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Yaskawa
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MP940
Hardware Manual
72 pgs3.9 Mb0
User Manual
522 pgs3.61 Mb0
Reference Manual
525 pgs3.59 Mb0
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Yaskawa MP940 Reference Manual

MotionSuite™ MP940 Machine Controller Reference Manual
MotionSuite™ MP940 Machine Controller Reference Manual
WARNING
Yaskawa manufactures component parts that can be used in a wide variety of industrial applications. The selection and application of Yaskawa products remains the responsibility of the equipment designer or end user. Yaskawa accepts no responsibility for how its products may be incorporated into the final design.
Yaskawa offers an express warranty only as to the quality of its products to conform to the catalog specifications. No other warranty, express or implied, is offered. Yaskawa assumes no liability for any personal injury, property dam­age, losses or claims arising out of the mis-application of its products.
Contents
Chapter 1: General Functions . . . . . . . . . . . . . . . . . . . . . . . 1-1
Outline of the MP940 . . . . . . . . . . . . . . . . . . . . . . . . 1-1
Chapter 2: Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
Specifications and Functions . . . . . . . . . . . . . . . . . . 2-1
Chapter 3: Basic System Operation . . . . . . . . . . . . . . . . . . . 3-1
Operation Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
Start, Stop Sequence . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Scan Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
User Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15
Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-27
Register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-34
Symbol Management . . . . . . . . . . . . . . . . . . . . . . . 3-47
Chapter 4: MP940 Functions . . . . . . . . . . . . . . . . . . . . . . . . 4-1
Outline of MP940 Functions . . . . . . . . . . . . . . . . . . . 4-1
Serial Transmission Function . . . . . . . . . . . . . . . . . . 4-4
LI/O Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17
CNTR Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-23
Mechatrolink Function . . . . . . . . . . . . . . . . . . . . . . 4-34
Chapter 5: System Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
Handling Each Part . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
Connection Method . . . . . . . . . . . . . . . . . . . . . . . . 5-14
Connection with Peripheral Devices. . . . . . . . . . . . 5-27
Servo Amplifier Main Circuit Connection . . . . . . . . 5-34
Servo Amplifier I/O Signal . . . . . . . . . . . . . . . . . . . 5-38
Encoder Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-46
Outline of the Start-up Procedure. . . . . . . . . . . . . . 5-49
Test Device Configuration . . . . . . . . . . . . . . . . . . . 5-50
Outline of Test Device Configuration . . . . . . . . . . . 5-51
Preparation of Devices Used . . . . . . . . . . . . . . . . . 5-52
Handling of the MP940 Module . . . . . . . . . . . . . . . 5-53
Mounting of Battery Holder . . . . . . . . . . . . . . . . . . . 5-56
Connection and Wiring . . . . . . . . . . . . . . . . . . . . . . 5-57
Chapter 6: Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
Parameter Outline . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
Parameter Setting . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
Parameter Details . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9
i
SGDH User Parameters . . . . . . . . . . . . . . . . . . . . . 6-54
Chapter 7: Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . 7-1
Outline of Absolute Encoder Functions . . . . . . . . . . 7-1
Starting the Absolute Encoder Function. . . . . . . . . . 7-7
Absolute Encoder Usage Method. . . . . . . . . . . . . . 7-16
Chapter 8: Maintenance Inspection . . . . . . . . . . . . . . . . . . . 8-1
Inspection Items . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
MP940 Module Battery. . . . . . . . . . . . . . . . . . . . . . . 8-3
Chapter 9: Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
Troubleshooting Outline . . . . . . . . . . . . . . . . . . . . . . 9-1
System Errors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-5
Motion Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-21
Chapter 10: Servo Amplifier Maintenance and Inspection . 10-1
Servo Amplifier Maintenance/Inspection . . . . . . . . 10-1
Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-4
Chapter 11: Motion Control . . . . . . . . . . . . . . . . . . . . . . . . 11-1
Outline of Motion Control . . . . . . . . . . . . . . . . . . . . 11-1
Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-6
Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . 11-29
Position Control by Motion Commands . . . . . . . . 11-50
External Positioning (EX_POSING) . . . . . . . . . . . 11-58
Zero-point Return (ZRET). . . . . . . . . . . . . . . . . . . 11-63
Interpolation (INTERPOLATE) . . . . . . . . . . . . . . . 11-79
Interpolation with Position Detection (LATCH). . . 11-81
Set Speed Feed (FEED). . . . . . . . . . . . . . . . . . . . 11-82
Stepping (STEP) . . . . . . . . . . . . . . . . . . . . . . . . . 11-85
Zero-point Setting (ZSET) . . . . . . . . . . . . . . . . . . 11-89
Appendix A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
User Parameter List . . . . . . . . . . . . . . . . . . . . . . . . . A-1
Structure of User Parameters . . . . . . . . . . . . . . . . . . A-1
User Parameter List . . . . . . . . . . . . . . . . . . . . . . . . . A-2
Switch List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-7
Input Signal Selection List . . . . . . . . . . . . . . . . . . . A-12
Output Signal Selection . . . . . . . . . . . . . . . . . . . . . A-14
Auxiliary Functions List. . . . . . . . . . . . . . . . . . . . . . A-15
Monitor Mode List . . . . . . . . . . . . . . . . . . . . . . . . . . A-16
Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-17
Scan Processing . . . . . . . . . . . . . . . . . . . . . . . . . . A-32
ii
SAFETY INFORMATION
PRECAUTIONS
1. Read this instruction manual in its entirety before using the MP940.
2. The following symbols are used to indicate precautions of which the user must be aware to safely use this equipment.
CAUTION
The symbol above indicates a potentially hazardous situation which, if not avoided, may result in minor or moderate injury.”
WARNING
The symbol above indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury.”
iii
MotionSuite™ MP940 Machine Controller Reference Manual Outline of the MP940

Chapter 1: General Functions

This chapter describes the general functions and characteristics of the MP940.

