Yaskawa MP920 User Manual

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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.

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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.

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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

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 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

2.1 Overview of Motion Control

Commands

Axis move commands: 8 types

MOV, MVS, MCW, MCC, ZRN, SKP, MVT, EXM

Basic control commands: 6 types

ABS, INC, POS, PLN, MVM, PLD

Speed and acceleration/deceleration commands: 7 types

ACC, DCC, SCC, VEL, IAC, IDC, IFP, FMX

High-level control commands: 4 types

PFN, INP, SNG, UFC

Control commands: 10 types

MSEE, TIM, IOW, END, RET, EOX, IF ELSE IEND, WHILE WEND, PFORK JOINTO PJOINT, SFORK JOINTO SJOINT

Math and sequence control commands: 32 types

=. +. -, *, /, MOD, |, ^, &, !, ( ), S{ }, R { }, SIN, COS, TAN, ASN, ACS, ATN, SQRT, BIN, BCD, = =, < >, >, <, >=, <=, SFR, SFL, BLK, CLR

2.1.3 Examples of Motion Control Applications

The following illustrations show examples of the use of each control mode for Motion Mod-

ules.

 Speed Reference Output Control and Torque Reference Output

Control

Winder A

Tension setting

Winder B

Servomotor

Tension

Servomotor

detector

MP920

Speed limit

SERVOPACK

Tension rollers

Servomotor

MP920

2-5

2 Motion Control

Servomotor

MP920

Y axis

Z axis

X axis

C axis

A axis

2.1.3 Examples of Motion Control Applications

 Phase Control

Conveyor Synchronization

 Position Control

Conveyor

Coater

2-6

2.2 Control Modes

This section describes the motion control modes that can be used by the MP920.

2.2.1 Overview of Control Modes

Five control modes are available for MP920 Motion Modules. These modes can be switched

in real time, according to the purpose.

The following table shows the control mode that can be used by MP920 Motion Modules,

and gives an overview and some examples of their uses.

Control Mode Overview Typical

Speed Reference Output Mode

Torque Reference Output Mode

Position Control Mode*

Phase Control Mode

Zero Return Mode*

Rotates the motor at the specified speed.

Outputs the specified torque. Injection mold-

Specifies the target position and speed. Executes a position loop, identifies the difference to the target position from the encoder, converts the difference to the speed reference, and performs position control.

While executing speed control using a standard speed reference, generates the target position from the speed reference, and performs phase control.

Performs zero point positioning when an incremental encoder is used.

Module

Applications

Conveyors or main axes

ing machines or presses

Conveyors or XY tables

Electronic cams or electronic shafts

− Yes Yes No No

SVA-

01A

Yes Yes No No

YesYesYesYes

Yes Yes No No

02A

No Yes No No

2.2 Control Modes

SVB-01PO-

* There are two methods for returning to the zero point:

• Using ZERO POINT RETURN command for position control

• Using Zero Return Mode

Note: Yes: Available, No: Not available

2-7

2 Motion Control

2.2.2 Speed Reference Output Mode

 Overview

This mode is used to rotate the motor at the desired speed.

A speed reference is output to the servo drive according to the specified speed reference, lin-

ear acceleration/deceleration time constant, and filter time constant.

The acceleration/deceleration time can be set as desired.

S-curve acceleration/deceleration can be easily performed by the user program (one com-

mand).

The speed reference output mode can also be used for a general-purpose D/A converter. In

this case, set the linear acceleration/deceleration time constant and the filter time constant to

“0.”

IMPORTANT

The speed reference output mode is available only with the SVA-01A and SVA-02A Modules. It can-

not be used with the SVB-01 and PO-01 Modules.

 Details

Use the following procedure to perform operation in the speed reference output mode.

1. Set the motion fixed parameters.

2. Set the motion setting parameters.

Set the speed reference output mode (NCON).

4. Set the RUN command (RUN) to ON.

Output the speed reference and torque limit reference*

Set the speed reference output mode to OFF.

*: SVA-02A Module only

: System execution : User settings

NCON

RUN

Speed

(%)

(100%)

Speed reference

Linear acceleration time constant Linear deceleration time constant

Time (t)

2-8

2.2 Control Modes

1. Set the motion fixed parameters according to the user’s machine.

Table 2.1 Examples of Fixed Parameters

No. Name Setting Range Meaning Setting

Example

7 Rated Motor Speed Setting 1 to 32000 Rated motor speed

8 Number of Feedback Pulses per

Motor Rotation

9 D/A Output Voltage at 100%

Speed

Number of Feedback Pulses per Motor Rotation

(For high-resolution) *

10 D/A Output Voltage at 100%

Torque Limit*

* 1. Valid only with an SVB-01 Module. * 2. Valid only with an SVA-02A Module.

4 to 65532 Number of pulses

before multiplication

0.001 to 10.000 0.001 = 0.001 V 1 = 1 V

4 to 2147483647 1 = 1 pulse/rev 2048 pulses/

0.001 to 10.000 0.001 = 0.001 V 1 = 1 V

3000 min

2048

6.000 V

rev

3.000 V

2. Set the motion parameters to be used in the speed reference output mode.

The following three methods can be used to set the motion setting parameters.

-1

• Using the MPE720 Setting Parameter Window

• Using a ladder logic program

• Using a motion program

Name Register No. Setting

Positive Torque Limit Setting (TLIMP)*

Positive Speed Limiter Setting (NLIMP)

Negative Speed Limiter Setting (NLIMN)

Linear Acceleration Time Constant (NACC)

Linear Deceleration Time Constant (NDEC)

Filter Time Constant Setting (NNUM)

Speed Reference Setting (NREF)

Table 2.2 Examples of Setting Parameters

Meaning Setting

Range

OW02 -327.68 to

327.67

OW04 0.00 to

327.67

OW05 0 to 327.67 0.01 = 0.01%

OW0C 0 to 32767 Linear acceleration time con-

OW0D 0 to 32767 Linear deceleration time

OW14 0 to 255 For simple S-curve accelera-

OW15 -327.68 to

327.67

0.01 = 0.01% 1 = 1%

1 = 1%

stant (ms) at speed pattern generation

constant (ms) at speed pattern generation

tion

Speed reference value

0.01 = 0.01% 1 = 1%

Example

-100.00 (-100.00%)

130.00 (130.00%)

1000 (1 second)

50.00 (50.00%)

* Valid only with an SVA-02A Module.

In the examples, SERVOPACK is used as axis 1 of Module No. 1. When the Module

number and the axis number are different, see 4.1.2 Modules and Motion Parameter

Registers, and change the register numbers.

3. Select the Speed Reference Output Mode (NCON) (bit 0 of OW00).

2-9

2 Motion Control

NACC

Speed reference

1 second 1 second

NACC Time (t)

Speed

(%) NR

(100%)

NREF (50%)

2.2.2 Speed Reference Output Mode

 User Program Examples

4. To start operation, set the Servo ON (RUN) to ON (bit 0 of OW01).

The speed reference will be output for the axis according to the specified motion param-

eters.

With an SVA-02A Module (2-axis), the speed reference is output with an NREF signal

from channel 1 (or channel 2), and the torque limit reference is output with an AO-OUT

signal.

Even while the speed reference output mode is being selected, the motion parameter set-

tings can be changed.

5. To stop operation, set the RUN command (RUN) and the speed reference output mode

(NCON) to OFF.

Example of RUN Operation

Fig. 2.1 Speed Pattern

2-10

Ladder Logic Program Example

2.2 Control Modes

H0101

RUNPB IB00104

ACCEL IB00105

IFON

500

ELSE

IEND

DEND

RUNMOD

OWC000

RUN OBC0010

NREF

OWC015

NREF

OWC015

Set the speed reference output mode to ON.

Driver RUN command (RUN)

When IB00104 turns ON, the speed reference output mode starts.

When the acceleration command (IB00105) turns ON, a speed reference of 50% is output for the acceleration time constant (ACC). When IB00105 turns OFF, the deceleration time constant (DEC) causes deceleration stop (a speed reference of 0% is output).

Fig. 2.2 RUN Commands (DWG H01)

The example in the above illustration has been greatly simplified. In actual operation, each

2-11

2 Motion Control

2.2.3 Torque Reference Output Mode

 Overview

This mode is used to generate a constant torque, regardless of the speed.

Select this mode to keep the metal mold of a plastic molding machine, such as an injection

molding machine, at a constant pressure.

When the torque reference output mode is selected, the specified torque reference and speed

limit reference are output by the servo drive.

This mode can be used only with an SVA-02A Module.

IMPORTANT

The torque reference output mode is available only with the SVA-02A Module. It cannot be used with

the SVA-01A, SVB-01, and PO-01 Modules.

 Details

Use the following procedure to perform operations in the torque reference output mode.

1. Set the motion fixed parameters.

2. Set the motion setting parameters.

Set the torque reference output mode (TCON)

4. Set the RUN command (RUN) to ON.

Output the torque reference and speed limit reference.

Set the torque reference output mode to OFF.

: System execution : User settings

TCON

RUN

Torque speed

(%)

Torque reference

Time (t)

2-12

2.2 Control Modes

1. Set the motion fixed parameters according to the user’s machine.

Table 2.3 shows the related parameters when the torque reference output mode is used.

Table 2.3 Examples of Fixed Parameters

No. Name Setting Range Meaning Setting

Example

7 Rated Motor Speed Setting 1 to 32000 Rated motor speed

8 Number of Feedback Pulses per

Motor Rotation

9 D/A Output Voltage at 100%

Speed

Number of Feedback Pulses per Motor Rotation

(For high-resolution)

10 D/A Output Voltage at 100%

Torque Limit

* 1. Valid only with an SVB-01 Module. * 2. Valid only with an SVA-02A Module.

4 to 65532 Number of pulses

before multiplication

0.001 to 10.000 0.001 = 0.001 V 1 = 1 V

4 to 2147483647 1 = 1 pulse/rev 2048 pulses/

0.001 to 10.000 0.001 = 0.001 V 1 = 1 V

3000 min

2048

6.000 V

rev

3.000 V

2. Set the motion parameters to be used in the torque reference output mode.

-1

Table 2.4 Examples of Setting Parameters

Name Register No. Meaning Setting

Example

Torque Reference Setting (TREF)

Speed Limit Setting (NLIM)

OW1B Sets the torque reference value at

0.01%.

OW1C Sets the speed limit value at 0.01%. 50.00

50.00 (50.00%)

(50%)

3. Select the Torque Reference Output Mode (TCON) (bit 1 of OW00).

4. To start operation, set the RUN Servo ON (RUN) to ON (bit 0 of OW01).

The torque reference and the speed limit reference will be output for the axis according

to the specified motion parameters.

Even while the torque reference output mode is being selected, the motion parameter

settings can be changed.

5. To stop operation, set the RUN command (RUN) and the torque reference output mode

(TCON) to OFF.

2-13

2 Motion Control

2.2.3 Torque Reference Output Mode

 User Program Example

Example of RUN Operation

Torque

(%)

TREF

Torque reference

Fig. 2.3 Torque Pattern

Ladder Logic Program Example

H0102

RUNPB IB00204

IB00205

IFON

5000

ELSE

RUNMOD

OWC040

RUN OBC0410

TREF

OWC05B

Time (t)

Set the torque reference output mode to ON.

Driver RUN command (RUN)

When IB00204 turns ON, the torque reference output mode starts.

When IB00205 turns ON, 50% is output as the torque reference. When IB00205 turns OFF, 0% is output as the torque reference.

IEND

DEND

TREF

OWC05B

Fig. 2.4 RUN Commands (DWG H02)

The example in the above illustration has been greatly simplified. In actual operation, each

2-14

2.2.4 Phase Control Mode

 Overview

This mode is used to rotate the motor according to the specified speed reference, and at the

same time to strictly control the number of rotations.

Phase control uses multiple axes, ensuring that no deviation occurs in the angle of rotation

(phase) for the motors and enabling endless rotation for printing and other machines being

controlled.

Electronic shafts and electronic cams can thus be used in the servomotors of complex

machine configurations. Phase alignment and synchronous operation, as well as ratio opera-

tion and cam variable speed operation have all been replaced by software.

2.2 Control Modes

IMPORTANT

Using a machine to perform conventional synchronous operation (Line shaft and cam system)

Controller

Driver

Gear

No.1 roll No.2 roll Cam machine

Fig. 2.5 Electronic Cam and Electronic Shaft Illustration

The phase control mode is available only with the SVA-01A and SVA-02A Modules. It cannot be used

with the SVB-01 and PO-01 Modules.

