How it Works
Yaskawa
Loading...
MP940
Hardware Manual
72 pgs3.9 Mb0
User Manual
522 pgs3.61 Mb0
Reference Manual
525 pgs3.59 Mb0
Table of contents
Loading...

Yaskawa MP940 Hardware Manual

MotionSuiteMP940 Machine Controller Hardware Manual

Table of Contents

Section 1: Introduction.....................................................................................1
Machine Controller ......................................................................................1
Part Numbers ...............................................................................................3
Section 2: Startup..............................................................................................5
Mounting the MP940 to an SGDH ..............................................................6
Mounting the Battery Holder.......................................................................8
Power / Connections ..................................................................................11
Wiring - Single Phase ..........................................................................12
Wiring - Three Phase ...........................................................................13
SGDH and MP940 Startup Procedure .......................................................14
Section 3: DIP Switch Definition ...................................................................15
Section 4: LED Indicators...............................................................................19
LED Display ..............................................................................................19
Section 5: Communications ............................................................................21
Serial Communication ...............................................................................21
System Configuration ..........................................................................22
Communication Specifications ............................................................23
Mechatrolink..............................................................................................27
MP940 Master......................................................................................27
Mechatrolink Connection ....................................................................28
DeviceNet ..................................................................................................29
Network Connections ..........................................................................29
Setting the Network Address ...............................................................30
Setting the Baud Rate ..........................................................................30
DeviceNet Status LEDs .......................................................................31
Setup Requirements on the Network Master .......................................31
Troubleshooting ..................................................................................32
i
Section 6: Digital I/O......................................................................................39
Digital I/O Specifications ..........................................................................40
Section 7: Limit Switch Inputs .......................................................................43
Section 8: Analog I/O .....................................................................................45
Analog Input ..............................................................................................45
Analog Output............................................................................................46
Section 9: External Encoder ...........................................................................47
External Encoder Specifications ................................................................48
Section 10: Registration Latch........................................................................49
Main Encoder Registration Input...............................................................50
External Encoder Registration Input..........................................................51
Section 11: Maintenance.................................................................................53
Battery Life ................................................................................................53
Battery Replacement..................................................................................53
Section 12: Specifications...............................................................................55
Physical Specifications ..............................................................................55
Hardware Specifications ............................................................................56
Section 13: Dimensional Drawings and Cable Diagrams...............................59
Dimensions ................................................................................................59
Connections ...............................................................................................63
Connector Specifications ...........................................................................64
I/O Connector ............................................................................................65
Mechatrolink Cables ..................................................................................67
Mechatrolink Cable..............................................................................67
ii
MotionSuite™ MP940 Machine Controller Hardware Manual Section 1: Introduction

Section 1: Introduction

The MP940 is a 1.5 axis machine controller which connects to an SGDH servo amplifier via dual-port RAM.
This combination makes a fully integrated one-and-a-half-axis machine controller. It can be used to perform point-to-point positioning, or following of external devices. It has on-board digital and analog I/O, and network connections to link to other factory automation equipment.
Note: Refer to the SGDH User’s Manual for SGDH information.

Machine Controller

Figure 1.1: MP940 Machine Controller / SGDH Combination
1
MotionSuite™ MP940 Machine Controller Hardware Manual Section 1: Introduction
evice
M
PG
SGDH
Current Control
Speed Control
Counter
AI
A/D
MP940
Motion
Dual Port RAM
Profiler
MP940
CPU
Local
I/O
DI
DO
AO
External
SERIAL
Network
Encoder
RS-232C
Motion
Works+
RS-422/485
Network
Device 1
Network
Device 2
Programming
D
Figure 1.2: Block Diagram of MP940 Functions
SGDH Amplifier
L1
L2
L1C L2C B1 B2
a) MP940
MP940
BAT
RDY
RUN
ALM
BAT
PRT1
PRT2
RUN
654321
INIT TEST
FLASH
PP COPY
NO
¨
PORT1
PORT2
POWER
+24V
GND
FG
Personal Computer
T X
R X
1
2
I/O
e) Battery Connector
M E C H A T
c) Mechatrolink or DeviceNet Interface
R O L I N K
d) Port #1 Serial Cable
.
b) I/O Connector
d) Port #2 Serial Cable
LED
e) Power Connector
Operator Interface
2
MotionSuite™ MP940 Machine Controller Hardware Manual Section 1: Introduction

