Yaskawa MP940 Reference Manual

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MotionSuite™ MP940 Machine Controller Reference Manual

Page 2

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.

Under no circumstances should any Yaskawa product be incorporated into any product or design as the exclusive or sole safety control. Without exception, all controls should be designed to dynamically fault detect and fail safe under all circumstances. All products designed to incorporate a component part manufactured by Yaskawa must be supplied to the end user with appropriate warnings and instructions as to the safe use and operation. Any warnings provided by Yaskawa must be passed through to the end user.

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.

Page 3

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

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

Page 4

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

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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

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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

BAT

X RDY RUN ALM

1 BAT

L1 L2

L1C L2C B1 B2

PRT1 PRT2

RUN

654321

INIT TEST FLASH PP COPY

･¨

PORT1

PORT2

POWER

+24V GND FG

M E C H A T R

O L I N K

I/O

LED

Figure 1.1: MP940 Machine Control and SGDH Servo Amplifier

1-1

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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

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

DeviceNet

MLINK

Device 1

DeviceNet

Local

I/O

DI DO AO

CNTR

MLINK

Device 2

1-2

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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..

Synchronous

Speed

Phase

Torque

Position

Figure 1.3 Four Control Modes

1-3

Page 9

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

ƒÆ

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.

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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

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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

work time 11ms

2-1

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Specifications and Functions MotionSuite™ MP940 Machine Controller Reference Manual

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

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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

±20%

 ON 0.25ms or less

 OFF 1ms or less

2-3

Page 14

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

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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

Page 16

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

Page 17

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

Page 18

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

Page 19

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

Page 20

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

average accel/decel.

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

Page 21

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

Page 22

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

Page 23

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

Page 24

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

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

Page 25

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

Page 26

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

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

Page 27

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

Page 28

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

Page 29

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

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

Page 30

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

MF00100MF00100

Exponent EXP

MF00100 LN

loge(FM00100)

Naturalized Logarithm

MF00100 LOG

log10(FM00100)

Common Logarithm

LOG

2-20

Page 31

MotionSuite™ MP940 Machine Controller Reference Manual Specifications and Functions

Type Name Symbol Content

Dead Zone A DZA

Dead Zone B DZB

Upper Limit LIMIT

PI Control PI

PD Control PD

PID Control PID

First-order Lag LAG

Phase Lead/Lag LLAG

Function

DDC Commands

Generator Inverse Function

FGN

IFGN MW00100 IFGN MA00200

MW00100 DZA 00100

MW00100 DZB 00100

MW00100 LIMIT -00100 00100

MW00100 PI MA00200

MW00100 PD MA00200

MW00100 PID MA00200

MW00100 LAG MA00200

MW00100 LLAG MA00200

MW00100 FGN MA00200

Generator Linear

LAU MW00100 LAU MA00200

Accelerator 1 Linear

SLAU MW00100 SLAU MA00200

Accelerator 2 Pulse Width

PWM MW00100 PWM MA00200

Modulation

2-21

Page 32

Specifications and Functions MotionSuite™ MP940 Machine Controller Reference Manual

Type Name Symbol Content

Block Write TBLBR TBLBR TBL1, MA00000, MA00100 Block Read TBLBW TBLBW TBL1, MA00000, MA00100 Row Search (Ver-

TBLSRL TBLSRL TBL1, MA00000, MA00100

tical) Column Search

TBLSRC TBLSRC TBL1, MA00000, MA00100

(Horizontal) Block Clear TBLCL TBLCL TBL1, MA00000 Block Move TBLMV TBLMV TBL1, TBL2, MA00000 Queue Table

QTBLR QTBLR TBL1, MA00000, MA00100 Read (invariable pointer)

Queue Table

QTBLRI QTBLRI TBL1, MA00000, MA00100 Read (pointer stepping

QTBLW QTBLW TBL1, MA00000, MA00100

Display Data Operation Commands

Queue Table Write (invariable pointer)

Queue Table

QTBLWI QTBLWI TBL1, MA00000, MA00100 Write (pointer stepping

Queue Pointer

QTBLCL QTBLCL TBL1 Clear

First-in

FINFOUT First-in/First-out First-out

Trace Function TRACE Data Trace Execution Control Data Trace Read DTRC-RD Data read from data trace memory into the user memory. Message

MSG-SND Send message from controller. Send

System Functions

Message

MSG-RCV Receive message from controller. Receive

2-22

Page 33

MotionSuite™ MP940 Machine Controller Reference Manual Specifications and Functions

Servo Amplifier Specifications

 External Appearence and Nameplate

Servo amplifier model

サーボパック形式

YASKAWA

SERVOPACK

SGDH-

SGDH-SGDH-

MODE/SET

DATA/ POWER

CHARGE

L1L1

CCCC NNNN

L2L2

３３３３

L3L3

1111 2222

CCCC NNNN 1111

L1C

L1CL1C L2C

L2C

L2CL2C B1

B1B1 B2

B2B2 B3

B3B3

CCCC

UUUU

NNNN 2222

VVVV

WWWW

Serial Number

製造番号

Usage Power

適用電源

18.6

18.618.6

SGDH-30AE

SGDH-30AESGDH-30AE

適用モータ容量

24.8

24.824.8

3.0(4.0)

3.0(4.0)3.0(4.0)

Applicable Motor Capacity

Σ-II Series

SGDH Servo Amplifier

2-23

Page 34

Specifications and Functions MotionSuite™ MP940 Machine Controller Reference Manual

 Interpretation of Model

SGDH

ΣII Series

Σ-Ⅱシリーズ

SGDH Servo Amp

SGDH

形サーボパック

最大適用サーボモータ容量　　　　　　　　　（下表を参照）

Voltage

電圧

A:200V B:100V D:400V

* for 100V usage

∗

Designation

指定形態

Option and compatability function integrated

Option Specs

オプション仕様

Name: Base-mount type

無し:ベースマウント形

R: Rack mount type (compatible with 5kW or lower only)

P: Rack mount type (compatible with 6kW, 7kW only)

Applicable Motor Capacity

∗

100V

用は，

for 0.2kW or lower motors only

サーボモータの

:オプションユニット対応機能内蔵形

:ラックマウント形（ :ダクト通風形（

(see following table)

SGMAH,SGMPH

0.2kW

以下のみ。

5kW

6kW，7.5kW

以下のみ対応可能）

形

のみ対応可能）

10 A E

- □

2-24

Page 35

MotionSuite™ MP940 Machine Controller Reference Manual Specifications and Functions

Main

Power

200V singlephase

Maximum applicable

motor capacity symbol

A3 0.03 08 0.75 A5 0.05 10 1.0 01 0.10 15 1.5 02 0.20 20 2.0 04 0.40 30 3.0 05 0.50 — —

Only SGMAH and SGMPH servo motors of 0.2kW or less can be used with 100V.

 Servo Motor and Amplifier Combination

Combinations of servo motors and amplifiers, as well as MCCB and phase capacity with regard to power source capacity are shown below.

Servo

Capacity

(kW)

0.03 A3AD SGMAH–

0.05 A5AD SGMAH–

0.10 01AD SGMAH–

0.20 02AD SGMAH–

0.40 04AD SGMAH–

Amplifier

Mode 1 SGDH-

Applicable

Motor

Model

A3A

A5A

01A SGMPH–

01A

02A SGMPH–

02A

04A SGMPH–

04A

Capacity (kW)

Power

Capacity

per Servo

Amplifier

(kVA)*

0.20 4 LF-205A Single-phase

0.25

0.40

0.75

1.2 8 LF-210A Single-phase

Maximum applicable

motor capacity

Current

Capacity of

Wiring

Breaker or

Fuse

)*†

rms

Recommended Noise

Model Specification

Capacity (kW)

Filter†

current 200V

-class 5A

current 200V class 10A

Open/Close

Type

HI–15E5 (30A) Compatible device

2-25

Page 36

Specifications and Functions MotionSuite™ MP940 Machine Controller Reference Manual

Main

Power

200V Threephase

Servo

Capacity

(kW)

0.50 05AD SGMGH–

0.75 08AD SGMAH–

1.0 10AD SGMGH–

1.5 15AD SGMPH–

2.0 20AD SGMGH–

3.0 30AD SGMGH–

5.0 50ADA SGMDH–

Amplifier

Mode 1 SGDH-

Applicable

Motor

Model

05A _A SGMGH–

03A _B

08A SGMPH–

08A SGMGH–

06A _B

09A _A SGMGH–

09A _B SGMSH–

10A

15A SGMGH–

13A _A SGMGH–

12A _B SGMSH–

15A

20A _A SGMGH–

20A _B SGMSH–

20A

30A _A SGMGH–

30A _B SGMSH–

30A

32A SGMDH–

40A SGMSH–

40A SGMGH–

44A _A

Power

Capacity

per Servo

Amplifier

(kVA)*

1.4 4 LF-310 Three-phase

1.9 7 LF-315 Three-phase

2.3

3.2 10

4.3 13 LF-320 Three-phase

5.9 17 LF-330 Three-phase

7.5 28 LF-340 Three-phase

Current

Capacity of

Wiring

Breaker or

Fuse

)*†

rms

Recommended Noise

Filter†

Model Specification

current 200V-class 10A

current 200V-class 15A

current 200V-class 20A

current 200V-class 30A

current 200V-class 40A

Open/Close

Type

HI–15E5 (30A) Compatible device

HI–18E (35A) Compatible device

2-26

Page 37

MotionSuite™ MP940 Machine Controller Reference Manual Specifications and Functions

Main

Power

200V

Three-

phase

100V Singlephase

Servo

Capacity

(kW)

5.0 50ADA SGMDH–

6.0 60ADA SGMGH–

7.5 75ADA SGMGH–

0.03 A3BD SGMAH–

0.05 A5BD SGMAH–

0.10 01BD SGMAH–

0.20 02BD SGMAH–

Amplifier

Mode 1 SGDH-

Applicable

Motor

Model

44A _B

SGMSH– 50A

55A _A SGMGH–

60A _B

75A _A SGMSH–

15A

A3B

A5B

01B SGMPH–

01B

02B SGMPH–

02B

Power

Capacity

per Servo

Amplifier

(kVA)*

7.5 28 LF-340 Three-phase

12.5 32 LF-350 50A

15.5 41 LF-360 60A

0.15 4 LF-205F Single-phase

0.25

0.40

0.60 6 LF-210 Single-phase

Current

Capacity of

Wiring

Breaker or

Fuse

)*†

rms

Recommended Noise

Filter†

Model Specification

current 200V-class 40A

current 200V-class 5A

current 200V-class 10A

Open/Close

Type

HI–18E (35A) Compatible device

HI–25E (50A) Compatible device Hi-30E

HI–15E5 (30A) Compatible device

All values are given at rated load.When selecting the actual fuse, determine the capacity after performing the

proper derating. Breaker Characteristics (25ºC):200“_ 2s or more, 700“_ 0.01s or more High-speed fuses cannot be used.Because the servo amplifiers power supplies are of a capacitor input-type,

high-speed fuses may fuse upon power input. SGDH servo amplifiers are equipped with a ground fault protection circuit.To create a safer system, connect a

ground fault protection-dedicated leak current breaker in combination with a combined overload/short

protection leak current breaker or a wiring breaker.

