Yaskawa MP940 User Manual

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Page 1

YASKAWA

Machine Controller MP940

USER'S MANUAL DESIGN AND MAINTENANCE

YASKAWA

MANUAL NO. SIEZ-C887-4.1

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Safety Information

The following conventions are used to indicate precautions in this manual. Failure to heed

precautions provided in this manual can result in serious or possibly even fatal injury or

damage to the products or to related equipment and systems.

Safety Information

WARNING

Caution

Prohibited

Mandatory

Indicates precautions that, if not heeded, could possibly result in loss of life or serious injury.

Indicates precautions that, if not heeded, could result in relatively serious or minor injury, damage to the product, or faulty operation.

In some situations, the precautions indicated could have serious consequences if not heeded.

Indicates prohibited actions that must not be performed. For example, this symbol

would be used to indicate that fire is prohibited as follows: .

Indicates compulsory actions that must be performed. For example, this symbol

would be used as follows to indicate that grounding is compulsory: .

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Visual Aids

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

Indicates important information that should be memorized.

Also, indicates low-level precautions that, if not heeded, may cause an alarm to sound but will not result in the device being damaged.

INFO

Indicates additional information or information that is useful to have memorized.

Describes technical terms that are difficult to understand, or appear in the text without an explanation being given.

form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permis-

sion of Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover,

because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is

subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless,

Yaskawa assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from

the use of the information contained in this publication.

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Safety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii Visual Aids - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iv About this Manual - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xiii Related Manuals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xiii Using This Manual - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xiv Safety Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xv

1 MP940 Overview and Features

1.1 Appearance of MP940 Modules - - - - - - - - - - - - - - - - - - - - - 1-2

1.2 List of Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.3 Features of the MP940 - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3

1.3.1 Single-axis Controller with Enhanced Essential Functions - - - - - - - - - -1-3

1.3.2 Total Synchronization between Controller and Servo Amplifier- - - - - - -1-4

1.3.3 Reduced Wiring and Compact Size - - - - - - - - - - - - - - - - - - - - - - - - - -1-4

1.3.4 Wide Range of Motion Controls - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-4

1.3.5 High-precision Synchronous Control - - - - - - - - - - - - - - - - - - - - - - - - -1-5

1.3.6 Field Networks - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-6

CONTENTS

2 Specifications and Functions

2.1 General Specifications- - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2

2.2 Hardware Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3

2.3 Function Lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5

2.3.1 MP940 Motion Control Function Specifications- - - - - - - - - - - - - - - - - -2-5

2.3.2 PLC Function Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-6

2.3.3 Motion Command Descriptions - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-8

2.3.4 Ladder Instructions and Standard System Functions- - - - - - - - - - - - - 2-13

2.4 Main CP-717 Functions - - - - - - - - - - - - - - - - - - - - - - - - - - 2-21

2.5 Function Tree Structure - - - - - - - - - - - - - - - - - - - - - - - - - - 2-22

2.6 SERVOPACK Specifications- - - - - - - - - - - - - - - - - - - - - - - 2-23

2.6.1 Outer Appearance and Nameplate Example - - - - - - - - - - - - - - - - - -2-23

2.6.2 Model Numbers- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-23

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3 Basic System Operation

3.1 Operating Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3

3.1.1 Online Operating Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3

3.1.2 Offline Stop Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3

3.2 Start and Stop Sequences - - - - - - - - - - - - - - - - - - - - - - - - - 3-5

3.2.1 DIP Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-5

3.2.2 Start Sequence- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-7

3.3 Scan Processing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10

3.3.1 Overview of Scan Processing - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10

3.3.2 S Scan Details- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-11

3.3.3 Setting Scan Times- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12

3.3.4 Setting the System Scan Time - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-13

3.3.5 Setting Scan Time Definitions - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14

3.3.6 Saving Scan Time Definitions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-15

3.3.7 Completing Scan Time Definitions - - - - - - - - - - - - - - - - - - - - - - - - - 3-15

3.4 User Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-16

3.4.1 Drawings (DWGs)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-16

3.4.2 Execution Control of Parent Drawings- - - - - - - - - - - - - - - - - - - - - - - 3-17

3.4.3 Motion Programming- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-20

3.5 Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-28

3.5.1 Standard System Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-28

3.5.2 Creating User Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-29

3.5.3 Determining the I/O Specifications - - - - - - - - - - - - - - - - - - - - - - - - - 3-29

3.5.4 Defining Function I/O - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-30

3.5.5 Creating the Body of the Function - - - - - - - - - - - - - - - - - - - - - - - - - 3-31

3.5.6 Creating the Program that Calls the Function - - - - - - - - - - - - - - - - - 3-32

3.6 Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-34

3.6.1 Register Designation Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-34

3.6.2 Data Types- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-35

3.6.3 Types of Register - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-38

3.6.4 Using Subscripts I and J - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-40

3.6.5 I/O and Registers in Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-42

3.6.6 Register Ranges in Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-43

3.7 Managing Symbols - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-44

3.7.1 Symbols in Drawings- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-44

3.7.2 Symbols in Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-44

3.7.3 Upward Linking of Symbols - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-45

3.7.4 Automatic Register Number Allocation - - - - - - - - - - - - - - - - - - - - - - 3-45

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4 MP940 Functions

4.1 MP940 Function Configuration - - - - - - - - - - - - - - - - - - - - - - 4-3

4.1.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-3

4.1.2 Simulated MP940 Building Block Configuration - - - - - - - - - - - - - - - - -4-5

4.2 Serial Communications Function - - - - - - - - - - - - - - - - - - - - 4-6

4.2.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-6

4.2.2 System Configuration- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-6

4.2.3 Communications Specifications- - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-7

4.2.4 Connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-8

4.2.5 Time Required for Transmission - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-9

4.2.6 Serial Communications Protocol - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11

4.2.7 Opening the Serial Definition Window - - - - - - - - - - - - - - - - - - - - - - -4-17

4.2.8 General-purpose Serial Definitions - - - - - - - - - - - - - - - - - - - - - - - - -4-18

4.2.9 Saving General-purpose Serial Definition Data- - - - - - - - - - - - - - - - -4-21

4.2.10 Deleting General-purpose Serial Definition Data - - - - - - - - - - - - - - -4-21

CONTENTS

4.3 LIO Function- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-22

4.3.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-22

4.3.2 LIO Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-23

4.3.3 Opening the Local I/O Definition Window - - - - - - - - - - - - - - - - - - - - -4-26

4.3.4 LIO Definitions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-27

4.3.5 Saving LIO Definition Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-28

4.3.6 Deleting LIO Definition Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-28

4.4 CNTR Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-29

4.4.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-29

4.4.2 Counter Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-30

4.4.3 Counter Function Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - -4-31

4.4.4 Pulse Count Method - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-32

4.4.5 Reversible Counter Mode- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-34

4.4.6 Coincidence Output and Interrupt Functions- - - - - - - - - - - - - - - - - - -4-34

4.4.7 PI Latch Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-36

4.4.8 Electronic Gear - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-36

4.4.9 Opening the Counter Module Definition Window- - - - - - - - - - - - - - - - 4-40

4.4.10 Defining Counter I/O - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-41

4.4.11 Setting I/O Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-42

4.4.12 Saving Counter I/O Definition Data - - - - - - - - - - - - - - - - - - - - - - - -4-44

4.4.13 Deleting Counter I/O Definition Data - - - - - - - - - - - - - - - - - - - - - - -4-44

4.5 MECHATROLINK Functions - - - - - - - - - - - - - - - - - - - - - - - 4-45

4.5.1 MECHATROLINK Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-45

4.5.2 MECHATROLINK Communications Specifications - - - - - - - - - - - - - -4-45

4.5.3 Master and Slaves- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-46

4.5.4 MECHATROLINK Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-51

4.5.5 Opening the MECHATROLINK Window- - - - - - - - - - - - - - - - - - - - - -4-52

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4.5.6 Setting MECHATROLINK Definitions - - - - - - - - - - - - - - - - - - - - - - - 4-53