Outline of the MP940

This section provides a general outline of theMP940.

Exterior of the MP940 module

The MP940 is a single-axis controller with communication, local I/O, external encoder, and motion functions bus connected with an SGDH servo amplifier.
MP940
TX
BAT
R
X RDY RUN ALM
1 BAT
L1 L2
L1C L2C B1 B2
PRT1 PRT2
RUN
654321
INIT TEST FLASH PP COPY
NO
･¨
PORT1
PORT2
POWER
+24V GND FG
M E C H A T R
2
O L I N K
I/O
LED
Figure 1.1: MP940 Machine Control and SGDH Servo Amplifier
1-1
Outline of the MP940 MotionSuite™ MP940 Machine Controller Reference Manual

Features of the MP940

The MP940 machine controller functions in a variety of machine control modes, from simple positioning to high-speed/high-precision synchronous control.
A single controller
The MP940 is composed of the following modules.
Function Module Content
MP940 CPU SERIAL Serial communication RS-232C, RS-422/485 LIO Control I/O, DI 8points, DO 8points, AO 1CH SVA Motion function CNTR Counter function MLINK or DeviceNet Mechatrolink I/F function or DeviceNet I/F function
M
PG
AI
SGDH MP940
Current Control
Counter
Speed Control
A/D
DPRAM or Global Memory
Programming Device
Figure 1.2: MP940 Functions
SVA
RS-232C
.
SERIAL
RS-422/485
MP940
CPU
MLINK
or
DeviceNet
MLINK
Device 1
DeviceNet
Local
I/O
or
DI DO AO
AI
CNTR
MLINK
Device 2
1-2
MotionSuite™ MP940 Machine Controller Reference Manual Outline of the MP940
Synchronized controller and servo amplifier
High-speed/high-prescision control is possible because the controller and SGDH servo amplifier are bus connected. There is no lag in startup or monitor time, and execution is accomplished in perfect synchronization.
The control period settings can be set to the following periods:
500 µs, 1 ms, 2 ms 4 ms
Reduced wiring/Smaller size
The combination controller/servo amplifier result in wiring reduction and space savings.
Variety of motion control modes, including:
• Positioning, linear interpolation motion program commands
• High-speed processing position/synchronous phase/speed control/torque control
• Excellent for electronic shaft and electronic gear applications
The four control modes (speed, synchronous phase, torque, and position) are illustrated below..
V
Synchronous
Speed
Phase
Torque
Position
T
Figure 1.3 Four Control Modes
1-3
Outline of the MP940 MotionSuite™ MP940 Machine Controller Reference Manual
The following figure provides an example of a synchronous phase control application.
MP920
Servo Motor
X
Į
Servo Amp.
Ball Screw
Figure 1.4: Electronic Camming
High-precision synchronous control
User parameter change is executed at high speed for monitor and servo amplifier data. High-precision synchronous control is possible through the READ/WRITE function of this data in both ladder and motion programs.
• Mode switching during operation
Switching between position control, torque control, speed control, and synchronous phase control is possible during operation.
1-4
MotionSuite™ MP940 Machine Controller Reference Manual Outline of the MP940
• Run commands
P/PI switching, external torque limit, and speed limit during torque con­trol can be commanded from the MP940 during operation.
• READ/WRITE function of servo amplifier user parameters
User parameters such as Servo Amplifier Position Loop Gain, Speed Loop Gain, Speed Loop Integral Time Constant, etc. may be modified during operation.
• Position data monitor
The various position data, reference speed, speed monitor, and external encoder data can be referenced at high speed within the program, as depicted below.
SGDH MP940
Global Memory or DPRAM
Speed Torq ue
Speed reference
Torque reference
Tor q ue li m it
Speed P/PI
Switching
User parameter
Various monitor data
• Position
• Speed
• Torque
Figure 1.5: Position data monitor
Mode switching command
Various run commands
User parameter READ/WRITE
Monitor data reference
1-5
MotionSuite™ MP940 Machine Controller Reference Manual Specifications and Functions

Chapter 2: Specifications

This chapter describes the general specifications and functions of the MP940.

Specifications and Functions

This section describes the general specifications and functions of the MP940.