Part Numbers

Description Item Number
Machine Controller with Mechatrolink Interface JEPMC-MC400
a)
MP940
I/O
Cables
Cables
Mechatrolink
Machine Controller with DeviceNet Interface JEPMC-MC410
1.0m 50 Pin I/O Cable JZSP-CKI01-1
2.0m 50 Pin I/O Cable JZSP-CKI01-2
b)
3.0m 50 Pin I/O Cable JZSP-CKI01-3
1.0m 50 Pin I/O Cable (with terminal block) JUSP-TA50P
Mechatrolink Cable 0.3m USB-USB JEPMC-W6000-A3
Mechatrolink Cable 0.5m USB-USB JEPMC-W6000-A5
Mechatrolink Cable 1.0m USB-USB JEPMC-W6000-01
c)
Mechatrolink Cable 3.0m USB-USB JEPMC-W6000-03
Mechatrolink Cable 5.0m USB-USB JEPMC-W6000-05
Mechatrolink Cable 10.0m USB-USB JPEMC-W6000-10
Serial
Software
Accessories
Mechatrolink Network Terminator Plug JEPMC-W6020
3.0m Port #1 Cable YS-15
d)
Cables
3.0m Port #1 or Port #2 Pigtail Cable YS-14
3.6V Lithium Battery (with cable and connector) BA000518
Battery Holder (replacement) DF9402712
e)
DC Power Supply Connector (replacement) UFS-0118
Mounting Clip A (replacement) DF9402713
Mounting Clip B (replacement) DF9402714
f)
MotionWorks™ MPE720
MotionWorks+™ CP717PLUS
3
MotionSuite™ MP940 Machine Controller Hardware Manual Section 1: Introduction
NOTES:
4
MotionSuite™ MP940 Machine Controller Hardware Manual Section 2: Startup

Section 2: Startup

Mounting Orientation

Mount the SGDH and MP940 in the appropriate direction for proper cooling, as shown on the left below.
Correct Incorrect
SGDH MP940
SGDH MP940
Figure 2.1: Mounting Orientation
5
MotionSuite™ MP940 Machine Controller Hardware Manual Section 2: Startup

Mounting the MP940 to an SGDH

1. Insert the lower two mounting notches into the mounting holes at the bottom of the right side of the SGDH.
Servo Amplifier Connector
SERVOPACKYASKAWA
SGDH-
Connector (connected to servo amplifier)
2.
M
P
9
4
0
6
5
4
3
2
1
¨
N
O
1.
Figure 2.2: Mounting the MP940 to an SGDH Servo Amplifier
2. Push the MP940 in the direction indicated by the arrows in the figure above, and insert the upper mounting notches of the MP940 into the upper mounting holes on the right side of the SGDH.
6
MotionSuite™ MP940 Machine Controller Hardware Manual Section 2: Startup
Clip A
2 Cli
1
There are two types of mounting clips due to different sizes of servo amplifiers. See the following table before mounting.
×
SGDH-A3 SGDH-05 SGDH-A5 SGDH-08 SGDH-01 SGDH-10 SGDH-02 SGDH-15 SGDH-04
Y
S
A
W
A
K
S
E
A
O
V
R
P
C
A
K
2
0
0
S
G
H
D
-
V
Clip A
p B ×
SGDH-20 SGDH-60 SGDH-30 SGDH-75 SGDH-50
Y
A
S
K
A
W
E
S
A
R
V
O
P
A
C
K
2
0
0
G
S
V
D
-
H
Clip A
Clip B
Top/Bottom: Clip A
Top: Clip A Bottom: Clip B
7
MotionSuite™ MP940 Machine Controller Hardware Manual Section 2: Startup
3. Insert the mounting clips into the mounting holes in the MP940, as shown in the figure below.
Servo Amplifier
Clip
Clip Mounting
Hook
MP940
Figure 2.3: Inserting the Mounting Clips
4. While pulling out on the mounting clip, hook the mounting clip on the top of the MP940 case.
5. Mount the lower clip in the same manner.

