Yaskawa MP920 User Manual

Machine Controller MP920

Motion Module

USER'S MANUAL

YASKAWA

MANUAL NO. SIEZ-C887-2.5C

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

Using this Manual

Please read this manual to ensure correct usage of the MP920 system. Keep this manual in a

safe place for future reference.

 Overview

This manual describes the Motion Modules designed for MP920 Machine Controller.

The following Motion Modules can be used with MP920 Machine Controller.

• SVA-01A 4-axis Servo Module

• SVA-02A 2-axis Servo Module

• SVB-01 MECHATROLINK Interface Servo Module

• PO-01 Pulse Output Module

This manual describes the following items required to use these Motion Modules.

• Motion Module setup

• Installation and connection methods

• Parameters

• Troubleshooting

Read this manual carefully to ensure that motion control is correctly performed using the

MP920 Machine Controller. Also, keep this manual in a safe place so that it can be referred

to whenever necessary.

 Intended Audience

This manual is intended for the following users.

• Those responsible for estimating the MP920 system

• Those responsible for deciding whether to apply the MP920 system

• Those responsible for designing the MP920 system so that it can be mounted in the con-

trol and operating panels

• Those responsible for making, inspecting, testing, adjusting, and maintaining the control

and operating panels in which the MP920 is mounted

 Basic Terms

Unless otherwise specified, the following definitions are used:

• MP920 = MP920 Machine Controller

• PC: Programmable Logic Controller

• MPE720: The Programming Device Software or a Programming Device (i.e., a personal

computer) running the Programming Device Software

• PLC = Programmable Logic Controller

• “⎯” in “MOV [axis1]⎯...” represents numeric data for axis 1.

iii

EXAMPLE

TERMS

 Visual Aids

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

IMPORTANT

INFO

Indicates important information that should be memorized.

Indicates supplemental information.

Indicates application examples.

Describes technical terms that are difficult to understand, or in the text without an explanation being given.

 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:

• S-ON = /S-ON

• P-CON = /P-CON

 Related Manuals

Refer to the following related manuals as required.

Thoroughly check the specifications, restrictions, and other conditions of the product before

attempting to use it.

Manual Name Manual Number Contents

Machine Controller MP920 User’s Manual: Design and Maintenance

Machine Controller MP920 Communications Module User’s Manual

Machine Controller MP900/MP2000 Series Ladder Logic Programming User’s Manual

Machine Controller MP900/MP2000 Series Motion Programming User’s Manual

Machine Controller MP900/MP2000 Series User’s Manual

MPE720 Software for Programming Device

SIEZ-C887-2.1 Describes the design and maintenance for

the MP920 Machine Controller.

SIEZ-C887-2.6 Describes the functions, specifications, and

usage of the MP920 Communications Modules (215IF, 217IF, and 218IF).

SIEZ-C887-1.2 Describes the instructions used in MP900/

MP2000 Series ladder logic programming.

SIEZ-C887-1.3 Describes the motion programming language

used for MP900/MP2000 Series Machine Controllers.

SIEPC88070005 Describes how to install and operate the

MP900/MP2000 Series programming system MPE720.

MANDATORY

Safety Information

The following conventions are used to indicate precautions in this manual. Failure to heed

provided in this manual can result in serious or possibly even fatal injury or damage to he

products or to related equipment and systems.

WARNING

CAUTION

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

Indicates precautions that, if not heeded, could result in relatively serious or minor injury, damage to the product, or faulty operation.

In some situations, the precautions indicated could have serious consequences if not heeded.

Indicates prohibited actions that must not be performed. For

PROHIBITED

example, this symbol would be used as follows to indicate that fire is

prohibited: .

Indicates compulsory actions that must be performed. For example, this symbol would be used as follows to indicate that grounding is

compulsory: .

The warning symbols for ISO and JIS standards are different, as shown below.

ISO JIS

The ISO symbol is used in this manual.

Both of these symbols appear on warning labels on Yaskawa products. Please abide by these

warning labels regardless of which symbol is used.

Safety Precautions

CAUTION

This section describes precautions to ensure the correct application of the product. Before

installing, operating, maintaining, or inspecting the product, always read this manual and all

other documents provided to ensure correct work procedures and application. Before using

the equipment, familiarize yourself with equipment details, safety information, and all other

precautions.

 Handling

• Do not subject the product to halogen gases, such as fluorine, chlovine, bromine, and

iodine, at any time even during transportation or installation.

Failure to observe this caution may cause damage or failure of the product.

 Installation

CAUTION

• Firmly tighten the Module mounting screws and terminal block mounting screws to pre-

vent them from loosening during operation.

Loose screws may result in a malfunction of the MP920.

Module mounting screw (Use an M4 Phillips screw driver.)

• Always turn OFF the power supply to the Module before installing it.

• Insert the connectors of the cables that are to be connected to the MP920 Modules and

secure them well.