2-27

Page 38

Specifications and Functions MotionSuite™ MP940 Machine Controller Reference Manual

Servo Motors

 Example of External Appearence and Nameplate

kW requirement

定格出力

Model type

モータ形式

∑-Ⅱシリーズサーボモータ

Serial Number

製造番号

rpm rating

定格回転速度

製造年月

 Interpretation of Model

Standard Servo Motors

SGMPH - 01 A A A 2 S

Sigma-II Series Servo Motor Name

SGMAH SGMPH SGMGH SGMSH SGMDH

Servo Motor Capacity

(See table 1.1)

Voltage

A : 200V B : 100V

∗

* 100V is for SGMAH and SGMPH servo motors or 0.2kW or less.

Serial Encoder Specification

Brake, Oil Seal Specifications

1: No brake or oil seal S: With oil seal

B: With DC90V brake C: With DC24V brake

D: S + B E: S + C

Shaft Specifications

(See Table 1.3)

Design Hierarchy

A : SGMAH

SGMPH SGMGH(1500 r/min) SGMSH SGMDH

B: SGMGH(1000 r/min)

2-28

Page 39

MotionSuite™ MP940 Machine Controller Reference Manual Specifications and Functions

Servo Motor Capacities (kW)

SGMAH SGMPH SGMGH SGMSH SGMDH

Code

3000

rpm

A3 0.03 — — — — — 15 — 1.5 — — 1.5 — A5 0.05 — — — — — 20 — — 1.8 2.0 2.0 — 01 0.1 0.1 — — — — 22 — — — — — 2.2 02 0.2 0.2 — — — — 30 — — 2.9 3.0 3.0 — 03———0.3——32—————3.2 04 0.4 0.4 — — — — 40 — — — — 4.0 4.0 05 — — 0.45 — — — 44 — — 4.4 4.4 — — 06 — — — 0.6 — — 0 — — — — 5.0 — 08 0.75 0.75 — — — — 55 — — 5.5 — — — 09 — — 0.85 0.9 — — 60 — — — 6.0 — — 10————1.0—75——7.5——— 12———1.2————————— 13——1.3——————————

3000

rpm

1500

rpm

1000

rpm

3000

rpm

2000

rpm

Serial Encoder (•:Standard

SGMAH SGMPH SGMGH SGMSH SGMDH

Code

3000

rpm

♦:Optional)

3000

rpm

1500

rpm

1000

rpm

3000

rpm

2000

rpm

Sign Specification SGMAH SGMPH SGMGH SGMSH SGMDH

1 16-bit absolute • • 2 17-bit absolute • • • A 13-bit incremental • • B 16-bit incremental ♦♦ C 17-bit incremental • • •

Shaft End Specification (•:Standard

Sign Specification SGMAH SGMPH SGMGH SGMSH SGMDH

2 Straight, no key 3 Taper: 1/10, w/ Parallel key ♦♦♦ 4 Straight, w/ key ♦♦ 5 Taper: 1/10, w/ half-moon key ♦♦ 6 Straight, w/ key and tap ♦♦ ♦ ♦♦ 8 Straight, w/ tap ♦♦

•• • ••

♦:Optional)

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Specifications and Functions MotionSuite™ MP940 Machine Controller Reference Manual

Servo Motors with Gearbox

SGMPH - 01 A A A G 1 2 B

Σ-Ⅱシリーズ

ΣII Series

サーボモータ

Servo Motor Series Name

シリーズ名

SGMAH SGMPH SGMGH SGMSH

サーボモータ容量（表1.4参照）

Servo motor capacity

電圧

Voltage

A : 200V B : 100V

* SGMAH, SGMPH are

　サーボモータの

for 100V use

シリアルエンコーダ仕様（表

For 0.2kW or lower servo motors

Serial encoder specs

設計順位

A : SGMAH

SGMPH

SGMGH(1500 r/min)

SGMSH

B : SGMGH(1000 r/min) E : SGMPH(

∗

100V

用は，

SGMAH，SGMPH

防水仕様

0.2kW

IP67)

以下のみ。

1.5

参照）

形

Brake/Oil seal spec

ブレーキ仕様

1: No brake/oil seal

：ブレーキなし

B: w/DC 90V brake

B：DC90V

C: w/DC 24V brake

Shaft spec

軸端仕様（表1.8参照）

(differs by gear motor type)

Gear ratio

減速比（表

(differs by gear motor type)

減速機の種類（表

Gear box time

ブレーキ付き

C：DC24V

ブレーキ付き

（減速機の種類により　異なります）

1.7

（減速機の種類により　異なります）

参照）

1.6

参照）

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MotionSuite™ MP940 Machine Controller Reference Manual Specifications and Functions

Servo Motor Capacities (kW)

SGMAH SGMPH SGMGH SGMSH

Code

3000

rpm

A3 0.03 — — — — 15 — 1.5 — — 1.5 A5 0.05 — — — — 20 — — 1.8 2.0 2.0 01 0.1 0.1 — — — 22 — — — — — 02 0.2 0.2 — — — 30 — — 2.9 3.0 3.0 03—— —0.3—32————— 04 0.4 0.4 — — — 40 — — — — 4.0 05 — — 0.45 — — 44 — — 4.4 4.4 — 06 — — — 0.6 — 0 — — — — 5.0 08 0.75 0.75 — — — 55 — — 5.5 — — 09 — — 0.85 0.9 — 60 — — — 6.0 — 10 — — — — 1.0 75 — — 7.5 — — 12—— —1.2——————— 13 — — 1.3 — — — — — — — —

3000

rpm

1500

rpm

1000

rpm

3000

rpm

SGMAH SGMPH SGMGH SGMSH

Code

3000

rpm

3000

rpm

1500

rpm

1000

rpm

3000

rpm

The number of encoder pulses for the SGM_H servo motor is shown below:

Serial Encoder (•:Standard ♦:Optional)

Sign

Specification SGMAH SGMPH SGMGH SGMSH

1 16-bit absolute 2 17-bit absolute A 13-bit incremental B 16-bit incremental ♦♦ 16384

C 17-bit incremental

••

Number of

Encoder

Pulses 16384 32768 2048

32768

The number of bits displaying the resolution of the applied encoder is not the same as the number of pulses of the encoder signal output (phases A, B) from the servo amplifier. In the MP940, the number of encoder pulses is quadrated (×4).

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Specifications and Functions MotionSuite™ MP940 Machine Controller Reference Manual

Types with Gearboxes (•:Standard)

Sign Specification SGMAH SGMPH SGMGH SGMSH

G HDS High-precision Planetary Gearbox • • J General-purpose Gearbox • • S With mount • T Flange type • L IMT High-precision Planetary Gearbox • •

Gearbox (differs according to gearbox type)

Sign Specification SGMAH SGMPH SGMGH SGMSH

A1/6 ——S, T∗ — B 1/11 or 1/11.13 G — S, T — C 1/21 G, J G, J S, T — 1 1/5 G, J G, J L L 21/9 G — L L 3 1/10 or 1/10.3 J J — — 51/20 ——L∗ L 7 1/29 or 1/33 G, J G, J L, S, T∗ L∗ 81/45 ——L∗ L∗

(Some parts lack compatible devices.)

Shaft End Specifications (differ according to gearbox type)

Sign Specification SGMAH SGMPH SGMGH SGMSH

0 Straight, no key G, J G, J — — 2 Straight, no key G, J G, J — — 4 Straight, w/ key G, J G, J L L 6 Straight, w/ key and tap G, J G, J S, T — 8 Straight, w/ tap G, J G, J — —

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MotionSuite™ MP940 Machine Controller Reference Manual Operation Mode

Chapter 3: Basic System Operation

An explanation of the basic system operation of the MP940 is given in this chapter.

Operation Mode

This section describes both of the MP940 operation modes: the run mode and the stop mode.

Operation Mode Run Mode

• RDY, RUN LEDs ON

• User program, I/O operation functions

Stop Mode

• RUN LED OFF

• User programs stopped

Figure 3.1: MP940 Operation Mode Classifications

Run Mode

When power is fed into the MP940, the READY (RDY) and RUN (RUN) LEDs light up (the ALARM (ALM) LED is off), and the unit is in the run mode. This means that there are no errors or failures in the MP940, and that user programs and I/O operations can be executed. The run mode also continues when an I/O conversion error, user operation error, or when a user program is stopped; however, the ALARM (ALM) LED lights. See Chapter 10 "Troubleshooting" for error contents and countermeasures.

Stop Mode

During the stop mode, user program execution is halted, and all outputs are reset (the digital output = 0).This state is displayed by the RUN LED being OFF. Drawing programs (DWG.H or DWG.L) are not executed in this state.

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Start, Stop Sequence MotionSuite™ MP940 Machine Controller Reference Manual

The stop mode results in the following four situations:

1. When the program memory is not initialized.

2. When a major fault such as watchdog time-out occurs.

3. When a STOP operation is executed from the MotionWorks

4. When power is fed with the RUN/STOP switch set to OFF (STOP).

Note: 1 ~ 2 are user program errors or MP940 errors or fail-

ures. (See Chapter 10 Troubleshooting for error contents and countermeasures.)