General Specifications

Item Specification
Ambient Usage Temperature 0 ~ +55ºC Storage Temperature -20 ~ +85º Ambient Usage Humidity 30 ~ 95% RH (no condensation) Ambient Storage Temperature 5 ~ 95% RH (no condensation)
Pollution Level JIS B3501 standard pollution level 1 Corrosion Resistance No flammable or corrosive gas
Physical Environment
Usage Altitude less than 2000M above sea level Noise Resistance JIS B3502 standard
Normal Mode 1500Vp-p Common Mode 1500Vp-p Pulse Width 100ns/ 1
Characteristics
Electrical Drive
Vibration Resistance JIS B3502 standard
Characteristics
Mechanical Drive
Shock Resistance JIS B3502 standard
Grounding Cooling Method
Ground
Conditions
Boot-up time 1ns (according to noise simulator)
Vibration Amplitude/Acceleration : 10
≤ f<57Hz Half-wave Amplitude 0.075mm ≤ f ≤150Hz set acceleration 9.8m/s
57 Scan in each of the X, Y, Z directions (1
octave/ min.)
× Number of scans 10
Peak Acceleration 147m/s Twice in each direction ( X, Y, and Z)
Class 3 Grounding Natural Cooling
2
2
work time 11ms
2-1
Specifications and Functions MotionSuite™ MP940 Machine Controller Reference Manual

Hardware Specifications

Hardware Specifications
Item Specification
Name MP940 (Mechatrolink) MP940D (DeviceNet) Model JEPMC-MC400 JEPMC-MC410 Memory FLASH 2MB
SRAM 2MB (battery backup)
Communication Port 1 RS-232C Port (Port1)
Baud Rate Setting 9.6k/19.2kbps MDR-14 (dedicated pin assignment) Protocol
• Memobus
• No Protocol
• Melsec Communication 1 RS-422/485 Port (Port2)
Baud Rate Setting 9.6k/19.2kbps MDR-14 (dedicated pin assignment) Protocol
• Memobus
•
No Protocol
• Melsec Communication
Network Baud rate: 4Mbps
Cycle: 1ms, 2ms, 4ms Maximum # of Slaves: 6 @ 1ms, 14 @ 2ms, 29 @4ms
Display LEDs Status Display LEDs
READY (Green) RUN (Green) ALM (Red) BATALM (Red) PRT1 (Green) PRT2 (Green)
Mechatrolink Operation Display LEDs RX (Green) TX (Green)
Setting Switches DIP switches for mode setting
RUN/STOP INITIAL TEST FLASH PP_INIT MREG_CPY
Baud rate: 125Kbps, 250 Kbps, 500Kbps Mode: Slave Node: 63 maximum
DeviceNet operation display LEDs M9 (Red/Green) N9 (Red/Green)
2-2
MotionSuite™ MP940 Machine Controller Reference Manual Specifications and Functions
Hardware Specifications (Continued)
Item Specification
DeviceNet Setting Switch — DR0.DR1: Baud rate
DR0 DR1
OFF OFF 125Kbps OFF ON 250Kbps
ON OFF 500Kbps ON ON Do not use
X1: Slave/Master X2: Reserved
Input Signals Number of Inputs: 8/Common
Input Type: Combined sink/source Input Type: Type 1 (JIS-B3501) Insulation Type: Photocoupler Insulation Base Voltage: 17.4VDC ~ 28.8VDC 35VDC (at peak) Rated Current: 5.3mA Input Impedance: approximately 4.4kΩ Operating Voltage: ON Voltage 15VDC or higher OFF Voltage 5VDC or less OFF Current: 0.9mA or less Response Time: OFF ON
Output Signals Number of Outputs: 8/Common
Output Type: Sinking Output Output Type: Transistor Output Insulation Type: Photocoupler Insulation Load Voltage: 19.2 ~ 28.8V
35VDC (at peak) Load Current: 0.1A/Circuit 0.8A/Common ON Voltage: 1.0V or less External Source Voltage: 24V
15mA Output Protection:1 common fuse Fuse Rating:1.5A (Fusing Time: 5s or less at 3A) Response Time: OFF ON
ON 0.5ms or less
OFF 1.5ms or less
DC
±20%
DC
ON 0.25ms or less
OFF 1ms or less
2-3
Specifications and Functions MotionSuite™ MP940 Machine Controller Reference Manual
Hardware Specifications (Continued)
Item Specification
Pulse Input Pulse Input Circuit: 5V Deviation 1MHz input maximum
Pulse Input Circuit: A/B phase input (1×, 2×, 4× multiples can be selected) AB Format, Sign Format, Add/Subtract Format
Pulse Counter Latch: (the external signal can be switched between 5V/12V/24V) Analog Input SGDH Servo Amplifier Analog Output Resolution:16-bit
Output Range: 0 ~ 10V
Power Input Input Signal: 24VDC ±20% (19.2VDC ~ 28.8VDC)
Input Current: 0.4A
Fuse Rating: 1.5A
Safety Criteria: UL, CSA standard External Dimensions W44mm H142mm D128mm
2-4
MotionSuite™ MP940 Machine Controller Reference Manual Specifications and Functions

