operation

USB memory batch transfer

Failsafe function stopped the CPU Unit.

A system error occurred.

An alarm occurred.

The CPU Unit started normally after the power was turned ON or after the system was reset.

The CPU Unit is operating normally.

Save or load is starting.

Save or load is in progress.

Save or load was completed. After 2 seconds, the display will indicate the status of the CPU Unit.

Refer to the following manual for information on internal temperature errors and Fan operation failure.

MP3000 Series MP3200 Troubleshooting Manual

(Manual No.: SIEP C880725 01)

Refer to the following manual for details on errors.

MP3000 Series Basic Units Troubleshooting Manual

(Manual No.: SIEP C880725 01)

2-6

Page 40

Appearances and Parts

Status Indicators

These indicators show the status of the CPU Unit.

Indicator Name Color Status When Lit*

RDY Green Operation is normal.

RUN Green A user program is being executed.

ALM Red An alarm occurred.

ERR Red An error occurred.

BAT Red The battery alarm occurred.

An error occurred with one of the Servo axes:

M_ALM Red

* Refer to the following manual for details.

MP3000 Series MP3200 Troubleshooting Manual (Manual No.: SIEP C880725 01)

• Warning

•Alarm

• Command Error Completed Status

2.2 CPU Unit

Display and Indicators

USB Status Indicator

This indicator shows the status of the USB memory.

Indicator Name Indicator Status Status Description

USB ACTIVE

Not lit

Lit

Flashing

No USB memory device

USB memory device inserted

Accessing USB memory

No USB memory device has been inserted yet, or the USB memory device is ready to be removed.

A USB memory device is inserted.

The USB memory is being accessed.

MECHATROLINK-III Status Indicators

These indicators show the status of the MECHATROLINK-III communications.

Indicator

Name

CN Green

LK1 Green MECHATROLINK-III communications are active on PORT1.

LK2 Green MECHATROLINK-III communications are active on PORT2.

Color Status When Lit

MECHATROLINK-III communications is established with the CPU Unit as a slave (i.e., the Connect command is ON).

2-7

Page 41

2.2 CPU Unit

Display and Indicators

Ethernet Status Indicators

These indicators show the status of Ethernet communications.

LINK/ACT

Indicator Name Color Status When Not Lit, Lit, or Flashing

LINK/ACT Yellow

100M Green

100M

Lit: Ethernet link established. Flashing: Ethernet communications activity.

Not lit: 10 M connection Lit: 100 M connection

2-8

Page 42

Appearances and Parts

Switches

The CPU Unit has the following four switches.

• DIP switch: Mode switch 1

• DIP switch: Mode switch 2

• Rotary switches

• STOP/SAVE switch

DIP Switch: Mode Switch 1

This DIP switch primarily sets the operating mode of the CPU Unit.

2.2 CPU Unit

Switches

Pin Name Status Operating Mode Default Remarks

STOP

E-INIT

INIT

CNFG

LOAD

D-RST

ON Stops the user programs.

OFF Executes the user programs.

OFF

ON Resets memory.

OFF Normal operation

ON Configuration Mode

OFF Normal operation

ON Load data.

OFF Does not load data.

ON Reserved for system.

OFF Normal operation

Sets the IP address to

192.168.001..

Sets the IP address that is set in the MPE720.

OFF

OFF Keep this pin OFF at all times.

Turn ON the pin to stop execution of the user program.

The setting of  is determined by the rotary switch setting. Refer to the following section for details on the setting.

Rotary Switches (page 2-10)

−

Turn OFF the pin to execute the programs that are stored in the flash memory.

Turn ON the pin to perform self configuration. Turn OFF the pin to operate according to the definitions that are stored in the flash memory.

Turn ON the pin and then turn ON the power to batch load data from the USB memory to the CPU Unit.

Refer to the following section for details.

3.2 Function Modules − USB Memory (page 3-

85)

2-9

Page 43

2.2 CPU Unit

···

Switches

DIP Switch: Mode Switch 2

This DIP switch primarily sets the operating mode of the CPU Unit.

Pin Name Status Operating Mode Default Remarks

E-PM0

E-PM1

TEST

MNT

ON Reserved for system.

OFF Normal operation

ON Reserved for system.

OFF Normal operation

ON Reserved for system.

OFF Normal operation

ON Reserved for system.

OFF Normal operation

OFF Keep this pin OFF at all times.

Rotary Switches

When the E-INIT pin on Mode Switch 1 is ON, the IP address will be set to 192.168.001.. The value of  is set on the rotary switches, S1 and S2. Set the hexadecimal value.

2-10

Set Value

X161X16

0 0 Reserved for system.

0 1 192.168.001.001 (default setting)

0 2 192.168.001.002

F E 192.168.001.254

F F Reserved for system.

Note

To enable the rotary switch setting, turn ON the E-INIT pin on the mode switch 1. If the E-INIT pin is OFF, the IP address will be set from the MPE720.

IP Address

Page 44

2.2 CPU Unit

Appearances and Parts

Open the cover.

STOP/SAVE switch

Connectors

STOP/SAVE Switch

This switch is used when removing the USB memory device, or when batch saving data to the USB memory.

• Lightly press this switch to prepare the USB memory device for removal. The USB memory device can be safely removed when the USB status indicator changes from flashing to not lit.

• Press and hold this switch for at least 2 seconds to save all of the data to the USB memory. The display will show the progress of saving.

Connectors

The CPU Unit has four connectors: MECHATROLINK-III, Ethernet, USB, and Unit connectors.

MECHATROLINK-III Connectors

These connectors are used to connect MECHATROLINK-III communications devices.

Ethernet Connectors

These connectors are used to connect Ethernet communications devices.

2-11

Page 45

2.2 CPU Unit

Open the cover.

USB connector

Note

LOCK

Fan cover

Fan

Screw

Open the cover.

Fan

USB Connector

This connector is used to connect a USB memory device.

Before removing the USB memory device, press the STOP/SAVE switch and wait until the USB status indicator goes out. If the USB memory device is removed while the USB status indicator is lit or flashing, the data may become corrupted.

Unit Connector

This connector is used to connect the next Unit.

Refer to the following manual for details on connecting Units.

MP2000/MP3000 Series Machine Controller System Setup Manual (Manual No.: SIEP C880725 00)

Fan

A Fan is built into the CPU-202 CPU Unit.

2-12

• Fan model: JEPMC-OP3101-E

• Screw specifications: M3 × 14 mm × 2 screws with spring washers

The Fan life is 50,000 hours minimum (at an average ambient operating temperature of 40°C). An alarm is displayed on the CPU-202 if the Fan stops.

Page 46

Appearances and Parts

There are three levels of alarms, as shown in the following table.

Important

Display ALM Indicator Error Description

A.240 Lit A Fan operation failure was detected.

E.083 Lit

hLit

If the above alarms occur, turn OFF the power supply to the CPU-202 immediately and replace the Fan. Refer to the following manual for the Fan replacement procedure.

MP3000 Series MP3200 Troubleshooting Manual (Manual No.: SIEP C880725 01)

The Fan remained stopped for more than a minute after A.240 was detected. (The CPU Unit will stop.)

The failsafe function was activated for E.083 (Fan Alarm) or E.082 (Temperature Warning). (The CPU Unit will stop.) (This alarm is displayed 5 seconds after E.083 is detected.)

Temperature Sensor

2.2 CPU Unit

Temperature Sensor

A temperature sensor is built into the CPU-202 CPU Unit.

The temperature sensor constantly monitors for abnormal temperatures in the CPU-202 Unit. If a temperature error is detected, an alarm is displayed on the CPU-202.

There are four levels of alarms, as shown in the following table.

Display

A.241 Lit A rise in the internal temperature was detected.

E.081 Lit

E.082 Lit

hLit

ALM

Indicator

The temperature continued to increase after A.241 was detected and is approaching the permissible temperature of the internal parts.

(The CPU Unit will stop.)

The temperature continued to increase after E.081 was detected and has reached the permissible temperature of the internal parts. (The CPU Unit will stop.)

The failsafe function was activated for E.083 (Fan Alarm) or E.082 (Temperature Warning). (The CPU Unit will stop.)

(This alarm is displayed if the temperature continues to increase after E.082 was detected.)

If the above alarms occur, turn OFF the power supply to the CPU-202 immediately and check the ambient environment and installation conditions.

Refer to the following section for details on the ambient environment and installation requirements.

4.1 MP3200 Installation and Usage Conditions (page 4-2)

Error Description

2-13

Page 47

2.3 Base Units

Appearance and Part Names

2.3

Base Units

The Base Unit is used to mount Optional Modules. There are three models of Base Units, a three-slot model, a five-slot model, and an eight-slot model.

This section shows the appearance and part names of the Base Unit and describes the connector.

Appearance and Part Names

The following figure shows the appearance of the Base Unit and a part name.

Unit connector

Connector

The Base Unit has a Unit connector.

Unit Connector

This connector is used to connect the next Unit.

Refer to the following manual for details on connecting Units.

MP2000/MP3000 Series Machine Controller System Setup Manual (Manual No.: SIEP C880725 00)

2-14

Page 48

2.4 Rack Expansion Interface Unit

Appearances and Parts

Port 1 (Rack Expansion Interface Unit connector)

Port 2 (Rack Expansion Interface Unit connector)

Port 3 (Rack Expansion Interface Unit connector)

Port 1 (Rack Expansion Interface Unit connector)

Indicators

Unit connector Unit connector

Main Rack Expansion Interface Unit

Expansion Rack Expansion Interface Unit

次回用

Appearance and Part Names

2.4

Rack Expansion Interface Unit

A Rack Expansion Interface Unit is used to expand a Rack. There are two models of Rack Expansion Interface Units, a Main Rack Expansion Interface Unit and an Expansion Rack Expansion Interface Unit.

This section shows the appearance and part names of the Rack Expansion Interface Units and describes the indicators and connectors.

Appearance and Part Names

The following figure shows the appearance of the Rack Expansion Interface Unit and the part names.

2-15

Page 49

2.4 Rack Expansion Interface Unit

次回用

Important

Indicators

These indicators show the operating status of the Rack Expansion Interface Unit, the communications status of the cable, and the error status.

For Main Rack For Expansion Rack

Indicator

Name

LKP1 Green

LKP2 Green

LKP3 Green

ERR Red Lit

Color Status When Lit, Flashing, or Not Lit

Lit

Not lit

Lit

Not lit Same as LKP1.