In 3, the run mode can be entered by executing the RUN operation.

In 4, the run mode can be entered by turning the RUN/ STOP switch to ON (RUN).

Start, Stop Sequence

This section describes the starting and stopping sequences of the MP940, the attendant dip switch setting method, as well as the types of self-diagnosis and display light (LED) patterns.

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MotionSuite™ MP940 Machine Controller Reference Manual Start, Stop Sequence

DIP Switch Setting Method

The DIP switches on the CPU are used for start/stop sequence operation control. The CPU module has six switches as shown in the figure below. The function of each switch is shown in the following table.

654321

RUN

INIT

TEST

Default Setting

OFF

ONOFF

FLASH

P.P

COPY

Number Name Setting Operation at Setting

6 RUN ON User Program Run ON

OFF User Program Stop

5 INITIAL ON When SW4 is ON: Clear Memory OFF

OFF When SW4 is ON: Terminal mode

4 TEST ON Terminal Mode/Initialization Mode OFF

OFF Online

3 FLASH ON Program copy from FLASH to RAM OFF

OFF No program copy from FLASH to RAM

2P.P

Default

ON Default Port 1 only OFF OFF Serial port setting

1 COPY ON M Register Copy when SW3 is ON

Turn the power ON when only SW1 is ON. SGDH servo parameter in the controller is

transferred to SGDH .

→ to replace

SGDH.

OFF No M Register Copy when SW3 is ON.

M Register has a battery backup.

Although “NO” is displayed on the arrow at the lower right side of the DIP switches, flipping the switches to the right turns them ON, and left turns them OFF.

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Start, Stop Sequence MotionSuite™ MP940 Machine Controller Reference Manual

 Memory Initialization

The memory as initialized, and the user programs and configuration data are deleted upon setting the DIP switches in the following order, and cycling the power OFF/ON.

12 3 4 5

Turn MP940 power OFF

Turn DIP switches INITIAL and TEST ON.

RUN

INITIAL TEST

FLASH P.P

1234

COPY

←←←←

Check that the RDY and RUN LEDs blink when power is fed (approximately 3 seconds).

Return the RUN DIP switch to the ON setting

RUN

INITIAL TEST

FLASH P.P

1234

COPY

←←←←

Turn the power ON again

Note: The memory is cleared if the battery is removed with the module power OFF.

Start Sequence

The MP940 makes various determinations at start-up, and upon recognizing an error, flashes the ERR LED, showing the content of the error by the

number of flashes. MotionWorksTM cannot be operated while the LEDs are flashing. The following table shows a partial list of the MP940 display LEDs.

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MotionSuite™ MP940 Machine Controller Reference Manual Start, Stop Sequence

LED

Type

RDY RUN ALM

Normal User program stopped

  User program executing normally

Error Hardware reset state (when display continues)

Initializing (when display continues)   Major fault 2 flashes: RAM error

Warning ? ? ?  Battery alarm

 Operation error (I/O error)

No LED display. Reports to system (S) register.

Other   Memory initialization by DIP switch setting

RDY and RUN flash simultaneously –  Offline testing mode

BAT

ALM

3 flashes: ROM error 4 flashes: Peripheral LSI error

Hardware status (momentary stop, START/ STOP, testing mode, etc.)

complete.

Display Content

:OFF, :ON, :Flash, ?:Undefined

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Start, Stop Sequence MotionSuite™ MP940 Machine Controller Reference Manual

MP940 Start Sequence and Basic Operation

Power ON

Test M ode

Switch

Program Memory Check

Program Data

Self-diagnosis at Start

Run Switch Determination

Watchdog Timer Start

Dwg A Execution

Memory Clear

= Test Mode

Normal Mode

Not Damaged Damaged

S Switch Synchronization

Offline Selfdiagnosis

Interrupt Sigma

Dwg 1 Execution

Finished in 1 turn

Dwg S Scan Processing

Dwg H Scan Processing

Dwg L Scan Processing

Online Self-diagnosis

Executed in descrete time units

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MotionSuite™ MP940 Machine Controller Reference Manual Start, Stop Sequence

The starting sequence and basic operation of the MP940 are as follows:

1. Self-diagnosis at start-up

The following menu is displayed in self-diagnosis at start-up.

• Memory (RAM) Read/Write Determination

• System Program (ROM ) Diagnosis

• Main Processor (CPU) Function Diagnosis

• Numerical Operation Processor (FCPU) Function Diagnosis

The RDY LED flashes the designated number of times when there is an error in the diagnostic results.

2. Online Self-diagnosis

The following menu is displayed in online self-diagnosis

• System Program (ROM ) Diagnosis

• Main Processor (CPU) Function Diagnosis

• Numerical Operation Processor (FCPU) Function Diagnosis

The RDY LED flashes the designated number of times when there is an error in the diagnostic results.

3. Start New Run

Sets the run format to New Run in the CP717 system definition screen. A new run starts. Unlike the start of a continuous run, self-diagnostic processing occurs prior to DWG.A execution.

4. Operation Stop

The MP940 stops operation in the following situations:

• When power is interrupted

• When power loss occurs

• When a fatal error is generated

• When a STOP operation is executed from MotionWorksTM.

Note: Restart is not possible in the first and second items

above without restarting the power.

Restart is possible in the third item above by turning off the power.The cause of the error can be deduced by checking the LED display.

Restart is possible in the fourth item above by executing the RUN operation in CP717.

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Scan Processing MotionSuite™ MP940 Machine Controller Reference Manual

Scan Processing

Outline of Scan Processing

There are three types of MP940 scan processing: S (system) scans, H (Highspeed) scans, and L (Low-speed) scans. Scan processing segments all S scan periods into descrete time elements and then executes the S scan as a base period.

When setting the proportion of assignments into the background within the S scan period, ensure the "Background Processing Time" for PP processing.

 Scan Types

Type Content

S Scan

(System Scan)

H Scan

(High-speed Scan)

L Scan

(Low-speed Scan)

Select a base period for scan processing: 0.5, 1.0, 2.0, 4.0ms. S, H and L scan processing segments all S scan periods into discrete time elements and then executes the S scan as a base period.

Set the S scan period in integer multiples. The scan is broken into discrete time elements and executed within the S scan period.

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MotionSuite™ MP940 Machine Controller Reference Manual Scan Processing

 Service Scan of each Function

Except for SVA, a scan can be selected to execute I/O processing for each function.

Function

Serviceable

Scans

Notes

CNTR S/H/L Simultaneous processing with S, H, or L LIO (DI/DO/AI/AO) S/H/L Simultaneous processing with S, H, L Mechatrolink

H/L Simultaneous processing with either H or L.

(distributed I/O, etc.)

SVA S/H Scan Fixation (unselectable)

Synchronous selection of phase control mode

and position control mode is possible in the setup parameter settings.

Synchronous Selection of Phase Control

Mode (OBC0016) 0:H Scan (default)/1: S Scan

Synchronous Selection of Position Control

Mode(OBC0017) 0:H Scan/1: S Scan (default)

Content of S Scan

The processing content, as well as procedure, within the S scan is as follows:

S-scan synchronization (set to 0.5, 1.0, 2.0, 4.0ms)

Ｓスキャン周期（0.5，1.0，2.0，4.0msのいずれか設定）

ＨＳＳＳＳＡＨＡＬＡＢＧ

必須

necessary

（スキャン内で完結）

(completed within the scan)

時限タイマ

limit timer

R I O

（１スキャン内で終了しない

(executed in the following

場合次のＳスキャンで実行さ

S-scan if not completed

れる）

in 1 scan)

C O M

時限付き

time limit

R I O

－

余り

loss

background

バックグ

processing

ランド

処理時間

time

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Scan Processing MotionSuite™ MP940 Machine Controller Reference Manual

 Items Completed within the S Scan

ＨＳＳＳＳＡ

S-scan applications (Dwg. S)

Ｓスキャンのアプリケーション(DWG.S)

S-scan system processing (no SVA

Ｓスキャンのシステム処理（SVAの制御ループなど）

control loop)

Ｈスキャンのシステム処理（SVAの加減速処理など）

4 scan system processing (no SVA accel/

（Ｈスキャン周期に１回動作します）

decel processing) - operates 1 scan in

ローカルＩ／Ｏ処理（ＤＩ／ＤＯ／ＡＩ／ＡＯ）

H scan period

（Ｓ／Ｈ／Ｌスキャンのいずれかに同期して処理します。）マスタエンコーダのカウンタ入力処理（ＣＮＴＲ）

Local I/O processing (DVDO/AI/AO)

（Ｓ／Ｈ／Ｌスキャンのいずれかに同期して処理します。

(synchronizes and processes for S/H/L

処理する回のＳスキャン割り込みの先頭で処理します。）

scans)

Master encoder counter input processing (synchronizing processes for S/H/L scans processed by the head of processing S-scan interrupt)

 Time-shared Items

R I

ＨＡ

 Background

ＢＧ

O M

ＬＡ

L-scan application (Dwg. L)

Ｌスキャンのアプリケーション(DWG.L)

H-scan application (Dwg. H)

Ｈスキャンのアプリケーション(DWG.H)

Distributed I/O (Mechatrolink) processing

分散Ｉ／Ｏ(MECHATROLINK)処理（Ｈ／Ｌスキャンのいずれかに同期して処理します。

(synchronizes & processes the H/L scans)

シリアル通信

Serial communication

Background processing (PP processing)

バックグランドタスク（Ｐ．Ｐ処理）

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MotionSuite™ MP940 Machine Controller Reference Manual Scan Processing

 Notes on Scan Processing

1. Complete item processing within the S scan in approximately half the time of the S scan period setting.

2. Set an assignment ratio in the background processing.

 Scan Operation

Each scan process is executed as shown below:

スキャン周期

S-scan synchronization

DWG,S

　　Sスキャン処理

S-scan processing

DWG,H

　　Hスキャン処理

H-scan processing

DWG,L

　　Lスキャン処理

L-scan processing

Executed in

タイムスライス

descrete

で実行

time units

Scan Time Setting Method

 Opening the Scan Time Setting Window

From the MotionWorks the Definition Folder.

File Manager, click the Scan Time Setting tab in

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Scan Processing MotionSuite™ MP940 Machine Controller Reference Manual

The ScanTime Setting window is displayed.