Incorrect insertion of the connectors may result in a malfunction of the MP920.

vii

MANDATORY

 Wiring

CAUTION

• Always connect a power supply that meets the given specifications.

Connecting an inappropriate power supply may cause fires.

• Wiring must be performed by qualified personnel.

Incorrect wiring may cause fires, product failure, or electrical shocks.

• Do not accidentally leave foreign matter such as wire chips on the Mounting Base or in

the Module when wiring.

This may cause fires, failures, and malfunctions.

• Always ground the FG terminal to a ground resistance 100Ω or less.

Failure to ground the MP920 may result in electrical shocks or malfunctioning.

Select, separate, and lay external cables correctly.

• Consider the following items when selecting the I/O signal lines (external cables) to

connect the MP920 Module to external devices.

• Mechanical strength

• Noise interference

• Wiring distance

• Signal voltage, etc.

• Separate the I/O signal lines from the power lines both inside and outside the control

panel to reduce the influence of noise from the power lines.

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

Example of Separated External Cables

Steel separato

Power circuit cables

General control circuit cables

Digital I/O signal cables

viii

 Application

WARNING

PROHIBITED

• Do not touch any Module terminals when the system power is ON.

There is a risk of electrical shock.

• Do not attempt to modify the MP920 programs, force outputs, switch between RUN and

STOP, or perform other similar operations while the MP920 is operating without know-

ing the direct and indirect consequences of the operation.

Incorrect programming or operation may damage the equipment or cause an accident.

 Maintenance

• Make sure that the polarity of the Module’s built-in battery is correct. The battery must

be installed correctly and must not be charged, disassembled, heated, thrown into fire,

or short-circuited.

Improper handling may cause the battery to explode or ignite.

WARNING

CAUTION

• Do not attempt to disassemble or modify the MP920 Modules in any way.

Doing so can cause fires, product failure, or malfunctions.

• The customer must not replace any built-in fuses.

If the customer replaces a built-in fuse, the MP920 Module may malfunction or break down. The built-in fuse must always be replaced by Yaskawa service staff.

 General

Always note the following to ensure safe use.

• MP920 was not designed or manufactured for use in devices or systems directly related

to human life. Users who intend to use the product described in this manual for special

purposes such as devices or systems relating to transportation, medical, space avia-

tion, atomic power control, or underwater use must contact Yaskawa Electric Corpora-

tion beforehand.

• MP920 has been manufactured under strict quality control guidelines. However, if this

product is to be installed in any location in which a failure of MP920 involves a life and

death situation or in a facility where failure may cause a serious accident, safety

devices MUST be installed to minimize the likelihood of any accident.

• Drawings in this manual show typical product examples that may differ somewhat from

the product delivered.

• This manual may change without prior notice due to product improvements and specifi-

cation changes or for easier use. We will update the manual number of the manual and

issue revisions when changes are made. The revision number of the revised manual

appears on the back of the manual.

• Contact your nearest Yaskawa sales representative or the dealer from whom you pur-

chased the product and quote the manual number on the front page of the manual if

you need to replace a manual that was lost or destroyed.

• Contact your nearest Yaskawa sales representative or the dealer from whom you pur-

chased the product to order new nameplates whenever a nameplate becomes worn or

damaged.

• Products modified by the customer are not covered by the Yaskawa warranty, nor does

Yaskawa assume any liability for injury or damage that may result from such modifica-

tions.

Using this Manual- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii Safety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vi Safety Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vii