Lit

Not lit Same as LKP1.

Communications are active with the Rack Expansion Interface Unit connected to port 1.

• Consecutive communications errors occurred and communications cannot be recovered automatically.

• The cable was disconnected or was not connected to the port.

• The current Rack Expansion Interface Unit or another Rack Expansion Interface Unit connected to it has a hardware failure.

Communications are active with the Rack Expansion Interface Unit connected to port 2.

Communications are active with the Rack Expansion Interface Unit connected to port 3.

• Consecutive communications errors occurred on one of the ports and communications cannot be recovered automatically.

• The cable was disconnected or was not connected. These errors are not shown on the Main Rack Expansion Interface Unit before the connection is established.

• The current Rack Expansion Interface Unit or another Rack Expansion Interface Unit connected to it has a hardware failure.

2-16

If communications errors occur consecutively during operation, communications between the Main Rack and Expansion Rack will stop.

Page 50

2.4 Rack Expansion Interface Unit

Appearances and Parts

次回用

Connectors

The Rack Expansion Interface Unit has two connectors: Rack Expansion Interface Unit connector and Unit connector.

Rack Expansion Interface Unit Connector

This connector is used to connect an Expansion Rack.

The Main Rack Expansion Interface Unit has three connectors (port 1, port 2, and port 3), and the Expansion Rack Expansion Interface Unit has one connector (port 1).

Unit Connector

This connector is used to connect the next Unit.

Refer to the following manual for details on connecting Units.

MP2000/MP3000 Series Machine Controller System Setup Manual (Manual No.: SIEP C880725 00)

2-17

Page 51

CPU Unit Functionality

This chapter describes the functionality of the MP3200 CPU Units.

3.1

3.2

3.3

Basic Functionality . . . . . . . . . . . . . . . . . . . . . . . . 3-2

Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19

Execution Scheduling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-31

Scans . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-32

Function Modules . . . . . . . . . . . . . . . . . . . . . . . . 3-38

Self Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-38

Communications Function Module (218IFD) . . . . . . . . . . . . 3-48

Motion Control Function Modules (SVC32 and SVR32) . . . . 3-50

The M-EXECUTOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-56

Data Logging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-70

USB Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-85

File Transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-89

Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-93

Calendar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-93

Multi-CPU Functions . . . . . . . . . . . . . . . . . . . . . 3-94

Differences between Sub CPU Synchronization and

Slave CPU Synchronization . . . . . . . . . . . . . . . . . . . . . . . . . 3-94

Sub CPU Synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . 3-95

Slave CPU Synchronization . . . . . . . . . . . . . . . . . . . . . . . . 3-108

Page 52

3.1 Basic Functionality

Programs

3.1

Basic Functionality

This section describes the basic functionality of the CPU Unit.

Programs

A program is a list of instructions to be processed by the CPU Unit.

This section describes the types of programs and gives an overview of each type.

Types of Programs

There are three types of user programs:

• Ladder programs

• Motion programs

• Sequence programs

This section describes these programs.

 Ladder Programs

Ladder programs are managed as drawings (ladder diagrams) that are identified by their drawing numbers (DWG numbers). These drawings form the basis of the user program.



Drawing Types and Hierarchical Configuration

This section describes the types of ladder drawings and their hierarchical configuration.

•Types

Ladder drawings are divided into four different types based on their purpose.

• DWG.A (Startup Drawings) This type of ladder drawing is used to set register data. These ladder drawings are executed before high-speed scan process drawings and low-speed scan process drawings.

• DWG.I (Interrupt Drawings) This type of ladder drawing is used to perform processing with priority given to signals input from an Optional Module. These ladder drawings are executed with higher priority than high-speed scan process drawings regardless of the scan cycle.

• DWG.H (High-speed Scan Process Drawings) This type of ladder drawing is used to perform motion control or high-speed I/O control.

• DWG.L (Low-speed Scan Process Drawings) This type of ladder drawing is used for communications with HMIs and external devices as well as for standard I/O control.

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Programs

The following table lists the priority, execution conditions, and maximum number of drawings for each type of ladder drawing.

Maximum

Drawing Type Priority* Execution Condition

Number of

Drawings

DWG.A (Startup Drawings) 1

Power ON (These drawings are executed once when the power supply is turned ON.)

External interrupt (These drawings are executed

DWG.I (Interrupt Drawings) 2

when a DI interrupt or counter match interrupt is

received from an Option Module.)

DWG.H (High-speed Scan Process Drawings)

DWG.L (Low-speed Scan Process Drawings)

* Drawings with lower numbers have higher priority.

Started at fixed intervals. (These drawings are executed once every high-speed scan.)

Started at fixed intervals. (These drawings are executed once every low-speed scan.)

200

1000

• Hierarchical Configuration

There are four types of ladder drawings: parent drawings, child drawings, grandchild drawings, and operation error drawings.

• Parent Drawings These drawings are automatically executed by the system program when the execution conditions are met.

• Child Drawings These drawings are executed when they are called from a parent drawing with a SEE instruction.

• Grandchild Drawings These drawings are executed when they are called from a child drawing with a SEE instruction.

• Operation Error Drawings These drawings are automatically executed by the system program when an operation error occurs.

A parent drawing cannot call a child drawing from a different type of drawing. Similarly, a child drawing cannot call a grandchild drawing from a different type of drawing. A parent drawing cannot call a grandchild drawing directly. The parent drawing first must call the child drawing, and then the child drawing must call the grandchild drawing. This is called the hierarchical configuration of drawings. The following figure shows the parent-child-grandchild structure in which a program is created.

Parent

Drawing

DWG. DWG.01

Child

Drawings

DWG.nn

Note:  = A, I, H, or L

Grandchild

Drawings

DWG.01.01

DWG.01.02

DWG.01.03

User Functions

FUNC-001

FUNC-006

FUNC-032

FUNC-064

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3.1 Basic Functionality

Information

Programs

DWG notation:

DWG.

Note: The following notation is used for operation error drawings.



DWG. 00

. 

Grandchild drawing number

Child drawing number

Parent drawing type (A, I, H, or L)

Fixed value (00)

Parent drawing type (A, I, H, or L) of the drawing where the error occurs

The breakdown of the number of ladder drawings in each category is given in the following table.

Drawings

DWG.A DWG.I DWG.H DWG.L

Parent Drawings 1 1 1 1

Operation Error Drawings 1 1 1 1

Child Drawings

Grandchild Drawings

Total of 62 max. Total of 62 max.

There are separate functions that can be called from the drawings as required. Functions are executed when they are called from a parent, child, or grandchild drawing with the FUNC instruction. You can create up to 2,000 functions.

Number of Drawings

Total of 998 max.

Total of 1,998 max.

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CPU Unit Functionality

Functions

Execution is started by the system program when the execution condition is met.

Parent Drawing

Child Drawings Grandchild Drawings

Execution is automatically started by the system.

An operation error occurs.

DWG.H

DWG.H01

H02

H00

DWG.H01.01

FUNC 01

SEE H01

SEE H02

END

SEE

H01.H01

FUNC

Programs



Execution Processing of Drawings

The drawings are executed by calling them from the top to the bottom, following the hierarchy of the drawings. The following figure illustrates the execution processing of a high-speed scan drawing (DWG.H).

Note: 1. The parent drawing is automatically called and executed by the system. Child drawings and grandchild drawings

are executed by calling them from a parent drawing or a child drawing using the SEE instruction.

2. You can call functions from any drawing. You can also call functions from other functions.

3. If an operation error occurs, the operation error drawing for the drawing type will be started automatically.

4. Always specify 00 as the drawing number for operation error drawings.



Functions

Functions are executed when they are called from a parent, child, or grandchild drawing with the FUNC instruction.

Functions can be freely called from any drawing. The same function can be called simultaneously from different types of drawings or different levels of drawings. You can also call functions from other functions that you have created.

The use of functions provides the following merits:

• Easy user program modularization

• Easy user program creation and maintenance

You can use standard functions that are provided by the system, and you can define user functions.

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3.1 Basic Functionality

Information

Important

Programs

• Standard System Functions

The following functions for communications and other purposes are provided as standard functions in the system. You cannot change the system functions.

Function Name Name Used in MPE720

COUNTER Counter Counter

FINFOUT First-in First-out First-in First-out

TRACE Trace Trace

DTRC-RD Read Data Trace Data-Trace Read Extend

MSG-SND Send Message Send Message

MSG-SNDE Send Message Send Message Extend

MSG-RCV Receive Message Receive Message

MSG-RCVE Receive Message Extended Receive Message Extend

MOTREG-W Write Motion Register Write the Motion Parameter to Motion Register

MOTREG-R Read Motion Register Read the Motion Parameter from Motion Register

IMPORT Import Import

EXPORT Export Export

• User Functions

You can freely program the body of a user function and program the user function definitions.

A maximum of 2,000 user function drawings can be defined.

Refer to the following manual for details on how to define functions.

MP3000 Series Ladder Programming Manual (Manual No.: SIEP C880725 13)

 Motion Programs

A motion program is a program that is written in a text-based motion language.

There are two types of motion programs.

Type

Main programs

Subprograms

Designation

Method

MPM (

1 to

512)

MPS (

1 to

512)

Features Number of Programs

• Main programs are called from a DWG.H drawing.

• Main programs are called from the M-EXECUTOR program execution definitions.

Subprograms are called from a main program.

You can create up to 512 motion programs, including the following programs:

• Motion main programs

• Motion subprograms

• Sequence main programs

• Sequence subprograms

3-6

1. The same numbers are used to manage the motion programs and sequence programs. Use a unique number for each program.

• Motion program numbers are given in the form MPM or MPS.

• Sequence program numbers are given in the form SPM or SPS.

2. The number of motion programs that can be executed simultaneously depends on the model of the Machine Controller. If the number of simultaneously executable programs is exceeded, an alarm will occur (No System Work Available Error).

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3.1 Basic Functionality

CPU Unit Functionality

Terms

Programs

Motion Subprograms

Subprograms are created to perform common operations. They help minimizing the number of program steps and allow efficient use of memory.

Main program

MPM001 MPM002 MPM003

Call (MSEE) Call (MSEE) Call (MSEE)

MPS010

Main program Main program

The common

process is

written as a

subprogram.

