Yaskawa MP920 User Manual

YASKAWA

Machine Controller MP920

Motion Module

USER'S MANUAL

YASKAWA

MANUAL NO. SIEZ-C887-2.5C

Copyright © 1999 YASKAWA ELECTRIC CORPORATION

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 control and operating panels

•Those responsible for making, inspecting, testing, adjusting, and maintaining the control and operating panels in which the MP920 is mounted

Basic Terms

Unless otherwise specified, the following definitions are used:

•MP920 = MP920 Machine Controller

•	PC:	Programmable Logic Controller
•	MPE720: The Programming Device Software or a Programming Device (i.e., a personal
		computer) running the Programming Device Software

•PLC = Programmable Logic Controller

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

iii

Visual Aids

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

IMPORTANT

INFO

EXAMPLE

TERMS

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

iv

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	SIEZ-C887-2.1	Describes the design and maintenance for
Manual: Design and Maintenance		the MP920 Machine Controller.
Machine Controller MP920	SIEZ-C887-2.6	Describes the functions, specifications, and
Communications Module User’s Manual		usage of the MP920 Communications Mod-
		ules (215IF, 217IF, and 218IF).
Machine Controller MP900/MP2000	SIEZ-C887-1.2	Describes the instructions used in MP900/
Series Ladder Logic Programming		MP2000 Series ladder logic programming.
User’s Manual
Machine Controller MP900/MP2000	SIEZ-C887-1.3	Describes the motion programming language
Series Motion Programming		used for MP900/MP2000 Series Machine
User’s Manual		Controllers.
Machine Controller MP900/MP2000	SIEPC88070005	Describes how to install and operate the
Series User’s Manual		MP900/MP2000 Series programming sys-
MPE720 Software for Programming		tem MPE720.
Device

v

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.

PROHIBITED

MANDATORY

Indicates prohibited actions that must not be performed. For 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.

vi

Safety Precautions

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

CAUTION

•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 prevent them from loosening during operation.

Loose screws may result in a malfunction of the MP920.

Module mounting screw

(Use an M4 Phillips screw driver.)

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

•Insert the connectors of the cables that are to be connected to the MP920 Modules and secure them well.

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

vii

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.

MANDATORY

•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 separator
Power	General		Digital I/O
circuit	control cir-		signal
cables	cuit cables		cables

viii

Application

WARNING

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

There is a risk of electrical shock.

CAUTION

•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 knowing the direct and indirect consequences of the operation.

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

Maintenance

WARNING

•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.

PROHIBITED

•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.

ix

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 aviation, atomic power control, or underwater use must contact Yaskawa Electric Corporation 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 specification 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 purchased 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 purchased 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 modifications.

x

CONTENTS

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

xi

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

1

1

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

1.1.1Motion Modules

1.1Module Overview and Features

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

1.1.1Motion 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		SVA-02	SVB-01	PO-01
			CN1 STATUS		CN1
CN1	CN3	STATUS		STATUS	STATUS
				TRX
		CN5
CN2	CN4		CN2		CN2
			CN3	CN1
			+24V
			0V

Interface	Analog			MECHATROLINK	Pulse
Number of Con-	4		2	14	4
trolled Axes per
Module
Maximum Num-	15		16	16	16
ber of Modules
Total Number of				16 max.
Modules
Pulse Counting	A/B, Up/Down, sign, ×1/2/4			×4	−
Methods
Control	• Speed reference		• Speed reference	• Position control only	• Position control only
Functions	output		output	Position loop is performed	Open loop control
	• Synchronized phase		• Synchronized	by Servo Drivers. The SVB-	The PO-01 Module outputs
	control		phase control	01 Module outputs position	reference pulses.
	• Position control		• Position control	reference values.

