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 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

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 Ω 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 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

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 [phone] (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 [phone] 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 [phone]

± (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