Yaskawa MP2300 User Manual

MP2300 Quick Reference Guide

Contents

2 MP2300 Memory Map 3 MP2300 Register Addressing 4 LIO Autoconfiguration Register Allocation 5 Basic Set of Registers 6 Motion Command Code Positioning 7 MPE720 Serial/Ethernet Communication 8 General Startup Procedure

9 Function Block Startup Procedure 10 Motion Program Startup Procedure 11 Motion Program Work Registers 12 Data Trace 13 Reference Units 14 Terminology Synonyms 14 Register Offsets

MP2300 Quick Reference Guide Rev1.5

MP2300 Memory Map

5.5 MB Stores ladder drawings, Local registers and special tables

(Global)

System information and status (read only)

SW0000-1023

Example: Flicker relays, Calendar, User Free: MW00000-29999 Scan time setting, error codes, ect. Convention:

Fixed Parameters (for each axis)

Written to in Module Configuration Mechanical system specifications Axis#1:MW30100. Offset=200 per axis

(Global) M (Global)

Constant, Read only registers. General Multi-Purpose read/write registers

Data that end user can change in MPE720 without needing to access the drawings.

Axis#1:MW1000-1999, Axis#2:MW2000-2999

(MW00000-65535)

Example: *Function Block RDA: MW30000-65535

Define axis units, motor specs. (pulley ratios, encoder counts per load rev) Master-Slave: MW56000. Offset=50 per M-S Pair

Cannot be written by ladder Reference: RDA Spreadsheet Changes usually require power cycl

(Battery Backup)

Reference

* If using motion function blocks.

I (Input) IW0000-FFFF O (Output) OW0000-FFFF

general purpose & motion data (Read only by application program) general purpose &motion data (Read/Write by application program)

Physical Inputs: IW0000-7FFF Physical Outputs: OW0000-7FFF

Convention: IW0410+ for Local I/O modules Convention: OW0410+ for Local I/O Modules

IW0010+ for M-LINK I/O modules OW0010+ for M-LINK I/O modules

Axis (Motion) Input: IW8000-807F (Module#1, Axis#1)

"motion monitoring" Offset 80h per axis "motion setting" Offset 80h per axis

xis (Motion) Output: OW8000-807F (Module#1, Axis#1)

800h per module 800h per module

Example:

IB8000 0

= controller ready

Example:

OB8000 0 = turn servo on

Reference: Basic Module User Man 7.2.3 Reference: Basic Module User Man 7.2.2

D (Local Registers)* Used as general purpose read/write in the defined Drawing only.

Suggested Bits: DW00000-00008 (DB000000~DB00008F) Convention: One-Shot DW00009 (DB000090~DB00009F)

Word Operations: DW00010-00025 (16-bit integers) Accumulators: DW00026 (16-bit Integer accumulator)

DW00027 (16-bit Logic [Hexadecimal] Accumulator) DL00028 (32-bit Long Accumulator)

DF00030 (32-bit Floating point Accumulator) Long & Float DW00032-00098* F.B. Work Register: DW00100-00320*

(32-bit Integers, 32-bit Floating Point)

(Bits, integers, floats as defined in Function Block)

*Default is 32 D-registers per drawing. R-click drawing in File Manager - increase to 320 when using Function Blocks.

Reference:

("Sharps")

Local Constants. General purpose, read-only by the specifed Drawing

(Overwritten from FLASH at power up)

they are defined in.

Set up via a table in the "properties" dialog box for each drawing. Rarely Used

#W00000-16383 Module Configuration

Each hardware module on the rack has several configuration files. This data is stored in program memory.

New project requires setting Module Configuration first. Select from File Manager under Definition Folder"

Drawings: H, L, A, I

H (High Scan) Use for all code that runs motion related functions L (Low Scan) Use for code that runs HMI, or user operated switches, lights, etc

Program Memory

A (Startup) Use for drawings that should automatically run once at controller power up. I (Interrupt) Use to run a special interrupt routine after receiving a local input defined as a dedicated "Interrupt.

