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with MECHATROLINK-II Interface

1. N Data Name Data Description umber oo81 Alarm Code ALARM ede 00F1 0099 or 0000 when operation is 0082 Status STATUS Bits 0 to 15 0083 0084 Monitor 1 MONITOR1 Monitored data 1 always fixed to POS 0085 0086 Monitor 2 MONITOR2 Monitored data 2 0087 I O Signal Monitor I O Bits 0 to 15 0088 system reserved 2089 0090 Counter Latched Position LPOS 1 073 741 823 to 1 073 741 823 reference unit 0091 0092 Monitor 3 MONITOR3 Monitored data 3 0093 0094 Monitor 4 MONITOR4 Monitored data 4 0095 Substatus SUBSTATUS Bits 0 to 15 0096 Interpolation Status Bits 0 to 15 0097 0098 Remaining Travel Status 2 147 483 648 to 2 147 483 647 reference unit 0099 to O000 system reserved Note OO denotes an axis number 01 to 15 IM 34M6H60 02E 1st Edition July 1 2005 00 4 19 E Description of Axis Statuses e Alarm Code ALARM Stores read data for alarm code If operation is normal 0099 or 0000 is returned Status STATUS Stores read data for status 1514131211109 8 76543210 XXXXXXXXXXXXKXK XK XK X p pl E Alarm ALARM Warning WARNG Command Ready CMDRDY Servo ON SVON Main Power ON PON Machine Lock MLOCK Home Position ZPOINT Positioning Completed PSET Output Completed DEN Torque Limit T_LIM Latch Completed L_CMP Positioning Proximity NEAR Forward Software Limit P SOT Reverse Software Limit N SOT system reserved system res
2. Interpolation movement completed Positioning Completed relay Figure 5 5 Procedure for Executing Interpolation Movement Command IM 34M6H60 02E 1st Edition July 1 2005 00 5 38 e Acceptance conditions for interpolation movement commands MECHATROLINK II communication is in progress Send Command relay is OFF Response Received relay is OFF Error Warning Detected relay is OFF Servo is ON Axes are in Positioning Completed state if the interpolation movement command is the Start Positioning command 0100 An interpolation movement command is ignored if any of the above conditions is not true Writing parameters for interpolation movement commands Axis command parameters for an interpolation movement command can be written to the module using WRITE instructions in a ladder program For details on the required parameters of each interpolation movement commands see Subsection 5 7 1 Parameters and Statuses of Interpolation Movement Commands Send Command relay Turning on the Send Command relay of an axis after writing interpolation movement command parameter values executes the interpolation movement command The Response Received relay of the axis turns on thereafter Confirm that the Response Received relay has turned on before turning off the Send Command relay Turning off the Send Command relay for an axis also turns off the corresponding Response Received relay IM 34M6H60 02E 1st Edit
3. Is RDY LED lit when module is mounted in a different slot Replace base module YES Replace the module Figure 7 2 Flowchart for Troubleshooting When RDY LED is Not Lit IM 34M6H60 02E 1st Edition July 1 2005 00 7 3 7 1 2 Flowchart for Troubleshooting When Communication Fails Communication Disallowed or Data is Incorrect Fix connection of cables and terminating resistors cables and terminating resistors correctly onnected YES Are slaves powered on Power on slaves YES Fix addresses of slaves addresses of slaves correctly YES Is application program correct Fix application program Configure system so that positioning module is used by only one CPU module configuration of multi CPU system correct if applicable YES Replace positioning module Figure 7 3 Flowchart for Troubleshooting When Communication Fails IM 34M6H60 02E 1st Edition July 1 2005 00 7 2 List of Alarm Codes and Warning Codes 7 2 1 Module Alarms Table 7 1 List of Module Alarm Codes at Possible Causes and Description Troubleshooting MECHATROLINK II communication error was detected for two Communication consecutive cycles error Bad contact of cables or connector Operation error due to noise Check connector wiring Check communication parameter values Adopt measures against noise 80E5 Watchdog timer MECHATROLIN
4. IM 34M6H60 02E 1st Edition July 1 2005 00 3 5 External Dimensions Ul 3 2 External Dimensions Drawing IM 34M6H60 02E 1st Edition July 1 2005 00 3 6 Attaching Detaching the Module E Attaching the Module Figure 3 3 shows how to attach this module to the base module First hook the anchor slot at the bottom of the module to be attached onto the anchor pin on the bottom of the base module Push the top of the module toward the base module until the anchor release button clicks into place AN CAUTION Always switch off the power before attaching or detaching the module Base Module Anchor pin Positioning module F01 VSD Figure 3 3 Attaching Detaching the Module AN CAUTION Do not bend the connector on the rear of the module by force during the above operation If the module is pushed with improper force the connector may bend causing an error E Detaching the Module To remove this module from the base module reverse the above operation Press the anchor release button on the top of this module to unlock it and tilt the module away from the base module IM 34M6H60 02E 1st Edition July 1 2005 00 3 9 E Attaching the Module in Intense Vibration Environments If the module is used in intense vibration environments fasten the module with a screw Use screws of type listed in the table below Insert these screws into the screw holes on top of the module and tighten them with a Phillips scre