•Torque reference output

Motion	• Positioning	• Positioning	• Positioning
Functions	• Linear interpolation	• Linear interpolation	• Linear interpolation
	• Circular interpolation	• Circular interpolation	• Circular interpolation
	• Helical interpolation	• Helical interpolation	• Helical interpolation
	• External positioning	• External positioning

1-2

1.1 Module Overview and Features

				(cont’d)
Description	SVA-01A	SVA-02A	SVB-01	PO-01
Model Number	JEPMC-MC200A	JEPMC-MC220A	JEPMC-MC210	JEPMC-PL210
Applicable Ser-	• Servo Drivers		• Servo Drivers	Pulse Motor Drivers
vo Drivers and	SGDA- S		SGD- N
Inverters	SGDB-		SGDBAN
	SGDM-		SGDH- E+JUSP-
	SGDS-		NS100
						1
	• Inverters		• Inverters
			(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

1.1.2SVA-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 analog 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.

System Bus Connector

Motion Control

Speed control

Position control

Phase control

Zero point return

function Monitor function

System Bus

Interface

Servo parameters OW

IW

Analog output: Speed ref. NREF

Pulse input: Phase A/B/C

General-purpose digital inputs (3) DI0 to D12

General-purpose digital outputs (5) DO0 to DO2 DO4, DO5

Sensor ON output (5 V/24 V) SENS/DO3

Same as above.

Same as above.

Same as above.

External (Field) I/O signals

CN1 ConnectorServo 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.			Speed, Position, and Phase Control
			Inverters
SVA-01A		Analog servos			SVA-01A	Speed	SERVO-
			SGDA		D/A	reference	PACK	M
			SGDB
			SGDM
			SGDS					PG
						Encoder
					Counter	pulse
M	M		M	M

1.1.3SVA-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 generalpurpose digital I/O signals.

System Bus Connector

Servo Control

Speed control

Position control

Torque control

Phase control

Zero point return

function Monitor function

System Bus

Interface

Servo parameters OW

IW

Analog outputs: Speed ref.

NREF

CN1

Positive torque ref. TLIMP

Connector

Analog input: Speed monitor

NREF

Pulse input: Phase A/B/C

Pulse latch digital input

PIL

General-purpose digital outputs (6)

DO0 to DO2

Servo

General-purpose digital inputs (5)+PI

DI0 to DI5

DO4, DO5

Sensor ON output (5 V/24 V)

SENS/DO3

CN2

Same as above.

1-4

1.1 Module Overview and Features

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

SVA-02A

	16 Modules max.	Speed, Position, and Phase Control
	Inverters	SVA-02A
	Analog servos		Speed reference	SERVOPACK
	SGDA	D/A		M
			Torque control
	SGDB	D/A
	SGDM
	SGDS	A/D	Speed monitor	PG
		Counter	Encoder pulse
M	M		Torque Control
		SVA-02A	Torque reference	SERVOPACK
		D/A
				M
			Speed control
		D/A
		A/D	Torque monitor	PG
		Counter	Encoder pulse

1-5

1 Overview of Motion Modules

1.1.4SVB-01 Module

1.1.4SVB-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.

System Bus Connector

MECHATROLINK

Control

Servo Control

Remote I/O Control

Inverter Control

CN1

MECHATROLINK Connector

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.

											1
		SVB								16 Modules max.

14 stations max.

M M M M

SGD-N or SGDB-N (connecting MECHATROLINKcompatible servos)

		YASKAWA
		JEPMC-IO350
CN1	IN1	OUT1			IN2	OUT2
	A1	B1 A1	B1	A1	B1 A1	B1

SW1

IN2

SW2 IN1

OUT2

OUT1

DC24V

DC 0V

616G5

RIO

1-7

1 Overview of Motion Modules

1.1.5PO-01 Module

1.1.5PO-01 Module

Overview of the PO-01 Module

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

System Bus Connector

Motion functions Override function Stroke limit function Emergency stop function

System Bus

Interface

Servo Parameters

OW

IW

2 Pulse-train Outputs:CCW

CW

4 Digital Outputs: 1 Excitation ON

2 General-purpose

5 Digital Inputs: 1 Excitation monitor/zero point

3 General-purpose

1 Emergency/deceleration stop

Same as above.

CN1

DriverMotorConnector

Pulse

CN2

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	CW+	Pulse
	CW-	Motor	M
	CCW+	Driver
	CCW-
	DO
	DI

Pulse Motor

Driver

M M M M

1-8

1.2 System Configuration

1.2System Configuration

1.2.1System Configuration Examples

The MP920 Motion Modules are available with analog outputs, pulse outputs, and field network interfaces. Modules can be freely selected to configure the system best suited to the

application.