D E C

I M A L

H E X A D E C

I M A L

D E C

I M A L

Page 2 of 14

MP2300 Quick Reference Guide Rev1.5

MP2300 Register Addressing

All registers except Input and Output : S, C, M, D, #, A

Address FEDCBA9876543210

MW2008 ML2008 MW2009 MW2010 MF2010 MW2011

M B 2008 C i

S: System C: Global Constant M: Multi-Purpose User D: User Local #: Local Constant

: Startup

Input and Output Registers

Data Type

B: Bit W: 16-bit Word L: 32-bit Long F: 32-bit Float

: Address

(Decimal)

Bit Number

(Hex)

If Bit Data Type

Subscript

(i or j)

optional

Address FEDCBA9876543210

OW8018 OW8019 OW801A OL801A OW801B

O B 8019 A

O: Output (Motion Setting)

I: Input (Motion Monitoring)

Data Type

B: Bit W: 16-bit Word L: 32-bit Long F: 32-bit Float

(Hex)

Bit Number

(Hex)

If Bit Data Type

Page 3 of 14

MP2300 Quick Reference Guide Rev1.5

LIO-01 / LIO-02

Ref. Basic Module User's Manual (SIEPC88070003B) Section 6.5.

LIO-0x #1 LIO-0x#2 LIO-0x #1 LIO-0x#2

Digital Inputs

(As 16-bit word)

Input 0 IB04100 IB04400 Output 0 OB04110 OB04410 Input 1 IB04101 IB04401 Output 1 OB04111 OB04411 Input 2 IB04102 IB04402 Output 2 OB04112 OB04412 Input 3 IB04103 IB04403 Output 3 OB04113 OB04413 Input 4 IB04104 IB04404 Output 4 OB04114 OB04414 Input 5 IB04105 IB04405 Output 5 OB04115 OB04415 Input 6 IB04106 IB04406 Output 6 OB04116 OB04416 Input 7 IB04107 IB04407 Output 7 OB04117 OB04417 Input 8 IB04108 IB04408 Output 8 OB04118 OB04418 Input 9 IB04109 IB04409 Output 9 OB04119 OB04419 Input 10 IB0410A IB0440A Output 10 OB0411A OB0441A Input 11 IB0410B IB0440B Output 11 OB0411B OB0441B Input 12 IB0410C IB0440C Output 12 OB0411C OB0441C Input 13 IB0410D IB0440D Output 13 OB0411D OB0441D Input 14 IB0410E IB0440E Output 14 OB0411E OB0441E Input 15 IB0410F IB0440F Output 15 OB0411F OB0441F

IW0410 IW0440 OW0411 OW0441

Digital Outputs

(As 16-bit Word)

Counter

NOTE: There can be up to 2 LIO-0x modules in an MP2300 system. The first module to be auto-configured is the left-most module.

IW0420 / OW0420

Page 4 of 14

MP2300 Quick Reference Guide Rev1.5

Basic Set of Registers for Register-Based Programming

Assume Module(Circuit) #1, Axis #1. Add 800h per circuit, 80h per axis.

Motion Setting Registers (OWxxxx)

Name Word Bit [Unit] / Note Reference

Servo On

Alarm Clear

Speed ("Feed" Speed)

Motion Command Code

Position Reference

Abs/Inc Position Mode

Step Distance

Direction (Step,Jog)

Acceleration

Deceleration

OB8000 0 OB8000 F

OL8010

OW8008 OL801C OB8009 5 OL8004 OB8009 2

OL8036

OL8038

[10^3 R.U./minute (by default)] Select Speed Units in OW8003.0-3

1=Position, 3=Home, 7=Jog, 8=Step

[R.U.] Default R.U. is encoder count

1=Abs, 0=Inc (default)

[R.U.] Default R.U. is encoder count

0=Fwd, 1=Rev [ms to rated speed (FP34)]

Select Acceleration Units in OW8003.4-7 [ms to rated speed (FP34)] Select Deceleration Units in OW8003.4-7

Motion Monitoring Registers ( I Wxxxx)

Name Word Bit [Unit] / Note Reference

Servo Alarm

Servo Warning

Mtn Cmd Code confirm

Main Power On

Servo Ready

Servo On Confirm

Feedback Position

Feedback Speed

Positioning Complete

Terminology used on this page

"R.U.": Minimum increment of motion. By default 1 R.U. = 1 Count. Used fixed parameters to change. "Count": post-quadrature encoder count "Pulse": pre-quadrature encoder pulse

IL8004

IL8002

IW8008 IB802C 4 IB8000 3 IB8000 1 IB802C 3 IL8016 IL8040 IB800C 1

=0 when no alarm. Each bit represents different alarm =0 when no warning Each bit represents different warning

[counts or Reference Units]

