YASKAWA MP3300 Product Manual

Page 1

Machine Controller MP3000 Series

MP3300

Product Manual

CPU Module model: JAPMC-CP3301-1-E, -CP3301-2-E, -CP3302-1-E, -CP3302-2-E Base Unit model: JEPMC-BU3301-E, -BU3302-E, -BU3303-E, -BU3304-E

MANUAL NO. SIEP C880725 21D

Introduction

Appearances and Parts

CPU Module Functionality

Specifications

External Dimensions

Page 2

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 MP3300 Machine Controllers and the functionality of the CPU Modules.

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 MP3300 A generic name for the CPU Module and Base Unit. Machine Controller An MP3300 Machine Controller in the MP3000 Series

Motion Control Function Modules

Communications Function Modules

The Function Modules in the Motion Modules and the Function Modules in the SVC, SVC32, SVR, or SVR32 built into the CPU Modules.

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

 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).

 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 manual.

mark do not appear with product or company names in this

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Important

Example

Information

Term

 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 dam-

age.

Indicates items for which caution is required or precautions to prevent operating mis-

Note

takes.

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 specifications and system configuration of an MP3000-series MP3200 Machine Controller and the functions of the CPU Unit.

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/MP3300 Troubleshooting Manual

Machine Controller MP3000 Series MP3200 User’s 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 C880725 10

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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Continued from previous page.

Category Manual Name Manual Number Contents

Describes the specifications, system

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

configuration, and operating methods for the SVC32/SVR32 Motion Function Modules that are used in an MP3000series Machine Controller.

Describes the functions, specifications, and operating methods of the MP2000-series PO-01 Motion Module.

Describes the functions, specifications, and operating methods of the MP2000-series SVA-01 Motion Module.

Describes the functions, specifications, and operating methods of the MP2000-series Motion Module (built-in Function Modules: SVB, SVB-01, and SVR).

Describes the functions, specifications, and operating methods of the MP2000-series SVC-01 Motion Module.

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

Describes the motion programming and sequence programming specifications and instructions of MP3000series 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 AI01 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 MP2000series Machine Controllers.

Describes the tions,

and operating methods of the LIO-01, LIO-02, LIO-04, LIO-05, LIO06, and DO-01 I/O Modules for MP2000-series Machine Controllers.

functions, specifica-

Continued on next page.

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Continued from previous page.

Category Manual Name Manual Number Contents

Describes the functions, specifica-

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

tions, 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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DANGER

WARNING

CAUTION

NOTICE

Safety Precautions

 Safety Information

To prevent personal injury and equipment damage in advance, the following signal words are used to indicate safety precautions in this document. The signal words are used to classify the hazards and the degree of damage or injury that may occur if a product is used incorrectly. Information marked as shown below is important for safety. Always read this information and heed the precautions that are provided.

 Indicates precautions that, if not heeded, are likely to result in loss of life, serious injury, or fire.

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

 Indicates precautions that, if not heeded, could result in relatively serious or minor injury, or in

fire.

 Indicates precautions that, if not heeded, could result in property damage.

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 Safety Precautions That Must Always Be Observed

WARNING

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 pro-

cedure 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 Machine Controller, or burning.

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

There is a risk of injury or device damage.

 Storage and Transportation Precautions

 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.

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CAUTION

 Installation Precautions

 Do not install 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 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.

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

bromine, or iodine).

There is a risk of malfunction or damage.

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

There is a risk of injury or an accident.

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

enter the Machine Controller.

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

 Always mount the Machine Controller in the specified orientation.

There is a risk of malfunction.

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

of the control panel and other devices.

There is a risk of fire or malfunction.

 Do not subject the Machine Controller to strong shock.

There is a risk of malfunction.

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

enced technician.

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

 Do not touch the electrodes of the Battery.

Static electricity may damage the Battery.

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 Wiring Precautions

CAUTION

 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 wir-

ing.

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 Module before the 24-V I/O

power supply. Refer to the following manual for details on circuits.

MP3000 Series MP3300 CPU Module Instructions Manual (Manual No.: TOBP C880725 23)

If the power supply to the CPU Module is turned ON after the external power supply, e.g., the 24-V I/O power supply, the outputs from the CPU Module may momentarily turn ON when the power supply to the CPU Module 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 communi-

cations 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.

Example of Separated Cables

Power cable

Steel separator

I/O signal

cables in

control circuits

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CAUTION

 Operation Precautions

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

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.

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

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 sub-

sequent 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 Precautions

 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 experi-

enced technician.

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

 Do not forget to perform the following tasks when you replace the CPU Module:

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

• Transfer all saved programs and parameters to the new CPU Module.

If you operate the CPU Module without transferring this data, unexpected operation may occur. There is a risk of injury or device damage.

 Do not touch the heat sink on the CPU Module while the power supply is turned ON or for a suf-

ficient period of time after the power supply is turned OFF.

The heat sink may be very hot, and there is a risk of burn injury.

 Disposal Precautions

 Dispose of the Machine Controller as general industrial waste.  Observe all local laws and ordinances when you dispose of used Batteries.

 General Precautions

 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 representa-

tive or one of the offices listed on the back of this manual.

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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.

 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

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• 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiii

Introduction

1.1

1.2

1.3

1.4

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

1.1.1 MP3300 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1.1.2 Racks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1.1.3 Main Rack and Expansion Racks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1.1.4 Rack Numbers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

1.1.5 Slot Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4

System Configuration Example . . . . . . . . . . . . . . . . . . . . . . . . . 1-5

Devices and Components That Are Required to Build a System. . . 1-6

1.3.1 MP3300 Module/Unit List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7

1.3.2 Optional Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8

Precautions When Setting the Parameters . . . . . . . . . . . . . . . . 1-9

1.4.1 Precautions When Setting the Circuit Numbers . . . . . . . . . . . . . . . . . . . . . . 1-9

1.4.2 Precautions When Setting Module Configuration Definitions . . . . . . . . . . . . 1-9

Appearances and Parts

2.1

CPU Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

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

2.1.2 Display and Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

2.1.3 Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7

2.1.4 Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9

2.1.5 Temperature Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10

2.2

Base Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11

2.2.1 Appearance and Part Names. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11

2.2.2 Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11

Page 16

CPU Module Functionality

3.1

3.2

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

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

3.1.2 Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17

3.1.3 Execution Scheduling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-28

3.1.4 Scans . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-29

Function Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-35

3.2.1 Self Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-35

3.2.2 Communications Function Module (218IFD) . . . . . . . . . . . . . . . . . . . . . . . .3-45

3.2.3 Motion Control Function Modules (SVC, SVC32, SVR, and SVR32) . . . . . .3-47

3.2.4 The M-EXECUTOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-53

3.2.5 Data Logging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-66

3.2.6 USB Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-80

3.2.7 File Transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-84

3.2.8 Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-94

3.2.9 Calendar. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-94

3.2.10 Maintenance Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-95

Specifications

4.1

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

4.1.1 Installation and Operating Conditions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-2

4.1.2 Control Panel Cooling Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3

4.2

4.3

CPU Module Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4

4.2.1 Hardware Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-4

4.2.2 Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-5

4.2.3 Communications Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-8

4.2.4 Motion Control Function Module Specifications . . . . . . . . . . . . . . . . . . . . . .4-9

4.2.5 M-EXECUTOR Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-10

4.2.6 USB Memory Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-11

4.2.7 System Register Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-11

Base Unit Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-72

External Dimensions

5.1

5.2

Index

Revision History

CPU Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

Base Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3

xvi

Page 17

Introduction

This chapter introduces the MP3300.

1.1

1.2

1.3

1.4

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

1.1.1 MP3300 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1.1.2 Racks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1.1.3 Main Rack and Expansion Racks . . . . . . . . . . . . 1-2

1.1.4 Rack Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

1.1.5 Slot Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4

System Configuration Example . . . . . . . . . . 1-5

Devices and Components That Are Required to Build a System . . 1-6

1.3.1 MP3300 Module/Unit List . . . . . . . . . . . . . . . . . . 1-7

1.3.2 Optional Modules . . . . . . . . . . . . . . . . . . . . . . . . 1-8

Precautions When Setting the Parameters . . .1-9

1.4.1 Precautions When Setting the Circuit Numbers . . . 1-9

1.4.2 Precautions When Setting Module

Configuration Definitions . . . . . . . . . . . . . . . . . . . 1-9

Page 18

1.1 Definition of Terms

CPU Module

Base Unit

1.1.1 MP3300

1.1

1.1.1

1.1.2

Definition of Terms

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

MP3300

“MP3300” is a collective term that refers to the following CPU Modules and Base Units.