Gear Gear

Cam

Using the MP920 to perform synchronous operation (Electronic shaft and electronic cam system)

MP920

Driver

MMM

No.1 roll No.2 roll

Cam machine

2-15

2 Motion Control

2.2.4 Phase Control Mode

 Details

Use the following procedure to perform phase control operation.

1. Set the motion fixed parameters.

2. Set the motion setting parameters.

Select the phase control mode (PHCON).

4. Set the RUN command (RUN) to ON.

Phase control operation is performed.

Set the phase control mode to OFF.

: System execution

: User settings

PCON

RUN

Speed (%)

(100%)

Reference

speed

Position

Time (t)

2-16

2.2 Control Modes

1. Set the motion fixed parameters according to the user’s machine.

Table 2.5 Examples of Fixed Parameters

No. Name Setting Range Meaning Setting

Example

7 Rated Motor Speed Setting 1 to 32000 Rated motor speed

8 Number of Feedback Pulses per

Motor Rotation

9 D/A Output Voltage at 100%

Speed

Number of Feedback Pulses per Motor Rotation

(For high-resolution)

10 D/A Output Voltage at 100%

Torque Limit

* 1. Valid only with an SVB-01 Module. * 2. Valid only with an SVA-02A Module.

4 to 65532 Number of pulses

before multiplication

0.001 to 10.000 0.001 = 0.001 V 1 = 1 V

4 to 2147483647 1 = 1 pulse/rev 2048 pulses/

0.001 to 10.000 0.001 = 0.001 V 1 = 1 V

3000 min

2048

6.000 V

rev

3.000 V

2. Set the motion parameters to be used in the phase control mode. Use the user program to

control the reference speed so that no shock occurs.

-1

The following three methods can be used to set the motion setting parameters.

• Using the MPE720 Setting Parameter Window

• Using a ladder logic program

• Using a motion program

Table 2.6 shows the related parameters when the phase control mode is used.

Name Register No. Setting

Positive Torque Limit Setting (TLIMP)*

Positive Speed Limiter Setting (NLIMP)

Negative Speed Limiter Setting (NLIMN)

Error Count Alarm Detection Setting (EOV)

Speed Reference Setting (NREF)

Phase Bias Setting (PHBIAS)

Speed Compensation Setting (NCOM)

Proportional Gain Setting (PGAIN)

Integral Time Setting (TI)

Table 2.6 Examples of Setting Parameters

Meaning Electronic Shaft

Range

OW02

OW04

OW05

OW0F

OW15

OL16

OW18

OW19

OW1A

-327.68 to

327.67

0.00 to

327.67

0.00 to

327.67

0 to 65535 1 = 1 pulse 65535 65535

-327.68 to

327.67

to 231-1

-2

-327.68 to

327.67

0.0 to 3276.7 0.1 = 0.1 /s

0 to 32767 1 = 1 ms 300

0.01 = 0.01% 1 = 1%

1 = 1 pulse Set by the ladder

0.01 = 0.01% 1 = 1%

1 = 1 /s

Electronic Cam

Setting Example

-100.00 (-100.00%)

130.00 (130.00%)

50.00 (50.00%)

logic program.

0.00 0.00

1.5 (1.5)

(300 ms)

-100.00 (-100.00%)

130.00 (130.00%)

Set by the ladder logic program.

250.0 (250.0)

0 (0 ms)

Setting

Example

* Valid only with an SVA-02A Module.

2-17

2 Motion Control

Speed control

OWCO15

D/A

Integration

Counter

OLCO16

NREF

SVA Module

To other machine

CPU Module

Standard speed reference setting

Position compensation setting

PHBIAS

Servo drive

APOS IL08

*1 Integrates the reference speed reference, and calculates the corresponding position (pulse).

*2 Generates the speed reference from the target position (CPOS) and current position

(APOS) error ε. This is the position (phase) compensation.

*3 To move the phase, the distance to be moved (the angle of rotation of the motor axis

converted to the number of pulses) can be added as the phase compensation setting.

2.2.4 Phase Control Mode

3. Select the Phase Control Mode (PHCON) (bit 3 of OW00).

At this time, also set Phase Reference Disable (PHREFOFF: bit 7 of OW00). Nor-

mally, this bit is set to OFF for electronic shaft applications, and it is set to ON for elec-

tronic cam applications.

4. To start operation, set the RUN Servo ON (RUN) to ON (bit 0 of OW01).

Phase control will be performed for the axis according to the specified motion parame-

ters. Even while phase control is being performed, the motion parameter settings can be

changed.

5. To stop operation, set the RUN command (RUN) and the phase control mode (PHCON)

to OFF.

 User Program Example 1: Electronic Shaft

Example of RUN Operation

Phase control can be called “speed control with position compensation” or “position control

with 100% speed feed forward.” “Position” means the motor angle of rotation, and is there-

fore called “phase control.” An electronic shaft can be configured using this phase control.

Fig. 2.6 shows a block diagram of a phase control loop.

The rotational phase of the motor can be managed (controlled) using the above method.

This control loop is processed in the SVA-02A Module. Therefore, the user can easily con-

trol the electronic shaft simply by selecting the phase control mode on the CPU Module and

providing the required parameters for the SVA Module.

Fig. 2.6 Block Diagram of Phase Control Loop

2-18

Ladder Logic Program Example

RUN OBC0010

PREPARE MB010010

MW01010

MW01020 +

ML02012

VERF GEAR1 AMARI

MW01021

GEAR2

NREF

OWC015

MOD 00001

AMARI

ML02012

ML01012

PHBIAS

OLC016

ISO-HOSE

DEND

H0108

RUNMOD

OWC000

Set the phase control mode to ON. Set Phase Reference Generation Operation Disable to OFF. Driver RUN command (RUN) When MB01010 turns ON, phase control starts. Set the reference speed reference (NREF). The speed reference is stored in advance in MW01010. The gear ratios are stored in advance in MW01020 and NW01021. If gears are not required, "1" is stored in advance.

To move the phase, set the phase compensation (OLC016). The distance to be moved (the angle of rotation of the motor axis converted to the number of pulses) is stored in advance in ML01012.

2.2 Control Modes

Fig. 2.7 RUN Commands (DWG H04)

The example in the above illustration has been greatly simplified. In actual operation, each

 User Program Example 2: Electronic Cam

Example of RUN Operation

Cams are one of the conventional methods for changing a rotational movement to a linear

movement, and they are used to obtain the desired operation curve (displacement drawing)

during a cycle.

• A mechanical cam forms a cam with a shape corresponding to this displacement draw-

ing. Placing a follower on the circumference and rotating the cam enables the desired

linear operation to be obtained.

• An electronic cam holds the actual displacement drawing data in the controller as a posi-

tion pattern, and performs regular position control for the so-called continuous path

(CP) by changing the phase.

2-19

2 Motion Control

2.2.4 Phase Control Mode

Follower displacement

Mechanical cam

Follower

When the mechanical cam rotates, the follower moves linearly, as shown in the displacement

Mechanical camElectronic cam

Phase θ

drawing.

MP920 Displacement pattern generation

Follower displacement

Phase reference θ

Phase

Position control

Xref

Speed control

Ball screw

Follower

Servo motor

Encoder

An electronic cam control loop can be configured using phase control. With normal phase

control, the position reference is generated by integrating the reference speed reference into

the SVA Module (see Fig. 2.8).

An electronic cam control loop cuts the integral circuit of the reference speed reference, and

provides the position reference from the phase compensation settings (see Fig. 2.9).

The following illustration shows a block diagram of a phase control loop.

CPU Module

Standard speed reference setting

Position compensation

NREF

OWCO15

To other machine

PHBIAS

OLCO16

SVA Module

Integration

setting

Fig. 2.8 Block Diagram of Phase Control Loop

CPU Module

One scan change calculation

Position reference generation

Position

reference

NREF

OWCO15

PHBIAS

OLCO16

SVA Module

Integra-

tion

When Phase Reference Generation Operation Disable (bit 7 of OWC000) turns ON, the integral circuit is cut.

Fig. 2.9 Block Diagram of Electronic Cam Control Loop

APOS IL08

D/A

Counter

D/A

Counter

Servo driver

Speed control

Servo driver

Speed control

The electronic cam control loop is processed in the SVA Module. Therefore, the user can

easily control the electronic cam simply by selecting the phase control mode on the CPU

Module and providing the required parameters for the SVA Module.

2-20

Ladder Logic Program Example

2.2 Control Modes

H0188

K1 TsH

MW00040×S

10000

PREPARE MB010010

PHASE REFERENCE

ML03030

FGN

W00004

MW00041

DISPLACEMENT PATTERN

MA03050

RUNMOD

OWC000

ML03010

FFGAIN

MW03012

RUN OBC0010

DISPLACEMENT X

ML03020

Set the phase control mode to ON. Set Phase Reference Generation Operation Disable to ON.

Calculate the speed scalling constant (ks). High-speed scan setting: SW0004

NR × FBppr × n

NR = Rated speed FBppr = Number of feedback pulses n = Number of pulse multipliers (1, 2 or 4)

* Reduce the fraction to the lowest terms so that it can be stored as one word.

Feed forward gain [10000/100%]

Drive RUN command (RUN) When MB01010 turns ON, phase control starts.

The phase reference displacement [pulse] is read from the FGN function.

Displacement X

The FGN pattern is set in advance.

60 × 10

Numerator* MW00040 Denominator* MW00041

Position reference

DISPLACEMENT X

ML03020

00000

RUN command

MB010020

CHANGE

[

ML03022

Position BIAS

[[[

ML03022] + +MW03020

DISPLACEMENT X

ML03020

DEND

PREVIOUS VALUE

-ML03024

FFGAIN

] ×

MW03012

ML03010

DISPLACEMENT X

CHANGE

ML03022

NREF

OWC015

] ]

PHBIAS

OLC016

PREVIOUS VALUE

ML03024

Changes [pulses] per scan

When RUN command MB010020 turns ON, the machine operates at the reference speed NREF. When MB010020 turns OFF, the reference speed NREF remains at "0."

Standard speed reference setting [0.01%]

Phase compensation setting [pulse]

Phase reference previous displacement value [pulse]

Fig. 2.10 RUN Command (DWG H04)

The example in the above illustration has been greatly simplified. In actual operation, each

2-21

2 Motion Control

2.2.5 Zero Point Return Mode

 Overview

The zero point return operation returns the machine to the machine-specific zero point.

When an incremental encoder is used, the system zero point position data is destroyed if the

power supply is disconnected. Therefore, after turning ON the power, the system zero point

must be repositioned. As a general rule, a pulse generator (PG) with a zero point pulse and a

limit switch showing the zero point area are used to determine the zero point.

There are two zero point return methods. One method uses motion commands, and the other

method uses the zero point return mode. Care is required because zero point return opera-

tions are different with these two methods.

Using the zero point return mode is explained below.

Note: To use motion commands, see 2.4.4 Zero Point Return (ZRET).

When an absolute encoder is used, position reference “0” will be the position control when

zero point return is selected.

 Details

Use the following procedure to perform operation in the zero return mode.

1. Set the motion fixed parameters.

2. Set the motion setting parameters.

Set the zero point return mode (ZRN) to ON.

Set the RUN command (RUN) to ON.

The axis is moved at approach speed in the zero point direction.

a) When LSDEC turns ON, the axis is decelerated to creep speed.

LSDEC turns from ON to OFF, and decelerates to a stop after detecting the initial zero point pulse (Phase-C pulse).

After decelerating to a stop, the axis is moved only the zero point overtravel distance, and stops at the zero point position.

d) The zero point return completion signal (ZRNC) turns ON.

Set the zero point return mode to OFF.

: System execution

: User settings

ZRN

RUN

Speed

/DECLS (limit switch) External signal LSDEC

(Deceleration point limit switch signal)

Phase-C pulse (Zero point pulse)

Aφ , Bφ Pulse after multiplication

ZRNC

* 1. If the machine is in Area B after the power is turned ON, a return can-

not be performed correctly. Be sure to move the machine back to Area A before performing a return.

* 2. The limit switch (/DECLS) width must be at least twice that of the

high-speed scan setting.

