Yaskawa NS300 User Manual

Subject: Technical Note Product: NS300/NS500 Doc#: EM.MCD.05.106 Title: NS300/500 Master Ladder Example

Technical Note

NS300/500 Master Ladder Example

NS300 and NS500 Application Modules

Subject: Technical Note Product: NS300/NS500 Doc#: EM.MCD.05.106 Title: NS300/500 Master Ladder Example

Summary

This document describes the example ladder program for implementing control of the NS300 and NS500 application modules in a master PLC. This example code demonstrates how to control motion and how to use the set/read commands. Example ladder files are available in .pdf and .mal formats as a guide for implementing the code into any type of ladder language. Please see document eng.MCD.05.105 for the example ladder files.

Demonstrated Features

Motion commands: Feed Command, Step Command, Point Table Command, Station Command, Zero

Point Return, Simple Positioning, External Positioning, Notch Output Positioning, Multi-Speed Positioning

Set/Read commands: Read Parameter, Write Parameter, Set Current Position, Set Zero Point, Read Alarm,

Reset Module

Development Setup

The setup used to write and test the example ladder is shown below. An MP940D was used as the DeviceNet master, and NS300 demo was used as the test unit. Note that operation is identical on the NS500, except that the PROFIBUS protocol is used instead of DeviceNet. Ladder code was written in the MPE720 MotionWorks software environment, and local I/O of the MP940 was used to simulate PLC signals.

MP940D

Local I/O

NS300

Module

MP940D

Controller

Fig 1. Setup for Writing Example Master Ladder

Subject: Technical Note Product: NS300/NS500 Doc#: EM.MCD.05.106 Title: NS300/500 Master Ladder Example

Before Programming

Before beginning programming for the NS300/500 master ladder, be sure to do the following:

 Configure communications in the PLC. Follow the setup procedure provided with the PLC for adding a

device to the scan list of the selected network. The NS300/500 requires 8 bytes in/out. It is recommended to configure the second four bytes as data type long (or double-word) for convenience. If using a PLC that requires a setup file, the DeviceNet and PROFIBUS files can be found as shown below:

Table 1. Network Configuration Files

Category NS300 NS500

Setup File

NS300(rotary).eds NS300(linear).eds

NS500.gsd

Location www.yaskawa.com - search FAQ www.yaskawa.com - search FAQ

 Configure communications in the NS300/500. This entails setting the DIP switches properly for

communications baud rate and network address. See the NS300/500 manual for proper settings.

 Verify the functionality of E-stop, POT, and NOT on CN4 of the NS300/500. If using the hardware E-

stop, monitor the status of this bit using the NSxxx software to ensure that it is working as intended. Disable this input if not being used by setting Pn81B, bit 0 = 0. Verify POT and NOT are connected properly to the SGDH by monitoring these with the NSxxx software. If not using either of these signals, they can be masked off by setting Pn50A.3 = 8, and Pn50B.0 = 8.

 Test communications between the PLC and NS300/500. Make sure the two devices are

communicating by opening a watch window in the PLC software. Test the E-stop bit from the PLC (be sure the E-stop bit at CN4 of the NS300/500 is set) and verify that a response is being received from the NS300/500 as the bit is toggled. Spin the motor by hand and monitor motor position by observing bytes 4 thru 7 of the response message.

Subject: Technical Note Product: NS300/NS500 Doc#: EM.MCD.05.106 Title: NS300/500 Master Ladder Example

The chart below shows the assignment of the global and I/O registers used in the example program. Local registers are used throughout the program, but are not listed in this chart. This chart contains the registers accessed directly by the user.

Table 2. Example Master Ladder Register Addressing

MP940D Local I/O Inputs

User inputs to simulate PLC signals

Input Function Input Bit Bit Symbol Functionality

Input 0 IB00000 MB00000 PLC_ESTP N.C. E-stop Input 1 IB00001 MB00001 PLC_SVON Enables Servo Input 2 Alarm Reset IB00002 M B00002 PLC_ALARM_RESET Clears NSxxx Alarm Input 3 Start IB00003 MB00003 PLC_COMMAND_START Starts motion command Input 4 Direction IB00004 MB00004 PLC_DIR Selects forward/reverse Input 5 Inc/Abs IB00005 MB00005 PLC_ABS_INC Incremental or absolute Input 6 Hold IB00006 MB00006 PLC_HOLD Pauses motion command Input 7 Cancel IB00007 MB00007 PLC_CANCEL Cancels motion command

/E-Stop Servo On

PLC Co mm a n d B its

Bits to be controlled by PLC program

PLC Co mm a n d R e g is te r s

Command data loaded into these registers

Symbol

PLC_COMMAND_SELECT PLC_RESPONSE_CO DE PLC_FEED_SPEED PLC_STEP_NUMBER ML00006 3 PLC_STATION_NUMBER ML00008 4 PLC_POINT_TABLE_ROW ML00010 5 PLC_TARGET_POSITION ML00012 6 PLC_PARAMETER_N UM BER PLC_PARAMETER_D ATA PLC_CURRENT_POSITION_SET ML00018 9

MW00002 0 MW00003 1 ML00004 2

MW00014 ML00016

PLC_C O M M AND_ S ELE CT Se ttin g s

Value to be loaded for type of motion command

PLC_RESPONSE_CODE Settings

Determines meaning of response message

Follow response code settings as listed in user's manual.

Setting

10 Read Parameter 11 Write Parameter 12 Set Current Position 13 Set Zero Point 14 Read Alarm 15 Reset Module

Description

No operation Feed Step Station Point Table Zero Point Return Positioning

External Positioning

Notch Output Positioning Multi-Speed Positioning

Subject: Technical Note Product: NS300/NS500 Doc#: EM.MCD.05.106 Title: NS300/500 Master Ladder Example

Programming the NS300/500 Master Ladder

Properly programming the network master controller of the NS300/500 is essential for success when implementing one of these application modules. Most application issues identified in the field are the result of an application program that does not adhere to the NS300/500 timing diagrams. This technical note is intended to explain how the example master ladder program operates, and how it effectively eliminates common programming mistakes. Following the principles described in this tech note will greatly reduce troubleshooting by eliminating the majority of application issues. Three main issues are addressed; general program flow, best practices programming, and proper command bit sequencing and interlocking. After addressing these issues, specific highlights of the program are also discussed.

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