Name Primary Function

CPU Module

Base Unit

Racks

A Rack is a Base Unit with Modules mounted to it.

Connection Example

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

Provides the backplane to which Modules are mounted and supplies the required power to the Modules.

1.1.3

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.

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

Typ e Description

Main Rack

Expansion Racks

Refer to the following section for an expansion example.

MP3300 Expansion Example

The Main Rack contains the Main CPU Module. 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 three Expansion Racks to the Main Rack. (The Expansion Racks use EXIOIF Modules.)

on page 1-3

1-2

Page 19

Introduction

MP3300 Expansion Example

MP2200

-02

EXIOIF

MP2200

-02

EXIOIF

MP2200

-02

EXIOIF

Main Rack

CPU Module

EXIOIF Module

MP2200 Base Unit*

EXIOIF Module

MP2200 Base Unit*

EXIOIF Module

Expansion Racks with EXIOIF Modules (up to 3 Racks)

EXIOIF Module*

Rack 1

Rack 2 Rack 3 Rack 4

MP2200

BU-02

WER

EXIOIF

MP2200

BU-02

WER

EXIOIF

MP2200

BU-02

WER

EXIOIF

次回用

An MP3300 expansion example is given in the following figure.

1.1 Definition of Terms

1.1.4 Rack Numbers

1.1.4

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)

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

Expansion Racks added by using EXIOIF ModulesRack 3

Rack 4

The following figure illustrates Rack numbers.

1-3

Page 20

1.1 Definition of Terms

1.1.5 Slot Numbers

1.1.5

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.

1-4

Page 21

1.2 System Configuration Example

Introduction

266IF-02

217IF-01

218IF-01

218IF-02

260IF-01

261IF-01

263IF-01

264IF-01

265IF-01

266IF-01

Communications Modules

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

SERVOPACK

AnyWire

A-net/A-link

I/O Modules

CC-Link

Up to 21 stations, including I/O (with up to 16 Servo axes.)

Host PLC

LIO-01

LIO-02

LIO-04

LIO-05

DO-01

LIO-06

AI-01

AO-01

CNTR-01

I/O

Servomotor



Optional Modules



MP3300



RLYOUT

connector cable

MPE720 Integrated Engineering Tool Version 7

Expansion Interface Module Cable



Front cover for unused slot



Front cover for unused slot



Battery



Battery

24-VDC power supply,

AC power supply, or

status monitoring device



Power cable

24-VDC power supply

or AC power supply

262IF-01

215AIF-01

MPCUNET-0



Power cable

24-VDC power supply

or AC power supply



Battery



Power cable

24-VDC power supply

or AC power supply

Expansion Interface Module Cable



Front cover for unused slot



Battery



Power cable

24-VDC power supply

or AC power supply



MECHATROLINK-III Cable

MECHATROLINK-III



I/O Module with MECHATROLINK-III Communications



SERVOPACKs with MECHATROLINK-III Communications



Ethernet communications cable

HUB



Front cover for

unused slot

Up to 4 Racks

1.2

System Configuration Example

The following figure shows a typical system configuration. Refer to the following section for details on 1 to 12 in the following figure.

1.3 Devices and Components That Are Required to Build a System on page 1-6

* This manual primarily describes this area.

Note: Supplying Power When Using Expansion Racks

• Either supply power simultaneously to both the Main Rack and Expansion Racks or supply power to the Expansion Racks first.

• If you turn the power supply OFF and ON again to an Expansion Rack, turn the power supply OFF and ON again to the Main Rack as well. (Unless of course you turn the power supply OFF and ON again simultaneously.)

1-5

Page 22

1.3 Devices and Components That Are Required to Build a System

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 on page 1-5. The numbers 1 to 12 correspond to the numbers in the figure in 1.2 System Configuration Example on page 1-5.

No. Name Use Model Remarks

Stores the module definitions and programs, and

CPU Module

MP3300



Base Unit

Ethernet communica-



tions cables

Battery with Special



Connector

Power supply cable



RLYOUT connector



cable

Front cover for unused



slot

Optional Modules



MECHATROLINK-III



Cable

SERVOPACK with MECHATROLINK-III



Communications

interprets the programs. The CPU Module also controls the Optional Modules.

Provides the backplane to which Modules are mounted and supplies the required power to the Modules.

Used to connect the CPU Module to Ethernet communications devices or to connect the CPU Module 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 of the Base Unit to a 24VDC power supply or an AC power supply.

Connects the power supply of the Base Unit to a 24VDC 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.

Connects the CPU Module to MECHATROLINK-III communications devices.

Used to control Servomotors.

Refer to the following section for details.

1.3.1 MP3300 Module/Unit List

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

JZSP-BA01

Use a commercially available cable that meets the following conditions:

• Wire size: AWG18 to AWG13 (0.8 to 2.6

)

• Twisted-pair cable

Use a commercially available cable that meets the following conditions:

• Wire size: AWG28 to AWG14 (0.08 to 2.0

)

JEPMCOP3301-E

Refer to the following section for details.

1.3.2 Optional Modules on page 1-8

JEPMCW6012-E

JEPMCW6013-E

JEPMCW6014-E

SGD7S-





SGD7W-





The Battery is provided with the CPU Module.

−

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

7S (Single-axis) AC SERVOPACK with MECHATROLINK-III Communications

7W (Two-axis) AC SERVOPACK with MECHATROLINK-III Communications

Continued on next page.

on page 1-7

1-6

Page 23

1.3 Devices and Components That Are Required to Build a System

Introduction

1.3.1 MP3300 Module/Unit List

Continued from previous page.

No. Name Use Model Remarks

64-point I/O Module

Analog Input Module

Communications

I/O Modules with MECHATROLINK-III

Analog Output Module

Pulse Train Input Module

Pulse Train Output Module



MPE720 Integrated Engineering Tool Version 7

Expansion Interface Module Cables

− Panel-mounting Bracket

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 an Expansion Interface Module to connect the Main Rack to an Expansion Rack or to connect two Expansion Racks.

Used to mount the MP3300 inside a control panel.

JEPMCMTD2310-E

JEPMCMTA2900-E

JEPMCMTA2910-E

JEPMCMTP2900-E

JEPMCMTP2910-E

CPMCMPE780D

JEPMCW2094-A5-E

JEPMCW2094-01-E

JEPMCW2094-2A5-E

JEPMCOP2300S-E

24 VDC, 64 inputs, 64 outputs

8 analog input channels

4 analog output channels

2 pulse-train inputs

4 pulse-train outputs

−

Length: 0.5 m

Length: 1.0 m

Length: 2.5 m

−

1.3.1

MP3300 Module/Unit List

The following table lists the MP3300 Modules and Units.

Typ e Abbreviation Model Description

CPU Module for 16 axes

Motion Control Function Modules

Communications Function Module

CPU Module for for 32 axes

Motion Control Function Module

Communications Function Module

Base Unit

* Refer to the following section for details.

3.2.3 Motion Control Function Modules (SVC, SVC32, SVR, and SVR32) on page 3-47

CPU-301 (16 axes) JAPMC-CP3301-1-E − CPU-302 (16 axes) JAPMC-CP3302-1-E − SVC − MECHATROLINK-III SVR − Virtual axes*

218IFD − Ethernet

CPU-301 (32 axes) JAPMC-CP3301-2-E − CPU-302 (32 axes) JAPMC-CP3302-2-E − SVC32 − MECHATROLINK-III SVR32 − Virtual axes*

218IFD − Ethernet

MBU-303 JEPMC-BU3303-E 3 slots MBU-304 JEPMC-BU3304-E 1 slot

1-7

Page 24

1.3 Devices and Components That Are Required to Build a System

1.3.2 Optional Modules

1.3.2

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.