Zero point return direction (ZRNDIR) Specified direction

Approach speed

Time

Area A Area B

Distance

Creep speed

Limit switch width ≥ 2 × Ts (Ts: High-speed scan setting)

Positioning completion range

Zero point overtravel distance

2-22

2.2 Control Modes

1. Set the motion fixed parameters according to the user’s machine.

Table 2.7 Examples of Fixed Parameters

No. Name Setting Range Meaning Setting

Example

7 Rated Motor Speed Setting 1 to 32000 Rated motor speed

8 Number of Feedback Pulses per

Motor Rotation

9 D/A Output Voltage at 100%

Speed

Feedback Pulses per Motor

Rotation (For high-resolution)

10 D/A Output Voltage at 100%

Torque Limit

* 1. Valid only with an SVB-01A Module. * 2. Valid only with an SVA-02A Module.

4 to 65532 Number of pulses

before multiplication

0.001 to 10.000 0.001 = 0.001 V 1 = 1 V

4 to 2147483647 1 = 1 pulse/rev 2048 pulses/

0.001 to 10.000 0.001 = 0.001 V 1 = 1 V

3000 min

2048

6.000 V

rev

3.000 V

2. Set the motion parameters.

The following three methods can be used to set the motion setting parameters.

-1

• Using the MPE720 Setting Parameter Window

• Using a ladder logic program

• Using a motion program

Name Register No. Setting

Positive Torque Limit Setting (TLIMP)*

Positive Speed Limiter Setting (NLIMP)

Negative Speed Limiter Setting (NLIMN)

Zero Point Offset (ABSOFF)

Approach Speed Setting (NAPR)

Creep Speed Setting (NCLP)

Linear Acceleration Time Constant (NACC)

Linear Deceleration Time Constant (NDEC)

Positioning Completed Range Setting (PEXT)

Error Count Alarm Detection Setting (EOV)

Table 2.8 Examples of Setting Parameters

Meaning Setting

Range

OW02 -327.68 to

327.67

OW04 0.00 to

327.67

OW05 0.00 to

327.67

OW06

OW0A 0 to 32767 Value (%) for rated speed: 1

OW0B 0 to 32767 Value (%) for rated speed: 1

OW0C 0 to 32767 Linear acceleration time con-

OW0D 0 to 32767 Linear deceleration time

OW0E 0 to 65535 1 = 1 reference unit

OW0F 0 to 65535 1 = 1 reference unit

-2

to 231-1

0.01 = 0.01% 1 = 1%

1 = 1 reference unit With pulse: 1 = 1 pulse

= 0.01%

stant (ms) at speed pattern generation

constant (ms) at speed pattern generation

With pulse: 1 = 1 pulse

Example

-100.00 (-100.00%)

130.00 (130.00%)

100 pulses

2000 (20.00%)

1000 (10.00%)

1000 (1 second)

10 pulses

65535 pulses

2-23

2 Motion Control

2.2.5 Zero Point Return Mode

Table 2.8 Examples of Setting Parameters (cont’d)

IMPORTANT

Name Register No. Setting

Position Loop Gain Setting (KP)

Filter Time Constant (NNUM)

* Valid only with an SVA-02A Module.

Range

OW10 0.0 to 3276.7 0.1 = 0.1 /s

1 = 1 /s

OW14 0 to 255 For simple S-curved

acceleration

Meaning Setting

Example

30.0 (30.0 /s)

In the example, the SERVOPACK is used as axis 1 of Module No. 1. When the Module

number and the axis number are different, see 4.1.2 Modules and Motion Parameter

Registers, and change the register number.

3. Set the Zero Point Return Mode (ZRN) to ON (bit 4 of OW00).

4. To start operation, set the RUN Servo ON (RUN) to ON (bit 0 of OW01).

The axis will be moved in the direction specified by the Zero Point Return Direction

Selection ZRNDIR (bit 9 of OW00).

a) When the Zero Point Return Deceleration Point Limit Switch LSDEC (bit 15 of

OW01) turns ON, the axis is decelerated to creep speed.

A user program must be created to connect the Limit Switch Signal DECLS (the DI signal included in

the LIO-01 Module) to the Zero Point Return Deceleration Point Limit Switch LSDEC (bit 15 of OW01).

b) When LSDEC turns from ON to OFF, the point detected by the initial zero point

pulse (Phase-C pulse) is the zero point position. The axis is decelerated to a stop after

detecting the initial zero point pulse.

c) After decelerating to a stop, the axis is moved only the zero point overtravel distance

at creep speed in the zero point position direction and stops at the zero point position.

A zero point position offset value can also be set. (If Machine Coordinate System

Zero Point Position Offset OL06 is set in advance to 100, the position data will

be 100.)

d) The zero point return operation is completed when the axis enters the positioning

completed range. When the zero point return operation is completed, the Zero Point

Return Completed Signal ZRNC (bit 15 of IW00) turns ON.

5. After checking that the zero point return completion signal (ZRNC) is turned ON, set

the RUN command (RUN) and the zero return mode (ZRN) to OFF.

2-24

 User Program Example

H0110

RUNMOD

OWC0C0

Set the zero point return mode to ON.

IB00100: Limit switch signal (DECLS)

Driver RUN command (RUN) When IB00110 turns ON, the zero point

return operation starts. When the zero point return operation is completed, the zero point return completion signal IBC0C0F (ZRNC) turns ON.

LSDEC OBC0C1F

IB00100

RUN OBC0C10

RUNPB IB00110

DEND

Example of RUN Operation

Speed

(%) NR

(100%)

2.2 Control Modes

Napr

Nclp

NACC NDEC

Approach speed

Creep speed

Time (t)

Fig. 2.11 Zero Point Return Pattern

Operating Conditions

Input a limit switch signal width at least twice that of the high-speed scan setting.

Ladder Logic Program Example

Fig. 2.12 RUN Commands (DWG H01)

The example in the above illustration has been greatly simplified. In actual operation, each

2-25

2 Motion Control

2.3.1 Prerequisites for Position Control

2.3 Position Control

This section describes the prerequisites for position control, and position control without using

motion commands.

2.3.1 Prerequisites for Position Control

With position control, the axis is moved to the target position, stops there, and holds that

position (servo clamp).

An incremental encoder or a Yaskawa absolute encoder is used as the position detector.

When a Yaskawa absolute encoder is used, the absolute position is stored, even when the

power for the machine (positioning device) is disconnected. Therefore, when the power is

turned ON again, the zero point return operation is not required.

There are two position control methods. One method uses motion commands (OW20),

and the other method does not use motion commands.

IMPORTANT

Whether or not motion commands (OW20) are to be used is set in the motion parame-

ters shown in the following table.

Motion Parameter Motion Command

(OW20) Not

Used

Motion fixed parameter No. 14 Bit 7 of Additional Function Selections (Motion Command Code Selection)

Motion setting parameter Bit 8 of RUN Mode Settings (OW00) (Motion Command Code Enable/Disable)

Note: When bit 7 (motion command code selection) of motion fixed param-

eter No. 14 (Additional Function Selections) is not selected for use and bit 8 (motion command code enable/disable) of RUN Mode Settings (OW00) motion setting parameter is set to “1” (= enabled), the axis is controlled without motion commands (OW20).

The position control mode is available with all Motion Modules. However, it can be used for the SVB-

01 and PO-01 Modules only when motion command code is enabled.

The following table shows position control mode availability for each Motion Module.

Motion

Module

SVA-01A Available Available

SVA-02A Available Available

SVB-01 Available Not available

PO-01 Available Not available

Motion Command Code

Enabled

Position Control Mode

0 (= Not used) 1 (= Used)

0 (= Disabled) 1 (= Enabled)

Motion Command Code

Disabled

Motion Command (OW20) Used

2-26

2.3 Position Control

IMPORTANT

When using a motion program, always set Position Reference Type (bit 14 of OW01) to 1 (incre-

mental addition mode).

The default is 1 (incremental addition mode).

Table 2.9 shows the differences when motion commands (OW20) are used, and when no

motion commands are used.

Table 2.9 Differences When Motion Commands are Used/Not Used

Item Motion Commands

(OW20) Not

Used

Reference Unit Pulse Pulse, mm, inch, or

Electronic Gear Function Not possible Possible

Finite length position control Possible Possible

Infinite length position control that rotates the axis in one direction only, without resetting after one rotation

Infinite length position control that resets the axis after one rotation

Position reference Absolute position

Position buffer Not possible Possible

Position monitor Pulse unit Reference unit

Speed reference Percentage (%) refer-

Possible Possible

Not possible Possible

mode

ence

Motion Commands

(OW20) Used

deg can be selected.

Absolute position mode or incremental addition mode can be selected.

The percentage (%) reference or the reference unit can be selected.

The meaning of the terms used in the above table and their method of application are

described below.

2-27

2 Motion Control

2.3.1 Prerequisites for Position Control

 Reference Unit

The reference units input to the Module are set with the following motion fixed parameter

settings.

Pulses, millimeters, degrees, or inches can be used as the reference unit. The reference unit

is specified in bits 0 to 3 of motion fixed parameter No. 17 (Motion Controller Function

Selection Flags).

The minimum reference unit that can be specified in the Module is determined by the above

unit settings and the setting of motion fixed parameter No. 18 (Number of Digits Below

Decimal Point).

When motion commands (OW20) are not used, the unit will be the pulse.

Table 2.10 Minimum Reference Unit (1 Reference Unit)

Number of Digits

Below Decimal

Point

0 1 pulse 1 mm 1 deg 1 inch

1 1 pulse 0.1 mm 0.1 deg 0.1 inch

2 1 pulse 0.01 mm 0.01 deg 0.01 inch

3 1 pulse 0.001 mm 0.001 deg 0.001 inch

4 1 pulse 0.0001 mm 0.0001 deg 0.0001 inch

5 1 pulse 0.00001 mm 0.00001 deg 0.00001 inch

Note: The number of digits below the decimal point is specified in motion

fixed parameter No. 18 (Number of Digits Below Decimal Point).

Bits 0 to 3 of Motion Controller Function Selection Flags

Pulse (= 0) mm (= 1) deg (= 2) inch (= 3)

Motion Fixed Parameter No. 17

2-28

2.3 Position Control

 Electronic Gear

In contrast to the reference unit input to the Module, the mechanical travel unit is called the

“output unit.”

The electronic gear converts position or speed units from reference units (millimeters,

degrees, or inches) to output units (millimeters, degrees, or inches).

When the axis at the motor has rotated m times and the mechanical configuration allows the

axis at the load to rotate n times, this electronic gear function can be used to make the refer-

ence unit equal to the output unit.

The electronic gear function is set in the motion setting parameters shown in Table 2.11.

Table 2.11 Electronic Gear Parameters

Motion Fixed Parameter Name and Meaning

No. 17 Bit 4 of Motion Controller Function Selection Flags

No. 19 Travel distance per machine rotation

No. 21 Motor side gear ratio

No. 22 Machine side gear ratio

Electronic gear selection (0: Disabled, 1: Enabled)

• Disabled when the unit selected is the pulse. Set Disabled = (0).

• This parameter setting is invalid when Disabled = (0) is set for the electronic gear selection.

When the unit selected is the pulse and motion commands (OW20) are not used, the

electronic gear function is disabled.

2-29

2 Motion Control

2.3.1 Prerequisites for Position Control

Table 2.12 shows the meanings of the above parameters and gives some setting examples.

Table 2.12 Electronic Gear Parameters and Constant Table

Servo Fixed

Name Description Initial

Parameter No.

No.19 Travel Distance

Per Machine Rotation

• This parameter shows the load travel distance for each rotation of the load axis. Sets the load travel distance value divided by the minimum reference unit.

No.19 =

Load travel distance per load axis rotation

Minimum reference unit

• Some examples of the load travel distance are shown below.

Travel Distance Per

Load Configuration Examples

Machine Rotation

P [mm] Ball

screw

P = Ball screw pitch

360 [° ] Round

table

One rotation = 360°

πD [mm] Belt

Value

10000

• No.19 setting range: 1 to 231-1[1 = 1 reference unit]

Setting Examples

• Load travel distance per load axis rotation = 12 mm

• Minimum reference unit = 0.001 mm [reference unit: mm, digit number after decimal point: 3]

No.19 = = 12000

12 mm

0.001 mm

2-30

Table 2.12 Electronic Gear Parameters and Constant Table (cont’d)

2.3 Position Control

Servo Fixed

Parameter No.