1 Overview of Motion Modules

1.1 Module Overview and Features - - - - - - - - - - - - - - - - - - - - - 1-2

1.1.1 Motion Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-2

1.1.2 SVA-01A Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-3

1.1.3 SVA-02A Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-4

1.1.4 SVB-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-6

1.1.5 PO-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-8

1.2 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9

1.2.1 System Configuration Examples - - - - - - - - - - - - - - - - - - - - - - - - - - -1-9

1.3 Specifications- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-10

1.3.1 General Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-10

1.3.2 Function Lists- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11

2 Motion Control

2.1 Overview of Motion Control - - - - - - - - - - - - - - - - - - - - - - - - 2-2

2.1.1 Motion Control for the MP920 - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-2

2.1.2 Motion Control Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-4

2.1.3 Examples of Motion Control Applications - - - - - - - - - - - - - - - - - - - - -2-5

2.2 Control Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7

2.2.1 Overview of Control Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-7

2.2.2 Speed Reference Output Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-8

2.2.3 Torque Reference Output Mode - - - - - - - - - - - - - - - - - - - - - - - - - - -2-12

2.2.4 Phase Control Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-15

2.2.5 Zero Point Return Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-22

2.3 Position Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-26

2.3.1 Prerequisites for Position Control - - - - - - - - - - - - - - - - - - - - - - - - - -2-26

2.3.2 Position Control Without Using Motion Commands - - - - - - - - - - - - -2-41

2.4 Position Control Using Motion Commands - - - - - - - - - - - - 2-45

2.4.1 Overview of Motion Commands - - - - - - - - - - - - - - - - - - - - - - - - - - -2-45

2.4.2 Positioning (POSING) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-48

2.4.3 External Positioning (EX_POSING) - - - - - - - - - - - - - - - - - - - - - - - -2-51

2.4.4 Zero Point Return (ZRET) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-55

2.4.5 Interpolation (INTERPOLATE, END_OF_INTERPOLATE) - - - - - - - -2-70

2.4.6 Interpolation with Position Detection (LATCH) - - - - - - - - - - - - - - - - -2-73

2.4.7 Fixed Speed Feed (FEED)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-74

2.4.8 Fixed Length Feed (STEP) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-77

2.4.9 Zero Point Setting (ZSET) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-81

3 Motion Module Allocations and Setup

3.1 Allocations and Configuration Definitions - - - - - - - - - - - - - - 3-2

3.1.1 Motion Module Allocation Method - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2

3.1.2 Setting Module Definitions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4

3.1.3 Saving Module Definitions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6

3.2 Individual Module Definitions - - - - - - - - - - - - - - - - - - - - - - - 3-7

3.2.1 MECHATROLINK Definitions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-7

3.2.2 Setting Motion Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10

4 Parameters

4.1 Overview of Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2

4.1.1 Parameter Classifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2

4.1.2 Modules and Motion Parameter Registers - - - - - - - - - - - - - - - - - - - - 4-3

4.2 Parameter List by Module - - - - - - - - - - - - - - - - - - - - - - - - - 4-5

4.2.1 Motion Fixed Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5

4.2.2 Motion Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10

4.2.3 Motion Monitoring Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-18

5 SVA Module Specifications and Handling

5.1 SVA-01A Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2

5.1.1 Hardware Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2

5.1.2 Handling - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3

5.2 SVA-02A Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-24

5.2.1 Hardware Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-24

5.2.2 Handling - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-25

5.3 Differences between SVA-01A and SVA-02A Modules - - - - 5-43

5.3.1 Differences in Hardware - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-43

5.3.2 Differences in Servo Connectors - - - - - - - - - - - - - - - - - - - - - - - - - - 5-44

5.3.3 Differences in External I/O Signals - - - - - - - - - - - - - - - - - - - - - - - - 5-46

5.3.4 Precautions on Connecting the SVA-02A Module - - - - - - - - - - - - - - 5-47

5.3.5 Connection with SGDA-S SERVOPACK - - - - - - - - - - - - - - - - 5-48

5.4 SVA-01A and SVA-02A Parameters - - - - - - - - - - - - - - - - - 5-52

5.4.1 Motion Fixed Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-52

5.4.2 Motion Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-62

5.4.3 Motion Monitoring Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-83

6 SVB Module Specifications and Handling

6.1 SVB-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2

6.1.1 Hardware Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2

6.1.2 Handling - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3

xii

6.2 SVB-01 Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-16

6.2.1 Motion Fixed Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-16

6.2.2 Motion Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-23

6.2.3 Motion Monitoring Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-38

6.2.4 Σ Series SERVOPACK parameters - - - - - - - - - - - - - - - - - - - - - - - -6-45

6.2.5 Σ-II Series SERVOPACK Parameters - - - - - - - - - - - - - - - - - - - - - - -6-52