Unit Abbreviation Model Description

SVC-01 JAPMC-MC2320-E MECHATROLINK-III × 1 SVB-01 JAPMC-MC2310-E MECHATROLINK-II × 1

Motion Modules

Communications Modules

I/O Modules

Expansion Interface Module

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

SVA-01 JAPMC-MC2300 2-axis analog servo interface PO-01 JAPMC-PL2310-E 4-axis control with pulse-train output

Optional Module with CPU Module and SVC-01

MPU-01 JAPMC-CP2700-E

217IF-01 JAPMC-CM2310-E RS-232C/RS-422 communications 218IF-01 JAPMC-CM2300-E RS-232C/Ethernet communications (10Base-T)

218IF-02 JAPMC-CM2302-E

260IF-01 JAPMC-CM2320-E RS-232C/DeviceNet communications 261IF-01 JAPMC-CM2330-E RS-232C/PROFIBUS communications 262IF-01 JAPMC-CM2303-E FL-net communications 263IF-01 JAPMC-CM2304-E EtherNet/IP communications 264IF-01 JAPMC-CM2305-E EtherCAT (EtherCAT slave)

265IF-01 JAPMC-CM2390-E

266IF-01 JAPMC-CM2306-E PROFINET master 266IF-02 JAPMC-CM2307-E PROFINET slave 267IF-01 JAPMC-CM23A0 CC-Link master

215AIF-01

AFMP-01 − Anywire-Master DB by Anywire Corporation AFMP-02-C − CC-Link by Anywire Corporation

AFMP-02-CA −

MPANL00-0 − A-net/A-Link by ALGO System MPALL00-0 − A-Link/A-Link by ALGO System MPAL000-0 − A-Link by ALGO System MPAN000-0 − A-net by ALGO System MPCUNET-0 − CUnet by ALGO System LIO-01 JAPMC-IO2300-E 16 inputs, 16 sinking outputs, 1 pulse-train input LIO-02 JAPMC-IO2301-E 16 inputs, 16 sourcing outputs, 1 pulse-train input LIO-04 JAPMC-IO2303-E 32 inputs, 32 sinking outputs LIO-05 JAPMC-IO2304-E 32 inputs, 32 sourcing outputs

LIO-06 JAPMC-IO2305-E

DO-01 JAPMC-DO2300-E 64 sinking outputs AI-01 JAPMC-AN2300-E 8 analog input channels AO-01 JAPMC-AN2310-E 4 analog output channels CNTR-01 JAPMC-PL2300-E 2 counter channels, input circuits: 5 V or 12 V

EXIOIF JAPMC-EX2200-E −

JAPMC-CM2360-E RS-232C/MPLINK communications JAPMC-CM2361 RS-232C/CP-215 communications

functionality MECHATROLINK-III × 1

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

CompoNet (I/O communications and message communications)

CC-Link and Anywire-Master DB by Anywire Corporation

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

1-8

Page 25

1.4 Precautions When Setting the Parameters

Introduction

1.4.1 Precautions When Setting the Circuit Numbers

1.4

1.4.1

Precautions When Setting the Parameters

Observe the following precautions when setting the Machine Controller.

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 Module

Optional Modules

Unit Abbreviations of Built-in Modules

Motion Control Function Module

Communications Function Module

Motion Modules

Communications Modules

SVC and SVR 1 to 16 SVC32 and 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), 267IF-01 (CC-Link)

1.4.2

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.

1-9

Page 26

Appearances and Parts

This section describes the appearance and parts of the MP3300.

2.1

2.2

CPU Module . . . . . . . . . . . . . . . . . . . . . . . . 2-2

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

2.1.2 Display and Indicators . . . . . . . . . . . . . . . . . . . . 2-4

2.1.3 Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7

2.1.4 Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9

2.1.5 Temperature Sensor . . . . . . . . . . . . . . . . . . . . . 2-10

Base Units . . . . . . . . . . . . . . . . . . . . . . . . . 2-11

2.2.1 Appearance and Part Names . . . . . . . . . . . . . . 2-11

2.2.2 Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11

Page 27

2.1 CPU Module

Display

MECHATROLINK-III status indicators

MECHATROLINK-III connectors

Status indicators

Mode switches

Ethernet status indicators Ethernet connector

USB status indicator

Display

MECHATROLINK-III status indicators

MECHATROLINK-III connectors

Status indicators

Mode switches

Ethernet status indicators Ethernet connector

USB status indicator

2.1.1 Appearance and Part Names

2.1

2.1.1

CPU Module

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

This section shows the appearance and part names of the CPU Module and describes the indicators, switches, and connectors.

Appearance and Part Names

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

CPU-301

CPU-302

2-2

Page 28

2.1 CPU Module

Appearances and Parts

You can mount seven Optional Modules.

You can mount two Optional Modules.

You cannot mount any Optional Modules.

2.1.1 Appearance and Part Names

 Precautions When Using a CPU-302 Module

The CPU-302 Module uses the CPU Slot and one option slot. As shown below, the number of usable Option Modules will be reduced by one when you mount the CPU-302 to any Base Unit.

MBU-01 or MBU-02 (Eight Slots)

MBU-03 (Three Slots)

MBU-04 (One Slot)

2-3

Page 29

2.1 CPU Module

2.1.2 Display and Indicators

2.1.2

Display and Indicators

The CPU Module has the following display and four types of 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 Module.

Color Display Status Description

Lit dot at lower right

Flashing dot at lower right

Initializing (The RDY status indicator is not lit.)

Normal operation (The RDY status indicator is lit.)

CPU stopped The CPU is stopped.

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

The CPU Module is operating normally.

Red

Three digits after or

USB memory batch transfer

A system error occurred.

An alarm occurred.

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 Module.

Refer to the following manual for details on errors.

MP3000 Series MP3200/MP3300 Troubleshooting Manual (Manual No.: SIEP C880725 01)

2-4

Page 30

Appearances and Parts

Status Indicators

These indicators show the status of the CPU Module.

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/MP3300 Troubleshooting Manual (Manual No.: SIEP C880725 01)

• Warning

• Alarm

• Command Error Completed Status

2.1 CPU Module

2.1.2 Display and Indicators

USB Status Indicator

This indicator shows the status of the USB memory.

Indicator Name Indicator Status Status Description

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.

USB ACTIVE

Not lit

Lit

Flashing

No USB memory device

USB memory device inserted

Accessing USB memory

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 Module as a slave (i.e., the Connect command is ON).

2-5

Page 31

2.1 CPU Module

2.1.2 Display and Indicators

Ethernet Status Indicators

These indicators show the status of Ethernet communications.

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

LINK/ACT Yellow

100M Green

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

Not lit: 10 M connection Lit: 100 M connection

2-6

Page 32

2.1 CPU Module

Appearances and Parts

2.1.3 Switches

2.1.3

Switches

The CPU Module has the following two types of switches.

• DIP switches: Mode switches

• STOP/SAVE switch

DIP Switches: Mode Switches

These DIP switches primarily set the operating mode of the CPU Module.

Pin Name Status Operating Mode Default Remarks

STOP

E-INIT

INIT

CNFG

ON Stops the user programs.

OFF

ON Resets memory.

OFF Normal operation

ON Configuration Mode

OFF Normal operation

Executes the user programs.

Sets the default IP address.

Does not set the default IP address.

OFF

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

If this pin is set to ON, the IP address is set to

192.168.1.1. If this pin is set to OFF, the IP address for the definition that is stored in flash memory is used. If there is no definition stored in flash memory, the IP address is set to 192.168.1.1.

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.

LOAD

TEST

MNT

−

ON Loads data.

OFF Does not load data.

ON Reserved for system.

OFF Normal operation ON Reserved for system.

OFF Normal operation ON Reserved for system. OFF Normal operation

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

OFF

OFF Keep this pin OFF at all times.

OFF −

the CPU Module. Refer to the following section for details.

3.2.6 USB Memory on page 3-80

2-7

Page 33

2.1 CPU Module

Open the cover.

STOP/SAVE switch

2.1.3 Switches

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.

2-8

Page 34

2.1 CPU Module

Appearances and Parts

Open the cover.

USB connector

Note

2.1.4 Connectors

2.1.4

Connectors

The CPU Module has three types of connectors: MECHATROLINK-III, Ethernet, and USB.

MECHATROLINK-III Connectors

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

Ethernet Connectors

These connectors are used to connect Ethernet communications devices.

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.

2-9

Page 35

2.1 CPU Module

Important

2.1.5 Temperature Sensor

2.1.5

Temperature Sensor

A temperature sensor is built into the CPU Module. The temperature sensor constantly monitors for abnormal temperatures in the CPU Module. If a

temperature error is detected, an alarm is displayed on the CPU Module. 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 Indi-

cator

The temperature continued to increase after A.241 was detected and is approaching the permissible temperature of the internal parts. (The CPU Module will stop.)

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

The failsafe function was activated for E.082 (Temperature Warning). (The CPU Module will stop.) (This alarm is displayed if the temperature continues to increase after E.082 was detected.)