No.21

No.22

Name Description Initial

Servomotor Gear Ratio

Machine Gear Ratio

• These parameters are used to set the gear ratio between the motor and the load. When the motor axis has rotated m times and the mechanical configuration allows the load axis to rotate n times, set the following values: No.21 = m rotations No.22 = n rotations

• Setting range: 1 to 65,535 [rotations]

Setting Examples

4 rotations

Load axis n rotations

9 rotations

37494

No. 22 = 4

7 rotations

Motor axis m rotations

3 rotations

Gear ratio = = × =

Therefore, set the following values: No. 21 = 21

Val ue

Electronic Gear Parameter Setting Example (A): With Ball Screw

7 rotations

Motor

In the above machine system, if the requirement is reference unit = output unit = 0.001 mm,

the setting of each parameter will be as follows:

•

No.19 = = 6000

•

Gear ratio = =

• No.21 = 7

• No.22 = 5

6 mm

0.001 mm

5 rotations

Ball screw pitch P = 6 mm/rotation

5 7

2-31

2 Motion Control

2.3.1 Prerequisites for Position Control

Electronic Gear Parameter Setting Example (B): Rotating Load

Motor

30 rotations

10 rotations

Rotating load

360°/rotation

In the above machine system, if the requirement is reference unit = output unit = 0.1°, the

setting of each parameter will be as follows:

•

No.19 = = 3600

•

Gear ratio = = =

360°

0.1°

10301

• No.21 = 3

• No.22 = 1

 Axis Selection

There are two types of position control: Finite length position control, where return and

other operations are performed only within a specified range, i.e., within a prescribed posi-

tioning interval, and infinite length position control, which is used for rotation in one direc-

tion only.

There are two infinite length position control methods. One method involves resetting the

conveyor belt or other device to “0” after one rotation; the other method involves rotating

the conveyor belt in one direction only, without resetting after one rotation.

Axis selection involves selecting which of these types of position control is to be used. The

axis selection is set in bit 5 of motion fixed parameter No. 17 (Motion Controller Function

Selection Flags).

When motion commands (OW20) are not used, axis selection is disabled. (Set as a finite

length axis (= 0).)

Table 2.13 Axis Selections

Types of Position Control Axis Selection

Finite length position control Finite length axis

(= 0)

Infinite length position control that rotates the axis in one direction only, without resetting after one rotation

Infinite length position control that resets the axis after one rotation*

* The reset position is set in motion fixed parameter No. 23 (Infinite

Length Axis Reset Position).

Finite length axis (= 0)

Infinite length axis (= 1)

2-32

2.3 Position Control

 Position Reference

There are two methods of setting the position reference: Direct designation, which directly

sets the position reference in OL12, and indirect designation, which specifies the num-

ber of the position buffer from which the position reference is stored in OL12.

There are two direct designation methods: The absolute position reference mode, in which

the absolute position is set in OL12, and the incremental addition mode, in which the

present travel distance is added to the previous position reference value (previous value of

OL12).

Table 2.14 shows the parameters relating to the position reference.

Table 2.14 Position Reference Parameters

Parameter Type Parameter No.

(Register No.)

Motion Setting Parameters

* 1. This parameter is invalid when the position reference value selection is the position buffer

(indirect designation).

* 2. The setting data differs according to the setting of the Position Reference Value Selection (bit

12 of OW01) and the Position Reference Type (bit 14 of OW01).

Bit 12 of

01

Bit 14 of OW01

OL12

Name Description Initial

Position Reference Value Selection

Position Reference Type

Position Reference Setting

Sets the position reference designation method.

• 0: Direct designation Directly sets the position data in OL Specifies in bit 14 of OW position data is to be set in the absolute position mode or the incremental addition mode.

• 1: Indirect designation Sets the number of the position buffer in

12. The absolute position must first be

OL stored in the specified position buffer.

Specifies the type of position data.

• 0: Absolute position mode Sets the absolute position in OL

• 1: Incremental addition mode Adds the present travel distance value to the previous value of OL

result in OL

Sets the position data.

12.

Val ue

12.

01 whether the

12.

12 and sets the

IMPORTANT

When indirect designation is used to specify the position buffer number, the positions stored in the

position buffer are treated as absolute positions.

When a motion command (OW20) is not used, the position reference value set in OL12 is

treated as an absolute position.

2-33

2 Motion Control

1234

1 2 3 4

256

Position buffer

OL12

Position buffer number

(1 to 256)

1234 of position buffer 99 is used as the absolute position.

2.3.1 Prerequisites for Position Control

Table 2.15 Position Reference Value Selection

Position Reference

Value Selection

(Bit 12 of OW01)

0 (Direct designation)

Position Reference

Type

(Bit 14 of OW01)

0 (Absolute position mode)

1 (Incremental addition mode)

1 (Indirect designation)0(Absolute position

mode)

Position Reference (OL12)

Sets the absolute position. (Moves to the setting position.) Example: OL12 ← 10000

OL12 ← 20000

Sets the present travel distance value (increment) added to the previous value of OL12.

OL12 ← Previous OL12 + Incremental travel distance Example: When the previous OL12 = 1,000 and the present

travel distance is 500, then: OL12 ← 1000 + 500 = 1500

Sets the position buffer number.

The absolute position must be stored in advance in the position buffer with the specified number.

With the position reference for an infinite length axis, the present travel distance (incremen-

tal travel distance) is added to the previous position reference (OL12), and the position

reference (OL12) is reset. The position reference (OL12) must not be set in the range of 0 to (infinite length axis reset position − 1).

 Position Buffers

The position buffers are a collection of position data stored in the SVA Module, and a maxi-

mum of 256 points can be stored for each axis. They are used for the position data when

POSITIONING and other motion commands are executed. Continuous operation is enabled

by storing the position data in advance, and by using a simple program that only specifies

the points.

2-34

CPU Module SVA Module

Axis 1 position buffers

OW01 RUN Command Settings

OL12

OW21

OL38 OL3A

Position Reference Setting

Motion Control Flags

Position Buffer Access Number

Position Buffer Write Data

256

1 2 3

Axis 2

1 2 3

256

2.3 Position Control

Axis 3

Axis 4

2 3

INFO

IL28

Position Buffer Read Data

256

With the SVA-02A Module (2-axis Servo Module), there are position buffers for only 2 axes.

Using the Position Buffers

By first storing in the position buffers the position information for a machine whose operat-

ing pattern has been determined in advance, continuous positioning of up to 256 points is

enabled simply by refreshing the buffer pointer at the completion of a single-block opera-

tion.

Writing to Position Buffers

CPU Module

OW21

OL38

OL3A

123456

SVA Module Axis 1 position buffers

1 2 3

123456

Axis 2

1 2 3

Axis 3

1 2

Axis 4

1 2 3

256

1. Set the Position Buffer Access Number (OL38). Any number between 1 and 256

can be set.

2. Set the Position Buffer Write Data (OL3A).

3. Set Position Buffer Write (OB21E) in the Motion Command Control Flags to ON.

2-35

2 Motion Control

2.3.1 Prerequisites for Position Control

Reading Position Buffers

CPU Module SVA Module

OW21

OL38

IL28

543210

Axis 1 position buffers

1 2 3

543210

256

Axis 2

1 2 3

256

Axis 3

1 2 3

256

Axis 4

1 2 3

256

1. Set the Position Buffer Access Number (OL38). Any number between 1 and 256

can be set.

INFO

IMPORTANT

2. Set Position Buffer Read (OB21F) in the Motion Command Control Flags to ON.

3. After two scans, the position data specified in Position Buffer Read Data (IL28)

will be stored.

1. Position buffers can be used only when motion commands are used in the position control mode.

2. The position data specified in the position buffers are absolute position references.

The data in the position buffers is deleted by turning OFF the power and resetting the CPU Module

Master. Be sure to set the data when the power is turned ON, or before using the position buffers.

Using the Position Buffers as Position References

Position buffers

12345

OW01

OL12

OB01C

Position buffer number

This value will be the position reference.

1. Set bit 12 of the RUN Command Settings (OW01) to ON.

2. Set a position buffer number 1 to 256 in place of the position reference in the Position

Reference Setting (OL12).

2-36

2.3 Position Control

In this way, the data for the position buffer number specified in OL12 functions as the

position reference.

 Position Monitoring

Table 2.16 shows the parameters used to monitor positioning.

Table 2.16 Position Monitoring Parameters

Motion Monitoring

Parameter No.

(Register No.)

IL02 Calculated Position in

the Machine Coordinate

System

IL08 Machine Coordinate

System Feedback Position (APOS)

IL18 Machine Coordinate

System Reference Position (MPOS)

IL2E Calculated Reference

Coordinate System Position (POS)

Name Description

(CPOS)

The calculated position of the machine coordinate system managed by the SVA Module is reported. Normally, the position data reported in this parameter will be the target position for

each scan.

The feedback position of the machine coordi-

nate system is reported.

The position output externally by the SVA Module and the reference position of the machine coordinate system are reported. In machine lock status, this data is not refreshed. (With the machine lock status, the data is not output externally.)

When the machine lock function is not used, this position is the same as that in IL02.

This position is significant when the axis selected is an infinite length axis.

With an infinite length axis, the target position for each scan corresponding to the position ref-

erence in this parameter is reported.

* 1. The machine coordinate system is the basic coordinate system that is

set according to the zero return mode execution, the Zero Point Return (ZRET) motion command execution, or the Zero Point Setting (ZSET) motion command operation. The SVA Module manages the positions using this machine coordinate system.

* 2. When an infinite length axis is selected, a range of 0 to (infinite length

axis reset position − 1) is reported. With the position reference for an infinite length axis, the present travel distance (incremental travel distance) is added to the previous position reference (OL12), and reset as the position reference (OL12). The position reference (OL12) must not be set in the range of 0 to (infinite length axis reset position − 1).

* 3. When an infinite length axis is selected, a range of 0 to (infinite length

axis reset position − 1) is reported.

* 4. With a finite length axis, this position is the same as that in IL02.

2-37

2 Motion Control

2.3.1 Prerequisites for Position Control

 Speed Reference

There are two methods of setting the speed reference. One method involves using a refer-

ence unit for the speed reference setting, such as the rapid traverse speed, approach speed, or

creep speed. The other method involves setting the percentage (%) corresponding to the

rated speed.

Table 2.17 shows the parameters relating to the speed reference.

Table 2.17 Speed Reference Parameters

Parameter Type Parameter No.

(Register No.)

Motion Fixed Parameters

Motion Setting Parameters

No.5 Pulse Counting Mode

No.7 Rated Motor Speed Setting Sets the number of rotations when the motor is

No.8 Number of Feedback Pulses

Bit 13 of OW01

OW0A Approach Speed Setting Sets the zero point return (ZRET) approach

OW0B Creep Speed Setting Sets the zero point return (ZRET) creep speed.

OW15 Speed Reference Setting This setting is valid when the Speed Reference

OL22 Rapid Traverse Speed This speed is valid when the Speed Reference

OW2C Override Changes the actual rapid traverse speed.

Name Description

Selection

Per Rotation

Speed Reference Value Selection

Sets the pulse count mode and multiplier. 0: Sign mode, ×1

1: Sign mode, ×2 2: Up/Down mode, ×1 3: Up/Down mode, ×2 4: A/B mode, ×1 5: A/B mode, ×2 6: A/B mode, ×4

rotated at the rated speed (100% speed).

Sets the number of pulses (the value before multiplication) per motor rotation.

Specifies the setting unit for the rapid traverse speed, approach speed, and creep speed, and specifies the register number for the rapid traverse speed.

0: Specifies the speed using a reference unit, and

sets the Rapid Traverse Speed in OL22.

1: Specifies the speed using the percentage (%)

corresponding to the rated speed, and sets the Rapid Traverse Speed in OW15.

speed.

The unit varies according to the Speed Reference Selection (bit 13 of OW01).

Selection (bit 13 of OW01) is “1.” Sets the percentage (1 = 0.01%) corresponding

to the rated speed as the rapid traverse speed.

Selection (bit 13 of OW01) is “0.” Set the rapid traverse speed using the reference unit.

2-38

2.3 Position Control

When Motion Commands Are Not Used

When motion commands are not used, the Speed Reference Selection Flags are disabled,

and the speed-related parameters have the meanings shown in the following table.