Function List

MP940 Motion Control Function Specificationss

Item Specification
Number of Control Axes 1
PTP Control Linear, Rotary, Unlimited Interpolation Linear Speed Reference Output Yes Torque Reference Output Yes Position Control Positioning, External Positioning, Zero-point Return, Interpolation,
Interpolation with position detection function, set feed speed, stepping
Phase Control Yes
Contour Specifications
Command Unit mm, inch, degree, pulse Minimum Command Set-
ting Unit Maximum Command
Value Speed Reference Unit mm / min., inch / min., deg / min., pulse / min.
Position Control
Acceleration Type Linear, Asymmetric, S-curve
Override Function 0.01 ~ 327.67% Coordinates Linear Coordinates Zero-point Return 8 Types
Language Dedicated motion language ladder
Number of Tasks A maximum of 8 parallel programs can be simultaneously executed.
Number of Programs 32 maximum
Properties
Program Capacity 80kb Applied Servo Amplifier Analog Type: SGDH-**AE Encoder Incremental/Absolute
Speed Control
Speed Reference -327.68 ~ +327.67 %/Rated Speed
Acceleration Type Linear, asymmetric, S-curve (motion average)
Torque Control
Phase Control
Torque Reference -327.68 ~ +327.67 %/Rated Torque
Speed Reference Unit -327.68 ~ +327.67 %/Rated Speed
Speed Correction -327.68 ~ +327.67 %/Rated Speed Position Correction -2147483648 ~ +2147483647 pulses
1, 0.1, 0.01, 0.001, 0.0001, 0.00001
-2147483648~+2147483647 (with 32-bit sign)
1. DEC1+C phase 5. DEC1+ZERO
2. DEC2+C phase 6. DEC2+ZERO
3. DEC1+LMT 7. DEC1+LMT+ZERO
4. C-phase 8. ZERO
With torque limit function
With speed limit function
2-5
Specifications and Functions MotionSuite™ MP940 Machine Controller Reference Manual
Item Specification
Command Language Axis Motion Commands 5
MOV, MVS, ZRN, SKP, EXM Basic Control Commands 5 ABS, INC, POS, MVM, PLD Speed, Accel/decel commands 8 ACC, DCC, SCC, VEL, IAC, IDC, IFP, FMX Upper-level Control Commands 4 PFN, INP, SNG, UFC Control Commands 10 MSEE, TIM, IOW, END, RET, EOX, IF, ELSE, IEND, WHILE WEND, SFORK, JOINTO, SJOINT Operations/Sequence Control Commands 32 =, +, -, *, /, MOD, |, ^, &, !, (), S{}, R{}, SIN, COS, TAN, ASN, ACS, ATN, SQRT, BIN, BCD, ==, <>, >, <, >=, <=, SFR, SFL, BLK, CLR

PLC Function Specifications

Item Specification
Program Capacity For every 2k steps (varies according to the size of the motion program. 40k steps
maximum)<H> Control Format Sequence: Scan Format Program Language CP Code
Ladder Diagram: Relay Circuit
Text-type language: Numerical operations, logical operations, etc. Scan Servo Control Scan Time Setting: 0.5 / 1.0 / 2.0 / 4.0 ms
High-speed Scan Time Setting: 0.5 ~ 32.0ms (0.01ms units) S scan integer multiples
Low-speed Scan Time Setting: 2.0 ~ 200.0ms (0.01ms units) S scan integer multi-
ples User Diagrams
Functions, Motion Programs
Start Drawing (DWG.A):Maximum of 4 drawings, with up to 3 layers per drawing
System Scan Drawing (DWG.S): Maximum of 16 drawings, with up to 3 layers per
drawing
High-speed Scan
Drawing (DWG.H)
:Maximum of 16 drawings, with up to 3 layers
per drawing
Low-speed Scan
Drawing (DWG.L)
Interrupt Drawing (DWG.I)
Number of steps
User Functions
Motion Programs
Drawing, Motion Program Modification History
Drawing, Motion Program Secure Holding Function
2-6
:Maximum of 32 drawings, with up to 3 layers
per drawing
:Maximum of 8 drawings, with up to 3 layers per
drawing
:Maximum 500 steps/drawing :Maximum 32 functions :Maximum 32
MotionSuite™ MP940 Machine Controller Reference Manual Specifications and Functions
Item Specification
Data Memory Global Data (M) Register
System (S) Register
DWG Local (D) Register
DWG Setting (#) Register
Input (I) Register
Output (I) Register
Constant (C) Register Trace Memory Data Trace :4k words (4k words × 1 group) Memory Backup Program Memory :CMOS Battery Backup Data Type Bit (Relay)
Integer
Double-length Integers
Real Numbers Register Attribute Register Number
Designation
Symbol Designa-
tion Command Lan-
guage
Program Control
Commands
During Direct I/O
Commands
Relay Circuit Com-
mands
Logical Operation
Commands
Numerical Opera-
tion Commands
Numerical Conver-
sion Commands
Numerical Compar-
ison Commands
Data Operation
Commands
Basic Function
Commands
Display Data Oper-
ation Commands
DDC Commands
System Functions
: Direct Register Number Designation : A maximum of 8 alphanumeric characters. (
200 symbols/DWG maximum) Autonumbering and auto­symbols available
:14
: 2
:14 (including set, reset coils)
: 3
:16
: 9
: 7
:14
:10
:11 :13 :9
: 32 kwords : 1 kwords : Maximum 16 words/DWG : Maximum 16 words/DWG : 2 kwords (including internal input register) : 2 kwords (including internal output register) : 32 kwords
: ON/OFF : -32768 ~ +32767 : -2147483648 ~ 2147483648 : ±(1.175E-38 ~ 3.402E+38)
Command Language
2-7
Specifications and Functions MotionSuite™ MP940 Machine Controller Reference Manual