If any one of the above alarms occurs, take the following actions.

• A.241: Check the ambient environment and installation conditions. If you are using natural cooling for the control panel, we recommend that you change to forced-air cooling.

• E.081, E.082, or h: Turn OFF the power supply to the Machine Controller 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 Installation and Usage Conditions on page 4-2

Error Description

2-10

Page 36

2.2 Base Units

Appearances and Parts

RLYOUT connector

Power connector

2.2.1 Appearance and Part Names

2.2

2.2.1

Base Units

The Base Unit provides the backplane to which Modules are mounted and supplies the required power to the Modules. There are two models of Base Units, a one-slot model and a three-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.

2.2.2

Connector

The Base Unit has two connectors: an RLYOUT connector and a power connector.

RLYOUT Connector

This connector outputs the status of the CPU Module.

Model: 734-302

 Pin Assignments

No. Signal Label Description

1OUT 2OUT

• Normal operation: Circuit closed.

• Error: Circuit open.

2-11

Page 37

2.2 Base Units

2.2.2 Connector

Power Connector

Connect the power supply to this connector.

AC Power Supply DC Power Supply

AC power supply 3-2134249-3 Black DC power supply 4-2013522-3 White

 Pin Assignments: AC Power Supply

Ty pe Model Color

Pin No. Signal Label Description

3AC AC input 2AC AC input 1 FG Connects to the frame ground. (Ground to 100 Ω max.)

 Pin Assignments: DC Power Supply

Pin No. Signal Label Description

3 DC24 V 24-VDC input 2DC0 V 0-VDC input 1 FG Connects to the frame ground. (Ground to 100 Ω max.)

2-12

Page 38

CPU Module Functionality

This chapter describes the functionality of the MP3300 CPU Module.

3.1

3.2

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

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

3.1.2 Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17

3.1.3 Execution Scheduling . . . . . . . . . . . . . . . . . . . . 3-28

3.1.4 Scans . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-29

Function Modules . . . . . . . . . . . . . . . . . . . 3-35

3.2.1 Self Configuration . . . . . . . . . . . . . . . . . . . . . . . 3-35

3.2.2 Communications Function Module (218IFD) . . . 3-45

3.2.3 Motion Control Function Modules

(SVC, SVC32, SVR, and SVR32) . . . . . . . . . . . . 3-47

3.2.4 The M-EXECUTOR . . . . . . . . . . . . . . . . . . . . . . 3-53

3.2.5 Data Logging . . . . . . . . . . . . . . . . . . . . . . . . . . 3-66

3.2.6 USB Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-80

3.2.7 File Transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-84

3.2.8 Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-94

3.2.9 Calendar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-94

3.2.10 Maintenance Monitoring . . . . . . . . . . . . . . . . . . 3-95

Page 39

3.1 Basic Functionality

3.1.1 Programs

3.1

3.1.1

Basic Functionality

This section describes the basic functionality of the CPU Module.

Programs

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

• Ty pe s

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.

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

DWG.A (Startup Drawings) 1

DWG.I (Interrupt Drawings) 2

DWG.H (High-speed Scan Process Drawings)

DWG.L (Low-speed Scan Process Drawings)

* Drawings with lower numbers have higher priority.

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

External interrupt (These drawings are executed when a DI interrupt or counter match interrupt is received from an Option Module.)

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.)

Number of

Drawings

1,000

2,000

3-2

Page 40

3.1 Basic Functionality

CPU Module Functionality

User Functions

Grandchild

Drawings

Child

Drawings

Parent

Drawing

Note:  = A, I, H, or L

DWG. DWG.01

DWG.nn

DWG.01.01

DWG.01.02

FUNC-001

FUNC-006

FUNC-032

FUNC-064

DWG.01.03

DWG notation:

Grandchild drawing number

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

Child drawing number

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

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

Fixed value (00)

DWG.  . 

DWG. 00

3.1.1 Programs

• 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.

3-3

Page 41

3.1 Basic Functionality

Information

3.1.1 Programs

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

Number of Drawings

Parent Drawings 1111 Operation Error Drawings 1 1 1 1

Child Drawings Grandchild Drawings

Total of 62 max. Total of 62 max.

Total of 998 max.

Total of 1,998 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.



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).

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

Parent Drawing

DWG.H

SEE H01

Child Drawings Grandchild Drawings

DWG.H01

SEE

H01.H01

DWG.H01.01

FUNC

Functions

FUNC 01

END

SEE H02

END

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.

H02

An operation

error occurs.

END

Execution is automatically

started by the system.

H00

END

3-4

Page 42

3.1 Basic Functionality

CPU Module Functionality

Information

3.1.1 Programs

 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.

• 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

COUNTER Counter FINFOUT First-in First-out TRACE Trace DTRC-RD Read Data Trace DTRC-RDE Read Data Trace Extended MSG-SND Send Message MSG-SNDE Send Message Extended MSG-RCV Receive Message MSG-RCVE Receive Message Extended ICNS-WR Inverter Parameter Write ICNS-RD Inverter Parameter Read MLNK-SVW Write SERVOPACK Parameters MOTREG-W Write Motion Register MOTREG-R Read Motion Register IMPORT Import IMPORTL Import Extended EXPORT Export EXPORTL Export Extended

• 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.

Ty pe

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

3-5

Page 43

3.1 Basic Functionality

Important

MPM001 MPM002 MPM003

MPS010

Main program

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

The common

process is

written as a

subprogram.

Subprogram

Main program Main program

3.1.1 Programs

Term

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).

Motion Subprograms

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

 Motion Program Execution

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

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

Note

3.2.4 The M-EXECUTOR on page 3-53

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.

3-6

Page 44

CPU Module Functionality

The following figure shows an execution example.

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

Note

3.1 Basic Functionality

3.1.1 Programs

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.

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

• 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.

3-7

Page 45

3.1 Basic Functionality

ABS;

MOV[X] _ [Y] _

MVS[X] _ [Y] _ F

IOW MB0001

. . .

MPM001

MSEE Instruction

MPM address

Ladder Program

Motion Program

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

3.1.1 Programs

 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.

• 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.

3-8

• 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. 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.

Page 46

3.1 Basic Functionality

CPU Module Functionality

3.1.1 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.

Address of rst work register (M register or D register)

Wor k Reg ister Contents Reference

1st register Motion Program Status Flags Page 3-9

2nd register Motion Program Control Signals Page 3-10

3rd register Interpolation Override Page 3-13 4th register System Work Number Page 3-13

• 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

Bit 3 Reserved for system. −

Bit 4

Bit 5 Reserved for system. − Bit 6 Reserved for system. − Bit 7 Reserved for system. −

Bit 8 Program Alarm

Bit 9

Bit A Reserved for system. −

Bit B

Bit C Program Type

Program Stopped for Stop Request

Program Single-block Execution Stopped

Program Stopped at Breakpoint

Debug Operation Mode

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.

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 Information 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

Continued on next page.

3-9

Page 47

3.1 Basic Functionality

3.1.1 Programs

Bit No. Name Description

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 the S registers.

• 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.

No System Work Error or Execution Scan Error

Main Program Number Limit Exceeded Error

Continued from previous page.

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.

Bit No. Name Description

Bit 0

Bit 1

Bit 2

Bit 3

Bit 4

Bit 5

Bit 6

Bit 7

Request for Start of Program Operation

Request for Pause of Program

Request for Stop of Program

Program Single-block Mode Selection

Program Single-block Start Request

Program Reset and Alarm Reset Request

Request for Start of Continuous Program Operation

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 singleblock 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.

−

Continued on next page.

3-10

Page 48

3.1 Basic Functionality

CPU Module Functionality

Continued from previous page.

Bit No. Name Description

If this bit changes to 1 while an axis is in motion due to a SKP instruction (when

Bit 8

Skip 1 Information

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

Bit 9

Skip 2 Information

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.

Bit A, B

Bit C

Bit D

Bit E

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:

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

• 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

*2. Interpolation Override Setting

• OFF: The interpolation override is always 100%.

• ON: The interpolation override in the parameter setting is used.

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

Reserved for system.

System Work Number Setting

Interpolation Override Setting

Reserved for system.

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

different each time.

Bit E) is reported.

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.