5. eeeeeeseeeeeeeeeeeteeees 2 1 2 1 MECHATROLINK II Command Positioning Functions s000 2 1 2 2 Interpolation Command Positioning FUNCtiOnS cescsseeeeeeeeees 2 5 3 Module Specifications aidueiscesisisassidcacnnssassdiiananthadaatandessainnianenanndans 3 1 3 1 Specificatii NnS v ccsteecensccese cee sescetecede cecteeeentveneecedeceedseeeseewteseceddvdieveeberesccece 3 1 3 2 Compatible External Equipment s ecccseeessseeseeeeeeeeeeeseeseneenenseeees 3 2 3 3 Scope of MECHATROLINK II Interface csccssecseseeeeeeeeesseeeesneeeeseees 3 3 3 4 Components and Their FUNCTIONS cccseeeseseeseeeenseeeeeseeseneeeenseeees 3 6 3 5 External DimenSiOns c ccceseceseeeeeseeeeneeeeeeeeeseseeenseeeeeeeeeseesesenenseneess 3 7 3 6 Attaching Detaching the MOdule ccccssescsseeneeesseeeeeenseeeeenseenenenes 3 8 3 7 Connecting to External Equipment cssccsseeeeseeeesseeseseeeeneeeeeeees 3 10 4 Input Output Relays Parameters and Statuses 00 4 1 4 1 List of Input Output Relays cccccsseceseeeseseeesteeseneeeeeeseeeseeeseneenenseeees 4 1 4 1 1 INPUT RELAYS ccccee cases cele ccvace odes thie teeusee daecte endl vdadaceeted ateeneincaeds 4 1 4 1 2 Output Relays iinan aaa ai a dieses 4 2 4 1 3 Operation of Input Output RelayS cceeeeeeseeeeeeeeeseeeeeees 4 3 4 2 List of Parameters and Statuses cccseccceseesseeseseeeeeeeeeeeeeeseseeneneee
6. 00001 00002 00003 00004 00005 00006 0000 00008 00009 00010 00011 00012 00013 00014 00015 00016 00017 00018 00019 00020 STATUS have turned on ZRET command 100400 zO DIFU p040 100401 MOV 34 D10001 MOV 1 D10004 MOY o D10005 MOY o D10006 MOV 10000 D10009 MOV 3 D10012 MOV 8 D10033 MOV 11 saa D10001 3 101 al SET Y00333 SET 100402 SET 10403 X00301 100402 RST Y00333 RST 402 D0402 OFF 100402 100403 182 D10182 F MOW D10182 00417 100402 100403 D00423 00424 X00301 SSS RST__ posos SET 100404 IM 34M6H60 02E st 5 11 Command Code Latch Signal Option 1 Option 2 Target Speed Monitor 2 Selection Monitor 3 Selection Monitor 4 Selection Write parameters Send Command Request to receive Executing ON Send Command Request to receive Read STATUS Expand STATUS bits Executing OFF Execution Completed ON Edition July 1 2005 00 0001 0002 0003 0004 0005 0006 0007 0008 0009 0010 0011 0012 0013 0014 5 12 Sample Program for Sending Set Coordinates POS_SET Command This sample program issues a POS_SET command for axis 1 to the positioning module mounted in slot 3 After issuing the command it confirms completion of the command checking the axis MECHA
7. AHUN AO AA AA A felel amor CTT TT O LE T felol se s SCCECCOC OST CCR eee HOCERCORCO ACE ie COCR Is eee PELE EEE EEE EEE Teper AHH O LEE T o PEE TET efo peee IM 34M6H60 02E 1st Edition July 1 2005 00 5 22 E MECHATROLINK II Common Motion Commands Command parameters Data Position Data Name Number ot Command Code 20 0002 0003 system reserved SENS_ON SENS_OFF MLCK_ON LOCK_OFF I l ii O1O06 Option 2 OPTION2 0007 0008 Target Position TPOS 0009 0010 Target Speed TSPD system reserved 0004 Latch Signal LT_SGNL oN ON i 0013 system reserved 0014 0015 0016 005 Option 1 OPTION1 Oo Monitor 2 Selection MOD_SEL SEL 0015 0016 OST T OST T OT T OT T T T Jolo T inne ofl OST T To ans T 0023 y Alarm Clear Mode om leno o5 Forward Torque Limit P_TLIM or EHR Torque Feed Forward TFF 0026 Reverse Torque Limit N_TLIM f 0027 0028 Speed Reference VREF T 0029 0030 SpeedLimit VLIM 0031 0032 Torque Reference TQREF T 0033 Monitor 3 Selection MOD_SEL f 034 Monitor 4 Selection MOD_SEL OOO T T ee T of ofj OST T T a T OST T OT T Een Rew Eee Ox Oro O O lolo lofo OST T ee T OT T a T T T o lo o PO 1701 to 1850 Extended command parameters e
8. Note In the table O00 denotes the slot number of the FA M3 unit where the module is mounted Reading MECHATROLINK II Response Parameters The Response Received relay for an axis turns ON when a MECHATROLINK II response is received for the axis The MECHATROLINK II response parameter values or extended MECHATROLINK II response parameter values can then be read using a READ instruction in a ladder program For details on the response parameters that may be returned for each MECHATROLINK II command see Subsection 5 3 1 Parameters and Statuses of MECHATROLINK II Commands 2Z 2 2 2 2 2 ZS I SI ZI mS AIAI AIAI AJ AJIAJ AIAJ AJ AJA Checking if a MECHATROLINK II Command Has Completed Execution Execution of some MECHATROLINK II commands such as HOLD 25 SV_ON 31 SV_OFF 32 POSING 35 EX_POSING 39 and ZRET 3A continues even after a MECHATROLINK II response has been received You can check the completion of these MECHATROLINK II commands by reading the following relays and statuses from a ladder program and checking the values of the relevant status bits Positioning Completed relay X00017 to X00031 Error Warning Detected relay X00032 Alarm Code ALARM and Status STATUS of axis statuses Various axis bit pattern statuses of common statuses E An Example for Sending MECHATROLINK II Commands e Procedure 1 Specify the MECHATROLINK II command code and required parame