4.5.7 Saving MECHATROLINK Definitions - - - - - - - - - - - - - - - - - - - - - - - 4-56

4.5.8 Deleting MECHATROLINK Definitions - - - - - - - - - - - - - - - - - - - - - - 4-56

4.5.9 Ending MECHATROLINK Definitions - - - - - - - - - - - - - - - - - - - - - - - 4-56

4.6 DeviceNet Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-57

4.6.1 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-57

4.6.2 I/O Communications Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-58

4.6.3 Communications Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-58

4.6.4 260IF Module Setup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-59

4.7 SVA Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-65

4.7.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-65

4.7.2 Separate and One-unit Systems- - - - - - - - - - - - - - - - - - - - - - - - - - - 4-65

4.7.3 MP940 Servo Control Function - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-66

4.7.4 Setting Parameters of the SGDH SERVOPACK- - - - - - - - - - - - - - - - 4-70

4.8 Flash Memory Operation - - - - - - - - - - - - - - - - - - - - - - - - - 4-77

4.8.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-77

4.8.2 Saving to Flash- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-77

4.8.3 Starting Flash Memory - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-79

5 System Startup

5.1 Handling the SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - 5-3

5.2 Part Names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4

5.2.1 MP940 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4

5.2.2 Accessories and Options - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-15

5.3 Connection Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-16

5.3.1 Connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-16

5.3.2 Connector Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-17

5.3.3 Serial Port Connector Pin Arrangements and I/O Circuits - - - - - - - - - 5-18

5.3.4 I/O Connector Pin Arrangement and I/O Circuits - - - - - - - - - - - - - - - 5-23

5.3.5 Power Supply Connector Cable - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-25

5.3.6 MECHATROLINK Cable - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-26

5.4 Connecting Peripheral Devices- - - - - - - - - - - - - - - - - - - - - 5-28

5.4.1 Single Phase Power Supply Specifications - - - - - - - - - - - - - - - - - - - 5-28

5.4.2 Three-phase Power Supply Specifications- - - - - - - - - - - - - - - - - - - - 5-29

5.4.3 Standard Cable Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30

5.5 SERVOPACK Main Circuit Connection - - - - - - - - - - - - - - - 5-33

5.5.1 Names and Descriptions of Main Circuit Terminals - - - - - - - - - - - - - - 5-33

5.5.2 Typical Main Circuit Wiring- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-34

5.5.3 Wiring Main Circuit Terminal Blocks - - - - - - - - - - - - - - - - - - - - - - - - 5-35

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CONTENTS

5.6 SERVOPACK I/O Signals- - - - - - - - - - - - - - - - - - - - - - - - - 5-37

5.6.1 Examples of I/O Signal Connections - - - - - - - - - - - - - - - - - - - - - - - -5-37

5.6.2 List of CN1 Terminals- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-38

5.6.3 I/O Signal Names and Functions- - - - - - - - - - - - - - - - - - - - - - - - - - -5-39

5.6.4 Interface Circuits - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-41

5.7 Wiring Encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-43

5.7.1 Connecting an Encoder (CN2) and Output Signals from the SERVOPACK (CN1) - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-43

5.7.2 CN2 Encoder Connector Terminal Layout and Types - - - - - - - - - - - -5-44

5.8 System Startup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-46

5.8.1 Overview of the Startup Procedure - - - - - - - - - - - - - - - - - - - - - - - - -5-46

5.8.2 Test System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-47

5.8.3 Test System Outline - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-48

5.8.4 Equipment Preparations- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-49

5.8.5 Mounting the MP940 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-50

5.8.6 Mounting the Battery Holder - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-52

5.8.7 Connections and Wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-54

5.8.8 MP940 Initialization - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-55

5.8.9 Starting the CP-717 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-57

6 Parameters

6.1 Parameter Classifications- - - - - - - - - - - - - - - - - - - - - - - - - - 6-2

6.2 Motion Setting Parameters- - - - - - - - - - - - - - - - - - - - - - - - - 6-3

6.2.1 Opening the Motion Parameters Window - - - - - - - - - - - - - - - - - - - - - -6-3

6.2.2 Setting Motion Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-4

6.2.3 Deleting Motion Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-7

6.2.4 Saving Motion Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-8

6.3 SVA Parameter Details - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9

6.3.1 Motion Fixed Parameter Details - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-9

6.3.2 Motion Setting Parameter Details - - - - - - - - - - - - - - - - - - - - - - - - - -6-17

6.3.3 Motion Monitoring Parameter Details- - - - - - - - - - - - - - - - - - - - - - - -6-37

6.4 Parameters for SGDH SERVOPACK- - - - - - - - - - - - - - - - - 6-46

6.4.1 Parameter Configurations- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-46

6.4.2 Function Selection Constants - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-46

6.4.3 Gain-related Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-53

6.4.4 Position-related Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-59

6.4.5 Speed-related Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-60

6.4.6 Torque-related Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-62

6.4.7 Sequence-related Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-66

6.4.8 Other Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-74

Page 9

7 Absolute Position Detection

7.1 Structure of the Absolute Position Detection Function- - - - - - 7-2

7.1.1 Description of the Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2

7.1.2 Structure of Absolute Position Detection - - - - - - - - - - - - - - - - - - - - - - 7-2

7.2 Starting the Absolute Position Detection Function- - - - - - - - - 7-6

7.2.1 System Startup Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-6

7.2.2 Setting Related Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-7

7.2.3 Initializing the Absolute Encoder- - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-8

7.2.4 Multi-turn Limit Setting- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-11

7.3 Using an Absolute Encoder - - - - - - - - - - - - - - - - - - - - - - - 7-14

7.3.1 Finite Length Mode Axis - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-14

7.3.2 Infinite Length Mode Axis - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-18

8 Maintenance and Inspection

8.1 Inspection Items - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2

8.1.1 Daily Inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2

8.1.2 Regular Inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3

8.2 MP940 Module Battery - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-4

8.2.1 Battery Life- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-4

8.2.2 Battery Replacement- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-4

9 Troubleshooting

9.1 Overview of Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - 9-2

9.1.1 Troubleshooting Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2

9.1.2 Basic Troubleshooting Flow - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-3

9.1.3 Indicator Errors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-3

9.2 System Errors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-5

9.2.1 Overview of System Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-5

9.2.2 Processing Flow When a System Error Occurs - - - - - - - - - - - - - - - - - 9-6

9.2.3 Processing Flow When a User Program Error Occurs - - - - - - - - - - - - 9-7

9.2.4 System Register Configuration- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-8

9.3 Motion Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-19

9.3.1 Description of Motion Errors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-19

9.3.2 Processing Flow When a Motion Error Occurs - - - - - - - - - - - - - - - - - 9-20

Page 10

10 SERVOPACK Inspection, Maintenance, and Troubleshooting

10.1 Servodrive Inspection and Maintenance - - - - - - - - - - - - - 10-2

10.1.1 Servomotor Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -10-2

10.1.2 SERVOPACK Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -10-2

10.1.3 Replacing Battery for Absolute Encoder - - - - - - - - - - - - - - - - - - - -10-3

10.2 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-5

10.2.1 Troubleshooting Problems with Alarm Displays- - - - - - - - - - - - - - - -10-5

10.2.2 Troubleshooting Problems with No Alarm Display - - - - - - - - - - - -10-31

10.2.3 Alarm Display Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-33

11 Motion Control

11.1 Overview of Motion Control- - - - - - - - - - - - - - - - - - - - - - - 11-2

11.1.1 Motion Control for the MP940 - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2

11.1.2 Motion Control Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2

11.1.3 Examples of Motion Control Applications - - - - - - - - - - - - - - - - - - - - 11-5

CONTENTS

11.2 Control Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-7

11.2.1 Overview of Control Modes- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-7

11.2.2 Speed Control Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-7

11.2.3 Torque Control Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-12

11.2.4 Phase Control Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-15

11.2.5 Zero Point Return Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-23

11.3 Position Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-28

11.3.1 Prerequisites for Position Control - - - - - - - - - - - - - - - - - - - - - - - - 11-28

11.3.2 Precautions in Changing to Position Control Mode - - - - - - - - - - - - 11-43

11.3.3 Position Control without Using Motion Commands - - - - - - - - - - - - 11-47

11.4 Position Control Using Motion Commands - - - - - - - - - - - 11-50

11.4.1 Overview of Motion Commands- - - - - - - - - - - - - - - - - - - - - - - - - - 11-50

11.4.2 Positioning (POSING)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-52

11.4.3 External Positioning (EX_POSING) - - - - - - - - - - - - - - - - - - - - - - - 11-58

11.4.4 Zero Point Return (ZRET)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-61

11.4.5 Interpolation (INTERPOLATE)- - - - - - - - - - - - - - - - - - - - - - - - - - - 11-73

11.4.6 Interpolation with Position Detection (LATCH)- - - - - - - - - - - - - - - - 11-74

11.4.7 Fixed Speed Feed (FEED) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-75

11.4.8 Fixed Length Feed (STEP) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-78

11.4.9 Zero Point Setting (ZSET)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-81

Page 11

A Dimensions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-1

A.1 External of MP940 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2

A.2 Dimensions of MP940D - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2

B Lists of Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -B-1

B.1 Classification of Parameters- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - B-2

B.2 Parameters- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - B-2

B.3 Switches - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - B-6

B.4 Input Signal Selections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - B-10

B.5 Output Signal Selections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - B-11

B.6 Auxiliary Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - B-12

B.7 Monitor Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - B-13

C Motion Parameter Tables - - - - - - - - - - - - - - - - - - - - - - - - - -C-1

C.1 Motion Fixed Parameters- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -C-2

C.2 Motion Setting Parameters- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - C-5

C.3 Motion Monitoring Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - -C-12

D Lists of System Registers- - - - - - - - - - - - - - - - - - - - - - - - - -D-1

D.1 System (S) Register Allocations - - - - - - - - - - - - - - - - - - - - - - - - - - - - -D-2

D.2 System Service Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -D-2

D.3 Scan Execution Status and Calendar - - - - - - - - - - - - - - - - - - - - - - - - - D-5

D.4 System Program Software Number and Available Program Memory - - - D-5

Revision History

xii

Page 12

About this Manual

 This manual describes the design and maintenance for the MP940 Machine Con-

troller, including the following information.