−

3.1.1 Programs

3-11

Page 49

3.1 Basic Functionality

Example

Control signal: Request for Start of

Program Operation

Status ag: Program Executing

Axis operation: Pulse distribution

Control

signal: Request for Start of

Program Operation

Status ag: Program Executing

Axis operation: Pulse distribution

Control signal: Request for Pause of

Program

Status ag: Program Paused

1 scan*

Control signal: Request for Start of Program

Operation

Status ag: 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 ag: Program Stopped for Stop

Request

Status ag: Program Alarm

Control signal: Program Reset and Alarm

Reset Request

1 scan*

3.1.1 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.

3-12

Page 50

CPU Module Functionality

If a Motion Program Alarm Occurs

Control signal: Request for Start of

Program Operation

Status ag: Program Alarm

Status ag: 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

3.1.1 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

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

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3.1 Basic Functionality

Information

3.1.1 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 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 Set-

ting) in the Control Signal Word

for Motion Programs

OFF

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.

Monitoring

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 Program Information registers (SW03380 to SW03437).

• 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.

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).

3-14

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CPU Module Functionality

 Sequence Programs

Important

END

RET

END

SPM003

SPS101

SPM001

SPM002

SSEE

SPS101

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

M-EXECUTOR Program Execution Denitions

Sequence programs

Subprogram

A sequence program is written in a text-based motion language. There are two types of sequence programs.

3.1 Basic Functionality

3.1.1 Programs

Ty pe

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.

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 Denitions

Note

3.1.1 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 Module Functionality

3.1.2 Registers

3.1.2

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

User functions Motion

programs/

sequence programs

Global registers

S registers

65,535

words

M registers

1,048,576

words

G registers

2,097,152

words

I registers

65,536

words

Input data +

Monitor

parameters +

CPU interface

inputs

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

Parent drawing

# registers D registers D registers

These registers cannot be shared between different drawings.

Child drawing

H01

# registers

User function

FUNC01 FUNC02

X registers Y registers

Z registers # registers D registers

User function

X registers Y registers

Z registers # registers D registers

These registers cannot be shared between different drawings.

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3.1 Basic Functionality

Motion program

(MPM001)

MSEE MPS002;

D registers (DW00000

DW00031)

Subprogram

(MPS002)

D registers (DW00000

DW00031)

Sequence program

(SPM003)

D registers (DW00000

DW00031)

Subprogram

(SPS004)

D registers (DW00000

DW00031)

SSEE SPS004;

D registers cannot be shared between different drawings.

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

Information

3.1.2 Registers

Motion Program Conceptual Diagram

Structure of Register Addresses

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.

Ty pe Name

3-18

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) on page 3-25

Array Registers ([ ]) on page 3-27

System registers (S registers)

Data registers (M registers)

Designation

Method

SBnnnnnh, SWnnnnn, SLnnnnn, SQnnnnn, SFnnnnn, SDnnnnn, SAnnnnn

MBnnnnnnnh, MWnnnnnnn, MLnnnnnnn, MQnnnnnnn, MFnnnnnnn,

Usable Range Description

These registers are prepared by the system.

They report the status of the Machine Controller SW00000 to SW65534

and other information.

The system clears the registers from SW00000

to SW00049 to 0 at startup.

They have a battery backup.

MW0000000 to MW1048575

These registers are used as interfaces between

programs.

They have a battery backup.

MDnnnnnnn, MAnnnnnnn

Continued on next page.

Page 56

CPU Module Functionality

Typ e Name

G G registers

Input registers

(I registers)

Output registers

(O registers)

Constant regis-

ters (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 the CPU Modules 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 the CPU Modules 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.

3.1.2 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.

Typ e Name

# # registers

D D registers

Designation

Method

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

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

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 on page 3-21

Continued on next page.

Programspecific

3-19

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3.1 Basic Functionality

Important

3.1.2 Registers

Typ e Name

Function

input registers

Function

output registers

Function

internal registers

Function

external registers

Note: n: decimal digit, h: hexadecimal digit

Designation

Method

XBnnnnnh, XWnnnnn, XLnnnnn, XQnnnnn, XFnnnnn, XDnnnnn

YBnnnnnh, YWnnnnn, YLnnnnn, YQnnnnn, YFnnnnn, YDnnnnn

ZBnnnnnh, ZWnnnnn, ZLnnnnn, ZQnnnnn, ZFnnnnn, ZDnnnnn

ABnnnnnh, AWnnnnn, ALnnnnn, AQnnnnn, AFnnnnn, ADnnnnn

Continued from previous page.

Description Features

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.

Functionspecific

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.

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 definitions.

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.

Continued on next page.

3-20

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CPU Module Functionality

Continued from previous page.

Name Precautions

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.

D registers

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 on page 3-21

• Setting the D Register Clear When Start Option

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

Select Setup − System Setting.

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.

3.1 Basic Functionality

3.1.2 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

Double-length

integer

Quadruple-

length integer

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

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

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

(8000000000000000 to 7FFFFFFFFFFFFFFF hex)

1 word

2 words

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.

Continued on next page.

3-21

Page 59

3.1 Basic Functionality

Important

[MW0000100]

[MW0000101]

[MW0000102]

[MW0000103]

[ML0000100] [MF0000100]

[ML0000102] [MF0000102]

0123456789ABCDEF

[MA0000101]

……

[MB00001003]

[MB0000103B]

Data Types and Register Designations

One word is allocated for each register address.

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

Address data type

Integer data type

Bit data type

Double-length

integer or real

number data type

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

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

3.1.2 Registers

Symbol Data Type Range of Values Data Size Description

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.

Continued from previous page.

Used for advanced numeric operations.

Double-precision real number

± (1.175E - 38 to 3.402E + 38) or 0

± (2.225E - 308 to 1.798E + 308) or

2 words

4 words

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.

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

3-22

Term

specified register address can be used in internal processing for functions with all data types.

Page 60

3.1 Basic Functionality

CPU Module Functionality

3.1.2 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.

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 on page 3-23

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

• 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.

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

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

The Program Property Dialog Box will be displayed.

3-23

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3.1 Basic Functionality

Information

FEDCBA9876543 210Bit

MB00001006

MW0000100

ML0000100

MW0000100

5678 hex

MW0000101

1234 hex

MQ0000100

MW0000100

DEF0 hex

MW0000101

9ABC hex

MW0000102

5678 hex

MW0000103

1234 hex

3.1.2 Registers

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

• MB00001006

• MW0000100 = 1234 hex

MW0000100 1234 hex

• ML0000100 = 12345678 hex

• MQ0000100 = 123456789ABCDEF0 hex

3-24

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3.1 Basic Functionality

CPU Module Functionality

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

i = 2;

DB000000 = MB00000000i; DB000000 = MB00000002;

Equivalent

DW00000 = MW0000031;DW00000 = MW0000001j;

j = 30;

Equivalent

3.1.2 Registers

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.

 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.

3-25

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3.1 Basic Functionality

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

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

3.1.2 Registers

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

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.

Note

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.

 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

Note

3-26

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.

Page 64

3.1 Basic Functionality

CPU Module Functionality

DW00000 = 2;

DB000020 = MB00000000[DW00000]; DB000020 = MB00000002;

Equivalent

DW00000 = 30;

DL00002 = ML0000002[DW00000]; DL00002 = ML0000062;

Equivalent

3.1.2 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

3-27

Page 65

3.1 Basic Functionality

3.1.3 Execution Scheduling

3.1.3

Execution Scheduling

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.

Power ON

DWG.A

(Startup Drawings)

Every high-speed scan

Batch output

Batch input

DWG.H (high-speed

scan process drawing)

*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.

Every low-speed scan

DWG.L (low-speed scan

Batch output

Batch input

process drawing)

Interrupt signal

DWG.I

(interrupt drawing)

Execution is continued from the point before the interrupt.

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.

Low-speed scan time

High-speed

scan time

DWG.H (high-speed scan process drawing)

DWG.L (low-speed scan process drawing)

Background processing*

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

High-speed

scan time

: Actual processing time during the scan

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 on page 3-32

High-speed

scan time

High-speed

scan time

3-28

Page 66

3.1 Basic Functionality

CPU Module Functionality

Note

Information

3.1.4 Scans

3.1.4

Scans

A scan refers to the processing that starts at fixed intervals. This section describes the scans.

Types o f S c a n s

The CPU Modules 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 on page 3-29

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

CPU-301: 0.25 to 32.0 ms (in increments of 0.125 ms) CPU-302: 0.125 to 32.0 ms (in increments of 0.125 ms)

0.250 ms or

0.5 to 32.0 ms (in increments of 0.5 ms)

The default high-speed scan time is 4.0 ms.