System Scan Time Setting

The MP940 has three scan time levels (System/High-speed/Low-speed), which determine the flow of the program execution format. Among these, the system scan time must be set first. The high-speed/low-speed scans are then set based upon the system scan.

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MotionSuite™ MP940 Machine Controller Reference Manual Scan Processing

The following relationship exists in the setting criteria for the various scan times. For details, see the MotionSuite™ MP940 Machine Controller Hardware Manual.

Scan Time Level Setting Criteria

System Scan Select from 0.5, 1, 2, and 4ms. High-speed scan 0.5 ~ 32ms (system scan integer multiple) Low-speed Scan 2.0 ~ 100ms (system scan integer multiple)

 Opening the Setup Window

Select Setup (S), > Base Control Synchronization (B).

Setting Item Content

Set Time Sets the system scan time. The value of the previous step is the current

setting value.

Maximum Time Sets the maximum system scan time. The previous value is the

maximum time measured by the system to this point. Current Time Displays the current value of the system scan time. Steps Displays the number of steps of the system scan time. Background Time Shows the percentage of the total system which is consumed by the

background. Watch Dog Set Sets the watchdog time which provides system scan time limits.

Restart the power if the base control synchronization has been changed.

The base control synchronization continues to be applied at its current value and does not return to defaults even if the memory is cleared. Restart power to return to defaults.

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Scan Processing MotionSuite™ MP940 Machine Controller Reference Manual

Scan Time Definition Setting

The machine controller high-speed scan time is displayed in the online mode. The scan time data stored on the hard drive is displayed in the offline mode.

Setting Item Content

High-speed scan setting Setting: Input the scan setting

Max: Displays the maximum value of the scan. Input “0” here to reset the maximum scan time value. “0” is displayed in the offline mode.

Current Value: Displays the current value of the scan. “0” is displayed in the offline mode.

The total number of steps in the scan processing drawing is displayed in the Number of Steps box.

Low-speed scan setting Sets the low-speed scan time. See the content of the high-speed scan time

box for the meaning of the various data. Startup DWG steps Displays the total number of steps in the start scan drawing. Interrupt DWG steps Displays the total number of steps in the interrupt scan drawing. User function steps Displays the total number of user function steps. Total steps Displays the total number of steps for all drawings. Program memory total

(bytes) Available (bytes) Displays the amount of free space in the program memory. “0” is displayed

Displays the amount of the total program memory (total of drawings, func-

tions, and motion programs) used. “0” is displayed in the offline mode.

in the offline mode.

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MotionSuite™ MP940 Machine Controller Reference Manual User Programs

In the online mode, the maximum value may be cleared to "0" by inputting "0" to the maximum scan time box, and executing the save operation. Adoption of a new maximum value begins after being cleared.

Saving Scan Time Definitions

The procedure for saving the scan time definitions is shown below.

1. Select File (F) > Save (S).

2. Click the Yes ( Y ) button in the Scan Time message box.

3. Click OK in the message box.

Completion of Scan Time Definition

Complete scan time setting by closing the scan time window. Close the window by selecting File (F) > Close (C) from the menu.

User Programs

This section describes user program types, priority, processing formats, etc. for basic operation of the MP940.

DWG (drawing)

User programs are controlled in drawing units classified by drawing number (DWG number). These drawings form the basis of the user program.

Drawings consist of source drawings, sub-drawings, and sub-sub-drawings. Drawings can be either functions which seperately and freely reference individual drawings, or motion programs which reference an H drawing only.

• Source Drawing This is automatically executed by the system program at establishment of the execution conditions in the following table.

• Sub-drawing These are executed by reference from a source drawing using the SEE command.

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User Programs MotionSuite™ MP940 Machine Controller Reference Manual

• Sub-sub-drawing These are executed by reference from a sub-drawing using the SEE command.

• Operation Error Processing Drawing These are automatically executed by the system program at operation error generation.

• Functions These are executed by referencing a source drawing, sub-drawing, or subsub-drawing using an FSTART command.

• Motion Programs These can only reference H drawings. They are executed by referencing a source drawing, sub-drawing, or sub-sub-drawing using an MSEE command.

 Types and Priority of Source Drawings

Source drawings are classified by their first letters (A, I, S, H, L) in accordance with their processing objective. Priority and execution conditions are determined as follows.

Types and Priority of Source Drawings

Type of Source

Drawing

DWG.A Start Processing 1 Power Feed (executed once at

DWG.I Interrupt Processing 2 Generated by DI interrupt and

DWG.S System Scan 3 Set Interval Start (executed at each

DWG.H High-speed Scan

DWG.L Low-speed Scan

Drawing Role Priority Execution Conditions

power ON)

counter coincidence interrupt for option modules executed by external interrupt

servo control scan time)

4 Divides the servo control scan (S

Processing

scan) period into discrete time elements to execute the scan.

5 Divides the servo control scan (S

scan) period into discrete time elements to execute the scan.

Number of

Drawings

(Note)

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MotionSuite™ MP940 Machine Controller Reference Manual User Programs

An annotated description of the number of drawings for each type of drawing is given below.

Drawing Number of Drawings

DWG.A DWG.I DWG.S DWG.H DWG.L Source Drawing Operation Error Processing Drawing Sub-drawing Sub-sub-drawings

1 (A) 1 (I) 1 (S) 1(H) 1 (L)

1 (A00) 1 (I00) 1 (S00) 1 (H00) 1 (L00)

Maximum of 2

drawings combined

Maximum of 6 drawings combined

Maximum of 14 drawings combined

Maximum of 30 drawings combined

Source Drawing Execution Control

 Source Drawing Execution Control

Each drawing is displayed as shown below based on its priority.

Power ON

電源投入

Power ON

DWG,A

Start processing

　　始動処理図面

drawing

S-scan synchronization

スキャン周期

DWG,S

　　Sスキャン処理

S-scan processing

DWG,H

　　Hスキャン処理

H-scan processing

DWG,L

　　Lスキャン処理

L-scan processing

演算エラー

Operation error

DWG,X00

Operation error

　演算エラー処理図面

processing drawing

X，A，I，S，H，L

もとの続き

Continuation

Executed in

タイムスライス

discrete time

で実行

units

割り込み信号

Interrupt signal

DWG,I

Interrupt processing

　割り込み処理図面

drawing

もとの続き

Continuation

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User Programs MotionSuite™ MP940 Machine Controller Reference Manual

 Layer Structure of Drawings

Each drawing comprises source, sub-, and sub-sub-drawings. It is not possible to reference sub-drawings of a different type from the source drawing, nor is it possible to reference sub-sub-drawings of a different type from the sub-drawing. It is also impossible to reference sub-sub-drawings directly from source drawings. A structure wherein sub-drawings are referenced from source drawings, and sub-sub-drawings from sub-drawings is neccessary. This is called the layer structure of the drawing.

 Drawing Execution

Create user programs as shown below by layering processing programs into source drawings, sub-drawings, and sub-sub-drawings.

親図面子図面孫図面

Source drawing Sub-drawing

DWG.X DWG.X01.01

Note: “x” substitutes for A, I, H, and L.

（注） Xは，A,I,H,Lに置き換えてください。

DWG.X01

DWG.Xnn

Sub-subdrawing

DWG.X01.02

DWG.X01.03

Note: The system automatically executes the source drawing

since the execution conditions for each function have been decided according to Table XXX. This means that source drawings are automatically called by the system.It is therefore possible for the customer to execute various sub-drawings and sub-sub-drawings by programming drawing reference commands (SEE commands) in the source and sub-drawings.

・・

モーションプログラム

Motion Program User Functions

MPM001

・・・

ユーザ関数

FUNC-001

・・

MPM002

・・・

MPM015

FUNC-006

・・

FUNC-032

・・

FUNC-064

Functions can be referenced from any drawing.Functions can also be referenced from any function.

An operation error drawing starts, corresponding to a given drawing when an operation error occurs within that drawing.

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MotionSuite™ MP940 Machine Controller Reference Manual User Programs

Reference motion programs from the H drawing with an MSEE command. Source drawings, sub-drawings, or sub-sub-drawings can be referenced in an H drawing.

Source drawings are automatically called by the system. Sub-drawings are referenced from a source drawing using the SEE command. Therefore, user programs cannot be executed using only sub-drawings and subsub-drawings.

 Drawing Execution Processing Format

The execution processing of each layered drawing is processed in a format which references from the upper-level drawings to the lower-level drawings.The DWG (drawing) layer structure is shown in the following diagram using DWG.A as an example.

System Program

システムプログラムが

start and execution conditions

実行条件で起動

親図面子図面孫図面

Source Drawing Sub-drawing Sub-sub-drawing

DEND

DWG.A

SEE A01

SEE A02

DWG

DWG.A01

SEE A01.01

SEE A01.02

DEND

DWG.A02

演算エラー

Operation

error

note:

記述：

DWG.X YY . ZZ

発生

システムが

system starts

自動的に起動

automatically

DWG.A01.01

FUNC-001

DEND

DWG.A01.02

FUNC-001

DEND

DWG.A00

DENDDEND

孫図面番号

Sub-sub-drawing number (01 ~ 99)

子図面番号

Sub-drawing number (01 ~ 99)

親図面の種類

Source drawing tType A, I, S, H, L

～

99)

(01

～

99)

(01

(A, I,S, H, L)

Function

FUNC-001

DEND

関数

:DWG. X 00

3-19

Operation error drawing

演算エラー図面

(A, I, S,H, L)

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User Programs MotionSuite™ MP940 Machine Controller Reference Manual

Motion Programs

 Outline of Motion Programs

1. A motion program is a program written in a text format motion language. Unlike ladder programs, up to 256 motion programs can be created.

2. There are two types of motion programs: main programs that can be called from DWG.H (MPMooo), and sub-programs that can be called from the main program (MPSooo).

Classification

Designation

Method

Main Program MPMooo

1 ~ 32

Sub-program MPSooo

1 ~ 32

Ensure that the program numbers for MPMooo and MPSooo are different.

3. There are two methods of motion program designation, direct designation (in which the program number is designated), and indirect designation (in which a register number containing the program number is stored is designated). Examples of direct designation and indirect designation (respectively) appear below.