• Overview and component specifications

• Installation and wiring

• Examples of internal panel layout and drilling plan

 Read this manual carefully to ensure the proper use of the MP940 Machine Control-

ler. Also, keep this manual in a safe place so that it can be referred to whenever necessary.

Related Manuals

About this Manual

 Refer to the following related manuals as required.

 Thoroughly check the specifications, restrictions, and other conditions of the prod-

uct before attempting to use it.

Manual Name Manual No. Contents

MP9 Machine Controller User’s Manual:

Ladder Programming

MP9 Machine Controller User’s Manual:

Motion Programming

MP9 Machine Controller User’s Manual:

Programming Panel Software (for simple operation/standard operation)

Σ - II Series SGM H/SGDH User's Manual: Design and Maintenance

SIEZ-C887-1.2 Describes the processing instructions used in

MP9 ladder programs.

SIEZ-C887-1.3 Describes the motion programming language

used for the MP9.

SIEZ-C887-2.3 (for simple operation) (To be prepared), SIEZ-C887-2.4 (for standard operation) (To be prepared)

SIE-S800-32.2 Describes SGM H/SGDH functions,

Describes the CP-717 Programming Panel Software used for designing and maintaining the MP9.

specifications, and operating procedures.

xiii

Page 13

Using This Manual

 Intended Audience

This manual is intended for the following users.

• Those responsible for estimating the MP940 system

• Those responsible for deciding whether to apply the MP940 system

• Those responsible for designing the MP940 system so that it can be mounted in the con-

trol and operating panels

• Those responsible for making, inspecting, testing, adjusting, and maintaining the control

and operating panels in which the MP940 is mounted

 Description of Technical Terms

In this manual, the following terms are defined as follows:

• MP940 = MP940 Machine Controller, which consists of a Power Supply Module, CPU

Module, I/O Modules, and other Modules

• PP = Programming Panel

• PC = Programmable Logic Controller

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

 Inverted Signals

In this manual, a slash (/) is placed in front of the name of any signal that is valid when low

(L).

• S-ON

• P-CON

= /S-ON

＝ /P-CON

xiv

Page 14

Safety Precautions

Caution

MP940

SERVOPACK

Spring

Spring mounting hook

Mounting holes

This section describes precautions that apply to correct use of devices. Before installing,

operating, maintaining or inspecting devices, always read this manual and all other docu-

ments provided to ensure correct programming. Before using the equipment, familiarize

yourself with equipment details, safety information, and all other precautions.

 Storage and Transportation

• If disinfectants or insecticides must be used to treat packing materials such as wooden frames, pal-

lets, or plywood, the packing materials must be treated before the product is packaged, and meth-

ods other than fumigation must be used.

Example: Heat treatment, where materials are kiln-dried to a core temperature of 56°C for

30 minutes or more.

If the electronic products, which include stand-alone products and products installed in machines, are packed with fumigated wooden materials, the electrical components may be greatly damaged by the gases or fumes resulting from the fumigation process. In particular, disinfectants containing halogen, which includes chlorine, fluorine, bromine, or iodine can contribute to the erosion of the capacitors.

Safety Precautions

 Installation

• Always mount the Module securely using the Module mounting spring.

A loose spring may result in a malfunction of the MP940.

• Always turn OFF the MP940 Module before installing or removing it.

• Insert the connectors of the cables to be connected to the Module and secure them well.

Incorrect insertion of the connectors may result in a malfunction of the MP940.

Page 15

 Wiring

Caution

• Always connect a power supply that meets the specifications.

Connecting an inappropriate power supply may cause fires.

• Wiring must be performed by qualified personnel.

Incorrect wiring may cause fires, product failure, or malfunctions.

• Do not accidentally leave foreign matter such as wire chips in the Module when wiring.

This may cause fires, failures, and malfunctions.

Mandatory

Manditory

• Always ground the FG terminal to a ground resistance 100 Ω or less.

Failure to ground the MP940 may result in electrical shocks or malfunctions.

Select, separate, and lay external cables correctly.

• Consider the following items when selecting the I/O signal lines (external cables) to connect the MP940 to external devices.

• Mechanical strength

• Noise interference

• Wiring distance

• Signal voltage, etc.

• Separate the I/O signal lines from the power lines both inside and outside the control panel to reduce the influence of noise from the power lines.

If the I/O signal lines and power lines are not separated properly, malfunctioning may result.

Example of Separated External Cables

外部配線の分離例

Power circuit

動力回路の

cables

ケーブル

General control circuit

一般制御回路

cables

のケーブル

鉄板製のセパレータ

Steel separat or

Digital I/O signal

ディジタル入出力信号

cables

ケーブル

xvi

Page 16

Safety Precautions

 Application

WARNING

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

There is a risk of electrical shock.

Caution

• Do not attempt to modify the MP940 programs, force outputs, switch between RUN and STOP, or performed other similar operations while the MP940 is operating.

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

 Maintenance

WARNING

• Make sure that the polarity of the Module's built-in battery is correct. The battery must be installed correctly and must not be charged, disassembled, heated, thrown into fire, or short-circuited.

Improper handling may cause the battery to explode or ignite.

Prohibited

• Do not attempt to disassemble or modify the MP940 in any way.

Doing so can cause fires, product failure, or malfunctions.

• The customer must not replace any built-in fuses.

If the customer replaces a built-in fuse, the MP940 may malfunction or break down. The built-in fuse must always be replaced by Yaskawa service staff.

xvii

Page 17

 General Precautions

Always note the following to ensure safe use.

• The MP940 was not designed or manufactured for use in devices or systems directly related to human life. Users who intend to use the product described in this manual for special purposes such as devices or systems relating to transportation, medical, space aviation, atomic power control, or underwater use must contact Yaskawa Electric Corporation beforehand.

• The MP940 has been manufactured under strict quality control guidelines. However, if this product is to be installed in any location in which a failure of the MP940 involves a life and death situation or in a facility where failure may cause a serious accident, safety devices MUST be installed to minimize the likelihood of any accident.

• Drawings in this manual show typical product examples that may differ somewhat from the product delivered.

• This manual may change without prior notice due to product improvements and specification changes or for easier use. We will update the manual number of the manual and issue revisions when changes are made. The revision number of the revised manual appears on the back of the manual.

• Contact your nearest Yaskawa sales representative or the dealer from whom you purchased the product and quote the manual number on the front page of the manual if you need to replace a manual that was lost or destroyed.

• Contact your nearest Yaskawa sales representative or the dealer from whom you purchased the product to order new nameplates whenever a nameplate becomes worn or damaged.

• Products modified by the customer are not covered by the Yaskawa warranty, nor does Yaskawa assume any liability for injury or damage that may result from such modifications.

xviii

Page 18

1 MP940 Overview and

Features

This chapter provides an overview and outlines the features of the MP940

Modules.

1.1 Appearance of MP940 Modules- - - - - - - - - - - - - - - - - - - - - - 1-2

1.2 List of Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.3 Features of the MP940 - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3

1.3.1 Single-axis Controller with Enhanced Essential Functions - - - - - - - - - 1-3

1.3.2 Total Synchronization between Controller and Servo Amplifier - - - - - - 1-4

1.3.3 Reduced Wiring and Compact Size - - - - - - - - - - - - - - - - - - - - - - - - - 1-4

1.3.4 Wide Range of Motion Controls - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4

1.3.5 High-precision Synchronous Control- - - - - - - - - - - - - - - - - - - - - - - - - 1-5

1.3.6 Field Networks - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6

1-1

Page 19

MP940 Overview and Features

1.1 Appearance of MP940 Modules

The MP940 is a single-axis controller with functions such as communications, local I/O,

counters, motion control, and so on, and with a bus connection to an SGDH SERVOPACK.

L1C L2C B1 B2

MP940 (JEPMC-MC400) MP940D (JEPMC-MC410)

1.2 List of Modules

The following table lists the Modules and devices used for the MP940 system.