9. b Axis 3 L Axis 4 Bo Se Axis 5 bob aL Fee eS Axis 6 bl 5 lt Axis 7 L Axis 8 z Axis 9 Axis 10 F Axis 11 Axis 12 Axis 13 Axis 14 Axis 15 IM 34M6H60 02E 1st Edition July 1 2005 00 4 26 Module Alarm Code Stores read data for the alarm code when a module alarm is detected This status is meaningful only when the module bit of Alarm Axis Bits ALARM has value 1 If multiple alarms are detected concurrently the alarm code of the first alarm to be detected is stored The alarm code may indicate a communication alarm communication error watchdog timer error command timeout error etc or a parameter setup error for an interpolation movement command For more details see Section 5 5 Detecting Errors Warnings and Communication Alarms Module Detailed Alarm Code Stores bit data that indicates the axis where a module alarm is encountered This status is meaningful only when the module bit of Alarm Axis Bits ALARM has value 1 For more details see Section 5 5 Detecting Errors Warnings and Communication Alarms 1 Module alarm detected 0 No module alarm detected 1514131211109 8 765432 10 OXXXXKXKXXXXKXXXXKXKX IM 34M6H60 02E 1st Edition July 1 2005 00 4 27 4 2 6 Extended MECHATROLINK I
10. 5 Sends SMON command Table 5 4 MECHATROLINK II Commands Sent When Communication is Initiated Byte NOP DISCONNECT CONNECT SENSON 1 o SOF Note Empty cells contain value 00 sqi 0011 denotes the value of Monitor 2 Selection of Axis MECHATROLINK II Command Parameters IM 34M6H60 02E 1st Edition July 1 2005 00 5 5 E Communication Parameters Setup Example 0000 00002 00003 00004 00005 00006 00007 00008 00009 e Procedure 10100 x00316 1 Specify the station addresses of external equipment to be connected in data position numbers 0031 to 0045 2 Specify whether a C2 master is to be connected in data position number 0046 4 Specify the communication cycle time in data position number 0049 3 Turn on the Start Stop Communication relay Sample Program This sample program issues a request to the positioning module installed in slot 3 to initiate communication with external equipment having station addresses 41 42 and 43 It confirms whether MECHATROLINK II communication is successfully initiated by checking whether relay X00316 has turned on 1 Program for Starting Communications AX1 station address WRITE 41 al 31 1 AX2 station address WRITE 42 3 32 1 AX3 station address WRITE 43 3 33 1 WRITE R Specify unused axes Cycle time 1 ms WRITE 0 3 49 Start Stop Communication ON Confirm communication has start
11. Communication consecutive cycles Check connector wiring error Bad contact of cables or connector Adopt measures against noise Operation error due to noise Table 7 3 List of MECHATROLINK II Communication Warning Codes il ig Possible Causes and Description Troubleshooting 0094 Data setup Value specified for MECHATROLINK II communication is out of Fix specified value warning range Ensure that all acceptance conditions for a Some acceptance condition of a transmitted command is not transmitted command are satisfied satisfied For details on the acceptance conditions see the Transmitted command is not supported description of each command Make sure that no unsupported command is sent PR MECHATROLINK II communication error first instance di Communication Check connector wiring 0096 i Bad cable or connector contact warning 3 i Adopt measures against noise Operation error due to noise AN CAUTION When the positioning module is notified of an alarm or warning that has been detected by an external machine it does not handle the error automatically by say issuing a Decelerate amp Stop Stop Immediately or Servo Off command Such error handling should be included in a user application program as required Command warning IM 34M6H60 02E 1st Edition July 1 2005 00 FA M3 Positioning Module Index 1 with MECHATROLINK II Interface Index A Acceleration Time ccc
12. Table 4 6 4 10 List of Axis Command Parameters Data Position Data Name Data Description Number 0000 to 00FF MECHATROLINK II commands O01 Command Code COMMAND FFFF Extended MECHATROLINK II commands 0100 to FFOO Interpolation movement commands 0002 0003 system reserved 0004 Latch Signal LT_SGNL Bits 0 and 1 Latch Signal 0 to 3 O005 Optioni OPTION1 Bits 3 and 4 ACC DCC Curve 0 to 2 Bits Oand 1 Gain Switch 0 to 3 Bit 4 Speed Loop P PI Control Switch f 0 PI control 1 P control Bes Opti n2 OPTION2 Bit 5 d Position Integral 0 1 yes Bit 6 Eorward Forque Limit 0 no 1 yes Bit 7 imi 0 no 1 yes 0007 0008 Target Position TPOS 1 073 741 823 to 1 073 741 823 reference unit 0009 0010 Target Speed TSPD 131 068 000 to 131 068 000 reference unit s 0011 system reserved 0012 Monitor 2 Selection 0000 to 000F default 0003 APOS 0013 system reserved Bit 7 Reference Point Enable 0014 Coordinate Selection PS_SUBCMD 0 disabled 1 enabled Bits 3 to 0 Coordinate Selection 3 APOS 0015 O016 Preset Coordinate POS DATA 1 073 741 823 to 1 073 741 823 reference unit 0017 Parameter No NO 0000 to FFFF 0018 Parameter Data Size SIZE 2or4 0019 0020 Parameter Data PARAMETER Parameter value to be written 0021 0022 system reserved 0023 Hold