Mounting the Battery Holder

Follow the steps below to mount the battery holder. The mounting method for the MP940 battery holder is shown in the following figure.
Mounting Hole
3.
4.
1. Insert the battery holder into the MP940 upper battery holder mounting hole.
2. With the upper lock in contact with the battery holder mounting hole (top), push the bottom of the battery holder into the bottom mounting hole.
8
MotionSuite™ MP940 Machine Controller Hardware Manual Section 2: Startup
MP940
BAT
RDY
RUN
ALM
BAT
PRT1
PRT2
RUN
654321
INIT TEST
FLASH
PP COPY
NO
→
PORT1
PORT2
POWER
+24V
GND
FG
TX
RX
1
M E C H A T R
2
O L
I N K
I/O
LED
Upper lock
①
②
Push in this
lock
Battery Holder
Mounting Holes
Figure 2.4: Mounting the Battery Holder
3. Push the holder up to ensure it is securely mounted.
MP940
BAT
RDY
RUN
ALM
BAT
PRT1
PRT2
RUN
654321
INIT TEST
FLASH
PP COPY
NO
¨
PORT1
PORT2
POWER
+24V
GND
FG
TX
RX
1
M E C H A T R
2
O L
I N K
I/O
LED
Figure 2.5: The Battery Holder is Securely Mounted
9
MotionSuite™ MP940 Machine Controller Hardware Manual Section 2: Startup

Battery

A battery is needed during absolute encoder use for both MP940 and SGDH position data memory.
Battery for absolute encoder position data memory
Battery for RAM data backup and position data memory
SGDH Servo
Amplifier
MP940
MP940 Module
Figure 2.6: MP940 and SGDH Batteries
The batteries are required under the conditions listed below:
SGDH MP940 Usage Method
No No • FLASH Operation
• Incremental encoder, or absolute encoder used as an incremental encoder.
No Yes • No FLASH Operation (RAM used)
• Incremental encoder, or absolute encoder used as an incremental encoder.
Yes No • FLASH Operation
• Absolute encoder used.
Yes Yes • No FLASH Operation (RAM used)
• Absolute encoder used.
10
MotionSuite™ MP940 Machine Controller Hardware Manual Section 2: Startup

Power / Connections

The MP940 must be supplied with 24VDC. Detailed information on power requirements for the SGDH are found in the SGDH User’s Manual.
Power Consumption 20W
Recommended Fuse Size 1A
Type of Power Supply Regulated 24VDC ±10%
MP940
BAT
RDY
RUN
ALM
BAT
PRT1
PRT2
RUN
654321
INIT TEST
FLASH
PP COPY
NO
¨
PORT1
TX
RX
1
M E C H A T R
2
O L
I N K
I/O
PORT2
POWER
+24V
+24V
GND
GND
FG
FG
POWER
+24V
GND
FG
LED
Figure 2.7: MP940 Power Connection
Signal Name
+24V +24VDC Input
GND 0VDC Input
FG Frame Ground
11
MotionSuite™ MP940 Machine Controller Hardware Manual Section 2: Startup