Page 5 of 14

MP2300 Quick Reference Guide Rev1.5

Motion Command Code

Indexing Example

Move from position 5000 to position 8000, assuming the following for module (circuit) #1, Axis #1

ILC008=5000 Current position is 5000 ILC022=0 No alarms IBC0013=1 Servo is ON

Solution using STEP

OL8044=3000 Step Distance 3000

OB80092=0 Direction Forward OL8010>=0 Set Feed Speed

2 OW8008=8 MtnCmdCd starts motion

Solution using POSITION (INCremental)

OL801C=0 Initial position 0

OB80095=1 Incremental Positioning Mode

OL8010>=0 Set Feed Speed 2 OW8008=1 MtnCmdCd defines initial position 3 OLC012=3000 Position reference incremented starts motion

Solution using POSITION (ABSolute)

OB80095=0 Absolute Positioning Mode 1

OL8010>=0 Set Feed Speed

OL801C=8000 Position Reference to Absolute position 2 OW8008=1 MtnCmdCd starts Motion

Page 6 of 14

MP2300 Quick Reference Guide Rev1.5

Serial & Ethernet Connection Procedure (To MPE720)

Serial Connection

Instruction Step Detail

Define the PC's Serial

port as a valid way to

communicate via

MPE720

Ethernet Connection

MW/MPE720 communicates to the MP2300's 218IF-01 Ethernet module through the Communication Manager program. All 3 must be configured to log on online over Ethernet.

1 Connect serial cable from MP2300 port 1 to PC's COM port.

Open Communication manager from system tray

Double click a "logical port number", choose "serial" and click "Detail"

Choose desired "physical port" number that the serial cable is connected to on

the PC.

5 Save and close communication manager

Restart MPE720

Be sure the 218-IF TEST and INIT dipswitches are both off (left) Instruction Step Detail

Give the 218IFmodule an

IP address

Define the PC's Ethernet

port as a valid way to

communicate via

MP2300

Tell MW/MPE720 to

connect via Ethernet

Logged On, Online via serial port (CP-217)

From file manager, under Definition folder, open Module Configuration

Highlight the column of 218IF-01 slot

In the Module Details section, double-click slot 2 (or R-click - Open Slot)

Enter the IP address for the MP2300 and save. (The table at the bottom of the

screen is for other Ethernet devices controlled by the MP2300). Save configuration, close window, and save and save to flash

Cycle unit power so that IP address is updated. (be sure all dipswitches are off on both the base unit and the 218IF-01 to avoid overwriting the flash save upon

power up)

Open Communication Manager (from windows system tray, near clock)

1 2 Double click a blank logical port to open the settings 3 Choose CP-218, click detail 4 Select the IP address of the PC. 5 Turn "Default" Off 6 Click "OK" twice, save, and close communication manager 7 Close MW/MPE720, then re-open so that the data is refreshed

Log Off

1 2 R-click controller folder, choose properties

Under Network tab, choose port number with CP-218 that you just made in

Communication Manager

4 Type the IP address of the MP2300 as defined in Module Configuration 6 Log On, Online

NOTES: It is assumed that a valid IP address has been acquired from the network administrator. To connect directly, use a crossover cable and configure your PC to use a static IP address. As noted on the 218IF module, the network must be 10mbps, or switchable from 100mbps to 10mbps. If a 218IF error does not go away after power is cycled, turn on the 218IF INIT dipswitch and cycle power.

Page 7 of 14

MP2300 Quick Reference Guide Rev1.5

MP2300 Startup Procedure

ll equipment must be properly wired and installed.

Step Instruction Detail

1 Power OFF Prepare for first Power ON 2 Set M-LINK address MP2300 base unit is node 0, so set rotary switch 1-F 3 Set CONFIG and INIT dipswitches (right) Prepare to erase all RAM (not FLASH) and self-configure hardware

4 Power ON

5 Set all dipswitches OFF (left)

6 Start MotionWorks MPE720 Connect Serial Cable JEPMC-W5311-03B

R-Click to create new Group folder, Order

subfolder, and Controller subfolder

8 R-Click Controller folder and select "Online"

9 Double-click Controller folder to Log On The default User Name and Password are both USER-A

10* Save to flash

Wait for "All Green" lights on Servopacks and Controller. Takes about

15sec.

The configuration is now termporarily stored in program RAM and should not be self-configured again at next power up.

Type any name 8 characters or less, no spaces. Choose "Controller Type" as MP2300 Changes will be made to files on the computer as well as on the controller, instead of just the computer.