13. o 3D_ TRQCTRL Torquecontrol 3E ADJ Adjust U O 3F_ SVCTRL General purpose servo control X Table 3 9 Processing Classifications and Synchronous Classifications L N Network commands L s Synchronous D Data communications commands Owm Motion commands Compound commands IM 34M6H60 02E 1st Edition July 1 2005 00 E MECHATROLINK I II Subcommands Table 3 10 List of MECHATROLINK II Subcommands Comman 9 dCode command BERCE pied 00 NOP No operation 30 SMON Status monitoring mA 41 This command is not executable because it is not supported by the XIII series SGDS 00010A SERVOPACK IM 34M6H60 02E 1st Edition July 1 2005 00 3 4 Components and Their Functions E External View and Construction The outer appearance of the module is shown in the figure below ALM LC NC96 0N___POSIT MECHATROLINK II Connector Figure 3 1 External View and Part Names Component Functions e LED Indicators The various LED indicators turn on or turn off to indicate the operating status of the module Table 3 11 LED Indicators Name color Not Lit RDY green Status of internal circuitry LNK green MECHATROEINKII Communicating Not communicating communication status WRN yellow Warning status Warning detected ALM _ red Error detected e MECHATROLINK II Connector This connector is used for connecting MECHATROLINK II compliant external equipment
14. 0000 to 00FF Transmits MECHATROLINK II command parameter data for an axis 0100 to 0500 Executes interpolation movement command 0100 Start positioning 0200 Decelerate amp stop 0300 Stop immediately 0400 Change speed 0500 Change target position Latch Signal LT_SGNL Select the signal for latching position data 1514131211109 876543210 0000000000000 0 XX L L Latch Signal LT_SGNL 0 Encoder Phase C CPHAS 1 External Signal 1 EXT1 2 External Signal 2 EXT2 3 External Signal 3 EXT3 Option 1 OPTION1 1514131211109876543210 00000000000XX000 L L ACC DCC Curve 0 Linear ACC DCC no ACC DCC filter 1 ACC DCC by index function 2 Simple S shaped ACC DCC moving average IM 34M6H60 02E 1st Edition July 1 2005 00 Option 2 OPTION2 1514131211109 8 76543210 00000000XKKXKX00XX ee Target Position TPOS Specify the target position e Target Speed TSPD Specify the target speed 4 12 Gain Switch 0 First gain 1 Second gain 2 Third gain 3 Fourth gain Speed Loop P PI Control 0 PI control mode switch can be used for switching to P control 1 P control Clear Position Integral 0 No 1 Yes 0 No 1 Yes 0 No 1 Yes IM 34M6H60 02E 1st Edition July 1 2005 00 4 13 e Monitor 2 Selection MON_SEL Monitor 3 Selection MON_SEL Monitor 4 Selection MON_SEL Select the monitored information to
15. 2 List of Output Relays Turn off this relay after confirming that XOO0007 has turned on Turn off this relay after confirming that XOO009 has turned on Turn off this relay after confirming that XOO011 has turned on Yooquss Start Stop Request to start or stop MECHATROLINK II communication XOO016 shows the current communication status Communication YOOIOSO systemreseved G O YOOIOS1 systemreseved G O YO0052 systemreseved YOOD53 isystemreseved G O YOOIOS4 systemreseved G O YOOIOSS systemreseved G O YOIOIOSE isystemreseved G O YOOIOS7 systemreseved G O YOOIOSS systemreseved G O YOOO59 systemreseved G O YOO isystemreseved system reserved O G O system reserved system reserved F Turn off this relay after confirming that YOOO64 Clear Error warning Request to clear all errors and warnings XO10032 has turned off AN CAUTION In a multi CPU system only one CPU module can be configured to use the positioning module For details on CPU configuration see FA M3 Programming Tool WideField2 User s Manual IM34M6Q15 01E IM 34M6H60 02E 1st Edition July 1 2005 00 4 1 3 Operation of Input Output Relays E Input Relays Response Received relays X00001 to X00015 1 When sending MECHATROLINK II commands The Response Received relay of an axis turns on when a MECHATROLINK II response is received for a MECHATROLINK II comma
16. 7 Executing Interpolation Movement Command 0 ceeeee reese 5 37 5 7 1 Parameters and Statuses of Interpolation Movement COMIMANGS 326 E E E E A 5 47 6 Accessing the Module cccceeseeeeeeseeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 6 1 6 1 Accessing from Sequence CPU s ussssnssssennnrrnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnne 6 1 6 2 Accessing from BASIC CPU sssssusssensnrunnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 6 3 7 Errors and Troubleshooting sssssssssssnnnnnnnnnnnnnnnuunnnnnnnnnnnnnnnnn 7 1 7 1 Troubleshooting Flowchart cccccesseccseseeeceseeeeeeeseseeeeeseseeeseseseeeseeseeees 7 1 7 1 1 Flowchart for Troubleshooting When RDY LED is Not Lit 7 2 7 1 2 Flowchart for Troubleshooting When Communication FANS vecssiadeanvaneduvccsiuatinnvandevesesauadunvansee aidaa eaaa 7 3 7 2 List of Alarm Codes and Warning Codes ccsscccesssseeeeesseeeeesseeeeenes 7 4 7 2 1 Module Alar MS cnan A R R 7 4 7 2 2 External Equipment Communication Alarms e Warnings ilasa 7 4 NAEK isine ee EEEE EES aa a E Index 1 REVISION Information winccincssassincectecacicnctsnsnccdesetuecdessdeaodsssdeecdscedeesdsssiveceeoone i IM 34M6H60 02E 1st Edition July 1 2005 00 1 1 1 Overview This positioning module is to be installed in the base unit of a FA M3 range free controller system and supports MECHATROLINK II communications E What is MECHATROLINK II Communications Overview MECHATROLINK II