6.2.6 Relationship of SERVOPACK Parameters to SVB-01 Parameters - - - 6-64

7 PO-01 Module Specification and Handling

7.1 PO-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2

7.1.1 Hardware Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-2

7.1.2 Handling - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-3

7.2 Functions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-16

7.2.1 Motion Control Functions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-16

7.2.2 Motion Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-19

7.2.3 Program Example- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-22

7.2.4 Out-of-step Detection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-25

7.2.5 Emergency Stop- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-29

7.3 PO-01 Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-31

7.3.1 Motion Fixed Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-31

7.3.2 Motion Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-39

7.3.3 Motion Monitoring Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-49

8 Troubleshooting

8.1 Overview of Alarms - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2

8.1.1 Description of Motion Alarms - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-2

8.1.2 Processing Flow for Motion Alarms - - - - - - - - - - - - - - - - - - - - - - - - -8-5

8.2 Alarms and Actions Taken - - - - - - - - - - - - - - - - - - - - - - - - - 8-6

8.2.1 Alarm IL22 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-6

8.2.2 Motion Alarm Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-20

8.2.3 Motion Module Error Displays and Actions Taken - - - - - - - - - - - - - -8-22

9 Application Precautions

9.1 Vertical Axis Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2

9.1.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-2

9.1.2 SGDA SERVOPACK Connections - - - - - - - - - - - - - - - - - - - - - - - - - -9-3

9.1.3 SGDB SERVOPACK Connections - - - - - - - - - - - - - - - - - - - - - - - - - -9-5

9.1.4 SGDM/SGDS SERVOPACK Connections - - - - - - - - - - - - - - - - - - - - -9-8

9.2 Overtravel Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-10

9.2.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-10

9.2.2 Overtravel Input Signal Connections- - - - - - - - - - - - - - - - - - - - - - - -9-10

9.2.3 Parameter Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-12

xiii

9.3 Software Limit Function - - - - - - - - - - - - - - - - - - - - - - - - - 9-16

9.3.1 Overview- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-16

9.3.2 Fixed Parameter Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-16

9.3.3 Processing after an Alarm- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-17

9.4 Reverse Rotation Mode - - - - - - - - - - - - - - - - - - - - - - - - - 9-18

9.4.1 Overview- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-18

9.4.2 Absolute Encoder Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-20

9.4.3 Incremental Encoder Setting- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-21

10 CNTR-01 Module Specifications and Handling

10.1 CNTR-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2

10.1.1 Hardware Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2

10.1.2 Handling - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-3

10.2 Using the CNTR-01 Module- - - - - - - - - - - - - - - - - - - - - 10-11

10.2.1 Overview- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-11

10.2.2 Fixed Parameters- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-13

10.2.3 Setting I/O Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-15

10.3 Counter Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-22

10.3.1 Reversible Counter Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-22

10.3.2 Interval Counter Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-24

10.3.3 Frequency Measurement - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-26

10.4 CNTR-01 Module I/O Circuits - - - - - - - - - - - - - - - - - - - 10-30

10.4.1 Pulse Input Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-30

10.4.2 Latch Input Circuits - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-32

10.4.3 Coincidence Output Circuits - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-33

10.5 CNTR-01 Counter Module Connections - - - - - - - - - - - - 10-34

10.5.1 Connections to Pulse Generators - - - - - - - - - - - - - - - - - - - - - - - 10-34

10.5.2 Pulse C Signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-36

Appendix A Module Appearance

A.1 Motion Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2

A.2 Counter Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-5

INDEX

Revision History

xiv

Overview of Motion Modules

This chapter provides an overview of the Motion Modules and describes their

features.

1.1 Module Overview and Features - - - - - - - - - - - - - - - - - - - - - 1-2

1.1.1 Motion Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.1.2 SVA-01A Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3

1.1.3 SVA-02A Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4

1.1.4 SVB-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6

1.1.5 PO-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8

1.2 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-9

1.2.1 System Configuration Examples - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9

1.3 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-10

1.3.1 General Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-10

1.3.2 Function Lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11

1-1

1 Overview of Motion Modules

1.1.1 Motion Modules

1.1 Module Overview and Features

This section provides an overview of the Motion Modules and describes their features.

1.1.1 Motion Modules

The following table lists the Motion Modules that can be used with the MP920.

Description SVA-01A SVA-02A SVB-01 PO-01

Model Number JEPMC-MC200A JEPMC-MC220A JEPMC-MC210 JEPMC-PL210

Appearance

SVA-01

CN3

CN1

CN2

STATUS

CN5

CN4

SVA-02

CN1

STATUS

CN2

SVB-01

STATU S

TRX

PO-01

CN1

STATUS

CN2

Interface

Number of Controlled Axes per Module

Maximum Number of Modules

Total Number of Modules

Pulse Counting Methods

Control Functions

Motion Functions

CN3

+24V 0V

CN1

Analog MECHATROLINK Pulse

4 2 14 4

15 16 16 16

16 max.

A/B, Up/Down, sign, ×1/2/4 ×4 −

• Speed reference output

• Synchronized phase control

• Position control

• Speed reference output

• Synchronized phase control

• Position control

• Position control only Position loop is performed by Servo Drivers. The SVB01 Module outputs position reference values.

• Torque reference output

• Positioning

• Linear interpolation

• Circular interpolation

• Helical interpolation

• External positioning

• Positioning

• Linear interpolation

• Circular interpolation

• Helical interpolation

• External positioning

• Position control only Open loop control The PO-01 Module outputs reference pulses.

• Positioning

• Linear interpolation

• Circular interpolation

• Helical interpolation

1-2

1.1 Module Overview and Features

Description SVA-01A SVA-02A SVB-01 PO-01

Model Number JEPMC-MC200A JEPMC-MC220A JEPMC-MC210 JEPMC-PL210

Applicable Servo Drivers and Inverters

• Servo Drivers

SGDA-S SGDB- SGDM- SGDS-

• Inverters

• Servo Drivers

SGD-N SGDB-AN SGDH-E+JUSPNS100

• Inverters

Pulse Motor Drivers

(216IF Card required) VS-616G5 VS-676H5 VS-676H5T

Features Analog control High-speed network control

Low-cost and simple control

• Transmission speed: 4 Mbps

• Communications cycle: 2 ms

• Transmission distance: 50 m max.