 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 Module is synchronized with the MECHATROLINK-III communications cycle of the SVC or SVC32 Module in the CPU Module. 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

2 ms

3 ms

High-speed Scan Time Set

Value Res tri cti ons

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

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

0.25 to 32.0 ms

CPU-301

CPU-302

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)

2.0 to 32.0 ms (in increments of 2 ms)

3.0 to 30.0 ms (in increments of 3 ms)

(in increments of

0.125 ms)

0.125 to 32.0 ms (in increments of

0.125 ms)

Possible Set Values

When MP2000 Optional

Module Is Used

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

0.125 ms, 0.25 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)

2.0 to 32.0 ms (in increments of 2 ms)

3.0 to 30.0 ms (in increments of 3 ms)

3-29

Page 67

3.1 Basic Functionality

System service register SB000008*

Basic cycle (0.5 ms)

MP2000 Optional Module

High-speed scan

0.125 ms

0.5 ms

Reference issued at



Reference issued at



Reference issued at























3.1.4 Scans

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.



System Status on page 4-17

 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

Ver sion

Restrictions

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

Lower than version 21

Example: If the MECHATROLINK-III communications cycle is 250 μs, the set value of

the high-speed scan time can be up to 8.0 ms (250 μs × 32).

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

Version 21 or higher

Example: If the MECHATROLINK-III communications cycle is 250 μs, the set value of

the high-speed scan time can be up to 63.50 ms (250 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 0.125 ms

3-30

* 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.

Page 68

CPU Module Functionality

 Example: High-speed Scan Time Set to 0.250 ms

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

Information

0.5 ms

0.25 ms

High-speed scan

3.1 Basic Functionality

3.1.4 Scans

Basic cycle

(0.5 ms)

MP2000

Optional Module

System service

* 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.

Reference issued at c

 Example: High-speed Scan Time Set to 0.5 ms

Reference issued at e

Reference issued at g

* 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.

3-31

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3.1 Basic Functionality

3.1.4 Scans

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 lowspeed scan times.

Stop the CPU Module.

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.

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 processing 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.

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 0.25 to 32.0 ms (in increments of 0.125 ms) 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 Mod-

ule you are using for details.

Click the OK Button.

The settings will be saved and the Environment Setting Dialog Box will close.

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3.1 Basic Functionality

CPU Module Functionality

Important

High-speed

scan

Keep Latest Value region:

The value from before

the input error (201) is held for 3 scans.

100 101 102 103 104 105

200 201

201

106 107

207

Input value to

I/O Module 1

Input value

to I/O

Module 2

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.

Input error occurred in I/O Module 2.

Input error removed from I/O Module 2.

3.1.4 Scans

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 mul-

tiple 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.

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

 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.

Select Setup − System Setting.

The following dialog box will be displayed.

3-33

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3.1 Basic Functionality

Information

3.1.4 Scans

Set values in the High-speed Input and Low-speed Input Boxes in the Keep Latest Value Group.

Click the OK Button.

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, the scan at which the input registers are cleared will differ for the MP2000-series Optional Module and the 218IFD, SVC, or SVC32 Function Module that is built into the CPU Unit. In the following example, an input error occurs simultaneously on the MP2000-series Optional Module and the 218IFD, SVC, 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, SVC, or SVC32 Function Module 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.

Input error

Keep Latest Value setting = 5 scans for high-speed scan

0.5 ms

0.250 ms

High-speed scan

Function Module

(218IFD, SVC, or SVC32)

in the CPU Module















Input registers in the Function Module in the CPU Module are cleared.





The input registers in the MP2000 Optional Module are cleared.

3-34

MP2000

Optional Module





Service scan on MP2000-series Optional Module immediately after the specied number of scans

Service scan on Function Modules in the CPU Module immediately after the specied number of scans

Page 72

3.2 Function Modules

CPU Module Functionality

3.2.1 Self Configuration

3.2

3.2.1

Function Modules

This section describes the built-in functionality of the CPU Module.

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 Module or use the MPE720 to execute self configuration.

The following figure illustrates self configuration.

Executing Self Conguration

Host PLC

MPE720 Integrated Engineering Tool Version 7

HUB

MECHATROLINK-III

Servomotor Servomotor Servomotor

Detection of motion parameter information (SERVOPACKs)

Detection of information from the Function Modules in the CPU Module (218IFD, SVC, SVC32, SVR, SVR32, and M-EXECUTOR) and from Optional Modules

Detection of slave device information

I/O

Automatically writing the Module

conguration denitions

Automatically writing the MECHATRO-

LINK communications denitions

Automatically writing the SVC/SVC32 denitions

3-35

Page 73

3.2 Function Modules

Important

3.2.1 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 on page 3-36

• 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 on page 3-39

 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 the CPU Module, 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

Turn OFF the power supply to the Base Unit.

Turn ON only the INIT and CNFG pins on the DIP switches (mode switches) on the CPU Module.

Turn ON the power supply to the Base Unit.

Self configuration will be executed.

Confirm that the status indicators on the CPU Module change in the following way:

• RDY: Goes out, and then lights.

• RUN: Goes out, flashes, and then lights.

3-36

Page 74

3.2 Function Modules

CPU Module Functionality

ImportantImportant

3.2.1 Self Configuration

Turn OFF the INIT and CNFG pins on the DIP switches (mode switches) on the CPU Module.

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.

Turn OFF the power supply to the Base Unit.

Turn ON only the CNFG pin on the DIP switches (mode switches) on the CPU Module.

Turn ON the power supply to the Base Unit.

Self configuration will be executed.

Confirm that the status indicators on the CPU Module change in the following way:

• RDY: Goes out, and then lights.

• RUN: Goes out, flashes, and then lights.

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Page 75

3.2 Function Modules

ImportantImportant

3.2.1 Self Configuration

Turn OFF the CNFG pin on the DIP switches (mode switches) on the CPU Module.

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)

3-38

Page 76

3.2 Function Modules

CPU Module Functionality

ImportantImportant

3.2.1 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

Before performing this procedure, turn ON the power supply to the SERVOPACKs and other devices.

Click the Module Configuration Icon on the Start Tab Page.

The following Module Configuration Definition Tab Page will be displayed.

3-39

Page 77

3.2 Function Modules

3.2.1 Self Configuration

Click the Module Button.

Click the All modules Button on the Launcher.

The MC-Configurator Dialog Box will be displayed.

3-40

Click the OK Button.

Self configuration will be executed.

Page 78

CPU Module Functionality

 Self Configuration of Specified Modules

ImportantImportant

Before performing this procedure, turn ON the power supply to the SERVOPACKs and other devices.

Click the Module Configuration Icon on the Start Tab Page.

3.2 Function Modules

3.2.1 Self Configuration

The following Module Configuration Definition Tab Page will be displayed.

In the Function Module/Slave Column, select the Modules to configure using self configuration.

3-41

Page 79

3.2 Function Modules

3.2.1 Self Configuration

Click the specified module Button on the Launcher.

The MC-Configurator Dialog Box will be displayed.

Click the OK Button.

Self configuration will be executed only for the new devices that are detected by MECHATROLINK communications.

3-42

Page 80

3.2 Function Modules

CPU Module Functionality

Note

3.2.1 Self Configuration

Definition Information Updated by Self Configuration

The definition information that is updated by self configuration is described below.

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.

 I/O Registers

I/O registers are assigned to the Function Modules (218IFD, SVC, SVC32, SVR, SVR32, MEXECUTOR, and CPUIF) in the CPU Module as shown below.

I/O registers will also be automatically assigned to any Optional Modules mounted on the Base Unit.

Item Settings after Self Configuration

• First I/O registers: IW00000 and OW00000

218IFD

MECHATROLINK

SVC/

SVC32

Motion parameters

SVR/

SVR32

M-EXECUTOR

Motion parameters

SVC

SVC32

SVR

SVR32

• Last I/O registers: IW007FF and OW007FF (input registers: IW00000 to IW007FF, output registers: OW00000 to OW007FF)

• 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: IW08000 and OW08000

• Last motion registers: IW08FFF and OW08FFF

(input registers: IW08000 to IW08FFF, output registers: OW08000 to OW08FFF)

• First motion registers: IW08800 and OW08800

• Last motion registers: IW08FFF and OW08FFF

(input registers: IW08800 to IW08FFF, output registers: OW08800 to OW08FFF)

• First motion registers: IW09000 and OW09000

• Last motion registers: IW09FFF and OW09FFF

(input registers: IW09000 to IW09FFF, output registers: OW09000 to OW09FFF)

• First I/O registers: IW00C00 and OW00C00

• Last I/O registers: IW00C3F and OW00C3F

(input registers: IW00C00 to IW00C3F, output registers: OW00C00 to OW00C3F)

 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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3.2 Function Modules

Information

3.2.1 Self Configuration

 MECHATROLINK Communications Definition

 When Set as the Master

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

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

Item Settings after 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/SVC32 Definitions

Refer to the following manual for details.