MP940 Module for MECHATROLINK

MP940 Module for DeviceNet

MP940

BAT

X RDY RUN

ALM

1 BAT

PRT1

PRT2

E C

RUN

654321

→

INIT TEST FLASH

PP COPY

PORT1

PORT2

POWER

+24V

GND

H A T R

O L I N K

I/O

LED

L1C L2C B1 B2

654321

→

Table 1.1 List of Modules

Group Name Description

JEPMC-MC400 MP940

JEPMC-MC410 MP940D

MP940

BAT

RDY

RUN ALM BAT

PRT1 PRT2

RUN

INIT TEST FLASH PP COPY

PORT1

PORT2

POWER

+24V

GND

MS/NS

DNET

I/O

LED

1-2

Page 20

1.3 Features of the MP940

The MP940 Machine Controller is a single-axis controller which combines controller and SER-

VOPACK features into a single unit. It provides a wide range of control features, from indepen-

dent positioning to fast and accurate synchronous control.

1.3.1 Single-axis Controller with Enhanced Essential Functions

1.3

Features of the MP940

The MP940 is configured from the functional modules shown in the following table, based

on servo control.

Functional Module Contents

MP940 CPU

SERIAL Serial communications, RS-232C, RS-422/485

LIO Local I/O: DI (8 bits), DO (8 bits), AO (1 word)

SVA Motion control functions

CNTR Counter functions

MLINK or DevNet

SGDH MP940

Current control

Speed control

MECHATROLINK interface or DeviceNet interface

SVA

MP940

CPU

Local I/O

Counter

Shared memory

RS-232C

CP-717

Programming Device

1-3

SERIAL CNTR

RS-422/485

MLINK or DevNet

Page 21

MP940 Overview and Features

1.3.2

Total Synchronization between Controller and Servo Amplifier

1.3.2 Total Synchronization between Controller and Servo Amplifier

The Controller and SGDH SERVOPACK have a bus connection for totally synchronized

execution that enables fast and accurate control with no startup or monitoring delays.

Any of the following control cycles can be set.

• 500 µs, 1 ms, 2 ms, 4 ms,

1.3.3 Reduced Wiring and Compact Size

Combining the Controller and SERVOPACK into a single unit has reduced wiring costs and

achieved space saving.

1.3.4 Wide Range of Motion Controls

• Motion program instructions are executed to perform positioning and linear interpola-

tion.

• High-speed position control, synchronous phase control, speed control, and torque con-

trol can be performed.

• Highly effective motion control is possible for electronic shafts and gears.

Servo Control Examples

Position, synchronous phase, speed, and torque control are possible with 4-mode control.

Synchro-

Speed

nous phase

Fig 1.1 4-Mode Control

To rq u e

Position

1-4

Page 22

Synchronous Phase Control Application Examples

Electronic Cams

1.3

Features of the MP940

SERVOPACK

1.3.5 High-precision Synchronous Control

Various types of position data can be monitored and SERVOPACK parameters can be

changed at high speed during machine operation. This data can be used for high-precision

synchronous control by executing READ and WRITE in ladder logic programs or motion

programs.

• Mode Changes during Operation

The mode can be changed to position control, torque control, speed control, or synchro-

nous phase control during operation.

• Various Operation Commands

Speed loop P/PI switching, external torque control, and speed limits for torque control

can be specified from the MP940 during operation.

Servomotor

MP940

Ball screw

• Read/Write SERVOPACK Parameters

User-set SERVOPACK parameters, such as position loop gain, speed loop gain, speed

loop integral time constant, and so on, can be changed during operation.

• Position Data Monitoring

Position data, command speeds, speed monitoring, and external encoder data can be ref-

erenced at high speed by the program.

1-5

Page 23

MP940 Overview and Features

1.3.6

Field Networks

MP940SGDH

Shared memory

1.3.6 Field Networks

Two types of field network are supported to reduce wiring: One for MECHATROLINK

(JEPMC-MC400) and one for DeviceNet (JEPMC-MC410).

Speed Torque

↔

Speed reference Torque reference Torque limit Speed P/PI switching

Parameters

Monitor data

Position Speed Torque

Mode change command

Operation commands

Read/Write parameters

Referencing monitor data

1-6

Page 24

2 Specifications and Functions

This chapter outlines MP940 Module specifications and functions.

2.1 General Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2

2.2 Hardware Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3

2.3 Function Lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-5

2.3.1 MP940 Motion Control Function Specifications - - - - - - - - - - - - - - - - - 2-5

2.3.2 PLC Function Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6

2.3.3 Motion Command Descriptions - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-8

2.3.4 Ladder Instructions and Standard System Functions - - - - - - - - - - - - 2-13

2.4 Main CP-717 Functions - - - - - - - - - - - - - - - - - - - - - - - - - - 2-21

2.5 Function Tree Structure - - - - - - - - - - - - - - - - - - - - - - - - - - 2-22

2.6 SERVOPACK Specifications - - - - - - - - - - - - - - - - - - - - - - - 2-23

2.6.1 Outer Appearance and Nameplate Example - - - - - - - - - - - - - - - - - - 2-23

2.6.2 Model Numbers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-23

2-1

Page 25

Specifications and Functions

2.1 General Specifications

The following table lists the general specifications of the MP940 Modules.

Table 2.1 General Specifications of the MP940 Modules

Item Specifications

Environmental Conditions

Electrical Operating Conditions

Mechanical Operating Conditions

Installation Requirements

Ambient Operating Temperature

Storage Temperature

Ambient Operating Humidity

Ambient Storage Humidity

Pollution Level

Corrosive Gas

Operating Altitude

Noise Resistance

Vibration Resistance

Shock Resistance

Ground Cooling

Method

0 to 55ºC

-20 to 85ºC

30% to 95% (with no condensation)

5% to 95% (with no condensation)

Pollution level 1 (conforming to JIS B 3501)

There must be no combustible or corrosive gas.

2,000 m above sea level or lower

Conforming to JIS B 3502: 1,500 V (p-p) in either normal or common modes with a

pulse width of 100 ns/1 µs and a rise time of 1 ns (tested with impulse noise simulator)

Conforming to JIS B 3502: 10 to 57 Hz with single-amplitude of 0.075 mm

57 to 150 Hz with fixed acceleration of 9.8 m/s

10 sweeps each in X, Y, and Z directions

(sweep time: 1 octave/min)

Conforming to JIS B 3502:

Peak acceleration of 147 m/s the X, Y, and Z directions

Ground to 100 Ω max. Natural cooling

twice for 11 ms each in

2-2

Page 26

2.2 Hardware Specifications

The following table shows the hardware specifications of the MP940 Module.

Table 2.2 Hardware Specifications of the MP940 Module

Item Specifications

Name MP940

(for MECHATROLINK)

Model Number JEPMC-MC400 JEPMC-MC410

Communications Port (Serial Communications)

Network Transmission speed:

Indicators Module Status LED Indica-

Setting Switches Mode Setting DIP Switch-esRUN/INIT/TEST/FLASH/PP/COPY

RS-232C (1 Port) Baud rate setting: 9.6/19.2 Kbps

MDR-14 (special pin assignment) Protocol: • MEMOBUS

• No-protocol

• MELSEC communications

RS-422/485 (1 Port) Baud rate setting: 9.6/19.2 Kbps

MDR-14 (special pin assignment)

Protocol: • MEMOBUS

• No-protocol

• MELSEC communications

4 Mbps Communications cycle:

1 ms, 2 ms, 4 ms Connected nodes: 14 max.

(When communications cycle is set to 2 ms)

READY (green)/RUN (green)/ALM (red)/BATALM (red)/PRT1

tors

Operation LED Indicators RX (green)

(green)/PRT2 (green)

TX (green)

MP940D (for DeviceNet)

Transmission speed: 125 kbps,

250 kbps, 500 kbps Mode: Slave

Number of nodes: 63 max.

MS (red/green) NS (red/green)

2.2

Hardware Specifications

Piano Switch (MODE) for DeviceNet Communications Settings

Rotary Switches (NA) for DeviceNet MAC ID Setting

PRO, DE1: Baud rate setting

X1: Slave/Master selection X2: Not used.

X1, X10: Node MAC ID (0 to 63)

2-3

Page 27

Specifications and Functions

Input Signals Inputs 8 points/common

Output Signals Outputs 8 points/common

Pulse Inputs Pulse Input Circuit 5 V differential, maximum 1 MHz input

Analog Input SGDH-E SERVOPACK

Analog Outputs Resolution 16 bits

Power Supply Input Input Signal 24 VDC ±20% (19.2 to 28.8 VDC)

Dimensions 44 x 142 x 128 mm (W x H x D)

Item Specifications

Input Format Combined sinking/sourcing

Input Type Type 1 (JIS-B3501)

Isolation Method Photocoupler isolation

Working Voltage 17.4 to 28.8 VDC

35 VDC (peak)

Rated Current 5.3 mA

Input Impedance Approx. 4.4 kΩ

Operating Voltage ON voltage: 15 VDC or more

OFF voltage: 5 VDC or less

OFF Current 0.9 mA max.