Multi-axis control: 14 axes max. per Module

(cont’d)

1.1.2 SVA-01A Module

 Overview of the SVA-01A Module

The SVA-01A Module is a Motion Control Module with analog outputs. One SVA-01A

Module can control servos for up to four axes. Four connectors (CN1 to CN4) are provided

for connections to SERVOPACKs. Each connector is equipped with a speed reference ana-

log output, phase-A/B/C pulse inputs (5 V differential), a pulse latch digital input, and gen-

eral-purpose digital I/O signals. The CN5 connector is equipped with positive and negative

overtravel signals, deceleration limit inputs, zero point latch inputs, external positioning

latch inputs, brake control outputs, and other external I/O signals for four axes.

Motion Control

 Speed control  Position control  Phase control  Zero point return

function

Monitor function

System Bus

Interface

Servo parameters

System Bus Connector

Analog output: Speed ref.

Pulse input: Phase A/B/C

General-purpose digital inputs (3) DI0 to D12

General-purpose digital outputs

Sensor ON output (5 V/24 V)

Same as above.

External (Field) I/O signals

NREF

(5) DO0 to DO2

DO4, DO5

SENS/DO3

CN1

Servo Connector

CN2

CN3

CN4

CN5

1-3

1 Overview of Motion Modules

1.1.3 SVA-02A Module

 Features of the SVA-01A Module

• Analog-output 4-axis Servo Module

• Independent position control, speed reference output, torque reference output, and phase

control are possible for each axis.

• Up to 60 axes (up to 15 Modules) can be controlled.

• Interpolations and complex processing operations can be easily programmed in motion

programs.

15 Modules max.

 Inverters  Analog servos

SVA-01A

SGDA SGDB SGDM SGDS

M M M M

1.1.3 SVA-02A Module

 Overview of the SVA-02A Module

The SVA-02A Module is a Motion Control Module with analog outputs. One SVA-02A

Module can control servos for up to two axes. Two connectors (CN1 and CN2) are provided

for connections to SERVOPACKs and external I/O devices. Each connector is equipped

with a speed reference analog output, a torque reference output, a torque monitoring analog

output, phase A/B/C pulse inputs (5 V differential), a pulse latch digital input, and general-

purpose digital I/O signals.

Speed, Position, and Phase Control

D/A

Speed reference

Encoder pulse

SERVOPAC K

SVA-01A

Counter

Servo Control

 Speed control  Position control  Torque control  Phase control  Zero point return

function

Monitor function

System Bus

Interface

Servo parameters

System Bus Connector

1-4

Analog outputs: Speed ref.

Positive torque ref.

Analog input: Speed monitor

Pulse input: Phase A/B/C

Pulse latch digital input

General-purpose digital inputs (5)+PI

General-purpose digital outputs (6)

Sensor ON output (5 V/24 V)

Same as above.

NREF TLIMP

NREF

PIL

DI0 to DI5

DO0 to DO2 DO4, DO5

SENS/DO3

CN1

Servo Connector

CN2

1.1 Module Overview and Features

SVA-02A

16 Modules max.

 Inverters  Analog servos

SGDA SGDB SGDM SGDS

Speed, Position, and Phase Control

SVA-02A

Speed reference

SERVOPACK

D/A

Counter

Torque control

D/A

Speed monitor

A/D

Encoder pulse

Torque reference

Speed control

Torque monitor

Encoder pulse

Torque Control

SVA-02A

D/A

A/D

 Features of the SVA-02A Module

• Analog-output 2-axis Servo Module

• Independent position control, speed reference output, torque reference output, and phase

control are possible for each axis.

• Up to 32 axes (up to 16 Modules) can be controlled.

• Interpolations and complex processing operations can be easily programmed in motion

programs.

1-5

1 Overview of Motion Modules

CN1

System Bus Connector

MECHATROLINK Connector

MECHATROLINK Control

 Servo Control  Remote I/O Control  Inverter Control

1.1.4 SVB-01 Module

 Overview of the SVB-01 Module

The SVB-01 Module has a single MECHATROLINK connector and can control up to 14

Module Devices with MECHATROLINK interfaces.

The SVB-01 Module can be connected to I/O Modules (such as the JEPMC-IO350) or

Inverters (such as the VS-616G5 or VS-675H5) to transmit control signals and messages.

1-6

1.1 Module Overview and Features

 Features of the SVB-01 Module

• By using the MECHATROLINK high-speed field network interface, up to 14 axes can

be controlled with less wiring. A total of 224 axes can be controlled using a maximum

of 16 Modules.

• Using the position control functions, motion programs can perform positioning, zero

point returns, and interpolations.

SVB

16 Modules max.

SGD-N or SGDB-N (connecting

14 stations max.