Motion Command List

Command Language Types Commands Function
Axis Motion Commands MOV Positioning
MVS Linear Interpolation ZRN Zero-point return SKP Skip command EXM External Positioning
Basic Control Commands ABS Absolute mode
INC Incremental mode POS Current Variation MVM Machine Coordinate Designation PLD Program Current Position Update
Speed/Acceleration Commands ACC Acceleration Time Change
SCC S-curve Parameter Change VEL Feed Speed Change IAC Interpolation Acceleration Time Change IDC Interpolation Deceleration Time Change IFP Interpolation Feed Speed Ratio Setting FMX Interpolation Feed High-speed Setting
Upper-level Control Commands PFN In-position Check
INP 2nd in-position check SNG Ignore Single Block UFC User Function Call-out
Control Commands MSEE Sub-program Call-out
TIM Timed Wait IOW I/O Variable Wait END Program Close RET Sub-program Close EOX 1 scan WAIT command IF
ELSE IEND
WHITE WEND
SFORK JOINTO SJOINT
Branching Commands
Repetition Commands
Selection Execution Commands
2-8
MotionSuite™ MP940 Machine Controller Reference Manual Specifications and Functions
Command Language Types Commands Function
Sequence Commands = Replacement
+, -, ×, /, MOD Numerical Operations |, ^, &, ! Logical Operations SIN, COS,
TAN, ASN, ACS, ATN, SQRT, BIN, BCD
==, <>, >, <, >=, <=
SFR, SFL, BLK, CLR
(), S{}, R{} Other
Function Commands
Numerical Comparison Commands
Data Operation
Motion Command List
Type Command Name Command Format Function/Meaning
MOV Positioning MOV [axis1]—; * Executes fast feed positioning. MVS Linear Interpolation MVS [axis1]—F; Executes linear interpolation at
interpolation feed speed F. ZRN Zero-point return ZRN [axis1] ; Returns to zero-point. SKP Skip Command SKP [axis1]SSF; When turned on during linear
interpolation execution, the
machine skips the remaining
motion and proceeds onto the
next block. EXM External Positioning EXM [axis1] D; Upon input of an external posi-
Axis Motion Commands
tioning signal during positioning
execution, the machine pro-
ceeds to the next block after
positioning only in increments of
the motion designated in “D”.
2-9
Specifications and Functions MotionSuite™ MP940 Machine Controller Reference Manual
Type Command Name Command Format Function/Meaning
ABS Absolute mode ABS; The following coordinate
expressions are handles as
absolute values. INC Incremental mode INC: The following coordinate
expressions are handles as
incremental values. POS Current Variation POS [axis1]; Changes the current value to a
desired coordinate.Subsequent
motion commands execute
motion on the basis if the new
coordinates. MVM Machine Coordinate
Command
Basic Control Commands
PLD Program Current
Position Update
ACC Acceleration Time
Change
DCC Deceleration Time
Change
SCC S-curve Parameter
Change VEL Feed Speed Change VEL [axis1] ; Sets feed speed. IAC Interpolation
Acceleration Time
Change IDC Interpolation
Deceleration Time
Change IFP Interpolation Feed
Speed Ratio Setting
Speed/Accel/Decel Commands
FMX Interpolation Feed
High-speed Setting
MVM MOV [axis1]; or MVM MVS [axis1];
PLD [axis1] ; Updates the current position of
ACC [axis1]; Sets the acceleration time for
DCC [axis1]; Sets the deceleration time for
SCC [axis1]; Sets parameters during motion
IAC T; Sets acceleration time for linear
IDC T; Sets deceleration time for linear
IFP P; Executes speed designation
FMX T; Sets the maximum speed during
These commands are issued when motion is desired based on the machine coordinate.The coordinates automatically set at zero-point return completion are called the machine coordi­nates.These coordinates are not affected by POS commands.
a program shifted by manual feed, etc.
linear acceleration
linear acceleration
average accel/decel.
accel/decel during interpolation motion.
accel/decel during interpolation motion.
during interpolation feed in % of maximum speed.
interpolation feed. This is the time taken in interpo­lation acceleration to go from zero to this speed.
2-10
MotionSuite™ MP940 Machine Controller Reference Manual Specifications and Functions
Type Command Name Command Format Function/Meaning
/ Division MW = MW / MW;
MW = MW / 123456; MW = 123456 / MW;
MOD Modulus MW = MW / MW;
MW = MOD;
| OR (Logical OR) MB = MB | MB;
MB = MB | 1; MW = MW | MW; MW = MW | H00FF;
^XOR
(Exclusive Logical
OR) & AND (Logical AND) MB = MB & MB;
! NOT (Inversion) MB = !MB;
() Parentheses MW = MW— &
S{} Designated bit ON S{MB} = MB & MB; The designated bit goes ON if
Sequence Commands
R{} Designated bit OFF R{MB} = MB & MB; The designated bit goes OFF if
SIN Sine SIN(MW)
COS Cosine COS(MW)
TAN Tangent TAN(MF)
ASN Arc Sine ASN(MF)
MW = MW ^ MW; MW = MW ^ H00FF;
MB = MB & 1; MW = MW & MW; MW = MW & H00FF;
MB = !1; MW = !MW; MW = !H00FF;
(MW— | MW—);
;SIN(90);
