Yaskawa MP930 User Manual
YASKAWA
Machine Controller MP930
USER'S MANUAL
DESIGN AND MAINTENANCE
YA S K A WA
MANUAL NO. SIEZ-C887-1.1
Safety Information
The following conventions are used to indicate precautions in this manual. Failure to heed precau-
tions provided in this manual can result in serious or possibly even fatal injury or damage to the prod-
ucts or to related equipment and systems.
Safety Information
WARNING
!
Caution Indicates precautions that, if not heeded, could result in relatively serious or minor
!
The warning symbols for ISO and JIS standards are different, as shown below.
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.
Indicates precautions that, if not heeded, could possibly result in loss of life or
serious injury.
injury, damage to the product, or faulty operation.
ISO JIS
Yaskawa, 1999
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.
iii
Visual Aids
The following aids are used to indicate certain types of information for easier reference.
A
EXAMPLE
INFO
IMPORTANT
TERMS
Indicates application examples.
"
Indicates supplemental information.
Indicates important information that should be memorized.
Describes technical terms that are difficult to understand, or appear in the text without an
explanation being given.
iv
TABLE OF CONTENTS
TABLE OF CONTENTS
Safety Information iii...............................................
Visual Aids iv.....................................................
Overview ix.......................................................
Using This Manual x...............................................
Safety Precautions xi..............................................