17. Errors and Warnings Detected by an Axis For details on errors and warnings that may be reported by an axis see the user s manual of the connected external equipment IM 34M6H60 02E 1st Edition July 1 2005 00 5 33 E Checking for Errors and Warnings Error Warning Detected relay The Error Warning Detected relay turns on when the positioning module or external equipment detects an error or warning Table 5 16 eee for Checking Errors or Warnings Aen o Signal Name Deserto Relation with Relation with OtherRelays Relation with OtherRelays Turns on when an error or warning is detected by the Turning on YOOD064 to clear all x00032 Error Warning Detected module or any axis errors and warnings also turns off this relay Note In the table O00 denotes the slot number of the FA M3 unit where the module is mounted Alarm Axis Bits Module Alarm Code and Module Detailed Alarm Code When the positioning module detects a MECHATROLINK II communication alarm or a parameter setup error when executing an interpolation movement command the module bit of Alarm Axis Bits of common statutses turns on and alarm information is stored in Module Alarm Code and Module Detailed Alarm Code The Module Alarm Code and Module Detailed Alarm Code are meaningful only when the module bit of Alarm Axis Bits ALARM has value 1 When an error or warning is detected by external equipment the corresponding bit of the Alarm Axis Bits
18. II response parameters Statuses Axis 4 MECHATROLINK II command parameters 0401 to 0500 MECHATROLINK II response parameters Statuses Axis 5 MECHATROLINK II command parameters 0501 to 0600 MECHATROLINK II response parameters Statuses Axis 6 MECHATROLINK II command parameters 0601 to 0700 MECHATROLINK II response parameters Statuses Axis 7 MECHATROLINK II command parameters 0701 to 0800 MECHATROLINK II response parameters Statuses Axis 8 MECHATROLINK II command parameters 0801 to 0900 MECHATROLINK II response parameters Statuses Axis 9 MECHATROLINK II command parameters 0901 to 1000 MECHATROLINK II response parameters Statuses Axis 10 MECHATROLINK II command parameters 1001 to 1100 MECHATROLINK II response parameters Statuses Axis 11 MECHATROLINK II command parameters 1101 to 1200 MECHATROLINK II response parameters Statuses Axis 12 MECHATROLINK II command parameters 1201 to 1300 MECHATROLINK II response parameters Statuses Axis 13 MECHATROLINK II command parameters 1301 to 1400 MECHATROLINK II response parameters Statuses Axis 14 MECHATROLINK II command parameters 1401 to 1500 MECHATROLINK II response parameters Statuses Axis 15 MECHATROLINK II command parameters 1501 to 1600 MECHATROLINK II response parameters Statuses 1601 to 1700 Common statuses 1701 to 1850 Extended MECHATROLINK II command parameters 1851 to 2000 Extended MECHATROLINK II response parameters 2001 onwards system reserved For details on the
19. MECHATROLINK II response received from external equipment indicates an alarm ALARM bit 1 or a warning WARNG bit 1 or when the module detects a communication alarm communication error watchdog timer error or command timeout error etc or a parameter setup error when executing an interpolation movement command To clear all reported errors and warnings turn on the Clear Error Warning relay YOOO64 If an error or warning condition persists even after turning on the Clear Error Warning relay YOOO64 the Error Warning Detected relay remains ON For details on how to find out the cause of an error or warning when the Error Warning Detected relay is ON see Section 5 5 Detecting Errors Warnings and Communication Alarms IM 34M6H60 02E 1st Edition July 1 2005 00 4 5 E Output Relays Send Command relays YOOO33 to Y00047 1 When sending MECHATROLINK II commands Turning on the Send Command relay for an axis after setting the Command Code COMMAND axis command parameter to a MECHATROLINK II command code transmits the specified MECHATROLINK II command Extended MECHATROLINK II command parameter data is transmitted as is if the command code Command Code is specified as 1 The corresponding Response Received input relay X00001 to X00015 turns on when a MECHATROLINK II response to the transmitted MECHATROLINK II command is received Turning off the Send Command output relay thereafter also turns off the corresponding Respon
20. Mode HOLD_ MOD 0 Decelerate amp stop 1 Stop immediately 0024 Alarm Clear Mode ALM_CLR_MOD 0 Clear current alarm 1 Clear alarm history Forward Torque Limit P_TLIM or onm25 Torque Feed Forward z i 0 to 4000 0026 Reverse Torque Limit N_TLIM 0 to 4000 0027 0028 Speed reference VREF 0 to 40000000 0029 0030 Speed Limit VLIM 0 to 40000000 0031 0032 Torque Reference TQREF 0 to 40000000 0033 Monitor 3 Selection MOD_SEL 0000 to 000F default 0008 FSPD 0034 Monitor 4 Selection MOD_SEL 0000 to 000F default 000B TRQ 0035 to 0040 system reserved oo 0042 Target Position 2 147 483 648 to 2 147 483 647 reference unit for interpolation movement commands oo43 o044 Target Speed 1 to 2 147 483 647 reference unit s for interpolation movement commands 0045 Interpolation Axes Bits 0 to 7 for axes 1 to 8 for interpolation movement commands 0046 Acceleration Time 0 to 32767 ms for interpolation movement commands 0047 Deceleration TIME 0 to 32767 ms for interpolation movement commands 0048 to 0060 system reserved Note O10 denotes an axis number 01 to 15 IM 34M6H60 02E 1st Edition July 1 2005 00 4 11 E Description of Axis Command Parameters Command Code COMMAND Specify the command code for the MECHATROLINK II command to be transmitted or the interpolation movement command to be executed FFFF Transmits extended MECHATROLINK II command parameter data as is