When the window pops up, click the leftmost button (Save/Compare) and accept other defaults. Close window when complete.

11* Save controller configuration to hard disk

*These steps can be skipped because they will be completed when (1) Ethernet (rather than serial) will be used to logon online. (2) Function Blocks will be used.

R-Click controller folder, Transfer - All Files - From Controller to MPE720. Uncheck "Registers" or transfer will take over 7 minutes.*

SERVOPACK Default Set Procedure

(Optional Procedure) When servopack is not brand new, use this procedure to restore default parameter settings

Step Instruction Detail

R-Click Controller folder, Log OFF. R-Click controller folder, check

1 Log On ONLINE

Open Servopack Module Configuration2

Save defaults for each axis3

"online". Double-click Controller folder to log on. The default User Name and Password are both USER-A From file manager, under Definition folder, open Module Configuration. Engineering Manager application opens. Highlight Controller Slot 00 (MP2300). In the Module Details section, double-click slot 3 (or R-click - Open Slot). In the SVB Definition window, Select SERVOPACK tab Choose the Axis number from the pull-down list (top left) Under Edit menu, choose Default Set. Click OK and Save Repeat for each axis as necessary Cycle Servopack Power

Symbol Import Procedure

Step Instruction Detail

1 Log On (Online or Offline)

2 Close everything except File Manager Close Ladder Editor, Engineering Manager, etc

3 Open Symbol Manager

4 Open Symbol List

5 Import Symbols

6 Save Symbols

Repeat process for additional symbol list *.CSV files

Double-click Controller folder to log on. The default User Name and Password are both USER-A

From File Manager, under Database folder, open Symbol Manager. Symbol Manager Application opens. Under View menu, be sure Data Tree is checked. Expand Data Tree to open Symbol List and double-click All Register. Under File menu, choose Import. Locate desired *.CSV symbol file (such as MotionImport.csv) and open. Use the SAVE icon, CTRL-S, or File-Save. It may take a few seconds

for saving to complete, depending on the number of symbols in the

ect and the speed of the computer.

pro

Page 8 of 14

MP2300 Quick Reference Guide Rev1.5

Function Block Startup Procedure

First complete the MP2300 Startup Procedure There should be a new controller folder

Step Instruction Detail

1 Acquire project file

Log ON (online)2

Extract MAL file to

controller files on hard drive*

Transfer Function blocks

to Controller*

5 Save to Flash

6 Save to Hard Disk

7 Cycle Power Cycle power is needed for initialization drawings (A drawings) to run

To start a totally blank Function Block project, only check FUNC box and all detail. To start with the pre-

made Function Block template, check both DWG and FUNC and under each detail select "all".

FB040823.MAL or equivalent. Download to C:\ or any directory without spaces.

R-Click Controller folder, Log OFF. R-Click controller folder, check "online". Double-click Controller folder to log on. The default User Name and Password are both USER-A

R-click Controller folder, Transfer, Selected Files, From Another Drive to MPE720. Find *.MAL file. *Check the FUNC box. Then click "transfer" button. Takes about 30 seconds. Close window when complete.

R-Click controller folder, Transfer, Selected Files, From MPE720 to Controller. *Check the FUNC box. Then click "transfer" button. Transfer takes almost 4 minutes with serial connection. Close window when complete.

Click the Black Diskette Icon. When the window pops up, click the leftmost button (Compar/save) and accept other defaults. Close window when complete.

R-Click controller, Transfer - All files - From Controller to MPE720. Uncheck

registers or it will take over 7 minutes.*

Page 9 of 14

MP2300 Quick Reference Guide Rev1.5

Motion Program Startup Procedure

First complete the MP2300 Commissioning Procedure There should be a new controller folder

Group Definition (axes used in motion program)

Step Instruction Detail

1 Log on Online

2 Open Group Definition

3 Enter & Save a Group Name

Enter the number of axes that

will be used in the Motion Program

Define Module Number, Axis

Number, and Axis Name

6 Save Group Definition Save Icon

7 Refresh view In File Manager, Under View menu, choose Refresh

Motion Program

Step Instruction Detail

1 Start a new Motion Program

Things to know before a Motion

Program is started

3 Write Motion Program

4 Save Motion Program Use save icon. Also save to flash.

R-Click Controller folder and select Log Off. R-click again and check "online". Double-click controller folder to log on

In File Manager-> Programs -> High Scan Programs -> Motion Programs -> DoubleClick "Group Defnition" Under the "Group List" Tab. When saved a new "Group01" tab will appear.