1 MP930
1.1 Overview of the MP930 1 - 2.....................................
1.1.1 Appearance of MP930 Units 1 - 2...........................................
1.1.2 Features of the MP930 1 - 3................................................
1.2 Control Using the MP930 1 - 5....................................
1.2.1 Types of Program 1 - 5.....................................................
1.2.2 Ladder Logic Programs 1 - 6................................................
1.2.3 MC Programs 1 - 8........................................................
1.2.4 Control Signals 1 - 9.......................................................
1.3 Operation from Programming Devices 1 - 10.......................
1.3.1 File Manager 1 - 10.........................................................
1.3.2 System Information Definitions 1 - 11.........................................
1.3.3 Programming 1 - 12........................................................
1.3.4 Debugging and Monitoring 1 - 13.............................................
1.3.5 Printing 1-13.............................................................
2 MP930 Specifications and System Configuration
2.1 Specifications 2 - 2..............................................
2.1.1 General Specifications 2 - 2................................................
2.1.2 Hardware Specifications 2 - 3...............................................
2.1.3 Function List 2 - 4.........................................................
2.2 Basic System Configuration 2 - 31.................................
2.2.1 List of Basic Units 2 - 31....................................................
2.2.2 Basic System Configuration 2 - 32............................................
2.2.3 Precautions on System Configuration 2 - 33...................................
2.2.4 Programming Device 2 - 34..................................................
3 Basic System Operation
3.1 Operating Modes 3 - 2...........................................
3.1.1 Online Operating Mode 3 - 2................................................
3.1.2 Offline Stop Mode 3 - 2....................................................
3.2 Start and Stop Sequences 3 - 3..................................
3.2.1 DIP Switch Settings 3 - 3...................................................
3.2.2 Start Sequence 3 - 5......................................................
v
3.3 Power Failures 3 - 8.............................................
3.3.1 Power Failure Detection 3 - 8...............................................
3.4 User Programs 3 - 9.............................................
3.4.1 Drawings (DWGs) 3 - 9....................................................
3.4.2 Execution Control of Parent Drawings 3 - 10...................................
3.4.3 Motion Programming 3 - 14..................................................
3.5 Functions 3 - 22..................................................
3.5.1 Standard System Functions 3 - 22............................................
3.5.2 Creating User Functions 3 - 23...............................................
3.6 Registers 3 - 28..................................................
3.6.1 Register Designation Methods 3 - 28..........................................
3.6.2 Data Types 3 - 29..........................................................
3.6.3 Types of Register 3 - 33.....................................................
3.6.4 Using Subscripts I and J 3 - 36...............................................
3.6.5 I/O and Registers in Functions 3 - 38.........................................
3.6.6 Register Ranges in Programs 3 - 39..........................................
3.7 Managing Symbols 3 - 40.........................................
3.7.1 Symbols in Drawings 3 - 40..................................................
3.7.2 Symbols in Functions 3 - 41.................................................
3.7.3 Upward Linking of Symbols 3 - 42............................................
3.7.4 Automatic Register Number Allocation 3 - 43...................................
4 System Startup
4.1 Part Names 4 - 2................................................
4.1.1 MC Unit 4-2.............................................................
4.1.2 I/O Unit 4-6.............................................................
4.2 Connection Methods 4 - 8.......................................
4.2.1 Names and Locations of Connectors 4 - 8....................................
4.2.2 System Connection Example 4 - 9...........................................
4.2.3 Standard Cables 4 - 10.....................................................
4.2.4 Connector Pin Layout and I/O Circuits 4 - 12...................................
4.2.5 Connections to the Servopack and Motor 4 - 21................................
4.3 System Startup Methods 4 - 24....................................
4.3.1 Overview of the Startup Procedure 4 - 24......................................
4.3.2 Test Unit Configuration 4 - 25................................................
4.3.3 Equipment Preparations 4 - 26...............................................
4.3.4 Mounting the Units 4 - 27....................................................
4.3.5 Connecting the Devices 4 - 30...............................................
4.3.6 Starting the CP-717 4 - 39...................................................
4.3.7 Motion Parameter Settings 4 - 53.............................................
4.3.8 Creating and Saving Motion Programs 4 - 56..................................
4.3.9 Ladder Logic Programs 4 - 60................................................
4.3.10 Transferring Definitions, Parameters, and Programs 4 - 75......................
4.3.11 Checking Operations 4 - 81.................................................
vi
TABLE OF CONTENTS
5 Parameters
5.1 Description of Parameters 5 - 2..................................
5.1.1 Parameter Classifications 5 - 2..............................................
5.1.2 Parameter Lists 5 - 3......................................................
5.2 Parameter Settings 5 - 17.........................................
5.2.1 Fixed Parameters 5 - 17....................................................
5.2.2 Setting Parameters 5 - 21...................................................
5.2.3 Monitor Parameters 5 - 30...................................................
6 Controlled Axis Support Functions
6.1 Support Functions for Controlled Axes 6 - 2......................
6.1.1 Reference Unit 6 - 2.......................................................
6.1.2 Electronic Gear 6 - 3......................................................
6.1.3 Override Function 6 - 5....................................................
6.1.4 Infinite Length Positioning 6 - 6.............................................
6.1.5 Stroke Limit Function 6 - 8.................................................
7 Absolute Position Detection
7.1 Structure of the Absolute Position Detection Function 7 - 2........
7.1.1 Description of the Function 7 - 2............................................
7.1.2 Structure of Absolute Position Detection 7 - 2.................................
7.2 Starting the Absolute Position Detection Function 7 - 5............
7.2.1 System Startup Procedure 7 - 5.............................................
7.2.2 Setting Related Parameters 7 - 6............................................
7.2.3 Initializing the Absolute Encoder 7 - 8........................................
7.3 Using an Absolute Encoder 7 - 10.................................
7.3.1 Finite Length Mode Axis 7 - 10...............................................
7.3.2 Infinite Length Mode Axis 7 - 14..............................................
8 Maintenance and Inspection
8.1 Inspection Items 8 - 2...........................................
8.1.1 Daily Inspections 8 - 2.....................................................
8.1.2 Regular Inspections 8 - 3...................................................
8.2 Battery 8 - 5....................................................
8.2.1 Battery Life 8 - 5..........................................................
8.2.2 Battery Replacement 8 - 5..................................................
vii
9 Troubleshooting
Reading this Chapter (Troubleshooting Procedures) 9 - 2..............