21. OFF Request to receive OFF Executing OFF Execution Completed ON 1st Edition July 1 2005 00 00001 00002 00003 00004 00005 00006 00007 00008 00009 00010 00011 00012 00013 00014 00015 00016 00017 00018 100700 o o T 5 14 e Sample Program for Sending Positioning POSING Command This sample program issues a POSING command for axis 1 to the positioning module mounted in slot 3 After issuing the command it confirms completion of the command checking that the Positioning Completed relay has turned on POSING Command 100701 MOV MOY aloe A eae E ase MOV ERA MOY A MOY RST RST RST x00301 100702 100702 100703 X00317 X00301 IM 34M6H60 02E execution by Command Code Option 1 Option 2 Target Position Target Speed Monitor 2 Selection Monitor 3 Selection Monitor 4 Selection Write parameters Send Command ON Request to receive ON Executing ON Send Command OFF Request to receive OFF Executing OFF Execution Completed ON 1st Edition July 1 2005 00 00001 00002 00003 00004 00005 00006 00007 00008 00009 00010 00011 00012 00013 00014 00015 00016 00017 00018 00019 100800 4 5 15 Sample Program for Sending Stop Motion HOLD Command This sample program issues a HOLD command for axis 1 to the positioning module
22. Response parameters 62__ Coord Selection PS_SUBCMD 6S Parameter No NO __ a e Statuses 0095 Substatus SUBSTATUS O91 O92 Monitor 3 MONITOR3 IM 34M6H60 02E 1st Edition July 1 2005 00 5 23 E MECHATROLINK II Standard Servo Commands Command parameters Data Position Data Name Number ot Command Code 30 0002 0003 system reserved 31 O1O06 Option 2 OPTION2 0007 0008 Target Position TPOS 0009 0010 Target Speed TSPD system reserved 0004 Latch Signal LT_SGNL oN ON i 0013 system reserved 0014 0015 0016 005 Option 1 OPTION1 Oo Monitor 2 Selection MOD_SEL SEL 0015 0016 003 oa MORM O ALM_CLR_MOD o5 Forward Torque Limit P_TLIM or Torque Feed Forward TFF 026 Reverse Torque Limit N_TLIM 033 Monitor 3 Selection MOD_SEL 034 Monitor 4 Selection MOD_SEL Po PO 1701 to 1850 Extended command parameters e Response parameters AN62__ Coord Selection PS_SUBCMD 6S Parameter No NO __ C e Statuses l 9S Substatus SUBSTATUS e efet felelete A e T A e T blof svon ef feft felte O i PTET e el elef sos e lefet Telolet O E a A TT fet T fle Cee UES see CA O a e lefet fellet E A A AA er olll fele ross ef fefe Tooo TTT A YT e o oo slof ree TECOCCCR CTE D Coo sa ee e
23. Slave Slave Slave ae Slave FA equipment FA equipment FA equipment FA equipment Figure 1 1 Network Connections for MECHATROLINK II Communications IM 34M6H60 02E 1st Edition July 1 2005 00 1 2 E Module Features The positioning module provides an interface C1 master to a high speed motion field network based on MECHATROLINK II a standard proposed by Yaskawa Electric It transmits MECHATROLINK II commands to external equipment slaves according to instructions from a CPU module and receives MECHATROLINK II responses from external equipment It enables 1 Independent axis movement using MECHATROLINK II commands 2 Linear interpolation movement starting and stopping multiples axes simultaneously 3 Reading of the statuses target position current position etc of external equipment 4 Reading and writing of parameters of external equipment This module has the following features Positioning control of up to 15 axes per module using one slot Easy connection of controller and motors using connectors reduces wiring cost High speed transmission of 10 Mbps with cycle time of 1 ms for 8 axes or 2 ms for 15 axes enables control data target position current position etc to be transmitted and received in real time to achieve fast response and synchronization of peripherals Command transmission enables maximum utilization of motor performance high speed high resolution to achieve fast and accurate po
24. TIP Gives information that complements the present topic SEE ALSO E Exemption Indicates a SEE ALSO reference Identifies a source to which to refer For the protection and safe use of the product and the system controlled by it be sure to follow the instructions and precautions on safety stated in this manual whenever handling the product Take special note that if you handle the product in a manner other than prescribed in these instructions the protection feature of the product may be damaged or impaired In such cases Yokogawa cannot guarantee the quality performance function and safety of the product When installing protection and or safety circuits such as lightning protection devices and equipment for the product and control system as well as designing or installing separate protection and or safety circuits for fool proof design and fail safe design of processes and lines using the product and the system controlled by it the user should implement it using devices and equipment additional to this product If component parts or consumable are to be replaced be sure to use parts specified by Yokogawa This product is not designed or manufactured to be used in critical applications which directly affect or threaten human lives and safety such as nuclear power equipment devices using radioactivity railway facilities aviation equipment air navigation facilities aviation facilities or medical equipment If so us