Response Times OFF to ON: 0.5 ms or less

ON to OFF: 1.5 ms or less

Output Format Sink output

Output Type Transistor output

Isolation Method Photocoupler isolation

Load Voltage 19.2 to 28.8 VDC

35 VDC (peak)

Load Current 0.1 A/circuit, 0.8 A/common

ON Voltage 1.0 V max.

External Power Supply 24 VDC ±20%

15 mA

Output Protection 1 fuse per common

Fuse Rating 1.5 A (fusing time: Within 5 seconds at 3A)

Response Times OFF to ON: 0.25 ms or less

ON to OFF: 1 ms or less

Pulse Input Method A/B phase input (selected from 1x, 2x, and 4x), A/B mode, sign

mode, up-down mode

Pulse Counter Latch (External signal can be switched to 5 V, 12 V, or 24 V.)

Output Range 0 to ±10 V

Input Current 0.4 A

Fuse Rating 1.5 A

Safety Standards Conforms to UL and CSA.

2-4

Page 28

2.3 Function Lists

2.3.1 MP940 Motion Control Function Specifications

The following table lists the motion control function specifications for the MP940.

Table 2.3 MP940 Motion Control Function Specifications

Item Specification

Number of Controlled Axes 1 axis

Control Specifications PTP Control Linear, rotary, and infinite-length

Interpolation Linear

Speed Reference Output

Torque Reference Output

Position Control Positioning, external positioning, zero point return, interpo-

Phase Control Ye s

Position Control Reference Unit mm, inch, deg, pulse

Reference Unit Minimum Setting

Maximum Programmable Value

Speed Reference Unit

Acceleration/Deceleration Type

Override Function 0% to 327.67% (in increments of 0.01%)

Coordinate System Rectangular coordinates

Zero Point Return Eight types

Programs Language Special motion language

Number of Tasks Up to eight programs can be executed in parallel.

Number of Programs

Program Capacity 80 Kbytes

Applicable SERVOPACK Analog: SGDH-AE

Encoder Incremental or absolute

Speed Control Speed Reference -327.68 to +327.67 %/Rated speed

Acceleration/Deceleration Type

Ye s

lation, interpolation with position detection function, fixed speed feed, fixed length feed

1, 0.1, 0.01, 0.001, 0.0001, 0.00001

-2147483648 to +2147483647 (signed 32-bit value)

mm/min, inch/min, deg/min, pulse/min

Linear, asymmetric, S-curve

• DEC1 + Phase C

• DEC2 + Phase C

• DEC1 + LMT

• Phase C

Up to 32

With torque limit function

Linear, asymmetric, S-curve (moving average)

2.3

Function Lists

• DEC1 + ZERO

• DEC2 + ZERO

• DEC1 + LMT + ZERO

• ZERO

2-5

Page 29

Specifications and Functions

2.3.2

PLC Function Specifications

Torque Control Torque Reference -327.68 to +327.67 %/Rated torque

Phase Control Speed Reference

Commands

Item Specification

With speed limit function

-327.68 to +327.67 %/Rated speed

Unit

Speed Compensation

Position Compensation

-327.68 to +327.67 %/Rated speed

-2147483648 to +2147483647 pulses

Axis Move Commands: 5 commands

MOV, MVS, ZRN, SKP, EXM Basic Control Commands: 5 commands ABS, INC, POS, MVM, PLD

Speed and Acceleration/Deceleration Commands: 8 commands

ACC, DCC, SCC, VEL, IAC, IDC, IFP, FMX

High-level Control Commands: 4 commands PFN, INP, SNG, UFC

Control Commands: 10 commands MSEE, TIM, IOW, END, RET, EOX, IF

ELSE IEND, WHILE WEND, SFORK JOINTO SJOINT

Math and Sequence Control Commands: 32 commands =, +, -, *, /, MOD, |, ^, &, !, (), S{}, R{}, SIN, COS, TAN,

ASN, ACS, ATN, SQRT, BIN, BCD, ==, <>, >, <, >=, <=, SFR, SFL, BLK, CLR

2.3.2 PLC Function Specifications

The following table lists the PLC function specifications.

Table 2.4 PLC Function Specifications

Item Specifications

Program Capacity Equivalent to 2 Ksteps (varies according to amount of motion program used; 40 Ksteps

max.)

Control Method Sequence: scan methods

Programming Language

Scanning Time slicing within servo-control scan (S scan) period.

CP language Ladder logic diagram: Relay circuit

Text-type language: Numeric operations, logic operations, etc.

Servo-control scan time setting: 0.5 / 1.0 / 2.0 / 4.0 ms

High-speed scan time setting:

Low-speed scan time setting:

0.5 to 32.0 ms (0.01-ms units); S-scan integer multiple

2.0 to 100 ms (0.01-ms units); S-scan integer multiple

2-6

Page 30

Item Specifications

User Drawings, Functions, and Motion Programs

Data Memory Common data (M) registers:

Trace Memory Data trace: 4 Kwords (4 Kwords x 1 group)

Memory Backup Program memory: CMOS battery backup

Data Types Bit (relay):

Instructions Program control instructions:

Start drawings (DWG.A):

Servo-control scan process drawings (DWG.S):

High-speed scan process drawings (DWG.H):

Low-speed scan process drawings (DWG.L):

Interrupt processing drawings (DWG.I):

Number of steps: User functions:

Motion programs:

Revision history of drawings and motion programs Security function for drawings and motion programs

System (S) registers:

Drawing local (D) registers: Drawing constant (#) registers: Input (I) registers:

Output (O) registers: Constant (C) registers:

ON/OFF

Integer:

Double integer: Real number:

Symbolic designation:

Direct I/O instructions: Relay circuit instructions:

Logic operation instructions: Numeric operation instructions: Numeric conversion instructions:

Numeric comparison instructions: Data manipulation instructions: Basic function instructions:

Table data manipulation instructions: DDC instructions: System functions:

-32768 to +32767

-2147483648 to +2147483647

± (1.175E - 38 to 3.402E + 38)

Direct designation of register number

Up to 8 alphanumeric characters (up to 200 symbols per drawing) With automatic number or symbol assignment

4 drawings max. Up to three hierarchical drawing levels.

16 drawings max. Up to three hierarchical drawing levels.

16 drawings max. Up to three hierarchical drawing levels

32 drawings max. Up to three hierarchical drawing levels

8 drawings max. Up to three hierarchical drawing levels

Up to 500 steps per drawing Up to 32 functions

Up to 32

32 Kwords 1 Kwords

Up to 16 Kwords per drawing Up to 16 Kwords per drawing 2 Kwords (including internal input registers)

2 Kwords (including internal output registers) 32 Kwords

14 instructions

2 instructions

14 instructions

3 instructions

16 instructions

9 instructions

7 instructions 14 instructions 10 instructions

11 instructions 13 instructions

6 instructions

2.3

Function Lists

(including set and reset coils)

2-7

Page 31

Specifications and Functions

2.3.3

Motion Command Descriptions

2.3.3 Motion Command Descriptions

Classifica-

tion

Axis Move Commands

Basic Control Commands

Command Name Programming Format Function/Meaning

MOV POSITIONING

MVS LINEAR INTER-

ZRN ZERO POINT

SKP SKIP

EXM EXTERNAL PO-

ABS ABSOLUTE

INC INCREMENTAL

POS CURRENT POSI-

MVM MOVE ON MA-

PLD PROGRAM CUR-

The following table describes the motion commands.

Table 2.5 Motion Command Descriptions.

MOV [axis1] － ; *

POLATION

RETURN

SITIONING

MODE

TION SET

CHINE COORDINATE

RENT POSITION UPDATE

MVS [axis1] － F － ;

ZRN [axis1] － ;

SKP [axis1] － SS － F － ;

EXM［axis1］－ D － ;

ABS; Treats all subsequent coordinate words as

INC; Treats all subsequent coordinate words as

POS [axis1] － ;

MVM MOV [axis1] － ; or

MVM MVS [axis1] － ;

PLD [axis1] ; Updates the program current position for

Executes positioning at rapid traverse speed.

Executes linear travel at interpolation feed speed F.

Returns axis to its zero point.

If the SKIP signal turns ON during a linear interpolation operation, skips the remaining movement and proceeds to the next block.

When an external positioning signal is input while external positioning is being executed, only the travel distance designated by “D-" is positioned with an incremental value, and then the next command is executed.

absolute values.

incremental values.

Changes the current values to the desired coordinate values. Subsequent move commands use this new coordinate system.

Goes to the target position on the machine coordinate system. The coordinate system set automatically on completion of the zero point return is called a machine coordinate system. This coordinate system is not affected by the POS command.

axes shifted by manual intervention.

∗ “ － ” in MOV[axis1] － •••; denotes the numeric data for axis 1.