Subprogram

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3.1 Basic Functionality

Note

MSEE

MPM001

DWG.H

SEE

H01

DEND

DWG.H01

SEE H01.01

END

DEND

END

RETEND

DEND

MPM003

MPS101

DWG.H01.01

MPM001

MPM002

MSEE

MPM002

MSEE

MPM003

MSEE

MPS101

VEL [a1]5000 [b1].. FMX T10000000; IAC T25; IDC T30; MOV [a1]300. [b1].. MVS [a1]200. [b1]..

Execution is started by the system program when the execution condition is met.

Parent drawing

Child drawing

Grandchild drawing

Motion programs

Subprogram

Programs



Motion Program Execution

Motion programs are called with an MSEE instruction from a ladder program in an H drawing.

After you create the motion program, place a Call Motion Program (MSEE) instruction in the ladder program of an H drawing. Motion programs can be called from any H drawing, regardless of whether it is a parent, child, or grandchild drawing.

The following figure shows an execution example.

You can also register the motion program in the M-EXECUTOR (Motion Executor) to call it. Refer to the following section for details.

The M-EXECUTOR (page 3-56)

3-8

The ladder instruction in the H drawing is executed every high-speed scan cycle according to the hierarchical organization of parent-child-grandchild drawings.

The above programming only prepares for execution of the motion program. The motion program is not executed when the MSEE instruction is inserted. To start the motion program after inserting the MSEE instruction, use a control signal to turn ON the Request for Start of Program Operation.

The motion program is executed in the scan cycle, but unlike ladder programs, the entire program is not executed in a single scan. Motion programs are controlled specifically by the system’s motion management.

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CPU Unit Functionality

The following points must be taken into consideration when executing motion programs.

Note

• Motion programs that are registered in the M-EXECUTOR cannot be executed with MSEE instructions.

• More than one instance of the same motion program (i.e., the same program number) cannot be executed with MSEE instructions.

• Subprograms (MPS) cannot be executed with MSEE instructions in a ladder program. You can call subprograms only from motion programs and motion subprograms (MPM and MPS).

• You cannot call the same subprogram more than once at the same time.

• Sequence programs (SPM or SPS) cannot be called with MSEE instructions from a ladder program.



Specifying Motion Programs

There are two methods that you can use to specify motion programs.

• Calling the motion program by specifying it directly

• Calling the motion program by specifying it indirectly

These two methods are described below.

3.1 Basic Functionality

Programs

• Calling the Motion Program by Specifying It Directly

Direct designation is used to call a motion program by specifying its program number (MPM) directly.

To call the motion program from a ladder program with the MSEE instruction, specify the program number in the Program Number operand of the MSEE instruction.

MPM001

MSEE Instruction

MPM address

ABS;

MOV[X] _ [Y] _

MVS[X] _ [Y] _ F

IOW MB0001

MOV[X] _ [Y] _

. . .

Ladder Program

• Calling the Motion Program by Specifying It Indirectly

Indirect designation is used to call a motion program by specifying its number in a register.

In this method, the program (MPM) whose number is the same as the value that is stored in the register is called.

Motion Program

To call the motion program from a ladder program with an MSEE instruction, use the Program Number operand of the MSEE instruction to specify the M or D register that indirectly designates the motion program.

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3.1 Basic Functionality

0 3

ABS;

IOW MB0001

. . .

MOV[X] _ [Y] _

MVS[X] _ [Y] _ F

* MW00200 = 3

MPM003

Setting device

The value is stored in the MW00200 register.

MSEE Instruction

Ladder Program Motion Program

Address of first work register (M register or D register)

Programs



Work Registers

Work registers are used to set and monitor motion programs.

The address of the first work register for the motion program that is called with an MSEE instruction is specified in the MSEE instruction in the ladder program. The following figure shows the structure of the work registers.

3-10

Work Register Contents Reference

1st register Motion Program Status Flags Page 3-10

2nd register Motion Program Control Signals Page 3-12

3rd register Interpolation Override Page 3-15

4th register System Work Number Page 3-15

• Status Flags

The Motion Program Status Flags give the execution condition of the motion program. The following table describes the meanings of the Status Flags.

Bit No. Name Description

This bit is set to 1 when a motion program is running.

Bit 0 Program Executing

Bit 1 Program Paused

Bit 2

Program Stopped for Stop Request

Bit 3 Reserved for system. −

Bit 4

Program Single-block Execution Stopped

Bit 5 Reserved for system. −

0: Motion program is stopped. 1: Motion program is running.

This bit is set to 1 when execution of a motion program is paused by a Request for Pause of Program.

After a Request for Pause of Program control signal is input, it is confirmed that the axis decelerated to a stop and then the status flag is turned ON.

0: Program is not stopped by a pause request. 1: Program is stopped by a pause request.

This bit is set to 1 when execution of a motion program is stopped by a Request for Stop of Program.

0: Program is not stopped by a stop request. 1: Program is stopped by a stop request.

This bit is set to 1 when execution of a single block is stopped in Debug Operation Mode.

0: Single block execution is not stopped. 1: Single block execution is stopped.

Continued on next page.

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Programs

Continued from previous page.

Bit No. Name Description

Bit 6 Reserved for system. −

Bit 7 Reserved for system. −

This bit is set to 1 when a program alarm occurs. When this bit is set to 1, details on the error will be displayed in the Error Infor-

Bit 8 Program Alarm

Bit 9

Bit A Reserved for system. −

Bit B Debug Operation Mode

Bit C Program Type

Bit D Start Request History

Bit E

Bit F

Note: If a program alarm occurs, motion program error information is provided in the Error Information Dialog Box and given in

Program Stopped at Breakpoint

No System Work Error or Execution Scan Error

Main Program Number Limit Exceeded Error

the S registers.

mation Dialog Box and are given in the S registers.

0: There is no program alarm. 1: A program alarm occurred.

This bit is set to 1 when execution of a program stops at a breakpoint in Debug Operation Mode.

0: Not stopped at a breakpoint. 1: Stopped at a breakpoint.

This bit is set to 1 when a program is running in Debug Operation Mode.

0: Not in Debug Operation Mode (Normal Execution Mode). 1: In Debug Operation Mode.

This bit reports whether the program that is being executed is a motion program or a sequence program.

0: Motion program 1: Sequence program

This bit is set to 1 when the Request for Start of Program Operation is ON.

0: Request for Start of Program Operation is OFF. 1: Request for Start of Program Operation is ON.

This bit is set to 1 when a system work number that was needed to execute a motion program could not be obtained, or when an MSEE instruction is programmed in a drawing other than a DWG.H.

0: There is no system work error or execution scan error. 1: A no system work error or execution scan error occurred.

This bit is set to 1 when the specified motion program number is out of range. Motion program number range:1 to 512

0: There is no motion program number error. 1: A motion program number error occurred.

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3.1 Basic Functionality

Programs

• Control Signals

To control the execution of a motion program, you must input program control signals (Request for Start of Program Operation, or Request for Stop of Program, etc.). The following table describes the control signals for motion programs.

: This mark indicates that the signal must be kept ON until the system acknowledges it.

: This mark indicates that the signal needs to be turned ON only for one high-speed scan.

Bit No. Name Description

Bit 0

Bit 1

Bit 2

Bit 3

Bit 4

Bit 5

Bit 6

Bit 7

Bit 8

Bit 9

Bit A, B

Bit C

Request for Start of Program Operation

Request for Pause of Program

Request for Stop of Program

Program Singleblock Mode Selection

Program Singleblock Start Request

Program Reset and Alarm Reset Request

Request for Start of Continuous Program Operation

Reserved for system.

Skip 1 Information

Skip 2 Information

Reserved for system.

This bit makes a request to start execution of a motion program. The motion program starts when this bit changes from 0 to 1. This bit is ignored when there is a motion program alarm.

0: Turn OFF the request to start the program. 1: Turn ON the request to start the program.

This bit makes a request to pause execution of a motion program. Execution of the program that was paused will resume when the pause request is turned OFF.

0: Turn OFF the request to pause the program (i.e., cancel the pause). 1: Turn ON the request to pause the program.

This bit makes a request to stop execution of a motion program. A motion program alarm occurs if this bit is set to 1 while the axis is in motion.

0: Turn OFF the request to stop the program. 1: Turn ON the request to stop the program.

This bit makes a request to select Program Single-block Execution Mode. This mode can be used in place of Debug Operation Mode.

0: Turn OFF the request to select single-block mode. 1: Turn ON the request to select single-block mode.

When this bit is changed from 0 to 1, program execution changes to single-block execution (step execution). This bit is valid only when bit 3 (Program Single-block Mode Selection) in the control signals is set to 1.

0: Turn OFF the request to start the program in single-block mode. 1: Turn ON the request to start the program in single-block mode.

This bit resets motion programs and alarms.

0: Turn OFF the request to reset the program and alarms. 1: Turn ON the request to reset the program and alarms.

This bit makes a request to resume execution of a program that was stopped by a Request for Stop of Program.

0: Turn OFF the request to resume the program. 1: Turn ON the request to resume the program.

−

If this bit changes to 1 while an axis is in motion due to a SKP instruction (when the skip input signal selection is set to SS1), the axis will decelerate to a stop, and the reference in the remaining travel distance will be canceled.

0: Turn OFF the skip 1 signal. 1: Turn ON the skip 1 signal.

If this bit changes to 1 while an axis is in motion due to a SKP instruction (when the skip input signal selection is set to SS2), the axis will decelerate to a stop, and the reference in the remaining travel distance will be canceled.

0: Turn OFF the skip 2 signal. 1: Turn ON the skip 2 signal.

−

Continued on next page.

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3.1 Basic Functionality

CPU Unit Functionality

Continued from previous page.

Bit No. Name Description

Bit D

System Work

Number Setting

Bit E

Interpolation

Override Setting

Bit F

*1. System Work Number Setting

• When the Motion Program Is Registered in M-EXECUTOR:

• When a Motion Program Is Called from a Ladder Program with an MSEE Instruction:

*2. Interpolation Override Setting

Note: 1. Use the specified signal types for the ladder program inputs.

Reserved for system.

The system work number cannot be specified. The system will use the definition number as the system work number.

OFF: The system will use an automatically acquired system work number. The system work number will be different each

time. ON: The work number that is specified by the system will be used. However, if the work number is assigned to the M-EXECUTOR, a No System Work Available Error (Status Flag Bit E) is reported.