1

SVA-02A

PO-01

PS-03

CPU-01

SVA-01A

SVB-01

PS-03

MP920 CPU-01

SVA-01A

SVA-02A

SVB-01

PO-01

LIO-01

LIO-01

DC24V

POWER

SW1

CN1

CN1

CN1

1

RDY

CN3

CN1

STATUS

STATUS

STATUS

RUN

RUN

L.RST

BATTERY

CN1

STATUS

2

RUN

RUN

FUSE

FUSE

3

INIT

4

TEST

ALM

5

6

MULTI

ERR

7

FLASH

8

M.RST

BAT

ALM

ON

OFF

PRT2

PORT2

TRX

PRT1

TB1

CN5

CN2

CN2

CN2

CN2

CN4

CN2

+24V

PORT1

0V

FG

CN1

CN1

CN3

SG

+24V

RLY OUT

0V

Analog outputs for 4 axes

Pulse outputs for 4 axes

Pulse Motor Driver

M

M

M

M

M

M

M

M

Analog output for 2 axes

MECHATROLINK communications

MECHATROLINK-compatible servos

M

M

M

M

M

M

IO-350

216IF Inverter

Two analog outputs per axis One analog input per axis

		YASKAWA
		JEPMC-IO350
	CN1	IN1	OUT1	IN2		OUT2
	A1	B1 A1		B1 A1	B1 A1	B1
SW1
	IN2
SW2	IN1
	OUT2
	OUT1
DC24V
DC 0V

616G5

Up to 14 Modules can be connected.

1-9

1 Overview of Motion Modules

1.3.1General Specifications

1.3Specifications

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

1.3.1General Specifications

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		Ambient Operat-	0 to 55°C
Conditions		ing Temperature
		Storage Tempera-	-20 to 85°C
		ture
		Ambient Operat-	30% to 95% RH (with no condensation)
		ing Humidity
		Ambient Storage	5% to 95% RH (with no condensation)
		Humidity
		Pollution Level	Pollution level 1 (conforming to JIS B 3501)
		Corrosive Gas	There must be no combustible or corrosive gas.
		Operating	2,000 m above sea level or lower
		Altitude
Electrical		Noise Resistance	Conforming to JIS B 3502:
Operating			1,500 V (p-p) in either normal or common modes with a
Conditions			pulse width of 100 ns/11μs and a rise time of 1 ns (tested
			with impulse noise simulator)
Mechanical		Vibration	Conforming to JIS B 3502:
Operating		Resistance	10 to 57 Hz with single-amplitude of 0.075 mm
Conditions			57 to 150 Hz with fixed acceleration of 9.8 m/s2 (1G)
			10 sweeps each in X, Y, and Z directions
			(sweep time: 1 octave/min)
		Shock	Conforming to JIS B 3502:
		Resistance	Peak acceleration of 147 m/s2 (15G) twice for 11 ms each in
			the X, Y, and Z directions
Installation		Ground	Ground to 100Ω max.
Requirements
		Cooling Method	Natural cooling

1-10

1.3 Specifications

1.3.2Function 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

JEPMC-MC200A

JEPMC-MC220A

JEPMC-MC210

JEPMC-PL210

1

Interface

Analog

Analog

MECHATROLINK

Pulse

Number of Controlled Axes per Module

4

2

14

4

Maximum Number of Modules

15

16

16

16

Control

PTP Control

Linear, rotary, infinite-length, and independent axes

Specifi-

Interpolation

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

cations

Speed Reference Output

Yes

Yes

No

No

Torque Reference Output

No

Yes

No

No

Phase Control

Yes

Yes

No

No

Position

Positioning

Yes

Yes

Yes

Yes

Control

External Positioning

Yes

Yes

Yes

No

Zero Point Return

Yes

Yes

Yes

Yes

Interpolation

Yes

Yes

Yes

Yes

Interpolation with

Yes

Yes

Yes

No

Position Detection

Fixed-speed Feed

Yes

Yes

Yes

Yes

Fixed-length Feed

Yes

Yes

Yes

Yes

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 [phone] (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

