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

+ 9 hidden pages