MP3000 Series Motion Control User’s Manual (Manual No.: SIEP C880725 11)

 SVR/SVR32 Definitions

Item Settings after Self Configuration

SVR Defined Axes 16 axes (unused axes) SVR32 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.

3-44

Page 82

3.2 Function Modules

CPU Module Functionality

3.2.2 Communications Function Module (218IFD)

3.2.2

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

Ethernet

protocols to enable general-purpose Ethernet communications with PLCs and touch panels from various manufacturers without writing special applications.

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)

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)

Execute self configuration as required.

Operating Procedures on page 3-36

• Supported Protocols MODBUS/TCP, OMRON, MELSEC Acompatible 1E/QnA-compatible 3E, Extended MEMOBUS, MEMOBUS, and TOYOPUC

Click the Module Configuration Icon on the Start Tab Page.

3-45

Page 83

3.2 Function Modules

Cells for 218IFD settings

3.2.2 Communications Function Module (218IFD)

The following Module Configuration Definition Tab Page will be displayed.

Double-click the 218IFD cell.

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)

3-46

Page 84

3.2 Function Modules

CPU Module Functionality

Information

3.2.3 Motion Control Function Modules (SVC, SVC32, SVR, and SVR32)

3.2.3

Motion Control Function Modules (SVC, SVC32, SVR, and SVR32)

The Motion Control Function Module is used for communications with a MECHATROLINK communications device.

There are two types of Motion Control Function Modules, the SVC and SVC32 and the SVR and SVR32. Both types can provide the following forms of motion control.

• Position control

• Synchronized phase control

• Torque control*

• Speed control*

* The SVR and SVR32 contain some parameters that you cannot set or monitor.

Motion fixed and setting parameters must be set to use these controls.

The features of the SVC and SVR are described below.

Function Module Features

SVC/SVC32

SVR/SVR32

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/SVC32 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)

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)

Execute self configuration as required.

Operating Procedures on page 3-36

3-47

Page 85

3.2 Function Modules

Cells for SVC/ SVC32 settings

Cells for SVR/ SVR32 settings

3.2.3 Motion Control Function Modules (SVC, SVC32, SVR, and SVR32)

Click the Module Configuration Icon on the Start Tab Page.

The following Module Configuration Definition Tab Page will be displayed.

3-48

Page 86

3.2 Function Modules

CPU Module Functionality

3.2.3 Motion Control Function Modules (SVC, SVC32, SVR, and SVR32)

Double-click the SVC/SVC32 cell in the Module Configuration Definition Tab Page.

The MECHATROLINK Communications Definition Dialog Box is displayed.

Information

Set the MECHATROLINK communications definitions as required.

Refer to the following manual for details on settings.

MP3000 Series Motion Control User’s Manual (Manual No.: SIEP C880725 11)

If more than one Module is mounted, select the Module to be checked or set.

Click the Close Button on the MECHATROLINK Communications Definition Dialog Box.

3-49

Page 87

3.2 Function Modules

3.2.3 Motion Control Function Modules (SVC, SVC32, SVR, and SVR32)

Select View − Work Space from the menu bar.

The Work Space Pane is displayed on the left side of the MC-Configurator Window.

Click the Expand [+] Button beside each program in the Work Space Pane to display motion parameters as shown below.

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Page 88

3.2.3 Motion Control Function Modules (SVC, SVC32, SVR, and SVR32)

CPU Module Functionality

Double-click the motion parameter to set or monitor.

The Axis Display Selection Dialog Box (“Display in axis selected”) will be displayed.

10.

Select the axis to set or monitor, and then click the OK Button.

3.2 Function Modules

The SVC/SVC32 Definition Tab Page for the selected motion parameters will be displayed.

Information

The following examples show the SVC/SVC32 Definition Tab Page for each group of motion parameters.

• Fixed Parameters Tab Page

To change which motion parameters are displayed, double-click the required motion parameters in the Work Space Pane.

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Page 89

3.2 Function Modules

3.2.3 Motion Control Function Modules (SVC, SVC32, SVR, and SVR32)

• Setting/Monitor Parameters Tab Page

• Servo/Servo Monitor Parameters Tab Page

3-52

11.

Set the SVC/SVC32 definitions as required.

Refer to the following manual for details on settings.

MP3000 Series Motion Control User’s Manual (Manual No.: SIEP C880725 11)

Page 90

3.2 Function Modules

CPU Module Functionality

Term

Information

Initializing the M-EXECUTOR on page 3-54

M-EXECUTOR Detail Settings on page 3-57

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

Registering Program Execution on page 3-63

3.2.4 The M-EXECUTOR

3.2.4

The M-EXECUTOR

This section describes the functionality of the M-EXECUTOR Motion Executor and the contents of its various displays.

The M-EXECUTOR is a software module that executes motion and sequence programs.

Introduction

The M-EXECUTOR provides the following merits:

• Motion programs can be executed without using a ladder program. Motion programs can be executed without placing MSEE instructions in the ladder programs.

It is still possible to use MSEE instructions in the ladder programs.

• Motion programs can be controlled without using the ladder programs. Motion programs can be controlled directly from a host PLC.

• Sequence control can be written in motion language. A sequence program can be used in place of a ladder program. Refer to the following manuals for instructions that can be used in sequence programs.

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

The execution of a sequence program is completed in one scan. Sequence programs are written using the same text-based language as motion programs.

Using the M-EXECUTOR

Set the M-EXECUTOR

(enable the M-EXECUTOR).

Set the detailed settings for the

M-EXECUTOR.

Create motion programs.

Programs are executed.

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3.2 Function Modules

3.2.4 The M-EXECUTOR

Initializing the M-EXECUTOR

Use the following procedure to initialize the M-EXECUTOR.

Click the Module Configuration Icon on the Start Tab Page.

The Module Configuration Definition Tab Page will be displayed.

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CPU Module Functionality

Double-click the M-EXECUTOR cell.

The M-EXECUTOR Definition Dialog Box will be displayed.

3.2 Function Modules

3.2.4 The M-EXECUTOR

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3.2 Function Modules

3.2.4 The M-EXECUTOR

Click the OK Button.

The Detail Definition Dialog Box will be displayed.

Select File − Save from the toolbar.

The M-EXECUTOR definitions will be saved.

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3.2 Function Modules

CPU Module Functionality

Cells for M-EXECUTOR settings

      

3.2.4 The M-EXECUTOR

M-EXECUTOR Detail Settings

The detailed settings for the M-EXECUTOR are performed on the Module Configuration Tab Page and the Detail Definition Dialog Box.

This section provides the procedures to display this tab page and dialog box, and describes their contents.

 Module Configuration Definition Tab Page

Use the following procedure to display the Module Configuration Definition Tab Page.

• Click the Module Configuration Icon on the Start Tab Page.

The following table describes the M-EXECUTOR items that are displayed on the Module Configuration Definition Tab Page.

No. Item Display/Setting Item Editing

Displays whether the M-EXECUTOR is enabled.

Function Module/Slave



Status Displays the status of the M-EXECUTOR. Possible



Circuit No./



Axis Address

Motion Register



Start Occupied

circuits











Comment

Disabled

Start- End

Size

Scan

• UNDEFINED: Disabled

• M-EXECUTOR: Enabled

Not used. “----” is always displayed.

Displays the range of registers that is used as the I/O area.

• Setting range: 00000 to 07FFF hex or 10000 to 17FFF hex Refer to the following section for details.



Details on the I/O Registers on page 3-58

The size of the I/O area is displayed in words.

• Setting range: 64 to 128 Four words each of input registers and output registers are required to register a single motion program or sequence program in the M-EXECUTOR. If you need to register more than 16 programs, set the size with four additional words for each program to add. A maximum of 32 programs can be registered (maximum number of program definitions).