Interpolation: 0.01% to 327.67% by group

Coordinate System

Rectangular coordinates

Zero

DEC1 + Phase-C

Yes

Yes

Yes

No

Point

DEC2 + Phase-C

Yes

Yes

No

No

Return

DEC1 + LMT + C

Yes

Yes

No

No

Phase-C

Yes

Yes

Yes

No

DEC1 + ZERO

Yes

No

Yes

Yes

DEC2 + ZERO

Yes

No

No

Yes

DEC1 + LMT + ZERO

Yes

No

No

Yes

ZERO

Yes

No

Yes

No

Pro-

Language

Special motion language, ladder logic program

grams

Number of Tasks

Up to eight programs can be executed in parallel.

Number of Programs

Up to 256

Program Capacity

80 Kbytes

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	SERVOPACKs	SERVOPACKs	Pulse Motor
	• SGDA- S	• SGDA- S	• SGD- N	Drivers
	• SGDB-	• SGDB-	• SGDBAN
	• SGDM-	• SGDM-	• SGDH-
	• SGDS-	• SGDS-	E+
	Inverters	Inverters	JUSP-NS100
			Inverters (216IF
			board required)
			• VS-616G5
			• VS-676H5
			• VS-676H5T
Encoder	Incremental or	Incremental or	Incremental or	No
	absolute	absolute	absolute

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

1-12

2

Motion Control

2

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

2.1.1Motion Control for the MP920

2.1Overview of Motion Control

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

2.1.1Motion Control for the MP920

The MP920 Machine Controller provides fully integrated sequence control and motion control.

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

							SERVOPACK
				Ladder logic program	MC program		M
Operation	Module		processing
panel
			I/O	Sequence	Motion control
	I/O			control			M
						Module
							Inverter
	Communications	Module				Motion
							M
Programming			Commu-
Device			nications				M
			control
Other
company's							Pulse motor
sequencer
							driver
				Analog Module			M
				Analog Device

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

2.1 Overview of Motion Control

Name	Features
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			Speed, position, and phase control
	Analog servos				Speed
	SGDA-		S	SVA-01A		SERVOPACK
					reference
	SGDB					M
				D/A
	SGDM
						PG
					Encoder	2
				Counter	Pulse

	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.

	16 Modules max.
SVA-02A	Inverters
	Analog servos			Speed, position, and phase control			Torque control
	SGDA-		S
	SGDB			SVA-02A	Speed reference	SERVOPACK	SVA-02A	Torque reference	SERVOPACK
	SGDM
				D/A		M	D/A		M
					Torque limit			Speed limit
				D/A			D/A
				A/D	Speed monitor	PG	A/D	Torque monitor	PG
				Counter	Encoder		Counter	Encoder
M	M				Pulse			Pulse

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 or
			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.

PO-01
16 Modules max.	PO-01	CW+	Pulse
		CW-	motor	M
		CCW+	driver
		CCW-
Pulse motor driver		DO
		DI
M M M M

2-3

2 Motion Control

2.1.2Motion Control Methods

2.1.2Motion 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 parameters 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.

CPU Module

SVA Module

Ladder logic program

Setting Parameters

H0101

OWC000

Motion

B00105

processing

IFON
		Monitoring Parameters
500	OWC015	Status
		Status
ELSE		information
0	OWC015

M	PG
SERVO-
PACK
M	PG
SERVO-
PACK
M	PG
SERVO-
PACK
M	PG
SERVO-
PACK

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 parallel.

CPU Module

CPU Module

Motion program

MOV [X] 100

MVS [X] 100

MCC - - - -

EXT

MSEE MPM001

	SVA Module
	Setting Parameters
MOV		SERVO-	M	PG
command
	Command	PACK
MOV	processing
command			M	PG
		SERVO-
MOV		PACK
command
		SERVO-	M	PG
	Status
		PACK
	information
		SERVO-	M	PG
		PACK
Monitoring Parameters

The use of the special motion language enables complex operations to be easily programmed. 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.

2-4