Yaskawa MP940 User Manual

YASKAWA
Machine Controller MP940
USER'S MANUAL DESIGN AND MAINTENANCE
YASKAWA
MANUAL NO. SIEZ-C887-4.1

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: .
iii

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.
Copyright © Yaskawa Corporation, 2000.
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any
form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written 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.
iv

CONTENTS

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
v
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
vi
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
vii
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
viii
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
ix
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
x
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
xi
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

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

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

Safety Precautions

Caution
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.
xv
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 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
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
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
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
1-1
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.
L1
L2
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
TX
BAT
R
X RDY RUN
ALM
1 BAT
PRT1
M
PRT2
E C
RUN
654321
NO
INIT TEST FLASH
PP COPY
PORT1
PORT2
POWER
+24V
GND
FG
H A T R
2
O L I N K
I/O
LED
L1
L2
L1C L2C B1 B2
654321
NO
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
FG
MS/NS
DNET
I/O
LED
1-2

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
1
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
M
Current control
Speed control
MECHATROLINK interface or DeviceNet interface
SVA
MP940
CPU
Local I/O
DI
DO
AO
PG
Counter
Shared memory
RS-232C
CP-717
Programming Device
1-3
SERIAL CNTR
RS-422/485
MLINK or DevNet
MLINK or DevNet
MLINK or DevNet
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.
V
Synchro-
Speed
nous phase
Fig 1.1 4-Mode Control
To rq u e
Position
T
1-4
Synchronous Phase Control Application Examples
Electronic Cams
1.3
Features of the MP940
SERVOPACK
X

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.
θ
Servo­motor
MP940
1
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
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

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
2-1
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 max. Natural cooling
2
2
twice for 11 ms each in
2-2

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
2
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
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 k
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

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
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
2-5
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
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):
Register Designation Method
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:
Register 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
2-7
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