Not used. “----” is always displayed.

Display the user comment. Enter a comment of up to 16 characters.

Possible

Not possible

Possible

Not possible

Possible

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3.2 Function Modules

···

3.2.4 The M-EXECUTOR

 Details on the I/O Registers

The I/O registers that are assigned to the M-EXECUTOR are used to execute motion and sequence programs, as well as to monitor sequence programs.

The following tables give the contents of the M-EXECUTOR I/O registers.

M-EXECUTOR Input Registers M-EXECUTOR Output Registers

M-EXECUTOR

Input Register

IW + 0 IW + 1 Reserved. OW + 1 Control Signals IW + 2 Reserved. OW + 2 Override IW + 3 Reserved. OW + 3 Reserved. IW + 4 IW + 5 Reserved. OW + 5 Control Signals IW + 6 Reserved. OW + 6 Override IW + 7 Reserved. OW + 7 Reserved.

Definition No. 1

Definition No. 2

Item

Status OW + 0

Status OW + 4

M-EXECUTOR

Output Register

Item

Program Number

Definition No. 1

Program Number

Definition No. 2

IW + 3C IW + 3D Reserved. OW + 3D Control Signals IW + 3E Reserved. OW + 3E Override

IW + 3F Reserved. OW + 3F Reserved.

IW + 40

IW + 41 Reserved. OW + 41 Control Signals IW + 42 Reserved. OW + 42 Override IW +

IW + 7C IW + 7D Reserved. OW + 7D Control Signals IW + 7E Reserved. OW + 7E Override

IW + 7F Reserved. OW + 7F Reserved.

Definition No. 16

Definition No. 17

43 Reserved. OW

Definition No. 32

Status OW + 3C

Status OW + 40

 + 43 Reserved.

Status OW + 7C

Program Number

Definition No. 16

Program Number

Definition No. 17

Program Number

Definition No. 32

 Detail Definition Dialog Box

The Detail Definition Dialog Box has two tab pages, the Program Definition Tab Page and the Allocation Control Register Tab Page.

Use the following procedure to display the Detail Definition Dialog Box.

Click the Module Configuration Icon on the Start Tab Page.

Double-click the Button in row 05 of the Function Module/Slave Column.

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3.2 Function Modules

CPU Module Functionality





    

3.2.4 The M-EXECUTOR

 Program Definition Tab Page

Register the motion or sequence programs to execute. This section describes the items that are displayed on the Program Definition Tab Page.



Individual Display Button

Click this button to display the Program Execution Registration Dialog Box.



Program Definition Number

Set the number of program definitions that can be registered in the M-EXECUTOR.

• Setting range: 0 to 32

• Default value: 8



No.

The execution order of the programs is displayed. Programs are executed in the scans in ascending order of their numbers.



Enable or disable the definitions.

• Not selected: Definition is enabled.

• Selected: Definition is disabled.



Execution Type

Set the execution type of the program.

Execution Type Executed Programs Execution Condition

---------- Not supported. − Startup sequence

program

L-scan sequence program

H-scan sequence program

Motion program Motion programs

Sequence programs

Startup (These programs are executed once when the power supply is turned ON.)

Started at a fixed interval. (These programs are executed once every low-speed scan cycle.)

Started at a fixed interval. (These programs are executed once every high-speed scan cycle.)

Request for Start of Program Operation control signal (The program is executed when the Request for Start of Program Operation is turned ON.)

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3.2 Function Modules

3.2.4 The M-EXECUTOR



Setting

Set the program designation method. The designation method can be different for each program.



Program

Designation

Method

Direct

designation

Indirect

designation

Motion

Programs

Possible Possible

Possible Not possible

Sequence

Programs

Description

The program is specified with the program number. Examples: MPM001 or SPM002

The program is specified by specifying a register that contains the program number. Example: OW0C0C (If 1 is stored in OW0C0C, MPM001 will be called.)

Set the program number.

Execution Type Description

Sequence programs (Startup, L-scan, or H-scan)

Motion programs



Execution Monitor Registers (S Registers)

If you enter 1 and press the Enter Key, SPM001 will be set automatically. You can specify a program that is not registered or leave the program number empty. In either case, no program will be executed.

Direct designation: If you enter 1 and press the Enter Key, MPM001 will be set automatically. You can specify a program that is not registered or leave the program number empty. In either case, no program will be executed.

Indirect designation: The O register of the M-EXECUTOR Module will be set automatically. Only the system can set this.

If the execution type is set to a motion program, the range of the execution monitor registers (S registers) will be displayed. Refer to the following section for details on the execution monitor registers.



Motion Program Execution Information on page 4-30

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3.2 Function Modules

CPU Module Functionality





   

Information

3.2.4 The M-EXECUTOR

 Allocation Control Register Tab Page

This tab page is used to assign registers. This section describes the items that are displayed on the Allocation Control Register Tab

Page.



M-EXECUTOR Control Registers

This column displays the I/O registers that are assigned to the M-EXECUTOR. The M-EXECUTOR control registers are used to control or monitor the motion programs.

M-EXECUTOR Control Register Application

Program Number

Status Monitors the program execution status. Control Signals Controls the program.

Override



Allocation Disable

Sets the program number. This register is only used for indirect designation.

Sets the override value to use when executing interpolation motion instructions.

Use these check boxes to enable or disable the assigned registers.

• Not selected: Definition is enabled.

• Selected: Definition is disabled.



Direction

This column displays the data I/O directions.



Allocation Register

Data is copied between the assigned registers and the M-EXECUTOR control registers



according to the arrow in the Direction Column (

You can set word-type I, O, or M registers (except motion registers) in the Allocation register Column.

). You can assign any registers.

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3.2 Function Modules

Information

3.2.4 The M-EXECUTOR



Allocation Contact Interlock

This contact controls copying data between the assigned registers and the M-EXECUTOR control registers. When the assigned interlock contact is ON, the data in the assigned registers and the M-EXECUTOR control registers is copied in the direction that is given by the arrow in the Direction Column (

Any register bit number can be assigned as the interlock contact.

Note



Status and Control Signal Details

Double-click the Status or the Control signal cell to display the Detail Dialog Box. This dialog box is used to verify the status and the control signals.

• Status



You can set bit-type I, O, S, M, or C registers (except motion registers) in the Allocation Contact interlock Column.

The assigned interlock contact is used to interlock motion program operation. If you assign a register, always assign an assigned interlock contact.

• Control Signals

Creating Motion Programs

Refer to the following manual for details.

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

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CPU Module Functionality

Registering Program Execution

Information

This section gives the procedure to register the execution of programs.

Display the program to register for execution.

Click the Task Allocation () Icon.

The Task Allocation Dialog Box will be displayed.

You can also use the Task Allocation Dialog Box to change the settings. Refer to the following manual for details.

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

3.2 Function Modules

3.2.4 The M-EXECUTOR

Check that the settings match the contents of the Allocation Control Register Tab Page, and then click the Set Button.

The registered contents will be saved.

Refer to the following section for details on the Allocation Control Register Tab Page.



Allocation Control Register Tab Page on page 3-61

3-63

YASKAWA MP3300 Product Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

About this Manual

Using this Manual

Related Manuals

Safety Precautions

Warranty

Contents

Introduction

1.1 Definition of Terms

1.1.1 MP3300

Racks

Main Rack and Expansion Racks

1.1.4 Rack Numbers

1.1.5 Slot Numbers

1.2 System Configuration Example

1.3 Devices and Components That Are Required to Build a System

1.3.1 MP3300 Module/Unit List

1.3.2 Optional Modules

1.4 Precautions When Setting the Parameters

1.4.1 Precautions When Setting the Circuit Numbers

Precautions When Setting Module Configuration Definitions

Appearances and Parts

2.1 CPU Module

2.1.1 Appearance and Part Names

2.1.2 Display and Indicators

2.1.3 Switches

2.1.4 Connectors

2.1.5 Temperature Sensor

2.2 Base Units

2.2.1 Appearance and Part Names

Connector

CPU Module Functionality

3.1 Basic Functionality

3.1.1 Programs

3.1.2 Registers

3.1.3 Execution Scheduling

3.1.4 Scans

3.2 Function Modules

3.2.1 Self Configuration

3.2.2 Communications Function Module (218IFD)

3.2.3 Motion Control Function Modules (SVC, SVC32, SVR, and SVR32)

3.2.4 The M-EXECUTOR