Yaskawa MP900 User Manual

MP920 QRG Rev1.5

MP900 Quick Reference Guide

(QRG)

Contents

MP920 Memory Map MP920 Register Addressing General Startup Procedure MPE720 Serial and Ethernet Connection Module Configuration Procedure for Demo Basic Register Set Motion Command Code: Indexing Function Block Startup Procedure Motion Program Startup Procedure Motion Program Work Registers Data Trace Reference Units

Page 1 of 15

MP920 QRG Rev1.5

MP920 Memory Map

S (Global)

System information and status (read only) Constant, Read only registers. General Multi-Purpose read/write registers

SW0000-1023

Example: Flicker relays, Calendar, *Function Block RDA: MW00000-0399 Scan time setting, error codes, ect. Axis#1: MW100-199, Axis#2: MW200-299…

(Global)

Data that end user can change without needing to access the program.

CW00000-04095

(Global)

MW00000-32767

Fixed Parameters (for each axis) Example: User Free: MW04000-32767

Written to in Module Configuration Mechanical system specifications Convention:

Define axis units, motor specs.

(pulley ratios, encoder counts per load rev) Axis#1:MW1000-1999, Axis#2:MW2000-2999

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

Reference: * If using motion function blocks.

I (Input) IW0000-FFFF "Motion Monitoring" O (Output) OW0000-FFFF "Motion Setting"

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

Physical Inputs: IW0000-7FF

Convention: IW0000-0100 for Local IO modules Convention: OW0000-0100 for Local IO modules

Physical Outputs: OW0000-7FF

IW0100+ for M-LINK Network I/O OW0100+ for SVB and M-LINK I/O

Axis (Motion) Input: IWC000-FFFF (for axis #1)

40h

"motion monitoring" Offset

per axis

xis (Motion) Output: OWC000-FFFF (for axis #1)

"motion setting" Offset

40h

per axis

400h per module/circuit 400h per module/circuit

Example: IBC000 0 = axis#1 controller ready Example: OBC000 0 = turn axis#1 servo on

Reference: Motion Module User Man 6.2.2 Reference: Motion Module User Man 6.2.3

D (Local Registers)* DW00000-16383 Used as general purpose read/write in the defined Drawing only.

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

Word Operations: DW00010-00025 (These can be 16-bit integers, 32-bit integers, or 32-bit Accumulators: DW00026 (16-bit Integer accumulator)

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

DF00030 (32-bit Floating point Accumulator) Long DW00032-00089 Float DW00100-00256

If local registers are increased as mentioned below.

*Default is 32 D-registers per drawing. R-click drawing in File Manager - increase to 256 when using Function Blocks.

Reference:

("Sharps")

Local Constants. General purpose, read-only by the specifed Drawing they are defined in.

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

#W00000-16383 Module Configuration

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

New project requires setting Module Configuration first. Select

from File Manager under Definition Folder"

Drawings: H, L, A, I

H (High Scan) Use for all code that runs motion related functions. 2ms is usually good. L (Low Scan) Use for code that runs HMI, or user operated switches, lights, etc. 20ms is usually good A (Startup) Use for drawings that should automatically run once at controller power up. S (System) MP940 only - rarely used. Scan as fast as 250us for short drawings. I (Interrupt) Use to run a special interrupt routine after receiving a local input defined as a dedicated "Interrupt."

D E C

I M A L

H E X A D E C

I M A L

D E C

I M A L

Page 2 of 15

MP920 QRG Rev1.5

MP900 Register Addressing

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

Address FEDCBA9876543210

MW2008 ML2008 MW2009 MW2010 MF2010 MW2011

M B 2008 C i

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

: Startup

DRAWINGS Input and Output Registers

Data Type

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

: Address

(Decimal)

Bit Number

(Hex)

If Bit Data Type

Subscript

(optional)

i or j

Address FEDCBA9876543210

OW8018 OW8019 OW801A OL201A OW801B

O B 8019 A

O: Output (Motion Setting)

I: Input (Motion Monitoring)

Data Type

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

(Hex)

Bit Number

(Hex)

If Bit Data Type

Page 3 of 15

MP920 QRG Rev1.5

MP900 Startup Procedure

All equipment must be properly wired and installed. Rotary switch for M-LINK node number must be set on all axes and I/O nodes Communication Manager must be configured for serial communication

Step Instruction Detail

1 Power OFF Prepare for first Power ON

Set only TEST and INIT

dipswitches ON

3 Power ON Wait for RDY and RUN to flash. Takes about 3sec.

Set only RUN dipswitch ON &

Cycle power

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

Create new Group folder, Order

subfolder, and Controller subfolder R-Click CPU folder and select

"Online" Double-click CPU folder to Log

Prepare to erase all RAM (not FLASH)

The controller is initialized to factory settings

R-click to create. Type any name 8 characters or less, no spaces. Choose "Controller Type" as MP920

Changes will be made to files on the computer as well as on the controller, instead of just the computer.

The default User Name and Password are both USER-A

Click the Black Diskette Icon

10*

(FLASH Save)

* Step 10 is optional as all settings are saved by battery backup.

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

SERVOPACK Default Set Procedure

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

Step Instruction Detail

R-Click CPU folder, Log OFF. R-Click CPU folder, check "online". Double-

1 Log On ONLINE

Open Servopack Module

Configuration

3 Save defaults for each axis

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

From file manager, under Definition folder, open Module Configuration. Engineering Manager application opens.

Double-click SVB slot number (or R-click - Open Slot). In the SVB Definition window, Select SERVOPACK tab

Choose the Axis number from the pull-down list (top left) Under Edit menu, choose Default Set, click OK and Save

Repeat for each axis as necessary Cycle Servopack Power

Symbol Import Procedure

Step Instruction Detail

1 Log On (Online or Offline)

Close everything except File

Manager

3 Open Symbol Manager

4 Open Symbol List

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

Close Ladder Editor, Engineering Manager, etc

From File Manager, under Database folder, open Symbol Manager. Symbol Manager Application opens.

Under View menu, be sure Data Tree is checked. Expand Data Tree to open Symbol List and double-click All Register to open.

5 Import Symbols

6 Save Symbols

Repeat process for additional symbol list *.CSV files

Under File menu, choose Import. Locate desired *.CSV symbol file (such as MotionImport.csv) and open.

Use the SAVE icon, CTRL-S, or File-Save. It may take a few seconds for

saving to complete, depending on the number of symbols in the project and the speed of the computer.

Page 4 of 15

+ 9 hidden pages