2-8

Page 32

2.3

Function Lists

Classifi-

cation

Speed and Acceleration/ Deceleration Commands

High-level Control Commands

Command Name Programming Format Function/Meaning

ACC ACCELERA-

TION TIME CHANGE

DCC DECELERA-

TION TIME CHANGE

SCC S-CURVE TIME

CONSTANT CHANGE

VEL SET VELOCITY

IAC INTERPOLA-

TION ACCELERATIO N T I M E CHANGE

IDC INTERPOLA-

TION DECELERATIO N T I M E CHANGE

IFP INTERPOLA-

TION FEED SPEED RATIO SETTING

FMX MAXIMUM IN-

TERPOLATION FEED SPEED SETTING

PFN IN-POSITION

CHECK

INP SECOND IN-PO-

SITION CHECK

SNG IGNORE SIN-

GLE BLOCK SIGNAL

UFC USER FUNC-

TION CALL

ACC [axis1] － ;

DCC [axis1] － ;

SCC [axis1] － ;

VEL [axis1] － ;

IAC T － ;

IDC T － ;

IFP P － ;

FMX T － ;

MVS [axis1] － PFN; or PFN [axis1] ;

INP [axis1] － [axis2] － …;

SNG　MVS　[axis1]100. [axis2]200. F1000;

UFC Function_name Input_data, Input_address, Output_data;

Sets the acceleration time for linear acceleration/deceleration.

Sets the deceleration time for linear acceleration/deceleration.

Sets the time constant for moving average acceleration/deceleration.

Sets the feed speed.

Sets the acceleration time for linear acceleration/deceleration for interpolation travel.

Sets the deceleration time for linear acceleration/deceleration for interpolation travel.

Designates the maximum feed % for the speed designation during an interpolation feed.

Sets the maximum speed during an interpolation feed.

The interpolation acceleration time is the time from zero until this speed is reached.

Proceeds to the next block after the positioning commanded by the interpolation travel command in the same block or a previous block enters the positioning completion range (parameter setting).

A block with this command will be executed continuously, even in single-block operation mode.

SNG cannot be designated on its own.

Calls a function created by the user.

2-9

Page 33

Specifications and Functions

2.3.3

Motion Command Descriptions

Classifi-

cation

Sequence Commands

Command Name Programming Format Function/Meaning

= SUBSTITUTE (Result) = (Arithmetic expression) Substitutes operation results. Performs

calculations from left to right (with no

order of priority).

+ ADD

- SUBTRACT

* MULTIPLY

/ DIVIDE

MOD REMAINDER

MW － = MW － + MW － ; MW － = MW － + 123456; MW － = 123456 + MW － ;

MW － = MW － - MW － ; MW － = MW － - 123456; MW － = 123456 - MW － ;

MW － = MW － ∗ MW － ; MW － = MW － ∗ 123456; MW － = 123456 ∗ MW － ;

MW － = MW － /MW － ; MW － = MW － /123456; MW － = 123456 /MW － ;

MW － = MW － /MW － ; MW － = MOD;

Performs integer and real number addi-

tion. Calculates combinations of integers

and real numbers as real numbers.

Performs integer and real number sub-

traction. Calculates combinations of inte-

gers and real numbers as real numbers.

Performs integer and real number multi-

plication. Calculates combinations of

integers and real numbers as real num-

bers.

Performs integer and real number divi-

sion. Calculates combinations of integers

and real numbers as real numbers.

When programmed in the next block

after a division, MOD stores the remain-

der in the designated register.

| OR (logical OR)

MB － = MB － | MB － ;

Performs bit/integer logical OR.

MB － = MB － | 1; MW － = MW － | MW － ; MW － = MW － | H00FF;

^ XOR (logical ex-

clusive OR)

& AND (logical

AND)

MW － = MW － ^ MW － ; MW － = MW － ^ H00FF;

MB － = MB － & MB － ; MB － = MB － & 1;

Performs integer logical exclusive OR.

Performs bit/integer logical AND.

MW － = MW － & MW － ; MW － = MW － & H00FF;

! NOT (logical

complement)

MB － = !MB － ; MB － = !1;

Performs bit/integer logical complement

(inverts bits).

MW － = !MW － ; MW － = !H00FF;

() PARENTHESES

S{} SET BIT

MW － = MW― & (MW― | MW―);

S{MB － } = MB － & MB － ;

The logical arithmetic expression inside

parentheses is calculated first.

If the logical operation result is “true,"

the designated bit turns ON. The desig-

nated bit does not turn OFF, even if the

logical operation result is “false."

R{} RESET BIT

R{MB － } = MB － & MB － ;

If the logical operation result is “true,"

the designated bit turns OFF. The desig-

nated bit does not turn ON, even if the

logical operation result is “false."

SIN SINE

COS COSINE

SIN(MW － )； SIN(90)；

COS(MW － )； COS(90)；

Obtains the sine of the integer or real

number (deg), and returns a real value.

Obtains the cosine of the integer or real

number (deg), and returns a real value.

2-10

Page 34

2.3

Function Lists

Classifi-

cation

Sequence Commands

Command Name Programming Format Function/Meaning

TAN TA NGENT

ASN ARC SINE

ACS ARC COSINE

ATN ARC TANGENT

SQT SQUARE ROOT

BIN BCD-TO-BINARY

BCD BINARY-TO-BCD

== MATCH

<> MISMATCH

> GREATER THAN

< LESS THAN

>= GREATER THAN

OR EQUAL TO

<= LESS THAN OR

EQUAL TO

SFR RIGHT SHIFT

SFL LEFT SHIFT

BLK BLOCK MOVE

CLR CLEAR

TAN(MF － )； TAN(45.0)；

ASN(MF － )； ASN(90.0)；

ACS(MF － )； ACS（90.0);

ATN(MW － )； ATN（45）；

SQT(MW － )； SQT(100)；

BIN (MW － );

BCD (MW － );

IF MW － == MW － ; WHILE MW － == MW － ;

IF MW － <> MW － ; WHILE MW － <> MW － ;

IF MW － > MW － ; WHILE MW － > MW － ;

IF MW － < MW － ; WHILE MW － < MW － ;

IF MW － >= MW － ; WHILE MW － >= MW － ;

IF MW － <= MW － ; WHILE MW － <= MW － ;

SFR MB － N － W － ;

SFL MB － N － W － ;

BLK MW － MW － W － ;

CLR　MB － W － ;

Obtains the tangent of the real number (deg), and returns a real value.

Obtains the arc sine of the real number (deg), and returns a real value.

Obtains the arc cosine of the real number (deg), and returns a real value.

Obtains the arc tangent of the integer or real number (deg), and returns a real value.

Obtains the square root of the integer or real number, and returns a real value.

Converts BCD data to binary data.

Converts binary data to BCD data.

Used in an IF or WHILE conditional expression. If the left side and right side match, the condition is “true."

Used in an IF or WHILE conditional expression. If the left side and right side do not match, the condition is “true."

Used in an IF or WHILE conditional expression. If the left side is greater than the right side, the condition is “true."

Used in an IF or WHILE conditional expression. If the left side is less than the right side, the condition is “true."

Used in an IF or WHILE conditional expression. If the left side is greater than or equal to the right side, the condition is “true."

Used in an IF or WHILE conditional expression. If the left side is less than or equal to the right side, the condition is “true."

Shifts only the designated number of word variables to the right.

Shifts only the designated number of word variables to the left.

Moves the block (constant designation) beginning with the designated bit (word) variable.

Sets the number of constants specified in the variable group beginning with the designated bit (word) variable to OFF (“0").

2-11

Page 35

Specifications and Functions

2.3.3

Motion Command Descriptions

Classifi-

cation

Control Commands

Command Name Programming Format Function/Meaning

MSEE SUBROUTINE

MSEE MPS － ;

Executes the MPS- subroutine.

CALL

TIM DWELL TIME

TIM T － ;

Waits for the period of time specified by

T, and then proceeds to the next block.

IOW I/O WAIT

IOW MB － == ∗∗∗;

Stops execution of the motion program

until the conditional expression given in

the command is satisfied.

END PROGRAM END END; Ends the motion program.

RET SUBROUTINE

RET; Ends the subroutine.

RETURN

EOX ONE SCAN WAIT EOX; Separates continuous sequence instruc-

tions and forces a wait of one scan before

continuing execution.

IF ELSE IEND

Branching commands

IF (conditional expression) ; (process 1) ELSE; (process 2)

Executes process 1 if the conditional

expression is satisfied, and executes pro-

cess 2 if the conditional expression is not

satisfied.

IEND;

WHILE WEND

SFORK JOINTO SJOINT

Repeat commands

Selective execution commands

WHILE (conditional expression) ;

…

WEND;

SFORK conditional expression 1? label 1, Conditional expression 2? label 2, •••;

Label 1: Process 1

Repeatedly executes WHILE to WEND

processing for as long as the conditional

expression is satisfied.