25. along X axis P1 Speed attained along Y axis X axis travel Y axis travel i i PO Time Acceleration time Deceleration time X axis Figure 2 6 Linear Interpolation Movement Initiated by Start Positioning Command IM 34M6H60 02E 1st Edition July 1 2005 00 2 6 E Change Speed 0400 This command can be executed to change the speed of moving axes during a linear interpolation movement Changing the set of movement axes during linear interpolation movement is however not allowed Executing a Change Speed command is also not allowed while a target position change is in progress When the axes approach the target position after a speed change they decelerate and stop according to the deceleration time specified in the Change Speed command Speed Time Start ay A Request to Request to change speed change speed Figure 2 7 Speed Change Movement Initiated by Change Speed Command E Change Target Position 0500 The Change Target Position command is executed to change the target position during a linear interpolation movement Changing the set of movement axes during linear interpolation movement is however not allowed Execution of a Change Target Position command is also not allowed while a target position change is in progress The target speed can also be changed together with the target position using a Change Target Position Command To change a target position in positioning completed sta
26. be returned as MECHATROLINK II response data Monitor 1 is always fixed to POS Table 4 7 Codes for Monitor Selection Name Code Description Umt ef o a e coordinate system meos Gornal S coordinate system PERR 2 Position error Reference unit APOS 3 Absolute position Counter latched position Reference unit Internal position in the reference Reference unit coordinate system TPOS Target position e a Feedback speed Reference unit s Reference speed Reference unit s CSPD a position reference output TSPD A Target speed Reference unit s TRQ B Torquereference Doo ST oe o a O Option monitor 1 Option monitor 2 e Coordinate Selection PS_SUBCMD Specify whether to enable or disable the reference point REFE and select the coordinate system POS_SEL when Command Code COMMAND is POS_SET 20 1514131211109 8 76543210 00000000X000X XX xX LE L L L L Coordinate Selection POS_SEL 3 Absolute position APOS L Reference Point Enable REFE 0 Disabled 1 Enabled e Preset Coordinate POS_DATA Specify preset values for the selected coordinate system when Command Code COMMAND is POS_SET 20 IM 34M6H60 02E 1st Edition July 1 2005 00 4 14 Parameter No NO Parameter Data Size SIZE and Parameter Data PARAMETER Specify the parameter no NO and parameter data size SIZE when Command Code COMMAND is PRM_R
27. for External Input Positioning Command EX_POSING 39 Feed speed Speed External positioning signal Travel distance for external positioning Position is the integral of speed Figure 2 4 Speed Reference When Specified Travel for External Input Positioning is Insufficient for Deceleration IM 34M6H60 02E 1st Edition July 1 2005 00 2 4 E Home Command ZRET 3A This command executions a return to the home position using the Deceleration LS and Latch signals The Latch Signal parameter determines the latch signal to be used To check for execution completion check that the Output Completed DEN status 1 Speed Approach Final travel speed Deceleration OPen a Time LS aay eee eee se Polarity of the Deceleration When Deceleration LS signal can be specified LS is closed Sp ag using a parameter DEC 1 Figure 2 5 Homing Sequence at Driver End when using Phase C signal IM 34M6H60 02E 1st Edition July 1 2005 00 2 5 2 2 Interpolation Command Positioning Functions This section describes the positioning functions of interpolation commands that are executable by the module E Start Positioning 0100 This command executes linear interpolation movement starting and stopping multiples axes simultaneously for up to 15 axes The axis from which the command is issued is known as the reference axis or command axis while the other axes involved in the interpolation m
28. k number of words of data to be read Special Module Write Instruction WRITE Instruction WRITE S SL n2 k S first device storing the write data SL number of slot where the module is installed n2 first data position number for writing k number of words of data to be written Special Module High Speed Read Instruction HRD Instruction HRD SL n1 D k SL number of slot where the module is installed n1 data position number for the first word of data to be read D first device for storing the read data k number of words of data to be read Special Module High Speed Write Instruction HWR Instruction HWR S SL n2 k S first device for storing the write data SL number of slot where the module is installed n2 first data position number for writing k number of words of data to be written IM 34M6H60 02E 1st Edition July 1 2005 00 6 2 Interrupt Handling All input relays X00001 to X00032 of the module can be used in interrupt processing A rising edge in an interrupt input triggers execution of an interrupt program sandwiched between an INTP instruction and an IRET instruction NTP IRET S input relay raising interrupt IM 34M6H60 02E 1st Edition July 1 2005 00 6 2 Accessing from BASIC CPU The following instructions can be used for accessing the module from a BASIC CPU For details of each instr