Characteristics No. of Programs

Can be called from DWG.H A combined maximum of

main and sub-programs,

Can be called from main program

ABS;

up to 32, can be created

プログラム起動命令

Program start command

MSEE MPM001 DA0000

↑

MPM Number

MPM

番号

Ladder Program MC Program

ラダープログラム

MOV

MVS

IOW MB0001

MOV

［X］

プログラム

_ F

・・

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MotionSuite™ MP940 Machine Controller Reference Manual User Programs

ABS;

MOV

MVS

IOW MB0001

0 3

Setting Device

設定器

プログラム起動命令

MC program start command

MSEE MW00200 DA0000

MOV

MPM

MW00200

番号

MPM signal

Ladder Program MC Program

ラダープログラム

 Motion Program Execution Processing Formats

Reference motion programs from the H drawing with an MSEE command. Source drawings, sub-drawings, or sub-sub-drawings can be referenced in an H drawing.

Start of system program

システムプログラムが

with operating conditions

実行条件で起動

Source drawing Sub-drawing Sub-sub-drawing Motion Program

親図面

DWG.H

SEE

H01

子図面

DWG.H01

SEE H01.01

MSEE

MPM002

孫図面

DWG.H01.01

MSEE

MPM001

DEND

(more)

（注）

(more)

（注）

ﾓｰｼｮﾝﾌﾟﾛｸﾞﾗﾑ

MPM00

VEL [a1]5000 FMX T10000000; IAC T25; IDC T30; MOV [a1]300. MVS [a1]200. . . . .

END

MPM00

［X］

プログラム

_ F

・・

DEND

MSEE

MPM002

DEND

3-21

END

MPM00

MSEE

MPS001

ｻﾌﾞﾙｰﾁﾝ

Sub-routine

MPS00

RET

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User Programs MotionSuite™ MP940 Machine Controller Reference Manual

1. The ladder commands of the H drawing are executed at each highspeed scan period in the order of source drawing/sub-drawing/sub-subdrawing.

2. Although motion programs are referenced in the scan period, they cannot be referenced in a single scan. Motion programs execute an execution control dedicated to motion programs through the motion control functions of the system.

3. Although motion programs are referenced in the scan period, they cannot be executed simply by reference. A control signal set in the group definition screen must be set.

Ensure the following restrictions are observed in referencing motion programs.

1. Multiple reference of motion programs with the same number is not possible with the MSEE command.

2. Subroutines (MPSxxx) cannot be referenced from ladder MSEE commands. These can only be referenced from within the motion program (MPMxxx, MPSxxx).

3. The same subroutine cannot be simultaneously referenced.

 Motion Program Execution

Input program control signals (program run start requests, program stop requests, etc.) in order to execute the motion programs called from DWG.H by the MSEE command. Operation is possible by inputting the external control signal defined in the group definition screen into the program control signal.

1. The following signal types are for motion program control.

bit Signal Name Signal Type

b0: Program Run Start Request Bit Input b1: Program Hold Request A Contact b2: Program Stop Request A Contact b3: Program Debug Mode Selection A Contact b4: Program Debug Start Request Bit Input b5: Alarm Reset Request A Contact b8: Skip 1 Data A Contact b9: Skip 2 Data A Contact

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MotionSuite™ MP940 Machine Controller Reference Manual User Programs

2. Control of motion program run/stop/hold, etc., is possible by inputting these signals in a ladder program into a work register +1 designated by the MSEE command. Convert the ladder program input to a signal in accordance with the signal types in step 1, above.

The program restarts after program close if the start signal is input to the A contact.The program does not operate with the start signal on an ON state at power ON.

3. The motion program execution processing method is shown below.

Motion Control Functions

External Control Signal

Run Status

Hold Stop etc.

DWG.H

Motion

Program

Control Ladder

MSEE MPM001

DA00000

Motion Program Number

DEND

Program RUN Status

Program HOLD Program STOP etc.

Program

Control

Signal

MSEE Work Register Address

MSEE Work Register

Status Control Signal

MPM001

VEL [a1]5000 FMX T10000000;

IAC T25;

IDC T30;

MOV [a1]300.

MVS [a1]200.

. . . .

END

Ladder Program Motion Program

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User Programs MotionSuite™ MP940 Machine Controller Reference Manual

 Motion Program Status Flags

The first word of the MSEE work register is a motion program status flag which tells the user the execution status of the motion program. The detailed contents of the status flag are shown below.

bit Status

b0: Program Running b1: Program Hold b2: (used by system) b3: (used by system) b4: Program Debug Running b8: Program Alarm Generated bB: In Debug Mode (EWS debug run) bE: Main Program Duplication Error bF: Excessive Main Program Number Error

 Example of Motion Program Control Ladder

1. The minimum necessary ladder program to control a motion program is shown below.

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2. The content of the above ladder program is as follows:

Step

Number

1 ~ 7 Stores the signal connected to the external input signal of the MP940 into the

motion program control signal. IW0000 (External Input Signal) ¨_ DW00001 (27th word of MSEE work register) Program Run Start Program Hold Program Stop Alarm Reset

9 Call-out of motion program MPM001

MSEE MPM001 DA00000 (1) (2) (1) Motion Program Number (2) MSEE Work Register Address

11 ~ 15 Reset the run mode setting alarm reset (B6 of OWxx00) for each axis setting

parameter and clear the alarms on each axis by the alarm reset signal (IB00005).

Program Content

3. Motion program run/hold/stop, etc., operation by the system motion control function is possible when the external I/O signals (IB00000 ~ IB00007) connected in the MP940 by the above ladder program are input as motion program control signals (word 27 of the MSEE work register).

The following table provides an example of the external input signals required to create the minimum neccessary in order to operate a motion program in the MP940.

External

Signal

Address

IB00000: Program Run Start B0: Program Run Start Request IB00001: Program Hold b1: Program Hold Request IB00002: Program Stop b2: Program Stop Request IB00003: Program Debug Mode b3: Program Debug Mode Selection IB00004: Program Debug Start b4: Program Debug Start Request IB00005: Alarm Reset b5: Alarm Reset Request

External Signal Name BIT

Motion Programs

Control Signal

 Motion Control Ladder Autotmatic Generation Function

An automatic generation function for motion control ladders is standard equipment in the MP940. Using this function, both jog operations and programmed runs may be performed without having to create a dedicated ladder program. Additionally, the system boot-up time is greatly reduced.

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User Programs MotionSuite™ MP940 Machine Controller Reference Manual

Number of motion programs that can be simultaneously started in the H drawing

Input signal by group

Automatic generation of motion control ladder program

Input signals by axis

The motion control ladders are automatically generated according to external input signals assigned in the group definition screen. They can be used as; however, use of this ladder as a template is recommended (but only after optimization/modification to match the system).

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MotionSuite™ MP940 Machine Controller Reference Manual Functions

Functions

This section describes the usage method, characteristics, etc. of the MP940 functions. Functions are executed by referencing a source drawing, sub-drawing, or sub-subdrawing using an FSTART command. Unlike sub-drawings and sub-sub-drawings, function references can be freely executed from the various drawings. The same function can also be referenced simultaneously from different drawing types and layers. Functions created from other functions can also be referenced. The following advantages are derived from using functions.

• Program componentization can be easily achieved.

• Program creation/saving is easy. There are two types of functions: standard system functions provided with the system, and user functions defined by the user.

Standard System Functions

Nine functions are installed as standard system functions.The user cannot modify the standard system functions, listed below.

Type Name Symbol Content

System Functions

Counter COUNTER Up/Down Counter First-in/First-out FINFOUT First-in/First-out Trace Function TRACE Data Trace Execution Control Data Trace Read-out DTRC-RD Data read from data trace memory into the

user memory. Message Sent MSG-SND Send message from controller. Message Receive MSG-RCV Receive message to controller.

User Functions

The function itself (program) can be freely defined (programed) by the user. Up to 32 user program definitions can be created. The technique for creating user programsby using the user function creation procedure is described below.

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Functions MotionSuite™ MP940 Machine Controller Reference Manual

Determination of I/O

Specifications

Function Definition Creation

Function Program Creation

Function Reference

Program Creation

Determine the number of I/Os and data types.

Input using CP-717

Created in the same manner as a drawing. However the registers used differ. Pay attention to the correspondence of the I/O data at function reference with the register numbers used in the function program.

Input in the following order: (1) Input the function name with the FSTART command (2) Connect the input data using the FIN command. (3) Connect the output data using the FOUT command.

1. See the following manual for details on MotionWorksTM operating methods. MP9xx Programming Unit Software Manual (volumes 1 and

2) (SIZA-C887-2.2-1/2.2-2).

2. See the following manual for details on the FSTART command and other commands. MP9xx Programming Manual (SI-C887-1.2C)

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MotionSuite™ MP940 Machine Controller Reference Manual Functions

Determination of I/O Specifications

When creating a user funtion, determine the number of I/Os needed to meet the specifications required, as detailed in the table below.

User Determined Specifications Outline

Function Name Input a name of up to 8 characters. Number of Inputs Up to 16 input indices for the functions can be input.

Up to 17 can be input along with the number of address inputs.

Number of Address Inputs* Up to 1 of these can be input in the exponent of the addresses

needed in the function.

Number of Outputs Up to 16 outputs from a function can be input.

• This shows how many pointers have been provided to the external function register used in the function.

Creation of External Function Definitions

1. Defines the specifications determined in the “Determination of I/O Specifications” section, such as function name in MotionWorksTM. For

details on the operation method, see MP9xx Programming Unit Software Manual (vol. 1 and 2) (SIZ-C887-2.2-1/2.2-2).

Example: Graphical Function Display Format defined as Func-

tion Name = “TEST”, No. of Inputs = “4”, No. of Address Inputs = “1”, No. of Outputs = “4”.

TEST

IN_01

IN_02

IN_03

OUT_01

OUT_02

OUT_03

IN_04

OUT_04

IN_05

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Functions MotionSuite™ MP940 Machine Controller Reference Manual

Note: After the graphical display format of the function has

been created, define the data types of the function inputs, outputs, and address inputs.

There are three types of definable data types: bit, integer, and double-length integer.