Parameter No. Name Description

Bit 3 of OW01 Speed Reference Value

Selection

OW0A Approach Speed Setting Specified as a percentage (%) of the rated

OW0B Creep Speed Setting Specified as a percentage (%) of the rated

OW15 Speed Reference Setting The rapid traverse speed is specified as a per-

OL22 Rapid Traverse Speed Invalid

OW2C Override Invalid

Invalid

speed.

centage (%) of the rated speed.

When Motion Commands Are Used

When motion commands are used, the meanings of the speed-related parameters differ

according to the Speed Reference Selection (bit 13 of OW01).

Bit 13 of

OW01

0 OW0A Approach Speed Setting Specified using the reference unit.

1 OW0A Approach Speed Setting Specified as a percentage (%) of the

Parameter

No.

OW0B Creep Speed Setting Specified using the reference unit.

OW15 Speed Reference Setting Invalid

OL22 Rapid Traverse Speed Specified using the reference unit.

OW2C Override Valid

OW0B Creep Speed Setting Specified as a percentage (%) of the

OW15 Speed Reference Setting The rapid traverse speed is specified

OL22 Rapid Traverse Speed Invalid

OW2C Override Valid

Name Description

rated speed.

as a percentage (%) of the rated speed.

2-39

2 Motion Control

2.3.1 Prerequisites for Position Control

Table 2.18 shows some examples of the parameter settings.

Table 2.18 Parameter Setting Examples

Parameter Type Parameter No.

(Register No.)

Motion Fixed Parameters

Motion Setting Parameters

* 1. Select Enabled (= 1) in bit 9 (override selection) of motion fixed parameter No. 17. * 2. “4” is the pulse multiplier.

No.5 Pulse Counting Mode

Selection

No.7 Rated Motor Speed

Setting

No.8 Number of Feedback

Pulses Per Rotation

Bit 13 of OW01

OW0A Approach Speed Setting

OW0B Creep Speed Setting

OW15 Speed Reference Setting

OL22 Rapid Traverse Speed

OW2C

Speed Reference Value Selection

Override

Name Description Initial Value

No. 5 = A/B mode, × 4

No. 7 = 3,000 min

No. 8 = 2,048 p/r Therefore,

Rated speed = 3,000 min = 3,000 ×2,048 ×4

= 2,575,000 ppm Various parameter setting examples are given below.

Parameter Setting Examples

1. Speed Reference Value Selection Set to “0”

A/B mode (×4)

-1

3000

-1

2048

100%

a) Pulses Selected as the Unit

When you wish to perform operations with the fixed parameters set for a rapid

traverse speed of 1,500 min

150 min

-1

, use the following settings.

• OW0A = 30 (min

• OW0B = 150 (min

• OW15 =

−

• OL22 = 1,500 (min

-1

, an approach speed of 300 min-1, and a creep speed of

-1

) × 2,048 × 4 (ppr) ÷ 1,000 = 2,457 (= 2,457,000 ppm)

-1

) × 2,048 × 4 (ppr) ÷ 1,000 = 1,228 (= 1,228,000 ppm)

(Invalid)

-1

) × 2,048 × 4 (ppr) ÷ 1,000 = 12,288 (= 12,288,000

ppm)

• OW2C = 10,000 (100%)

b) Millimeters Selected as the Unit

When you wish to perform operations with the fixed parameters set for a rapid

traverse speed of 900 mm/min, an approach speed of 180 mm/min, and a creep speed

of 90 mm/min in a machine configuration that moves the axis 10 mm in one rotation,

use the following settings.

• OW0A = 180

• OW0B = 90

−

• OW15 =

(Invalid)

• OL22 = 900

2-40

2.3 Position Control

OW15 = × 10,000 = 5,000 (50.00%)

1,500 (min-1) 3,000 (min

-1

)

• OW2C = 10,000 (100%)

2. Speed Reference Value Selection Set to “1”

a) When you wish perform operations with the fixed parameters set for a rapid traverse

speed of 1,500 min

-1

min

, use the following settings.

-1

, an approach speed of 300 min-1, and a creep speed of 150

•

OW0A = × 10,000 = 1,000 (10.00%)

•

OW0B = × 10,000 = 500 (5.00%)

300 (min-1)

3,000 (min

150 (min-1)

3,000 (min

-1

)

-1

)

•

−

• OW22 =

(Invalid)

• OW0A = 10,000 (100%)

b) When you wish to leave the above speed reference settings unchanged, but halve the

operating speed, use the following setting.

• OW2C = 5,000 (50.00%)

2.3.2 Position Control Without Using Motion Commands

 Overview

Position control performs speed acceleration/deceleration according to the related parame-

ters, and positions the axis to the target position of the position reference setting parameter

(OL12).

IMPORTANT

Position control without using motion commands is not valid for the SVB-01 and PO-01 Modules. For

these Modules, always enable motion commands.

2-41

2 Motion Control

2.3.2 Position Control Without Using Motion Commands

 Details

Use the following procedure to perform position control operations without using motion

commands.

1. Set the motion fixed parameters.

2. Set the motion setting parameters.

Set the position control mode (PCON).

4. Set the RUN command (RUN) to ON.

Positioning is started for the axis.

5. Set the position control mode to OFF.

Servo clamp status

PCON

RUN

Speed

(100%)

Linear acceleration time constant

POSCONP

: System execution : User settings

(%)

Steady travel speed

Position

Time (t)

Linear deceleration time constant

Positioning completed range

1. Set the motion fixed parameters according to the user’s machine.

Table 2.19 Examples of Fixed Parameters

No. Name Setting Range Meaning Setting

Example

7 Rated Motor Speed Setting 1 to 32000 Rated motor speed

8 Number of Feedback Pulses per

Rotation

9 D/A Output Voltage at 100%

Speed

Number of Feedback Pulses per

4 to 65532 Number of pulses

before multiplication

0.001 to 10.000 0.001 = 0.001 V 1 = 1 V

4 to 2147483647 1 = 1 pulse/rev 2048 pulses/

Motor Rotation

(For high-resolution)

10 D/A Output Voltage at 100%

Torque Limit

0.001 to 10.000 0.001 = 0.001 V

1 = 1 V

3000 min

2048

6.000 V

rev

3.000 V

-1

* 1. Valid only with an SVB-01 Module. * 2. Valid only with an SVA-02A Module.

2. Set the motion parameters to be used in position control mode.

The following three methods can be used to set the motion setting parameters.

• Using the MPE720 Setting Parameter Window

• Using a ladder logic program

• Using a motion program

2-42

Table 2.20 Examples of Setting Parameters

2.3 Position Control

Name Register No. Setting

Positive Torque Limit Setting (TLIMP)*

Positive Speed Limiter Setting (NLIMP)

Negative Speed Limiter Setting (NLIMN)

Machine Coordinate System Zero Point Offset Setting (ABSOFF)

Linear Acceleration Time Constant (NACC)

Linear Deceleration Time Constant (NDEC)

Positioning Completed Range Setting (PEXT)

Error Count Alarm Detection Setting (EOV)

Position Loop Gain Setting (KP)

Filter Time Constant (NNUM)

Feed Forward Gain Setting (Kf)

Position Reference Setting (XREF)

Speed Reference Setting (NREF)

Meaning Setting

Range

OW02 -327.68 to

327.67

OW04 0.00 to

327.67

OW05 0.00 to

327.67

OL06

OW0C 0 to 32767 Linear acceleration time con-

OW0D 0 to 32767 Linear deceleration time

OW0E 0 to 65535 1 = 1 reference unit

OW0F 0 to 32767 1 = 1 reference unit

OW10 0.0 to 3276.7 0.1 = 0.1 /s

OW14 0 to 255 For simple S-curved acceler-

OW11 0 to 200 1 = 1% 0

OL12

OW15 -327.68 to

to 231-1

-2

to 231-1

-2

327.67

0.01 = 0.01% 1 = 1%

1 = 1 reference unit With pulse: 1 = 1 pulse

stant (ms) at speed pattern generation

constant (ms) at speed pattern generation

With pulse: 1 = 1 pulse

1 = 1 /s

ation

1 = 1 reference unit With pulse: 1 = 1 pulse

Speed reference value

0.01 = 0.01% 1 = 1%

Example

-100.00 (-100.00%)

130.00 (130.00%)

100 pulses

1000 (1 second)

10 pulses

65535 pulses

30.0 (30.0 /s)

10000 pulses

50.00 (50.00%)

* Valid only with an SVA-02A Module.

3. Select the Position Control Mode (PCON) (bit 2 of OW00).

4. To start operation, set the RUN Servo ON (RUN) to ON (bit 0 of OW

01).

The axis is positioned according to the specified motion parameters.

Even during positioning, the motion parameter settings can be changed.

5. To stop position control, set the RUN command (RUN) and the position control mode

(PCON) to OFF.

The POSCOMP Positioning Completed Signal (bit 13 of IW

00) turns ON when the

axis enters the positioning completed range. Control continues even when the axis

enters the positioning completed range (the axis enters servo clamp status).

2-43

2 Motion Control

2.3.2 Position Control Without Using Motion Commands

 User Program Example

Example of RUN Operation

Speed

(%)

(100%)

NREF

Fig. 2.13 Position Pattern

Operating Conditions

Steady travel speed reference

Position reference

NACC NDEC

Time (t)

In the pattern shown in the above illustration, the axis is stopped at an absolute position of

10000 (pulses).

• Position reference: XREF = 10000 (pulses)

Ladder Logic Program Example

H0004

0000010000

RUNPB IB00304

DEND

RUNMOD

OWC080

XREF

OLC092

RUN OBC0810

Fig. 2.14 RUN Commands (DWG H03)

The example in the above illustration has been greatly simplified. In actual operation, each

Set the position control mode to ON.

Position reference pulse (XREF) (Absolute position: 10000) Driver RUN command (RUN)

When IB00304 turns ON, position control starts, and the axis is moved to absolute position 10000. When absolute position 10000 is reached, the IBC080D positioning completed signal turns ON.

2-44

2.4 Position Control Using Motion Commands

Speed

(%)

(100%)

Time (t)

Rated speed

Linear acceleration time constant Linear deceleration time constant

Rapid traverse speed

Position reference

2.4 Position Control Using Motion Commands

This section describes position control using motion commands.

2.4.1 Overview of Motion Commands

The following table lists the motion commands and gives an overview of each.

Command Name Description

1 Positioning (POSING) Positions the axis at the specified position using the specified acceleration/

deceleration time constant and speed.

2 External Positioning

(EX_POSING)

Latches a counter when a latch signal (external positioning signal) is input during positioning (POSING), and positions the axis at a position where it has traveled the external positioning travel distance from that position.

Speed

(%)

(100%)

Linear acceleration time constant

Latch signal (external positioning signal)

Rated speed

Rapid traverse speed

External positioning travel distance

Time (t)

Linear deceleration time constant

2-45

2 Motion Control

POSCOMP

Speed

(%)

Position

Positioning completed range

Time (t)

2.4.1 Overview of Motion Commands

Command Name Description

3Zero Point Return

(ZRET)

Returns the system to the machine coordinate system zero point. Eight zero return modes are provided.

4 Interpolation

(INTERPOLATE)

Reverse direction

1. 2. 3. 4.

Rapid traverse Speed reference

Dog (Deceleration limit switch)

speed

Zero point signal (Phase-C pulse)

← →

Forward direction

Approach speed

Creep speed

Zero point

Zero point return position

Time

Zero point return final travel distance

Performs interpolation feeding using the position data distributed from the CPU Module.

5 Not used. This command is used by the system.

Do not use it in a user program.

6 Interpolation with

Position Detection (LATCH)

Latches a counter when a latch signal is input during an interpolation feed operation, and reports the changed latch position to the reference unit system.

Speed

(%)

Latch signal

Positioning completed range

POSCOMP

2-46

Reports this position.

(IL06)

Position

Time (t)

2.4 Position Control Using Motion Commands

Command Name Description

7 Fixed Speed Feed

(FEED)

Performs rapid traverse in the infinite length direction at the specified speed and acceleration time.

8 Fixed Length Feed

(STEP)

9 Zero Point Setting

(ZSET)

Speed

(%)

100%

Linear acceleration time constant Linear deceleration time constant

* The position is the speed reference integral value.

Rated speed

Rapid traverse speed

Position*

NOP command

Time (t)

Performs STEP travel positioning using the specified direction, speed, and acceleration time constant.