M M M M

MECHATROLINKcompatible servos)

SW1

IN2

SW2 IN1

OUT2 OUT1

DC24V

DC 0V

YASKAWA

JEPMC-IO350

CN1

IN1 OUT1 IN2 OUT2

A1 A1 A1 A1B1B1 B1 B1

RIO

616G5

1-7

1 Overview of Motion Modules

Motion functions Override function Stroke limit function Emergency stop function

CN2

CN1

System Bus Connector

Pulse Motor Driver

Connector

System Bus

Interface

Servo Parameters

OW IW

Same as above.

2 Pulse-train Outputs:CCW

1 Excitation ON 2 General-purpose

1 Excitation monitor/zero point 3 General-purpose 1 Emergency/deceleration stop

4 Digital Outputs:

5 Digital Inputs:

1.1.5 PO-01 Module

 Overview of the PO-01 Module

The PO-01 Module is a Motion Control Module with pulse-train outputs. One PO-01 Mod-

ule can be connected to pulse motor drivers for up to 4 axes.

Two connectors (CN1 and CN2) are provided for connections to pulse motor drivers. Each

connector is equipped with a 5-V differential pulse-train output as well as 4 digital outputs

(DO) and 5 digital inputs (DI) for various pulse driver control applications.

 Features of the PO-01 Module

• The PO-01 Module can be connected to up to four axes.

• A total of 64 axes can be controlled using a maximum of 16 Modules.

• This Module provides positioning, zero point returns, interpolations, and other functions,

all of which can be specified in motion programs.

PO-01

16 Modules max.

PO-01

M M M

Pulse Motor Driver

1-8

CW+

CW-

CCW+

CCW-

Pulse Motor Driver

1.2 System Configuration

1.2.1 System Configuration Examples

The MP920 Motion Modules are available with analog outputs, pulse outputs, and field net-

work interfaces. Modules can be freely selected to configure the system best suited to the

application.

PS-03 SVA-01A

DC24V

TB1

+24V

CPU-01

MP920 CPU-01PS-03

POWER

SW1

L.RST

BATTERY

RUN

INIT

TEST

5 6

MULTI

FLASH

M.RST

OFF

PORT2

PORT1

CN1

RLY OUT

1.2 System Configuration

SVA-02A

SVA-01A

RDY

RUN

ALM

ERR

BAT ALM

PRT2

PRT1

CN3

CN1

CN2

CN4

SVA-02A

CN1

STATUS

CN5

CN2

CN3

SVB-01

+24V

STATUS

CN1

PO-01

TRX

PO-01

LIO-01

CN1

STATUS

CN2

CN1

RUN

FUSE

CN2

Analog outputs for 4 axes

Analog output for 2 axes

M M

Pulse outputs for 4 axes

Pulse Motor Driver

M M M MM M M M

MECHATROLINK communications

MECHATROLINK-compatible servos

M M M M

IO-350

216IF Inverter

Two analog outputs per axis One analog input per axis

1-9

YASKAWA

JEPMC-IO350

CN1

IN1 OUT1 IN2 OUT2

SW1

IN2

SW2 IN1

OUT2 OUT1

DC24V

DC 0V

A1 A1 A1 A1B1B1 B1 B1

616G5

Up to 14 Modules can be connected.

1 Overview of Motion Modules

1.3.1 General Specifications

1.3 Specifications

1.3.1 General Specifications

This section gives an overview of the specifications and functions of the MP920 Modules.

 General Specifications of the MP920 Modules

Table 1.1 lists the general specifications of the MP920 Modules.

Table 1.1 General Specifications of the MP920 Modules

Item Specifications

Environmental Conditions

Electrical Operating Conditions

Mechanical Operating Conditions

Installation Requirements

Ambient Operating Temperature

Storage Temperature

Ambient Operating Humidity

Ambient Storage Humidity

Pollution Level Pollution level 1 (conforming to JIS B 3501)

Corrosive Gas There must be no combustible or corrosive gas.

Operating Altitude

Noise Resistance Conforming to JIS B 3502:

Vibration Resistance

Shock Resistance

Ground Ground to 100Ω max.

Cooling Method Natural cooling

0 to 55°C

-20 to 85°C

30% to 95% RH (with no condensation)

5% to 95% RH (with no condensation)

2,000 m above sea level or lower

1,500 V (p-p) in either normal or common modes with a pulse width of 100 ns/11μs and a rise time of 1 ns (tested with impulse noise simulator)

Conforming to JIS B 3502:

10 to 57 Hz with single-amplitude of 0.075 mm

57 to 150 Hz with fixed acceleration of 9.8 m/s 10 sweeps each in X, Y, and Z directions

(sweep time: 1 octave/min)

Conforming to JIS B 3502:

Peak acceleration of 147 m/s the X, Y, and Z directions

(15G) twice for 11 ms each in

(1G)

1-10

1.3 Specifications

1.3.2 Function Lists

Table 1.2 lists the motion control function specifications for the MP920.