Upon defining the data types, these are automatically assigned according to the system where input = X register, output = Y register, address input = A register.

2. An example of the function input definitions is given below:

TEST

Bit-type

Numerical Input

Bit-type

Numerical Input

Real Number

Numerical Input

Integer

Numerical Input

===>

IN_01

BIT1

IN_02

BIT2

IN-03

FLT1

IN-04

INT1 INT2

IN_05

ADR

OUT_01

OUT_02

OUT_03

OUT_04

BIT3

BIT4

LNG1

Bit-type

Numerical Output

Bit-type

Numerical Output

Double-length

Integer Numerical

===>

Integer

Numerical Output

===>

3. The I/O signal addresses are automatically assigned from the signals on the graphical expression. Each of the I/O address assignments in the example above are as follows:

Name Data Type I/O Register

IN_01 (BIT1) Bit type XB000000 IN_02 (BIT2) Bit type XB000001 IN_03 (FLT1) Real number type XF00001 IN_04 (INT1) Integer type XW00003 IN_05 (ADR) Address input type AW00000 OUT_01 (BIT3) Bit type YB000000 OUT_02 (BIT4) Bit type YB000001 OUT_03 (LNG1) Double-length integer type YL00001 OUT_04 (INT2) Integer type YW00003

Output

• XW00000 and YW00000 of the X and Y registers are used as bit type data.

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MotionSuite™ MP940 Machine Controller Reference Manual Functions

4. The function input register is automatically assigned for “Graphical Function Display Format 2”. The general structure of the function is created at this stage.

Creation of the Function Program

The creation method is the same as for a drawing. However, the register type used differs. For details on the registers, see the Register Types section.

Creation of the Function Reference Program

The user function is complete upon creation of the graphical function display format and program. Referencing is possible, just as in standard system functions, from source drawings, sub-drawings, and sub-sub-drawings, in addition to other functions. Functions may be called-out within both drawing and user function programs by the following procedure. For details on the operation method, see “MP9xx Ladder Programming Manual” (SI-C887-

1.2C).

1. Input the function name with the FSTART command. For example, input FSTART, press the Enter key, input TEST, and press the Enter key. Already defined graphical function display formats are then displayed.

2. Use the FIN command to create the input data program. This imparts the input data to both the function inputs and address inputs.

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Functions MotionSuite™ MP940 Machine Controller Reference Manual

3. Use the FOUT command to create the output data program. For example, the I/O data is imparted as follows to graphical display format.

TEST

DB000000

DB000001

DF00001

DW00003

DB000020

= = = >

BIT1

BIT2

FLT1

FLT2 INT2

ＡＤＲ

MA00300

BIT3

BIT4

LNG1

= = = = >

＝＝＝＝＞

DB000021

DL00010

DW00012

The relationship between I/O data and the internal function registers is listed below.

Name I/O Data

Internal Function

BIT1 DB000000 XB000000

BIT2 DB000001 XB000001

FLT1 DF00001 XF00001

INT1 DW00003 XW00003

ADR MA00300 AW00000

BIT3 OB00020 YB000000

BIT4 OB00021 YB000001

LNG1 DL00010 YL00001

INT2 DW0012 YW00003

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MotionSuite™ MP940 Machine Controller Reference Manual Functions

The address input register AW00000 in the above table is assigned to MW00300. AW00000, AW00001... used within the function test, cor-

respond to the external registers MW00300, MW00301.... Therefore,

if a value in AW00000 is stored in a function, that value is stored in MW00300, as shown below.

Internal

Function

AW00000 AW00001 AW00002 AW00003

Pointer

External Register

MW00300 MW00301 MW00302 MW00303

MA00300

 Creation of function reference programs from motion programs

User functions can be called out from motion programs. For example, the following results when the user function on the previous page is called out from the motion program.

UFC TEST DB000000 DB000001 DF00001 DW00003,MA00300,

DB000020 DB000021 DL00010 DW00012;

 User program conditions referenced in motion programs

The first bit of the I/O data is always in bit form. This output data is assumed to be the “completion” signal for shifting the following motion commands.

UFC DB000000..., MA00300, DB000020...; Conditions@_DB000020==ON

MVS [X]100. [Y]200. F10000;

•

••

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Register

This section describes register types and usage formats used in MP940 user programs.

Register Designation Method

There are two methods for register designation: direct designation of register numbers, and symbol designation. These methods may be used together in a user program. When symbol deignation is used, the relationship between symbols and register numbers is defined in the symbol table given later. The register designation method is shown below.

Designation Method Designation Method

Direct Register Number Designation

Symbol Designation Bit type Register Designation: RESET1-A.X

Bit type Register Designation: MB00100AX Integer Type Register Designation: MW00100X Double-length Integer Type Register Designation: ML00100X Real Number Type Register Designation: MF00100X Address Type Register Designation: MA00100X X: In suffix designation, attach a suffix or a J after the register number.

Integer Type Register Designation: STIME-H.X Double-length Integer Type Register Designation: POS-REF.X Real Number Type Register Designation: IN-DEF.X Address Type Register Designation: PID-DATA

Up to 8 alphanumeric characters X: In suffix designation, attach a period “.” after the symbol up to 8 alphanumeric characters, then add a suffix or a J.

T=B (bit type) when (Hex: 0~F) Register number communicated by V (DEC/ HEX)

Data type communicated in V (T:B|W|L|F|A)

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i or j can be designated as suffixes

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MotionSuite™ MP940 Machine Controller Reference Manual Register

Symbol Designation

Type

Symbol: (Symbol Name) (.) (Suffix)

Needed when using a suffix (symbol name and suffix classification)

X X X X X X X X

Data Types

There are five data types used according to purpose: bit, integer, double-byte integer, real number, and address. Address type data is only used for bottom designation within a function. For details, see MP9xx Ladder Programming Manual (SI-C887-1.2C). The data types are shown below.

Data Type

Numerical Range Notes

i or j can be designated as a suffix

English Alphanumerics/Symbols

Roman Letters or symbols (a number cannot be designated at the head of a symbol name)

B Bit ON, OFF Used in relay circuits. W Integer -32768 ~ +32767

(8000H) (7FFFH)

Used in numerical calculations. Data in parentheses “( )” indicates use in logical calculations.

L Double-

length integers

F Real

-2147483648 ~ +2147483647 (80000000H) (7FFFFFFFH)

Used in numerical calculations. Data in parentheses “( )” indicates use in logical calculations.

±(1.175E -38 ~ 3.402E +38), 0 Used in numerical calculations.

numbers

A Address 0 ~ 32767 Used only in pointer designations.

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FEDCBA9876543210

[ MW00100 ]

[ MW00101 ]

[ MW00102 ]

[ MW00103]

Pointer Designation

Memory

Addresses

[ MA00100 ]

・・・

[ MB00103A ]

[ MB001003 ]

[ MW00100 ] [ MW00101 ] [ MW00102 ]

[ MW00103 ]

[ MB001006 ]

[ ML00100 ] [ MF00100 ]

[ ML00102 ] [ MF00102 ]

[ ML00100 ] [ MF00100 ]

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MotionSuite™ MP940 Machine Controller Reference Manual Register

 Usage examples by data type

1. Bit

Used in relay circuit ON/OFF or logical calculation.

IB000100

IB000001

IFON

OB000001

• Sample motion program

MB000101=IB000100; IF IB000001==1; DB000001=DB000001|1

2. Word

Used in numerical calculations and logical calculations.

MB000101

OB000001

MW00100 V

MW00102 +

MW00104

H00FF

12345

INV

• Sample motion program

MW00101=MW00100|00FFH; MW00103=MW00102+12345; MW00105=MW00104;

MW00101

MW00103

MW00105

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3. Double-length Integers

Used in numerical calculations and logical calculations.

ML00100

ML00106

ML00112

ML00102

ML00108 ÷÷18000

BIN

• Sample motion program

ML00104=ML00100+ML00102; ML00110=ML00106∗ML00108/18000; ML00114=BIN (ML00112);

4. Real Numbers

Used in numerical calculations with floating points.

1.23456

DF00102 SIN

(30.0) (0.5)

DF00200 TAN

(45.0) (1.0)

ML00104

ML00110

ML00114

DF00100

(1.23456)

DF00104

DF00202

• Sample motion program

DF00100=1.23456; DF00104=SIN (DF00102); DF00202=TAN (DF00200);

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MotionSuite™ MP940 Machine Controller Reference Manual Register

5. Address

Used only in pointer designation.

MF00200~MF00228 are used as a parameter table.

MF00200

PID MA00200

Parameter Table

Head Address

MF00200~MF00204 are used as a parameter table.

MW00200

LAG MA00200

Parameter Table

Head Address

Deviation Input

Input

⇒

MF00022

PID Output

⇒

MW00022 LAG

Output

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Register Types

 DWG Register

Each drawing or motion program can use the seven registers shown below.

Type Name

SSystem

M Data Reg-

ister

I Input

OOutput

C Constant

# # Register #B, #W, #L,

D D Register DB, DW, DL,

Designation

Method

SB, SW, SL, SFnnnnn (SAnnnnn)

MB, MW, ML , MFnnnnn (MAnnnnn)

IB, IW, IL, IFhhhh (IAhhhh)

OB, OW, OL, OFhhhh (OAhhhh)

CB, CW, CL, CFnnnnn (CAnnnnn)

#Fnnnnn (Annnnn)

DFnnnnn (DAnnnnn)

Range Content Characteristics

SW00000 ~ SW01023

MW00000 ~ MW32767

IW0000 ~ IW07FF

OW0000OW 07FF ~ OW07FF

CW00000 ~ CW32767

#W00000 ~ #W16383

DW00000 ~ DW16383

Register prepared by the system. Register number nnnnn is displayed in decimal format. SW00000 ~ SW00049 are cleared to 0 at system start.

Common registers between each drawing. Used in I/Fs between drawings, register number nnnnn is displayed in decimal format.

This register can only be referenced in programs. Register number nnnnn is displayed in decimal format.

This register can only be referenced in programs. Only given drawings can be registered. The actual usage range is designated by the user in

MotionWorks number nnnnn is displayed in decimal format.

This is an internal register intrinsic to each drawing. Only given drawings can be registered. The actual usage range is designated by the user in

the MotionWorks number nnnnn is displayed in decimal format.