Executes process 1 if conditional expres-

sion 1 is satisfied, and executes process 2

if the conditional expression 2 is satis-

fied.

JOINTO label X Label 2: Process 2 JOINTO label X

Label

・・

Label X: SJOINT;

2-12

Page 36

2.3.4 Ladder Instructions and Standard System Functions

The following table lists the ladder instructions and standard system functions.

Table 2.6 Ladder Instructions and Standard System Functions

Type Name Symbol Description

Program Control Instructions

Direct I/O Instructions

CHILD DRAWING CALL

MOTION PROGRAM CALL

FOR Structure FOR

WHILE Structure

IF Structure IFON/IF-

DRAWING END

COMMENT "nnnnnnn" A character string enclosed in quotation marks is treated as a comment.

FUNCTION CALL

FUNCTION INPUT

FUNCTION OUTPUT

INPUT STRAIGHT

OUTPUT STRAIGHT

SEE Designate the child drawing number or the grandchild drawing number

to be called after SEE.

SEE H01

MSEE Designate the motion program number and the MSEE work register

address to be called after MSEE.

MSEE MPM001 DA00000

Repeats execution statement 1

：：

FEND

WHILE ：

ON/OFF ：

WEND

OFF ：

ELSE ：

IEND

DEND End of drawing (DWG)

FSTART Calls a function.

FIN Function input instruction

FOUT Function output instruction

XCALL Calls an extension program.

INS

OUTS

FOR V = a to b by c

V: Can designate any integer register I or J. a, b, c: Can designate an any integer value (b > a > 0, c > 0). FEND: End of FOR instruction.

Repeats execution statement 2 WEND: End of WHILE-ON/OFF instruction

Conditional execution statement

IEND: End of IFON/IFOFF instruction

Stores input data from the designated input register in the function input register.

Stores output data from the function output register in the designated output register.

INS MA00100 ─────○───┤ Executes the input and storage of data with interrupts disabled.

OUTS MA00100 ─────○───┤ Executes the setting and output of data with interrupts disabled.

2.3

Function Lists

2-13

Page 37

Specifications and Functions

2.3.4

Ladder Instructions and Standard System Functions

Type Name Symbol Description

Relay Circuit In-

NO CONTACT No limit in a series circuit.

structions

NC CONTACT No limit in a series circuit.

RISING PULSE No limit in a series circuit.

FALLING PULSE

10-MS ON-DELAY TIMER

10-MS OFFDELAY TIMER

1-S ON-DELAY TIMER

1-S OFF-DELAY TIMER

COIL

Bit designation of any register as a relay number is possible.

No limit in a series circuit. Bit designation of any register as a relay number is possible.

Set value: Timer register

Set value = Any register or constant (setting unit: 10 ms) Timer register = M or D register

Set value: Timer register

Set value = Any register or constant (setting unit: 1 s)

Timer register = M or D register

MB000000 MW0200 ＝ 0001 MB000000

Logic Operation Instructions

IFON

SET COIL

MB000010MB000000

MB000010 turns ON when MB000000 turns ON. From then onwards, it remains ON even when MB000000 turns OFF.

RESET COIL

MB000010MB000020

MB000010 turns OFF when MB000020 turns ON. From then onwards, it remains OFF even when MB000020 turns OFF.

Branching/convergence

AND Integer designation of any register or constant is possible.

OR Integer designation of any register or constant is possible.

∧

∨

A branching or convergence symbol can be connected to any of the above relay instructions.

XOR Integer designation of any register or constant is possible.

ADDITION + Ordinary numeric addition (with operation error)

SUBTRAC-

- Ordinary numeric subtraction (with operation error)

TION

EXTENDED

++ Closed numeric addition (without operation error)

ADDITION

EXTENDED

-- Closed numeric subtraction (without operation error)

SUBTRAC-

⊥

MW00280 + 00100 MW00220

⊥

MW00280 - 00100 MW00220

⇒

0 32767 32768 0→–→→

0 32768 32767 0→–→–→

TION

2-14

Page 38

Type Name Symbol Description

Numeric Operation Instructions

INTEGER ENTRY

Starts an integer operation.

MW00280 ＋ 00100 MW00220

2.3

Function Lists

REAL NUMBER ENTRY

STORE Stores the operation result in the designated register.

MULTIPLICATION

DIVISION

INCREMENT INC Adds 1 to the designated register.

DECREMENT DEC Subtracts 1 from the designated register.

MOD MOD Gets the remainder of the division result.

REM REM Gets the remainder of the division result.

ADD TIME TMADD Addition of hours, minutes, and seconds

SUBTRACT TIME

SPEND TIME SPEND Calculates the elapsed time between two times.

TMSUB Subtraction of hours, minutes, and seconds

Starts a real number operation.

MW00280 ＋ 00100 MW00220

For integer and long integers, in combination.

INC MW00100

DEC MW00100

⊥

MW00100 01000 00121

MOD MW00101

MF00200 REM 1.5 MF00202

TMADD MW00000, MW00100

TMSUB MW00000, MW00100

SPEND MW00000, MW00100

×÷

⇒

use and×÷

⇒

2-15

Page 39

Specifications and Functions

≤

≠

2.3.4

Ladder Instructions and Standard System Functions

Type Name Symbol Description

Numeric Conversion Instructions

Numeric Comparison Instructions

SIGN INVERSION

1'S COMPLEMENT

ABSOLUTE VALUE CONVERSION

BINARY CONVERSION

BCD CONVERSION

PARITY CONVERSION

ASCII CONVERSION 1

ASCII CONVERSION 2

ASCII CONVERSION 3

< < Leaves ON/OFF in B register for comparison instruction results.

≤

= =

INV

COM

ABS

BIN

BCD

PAR ITY Calculates the number of binary bits that are ON.

ASCII The designated character string is converted to ASCII code and substi-

BINASC Converts 16-bit binary data to 4-digit hexadecimal ASCII code.

ASCBIN Converts the numeric value indicated by a 4-digit hexadecimal ASCII

⊥⊥⊥ ⊥ ⊥

MW00100 INV

If MW00100 = 99, the operation result = -99.

MW00100 CON

If MW00100 = FFFFH, the operation result = 0000H.

MW00100 ABS

If MW00100 = -99, the operation result = 99.

MW00100 BIN If MW00100 = 1234H (hexadecimal), the operation result = 1234 (decimal).

MW00100 BCD If MW00100 = 1234 (decimal), the operation result = 1234H (hexadecimal).

If MW00100 = F0F0H, the operation result = 8.

tuted in the register.

MW00200 "ABCDEFG"

BINASC MW00100

code to 16-bit binary data.

ASCBIN MW00100

MB000010

MW00000 ＜ 10000

MB000010

≥≥

> >

RANGE CHECK

RCHK Checks whether or not the value in the A register is in range.

⊥

2-16

IFON

MW00100 RCHK -1000, 1000

Page 40

Type Name Symbol Description

Data Operation Instructions

BIT ROTATION RIGHT

MOVE BITS MOVB Source Desti. Width

MOVE WORD MOVW Source Disti. Width

EXCHANGE XCHG Source1 Source2 Width

SET WORDS SETW Desti. Data Width

BYTE-TOWORD EXPANSION

WORD-TOBYTE COMPRESSION

BINARY SEARCH

SORT SORT Sorts registers within the designated register range.

BIT SHIFT LEFT

BIT SHIFT RIGHT

COPY WORD COPYW Copies the designated register range.

BYTE SWAP BSWAP The upper and lower bytes of the designated word are swapped.

ROTR Bit-addr Count Width

ROTR MB00100A N=1 W=20

MOVB MB00100A MB00200A W=20

MOVW MB00100 MB00200 W=20

XCHG MB00100 MB00200 W=20

SETW MW00200 D=00000 W=20

BEXTD Expands the byte data stored in the word registers into words.

BEXTD MW00100 to MW00200 B=10

BPRESS Collects the lower bytes of the word data stored in the word register

area.

BPRESS MW00100 to MW00200 B=10

BSRCH Retrieves the register position that matches the data within the desig-

nated register range. BSRC MW00000 W=20 D=100 R=MW00100

SORT MW00000 W=100

SHFTL Shifts the designated bit strings to the left.

SHFTL MB00100A N=1 W=20

SHFTR Shifts the designated bit strings to the right.

SHFTR MB00100A N=1 W=2

COPYW MW00100 MW00200 W=20

BSWAP MW00100

→

2.3

Function Lists

2-17

Page 41

Specifications and Functions

2.3.4

Ladder Instructions and Standard System Functions

Type Name Symbol Description

Basic Function Instructions

SQUARE ROOT

SINE SIN Input = degrees

COSINE COS Input = degrees

TANGENT TA N Input = degrees

ARC SINE ASIN

SQRT Taking the square root of a negative number results in the square root

of the absolute value multiplied by -1.