Table 1.2 MP920 Motion Control Function Specifications

Item Specification

Description SVA-01A SVA-02A SVB-01 PO-01

Model Number

Interface

Number of Controlled Axes per Module

Maximum Number of Modules

Control Specifications

Reference Unit mm, inch, deg, pulse

Reference Unit Minimum Setting 1, 0.1, 0.01, 0.001, 0.0001, 0.00001

Maximum Programmable Value -2147483648 to +2147483647 (signed 32-bit value)

Speed Reference Unit mm/min, inch/min, deg/min, pulses/min

Acceleration/Deceleration Type Linear, asymmetric, S-curve, exponential

Override Function Positioning: 0.01% to 327.67% by axis

Coordinate System Rectangular coordinates

Zero Point Return

Programs

PTP Control Linear, rotary, infinite-length, and independent axes

Interpolation Up to 16 linear axes, 2 circular axes, and 3 helical axes

Speed Reference Output

Torque Reference Output

Phase Control

Position Control

DEC1 + Phase-C

DEC2 + Phase-C

DEC1 + LMT + C

Phase-C

DEC1 + ZERO

DEC2 + ZERO

DEC1 + LMT + ZERO

ZERO

Language Special motion language, ladder logic program

Number of Tasks Up to eight programs can be executed in parallel.

Number of Programs Up to 256

Program Capacity 80 Kbytes

Positioning

External Positioning

Zero Point Return

Interpolation

Interpolation with Position Detection

Fixed-speed Feed

Fixed-length Feed

JEPMC-MC200A JEPMC-MC220A JEPMC-MC210 JEPMC-PL210

Analog Analog MECHATROLINK Pulse

4 2 14 4

15 16 16 16

Yes Yes No No

No Yes No No

Yes Yes No No

Ye s Ye s Yes Ye s

Ye s Ye s Yes N o

Ye s Ye s Yes Ye s

Ye s Ye s Yes N o

Ye s Ye s Yes Ye s

Interpolation: 0.01% to 327.67% by group

Ye s Ye s Yes N o

Yes Yes No No

Ye s Ye s Yes N o

Ye s N o Ye s Ye s

Ye s N o No Ye s

Ye s N o Ye s N o

1-11

1 Overview of Motion Modules

1.3.2 Function Lists

Table 1.2 MP920 Motion Control Function Specifications (cont’d)

Item Specification

Description SVA-01A SVA-02A SVB-01 PO-01

Applicable SERVOPACKs and Inverters SERVOPACKs

• SGDA-S

• SGDB-

• SGDM-

• SGDS-

Inverters

SERVOPACKs

• SGDA-S

• SGDB-

• SGDM-

• SGDS-

Inverters

SERVOPACKs

• SGD-N

• SGDB-AN

• SGDH-

E+ JUSP-NS100

Pulse Motor Drivers

Inverters (216IF board required)

• VS-616G5

• VS-676H5

• VS-676H5T

Encoder Incremental or

absolute

Incremental or absolute

Note: Yes: Can be controlled, No: Cannot be controlled.

1-12

Motion Control

This chapter gives an overview of motion control and describes the motion

commands.

2.1 Overview of Motion Control - - - - - - - - - - - - - - - - - - - - - - - - 2-2

2.1.1 Motion Control for the MP920 - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2

2.1.2 Motion Control Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4

2.1.3 Examples of Motion Control Applications - - - - - - - - - - - - - - - - - - - - 2-5

2.2 Control Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-7

2.2.1 Overview of Control Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7

2.2.2 Speed Reference Output Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-8

2.2.3 Torque Reference Output Mode - - - - - - - - - - - - - - - - - - - - - - - - - - 2-12

2.2.4 Phase Control Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-15

2.2.5 Zero Point Return Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-22

2.3 Position Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-26

2.3.1 Prerequisites for Position Control - - - - - - - - - - - - - - - - - - - - - - - - - 2-26

2.3.2 Position Control Without Using Motion Commands - - - - - - - - - - - - 2-41

2.4 Position Control Using Motion Commands - - - - - - - - - - - - 2-45

2.4.1 Overview of Motion Commands - - - - - - - - - - - - - - - - - - - - - - - - - - 2-45

2.4.2 Positioning (POSING) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-48

2.4.3 External Positioning (EX_POSING) - - - - - - - - - - - - - - - - - - - - - - - 2-51

2.4.4 Zero Point Return (ZRET) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-55

2.4.5 Interpolation (INTERPOLATE, END_OF_INTERPOLATE) - - - - - - - 2-70

2.4.6 Interpolation with Position Detection (LATCH) - - - - - - - - - - - - - - - - 2-73

2.4.7 Fixed Speed Feed (FEED) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-74

2.4.8 Fixed Length Feed (STEP) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-77

2.4.9 Zero Point Setting (ZSET) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-81

2-1

2 Motion Control

Operation

panel

I/O

processing

Ladder logic program

SERVOPACK

Inverter

Pulse motor

driver

Sequence

control

Analog Module

Analog Device

Motion control

MC program

Communications

control

Programming

Device

Other company's sequencer

I/O Module

Motion Module

Communications

Module

2.1.1 Motion Control for the MP920

2.1 Overview of Motion Control

This section describes the methods used for motion control and gives some examples of their

use.