;COS(90);
;TAN(45.0);
;ASN(90.0);
Executes integer/real number division.Operates as real num­bers when integers and real numbers are intermixed.
MOD is stored as a modulus into a designated register when designated in the next block of the modulus.
Creates a logical OR in bits or integers.
Creates an exclusive logical OR in integers.
Creates a logical AND in bits or integers.
Creates an inverse value in bits.
Logical operations within paren­theses have priority.
the logical operation result is “Valid”.The designated bit goes OFF when the result of a logical operation is “Invalid”.
the logical operation result is “Valid”.The designated bit goes ON when the result of a logical operation is “Invalid”.
Obtains the sine in integers/real numbers (deg), and returns a real number value.
Obtains the cosine in integers/ real numbers (deg), and returns a real number value.
Obtains the tangent in real num­bers (deg), and returns a real number value.
Obtains the arc sine in real num­bers, and returns a real number value.
2-11
Specifications and Functions MotionSuite™ MP940 Machine Controller Reference Manual
Type Command Name Command Format Function/Meaning
ACS Arc Cosine ACS(MF)
;ACSi_90.0);
ATN Arc Tangent ATN(MW)
;ATNi_45j_;
SQT Square Root SQT(MW)
;SQT(100);
BIN BCD¨_BIN BIN (MW); Converts BCD data to BIN data. BCD BIN¨_BCD BCD (MW); Converts BIN data to BCD data. == Coincidence IF MW == MW;
WHILE MW == MW ;
<> Non-coincidence IF MW <> MW;
WHILE MW <> MW;
> Larger than IF MW > MW;
WHILE MW > MW;
< Smaller than IF MW < MW;
WHILE MW < MW;
Sequence Commands
>= Equal to or greater
than
<= Equal to or less than IF MW <= MW;
SFR Right Shift SFR MB N W; Shifts the word variables to the
SFL Left Shift SFL MB N W; Shifts the word variables to the
BLK Block Transfer BLK MW MW W; Treats a designated bit (word)
IF MW >= MW; WHILE MW >= MW;
WHILE MW <= MW;
Obtains the arc cosine in real numbers, and returns a real number value.
Obtains the arc tangent in inte­gers/real numbers, and returns a real number value (deg).
Obtains the square root in inte­gers/real numbers (deg), and returns a real number value.
Used in the IF or WHILE condi­tion formula.The formula is assumed to be “Valid” if the left and right sides coincide.
Used in the IF or WHILE condi­tion formula.The formula is assumed to be “Valid” if the left and right sides do not coincide.
Used in the IF or WHILE condi­tion formula.The formula is assumed to be “Valid” if the left side is larger than the right side.
Used in the IF or WHILE condi­tion formula.The formula is assumed to be “Valid” if the left side is smaller than the right side.
Used in the IF or WHILE condi­tion formula.The formula is assumed to be “Valid” if the left side equal to or greater than the right side.
Used in the IF or WHILE condi­tion formula.The formula is assumed to be “Valid” if the left side equal to or less than the right side.
right by an exponent.
left by an exponent.
variable as opened, and exe­cutes transfer by block (parame­ter designation) unit.
2-12
MotionSuite™ MP940 Machine Controller Reference Manual Specifications and Functions
Type Command Name Command Format Function/Meaning
CLR Clear CLR MB W; The parameter designator num-
ber goes OFF (0) for a variable group in which the designated bit (word) variables are
assumed to be started. MSEE Sub-program Call-out MSEE MPS ; Executes MPS sub-program. TIM Timed Wait TIM T; Waits for the time designated in
“T”, and proceeds to the next
block. IOW I/O Variable Wait IOW MB == ∗∗∗; Stops motion control program
execution until the conditional
formula is satisfied. END Program Close END; Closes the motion program. RET Sub-program Close RET; Closes the sub-program. EOX 1 scan WAIT com-
mand
EOX; This command is for cutting into
a continuing sequence com-
mand during operation, and
forcing a single scan wait.
(Process 1) is performed if the
conditional formula is satisfied,
and (process 2) if it is not.
Control Commands
IF ELSE IEND
Branching Com­mands
IF (conditional formula); (process 1) ELSE; (process 2) IEND;
WHILE WEND
SFORK JOINTO SJOINT
Repetition Com­mands
Selection Execution Commands
WHILE (conditional formula);
••• WEND;
SFORK conditional for­mula 1? label 1,
conditional formula 2? label 2, •••;
label 1: Process 1 JOINTO label xlabel 2: Process 2 JOINTO label xlabel •
•label x: SJOINT;
Repeats execution of
WHILE~WEND processing the
conditional formula is satisfied
and continues operating.
(Process 1) is performed if the
conditional formula 1 is satis-
fied, and (process 2) if condi-
tional formula 2 is satisfied.
The “—” symbol in MOV [axis1]— •••; signifies where the numerical data for [axis1] is recorded.
2-13
Specifications and Functions MotionSuite™ MP940 Machine Controller Reference Manual