Speed

(%)

100%

Linear acceleration time constant Linear deceleration time constant

Rated speed

Rapid traverse speed

STEP travel distance

Time (t)

Determines the machine coordinate zero point, and validates the stroke limit check.

2-47

2 Motion Control

2.4.2 Positioning (POSING)

 Overview

Positions the axis at the position reference position using the specified acceleration/deceler-

ation time constant and the specified rapid traverse speed.

The rapid traverse speed and the position reference value can be changed during operations.

When the change in the position reference value is less than the deceleration distance or the

reverse direction is used, the system first decelerates to a stop and then is repositioned

according to the position reference value.

 Details

Use the following procedure to perform positioning operations.

1. Set the motion fixed parameters. Set the motion setting parameter initial values.

2. Set the position control mode (PCON).

3. Set the motion setting parameters.

4. Set Servo ON (RUN) to ON.

5. Execute the positioning (POSING)

motion command.

Positioning started for the axis.

Positioning completed signal (POSCOMP) turned ON.

: System execution : User settings

PCON

RUN

Motion command (POSING)

Speed

(%)

(100%)

Linear acceleration time constant

Positioning completed range

POSCONP

Rated speed

Rapid traverse speed

Position

Time (t)

Linear deceleration time constant

1. Set the initial values for the motion fixed parameters and the motion setting parameters

according to the user’s machine.

When performing position control using motion commands, be sure to set the following

parameters:

• Set “Use (= 1)” in bit 7 (motion command code selection) of motion fixed parameter

No. 14 (Additional Function Selections).

• Set “1 (= Enabled)” in bit 8 (motion command code enable/disable) in the RUN

Mode Settings (OW00) motion setting parameter.

2. Set the Position Control Mode (PCON) (bit 2 of OW00).

3. Set the motion setting parameters to be used in positioning (POSING).

2-48

2.4 Position Control Using Motion Commands

YES

POSING

Start condition check

Control mode

= position control mode?

Motion command status

Busy = OFF?

Return (OK)

Return (NG)

Motion command code

= NOP||POSING||

ENDOF_INTERPOLATE?

Motion command response

= NOP||POSING||

INTERPOLATE

ENDOF_INTERPOLATE?

4. Set RUN Servo ON (RUN) to ON (bit 0 of OW01).

For the PO-01 Module, set Excitation ON (RUN) to ON.

5. Set positioning (POSING = 1) in the motion command code (OW20).

The specified motion parameters perform positioning for the axis. Even during position-

ing, the motion parameter settings can be changed.

The positioning command operations are as follows:

a) Operation Start

Servo ON (bit 0 of OW01).

Set the positioning (POSING = 1) to motion command code (OW20).

b) Feed Hold

Set Hold (bit 0 of OW21) to ON.

At feed hold completion, HOLDL (bit 1 of IW15) turns ON.

c) Feed Hold Release

Set Hold (bit 1 of OW21) to OFF. Positioning resumes.

d) Abort

Set Abort (bit 1 of OW21) to ON, or set NOP (= 0) in the motion command code.

Busy (bit 0 of IW15) turns ON during abort processing, and turns OFF at com-

pletion of the abort.

Note: When the abort has been completed and released (ABORT turns

OFF), the following occurs:

• When the Position Reference Type (bit 14 of OW01) is the absolute position

mode (= 0), positioning resumes in the direction of the Position Reference Set-

ting (OL12).

2-49

2 Motion Control

Speed

(%)

100%

Position reference

Rated speed

Rapid traverse speed

Linear acceleration time constant Linear deceleration time constant

Time (t)

2.4.2 Positioning (POSING)

• When the Position Reference Type (bit 14 of OW01) is the incremental addi-

tion mode (= 1), operations remain stopped until the Position Reference Setting

(OL12) is reset.

6. When the axis enters the Positioning Completed Range (OW0E) after Distribution

Completed (bit 2 of IW15 is ON), the POSCOMP Positioning Completed Signal

(bit 13 of IW00) turns ON.

POSING

Completion condition

check

Motion command response

= POSING?

YES

Motion command status

DEN = ON?

YES

POSCOMP operation status

= ON?

YES

Return

(POSING completed)

Return (Other motion

command executing)

(POSING executing)

 User Program Example: Positioning

Example of RUN Operation

Return

Fig. 2.15 Positioning Pattern

2-50

Ladder Logic Program Example

IFON

H0104

RUNMOD

OWC000

0000010000

XREF

OLC012

RUN OBC0010

SB000004

MCMDCODE

OWC020

IEND

DEND

RUNPB IB00304

Set the position control mode to ON.

Position reference pulse (XREF) (Absolute position: 10000)

Driver operation command (RUN)

Execute positioning (POSING) as the motion command.

When IB00304 turns ON, position control starts, and the axis moves to absolute position

10000. When absolute position 10000 is reached, the IBC000D positioning completed signal turns ON.

2.4 Position Control Using Motion Commands

Fig. 2.16 Positioning Programming Example (DWG H03)

The example in the above illustration has been greatly simplified. In actual operation, each

2.4.3 External Positioning (EX_POSING)

 Overview

In the same way as the positioning (POSING) command, the external positioning

(EX_POSING) command positions the axis at the position reference position using the spec-

ified acceleration/deceleration time constant and the specified rapid traverse speed.

If a latch signal (external positioning signal) is input while at the feed speed, external posi-

tioning uses the latch signal to latch the current position, and positions the axis at a position

where it has traveled the external positioning travel distance set as a parameter from that

position.

When the specified external positioning travel distance is less than the deceleration distance,

the system first decelerates to a stop and then is repositioned according to the position refer-

ence value.

The external positioning travel distance can be changed before the latch signal (external

positioning signal) is input.

A specific discrete input (DI input) is used for the latch signal (external positioning signal).

2-51

2 Motion Control

1. Set the motion fixed parameters. Set the motion setting parameter initial values.

2. Set the position control mode (PCON).

3. Set the motion setting parameters.

4. Set Servo ON (RUN) to ON.

5. Execute the external positioning

(EX_POSING) motion command.

6. Release the motion command

(NOP (=0)).

RUN

PCON

Motion command (EX-POSING)

: System execution

POSCONP

: User settings

Speed

(%)

(100%)

Time (t)

Rated speed

Linear acceleration time constant

Positioning completed range

Linear deceleration time constant

Latch signal (external positioning signal)

Rapid traverse speed

External positioning travel distance

Positioning started for the axis.

The axis is moved the external positioning travel distance when the latch signal is input.

Positioning completed signal (POSCOMP) turned ON.

2.4.3 External Positioning (EX_POSING)

 Details

Use the following procedure to perform external positioning operations.

1. Set the initial values for the motion fixed parameters and the motion setting parameters

according to the user’s machine.

2. Set the Position Control Mode (PCON) (bit 2 of OW00).

3. Set the motion setting parameters to be used in the Position Control Mode.

4. Set Servo ON (RUN) to ON (bit 0 of OW01).

For the PO-01 Module, set Excitation ON (RUN) to ON.

5. Set external positioning (EX_POSING = 2) in the motion command code (OW20).

The external positioning command will be executed.

2-52

EX_POSING

Start condition check

2.4 Position Control Using Motion Commands

Control mode

= position control mode?

YES

Motion command code

= NOP||EX_POSING||

ENDOF_INTERPOLATE?

YES

Motion command response

= NOP||EX_POSING||

INTERPOLATE||

ENDOF_INTERPOLATE?

YES

Motion command status

BUSY = OFF?

YES

Return (OK)

Return (NG)

The specified motion parameters are used to position the axis.

Even during positioning, the motion parameter setting values can be changed.

INFO

The external positioning command operations are as follows:

a) Operation Start

Set Servo ON (bit 0 of OW01) to ON. For the PO-01 Module, set Excitation ON

(RUN) to ON.

Set the external positioning (EX_POSING) to motion command code (OW20).

b) Feed Hold

Set Hold (bit 0 of OW21) to ON.

At feed hold completion, HOLDL (bit 1 of IW15) turns ON.

c) Feed Hold Release

Set Hold (bit 1 of OW21) to OFF. Positioning resumes.

d) Abort

Set Abort (bit 1 of OW21) to ON, or set NOP (= 0) in the motion command code.

Busy (bit 0 of IW15) turns ON during abort processing, and turns OFF at abort

completion.

At abort completion, operations remain stopped even if the abort is released (ABORT turns OFF) and regardless of whether the Position Reference Type (bit 14 of OW01) is the absolute position mode

(= 0) or the incremental addition mode (= 1).

2-53

2 Motion Control

YES

EX_POSING

Completion condition check

Return (Other motion command executing)

Return (EX_POSING

executing)

Motion command response

= EX_POSING?

Return (EX_POSING

completed)

Motion command status

BUSY = OFF?

POSCOMP operation status

= ON?

INFO

2.4.3 External Positioning (EX_POSING)

When the axis enters the Positioning Completed Range (OW0E) after Distribution

Completed (bit 2 of IW15 is ON), the POSCOMP Positioning Completed Signal

(bit 13 of IW00) turns ON.

6. Once external positioning has been completed, release the external positioning motion

command.

External positioning is detected at startup. Therefore, when external positioning has been executed, the

motion command must be set to NOP for at least one scan, and external positioning must be reset in a

motion command.

 User Program Example: External Positioning

Example of RUN Operation

Speed

(%)

100%

Linear acceleration time constant

Latch signal (external positioning signal)

Rated speed

Rapid traverse speed

Linear deceleration time constant

External positioning travel distance

Time (t)

Fig. 2.17 Example of an External Positioning Pattern

2-54

Ladder Logic Program Example

2.4 Position Control Using Motion Commands

H0104

RUNPB IB00304

IFON

0001000000

0000010000

SB000004

IEND

DEND

RUNMOD

OWC000

XREF

OLC012

EXMDIST

OLC024

RUN OBC0010

MCMDCODE

OWC020

Set the position control mode to ON.

Position reference pulse (XREF) (Absolute position: 10000)

External positioning travel distance (EXMDIST)

Driver operation command (RUN)

Execute external positioning (EX_POSING) as the motion command.

When IB00304 turns ON, position control starts, and the axis moves to absolute position

1000000. When a latch signal (external positioning signal) is input while the feed operation is executing, the axis travels only the external positioning travel distance (10,000 pulses). When travel is completed, the IBC000D positioning completed signal turns ON. If a latch signal has not been input, the IBC00D positioning completed signal turns ON when absolute position 10000 is reached.

Fig. 2.18 External Positioning Programming Example (DWG H03)

The example in the above illustration has been greatly simplified. In actual operation, each

2.4.4 Zero Point Return (ZRET)

 Overview

The zero point return operation is used to return to the machine coordinate system zero

point.

The machine coordinate system zero point position data is destroyed when the power is

turned OFF. Therefore, after turning ON the power, the machine coordinate system zero

point must be repositioned. In general, a zero point pulse (Phase-C pulse) and a limit switch

showing the zero point area are used to determine the zero point.

There are two zero point return methods. One method uses motion commands, and the other

method uses the zero return mode. Care is required because zero point return operations are

different with these two methods.

The method of using motion commands is described below.

2-55

2 Motion Control

INFO

2.4.4 Zero Point Return (ZRET)

 Zero Point Return Method

The following methods are available with the zero point return (ZRET) motion command.

Zero Point Return Method Fixed Parameter 31

Setting

SVA-

01A

SVA-

02A

SVB-01PO-01

DEC1 + Phase-C pulse 0 Yes Yes Yes No

DEC2 + Phase-C pulse 6 Yes Yes No No

DEC1 + LMT + Phase-C

7YesYesNoNo

pulse

Phase-C pulse 3 Yes Yes Yes No

DEC1 + ZERO signal 2 Yes No Yes Yes

DEC2 + ZERO signal 4 Yes No No Yes

DEC1 + LMT + ZERO signal 5 Yes No No Yes

ZERO signal 1 Yes No Yes No

Note: Yes: Available, No: Not available

1. With a limit switch (deceleration limit switch) and a zero point return limit signal, a user program

must be created to connect the LIO-01 or other external DI signal to the next motion setting param-

eters.

• Limit Switch Signal*: OB01F

• Reverse Limit Signal for Zero Point Return: OB21C

• Forward Limit Signal for Zero Point Return: OB21D

* DI5 (DI signal) can also be used with a 4-axis SVA-01A Module.