Under the "Group01" Tab, in the "Axis" area.

Under "Group01" Tab, in the "Axis Definition" area. In the "Physical" row, 01.01 means motion module 1, axis 1. Usually the default is fine. In the "Logical" row, enter a text name for the axis, such as X or Y.

In File Manager-> Programs -> High Scan Programs -> Motion Programs, R-click "Motion Group01" and select "New Program".

There are no commands for SERVO ON or JOG in the Motion Programming Language. These steps are to be accomplished in Ladder.

First line must be 'MPM001' and last line must be 'END;'. Instructions terminate with semicolon. Comments enclosed in quotes ("comment"). Refer to Motion Programming User Manual (SIEZ-C887-1.3) for extensive details on each command.

Call From Ladder

Step Instruction Detail

1 Use the MSEE instruction

2 Rules before starting

3 Start the motion program

4 Rules while running

Page 10 of 14

MSEE is located under the "Motion" tab in Ladder Editor. It can only be used in an H-drawing. Define a starting address for the four 16-bit work registers in the Data field. Often DA00000 is used defining DW00000 through DW00003, but be sure to use M or D registers that are not used elsewhere.

All axes in the group must have: 1) Servo On, 2) Motion Command Code =0 and not continually updated to 0, 3) No other motion program in same group runnin, in alarm, or paused, 4) SERVOPACK self-writing function disabled FixedParameter 1 bit A=1.

Bit 0 of the second word defined in the Data field (DB000010 in the above example) must go high for the motion program to start. See Motion Program Work Registers in this QRG for more information.

Ladder code must not manipulate Motion Command Code, unless motion language is not using the Motion Command Code register the time, and proper interlocks are used to flag the ladder code

MP2300 Quick Reference Guide Rev1.5

Motion Program Work Registers for MSEE instruction

OUTPUT (Motion Program Status)

DW00000

Bit Name Description

DB000000 Program Running ON while running DB000001 Program Paused ON while paused

DB000002

DB000004

DB000008 Program Alarm ON when Motion Program Alarm has occurred DB000009 Stopped at Break Point

1st Work Register2nd Work Register

DB00000B Program Debugging Mode ON during Windows (EWS) debug mode DB00000D Start request signal history ON during request

DB00000E Program Duplication Error

DB00000F Program Number Limit Error ON when the number of steps in program exceeded maximum

program stopped with program stop request Program in Debug (Single Block) Mode

ON when stopped

ON during debug via ladder (registers)

ON when another Motion Program in the same group has started while this program is running

The "Data" field of the MSEE instruction defines the address for the output and input registers of the motion program.

Ex: DA00000 means that DW00000 through DW00003 will be used.

INPUT (Motion Program Control Signals)

DW00001

Bit Name Description

DB000010 Program Start Request ON with rising edge. (if it CAN start it will, otherwise alarm) DB000011 Program Pause Request ON will pause motion blocks

DB000012 Program Stop Request

DB000013 Program Debug Mode Select "Single block mode". ON will force debugging mode

DB000014 Program Debug Start "Single Block Mode" start. ON (transition) debug block by block DB000015 Program alarm Reset ON will clear the program alarm (stop program before issuing alarm reset)

DB000016

DB000018 Block Skip 1 Operation

DB000019 Block Skip 2 Operation

DB00001D

DB00001E Interpolation Override Setting ON activates the interpolation override speed with the 3rd MSEE work register

Program Continuous Operation Start Request

System Work Number Setting

ON will stop all group motion, exit the Motion Program, and generate a motion program alarm

ON will cause program to ….

ON will cause the program to skip an interpolated motion block if the SKP ss1 instruction was used instead of MVS ON will cause the program to skip an interpolated motion block if the SKP ss2 instruction was used instead of MVS

ON Sets system work register number with 4th word of MSEE work register

INTERPOLATION OVERRIDE (Speed)

DW00002

3rd Work

The speed set in this register [0.01% of FMX] will override the interpolation speed set in the motion program (F & IFP commands) when bit E of the 2nd word of the MSEE work register is ON

SYSTEM WORK REGISTER

The system work register number in this register will be used when bit D of the 2nd word of the MSEE work

DW00003

4th Work

register is ON. Otherwise the system work register number will be automatically defined by the system and may be different each time.