MF00100 SQRT

MF00100 SIN

MF00100 COS

MF00100 SIN

MF00100 TAN

MF00100 SIN

MF00100 ASIN

MF00100 SIN

ARC COSINE ACOS

ARC TANGENT ATAN

EXPONENT EXP

NATURAL

LOGARITHM

COMMON

LOG

LOGARITHM

MF00100 ACOS

MF00100 SIN

MF00100 ATAN

MF00100 SIN

MF00100 EXP

MF00100 SIN

e MF00100

MF00100 LN

MF00100 SIN

(FM00100)

log

MF00100 LOG

MF00100 SIN

log

(FM00100)

2-18

Page 42

Type Name Symbol Description

DDC Instructions DEAD ZONE A DZA

DEAD ZONE B DZB

UPPER LIMIT LIMIT

PI CONTROL PI

PD CONTROL PD

PID CONTROL PID

Table Data Operation Instructions

FIRST-ORDER LAG

PHASE LEAD/ LAG

FUNCTION GENERATOR

INVERSE FUNCTION GENERATOR

LINEAR ACCELERATOR/ DECELERATOR 1

LINEAR ACCELERATOR/ DECELERATOR 2

PULSE WIDTH MODULATION

TABLE READ TBLBR TBLBR TBL1, MA00000, MA00100

TABLE WRITE TBLBW TBLBW TBL1, MA00000, MA00100

ROW SEARCH TBLSRL TBLSRL TBL1, MA00000, MA00100

COLUMN SEARCH

TABLE CLEAR TBLCL TBLCL TBL1, MA00000

TABLE BLOCK MOVE

QUEUE TABLE READ

QUEUE TABLE READ AND INCREMENT

QUEUE TABLE WRITE

QUEUE TABLE WRITE AND INCREMENT

QUEUE POINTER CLEAR

LAG

LLAG

FGN

IFGN

LAU

SLAU

PWM

TBLSRC TBLSRC TBL1, MA00000, MA00100

TBLMV TBLMV TBL1, TBL2, MA00000

QTBLR QTBLR TBL1, MA00000, MA00100

QTBLRI QTBLRI TBL1, MA00000, MA00100

QTBLW QTBLW TBL1, MA00000, MA00100

QTBLWI QTBLWI TBL1, MA00000, MA00100

QTBLCL QTBLCL TBL1

⊥⊥⊥⊥⊥⊥⊥ ⊥ ⊥ ⊥ ⊥ ⊥ ⊥

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

MW00100 IFGN MA00200

MW00100 LAU MA00200

MW00100 SLAU MA00200

MW00100 PWM MA00200

2.3

Function Lists

2-19

Page 43

Specifications and Functions

2.3.4

Ladder Instructions and Standard System Functions

Type Name Symbol Description

Standard System Functions

COUNTER COUNTER Increments or decrements a counter.

FIRST-IN FIRST-OUT

TRACE TRACE Data trace execution control

DATA TRACE READ

SEND MESSAGE

RECEIVE MESSAGE

FINFOUT First-in, first-out

DTRC-RD Data readout from data trace memory to user memory

MSG-SND Sending a message from a Communications Module

MSG-RCV Receiving a message from a Communications Module

2-20

Page 44

2.4 Main CP-717 Functions

The CP-717 is configured of five managers for managing and controlling the MP940 system.

The main functions developed for each of these managers are shown in the following table.

Manager Function Description

File Manager CP-717 system and file configuration is displayed in a tree structure, and

Engineering Manag-erCalls engineering tools, and can perform various monitoring operations

Print/List Manager Print processing Lists the jobs currently being printed and the jobs

User Menu Manager Shortcut registra-

Communications Process Manager

2.4

Main CP-717 Functions

various methods of file control are available. Online and offline control are both possible.

File control The folders and files required for the system con-

figuration are organized in a tree structure.

User administration This is a user security function centered on log-on

and log-off.

File transfer Transfers data between programming device and

Machine Controller.

Command startup Starts tools.

when in online mode with the MP940.

Command execution

Definition settings Defines Module configuration, systems, scan time,

Ladder logic programming

Utilities Provides register lists, cross references, disabled

Motion programming

tion

Communications processing

Provides all programming device functions. File Manager can also be called.

application data, data trace, groups, and motion parameters.

Provides a programming environment based on new production, properties, constant tables, I/O conversion tables, interlock tables, element assembly tables, and adjustment panels.

coil lists, comment lists, and register number replacement tools.

Provides a motion programming environment based on the Motion Editor.

that are queued for printing. Can also cancel the print command.

Creates a shortcut icon on the desktop.

Sets transfer parameters and manages communications with the MP940.

2-21

Page 45

Specifications and Functions

2.5 Function Tree Structure

The following diagram shows the commands started from each manager. With the CP-717 the

File Manager Window is displayed first.

Configuration

Communications

User Menu Manager

Definitions

Group Definitions

Scan Setting

Data Trace

List Manager

Motion

New Programs

Existing Programs

Position Monitoring

Engineering Manager

Menu Lists

Tools

Cross-Reference

Disable Lists

File Manager

C Register

C Register List

Print Setting

Transfer

Tables

Table Data List

User Manager

Online/Offline

Properties

Programs

New Drawings

Properties

Main Programs

Module Configuration

SERIAL

System Definitions

Application Settings

Task Monitoring

Motion Alarm

LIO

Comments

SVA

2-22

CNTR

MLINK

Constant Table

I/O Conversion Table

Interlock Table

Element Assembly Ta bl e

Adjustment Panel

Page 46

2.6 SERVOPACK Specifications

pply

2.6.1 Outer Appearance and Nameplate Example

YASKAWA

SERVOPACK

SGDH-

MODE/SET

DATA/ POWER

CHARGE

C N

３

C N 1

L1C L2C B1 B2 B3

N 2

Σ-II Series SGDH SERVOPACK

2.6

SERVOPACK Specifications

SERVOPACK model number

SGDH-30AE

18.6

Serial number

Applicable power

24.8

3.0(4.0)

Applicable motor capacity

2.6.2 Model Numbers

Maximum applicable Servomotor capacity (Refer to the following table.)

Specified form E: With built-in functions for Option Unit

Option specifications None: Base-mounted R: Rack-mounted (Available only for 5 kW max.) P: Duct ventilation (Available only for 6 or 7.5 kW.)

SGDH- 10 A E

Σ-II Series

SGDH SERVOPACK

Volta ge

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

*The 100-V voltage applies to 0.2-kW SGMAH and SGMPH Servomotor models only.

∗

- □

2-23

Page 47

Specifications and Functions

2.6.2

Model Numbers

INFO

Max. Applicable Motor

Capacity Symbol

Capacity (kW)

Max. Applicable Motor

Capacity Symbol

Capacity (kW)

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

Note: The only 100-V servomotor models are the SGMAH and SHMPH

Servomotors of 0.2 kW or less.

For details on SERVOPACK and Servomotor specifications and functions, refer to Σ-II Series SGM/ SGDH User's Manual: Design and Maintenance (SIE-S800-32.2).

2-24

Page 48

3 Basic System Operation

This chapter explains the basic operation of the MP940 system.

3.1 Operating Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-3

3.1.1 Online Operating Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3

3.1.2 Offline Stop Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3

3.2 Start and Stop Sequences- - - - - - - - - - - - - - - - - - - - - - - - - - 3-5

3.2.1 DIP Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-5

3.2.2 Start Sequence- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-7

3.3 Scan Processing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10

3.3.1 Overview of Scan Processing - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10

3.3.2 S Scan Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-11

3.3.3 Setting Scan Times- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12

3.3.4 Setting the System Scan Time - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-13

3.3.5 Setting Scan Time Definitions - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14

3.3.6 Saving Scan Time Definitions - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-15

3.3.7 Completing Scan Time Definitions - - - - - - - - - - - - - - - - - - - - - - - - - 3-15

3.4 User Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-16

3.4.1 Drawings (DWGs)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-16

3.4.2 Execution Control of Parent Drawings - - - - - - - - - - - - - - - - - - - - - - 3-17

3.4.3 Motion Programming- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-20

3.5 Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-28

3.5.1 Standard System Functions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-28

3.5.2 Creating User Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-29

3.5.3 Determining the I/O Specifications - - - - - - - - - - - - - - - - - - - - - - - - - 3-29

3.5.4 Defining Function I/O - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-30

3.5.5 Creating the Body of the Function - - - - - - - - - - - - - - - - - - - - - - - - - 3-31

3.5.6 Creating the Program that Calls the Function - - - - - - - - - - - - - - - - - 3-32

3-1

Page 49

Basic System Operation