9.1 Overview of Troubleshooting 9 - 3................................
9.1.1 Basic Troubleshooting Flow 9 - 3............................................
9.1.2 Indicator Errors 9 - 4.......................................................
9.2 System Errors 9 - 7..............................................
9.2.1 Overview of System Errors 9 - 7............................................
9.2.2 Processing Flow When a System Error Occurs 9 - 8...........................
9.2.3 Processing Flow When a User Program Error Occurs 9 - 9.....................
9.2.4 System Register Configuration 9 - 10.........................................
9.3 Motion Errors 9 - 23..............................................
9.3.1 Description of Motion Errors 9 - 23...........................................
9.3.2 Processing Flow When a Motion Error Occurs 9 - 24............................
A External Dimensions
A.1 External Dimensions of the MP930 Unit A - 2......................
A.2 Ladder Instructions and Standard System Functions A - 8..........
B Command List
B.1 Motion Command List B - 2......................................
B.2 Ladder Instructions and Standard System Functions B - 8.........
C Parameter Lists
C.1 Fixed Parameter List C - 2.......................................
C.2 Setting Parameter List C - 3......................................
C.3 Monitor Parameter List C - 5.....................................
D Monitor Parameter Alarm List
D.1 Motion Program Error D - 2......................................
D.2 Setting Errors in Fixed and Setting Parameters D - 4...............
D.3 Monitor Parameter Number 23 Alarms D - 5.......................
E List of System Registers
E.1 System (S) Register Allocation E - 2..............................
E.2 System Service Registers E - 3...................................
viii
Overview
Overview
About this Manual
J
This manual describes the design and maintenance for the MP930 Machine Controller, including the
following information.
D Overview and component specifications
D Installation and wiring
D Examples of internal panel layout and drilling plan
Read this manual carefully to ensure the proper use of the MP930 Machine Controller. Also, keep
this manual in a safe place so that it can be referred to whenever necessary.
Related Manuals
J
Refer to the following related manuals as required.
Thoroughly check the specifications, restrictions, and other conditions of the product before at-
tempting to use it.
Manual Name Manual Number Contents
MP9jjMachine Controller
Ladder Programming
User’s Manual
MP9jjMachine Controller
Motion Programming
User’s Manual
MP9jjMachine Controller
Programming Software
User’s Manual
SIEZ-C887-1.2 Describes the instructions used in MP9
ladder logic programming.
SIEZ-C887-1.3 Describes the motion instructions used by
MP9jjMachine Controllers.
Part 1:
SIEZ-C887-2.2−1
Part2:
SIEZ-C887-2.2−2
Describes the installation and operating procedures for the CP-717 Engineering Tool
Programming Software for MP9
Machine Controllers.
jj
jj
ix
Using This Manual
Intended Audience
J
This manual is intended for the following users.
D Those responsible for estimating the MP930 system
D Those responsible for deciding whether to apply the MP930 system
D Those responsible for designing the MP930 system so that it can be mounted in the control and
operating panels
D Those responsible for making, inspecting, testing, adjusting, and maintaining the control and op-
erating panels in which the MP930 is mounted
Description of Technical Terms
J
In this manual, the following terms are defined as follows:
D PP = Programming Panel
D PC = Programmable Logic Controller
D “−− ” in “MOV [axis1]−−...” represents numeric data for axis 1.
x
Safety Precautions
This section describes precautions that apply to ladder programming. Before programming, always
read this manual and all other documents provided to ensure correct programming. Before using the
equipment, familiarize yourself with equipment details, safety information, and all other precau-
tions.
Installation
J
D 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 MP930.
Safety Precautions
Caution
Module mounting screw (M4, Phillips head)
D Be sure to turn OFF the MP930 before installing it.
D Insert the connectors of the cables that are to be connected to the MP930 and secure them well.
Incorrect insertion of the connectors may result in a malfunction of the MP930.
Wiring
J
Caution
D Always connect a power supply that meets the given specifications.
Connecting an inappropriate power supply may cause fires.
D Wiring must be performed by qualified personnel.
Incorrect wiring may cause fires, product failure, or malfunctions.
D 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.
xi
Mandatory
D Always use the ground the FG terminal to a ground resistance 100 Ω or less.