Ladder Command List

Command Language Types Symbol
Program Control Command SEE, FOR FEND, WHILE ON/OFF WEND
, IFON/IFOFF ELSE IEND, DEND
FSTART, FIN, FOUT, XCALL, comment Direct I/O Commands INS, OUTS Relay Circuit Commands
Ts
Ts
TsTs
Ts
Ts
TsTs
Logical Operation Commands
∧, ∨,
Numerical Operation Commands +, -, ++, --, ×, ÷, INC, DEC, MOD, REM,
TMADD, TMSUB, SPEND Numerical Conversion Commands INV, COM, ABS, BIN, BCD, PARITY, ASCII, ASCBIN, BINASC, Numerical Comparison Commands <,
≤, ≠, ≥, >, RCHK
Data Operation Commands ROTL, ROTR, MOVB, MOVW, XCHG, SETW, BETD, BPRESS,
BSRCH, SORT, SHFTL, SHFTR, COPYW, BSWAP Basic Function Commands SQRT, SIN, COS, TAN, ASIN, ACOS, ATAN, EXP, LN, LOG DDC Commands DZA, DZB, LIMIT, PI, PD, PID, LAG, LLAG,
FGN, IFGN, LAU, SLAU, PWM Display Data Operation Commands TBLBR, TBLBW, TBLSRL, TBLSRC, TBLCL
TBLMV, QTBLR, QTBLRI, QTBLW, QTBLWI
QTBLCL System Functions COUNTER, FINFOUT, TRACE, DTRC-RD, MSG-SND, MSG-
RCV
2-14
MotionSuite™ MP940 Machine Controller Reference Manual Specifications and Functions
Ladder Command List
Type Name Symbol Content
Program Control Commands
Direct I/O
Commands
Sub-program Reference
SEE After “SEE”, designate the sub-program, or sub-sub-program
number to be referenced. SEE H01
Motion Drawing Reference
MSEE After “MSEE”, designate the motion program number or status
work address to be referenced. MSEE MPM001 DA00000
FOR expression FOR
: : FEND
Repeat Execution Expression 1 FOR V = a to b by c V : Either integer register I or J may be designated as desired. a, b, c :Any desired integer value can be designated (b>a>0, c>0) FEND:END of FOR command
WHILE expression
WHILE :
Repeat Execution Expression 2
WEND:END of WHILE-ON/OFF command ON/OFF : WEND
IF expression IFON/
IFOFF
Execution expression with conditions
IEND:END of IFON/IFOFF command : ELSE : IEND
Drawing END DEND END of drawing (DWG)
Comments
“nnnnnnn” Characters surrounded by quotation marks (“ “) are treated as
comments.
Function I/F
FSTART Function Reference Command FIN Function Input Command
Saves input data from a designated input register to the function
input register. FOUT Function Output Command
Saves output data from a designated output register to the func-
tion output register. XCALL Extended Program Reference Command
Input Commands INS INS MA00100 ————————|
Executes data input and storage by interrupt prohibit.
Output Com­mands
OUTS
OUTS MA00100 ————————|
Executes data setting and output by interrupt prohibit.
2-15
Specifications and Functions MotionSuite™ MP940 Machine Controller Reference Manual
Type Name Symbol Content
A Contact No limit on series circuits
All register bit types can be designated as relay numbers.
B Contact No limit on series circuits
All register bit types can be designated as relay numbers.
Rising Edge Pulse
Falling Edge Pulse
No limit on series circuits
All register bit types can be designated as relay numbers.
No limit on series circuits
All register bit types can be designated as relay numbers.
Relay Circuit Commands
ON Delay Timer (10ms)
Setting count register
Setting = all registers, parameters (setting unit: 10ms)
Count register = registers M,D
OFF Delay Timer (10ms)
ON Delay Timer (1s)
OFF Delay Timer (1s)
Coil
Setting Coil
Relay Circuit Commands
Reset Coil
Setting count register
Ts
Ts
Setting = all registers, parameters (setting unit: 1s)
Count register = registers M,D
MB000000
MW0200 ＝ 0001
MB000000
IFON
MB000010MB000000
MB000010 is ON when MB000000 is ON. Subsequently, ON is
obtained even if MB000000 goes OFF.
MB000010MB000020
Branching/ Joining
MB000020 is ON when MB000010 is OFF. Subsequently, OFF
is obtained even if MB000020 goes OFF.
All of the above relay commands can be connected to branching/
joining symbols.
2-16
MotionSuite™ MP940 Machine Controller Reference Manual Specifications and Functions
Type Name Symbol Content
Logical AND ∧ All registers and parameters can be designated in integer form. Logical OR ∨ All registers and parameters can be designated in integer form. Exclusive
All registers and parameters can be designated in integer form.
Logical OR Addition +
Normal numerical addition (with operation error generation)
MW00280 +00100 ⇒ MW00220
Subtraction - Normal numerical subtraction (with operation error generation)
MW00280 -00100 ⇒ MW00220
Logical Operation Commands
Extended Addition
Extended Subtraction
Integer
++ Adds closed values (no operation error generation)