Wiring - Single Phase

Apply power to the SGDH and MP940 at the same time. If the SGDH is not powered within 10 seconds after turning power ON to the MP940 (or vice versa), the units will not communicate with each other. Note: For maximum noise immunity, connect the FG to a ground terminal on the sub-panel, or to the ground terminal on the SGDH.
R T
1MCCB
Noise Filter
2MC
1MC
Control
Power
ON
1MC
Servo
Power
ON
2MC
L1
L2
L1C L2C B1 B2
Control
Power
OFF
Servo
Power
OFF
Emergency
Stop
654321
NO
ｨ
MP940
BAT
RDY
RUN
ALM
BAT PRT1
PRT2
RUN
INIT
TEST
FLASH PP
COPY
PORT1
PORT2
POWER
+24V
GND
FG
1MC
1MC
SUP
2MC
SUP
TX R X
1
M E C H A T R
2
O L I N K
I/O
LED
24VDC
Supply
+24V
Figure 2.8: Single-phase Wiring
12
+24V
0V
MotionSuite™ MP940 Machine Controller Hardware Manual Section 2: Startup
V

Wiring - Three Phase

Apply power to the SGDH and MP940 simultaneously. If the SGDH is not powered within 10 seconds after turning power ON to the MP940 (or vice versa), the units will not communicate with each other. Note: For maximum noise immunity, connect the FG to a ground terminal on the sub-panel, or to the ground terminal on the SGDH.
R
1MCCB
TS
Noise Filter
2MC
1MC
Control Power
ON
1MC
Servo
Power
ON
2MC
Control Power
OFF
Servo
Power
OFF
L1 L2 L3
L1C L2C B1 B2
Emergency
Stop
 ｨ
1MC
MP940
BAT
RDY
RUN
ALM
BAT PRT1
PRT2
RUN
654321
INIT TEST
FLASH PP COPY
NO
PORT1
PORT2
POWER
+24V
1MC
SUP
2MC
SUP
TX R X
1
M
E
C
H A T
R
2
O
L I N K
I/O
LED
GND FG
24VDC
Supply
+24V
+24
0V
Figure 2.9: Three-phase Wiring
13
MotionSuite™ MP940 Machine Controller Hardware Manual Section 2: Startup

SGDH and MP940 Startup Procedure

Follow the steps below to set up the system.
1. Set the DIP switch of the MP940 as “MEMORY CLEAR”. (Only ‘INIT’ and TEST are ON.)
2. Apply power to both the SGDH and the MP940.
3. Verify that the MP940 is initialized. (RDY and RUN LED lights blink.)
4. Set the DIP switch to normal operation. (Only RUN is ON).
5. Cycle the power of the MP940 and the SGDH.
6. Start the MotionSuite™ software tool and connect ON LINE.
14
MotionSuite™ MP940 Machine Controller Hardware Manual Section 3: DIP Switch Definition

Section 3: DIP Switch Definition

The function of the six switches is explained in the table below.
RUN
56
INITIAL
TEST
FLASH
P.P
1234
COPY
←
NO
Figure 3.1: MP940 DIP Switches
DIP Switch Settings
Number Name Setting Function
Default
Setting
6 RUN ON Application program runs at power ON ON
OFF Application program does not run at power ON
5 INIT ON When DIP switch 4 is OFF:
OFF
Data is copied from flash memory to RAM at power ON.
When DIP switch 4 is ON:
Memory is cleared.
OFF When DIP switch 4 is OFF:
Data is not copied from flash memory to RAM at power ON.
When DIP switch 4 is ON:
Nothing
4 TEST ON Terminal Mode/Initialization Mode OFF
OFF Online
3 FLASH ON Program is copied from flash memory to RAM at power ON. OFF
OFF Program is not copied from flash memory to RAM at power ON
2 Programming
Port Default
ON Defaults to Port 1 only OFF
OFF The programming port is set up through software selection
1 COPY ON Global variables are copied from flash at power ON OFF
OFF Global variables are not copied from flash at power ON.
15
MotionSuite™ MP940 Machine Controller Hardware Manual Section 3: DIP Switch Definition

Memory Initialization

To erase the application program, variables, and configuration data, set the DIP switches in the following order.
Step 1 Step 2 Step 3 Step 4 Step 5
Turn the MP940 power OFF
Turn the INIT and TEST DIP switches to ON
RUN
56
INITIAL
TEST
FLASH
P.P
1234
COPY
←
NO
Turn on the power, and check that the RDY and RUN LEDs are flashing (approximately 3s).
Turn the power OFF. Turn the Run DIP switch ON.
RUN
56
INITIAL
TEST
FLASH
P.P
1234
COPY
←
NO
Turn power ON.
Note:Perform memory initialization if controller power is turned OFF while the
battery is removed. This is not necessary if using the “Copy from Flash at Power Up” mode.