Failure to ground the MP930 may result in electrical shocks or malfunctioning.
Select, separate, and lay external cables correctly.
D Consider the following items when selecting the I/O signal lines (external cables) to connect the
MP930 Module to external devices.
S Mechanical strength
S Noise interference
S Wiring distance
S Signal voltage, etc.
D Separate the I/O signal lines from the power lines both inside and outside the control panel to re-
duce 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
Power
circuit
cables
General
control circuit cables
Steel separator
Digital I/O
signal
cables
J Application Precautions
WARNING
D Do not touch any Module terminals when the system power is ON.
There is a risk of electrical shock.
Caution
D Do not attempt to modify the MP930 programs, force outputs, switch between RUN and STOP, or
performed other similar operations while the MP930 is operating without knowing the direct and
indirect consequences of the operation.
Incorrect programming or operation may damage the equipment or cause an accident.
xii
Safety Precautions
J Maintenance Precautions
WARNING
D 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.
Caution
D Do not attempt to disassemble or modify the MP930 Module in any way.
Doing so can cause fires, product failure, or malfunctions.
D The customer must not replace the built-in fuse.
If the customer replaces the built-in fuse, the MP930 Module may malfunction or break down.
The built-in fuse must always be replaced by Yaskawa service staff.
J General Precautions
Always note the following to ensure safe use.
D MP930 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.
D MP930 has been manufactured under strict quality control guidelines. However, if this product is to
be installed in any location in which a failure of MP930 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.
D Drawings in this manual show typical product examples that may differ somewhat from the product
delivered.
D 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.
D 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.
D 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.
D 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.
xiii
1
MP930
This chapter describes the type of work that can be done by the MP930 sys-
tem, and gives an easy-to-understand overview of the MP930.
1.1 Overview of the MP930 1 - 2................
1.1.1 Appearance of MP930 Units 1 - 2...................
1.1.2 Features of the MP930 1 - 3.......................
1.2 Control Using the MP930 1 - 5...............
1.2.1 Types of Program 1 - 5............................
1.2.2 Ladder Logic Programs 1 - 6.......................
1.2.3 MC Programs 1 - 8...............................
1.2.4 Control Signals 1 - 9..............................
1
1.3 Operation from Programming Devices 1 - 10....
1.3.1 File Manager 1 - 10................................
1.3.2 System Information Definitions 1 - 11................
1.3.3 Programming 1 - 12...............................
1.3.4 Debugging and Monitoring 1 - 13....................
1.3.5 Printing 1 - 13.....................................
1-1
1
MP930
1.1.1 Appearance of MP930 Units
1.1 Overview of the MP930
This section gives an overview of the MP930.
1.1.1 Appearance of MP930 Units
J Appearance of the MC Units
MC Unit Model No.: The follo win g illustr ation s ho ws the app ear anc e of the JEPMC-
MC350 Machine Controller Unit.
J Appearance of the I/O Units
I/O Unit Model No.: The follo win g illustr ation s ho ws the app ear anc e of the JEPMC-
IO350 I/O Unit.
1-2
1.1.2 Features of the MP930
The MP930 has the following features:
J The MP930 Machine Controller Unit is a micro machine controller
with a one−piece construction that integrates the power supply,
CPU, communications, and I/O.
The MP930 consists of an MC Unit, which provides both motion control functions and se-
quence control functions, and an I/O Unit. The servo amplifier and the I/O Unit are connected
to the MC Unit by a high-speed field network called MECHATROLINK. One MC Unit can
control a total of 14 servos and I/O Units.
J Motion programs can be executed in parallel.
D Multiple motion programs can be executed in parallel.
D Four program blocks can be executed in parallel in one motion program.
1.1 Overview of the MP930
1
Ladder Logic Program
MSEE MPM001 DA0000
MSEE MPM002 DA0002
MSEE MPM003 DA0004
MSEE MPM004 DA0006
J Reduced Startup Time and High Reliability
The use of the MECHATROLINK high-speed field network reduces startup time.