OFF: The interpolation override is always 100%. ON: The interpolation override in the parameter setting is used.

2. At startup, the motion programs for which the Request for Start of Program Operation control signals are ON

will be executed.

To specify a system work number, set this bit to 1.

0: Do not specify a system work number.

1: Specify a system work number.

To specify an interpolation override, set this bit to 1.

0: Do not specify an interpolation override.

1: Specify an interpolation override.

−

Programs

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3.1 Basic Functionality

Example

Control signal: Request for Start of

Program Operation

Status flag: Program Executing

Axis operation: Pulse distribution

Control signal: Request for Start of

Program Operation

Status flag: Program Executing

Axis operation: Pulse distribution

Control signal: Request for Pause of

Program

Status flag: Program Paused

1 scan*

Control signal: Request for Start of

Program Operation

Status flag: Program Executing

Axis operation: Pulse distribution for

Positioning instruction

Control signal: Request for Stop of Program

Axis operation: Pulse distribution for

Zero Point Return instruction

Axis operation: Pulse distribution for

Interpolation instruction

Status flag: Program Stopped for

Stop Request

Status flag: Program Alarm

Control signal: Program Reset and

Alarm Reset Request

1 scan*

1 scan

Programs

Timing chart examples for axis operations and status flags after a control signal is input are provided below.

Request for Start of Program Operation

Request for Pause

* Status flags related to control signal input are updated after one scan.

Request for Stop

* Status flags related to control signal input are updated after one scan.

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CPU Unit Functionality

If a Motion Program Alarm Occurs

Control signal: Request for Start of

Program Operation

Status flag: Program Alarm

Status flag: Program Executing

Axis operation: Pulse distribution for

Interpolation instruction

Control signal: Program Reset and Alarm

Reset Request

Axis operation: Pulse distribution for

Positioning instruction

Axis operation: Pulse distribution for

Zero Point Return instruction

1 scan*

Important

* Status flags related to control signal input are updated after one scan.

3.1 Basic Functionality

Programs

1. If the Request for Stop of Program control signal is turned ON while the axis is being controlled for a motion language instruction, an alarm will occur.

2. If the Request for Stop of Program control signal is turned ON while the axis is being controlled for an interpolation motion language instruction, the axes will stop immediately. To perform a deceleration stop, use the Request for Pause of Operation control signal.

3. The Request for Pause of Program control signal is not acknowledged while a Zero Point Return (ZRN) instruction is being executed. To stop the operation, use the Request for Stop of Program control signal.

4. If a motion program alarm occurs while an axis is in motion, the axis stops immediately.

Refer to the following manuals for details on programming examples for controlling motion programs.

MP3000 Series Motion Programming Manual (Manual No.: SIEP C880725 14)

• Interpolation Override

An interpolation override allows you to change the output ratio of the axis movement speed reference for interpolation motion language instructions.

Set the override value to use when executing interpolation instructions (MVS, MCW, MCC, or SKP).

The interpolation override is valid only when bit E (Interpolation Override Setting) in the control signals is ON.

The setting range of the interpolation override is 0 to 32,767.

Unit: 1 = 0.01%

•System Work Numbers

When you call a motion program from a ladder program with the MSEE instruction, set the system work number to use to call the motion program. This system work number is valid only when bit D (System Work Number Setting) of the control signals is ON.

Setting range: 1 to 32

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3.1 Basic Functionality

Important

Information

Programs



Monitoring Motion Program Execution Information

The execution information for motion programs can be monitored using the S registers (SW03200 to SW05119 and SW08192 to SW09125).

The execution information is monitored differently, depending on whether the motion program is called from a ladder program with an MSEE instruction, or the motion program is registered in the M-EXECUTOR program execution definitions. This section describes these two monitoring methods.

When using MSEE instructions in ladder programs along with the M-EXECUTOR, do not specify the system work numbers that are for the M-EXECUTOR in the MSEE instructions in the ladder programs. If you specify one, a No System Work Error will occur. System work numbers for the M-EXECUTOR: 0 to the set value of the number of program definitions

You cannot set the system work numbers when you use the M-EXECUTOR. The system will use system work numbers that are the same as the definition numbers.

• When the Motion Program Is Called from the Ladder Program with an MSEE Instruction

When a motion program is called from the ladder program with an MSEE instruction, the monitoring method depends on the setting of bit D (System Work Number Setting) in the Motion Program Control Signals.

Bit D (System Work Number

Setting) in the Control Signal

Word for Motion Programs

OFF

The execution information is reported in the Work n Program Information registers (SW03264 to SW05119 and SW08192 to SW09125). For example, if the system work number is 1, you can monitor the execution information of the motion program with the Work 1 Program Information registers (SW03264 to SW03321).

The system automatically determines the system work number to use. You can check the work numbers that are in use in the Active Program Numbers registers (SW03200 to SW03231). For example, if MPM001 is the motion program to be monitored and SW03202 contains a 1, the system work number is 3. You can therefore monitor the execution information of the motion program with the Work 3 Pro-

gram Information registers (SW03380 to SW03437).

Monitoring

• When the Motion Program Is Registered in the M-EXECUTOR Program Execution Definitions:

When the motion program is registered in the M-EXECUTOR program execution definitions, the system work number used will be the same as the program execution registration number in the M-EXECUTOR.

3-16

For example, if the motion program is registered for execution as number 3, system work number 3 is used. You can therefore monitor the execution information of the motion program with the Work 3 Program Information registers (SW03380 to SW03437).

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CPU Unit Functionality

 Sequence Programs

Important

A sequence program is written in a text-based motion language.

There are two types of sequence programs.

3.1 Basic Functionality

Programs

Type

Main programs

Subprograms

Designation

Method

SPM (=1 to

512) SPS

(=1 to

512)

Features Number of Programs

Main programs are called from the M-EXECUTOR program execution definitions.

Subprograms are called from a main program.

You can create up to 512 motion programs, including the following programs:

• Motion main programs

• Motion subprograms

• Sequence main programs

• Sequence subprograms

The same numbers are used to manage the sequence programs and motion programs. Use a unique number for each program.

• Motion program numbers are given in the form MPM or MPS.

• Sequence program numbers are given in the form SPM or SPS.



Sequence Program Execution

A sequence program is executed by registering it in the M-EXECUTOR execution definitions.

The sequence programs are executed in ascending order.

The following figure shows an execution example.

Sequence programs

SPM001

IF MW000<32767; MW000=MW000+1; ELSE; MW000; IEND;

M-EXECUTOR Program Execution Definitions

END

SPM002

SPM003

SSEE

SPS101

Subprogram

SPS101

RET

If the execution type is set to an H-scan sequence program or L-scan sequence program, then the program will be executed as soon as the definition is saved. If the execution type is set to a startup sequence program, then the program will be executed the next time when the power supply is turned ON.

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3.1 Basic Functionality

SPM001

IF MW000<32767; MW000=MW000+1; ELSE; MW000; IEND;

Sequence program

M-EXECUTOR Program Execution Definitions

Note

Programs



Specifying Sequence Programs

Sequence programs must be specified directly. Indirect designations cannot be used.

Specify the program number of the sequence program to execute (SPM).



Work Registers

Work registers are used to monitor sequence programs.

The work registers have Status Flags inside the M-EXECUTOR control registers, in the same way as motion programs that are registered in the M-EXECUTOR.

• Sequence Program Status Flags

The Sequence Program Status Flags give the execution condition of the sequence program.

The following table describes the meanings of the Status Flags.

Bit No. Name Status

0 Program Executing Program is being executed.

1 − Reserved for system.

2 − Reserved for system.

3 − Reserved for system.

4 − Reserved for system.

5 − Reserved for system.

6 − Reserved for system.

7 − Reserved for system.

8 Program Alarm There is a program alarm.

9 Program Stopped at Breakpoint Execution is stopped at a breakpoint.

A − Reserved for system.

B Debug Operation Mode The program is in Debug Mode (EWS debugging).

C Program Type Program Type, 1: Sequence program

D Start Request History There is a request to start program execution.

E − Reserved for system.

F − Reserved for system.

Sequence Program Alarms

When an error is detected, bit 8 (Program Alarm) turns ON in the Status Flags in the M-EXECUTOR control registers. When the error is removed, this bit turns OFF. The following errors can occur.

• The called program is not registered.

• The called program is not a sequence program.

• The called program is not a subprogram (a main program was called).

• Called Program Number Limit Exceeded Error

• Too Many Nesting Levels Error

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3.1 Basic Functionality

CPU Unit Functionality

H01

FUNC01 FUNC02

Parent drawing

# registers

Child drawing

# registers

User function

X registers

User function

X registers

D registers D registers

Y registers Z registers # registers D registers

Y registers

Z registers # registers D registers

These registers cannot be shared between different drawings.

Registers

Registers are areas that store data within the Machine Controller. Variables are registers with labels (variable names).

There are two kinds of registers: global registers that are shared between all programs, and local registered that are used only by a specific program.

Global Registers

Global registers are shared by ladder programs, user functions, motion programs, and sequence programs. Memory space for global registers is reserved by the system for each register type.

Ladder

program

S registers

65,535

words

M registers

1,048,576

words

User functions Motion

Global registers

G registers

2,097,152

words

I registers

65,536

words

Input data +

Monitor

parameters +

CPU interface

inputs

programs/

sequence programs

O registers

65,536

words

Output data +

Setting parameters + CPU interface

outputs

C registers

16,384

words

Local Registers

Local registers can be used within each specific drawing. These registers cannot be shared by other drawings. Local registers are stored in the program memory for each drawing.

Ladder Program Conceptual Diagram

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3.1 Basic Functionality

Range (The number of digits depends on the register type and data type.)

Data type

Information

Registers

Motion Program Conceptual Diagram

Motion program

(MPM001)

MSEE MPS002;

D registers (DW00000

DW00031)

D registers cannot be shared between different drawings.

Subprogram

(MPS002)

D registers (DW00000

DW00031)

Structure of Register Addresses

You can also use index registers or array registers as variables to address specific registers. Refer to the following sections for details.

Index Registers (i, j) (page 3-27)

Array Registers ([ ]) (page 3-30)

Sequence program

(SPM003)

SSEE SPS004;

D registers (DW00000

DW00031)

D registers cannot be shared between different drawings.

Subprogram

(SPS004)

D registers

(DW00000

DW00031)

This section describes global and local registers.