Whether a DI signal or OB01F is used as the limit switch signal is set in the bit 2 in motion fixed parameter No. 14 (Additional Function Selections).

2. A limit switch (deceleration limit switch) signal’s polarity can be reversed using the setting of bit

10 (Deceleration Limit Switch Inversion Selection) in motion fixed parameter No. 17 (Motion

Controller Function Selection Flags (SVFUNCSEL)). The default is 0 (do not reverse).

0: Do not reverse Deceleration limit switch

1: Reverse

Deceleration limit switch

NC contact NO contact

3. Refer to 2.2.5 Zero Point Return Mode for details.

4. The zero point return method is set by specifying a number (0 to 7) in fixed parameter No. 31 (Zero

Point Return Method).

Details on each method are given next.

2-56

2.4 Position Control Using Motion Commands

 DEC1 + Phase-C Pulse

This method is used to perform zero point return using a limit switch (deceleration limit

switch) and a zero point signal (Phase-C pulse) by rapid traverse using linear acceleration/

deceleration (with a dog width).

The limit switch is used with a mechanical configuration such as the one shown in the fol-

lowing illustration.

Machine total

Deceleration limit switch

operating area

High

Low

Speed reference

Dog (Deceleration limit switch)

Rapid traverse speed

Zero point signal (Phase-C pulse)

Reverse direction ← → Forward direction

1. 2. 3. 4.

Approach speed

Creep speed

Zero point

Zero point return position

Time

Zero point return final travel distance

1. The axis travels at rapid traverse speed in the direction specified in the motion setting

parameter (OB009).

2. The axis decelerates to approach speed at the falling edge of the dog (deceleration limit

switch) signal.

3. The axis decelerates to creep speed at the rising edge of the dog (deceleration limit

switch) signal.

IMPORTANT

4. When the dog goes high, the axis stops after traveling only the zero point return final

travel distance (OL2A) from the initial zero point signal (Phase-C pulse), and that

position will be the machine coordinate system zero point.

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

Available Available Available Not available

Automatic return is not performed with this zero point return method. Where zero point return to a

position is not possible, use a manual operation to return to the zero point.

2-57

2 Motion Control

INFO

2.4.4 Zero Point Return (ZRET)

 DEC2 + Phase-C Pulse

This method is used to perform zero point return using a limit switch (deceleration limit

switch) and a zero point signal (Phase-C pulse) by rapid traverse using linear acceleration/

deceleration (without a dog width).

The limit switch is used with a mechanical configuration such as the one shown in the fol-

lowing illustration.

Machine total

Pattern (A)

Pattern (B)

Deceleration limit switch

Reverse direction Forward direction

Deceleration limit switch

Reverse direction

operating area

Machine total operating area

Forward direction

High

Low

High

Low

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

Available Available Not available Not available

1. With this method, the axis recognizes the machine position by the deceleration limit switch ON/

OFF status, and automatically performs a return operation. Be sure to perform zero point return

under the same conditions.

2. With pattern (B), set the deceleration limit switch inversion selection (bit 10) of motion fixed

parameter No. 17 to ON.

Zero Point Return Operation Started with the Dog (Deceleration Limit Switch) Signal in the High Area

Reverse direction ← → Forward direction

Zero point

Speed reference

Dog (deceleration limit switch)

Rapid traverse speed

4. Approach speed

Creep speed

Zero point

Zero point return final travel distance

return position

Time

Zero point signal (Phase-C pulse)

2-58

1. The axis travels at rapid traverse speed in the forward direction.

2. The axis decelerates at the falling edge of the dog (deceleration limit switch) signal.

3. The axis travels at approach speed in the reverse direction.

4. The axis decelerates at the rising edge of the dog (deceleration limit switch) signal.

5. The axis travels at creep speed in the forward direction.

6. After the falling edge of the dog (deceleration limit switch) is detected, the axis stops

after traveling only the zero point return final travel distance (OL2A) from the ini-

tial zero point signal, and that position will be the machine coordinate system zero point.

Zero Point Return Operation Started with the Dog (Deceleration Limit Switch) Signal in the Low Area

Speed reference

Dog (Deceleration limit switch)

Reverse direction ← → Forward direction

Creep speed

Approach speed

2.4 Position Control Using Motion Commands

Zero point

Zero point return position

Zero point return final travel distance

Time

Zero point signal (Phase-C pulse)

1. The axis travels at approach speed in the reverse direction.

2. The axis decelerates at the rising edge of the dog (deceleration limit switch) signal.

3. The axis travels at creep speed in the forward direction.

4. After the falling edge of the dog (deceleration limit switch) is detected, the axis stops

after traveling only the zero point return final travel distance (OL2A) from the ini-

tial zero point signal, and that position will be the machine coordinate system zero point.

2-59

2 Motion Control

Speed reference

Rapid traverse speed

Dog (Deceleration limit switch)

Zero point signal (Phase-C pulse)

Creep speed

Approach speed

Zero point

Zero point return position

Time

Zero point return final travel distance

Reverse direction ← → Forward direction

2.4.4 Zero Point Return (ZRET)

 DEC1 + LMT + Phase-C Pulse

This method is used to perform zero point return using a limit switch (deceleration limit

switch), a zero point return limit signal, and a zero point signal (Phase-C pulse) by rapid

traverse using linear acceleration/deceleration (with a dog width).

The limit switch (deceleration limit switch) and the zero point return limit signal are used

with a mechanical configuration such as the one shown in the following illustration.

Interval

Deceleration limit switch

LMT_L *1

LMT_R *2

a. b. c. d. e.

Machine total operating area

Reverse direction ← → Forward direction

High Low

* 1. Zero point return reverse limit signal (OB21C) * 2. Zero point return forward limit signal (OB21D)

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

Available Available Not available Not available

Zero Point Return Operation Started and Interval (a) Used

1. The axis travels at rapid traverse speed in the forward direction.

2. The axis decelerates at the falling edge of the dog (deceleration limit switch) signal.

3. The axis travels at approach speed in the reverse direction.

4. The axis decelerates at the rising edge of the dog (deceleration limit switch) signal.

5. The axis travels at creep speed in the forward direction.

6. After the falling edge of the dog (deceleration limit switch) is detected, the axis stops

2-60

2.4 Position Control Using Motion Commands

after traveling only the zero point return final travel distance (OL2A) from the ini-

tial zero point signal, and that position will be the machine coordinate system zero point.

Zero Point Return Operation Started and Interval (b) Used

Speed reference

Dog (deceleration limit switch)

Zero point signal (Phase-C pulse)

Zero point return reverse limit signal (LMT_L)

Reverse direction ← → Forward direction

Rapid traverse speed

6. Approach speed

Creep speed

Zero point

Zero point return position

Time

Zero point return final travel distance

1. The axis travels at approach speed in the reverse direction.

2. The axis decelerates at the falling edge of the zero point return reverse limit signal

(LMT_L).

3. The axis travels at rapid traverse speed in the forward direction.

4. The axis decelerates at the falling edge of the dog (deceleration limit switch) signal.

5. The axis travels at approach speed in the reverse direction.

6. The axis decelerates at the rising edge of the dog (deceleration limit switch) signal.

7. The axis travels at creep speed in the forward direction.

8. After the falling edge of the dog (deceleration limit switch) is detected, the axis stops

after traveling only the zero point return final travel distance (OL2A) from the ini-

tial zero point signal, and that position will be the machine coordinate system zero point.

2-61

2 Motion Control

2.4.4 Zero Point Return (ZRET)

Zero Point Return Operation Started and Interval (c) Used

Reverse direction ← → Forward direction

Zero point

Speed reference

Dog (Deceleration limit switch)

Zero point signal (Phase-C pulse)

Approach speed

Creep speed

1. Zero point return

final travel distance

Zero point return position

Time

1. The axis travels at approach speed in the reverse direction.

2. The axis decelerates at the rising edge of the dog (deceleration limit switch) signal.

3. The axis travels at creep speed in the forward direction.

4. After the falling edge of the dog (deceleration limit switch) is detected, the axis stops

after traveling only the zero point return final travel distance (OL2A) from the ini-

tial zero point signal, and that position will be the machine coordinate system zero point.

Zero Point Return Operation Started and Intervals (d) & (e) Used

Reverse direction ← → Forward direction

Zero point

Speed reference

Dog (Deceleration limit switch)

Zero point signal (Phase-C pulse)

2. Approach speed

Creep speed

Zero point return final travel distance

Zero point return position

Time

1. The axis travels at approach speed in the reverse direction.

2. The axis decelerates at the rising edge of the dog (deceleration limit switch) signal.

3. The axis travels at creep speed in the forward direction.

4. After the falling edge of the dog (deceleration limit switch) is detected, the axis stops

after traveling only the zero point return final travel distance from the initial zero point

signal, and that position will be the machine coordinate system zero point.

2-62

2.4 Position Control Using Motion Commands

 Phase-C Pulse

This method is used to perform zero point return using only a zero point signal (Phase-C

pulse) by rapid traverse using linear acceleration/deceleration.

Reverse direction ← → Forward direction

Zero point

Speed reference

Zero point signal (Phase-C pulse)

Approach speed

Creep speed

Zero point return position

Time

Zero point return final travel distance

1. The axis travels at approach speed in the direction specified in the motion setting servo

parameter (OB009).

2. The axis decelerates to creep speed after detecting the initial zero point signal.

3. The axis stops after traveling only the zero point return final travel distance from the ini-

tial zero point signal, and that position will be the machine coordinate system zero point.

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

Available Available Available Not available

 DEC1 + ZERO Signal

Zero point return is performed using a ZERO signal (DI signal) in place of the Phase-C

pulse used in the DEC1 + Phase-C Pulse described above.

For details, see DEC1 + Phase-C Pulse.

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

Available Not available Available Available

 DEC2 + ZERO Signal Method

Zero point return is performed using a ZERO signal (DI signal) in place of the Phase-C

pulse used in the DEC2 + Phase-C Pulse discussed above.

For details, see DEC2 + Phase-C Pulse.

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

Available Not available Not available Available

2-63

2 Motion Control

2.4.4 Zero Point Return (ZRET)

 DEC1 + LMT + ZERO Signal Method

Zero point return is performed using a ZERO signal (DI signal) in place of the Phase-C

pulse used in the DEC1 + LMT + Phase-C Pulse discussed above.

For details, see DEC1 + LMT + Phase-C Pulse.

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

Available Not available Not available Available

 ZERO Signal Method

Zero point return is performed using a ZERO signal (DI signal) in place of the Phase-C

pulse used in the Phase-C Pulse discussed above.

For details, see Phase-C Pulse.

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

Available Not available Available Not available

2-64

2.4 Position Control Using Motion Commands

 Example of the Zero Point Return Operations

Use the following procedure to perform zero point return operations.

The following illustration shows an example of the DEC1 + Phase-C pulse method.

1. Set the motion fixed parameters. Set the motion setting parameter initial values.

2. Set the position control mode (PCON).

3. Set the motion setting parameters.

4. Set Servo ON (RUN) to ON.

5. Execute the zero point return (ZRET)

motion command.

The axis travels at rapid traverse speed in the specified direction.

The axis decelerates to approach speed at the trailing edge of the deceleration limit switch signal.

The axis decelerates to creep speed at the leading edge of the deceleration limit switch signal.

When the deceleration limit switch signal goes high, the axis stops after traveling only the zero point return final travel distance from the initial zero point signal, and that position will be the machine coordinate system zero point.

Direction specified as the zero point return direction (OBC0009)

RUN

ZRET

Reverse direction ← → Forward direction

1. 2. 3.

Speed reference

ZRNC

Rapid traverse speed

Limit switch width ≥ 2 × Ts (Ts: High-speed scan setting value)

Dog (Deceleration limit switch)

Zero point signal (Phase-C pulse)

Area A

Zero point

Zero point return final travel distance

Approach speed

Creep speed

Positioning completed range

Area B

Zero point return final travel distance

Zero point return position

Time

The zero point return completed status (ZRNC) turns ON.

Execute the motion command (NOP (= 0)).

1. Set the initial values for the motion fixed parameters and the motion setting parameters

2. Set the Position Control Mode (PCON) (bit 2 of OW00).

3. Set the motion setting parameter to be used with zero point return (ZRET).

4. Set RUN Servo ON (RUN) to ON (bit 0 of OW01).

5. Set zero point return (ZRET = 3) in the motion command code (OW20).

: System execution

: User settings

according to the user’s machine.