D The control panel startup time is reduced.
D High reliability is achieved.
a) Shielded twisted-pair cable
b)Only three lines to wire
c) Half the number of connectors
Motion Program MPM001
Motion Program MPM002
Motion Program MPM003
Motion Program MPM004
Motion Program MPM001
PFORK S1, S2, S3, S4;
S1
S2
S3
S4
S5: PJOINT
1-3
1
MP930
1.1.2 Features of the MP930
MC Unit I/O Unit
MECHATROLINK-compatible
Servopacks
J Wide Range of Motion Commands
Commands such as those shown in the following table can be used.
Complete Range of Move
Commands
Immediately Effective
Acceleration/Deceleration
Commands
Many Control Commands
POSITIONING, LINEAR INTERPOLATION, CIRCULAR INTERPOLATION, HELICAL INTERPOLATION, HOME RETURN,
SKIP, SET TIME POSITIONING, and EXTERNAL POSITIONING
ACCELERATION/DECELERATION TIME, S-CURVE TIME
CONSTANT, FEED SPEED SETTING, INTERPOLATION FEED
ACCELERATION/DECELERATION TIME SETTING, MAXIMUM INTERPOLATION FEED SPEED SETTING, and so on
I/O WAIT, IF statement, WHILE statement, Parallel Execution commands, Select Execution commands, and so on
Up to 14 stations
Wide Range of Math and
Logic Commands
Integer arithmetic commands: ADD, SUBTRACT, MULTIPLICATION, DIVISION
Floating-point commands: Addition, Subtraction, Multiply, Divide
Logic operations, SET BIT, RESET BIT
BCD-TO-BINARY, BINARY-TO-BCD
Trigonometric functions, inverse trigonometric functions, SQUARE
ROOT, and so on
1-4
1.2 Control Using the MP930
The MP930 is a machine controller with fully integrated sequence control and motion control. One
Controller simultaneously performs motion control and sequence control.
1.2 Control Using the MP930
I/O
processing
Operation panel
Programming Device
Figure 1.1 MP930 System Concept
1.2.1 Types of Program
Communications
control
Ladder logic program
Sequence control
MC program start
MSEE MPM001 DAXXX
MC program
Motion control
MPMxxx
.
.
.
.
.
.
.
Servo
amplifier
14 axes max.
Servomotor
1
Programs consist of ladder logic programs, which are designed mainly for sequence control,
and motion programs (called MC programs), which are designed mainly for servo control.
1-5
MP930
Equival
20
K
f
ladderl
1.2.2 Ladder Logic Programs
1.2.2 Ladder Logic Programs
J Types of Drawing
A ladder logic program is a program used for coding the sequence logic for conditional control
and sequence control, and for coding the sequence logic that starts an MC program. The ladder
logic program is created as the basic unit called drawings (DWGs).
1
The following types of drawing are provided: Start drawing, high-speed scan drawings, low-
speed scan drawings, and user functions.
D Startup Drawings
Startup drawings are executed once when the power is turned ON. The logic used to set
constants and initialize operation is normally coded in these drawings.
D High-speed Scan Drawings
High-speed scan drawings are executed at regular intervals. The scan time is within the
range of 2 to 32 ms, and scan times can be set at 2-ms intervals. The circuits used to
the MC program are coded in the high
speed scan drawings.
-
start
D Low-speed Scan Drawings
Low-speed scan drawings are executed at regular intervals. The scan time is within the
range of 2 to 300 ms, and scan times can be set at 2-ms intervals. Sequence logic that does
not require high-speed processing, such as lamp output and display circuits, should be
coded in low-speed scan drawings.
D User Functions
User functions are defined as user commands in the coded drawings, using the commands
provided for the MP930. User functions can be used in startup drawings, high-speed scan
drawings, and low-speed scan drawings.