 Global Registers

Global registers are shared by ladder programs, user functions, motion programs, and sequence programs. In other words, the operation results of a ladder program can be used by other user functions, motion programs, or sequence programs.

Type Name

3-20

System registers (S registers)

Designation

Method

SBnnnnnh, SWnnnnn, SLnnnnn, SQnnnnn,

SFnnnnn, SDnnnnn, SAnnnnn

Usable Range Description

These registers are prepared by the system. They report the status of the Machine Controller and

SW00000 to SW65534

other information. The system clears the registers from SW00000 to SW00049 to 0 at startup. They have a battery backup.

MBnnnnnnnh, MWnnnnnnn,

Data registers (M registers)

MLnnnnnnn, MQnnnnnnn, MFnnnnnnn,

MW0000000 to MW1048575

These registers are used as interfaces between programs.

They have a battery backup. MDnnnnnnn, MAnnnnnnn

Continued on next page.

Page 71

CPU Unit Functionality

Type Name

G G registers

Input registers

(I registers)

Output registers

(O registers)

Constant registers

(C registers)

Note: n: decimal digit, h: hexadecimal digit

Designation

Method

GBnnnnnnnh, GWnnnnnnn, GLnnnnnnn, GQnnnnnnn, GFnnnnnnn, GDnnnnnnn, GAnnnnnnn

IBhhhhhh, IWhhhhh, ILhhhhh, IQhhhhh, IFhhhhh, IDhhhhh, IAhhhhh

OBhhhhhh, OWhhhhh,

OLhhhhh, OQhhhhh, OFhhhhh, ODhhhhh, OAhhhhh

CBnnnnnh, CWnnnnn,

CLnnnnn, CQnnnnn, CFnnnnn, CDnnnnn, CAnnnnn

3.1 Basic Functionality

Continued from previous page.

Usable Range Description

GW0000000 to GW2097151

IW00000 to IW07FFF, IW10000 to IW17FFF

IW08000 to IW0FFFF

IW20000 to IW21FFF

OW00000 to OW07FFF, OW10000 to OW17FFF

OW08000 to OW0FFFF

OW20000 to OW21FFF

CW00000 to CW16383

These registers are used as interfaces between programs. They do not have a battery backup.

These registers are used for input data.

These registers store the motion monitor parameters. These registers are used for Motion Modules.

These registers are used as interfaces between CPU Units when Expansion Racks are used (CPU interface registers).

These registers are used for output data.

These store the motion setting parameters. These registers are used for Motion Modules.

These registers are used as interfaces between CPU Units when Expansion Racks are used (CPU interface registers).

These registers can be read in programs but they cannot be written. The values are set from the MPE720.

Registers

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3.1 Basic Functionality

Registers

 Local Registers

Local registers are valid within only one specific program. The local registers in other programs cannot be accessed.

You specify the usable range from the MPE720.

Type Name

# # registers

D D registers

Function

input registers

Function out-

put registers

Function

internal registers

Function

external registers

Note: n: decimal digit, h: hexadecimal digit

Designation

Method

#Bnnnnnh, #Wnnnnn, #Lnnnnn, #Qnnnnn, #Fnnnnn, #Dnnnnn, #Annnnn

DBnnnnnh, DWnnnnn, DLnnnnn, DQnnnnn, DFnnnnn, DDnnnnn, DAnnnnn

XBnnnnnh, XWnnnnn,

XLnnnnn, XQnnnnn, XFnnnnn, XDnnnnn

YBnnnnnh, YWnnnnn, YLnnnnn, YQnnnnn, YFnnnnn, YDnnnnn

ZBnnnnnh, ZWnnnnn, ZLnnnnn, ZQnnnnn, ZFnnnnn, ZDnnnnn

ABnnnnnh, AWnnnnn, ALnnnnn, AQnnnnn, AFnnnnn, ADnnnnn

Description Features

These registers can be read in programs but they cannot be written. The values are set from the MPE720.

These registers can be used for general purposes within a program. By default, 32 words are reserved for each program. The default value after startup depends on the setting of the D Register Clear when Start option. Refer to the following section for details.

Setting the D Register Clear When Start Option (page 3-23)

These registers are used for inputs to functions.

• Bit inputs: XB000000 to XB00000F

• Integer inputs: XW00001 to XW00016

• Double-length integers: XL00001 to XL00015

• Quadruple-length integers: XQ00001 to XQ00013

• Real numbers: XF00001 to XF00015

• Double-precision real numbers: XD00001 to XD00013

These registers are used for outputs from functions.

• Bit outputs: YB000000 to YB00000F

• Integer outputs: YW00001 to YW00016

• Double-length integers: YL00001 to YL00015

• Quadruple-length integers: YQ00001 to YQ00013

• Real numbers: YF00001 to YF00015

• Double-precision real numbers: YD00001 to YD00013

These are internal registers that are unique within each function. You can use them for internal processing in functions.

• Bits: ZB000000 to ZB00063F

• Integers: ZW00000 to ZW00063

• Double-length integers: ZL00000 to ZL00062

• Quadruple-length integers: ZQ00000 to ZQ00060

• Real numbers: ZF00000 to ZF00062

• Double-precision real numbers: ZD00000 to ZD00060

These are external registers that use the address input value as the base address.

When the address input value of an M or D register is provided by the source of the function call, then the registers of the source of the function call can be accessed from inside the function by using that address as the base.

Programspecific

Functionspecific

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3.1 Basic Functionality

CPU Unit Functionality

Important

Registers

User functions can be called from any programs, any number of times.



Precautions When Using Local Registers within a User Function

When you call a user function, consider what values could be in the local registers, and perform initialization as needed.

Name Precautions

X registers (function input registers)

Y registers (function output registers)

Z registers (function internal registers)

# registers These are constant registers. Their values cannot be changed.

D registers

If input values are not set, the values will be uncertain. Do not use X registers that are outside of the range that is specified in the input defini-

tions.

If output values are not set, the values will be uncertain. Always set the values of the range of Y registers that is specified in the output definitions.

When the function is called, the previously set values will be lost and the values will be uncertain.

These registers are not appropriate for instructions if the previous value must be retained. Use them only after initializing them within the function.

When the function is called, the previously set values are preserved. If a previous value is not necessary, initialize the value, or use a Z register instead. D registers retain the data until the power is turned OFF. The default value after startup depends on the setting of the D Register Clear when

Start option. Refer to the following sections for details.

Setting the D Register Clear When Start Option (page 3-23)

• Setting the D Register Clear When Start Option

1. Select File − Environment Setting from the MPE720 Version 7 Window.

2. Select Setup − System Setting.

3. Select Enable or Disable for the D Register Clear when Start option.

Disable: The initial values will be uncertain. Enable: The initial values will be 0.

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3.1 Basic Functionality

Important

Registers

Data Types

There are various data types that you can use depending on the purpose of the application: bit, integer, double-length integer, quadruple-length integer, real number, double-precision real number, and address.

Symbol Data Type Range of Values Data Size Description

B Bit 1 (ON) or 0 (OFF) −

W Integer

F Real number

A Address 0 to 2,097,152 −

*1. These data types cannot be used for indirect designation of motion programs. *2. Conforms to IEEE754 standards.

Double-length integer

Quadruple-length

integer

Double-precision

real number

-32,768 to 32,767 (8000 to 7FFF hex)

-2,147,483,648 to 2,147,483,647 (80000000 to 7FFFFFFF hex)

1 word

2 words

-9,223,372,036,854,775,808 to 9,223,372,036,854,775,807 (8000000000000000 to

4 words

7FFFFFFFFFFFFFFF hex)

± (1.175E - 38

to 3.402E + 38) or 0

2 words

± (2.225E - 308 to 1.798E + 308) or 0 4 words

Used in relay circuits and to determine ON/OFF status.

Used for numeric operations. The values in parentheses on the left are for logical operations.

Used for advanced numeric

operations.

Used for advanced numeric

operations.

Used only as pointers for addressing.

The MP3000-series Machine Controller does not have separate registers for each data type. As shown in the following figure, the same address will access the same register even if the data type is different. For example, MB00001003, a bit address, and the MW0000100, an integer address, have different data types, but they both access the same register, MW0000100.

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CPU Unit Functionality

Data Types and Register Designations

Terms

3.1 Basic Functionality

Registers

One word is allocated for each register address.

Integer data type

Address data type

[MA0000101]

If MA0000101 is specified as a pointer, it addresses a continuous data area with the specified register address (0000101) as the starting address. This data area can be used with all data types in internal processing for functions.

[MW0000100]

[MW0000101]

[MW0000102]

[MW0000103]

……

[MB0000103B]

An extra digit that specifies the bit (3) is appended to the end of the register address (0000100).

[MB00001003]

0123456789ABCDEF

Bit data type

The addressed register (0000102) and the following register (0000103) are combined as a 2-word area. Therefore the register addresses are specified at intervals of 2.

Bit data type

[ML0000100]

[MF0000100]

[ML0000102]

[MF0000102]

Double-length integer or real

number data type

Pointer Designation

When an address is passed to a function as a parameter, this is referred to as pointer designation. When pointer designation is used, the continuous data area starting from the address of the specified register address can be used in internal processing for functions with all data types.

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3.1 Basic Functionality

Registers

 Precautions for Operations Using Different Data Types

If you perform an operation using different data types, be aware that the results will be different depending on the data type of the storage register, as described below.

• Storing Real Number Data in an Integer Register MW0000100 = MF0000200; the real number is stored after it is converted to an integer. (00001) (1.234)

Note: There may be rounding error due to storing a real number in an integer register.

MW0000100 = MF0000200 + MF0000202 (0124) (123.48) (0.02) The result of the operation may be different depending on the value

(0123) (123.49) (0.01)

• Storing Real Number Data in a Double-length Integer Register ML0000100 = MF0000200; the real number is stored after it is converted to an integer. (65432) (65432.1)

• Storing Double-length Integer Data in an Integer Register MW0000100 = ML0000200; the lower 16 bits of the double-length integer are stored without change.

00001) (65535)

(

Whether numbers are rounded or truncated when converting a real number to an integer can be set in the properties of the drawing.



Setting for Real Number Casting (page 3-26)

of the variable.

• Storing Integer Data in a Double-length Integer Register ML0000100 = MW0000200; the integer is stored after it is converted to double-length integer data. (0001234) (1234)



Setting for Real Number Casting

The casting method (truncating or rounding) can be set in the detailed definitions in the Drawing Properties Dialog Box. The method to use for real number casting is set for each drawing.