For the PO-01 Module, set Excitation ON (RUN) to ON.

2-65

2 Motion Control

YES

ZRET

Start condition check

Control mode

= position control mode?

Motion command status

BUSY = OFF?

Return (OK)

Return (NG)

Motion command code

= NOP||ENDOF_INTERPOLATE?

Motion command response

= NOP||INTERPOLATE||

ENDOF_INTERPOLATE?

2.4.4 Zero Point Return (ZRET)

6. Zero point return (ZRET) will be executed.

The axis travels at rapid traverse speed in the direction specified by the zero point return

direction selection (OBC0009).

The motion parameter setting values cannot be changed during a zero point return oper-

ation.

The zero point return command operations are as follows:

a) Operation Start

Set RUN Servo ON (bit 0 of OW01) to ON. For the PO-01 Module, set Excita-

tion ON (RUN) to ON.

Set the zero point return (ZRET) to motion command code (OW20).

b) Feed Hold

Not possible.

c) Abort

Set Abort (bit 1 of OW21) to ON, or set NOP (= 0) in the motion command code.

Busy (bit 0 of IW15) turns ON during abort processing, and turns OFF at abort

completion.

Note: Even when the abort is completed and the abort is released (ABORT turns OFF), opera-

tions remain stopped.

7. The axis decelerates to approach speed at the falling edge of the dog (deceleration limit

switch) signal.

8. The axis decelerates to creep speed at the rising edge of the dog (deceleration limit

switch) signal.

9. When the dog goes high, the axis stops after traveling only the zero point return final

travel distance (OL2A) from the initial zero point signal (Phase-C pulse), and that

2-66

2.4 Position Control Using Motion Commands

position will be the machine coordinate system zero point.

A zero point position offset value can also be set. (If Zero Point Offset OL06 is set

in advance to 100, the position data will be 100.)

10.The zero point return operation is completed when the axis enters the Positioning Com-

pleted Range (OW0E) after Distribution Completed (bit 2 of IW15 is ON).

When the zero point return operation is completed, the ZRNC Zero Point Return Com-

pleted (bit 6 of IW15) turns ON.

ZRET

End condition check

IMPORTANT

Motion command response

= ZRET?

YES

Motion command status

BUSY = OFF?

YES

ZRNC operation status =

ON?

YES

Return (ZRET completed)

Return (Other motion

command executing)

Return (ZRET executing)

11.After checking that the ZRNC Zero Point Completed (bit 6 of IW15) is ON, set

NOP (= 0) in the motion command code (OW20).

1. If the machine is in Area B after the power is turned ON, the return cannot be performed correctly.

Be sure to move the machine back to Area A before performing a return.

2. The deceleration limit switch width must be at least twice that of the high-speed scan setting value.

The criteria for the deceleration limit switch width (L) can be calculated using the formula shown

below.

• Ts (s) = High-speed scan set value (ms)/1000

• F (m/s) = k× {NR × n × FBppr}/60

F: 100% speed (m/s)

k: Weight of 1 pulse (m/pulse)

-1

NR: Rated rotation speed (min

FBppr: Feedback pulse resolution (p/r)

n: Pulse magnification (1, 2, or 4)

• t (s) = Linear acceleration/deceleration time (s)

• α (m/s

) = f/t

If α = acceleration/deceleration time constant (m/s

L = 1/2 · α (2 × Ts)

= 2 α Ts

3. When a short distance is set for the zero point return final travel distance, the axis returns to the

zero point after the zero point has been passed once.

)

), the following equation applies.

2-67

2 Motion Control

2.4.4 Zero Point Return (ZRET)

 User Program Example: Zero Point Return

Example of RUN Operation

Rapid traverse

Speed reference

Dog (Deceleration limit switch)

speed

Zero point signal (Phase-C pulse)

Reverse direction ← → Forward direction

1. 2. 3. 4.

Approach speed

Creep speed

Zero point

Zero point return position

Zero point return final travel distance

Fig. 2.19 Example of a Zero Point Pattern (DEC1 + Phase-C Pulse Signal Method)

Time

2-68

Ladder Logic Program Example

2.4 Position Control Using Motion Commands

H0104

05000

02000

00500

00100

IB00000

IB00002

IB00001 DB000001

00003

IWC014=00003

DB000000 IBC0156 DB000002

RUNMOD

OWC000

OLC023

Napr

OWC00A

Nclp

OWC00B

ZRNDIST

OLC02A

S-ON OBC0010

LSDEC OBC001F

OWC020

DB000000

Set the position control mode to ON.

Rapid traverse speed (RV) (5,000,000 pulses/min)

Approach speed (Napr) (2,000,000 pulses/min)

Creep speed (Nclp) (5,000,000 pulses/min)

Zero point return final travel distance* (100 pulses)

Servo ON command

IB0002: Limit switch signal

When the zero point return switch (IB00002) is turned ON, the Zero Point Return command is executed on the rising edge.

When zero point return is completed, the zero point return completed status (IBC0156) turns ON.

00000

DEND

OWC020

When the zero point return is completed status (IBC0156) turns ON, set NOP (= 0) in the motion command code.

Fig. 2.20 Zero Point Return Programming Example (DWG H03)

* For the SVB-01 Module, set the zero point return final distance to the

value of the SERVOPACK parameter.

The example in the above illustration has been greatly simplified. In actual operation, each

2-69

2 Motion Control

2.4.5 Interpolation (INTERPOLATE, END_OF_INTERPOLATE)

 Overview

This command performs interpolation feeding using the position data distributed from the

CPU Module.

 Details

Use the following procedure to perform interpolation feed operations.

1. Set the motion fixed parameters. Set the motion setting parameter initial values.

Set the position control mode (PCON).

3. Set the motion setting parameters.

4. Set Servo ON (RUN) to ON.

5. Execute the interpolation

(INTERPOLATE) motion command.

The axis starts interpolation feed operations.

Stop position reference (OLC012) refreshing.

Positioning completed signal (POSCOMP) turned ON.

PCON

RUN

Motion command (INTERPOLATE)

POSCOMP

: System execution

: User settings

Speed

(%)

Positioning completed range

Position

Time (t)

1. Set the initial values for the motion fixed parameters and the motion setting parameters

according to the user’s machine.

2. Set the Position Control Mode (PCON) (bit 2 of OW00).

3. Set the Position Reference Setting (OL12).

If required, set any motion setting parameters to use with interpolation (INTERPO-

LATE), such as the Filter Time Constant Setting (OW14).

4. Set RUN Servo ON (RUN) to ON (bit 0 of OW01).

For the PO-01 Module, set Excitation (RUN) to ON.

2-70

2.4 Position Control Using Motion Commands

5. Set interpolation (INTERPOLATE = 4) in the motion command code (OW20).

INTERPOLATE

Start condition check

Control mode =

position control mode?

YES

Motion command code

= NOP||INTERPOLATE||

ENDOF_INTERPOLATE?

YES

Motion command response

= NOP||INTERPOLATE||

ENDOF_INTERPOLATE?

YES

Motion command status

BUSY = OFF?

YES

Return

(INTERPOLATE executable)

Retuen (NG)

When interpolation (INTERPOLATE) is set as the motion command, the axis performs

positioning to the position specified in the position reference (OL12).

6. Stop refreshing the position reference (OL12).

7. Change the motion command to 0.

INFO

IMPORTANT

When the axis enters the Positioning Completed Range (OW0E) after Distribution

Completed (bit 2 of IW15 is ON), the POSCOMP Positioning Completed Signal

(bit 13 of IW00) turns ON.

When END_OF_INTERPOLATE is set in the motion command, the motion command will be auto-

matically changed to 0 by the system by the next scanning.

The interpolation commands do not have a parameter that sets the speed reference. The position refer-

ence will be changed each scan by the interpolation speed.

2-71

2 Motion Control

2.4.5 Interpolation (INTERPOLATE, END_OF_INTERPOLATE)

 User Programming Example: Interpolation

Ladder Logic Program Example

1 0000

1 0004

1 0005

1 0008

2 0015

2 0019

0023

0024

H0104

IB00100

RUNPB IB00304

DB000001

DB0000001 0022

DB000000

IFON1 0009

00004 OWC0202 0010

OLC012 OLC0122 0012 ++ DL00010i

+00002

IEND1 0018

≥ 00022

IFON1

000002

00005 OWC0202 0026

RUNMOD

OWC000

OBC00101 0002

DB000001

DB000000

Set the position control mode to ON.

Send RUN command to driver.

Execute INTERPOLATE command.

Set the position reference.

Check for completion of specified reference distribution.

Execute END_OF_INTERPOLATE command.

IEND10028

00100 DL000101 0029

00200 DL000121 0031

00300 DL000141 0033

00200 DL000161 0035

00100 DL000181 0037

00000 DL000201 0039

Increment data for position reference each scan.

-00100 DL000221 0041

-00200 DL000241 0043

-00300 DL000261 0045

-00200 DL000281 0047

-00100 DL000301 0049

DEND00051

Fig. 2.21 Programming Example for INTERPOLATE and END_OF_INTERPOLATE

The example in the above illustration has been greatly simplified. In actual operation, each

2-72

2.4 Position Control Using Motion Commands

IMPORTANT

2.4.6 Interpolation with Position Detection (LATCH)

 Overview

In the same way as for an interpolation feeding, the latch signal is used to latch the current

position counter while the interpolation feed is being executed, and reports the changed latch

position converted to the reference unit system.

A specific discrete input (DI input) is used for the latch signal.

 Details

For details on interpolation operations, see 2.4.5 Interpolation (INTERPOLATE,

END_OF_INTERPOLATE).

When latching is performed again after current position counter latching has been executed once by the

latch signal, first set the motion command to NOP for 1 scan or more, and then execute the LATCH

command.

2-73

2 Motion Control

2.4.7 Fixed Speed Feed (FEED)

1. Set the motion fixed parameters. Set the motion setting parameter initial values.

 Overview

This command performs rapid traverse in the infinite length direction using the specified

acceleration/deceleration time constant and the specified rapid traverse speed.

The rapid traverse speed can be changed during operations.

The axis decelerates to a stop when NOP (= 0) is set in the motion command code

(OW20).

 Details

Use the following procedure to perform fixed speed feed operations.

PCON

2. Set the position control mode (PCON).

3. Set the motion setting parameters.

4 Set Servo ON (RUN) to ON.

5. Execute the fixed speed feed (FEED)

motion command.

Fixed-speed positioning start for the axis.

Execute the motion command (NOP (= 0)).

Positioning completed signal (POSCOMP) turned ON.

: System execution

: User settings

1. Set the initial values for the motion fixed parameters and the motion setting parameters

according to the user’s machine.

2. Set the Position Control Mode (PCON) (bit 2 of OW00).

RUN Motion command

(FEED)

Speed (%)

100%

Linear acceleration time constant

Positioning completed range

POSCOMP

* The position is the speed reference integral value.

Rated speed

Rapid traverse speed

Position*

Linear deceleration time constant

NOP command

Time (t)

3. Set the Rapid Traverse Speed (OL22 or OW15).

Set the motion setting parameter to be used with fixed speed feed (FEED).

4. Set RUN Servo ON (RUN) to ON (bit 0 of OW01).

For the PO-01 Module, set Excitation ON (RUN) to ON.

5. Set fixed speed feed (FEED = 7) in the motion command code (OW20).

Fixed speed feed will be started.

2-74

Yaskawa MP920 User Manual

Specifications and Main Features

Frequently Asked Questions

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

2.1.3 Examples of Motion Control Applications

2.2.1 Overview of Control Modes

2.2 Control Modes

2.2.2 Speed Reference Output Mode

2.2.3 Torque Reference Output Mode

2.2.4 Phase Control Mode

2.2.5 Zero Point Return Mode

2.3.1 Prerequisites for Position Control

2.3 Position Control

2.3.2 Position Control Without Using Motion Commands

2.4 Position Control Using Motion Commands

2.4.1 Overview of Motion Commands

2.4.2 Positioning (POSING)

2.4.3 External Positioning (EX_POSING)

2.4.4 Zero Point Return (ZRET)

2.4.5 Interpolation (INTERPOLATE, END_OF_INTERPOLATE)

2.4.6 Interpolation with Position Detection (LATCH)

2.4.7 Fixed Speed Feed (FEED)