Page 11 of 14

Data Trace

Quick Method

Add registers

configuration

Snap the data

Illustration

to trace

Save

MP2300 Quick Reference Guide Rev1.5

R-Click in ladder, select "register to trace", or type registers manually. To graph speed, create it in ladder using position scan differential. CTRL-S or from menu. The selected data starts filling the trace buffer (FIFO) immediately

Click the Snap button to display the data currently in the trace buffer. Click Snap AFTER the motion completes. Although the data displayed is fixed, data continues to fill the buffer.

Notes

Old Data

data

Snap

By default, the data saved in the list is updated every H-scan The trace buffer is limited to 32,000 16-bit words per "group". Once it is full, old data is pushed out by the new data. Four (4) groups of trace data can be collected simultaneously. Set the trigger condition to capture an event, such as a fault, or to change sample rate.

Snap Data Current Data

time

Page 12 of 14

Reference Units (User Units)

MP2300 Quick Reference Guide Rev1.5

KEY

* RU = "reference unit" = "command unit" - fraction of the User Unit * User Unit = base unit such as mm or inch * FP = Fixed Parameter * MCC = Motion Command Code (OWxx08) * Register Values given for Circuit#1, Axis#1 * Bold type represents default setting

FP34: Rated Speed [RPM] (Default 3000)

OL801C: Position Reference [RU] or OL8044: Step Distance [RU] OB80092 = Step Direction

Servopack Pn80B: Acceleration Rate [10,000 RU/sec^2] (Default 65535)

Use MCC=10 to change

FP1.A=1

Update at power up or

when changed

cceleration

when FP1.A=0

OL8036: Acceleration [select unit OW8003.4-7] (Default 0)

0: [RU/sec^2]

1: [ms to Rated Speed (FP34)]

OL8036/OL8038 =0 sets servopack acceleration/deceleration rate to 65535[10,000 RU/sec^2], independent of unit selected in OW8003.4-7

NOTES:

* Register Addresses assume Circuit#1, Axis#1 * Reference Units not compatible with Function Block programming. * Default Positioning units are [encoder pulses (post quad)] * Default Speed Reference units are [1000 pulses/min] * Default Accel/Decel units are [ms to rated motor rpm] * Default FP1.A=1 autmatically transfers accel/decel to servopack * MPE720 5.31B "Units" in module configuration do not update * Basic Module User Manual

(SIEPC88070003B) lists incorrect unit defaults

OL8010: Speed Reference [select unit OW8003.0-3] (Default 3000)

0: [RU/sec]

1: [10^n RU/min]

2: [% of Rated Speed (FP34)]

n = 3 when FP4=0 (pulse) n = FP5 when FP4<>0

If PULSE is not chosen as the User Unit, use the following parameters to define the relationship between PULSE and RU.

FP36: Encoder Pulses (post quad) per motor rev

FP8: Motor Revs into gearbox

Servopack Pn80E: Deceleration Rate [10,000 RU/sec^2] (Default 65535)

Use MCC=11 to change Deceleration when FP1.A=0

FP1.A=1

Update at power up or

when changed

FP9: Machine Shaft Revs out of gearbox

FP6: RU per Machine Shaft Revolution

Motor

OL8038: Deceleration [select unit OW8003.4-7] (Default 0)

0: [RU/sec^2]

1: [ms to Rated Speed (FP34)]

RU = FP4 *10^-n

User Unit = FP4 0: Pulse (post quad) 1: mm 2: deg 3: inch

G.B.

For an "Infinite Length" Axis

* Rotary Table * Conveyor

FP1 bit0: Set axis type to "Infinite Length" FP10: Set R.U. per rotation. This will be 360 degrees

Page 13 of 14

MP2300 Quick Reference Guide Rev1.5

Terminology Synonyms and Definitions

Parameter Register Reference Unit (R.U.) Command Unit User Unit Base unit such as mm, inch, degree. Module # Circuit # MotionWorks MPE720 Motion Command Motion Command Code Motion Programming Motion Language (Structured Text)

Offset Start Note Per Axis 80h IW8000 / OW8000 Per Module / Circuit 800h IW8000 / OW8000 Function Block per axis 200 MW30100 Function Block Master-Slave 50 MW56000

Page 14 of 14

Yaskawa MP2300 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

MP2300 Quick Reference Guide

Motion Command Code

MP2300 Startup Procedure

SERVOPACK Default Set Procedure

Function Block Startup Procedure

Motion Program Startup Procedure

Data Trace

Terminology Synonyms and Definitions