Use the following procedure to display the Program Property Dialog Box.

1. In the Ladder Pane, select the ladder program for which to view the properties.

2. Right-click the selected program and select Property from the pop-up menu.

The Program Property Dialog Box will be displayed.

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CPU Unit Functionality

The data is little endian, as shown in the following example.

Information

MW0000100 1234 hex

DWG.H DWG.LDWG.A DWG.I

Motion

program*

Sequence

program*

i and j registers i and j registers i and j registers i and j registers i and j registers i and j registers

• MB00001006

FEDCBA9876543210Bit

MW0000100

• MW0000100 = 1234 hex

• ML0000100 = 12345678 hex

3.1 Basic Functionality

Registers

MB00001006

MW0000100

MW0000101

5678 hex

ML0000100

1234 hex

• MQ0000100 = 123456789ABCDEF0 hex

MW0000100

MW0000101

MW0000102

MW0000103

DEF0 hex

9ABC hex

MQ0000100

5678 hex

1234 hex

Index Registers (i, j)

There are two special registers, i and j, that are used to modify relay and register addresses. The functions of i and j are identical. They are used to handle register addresses like variables.

There are subscript registers for each program type, as shown in the following figure.

* Motion programs and sequence programs have separate i and j registers for each task.

Note: Functions reference the i and j registers that belong to the calling drawing.

For example, a function called by DWG.H will reference the i and j registers for DWG.H.

We will describe this with examples for each register data type.

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3.1 Basic Functionality

i = 2;

DB000000 = MB00000000i; DB000000 = MB00000002;

Equivalent

DW00000 = MW0000031;DW00000 = MW0000001j;

j = 30;

Equivalent

If j = 0, ML0000000j is ML0000000.

If j = 1, ML0000000j is ML0000001.

Double-length Integer Upper Word

MW0000001

Lower Word

MW0000000

If j = 0, MF0000000j is MF0000000.

If j = 1, MF0000000j is MF0000001.

Real Number

Upper Word

MW0000001

Lower Word

MW0000000

MW0000002 MW0000001

Note

Registers

 Attaching an Index to a Bit Register

Using an index is the same as adding the value of i or j to the register address.

For example, if i = 2, MB00000000i is the same as MB00000002.

 Attaching an Index to an Integer Register

Using an index is the same as adding the value of i or j to the register address.

For example, if j = 30, MW0000001j is the same as MW0000031.

 Attaching an Index to a Double-length Integer or a Real Number Register

Using an index is the same as adding the value of i or j to the register address.

For example, if j = 1, ML0000000j is the same as ML0000001. Similarly, if j = 1, MF0000000j is the same as MF0000001.

Double-length integers and real numbers use a region that is 2 words in size. For example, when using ML0000000j with both j = 0 and j = 1, the one-word area of MW0000001 will overlap. Be careful of overlapping areas when indexing double-length integer or real number register addresses.

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3.1 Basic Functionality

CPU Unit Functionality

If j = 0, MQ0000000j is MQ0000000.

If j = 2, MQ0000000j is MQ0000002.

Quadruple-length Integer Upper 2 words

Lower 2 words

Upper 2 words Lower 2 words

If j = 0, MD0000000j is MD0000000.

If j = 2, MD0000000j is MD0000002.

Double-precision Real Number

Upper 2 words Lower 2 words

MW0000003 MW0000002

MW0000005

MW0000004

MW0000001 MW0000000

MW0000003 MW0000002

MW0000005

MW0000004

MW0000001 MW0000000

MW0000003 MW0000002

Note

Registers

 Attaching an Index to a Quadruple-length Integer or a Double-precision

Real Number Register

Using an index is the same as adding the value of i or j to the register address.

For example, if j = 2, MQ0000000j is the same as MQ0000002. Similarly, if j = 2, MD0000000j is the same as MD0000002.

Quadruple-length integers and double-precision real numbers use a region that is 4 words in size. For example, when using MQ0000000j with both j = 0 and j = 2, the two-word area of MW0000002 and MW0000003 will overlap. Be careful of overlapping areas when indexing quadruple-length integer or double-precision real number register addresses.

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3.1 Basic Functionality

DW00000 = 2;

DB000020 = MB00000000[DW00000]; DB000020 = MB00000002;

Equivalent

DW00000 = 30;

DL00002 = ML0000002[DW00000]; DL00002 = ML0000062;

Equivalent

Registers

Array Registers ([ ])

Array registers are used to modify register addresses, and are denoted by square brackets [ ].

These are used to handle register addresses like variables.

Similarly to index registers, an offset is added to the register address.

 Attaching an Array Register to a Bit Register

Using an array register is the same as adding the value of the array register to the register address.

For example, if DW00000 = 2, MB00000000[DW00000] is the same as MB00000002.

 Attaching an Array Register to a Register Other Than a Bit Register

Using an array register is the same as adding the word size of the data type of the array register times the value of the array register to the register address.

For example, if DW00000 = 30, ML0000002[DW00000] is the same as ML0000062.

DL00002 = ML00000 (30 × 2 + 2) = ML0000062

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CPU Unit Functionality

Execution Scheduling

Power ON

DWG.A

(Startup Drawings)

Interrupt signal

DWG.I

(interrupt drawing)

Execution is continued from the point before the interrupt.

Every low-speed scan

Batch output

Batch input

DWG.L (low-speed

scan process drawing)

Every high-speed scan

Batch output

Batch input

DWG.H (high-speed

scan process drawing)

Low-speed scan time

High-speed

scan time

High-speed

scan time

High-speed

scan time

High-speed

scan time

DWG.H (high-speed scan process drawing)

DWG.L (low-speed scan process drawing)

Background processing*

: Actual processing time during the scan

This section describes the execution order of drawings.

Controlling the Execution of Drawings

Drawings are executed based on their priorities, as shown in the following figure.

3.1 Basic Functionality

Execution Scheduling

*1. DWG.A drawings are executed immediately after the power supply is turned ON. *2. When an interrupt signal is input, execution of the DWG.I drawing is given priority even if execution of a DWG.H or

DWG.L drawing is currently in progress.

Note: The parent drawing of each drawing is automatically called and executed by the system.

Scheduling the Execution of High-speed and Low-speed Scan Process Drawings

High-speed scan process drawings (DWG.H) and low-speed scan process drawings (DWG.L) cannot be executed at the same time. DWG.L drawings are executed during the idle time of DWG.H drawings. The period during which DWG.H drawings are executed is called the high-speed scan time. The period during which DWG.L drawings are executed is called the low-speed scan time.

* Background processing is used to execute internal system processing, such as communications processing.

Refer to the following section for the setting procedure for the high-speed and low-speed scans.

Setting the High-speed and Low-speed Scan Times (page 3-34)

3-31

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3.1 Basic Functionality

Note

Information

Scans

A scan refers to the processing that starts at fixed intervals.

This section describes the scans.

Types of Scans

The CPU Unit has two types of scans, the high-speed H scan and low-speed L scan.

A high-speed H scan has higher priority than a low-speed L scan. The fixed period for each scan, also known as the scan time, can be set by the user.

This section describes the settings for the scan times.

High-speed (H) Scan

The following table shows the different high-speed scan time set values depending on whether the MP2000 Optional Module is used.

There are restrictions on the set value of the high-speed scan time. Refer to the following section for details.



High-speed Scan Time Set Value Restrictions (page 3-32)

When the MP2000 Optional Module Is Not Used When the MP2000 Optional Module Is Used

0.125 to 32.0 ms (in 0.125-ms increments)

The default high-speed scan time is 4.0 ms.

0.125 ms, 0.250 ms, or 0.5 to 32.0 ms (in 0.5-ms increments)

 High-speed Scan Time Set Value Restrictions

This section describes the restrictions on the set value of the high-speed scan time.



Restrictions Imposed by the MECHATROLINK-III Communications Cycle

The high-speed scan of the CPU Unit is synchronized with the MECHATROLINK-III communications cycle of the SVC32 Module built into the CPU Unit. This imposes the following restrictions in the set value of the high-speed scan time.

Communica-

tions Cycle

125 μs Integral multiple of 125 μs

250 μs

500 μs

1 ms

1.5 ms

High-speed Scan Time Set

Value Restrictions

Integral multiple of 250 μs or 1 times the integer portion Integral multiple of 500 μs or 1 times the integer portion Integral multiple of 1 ms or 1 times the integer portion Integral multiple of 1.5 ms or 1 times the integer portion

When MP2000 Optional

Module Is Not Used

0.125 to 32.0 ms (in increments of 0.125 ms)

0.250 to 32.0 ms (in increments of 0.250 ms)

0.5 to 32.0 ms (in increments of 0.5 ms)

1.0 to 32.0 ms (in increments of 1 ms)

1.5 to 31.5 ms (in increments of 1.5 ms)

Possible Set Values

When MP2000 Optional

Module Is Used

0.125 ms, 0.250 ms, or 0.5 to

32.0 ms (in increments of 0.5 ms)

0.250 ms or 0.5 to 32.0 ms (in increments of 0.5 ms)

0.5 to 32.0 ms (in increments of 0.5 ms)

1.0 to 32.0 ms (in increments of 1 ms)

1.5 to 31.5 ms (in increments of 1.5 ms)

Continued on next page.

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3.1 Basic Functionality

CPU Unit Functionality

0.5 ms

High-speed scan

MP2000

Optional Module

System service

Basic cycle

(0.5 ms)

Reference issued at c Reference issued at d Reference issued at e

Scans

Continued from previous page.

Communica-

tions Cycle

2 ms

3 ms

High-speed Scan Time Set

Value Restrictions

Integral multiple of 2 ms or 1 times the integer portion Integral multiple of 3 ms or 1 times the integer portion

When MP2000 Optional

Module Is Not Used

2.0 to 32.0 ms (in increments of 2 ms)

3.0 to 30.0 ms (in increments of 3 ms)

Possible Set Values

When MP2000 Optional

Module Is Used

2.0 to 32.0 ms (in increments of 2 ms)

3.0 to 30.0 ms (in increments of 3 ms)

If these restrictions are not observed, the high-speed scan cycle will stop and an alarm will occur. The alarm is reported in the M-III Restrictions Error Bit (SB00041D) in the CPU Error Status System Register. Refer to the following section for details.