. The register

. Register

Common DWG

By Drawing

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MotionSuite™ MP940 Machine Controller Reference Manual Register

1. # registers cannot be used in motion programs.

2. The following registers are saved in flash memory.

• M Registers

• C Registers

• # Registers (saved with user programs)

• D Registers (saved with user programs)

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 Function Registers

The 11 types of registers shown below can be used in each function.

Function Registers

Type Name

X Function

Input Register

Y Function

Output Register

Z Internal

Function Register

AExternal

Function Register

# # Register #B, #W, #L,

D D Register DB, DW, DL,

Designation

Method

XB, XW, XL, XFnnnnn

YB, YW, YL, YFnnnnn

ZB, ZW, ZL, ZFnnnnn

AB, AW, AL, AFhhhh

#Fnnnnn (Annnnn)

DFnnnnn (DAnnnnn)

Range Content Characteristics

XW00000 ~ XW00016

YW00000 ~ YW00016

ZW0000 ~ ZW00063

AW0000 ~ AW32767

#W00000 ~ #W16383

DW00000 ~ DW16383

Input to Function Bit Input: XB000000 ~ XB00000F Integer Input: XW00001 ~ XW00016 Double-length Integer Input: XL00001 ~

XL00015

decimal format.

Output from function Bit Output: YB000000 ~ YB00000F Integer Output: YW00001 ~ YW00016 Double-length Integer Output: YL00001

~ YL00015

decimal format.

This is an internal register intrinsic to each function. These can be used as internal function processes. Register number nnnnn is displayed in decimal format.

This external address assumes the value of the address input to be the base address. For linking with (S, M, I, O, #, DAnnnnn). Register number nnnnn is displayed in decimal format.

This register can only be referenced in functions. Only given functions can be registered. The actual usage range is designated by the user in

MotionWorks is displayed in decimal format.

This is an internal register intrinsic to each function. Only given functions can be registered. The actual usage range is designated by the user in

MotionWorks is displayed in decimal format.

. Register number nnnnn

By Function

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MotionSuite™ MP940 Machine Controller Reference Manual Register

Function Registers (Continued)

Type Name

S System

M Data

I Input

O Output

C Definition

Designation

Method

SB, SW, SL, SFnnnnn (SAnnnnn)

MB, MW, ML,

MFnnnnn (MAnnnnn)

IB, IW, IL, IFhhhh

(IAhhhh)

OB, OW, OL,

OFhhhh (OAhhhh)

CB, CW, CL,

CFhhhh (CAhhhh)

Range Content Characteristics

Same as DWG register Because this register is common to drawings and functions, use this register carefully when referencing identical functions from drawings of different priority levels.

SA, MA, IA, OA, DA, A, and CA can be used within functions as well.

Usage Method for Suffixes I and J

By function

Two types of dedicated register, I and J, have been provided for modification of relay numbers and register numbers. The functions of I and J are exactly the same. Examples of each register data type follow below.

 If the suffix is in bit form

The value of I is the same as the value of J when added to a relay number. For example, when I = 2 MB000000l is the same as MB000002. When J = 27 MB000000J is the same as MB00001B.

MB000000i

Equal

MB0000002

 If the suffix is in integer form

The value of I is the same as the value of J when added to a register number. For example, when I = 3 MW000010l is the same as MW00013. When J = 30 MW00001J is the same as MW00031.

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00030

MW00001j

Equal

MW00031

 If the suffix is in double-length integer form

The value of I is the same as the value of J when added to a register number. For example, when I = 1 ML00000l is the same as ML0000I. Be aware that ML0000J is as follows when J = 0 and when J = 1.

When J=0 ML00000J: ML00000

When J=1 ML00000J

ML00001

Upper-level

Word

MW00001

MW00002

Lower-level

Word

MW00000

MW00001

 If the suffix is in real number form

The value of I is the same as the value of J when added to a register number. For example, when I = 1 MF00000l is the same as MF0000I. Be aware that MF0000J is as follows when J = 0 and when J = 1.

When J=0 MF00000J: MF00000

When J=1

MF00000J

MF00001

Upper-level

Word

MW00001

MW00002

Lower-level

Word

MW00000

MW00001

 Example of Program Using Suffixes

Using suffix J, this program requests a total of 100 registers from MW00100 to MW0199 into MW00200.

00000

FOR J = 00000 to 00099 by 00001

MW00200 + MW00100j

FEND

MW00200

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MotionSuite™ MP940 Machine Controller Reference Manual Register

Suffixes I and J cannot be used in motion programs.

• I and J require initialization.

• I and J are handled in unsigned form. Do not allow their values to drop below zero.

Function I/O and Function Registers

The I/Os referencing the function and the function registers correspond as shown in the table below.

Function I/O Function Register

Bit input The order of bit input continually increases the bit number from XB00000.

(XB000000, XB000001, XB000002, ......, XB00000F)

Integer/Doublelength integer/Real number input

Address input The address input corresponds to register number 0 of the external register.

Bit output The order of bit output continually increases the bit number from YB000000.

Integer/Doublelength integer/Real number output

The input order for integers, double-length integers, and real numbers continuously increases the register numbers from XW00001, XL00001, and XF00001.

(XW00001, XW00002, XW00003, ... ..., XW00016)

(XL00001, XL00003, XL00005, ... ..., XL00015)

(XF00001, XF00003, XF00005, ... ..., XF00015)

(Input = MA00100: MW00100 = AW00000, MW00101 = AW00001... ...)

(YB000000, YB000001, YB000002, ......, YB00000F)

The input order for integers, double-length integers, and real numbers continuously increases the register numbers from YW00001, YL00001, and YF00001.

(YW00001, YW00002, YW00003, ... ..., YW00016)

(YL00001, YL00003, YL00005, ... ..., YL00015)

(YF00001, YF00003, YF00005, ... ..., YF00015)

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Page 88

Program Register Reference Range

Common Drawing Register

DWG H03 (Drawing)

Program

Max. 500 Steps

Registers, by DWG type

Parameter Data Max.16384 Words (#B,#W,#L,#Fnnnnn)

Individual Data Max.16384 Words (DB,DW,DL,DFnnnnn)

FUNC-000（関数）

FUNC-000 (Function)

Program

Max. 500 Steps

Registers, by function

Function Input Register 17 Words (XB,XW,XL,XFnnnnn)

Function Output Register 17 Words (YB,YW,YL,YFnnnnn)

Function Internal Register 64 Words (ZB,ZW,ZL,ZFnnnnn)

Parameter Data Max.16384 Words (#B,#W,#L,#Fnnnnn)

Individual Data Max.16384 Words (DB,DW,DL,DFnnnnn)

4 Function External Register (AB,AW,AL,AFnnnnn)

①

System Register (SB,SW,SL,SFnnnnn)

Data Register (MB,MW,ML,MFnnnnn)

Input Register (IB,IW,IL,IFnnnnn)

External Register (OB,OW,OL,OFnnnnn)

Parameter Register (CB,CW,CL,CFnnnnn)

(1): The common drawing register can be referenced from any drawing or function. (2): The common drawing register can only be accessed with in the drawing. (3): The individual function register can only be accessed within the function. (4): The common drawing register and indivdual drawing register can be accessed from a function by using the function external register.

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MotionSuite™ MP940 Machine Controller Reference Manual Symbol Management

Symbol Management

Symbol Management in Drawings

Manage all symbols used in drawings according to the symbol table shown below. For details, see MP9xx Ladder Programming Manual (SI-C887-1.2C).

Number

0 IB0000 STARTPBL 1 Register number is displayed in

1 OB0000 STARTCOM 1 Register number is displayed in

2 MW00000 SPDMAS 1 — 3 MB000010 WORK–DB 16 — 4 MW00010 PIDDATA 10 — 5 MW00020 LAUIN 1 — 6 MW00021 LAUOUT 1 — :

: N— — — —

• Define the size used in the data structure when a program is created using data structures such as arrays, index process data, etc. For example, in PIDDATA_I, the size is 10 if the referenced data varies within a range of 0 ~ 9.

Number

————

Symbol Size* Notes

hexadecimal format.

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Symbol Management MotionSuite™ MP940 Machine Controller Reference Manual

Symbol Management in Functions

Manage all symbols used in functions according to the function symbol table shown below. For details, see MP9xx Ladder Programming Manual (SIC887-1.2C).

Number

0 1

2 AW00001 1

3 AB00000F 1

4 YB000000 1

5 YW00001 1

6 ZB000000 4

8 ZW00001 1

9 ZW00002 1

: :

Number

XB000000 1

XW00001 1

———

Symbol Size*

Upper-level Symbol Link

The following table is a table for linkable symbols and symbol link objects. For details on the upper-level symbol link, see the MP9xx Ladder Programming Manual (SI-C887-1.2C) and the MP9xx Software Manual (Vol. 1 & 2) (SIZ-C887-2.2-1/2.2-2).

Symbol Table

Source Drawing Symbols

Sub-drawing Symbols

Sub-sub-drawing Symbols

Symbols in Functions

Source

Drawing

x——

>_ >_

x——

3-48

Sub-drawing

——

Sub-sub-

drawing

—

Page 91

MotionSuite™ MP940 Machine Controller Reference Manual Symbol Management

<Sub-Drawing>

<Sub-subDrawing>

Symbol

Table

DWG H

Symbol

Table

DWG H01

Symbol

Table

Symbol

Table

DWG H02

Symbol

Table

DWG H02.01DWG H02.03DWG H02.01

Symbol

Table

Symbol

Table

DWG L

Symbol

Table

DWG L02

Symbol

Table

DWG L02.05DWG L02.02

Symbol

Table

DWG L04

Symbol

Table

DWG L04.01

Symbol

Table

Automatic Register Numbering

The following table shows where register autonumbering is possible and not possible.For details on register autonumbering, see the MP9xx Ladder Programming Manual (SI-C887-1.2C) and the MP9xx Software Manual (Vol. 1 & 2) (SIZ-C887-2.2-1/2.2-2).