Types of Drawing Maximum Number
of Drawings
Startup Drawings
High-speed Scan Drawings
Low-speed Scan Drawings
User Functions
64 DWG.A
100 DWG.H
100 DWG.L
200 FUNC-xxx
Drawing and
Function Notation
1-6
Remarks
S 500 steps max. per drawing
S
S Security function can be set separately for
S Separate revision history or each drawing.
ent to
ic program memory
each drawing.
steps max. o
og-
1.2 Control Using the MP930
J Configuration of Drawings
Drawings can be arranged in up to three hierarchical levels: parent, child, and grandchild draw-
ings. These drawings are developed downward using the SEE instruction.
Functions can be started from any drawing.
INFO
SEE Child
drawing number
Parent drawing Child drawing Grandchild drawing
Parent drawing Child drawing Grandchild
DWG.X DWG.X01.01
DWG.X01
SEE Grandchild
drawing number
Motion programs
drawing
DWG.X01.01
.
.
DWG.X01.01
DWG.Xnn
1.
X is replaced by A, H, or L.
2. A motion program can be started only from an H drawing.
3.
Motion programs are started with the MSEE instruction.
MPM001
.
.
.
MPM002
.
.
.
MPM015
User constants
FUNC-001
.
.
FUNC-006
.
.
FUNC-032
.
.
FUNC-064
1
1-7
1
MP930
1.2.3 MC Programs
1.2.3 MC Programs
An MC program codes the logic used for servo control in a motion control language. An MC
program is started using the MOTION PROGRAM CALL instruction (MSEE) in the ladder
logic program. There are two methods of designating an MC program: Direct designation of
the program number, and indirect designation of the number of the register in which the MPM
number is to be stored.
ABS;
MOTION PROGRAM
CALL instruction
MSEE MPM001 DA0000
↑
MPM number
MOV [X] _ [Y] _
MVS [X] _ [Y] _ F
IOW MB0001
MOV [X] _ [Y] _
.
.
.
Ladder logic program
0 3
Setting device
MC program
Figure 1.2 Starting an MC Program by Direct Designation
ABS;
MOTION PROGRAM
CALL instruction
MSEE MW00200 DA0000
MPM number
Ladder logic program
MW00200
MOV [X] _ [Y] _
MVS [X] _ [Y] _ F
IOW MB0001
MOV [X] _ [Y] _
Figure 1.3 Starting an MC Program by Indirect Designation
.
.
.
MC program
1-8
1.2.4 Control Signals
There are two types of control signal: 1) Group input control signals, which are shared by
groups, such as automatic operation start signals and emergency stop signals, and 2) Axis input
signals, which are used by designated axes only, such as servo ON signals and JOG signals.
The signals (variables) to be used as control signals are allocated on the Group Definition
Screen.
1.2 Control Using the MP930
Control signals
:
:
Group input signals
Automatic operation start,
emergency stop, override,
operation mode, etc.
X axis input signals
X axis input signals
Servo ON
JOG
Other
MC program
ABS;
MOV [X] _ [Y] _
X axis
MOV [X] _ [Y] _ F _
IOW MB0001
MOV [X] _ [Y] _
Y axis
.
.
.
.
.
1
1-9
1
MP930
1.3.1 File Manager
1.3 Operation from Programming Devices
This section gives an overview of the types of operation that can be performed using peripheral
devices.
A computer running the CP-717 programming software for the ladder logic programs and motion
programs for the MP930 is called a “Programming Device.”
Communications with the Unit are enabled by connecting a Programming Device to the MEMO-
BUS port of the MP930 MC Unit using a special cable.
The following operations can be performed from the Programming Device.
1.3.1 File Manager
The following folder and file management functions and file transfer functions are performed.
D File management
D User management
D File transfer
D Online/offline
D Logging off
D CPU control
1 -10
1.3.2 System Information Definitions
The following information definitions are set.
D System definitions
D Scan time settings
D Application settings
1.3 Operation from Programming Devices
D Module configurations
D Failure monitoring
D Data traces
D Group definitions
D Motion parameters
1
1-11
MP930
1.3.3 Programming
1.3.3 Programming
The following ladder logic programs and motion programs are edited.