4.3 CPU Unit Specifications −  System Status (page 4-19)



Restrictions Imposed by Σ-V SERVOPACKs

The specifications of MECHATROLINK-III Σ-V-series SERVOPACKs impose the following restrictions on the set value of the high-speed scan time.

Σ-V SERVOPACK

Versio n

Restrictions

High-speed scan time set value ≤ (32 × Communications cycle)

Lower than version 21

Example: If the MECHATROLINK-III communications cycle is 125 μs, the set value of the high-speed scan time can be up to 4.0 ms (125 μs × 32).

High-speed scan time set value ≤ (254 × Communications cycle)

Version 21 or higher

Example: If the MECHATROLINK-III communications cycle is 125 μs, the set value of the high-speed scan time can be up to 31.75 ms (125 μs × 254).

If these restrictions are not observed, an A.94B Data Setting Warning 2 (Data Out of Range) warning will occur in the SERVOPACK.

 I/O Processing

If the high-speed scan time is set to at least 0.5 ms, the I/O service (I/O processing) of the MP2000 Optional Module will be performed every scan.

If the high-speed scan time is set to less than 0.5 ms (0.125 ms or 0.250 ms), the I/O service (I/O processing) of the MP2000 Optional Module will be performed at the filtered basic cycle of 0.5 ms.

The following figures show the timing results for these settings.



Example: High-speed Scan Time Set to 0.5 ms

* The purpose of this system service register is to determine from a ladder program whether the I/O scan service

is being executed for MP2000 Optional Modules

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3.1 Basic Functionality

0.25 ms

0.5 ms

High-speed scan

Basic cycle

(0.5 ms)

Reference issued at c

MP2000

Optional Module

System service

Reference issued at e

Reference issued at g

0.125 ms

0.5 ms

High-speed scan

Basic cycle

(0.5 ms)

MP2000

Optional Module

System service

Reference issued at c Reference issued at g

Reference issued at k

Information

Scans



Example: High-speed Scan Time Set to 0.250 ms

* The purpose of this system service register is to determine from a ladder program whether the I/O scan service



Example: High-speed Scan Time Set to 0.125 ms

is being executed for MP2000 Optional Modules

3-34

* The purpose of this system service register is to determine from a ladder program whether the I/O scan service

is being executed for MP2000 Optional Modules

Low-speed (L) Scan

The setting range for the low-speed scan time is 2.0 to 300.0 ms (in increments of 0.5 ms).

The default low-speed scan time is 200.0 ms.

 I/O Processing

During the low-speed scan, the I/O service (I/O processing) is performed every scan, regardless of the set value.

Setting the High-speed and Low-speed Scan Times

Use MPE720 version 7 and perform the procedure given below to set the high-speed and low-speed scan times.

Stop the CPU Unit.

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3.1 Basic Functionality

CPU Unit Functionality

Important

Scans

2. Select File

−

Environment Setting from the menu bar. Alternatively, click the System Setting

Icon on the Start Tab Page.

The Environment Setting Dialog Box will be displayed.

3. Select Setup

−

Scan Time Setting.

The following dialog box will be displayed.

Setting Value: Enter the scan time settings. Current Value: A value of 0.0 ms is displayed when the MPE720 is offline. Otherwise, the actual pro-

cessing times for the scans are displayed.

Maximum Value: The maximum processing time for the scan is displayed. You can set the maximum

value. The setting is retained until it is exceeded.

4. Enter the high-speed scan time in the Setting Value Box under High-speed Scan. Enter the low-

speed scan time in the Setting Value Box under Low-speed Scan.

The following table shows the possible set values and default values for each scan time.

Item Possible Set Values Default

High-speed Scan Time 0.125 to 32 ms (in 0.125-ms increments) 4.0 ms

Low-speed Scan Time 2.0 to 300.0 ms (in 0.5-ms increments) 200.0 ms

Note: The possible set values and default values depend on the model. Refer to the user’s manual for the Module

you are using for details.

5. Click the OK Button.

The settings will be saved and the Environment Setting Dialog Box will close.

Observe the following precautions when setting the high-speed scan time and low-speed scan time.

1. Set the scan set value so that it is 1.25 times greater than the maximum value. If the scan set value is too close to the maximum value, the refresh rate of the MPE720 window will noticeably drop and can cause communications timeout errors to occur. If the maximum value exceeds the scan set value, a watchdog error may occur and cause the Machine Controller system to

shut down.

2. If you are using MECHATROLINK-II or MECHATROLINK-III, set values that are an integral

multiple of the communications cycle. If you change the communications cycle, check the scan time set values.

3. Do not change the scan set value while the Servo is ON. Never change the scan set value while an

axis is in motion (i.e., while the motor is rotating). Doing so may cause the motor to rotate out of control.

4. After changing or setting a scan time, always save the data to flash memory.

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3.1 Basic Functionality

Scans

Keep Latest Value Setting in High-speed/Low-speed Scans

You can use the Keep Latest Value setting to specify the number of scans to hold previous data when an input error occurs. If the input error still exists after the number of scans specified for the Keep Latest Value setting, the input values will be treated as 0. When the input error is removed, reading the input values is resumed automatically. There are separate Keep Latest Value settings for the high-speed scan and the low-speed scan.

 Operation

The following figure illustrates the operation for the Keep Latest Value setting.

Keep Latest Value setting: 3 scans for high-speed scan

High-speed scan

Input value

to I/O

Module 1

Input value

to I/O

Module 2

100 101 102 103 104 105

Input error occurred in I/O Module 2.

200 201

201

Input error removed from I/O Module 2.

106 107

207

Keep Latest Value region:

The value from before

the input error (201) is held for 3 scans.

The number of scans set for the Keep Latest Value setting was exceeded, so the input value is treated as 0.

Reading the input value is automatically started again.

 Setting Procedure

Perform the following procedure with MPE720 version 7 to set the Keep Latest Value setting.

Select File − Environment Setting from the menu bar. Alternatively, click the System Setting Icon on the Start Tab Page.

The Environment Setting Dialog Box will be displayed.

2. Select Setup

The following dialog box will be displayed.

−

System Setting.

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3. Set values in the High-speed Input and Low-speed Input Boxes in the Keep Latest Value

Group.

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CPU Unit Functionality

4. Click the OK Button.

Information

0.250 ms

0.5 ms



































Input error

Keep Latest Value setting = 5 scans for high-speed scan

High-speed scan

Function Modules

(218IFD and SVC32)

in the CPU Unit

MP2000

Optional Module

Service scan on MP2000-series Optional Module immediately after the specified number of scans

Service scan on Function Modules in the CPU Unit immediately after the specified number of scans

Input registers in the Function Modules in the CPU Unit are cleared.

The input registers in the MP2000 Optional Module are cleared.

The settings will be saved and the Environment Setting Dialog Box will close.

The Keep Latest Value setting specifies the number of scans to process before the I/O service clears the input registers.

If the high-speed scan time setting is set to 0.250 ms or 0.125 ms, the scan at which the input registers are cleared will differ for the MP2000-series Optional Module and the 218IFD and SVC32 Function Modules that are built into the CPU Unit.

In the following example, an input error occurs simultaneously on the MP2000-series Optional Module and the 218IFD and SVC32 Function Modules in the CPU Unit when the high-speed scan setting is set to 0.250 ms and the Keep Latest Value setting is set to 5 scans. The input registers in the 218IFD and SVC32 Function Modules built into the CPU Unit are cleared on the sixth scan that immediately follows the specified number of scans, whereas on the MP2000-series Optional Module, the input registers are cleared on the seventh service scan that immediately follows the specified number of scans.

3.1 Basic Functionality

Scans

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Page 88

3.2 Function Modules

Self Configuration

3.2

Function Modules

This section describes the Function Modules that are built into the CPU Unit.

Self Configuration

Self configuration is a feature that automatically recognizes all the Optional Modules that are installed in the Machine Controller and all the slave devices that are connected via the MECHATROLINK connector (such as Servo Drives), and creates the module configuration definition files based on that information. Self configuration greatly reduces the steps that are required to set up the system. Use the DIP switch on the CPU Unit or use the MPE720 to execute self configuration.

The following figure illustrates self configuration.

Executing Self Configuration

Host PLC

Ethernet

MPE720 Integrated Engineering Tool Version 7

Ethernet

MECHATROLINK-III

Servomotor Servomotor Servomotor

Detection of motion parameter information

(SERVOPACKs)

Automatically writing the SVC definitions

Detection of information from the Function Modules in the CPU Unit (218IFD, SVC32, SVR32, and M-EXECUTOR) and from Optional Modules

Detection of slave device information

I/O

Automatically writing the Module

configuration definitions

Automatically writing the MECHATROLINK

communications definitions

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3.2 Function Modules

CPU Unit Functionality

Important

Self Configuration

Operating Procedures

This section describes the procedures for executing self configuration.

• Refer to the following section when you perform self configuration for the first time after connecting the devices.

Self Configuration Using the DIP Switch (page 3-39)

• If the Machine Controller and the MPE720 are already connected, the self configuration can be performed by using the MPE720.

Self Configuration Using the MPE720 (page 3-42)

 Self Configuration Using the DIP Switch

The procedure for executing self configuration using the DIP switch depends on whether self configuration is being done for the first time since the devices were connected, or if SERVOPACKs or other devices have been added.

Both procedures are described below.



First Self Configuration after Connecting the Devices

The following procedure performs a new self configuration of all Modules, and creates new definition files.

1. Before performing this procedure, turn ON the power supply to the SERVOPACKs and other devices.

2. This procedure will clear the following data:

• All definition files

• All user programs

• All registers

1. Turn OFF the power supply to the CPU Unit.

2. Turn ON only the INIT and CNFG pins on the SW1 DIP switch on the CPU Unit.

3. Turn ON the power supply to the CPU Unit.

Self configuration will be executed.

4. Confirm that the status indicators on the CPU Unit change in the following way:

• RDY: Goes out, and then lights.

• RUN: Goes out, flashes, and then lights.

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3.2 Function Modules

ImportantImportant

Self Configuration

5. Turn OFF the INIT and CNFG pins on the SW1 DIP switch on the CPU Unit.

1. INIT Pin on the DIP Switch and RAM Data If the power supply is turned OFF and ON again when the INIT pin on the Machine Controller SW1 DIP switch is turned ON, the data in RAM will be cleared.