2.1.1 Motion Control for the MP920

The MP920 Machine Controller provides fully integrated sequence control and motion con-

trol.

The following diagram shows a conceptual diagram of the MP920 system.

A wide range of Motion Modules is provided for the MP920, and these can be selected

according to the purpose.

The following table shows the types of Motion Module and their features.

2-2

Name Features

PO-01

16 Modules max.

Pulse motor driver

M M

PO-01

CW+

CCW+

CW-

CCW-

Pulse motor driver

SVA-01A • Analog-output 4-axis Servo Module

• Independent position control, speed control, and phase control are possible for each axis.

• Up to 60 axes (up to 15 Modules) can be controlled.

• Interpolations and complex processing operations can be easily programmed in motion programs.

15 Modules max.

SVA-01A

 Inverters  Analog servos

SGDA-S

Speed, position, and phase control

SVA-01A

SGDB SGDM

M M M M

SVA-02A • Analog-output 2-axis Servo Module

• Independent position control, speed control, torque, and phase control are possible for each axis.

• Up to 32 axes (up to 16 Modules) can be controlled.

• Interpolations and complex processing operations can be easily programmed in motion programs.

D/A

Counter

Speed reference

Encoder Pulse

2.1 Overview of Motion Control

SERVOPACK

16 Modules max.

SVA-02A

 Inverters  Analog servos

SGDA-S SGDB SGDM

M M

Speed, position, and phase control

SVA-02A

D/A

A/D

Counter

Speed reference

Torque limit

Speed monitor

Encoder Pulse

SERVOPACK

Torque control

SVA-02A

Torque reference

D/A

Counter

D/A

A/D

Speed limit

Torque monitor

Encoder Pulse

SERVOPACK

SVB-01 • By using the high-speed field network (MECHATROLINK) interface, up to 14 axes can be con-

trolled with less wiring. (Using a maximum of 16 Modules, 224 axes can be controlled.)

• Using the position control functions, motion programs can perform positioning, zero point returns, and interpolations.

SVB

16 Modules max.

14 axes max.

SGD-N o SGDB-N

M M M M

PO-01 • Pulse output type 4-axis Pulse Output Module

• Up to 64 axes (up to 16 Modules) can be controlled.

• Using the position control functions, motion programs can perform positioning, zero point returns, and interpolations.

2-3

2 Motion Control

H0101 OWC000

B00105

IFON

500 OWC015

0 OWC015

ELSE

Ladder logic program

Motion

processing

Setting Parameters

Monitoring Parameters

CPU Module SVA Module

SERVO-

PACK

PGM

Status

information

SERVO-

PACK

SERVO-

PACK

SERVO-

PACK

2.1.2 Motion Control Methods

By using Motion Modules, motions for a wide variety of applications can be controlled.

There are two programming methods for controlling motions: Ladder logic programs and

motion programs. An overview of each programming method is given below.

 Ladder Logic Programming

Ladder logic programs are designed mainly for sequence control. The motion setting param-

eters and motion monitoring parameters used as interfaces with the Motion Modules are

directly written to and read by the ladder logic programs to perform motion control.

Special operations can be programmed and combined as user functions. For details, refer to

Chapter4 Parameters and the section describing the parameters of each Motion Module.

 Motion Programming

The motion programs that have been created using a special motion language perform

motion control. Up to 256 programs can be created, and these can also be executed in paral-

lel.

The use of the special motion language enables complex operations to be easily pro-

grammed. The system performs command end checks and other processing. The special

motion commands shown in the following table are provided as standard in the MP9

Series.

CPU Module

MSEE MPM001

CPU Module SVA Module

Motion program

MOV [X] 100 MVS [X] 100 MCC - - - EXT

Setting Parameters

MOV

command

MOV

command

MOV

command

Monitoring Parameters

Command

processing

Status

information

2-4

SERVO-

PACK

SERVO-

PACK

SERVO-

PACK

SERVO-

PACK

PGM

+ 420 hidden pages

Yaskawa MP920 User Manual

Using this Manual

Safety Information

Safety Precautions

CONTENTS

Overview of Motion Modules

1.1.1 Motion Modules

1.1 Module Overview and Features

1.1.2 SVA-01A Module

1.1.3 SVA-02A Module

1.1.4 SVB-01 Module

1.1.5 PO-01 Module

1.2.1 System Configuration Examples

1.2 System Configuration

1.3.1 General Specifications

1.3 Specifications

1.3.2 Function Lists

Motion Control

2.1.1 Motion Control for the MP920

2.1 Overview of Motion Control

2.1.2 Motion Control Methods