D Main program creation
D Table format program creation
D Adjustment panel creation
1
D C registers
D Table data definitions
D Motion editor
1 -12
1.3.4 Debugging and Monitoring
The following functions are provided for debugging.
D Register list
D Adjustment panel
D Program monitor
1.3 Operation from Programming Devices
D Position monitor
D Task monitor
D Failure monitor
D Data trace monitor
1.3.5 Printing
1
The following data created for definitions and programming can be printed.
D Definitions
D Drawings and functions
D Motions
D Table data
D Registers
1 -13
2
MP930 Specifications and System
Configuration
This chapter explains the MP930 Unit specifications, together with the
products used in the system configuration of the MP930.
2.1 Specifications 2 - 2.........................
2.1.1 General Specifications 2 - 2.......................
2.1.2 Hardware Specifications 2 - 3......................
2.1.3 Function List 2 - 4................................
2.2 Basic System Configuration 2 - 31.............
2.2.1 List of Basic Units 2 - 31............................
2.2.2 Basic System Configuration 2 - 32...................
2.2.3 Precautions on System Configuration 2 - 33..........
2.2.4 Programming Device 2 - 34.........................
2
2-1
R
2
MP930 Specifications and System Configuration
2.1.1 General Specifications
2.1 Specifications
This section gives an overview of the specifications and functions of the MP930 Units.
2.1.1 General Specifications
J General Specifications of the MP930 Units
Table 2.1 lists the general specifications of the MP930 Units.
Table 2.1 General Specifications of the MP930 Units
Item Specifications
Environmental
Conditions
Electrical
Operating
Conditions
Mechanical
Operating
Conditions
Ambient Operating
Temperature
Storage Temperature
Ambient Operating
Humidity
Ambient Storage
Humidity
Pollution Level
Corrosive Gas
Operating Altitude
Noise Resistance
Vibration Resistance
0to55°C
−25 to 85 °C
30% to 95% RH (with no condensation)
5% to 95% RH (with no condensation)
Pollution level 1 (conforming to JIS B 3501)
There must be no combustible or corrosive gas.
2,000 m above sea level or lower
Conforming to JIS B 3502:
1,500 V (p-p) in either normal or common modes with
a pulse width of 100 ns/1µs 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/s2(1G)
10 sweeps each in X, Y, and Z directions
(sweep time: 1 octave/min)
Shock Resistance
Installation
equirements
Ground
Cooling Method
2-2
Conforming to JIS B 3502:
2
Peak acceleration of 147 m/s
each in the ±X, ±Y, and ±Z directions
Ground to 100 Ω max.
Natural cooling
(15G) twice for 11 ms
2.1.2 Hardware Specifications
J MP930 MC Unit Hardware Specifications
Table 2.2 lists the hardware specifications of the MP930 MC Unit.
Table 2.2 MC Unit Hardware Specifications
Item Specifications
2.1 Specifications
Name
Model Number
Memory
Communications
Ports
I/O Signals
Field Bus
Display Switch
*1, *2
MC Unit
JEPMC-MC350
2
Flash: 1 MB
RAM: 2 MB (battery backup)
RS-232C × 2 ports
Baud rate: 19.2 kbps
Female 9-pin D-sub connector (special pin assignments)
S MEMOBUS
S No protocol (custom)
S MELSEC
Inputs: 16 points
24 VDC (20.4 to 28.8 V)
5 mA, combined sinking/sourcing
Outputs: 16 points
24 VDC, 50 mA, sinking outputs
MECHATROLINK (high-speed field network)
Up to 14 servos and I/O stations can be connected.
Unit status indicators
I/O signal indicators
DIP switch for mode setting
Power Supply
Dimensions
*1. The I/O signal functions can be allocated.
*2. The Expansion I/O Unit can be used with MECHATROLINK communications.
24 VDC (20.4 to 28.8 V)
Rated current: 1 A; In-rush current: 50 A
120 (W) × 130 (H) × 105 (D) mm
2-3
MP930 Specifications and System Configuration
2.1.3 Function Lists
J I/O Unit Hardware Specifications
Table 2.3 lists the hardware specifications of the I/O Unit.