If the power supply is turned OFF and ON again when the INIT pin is turned OFF, the data from the flash memory will be loaded and will overwrite the RAM data. Therefore, if the power supply must be turned OFF while writing or editing a program, make sure you save the data to the Machine Controller’s flash memory to protect the RAM data.

2. Power Interruptions after Self Configuration After performing self configuration, turn OFF the power supply to the Machine Controller only after the definition data is saved to the flash memory of the Machine Controller. If by chance, the power supply is turned OFF before the data is saved, perform self configuration again.

Refer to the following manual for details on saving data to the flash memory.

MP2000/MP3000 Series Machine Controller System Setup Manual (Manual No.: SIEP C880725 00)



After Adding SERVOPACKs, Optional Modules, and Other Devices

The following procedure will create the definitions for devices and Function Modules that are newly detected by MECHATROLINK communications. This procedure will not update any of the definitions that were made for existing devices and Function Modules. The definitions before self configuration will be retained.

Before performing this procedure, turn ON the power supply to the SERVOPACKs and other devices.

1. Turn OFF the power supply to the CPU Unit.

2. Turn ON only the CNFG pin on the SW1 DIP switch on the CPU Unit.

3. Turn ON the power supply to the CPU Unit.

Self configuration will be executed.

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3.2 Function Modules

CPU Unit Functionality

ImportantImportant

4. Confirm that the status indicators on the CPU Unit change in the following way:

• RDY: Goes out, and then lights.

• RUN: Goes out, flashes, and then lights.

5. Turn OFF the CNFG pin on the SW1 DIP switch on the CPU Unit.

Power Interruptions after Self Configuration

After performing self configuration, turn OFF the power supply to the Machine Controller only after the definition data is saved to the flash memory of the Machine Controller. If by chance, the power supply is turned OFF before the data is saved, perform self configuration again. Refer to the following manual for details on saving data to the flash memory.

MP2000/MP3000 Series Machine Controller System Setup Manual (Manual No.: SIEP C880725 00)

Self Configuration

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3.2 Function Modules

ImportantImportant

Self Configuration

 Self Configuration Using the MPE720

There are two types of self configuration that can be performed with the MPE720.

• Self configuration of all Modules: Use this mode when the system is being set up for the first time, or after the entire system has been changed.

• Self configuration of specified Modules: Use this mode when a part of the system has been changed. This process will automatically recognize all devices that have been added or removed, and automatically generate definition files for them.



Self Configuration of All Modules

Click the Module Configuration Icon on the Start Tab Page.

Before performing this procedure, turn ON the power supply to the SERVOPACKs and other devices.

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The following Module Configuration Definition Tab Page will be displayed.

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CPU Unit Functionality

2. Click the Module Button.

3.2 Function Modules

Self Configuration

3. Click the All modules Button on the Launcher.

The MC-Configurator Dialog Box will be displayed.

4. Click the OK Button.

Self configuration will be executed.

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3.2 Function Modules

ImportantImportant

Self Configuration



Self Configuration of Specified Modules

Click the Module Configuration Icon on the Start Tab Page.

Before performing this procedure, turn ON the power supply to the SERVOPACKs and other devices.

The following Module Configuration Definition Tab Page will be displayed.

2. In the Function Module/Slave Column, select the Modules to configure using self configuration.

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CPU Unit Functionality

3. Click the specified module Button on the Launcher.

3.2 Function Modules

Self Configuration

The MC-Configurator Dialog Box will be displayed.

4. Click the OK Button.

Self configuration will be executed only for the new devices that are detected by MECHATROLINK communications.

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3.2 Function Modules

Note

Self Configuration

Definition Information Updated by Self Configuration

The definition information that is updated by self configuration is described below.

 I/O Registers

I/O registers are assigned to the Function Modules (218IFD, SVC32, SVR32, M-EXECUTOR, and CPUIF) in the CPU Unit as shown below.

I/O registers will also be automatically assigned to any Optional Modules mounted on the Base Unit.

218IFD

SVC

This procedure will not update any of the definitions that were made for existing devices and Function Modules. The definitions before self configuration will be retained.

Item Settings after Self Configuration

• First I/O registers: IW00000 and OW00000

• Last I/O registers: IW007FF and OW007FF (input registers: IW00000 to IW007FF, output registers: OW00000 to OW007FF)

MECHATROLINK

Motion parameters

• First I/O registers: IW00800 and OW00800

• Last I/O registers: IW00BFF and OW00BFF (input registers: IW00800 to IW00BFF, output registers: OW00800 to OW00BFF)

• First motion registers: IW08000 and OW08000

• Last motion registers: IW087FF and OW087FF (input registers: IW08000 to IW087FF, output registers: OW08000 to OW087FF)

• First motion registers: IW08800 and OW08800

SVR Motion parameters

M-EXECUTOR

For

CPUIF (Assigned only when Sub CPU synchronization is used.)

highspeed scan

For lowspeed scan

• Last motion registers: IW08FFF and OW08FFF (input registers: IW08800 to IW08FFF, output registers: OW08800 to OW08FFF)

• First I/O registers: IW00C00 and OW00C00

• Last I/O registers: IW00C3F and OW00C3F (input registers: IW00C00 to IW00C3F, output registers: OW00C00 to OW00C3F)

• First motion registers: IW20000 and OW20000

• Last motion registers: IW207FF and OW207FF (input registers: IW20000 to IW207FF, output registers: OW20000 to OW207FF)

No registers are assigned. If you need to use low-speed scan registers, manually set the register addresses to use

with the Start − End Boxes under I/O Registers on the Module Configuration Definition Tab Page.

 218IFD Definition

Item Settings after Self Configuration

Local IP Address 192.168.1.1

Subnet Mask 255.255.255.0

Gateway IP Address 0.0.0.0

Module Name Definition CONTROLLER NAME

Engineering Port 9999 (UDP)

MEMOBUS Response Time 0 s

Count of Retry 0

Note: Self configuration sets up the 218IFD for an engineering communications connection with the MPE720.

If you want to use MEMOBUS message communications, manually set up automatic reception or I/O message communications, or use MSG-SNDE and MSG-RCVE functions.

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CPU Unit Functionality

 MECHATROLINK Communications Definition

Information



When Set as the Master

Item Settings after Self Configuration

Master/Slave Master

My station address 0×0001

Communication Cycle 250 μs

Message Communications Enabled

Number of Retry to Slaves 1

Number of connection 8

Slave synchronous function Disabled



When Set as a Slave

Item Settings after Self Configuration

Master/Slave Slave

My station address 0×0003

Communication Cycle −

Message Communications Disabled

Number of Retry to Slaves −

Number of connection 1

Slave synchronous function Disabled

3.2 Function Modules

Self Configuration

To use the Module as a slave, set the parameter settings in the MECHATROLINK communications definition to Slave before performing self configuration in the MPE720.

 SVC Definition

Refer to the following manual for details.

MP3000 Series Motion Control User’s Manual (Manual No.: SIEP C880725 11)

 SVR Definition

Item Settings after Self Configuration

Defined Axes 32 axes (unused axes)

 M-EXECUTOR Definition

Item Settings after Self Configuration

Program Definition Number 8

Program Assignments Not supported.

Control Register Assignments Not supported.

 CPUIF Definition (Only when Sub CPU synchronization is used.)

Item Settings after Self Configuration

For high-speed scan

For low-speed scan No registers are assigned.

Input registers: 64 words Output registers: 64 words

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Page 98

3.2 Function Modules

Communications Function Module (218IFD)

This Function Module is used for communications with a host device.

The following table describes the communication features.

Function Module Features Remarks

The MP3000 Controller supports multiple protocols to enable general-purpose Ether-

Ethernet

Setting Method

Settings are made on the 218IFD Dialog Box after connecting the MP3000-series Controller to the host device. Use the following procedure to display the 218IFD Dialog Box. Refer to the following manual for details on settings.

MP3000 Series Communications User’s Manual (Manual No.: SIEP C880725 12)

net communications with PLCs and touch panels from various manufacturers without writing special applications.

• Supported Protocols MODBUS/TCP, OMRON, MELSEC Acompatible 1E/QnA-compatible 3E, Extended MEMOBUS, MEMOBUS, and TOYOPUC

1. Connect the Machine Controller to the PC, and start the MPE720.

Refer to the following manual for details.

MP2000/MP3000 Series Machine Controller System Setup Manual (Manual No.: SIEP C880725 00)

2. Execute self configuration as required.

Operating Procedures (page 3-39)

3. Click the Module Configuration Icon on the Start Tab Page.

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Page 99

Communications Function Module (218IFD)

CPU Unit Functionality

Cells for 218IFD settings

The following Module Configuration Definition Tab Page will be displayed.

4. Double-click the 218IFD cell.

3.2 Function Modules

The 218IFD Detail Definition Dialog Box will be displayed.

Refer to the following manual for details on settings.

MP3000 Series Communications User’s Manual (Manual No.: SIEP C880725 12)

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3.2 Function Modules

Information

Motion Control Function Modules (SVC32 and SVR32)

The Motion Control Function Module is used for communications with a MECHATROLINK communications device.

There are two Motion Control Function Modules, the SVC32 and SVR32. Both Modules can provide the following forms of motion control.

• Position control

• Synchronized phase control

• Torque control

• Speed control

* The SVR32 contains some parameters that you cannot set or monitor.

The features of the SVC32 and SVR32 are described below.

Function Module Features

SVC32

SVR32

Motion fixed and setting parameters must be set to use these controls.

Controls MECHATROLINK-III-compatible interface devices, such as Servo Drives and I/O Modules.

Provides an interface for virtual axes. This allows you to test programs and create references without connecting to physical motors.

Refer to the following manual for details.

MP3000 Series Motion Control User’s Manual (Manual No.: SIEP C880725 11)

Setting Method

Settings are made in the locations given below after the MP3000-series Controller is connected to the MECHATROLINK device.

• MECHATROLINK Dialog Box

• SVC Definition Tab Page

Use the following procedure to display the tab pages and dialog boxes. Refer to the following manual for details on settings.

MP3000 Series Motion Control User’s Manual (Manual No.: SIEP C880725 11)

1. Connect the Machine Controller to the PC, and start the MPE720.

Refer to the following manual for details.

MP2000/MP3000 Series Machine Controller System Setup Manual (Manual No.: SIEP C880725 00)

2. Execute self configuration as required.

Operating Procedures (page 3-39)

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