Drawing Symbol Table Autonumbering Function Symbol Table Autonumbering

—

System Register S

Input Register I

Output Register O

Data Register M

# Register #

C Register C

D Register D

—— —— —— ——

MotionWorks

System Register S

Input Register I

Output Register O

Data Register M

# Register #

C Register C

D Register D

Function Input Register X

Function Output Register Y

Internal Function Register Z

External Function Register A

—

MotionWorks

O: Autonumbering Possible X: Autonumbering not possible

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Page 92

MotionSuite™ MP940 Machine Controller Reference Manual Outline of MP940 Functions

Chapter 4: MP940 Functions

An explanation of the various MP940 functions is given in this chapter.

Outline of MP940 Functions

Module Structure

The MP940 is a single-axis controller bus-connected to an SGDH servo amplifier with function unit modules such as local I/O built into a single box.

The MP940 consists of the following function modules, centering around servo control. Each of these modules must be initially set-up according to the module definition described in this chapter.

 MP940 Function Module List

The MP940 Function Module List is shown below:

Function Modules

MP940 CPU Unit SERIAL Serial Communication RS-232C, RS-422/485 LIO Local I/O DI 8-points DO 8-points AO 1CH SVA Motion Functions CNTR Counter Function MLINK Mechatrolink I/F Function

Content

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Page 93

Outline of MP940 Functions MotionSuite™ MP940 Machine Controller Reference Manual

 Block Diagram of MP940 Functions

A block diagram of the MP940 functions is shown in the figure below:

SGDH

Speed Control

Current

Control

Counter

A/D

Programming

MP940

SVA MP940

DPR

RS-232C

Motion

CP-717

Works

SERIAL

RS-422/485

CPU

MLINK

DeviceNet

Local

I/O

MLINK Device

CNTR

MLINK Device

MP940 Virtual Building Block Structure

The MP940 is an all-in-one machine controller wherein function unit hardware modules have been miniatureized and placed in a single case.

The parameter setting of each function module realizes an operating environment identical to a building block type machine controller. For this reason, definitions are easy when you think of deploying an all-in-one structure in virtual building blocks. The MP940 is deployed in virtual building blocks as shown below.

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MotionSuite™ MP940 Machine Controller Reference Manual Outline of MP940 Functions

MP940

BAT

RDY RUN ALM

BAT PRT1

PRT2

E C

RUN

654321

INIT

TEST

FLASH

COPY

→

N K

PORT1

I/ O

PORT2

POWER

+24V

LED

GND FG

MP940

仮想ビルディングブロック構造

SERIAL LIO SVA CNTR MLINK

 Main Module Structure Definiton Window

Set slots 00 through 06 in rack 1. Slot 1 however, is reserved for the system.

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Page 95

Serial Transmission Function MotionSuite™ MP940 Machine Controller Reference Manual

Serial Transmission Function

Outline of Serial Transmission Function

The MP940 is equipped with a serial transmission interface containing (1) RS-232C and (1) RS-422/485.1. This arrangement is compatible with several transmission protocols, starting with Yaskawa's proprietary Memobus protocol, as well as with various interfaces. The PORT1RS-232 can be used as an engineering port. MP940 engineering is possible by connection to MotionWorks™.

MP940works as either a master or slave in a set program according to the serial transmission setting.

Serial Transmission executes data send/receive by using the MSG-SND and MSG-RCV functions within the DWG/ function program.

Port 1 RS-232C

Port 2 RS-422/485

 Standard System Configuration

MP940

BAT

X RDY RUN ALM

1 BAT

PRT1

PRT2

E C

RUN

654321

INIT

TEST

T R

FLASH

COPY

→

N K

PORT1

I/O

PORT2

POWER

+24V

LED GND

Comm.

CPU

Transmission

Processor-1

Transmission

Processor-2

RS-232C

RS-422/

485

PORT1

PORT2

System Configuration

The following is an example of connecting the MotionWorks™

4-4

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MotionSuite™ MP940 Machine Controller Reference Manual Serial Transmission Function

programming device and the display panel in a serial MP940.

MP940

Motion

CP-717

Works

RS-232C

RS-422

Display Panel

Notebook PC

Below is an example of connection of the MotionWorks™ programming device to the RS-232C port and branched connection of peripheral devices from the RS-485 port.

MP940

RS-232C

RS-485

Motion

CP-717

Works

Notebook PC

External

Device

External

Device

External

Device

External

Device

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Page 97

Serial Transmission Function MotionSuite™ MP940 Machine Controller Reference Manual

Communication Specifications

A description of the serial communication function specification follows.

The table below shows the MP940 module transmission specifications.

Item Specification

Interface RS-232, 1Line

RS-422/485 1Line

Connector RS-232 PORT1 MDR-14pin/female

RS-422/485 PORT2 MDR-14pin/female

Transmission Range

Baud Rate RS-232 PORT1 9600, 14400, 19200bps

Synchronization Type

Transmission Protocol

Connection Status RS-232 1:1

Transmission Format (Settable)

RS-232: 15m Maximum RS-422/485: 300m Maximum

RS-422/485 PORT2: 9600, 14400, 19200bps Asynchronous (start-stop synchronization)

Memobus (Master/Slave, MELSEC communication, non-procedural)

RS-422 1:1 RS-485 1:N

Data Bit Length :7/8Bit Stop Bit :1/2Bit (port 1only):port 2 is fixed at 1 Parity Bit :Even/Odd/None

Connector Hookup

 Serial Port 1

MP940 can communicate between tranmission devices on the Memobus network using RS-232C via serial port 1.

A programming device (a PC equipped with an RS-232C interface) is connected to serial port 1.

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MotionSuite™ MP940 Machine Controller Reference Manual Serial Transmission Function

 Connection with Programming Device

The following is an example of connecting serial port 1 to the programming device.

MP940

BAT

X RDY RUN ALM

1 BAT

PRT1

PRT2

E C

RUN

654321

INIT

TEST

FLASH

COPY

→

I N K

PORT1

I/O

PORT2

POWER

+24V

LED

GND

RS-232C

CP-

Motion Works

717

 Connector pin array and signal name

An example is shown below of the connector pin array and signal names in serial port 1.

Signal Name

Reference Number

PORT1

Number

1 TxD Transmit data 8 — — 2—— 9—— 3 RxD Receive data 10 — — 4—— 11—— 5—— 12RTS— 6CTS— 13—— 7 — — 14 GND Ground

• Module Side Connector : 10214-52A2JL (3M)

• Cable Side Connector Unit : 10114-3000VE (3M)

• Shell : 10314-52A0-008 (3M)

Signal Name

Reference

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Serial Transmission Function MotionSuite™ MP940 Machine Controller Reference Manual

 Connection of Serial Port 1 (RS-232C)

The following is an example of connecting serial port (RS-232C):

MP940

TxD 1

RxD 3

CTS 6

RTS 12

2 RxD

3 TxD

8 CTS

7 RTS

4 DTR

6 DSR

GND 14

5 GND

Shield to case

 Serial Port 2

This is the port used in RS-422/485 connection.

An example is given of branch connection of peripheral devices with serial port 2.

MP940

BAT

X RDY RUN ALM

1 BAT

PRT1

PRT2

E C

RUN

654321

INIT

TEST

FLASH

COPY

→

I N K

PORT1

I/O

PORT2

POWER

+24V

LED

GND

RS-485

External

Device

External

Device

External

Device

External

Device

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MotionSuite™ MP940 Machine Controller Reference Manual Serial Transmission Function

 Connector pin array and signal name

The table below shows details of programming device connection to serial port 2.

PORT2

No.

Signal

Name

Reference No.

1 TX+ + side of transmission

data

2 TX- - side of transmission

data

3 RX+ + side of received

data

4 RX- - side of received

data

8 TX+ + side of transmission

9 TX- - side of transmission

10 RX+ + side of received

11 TXR Transmission data

Signal

Name

Reference

data

terminal resistor 5— — 12— — 6 RX- - side of received

13 VCC Power+5V

data

7 RXR Reception data termi-

14 GND Ground

nal resistance

Insert the terminal resistor to the (+) pole.

Terminal Resistor

RXR (+)

RX (+)

RX (-)

TXR（+

）

TX（+

）

TX（-

）

If inserting the terminal resistor, connect to the RXR(+) and RX(-), as well as TXR(+) and TX(-) signals. If not inserting the terminal resistor, connect to the RX(+) and RX(-) as well as TX(+) signals.

• Module Connector: 10214-52A2JL (3M)

• Cable Connector Unit: 10114-3000VE (3M)

• Shell: 10314-52A0-008 (3M)

4-9

Yaskawa MP940 Reference Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Chapter 1: General Functions

Outline of the MP940

Exterior of the MP940 module

Features of the MP940

Chapter 2: Specifications

Specifications and Functions

General Specifications

Hardware Specifications

Function List

 MP940 Motion Control Function Specificationss

 PLC Function Specifications

 Motion Command List

 Ladder Command List

Servo Amplifier Specifications

 External Appearence and Nameplate

 Interpretation of Model

 Servo Motor and Amplifier Combination

Servo Motors

 Example of External Appearence and Nameplate

 Interpretation of Model

Standard Servo Motors

Servo Motor Capacities (kW)

Servo Motors with Gearbox

Servo Motor Capacities (kW)

Chapter 3: Basic System Operation

Operation Mode

Stop Mode

Run Mode

Start, Stop Sequence

DIP Switch Setting Method

Start Sequence

Scan Processing

Outline of Scan Processing

Content of S Scan

System Scan Time Setting

Scan Time Definition Setting

Saving Scan Time Definitions

Completion of Scan Time Definition

User Programs

DWG (drawing)

Types and Priority of Source Drawings

Source Drawing Execution Control

Motion Programs

Functions

Standard System Functions

User Functions

Determination of I/O Specifications

Creation of External Function Definitions

Creation of the Function Program

Creation of the Function Reference Program

Register

Register Designation Method

Data Types

Register Types

Usage Method for Suffixes I and J

Function I/O and Function Registers

Program Register Reference Range

Symbol Management

Symbol Management in Drawings

Symbol Management in Functions

Upper-level Symbol Link

Automatic Register Numbering

Chapter 4: MP940 Functions

Outline of MP940 Functions

Module Structure

MP940 Virtual Building Block Structure

Serial Transmission Function

Outline of Serial Transmission Function

System Configuration

Communication Specifications

Connector Hookup