Table 2.3 I/O Unit Hardware Specifications
2
Item
Name
Model Number
I/O Signals
MC Unit Interface
Unit Power
Supply
Dimensions
* The maximum rating per point is 100 mA (depending on derating conditions).
2.1.3 Function Lists
J MP930 Motion Control Function Specifications
Specifications
I/O Unit
JEPMC-IO350
Inputs: 64 points
24 VDC, 5 mA, combined sinking/sourcing
Outputs: 64 points
24 VDC, 50 mA, sinking outputs (all points ON) *
Signal connection method: Connector (FCN360 Series)
MECHATROLINK (high-speed field network)
24 VDC (20.4 to 28.8 V)
Rated current: 0.5 A; inrush current: 1 A
120 (W) × 130 (H) × 105 (D) mm
Table 2.4 lists the motion control function specifications for the MP930.
Table 2.4 MP930 Motion Control Function Specifications
Item
Number of Controlled Axes
Control
Specifications
Reference Unit
Reference Unit Minimum
Setting
Maximum Programmable Value
Speed Reference Unit
Acceleration/Deceleration Type
Override Function
PTP Control
Interpolation
Speed Control
Torque Limit
1 to 14 axes
Linear, rotary, infinite-length, and independent axes
Up to 14 linear axes, 2 circular axes, and 3 helical axes
None
Yes (According to parameter setting only)
mm, inch, deg, pulse
1, 0.1, 0.01, 0.001, 0.0001, 0.00001
−2147483648 to +2147483647 (signed 32-bit value)
mm/min, inch/min, deg/min, pulse/min
Linear, asymmetric, S-curve
Asymmetric acceleration/deceleration is not possible with
POSITIONING (MOV).
Positioning: 0.01% to 327.67% by axis
Interpolation: 0.01% to 327.67% by group
Specification
2-4
Item Specification
Coordinate System
Zero Point Return
Programs
Applicable Servopack
Encoder
Command Words
Language
Number of
Tasks
Number of
Programs
Program
Capacity
2.1 Specifications
Rectangular coordinates
Four types
Dog + phase C, zero point limit switch, dog + zero point
limit switch, phase C
Home position setting function provided.
Special motion language
Multiple programs can be executed in parallel.
Up to 256
Equivalent to 80 Kbytes (characters)
(Can be increased or decreased according to the size of ladder
logic program used; maximum of 100 Kbytes.)
SGD-jjjN/SGDB-jjAN
Incremental or absolute
Axis Move Commands: 8 commands
MOV, MVS, MCW, MCC, ZRN, SKP, MVT, EXM
2
Basic Control Commands: 6 commands
ABS, INC, POS, PLN, MVM, PLD
Speed and Acceleration/Deceleration Commands: 7 commands
ACC, SCC, VEL, IAC, IDC, IFP, FMX
High-level Control Commands: 4 commands
PFN, INP, SNG, UFC
Control Commands: 10 commands
MSEE, TIM, IOW, END, RET, EOX, IF ELSE IEND,
WHILE WEND, PFORK JOINTO PJOINT, SFORK JOINTO SJOINT
Math and Sequence Control Commands: 32 commands
=, +, −, *, /, MOD, |, ^, &, !, (), S{}, R{}, SIN, COS, TAN,
ASN, ACS, ATN, SQRT, BIN, BCD, ==, <>, >, <, >=, <=,
SFR, SFL, BLK, CLR
J PLC Function Specifications
Table 2.5 lists the PLC function specifications.
Table 2.5 PLC Function Specifications
Item Specifications
Program Capacity
Control Method
Programming
Language
Equivalent to 4 Ksteps (varies according to amount of motion program used; 20 Ksteps max.)
Sequence: High-speed and low-speed scan methods
CP language
Ladder logic diagram: Relay circuit
Text-type language: Numeric operations, logic operations, etc.
2-5
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