0¨→ 32767¨→ -32768¨→ 0
-- Subtracts closed values (no operation error generation)
0~-32767, -32768~0
Integer Operation Start
Replacement
Numerical Operation Commands
MW00220
Real Number
MW00280 ＋ 00100
Real Number Operation Start
Replacement
MW00280 ＋ 00100
MW00220
Storage Stores operation results to a designated register.
Multiplication × Used with × and ÷ in combination for integers and double-length Division ÷
integers.
Increment INC Adds 1 to a designated register.
INC MW00100
Decrement DEC Subtracts 1 from a designated register.
DEC MW00100
Integer Remain-
MOD Obtains the remainder from the results of division.
der
MW00100 × 01000 ÷ 00121
MOD ⇒ MW00101
Real Number Remainder
REM Obtains the remainder from the results of division.
MF00200 REM 1.5 ⇒ MF00202
Time Addition TMADD Addition of Hr/Min/Sec
TMADD MW00000, MW00100
Time Subtraction TMSUB Subtraction of Hr/Min/Sec
TMSUB MW00000, MW00100
Time Spent SPEND Requests the elapsed time for two time measures.
SPEND MW00000, MW00100
2-17
Specifications and Functions MotionSuite™ MP940 Machine Controller Reference Manual
Type Name Symbol Content
Numerical Conversion Commands
Sign Inversion INV
MW00100 INV
Operation result = -99 when MW00100=99
Complement of 1 COM
MW00100 CON
Operation result = 0000H when MW00100= FFFFH
Absolute Conver­sion
Binary Conver­sion
BCD Conversion BCD
ABS
BIN
MW00100 ABS
Operation result = 99 when MW00100= -99
MW00100 BIN Operation result = 1234 (decimal) when MW00100 = 1234H (hexadeci­mal)
MW00100 BCD
Operation result = 1234H (hexadecimal) when MW00100 = 1234 (decimal)
Parity Conver­sion
PARITY Calculates the number binary expression bits ON.
The operation result = 8 when MW00100 PARITYMW00100 = F0F0H
ASCII Conver­sion 1
ASCII Conver­sion 2
ASCII Converts a designated character string into ASCII, and replaces
it into the register ASCII MW00200 “ABCDEFG”
BINASC Converts 16-bit binary data into four hexadecimal digits in ASCII
code. BINASC MW00100
ASCII Conver­sion 3
ASCBIN Converts numbers displayed as four hexadecimal digits in ASCII
code into 16-bit binary data. ASCBIN MW00100
<<
Leaves the results of the comparison command ON or OFF in the B register.
≤≤
==
≠≠
≥≥
>>
MB000010
MW00000 ＜ 10000
MB000010
IFON
Range Check
RCHK Checks whether the A register value is within range.
MW00100 RCHK -1000, 1000
Numerical Comparison Commands
2-18
MotionSuite™ MP940 Machine Controller Reference Manual Specifications and Functions
Type Name Symbol Content
Right Bit Rotation ROTR Bit-addr Count Width
ROTR MB00100A ¨_ N=1 W=20
Bit Transfer MOVB Source Destination. Width
MOVB MB00100A ¨_ MB00200A W=20
Word Transfer MOVW Source Distribution. Width
MOVW MB00100 ¨_ MB00200 W=20
Replacement Transfer
XCHG Source1 Source2 Width
XCHG MB00100 ¨_ MB00200 W=20
Data Initialization SETW Destination. Data Width
SETW MW00200 D=00000 W=20
Byte
_
Word Display Word
_
Byte Compres­sion
BEXTD Displays byte data stored into the word register area as words.
BEXTD MW00100 to MW00200 B=10
BPRESS Concatenates lower-level bytes of word data stored into the word
register area as words. BPRESS MW00100 to MW00200 B=10
Data Scan BSRCH Searches within a designated register range for register positions
coinciding to the data. BSRC MW00000 W=20 D=100 R=MW00100
Data Operation Command
Sort SORT Sorts the register within a designated register range.
SORT MW00000 W=100
Left Shift SHFTL Shifts a designated bit queue to the left.
SHFTL MB00100A N=1 W=20
Bit Right Shift SHFTR Shifts a designated bit queue to the right.
SHFTR MB00100A N=1 W=2
Word Copy COPYW Copies a designated register range.
COPYW MW00100 ¨_ MW00200 W=20
Byte Swap BSWAP Swaps the upper and lower-level bytes of designated word vari-
ables. BSWAP MW00100
2-19
Specifications and Functions MotionSuite™ MP940 Machine Controller Reference Manual
Type Name Symbol Content
Square Root SQRT The square roots of negative values are the square roots of the
absolute value multiplied by -1.
MF00100 SQRT
Sine SIN Input = degrees
MF00100 SIN
Cosine COS Input = degrees
MF00100 COS
Tangent TAN Input = degrees
MF00100 TAN
Arc Sine ASIN
MF00100 ASIN
Arc Cosine ACOS
MF00100 ACOS
Basic Function Commands
Arc Tangent ATAN
MF00100 EXP
MF00100
MF00100
MF00100MF00100
e
Exponent EXP
MF00100 LN
loge(FM00100)
Naturalized Logarithm
LN
MF00100 LOG
log10(FM00100)
Common Logarithm
LOG
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