Standard Operation

The DIP switch pattern shown is the factory default setting.
Figure 3.2: Factory Default Setting
RUN
56
INITIAL
TEST
FLASH
P.P
1234
COPY
←
NO
16
MotionSuite™ MP940 Machine Controller Hardware Manual Section 3: DIP Switch Definition

Flash Memory Operation

Outline Of Flash Operation
Programs created by the user are normally stored in RAM. The CPU executes programs stored in RAM. The programs stored in RAM can also be saved to the flash memory. Running programs after copying them from flash to RAM at power ON is called flash operation.
Flash memory saves programs even if there is no memory backup battery.
Flash Start Mode
Transfer from flash memory to RAM occurs when DIP switch 3 is ON (flipped to the right) and the power is turned ON.
Note: MotionSuite™ software tools have a setting which copies the application program to flash when downloading. Refer to the software manual for details. The flash start mode does not work unless an application program has been saved to flash.
Figure 3.3: Transfer from Flash Memory to RAM

Retaining Variable Data

The lithium battery makes it possible to save variable data in RAM even when the power is OFF. This is useful when saving data that changes during operation, such as a parts counter, or specific information about a job run. Programming must be written so that specific variables that must be retained are not initialized every time the power is turned ON.
RUN
56
INITIAL
TEST
FLASH
P.P
1234
COPY
←
NO
17
MotionSuite™ MP940 Machine Controller Hardware Manual Section 3: DIP Switch Definition

Copying Servo Amplifier Pn Data from MP940 to SGDH

It is possible to load parameter data that was downloaded to the controller via MotionWorks or MotionWorks+ by turning off all DIP switches except the copy switch. The parameter transfer will occur at power up. The display panel on the SGDH will go off during the parameter transfer. Return the DIP switches to standard operation and cycle power after the operation is complete.
18
MotionSuite™ MP940 Machine Controller Hardware Manual Section 4: LED Indicators

Section 4: LED Indicators

LED Display

The MP940 runs a series of tests during start-up. If an error is detected, the ERR LED flashes, and the content of the error corresponds to the number of flashes. MotionSuite™ software tools cannot communicate with the controller while an error LED is flashing or memory initialization is occurring. The MP940 LEDs are shown in the following table.
LED Display Patterns
LED
Type
Normal ON OFF OFF OFF Application program stopped
Error OFF OFF ON OFF Memory error (initialization may be required)
Warning — — — ON Battery alarm
Other Flashing Flashing OFF OFF Memory initialization by DIP switch setting complete.
RDY
(Green)
ON ON OFF OFF Normal application program execution
OFF OFF OFF OFF Initial operation (when display continues)
OFF OFF Flashing OFF
ON ON ON OFF 1. Operand error or I/O error
System (S) register message (no LED display)
OFF OFF ON OFF Offline testing mode.
RUN
(Green)
ERR
(Red)
BAT
(Red)
1. 2 flashes: RAM error
2. 3 flashes: ROM error
3. 4 flashes: Peripheral LSI letter
Hardware status (Momentary Stop, RUN/STOP, Test­ing Mode, etc.)
Meaning
In addition, there are the following four LEDs.
Description Type Color
PRT1 RS232 Green Flashes to indicate communication
PRT2 RS422 Green Flashes to indicate communication
TX Mechatrolink Green Flashes to indicate communication
RX Mechatrolink Green Flashes to indicate communication
19
Meaning
Loading...
+ 50 hidden pages
Buy Points How it Works FAQ Contact Us Questions and Suggestions Privacy Policy Cookie Policy Terms of Use