29. module information statuses of position data numbers 0001 to 0008 see Subsection 4 2 7 Module Information Statuses IM 34M6H60 02E 1st Edition July 1 2005 00 4 2 1 MECHATROLINK II Communication Parameters This subsection lists and describes MECHATROLINK II communication parameters E List of MECHATROLINK II Communication Parameters Table 4 4 List of MECHATROLINK II Communication Parameters a Foston Data Name Data Description umber 0031 AX1 Station Address 0 unconnected 41 to 4F 0032 AX2 Station Address 0 unconnected 41 to 4F 0033 AX3 Station Address 0 unconnected 41 to 4F 0034 AX4 Station Address 0 unconnected 41 to 4F 0035 AX5 Station Address 0 unconnected 41 to 4F 0036 AX6 Station Address 0 unconnected 41 to 4F 0037 AX7 Station Address 0 unconnected 41 to 4F 0038 AX8 Station Address 0 unconnected 41 to 4F 0039 AX9 Station Address 0 unconnected 41 to 4F 0040 AX10 Station Address 0 unconnected 41 to 4F 0041 AX11 Station Address 0 unconnected 41 to 4F 0042 AX12 Station Address 0 unconnected 41 to 4F 0043 AX13 Station Address 0 unconnected 41 to 4F 0044 AX14 Station Address 0 unconnected 41 to 4F 0045 AX15 Station Address 0 unconnected 41 to 4F 0046 C2 Master 0 unconnected 1 connected 0047 system reserved Always 0 0048 system reserved Always 0 0049 Communication Cycle Time 0 1 ms 1 2
30. mounted in slot 3 After issuing the command it confirms completion of the command checking that both the Positioning Completed relay and the Output Compl of STATUS have turned on HOLD Command 100801 MOV MOV Ars MOV calomel MOV MOV 0 D10023 MOV 8 D10033 MOV RST RST x00301 100802 100802 100803 MOV RST 100802 m0803 X00317 100825 x00301 IM 34M6H60 02E execution by eted DEN bit Command Code Option 1 Option 2 Monitor 2 Selection Hold Mode Monitor 3 Selection Monitor 4 Selection Write parameters Send Command ON Request to receive ON Executing ON Send Command OFF Request to receive OFF Read STATUS Expand STATUS bits Executing OFF Execution Completed ON 1st Edition July 1 2005 00 00007 00010 00011 00012 00013 0001 4 5 16 e Sample Program for Sending Status Monitoring SMON Command This sample program issues a SMON command for axis 1 to the positioning module mounted in slot 3 SMON Command Command Code 30 Monitor 2 Selection 3 D0012 Monitor 3 Selection e Monitor 4 Selection Write parameters 1o H 101 002 101008 00601 10100 DIFU 101001 MOV MOV Mov al D1003 MOV 11 D10084 WRITE Dooa SET yoos33 SET 101 002 SET 10108 x00 101002 IM 34M6H60 02E Send Command ON Request to receive ON Executing ON Send Command OFF Reques
31. the configuration and wiring of external equipment and the communication parameter values If you have changed any communication parameter value re initiate communication after powering on the external equipment and FA M3 Positioning Completed relays X00017 to X00031 1 When sending MECHATROLINK II commands The Positioning Completed relay for an axis turns on when the axis is in Positioning Completed state This relay turns off when a positioning movement which is initiated by a MECHATROLINK II command begins The relay turns on or turns off according to the Positioning Completed Status PSET bit of STATUS of a MECHATROLINK II response 2 When executing interpolation movement commands The Positioning Completed relay for an axis turns on when the axis is in Positioning Completed state This relay turns off when a positioning movement which is initiated by an interpolation movement command begins After a positioning movement which is initiated by an interpolation movement command is completed the relay turns on or turns off according to the Positioning Completed Status PSET bit of STATUS of the MECHATROLINK II response IM 34M6H60 02E 1st Edition July 1 2005 00 4 4 Error Warning Detected relay KOOO32 The Error Warning Detected relay turns on when an error or warning is detected by the module or any axis The relay turns off when all errors and warnings are cleared The relay turns on when the STATUS of a
32. the following locations Where the instrument will be exposed to direct sunlight or where the operating temperature exceeds the range 0 C to 55 C 32 F to 131 F Where the relative humidity is outside the range 10 to 90 or where sudden temperature changes may occur and cause condensation Where corrosive or flammable gases are present Where the instrument will be exposed to direct mechanical vibration or shock Where the instrument may be exposed to extreme levels of radioactivity Use the correct types of wire for external wiring Use copper wire with temperature ratings greater than 75 C 167 F Securely tighten screws Securely tighten module mounting screws and terminal screws to avoid problems such as faulty operation Tighten terminal block screws with the correct tightening torque as given in this manual e Securely lock connecting cables Securely lock the connectors of cables and check them thoroughly before turning on the power Interlock with emergency stop circuitry using external relays Equipment incorporating the FA M3 controller must be furnished with emergency stop circuitry that uses external relays This circuitry should be set up to interlock correctly with controller status stop run e Low impedance grounding For safety reasons connect the FG grounding terminal to a Japanese Industrial Standards JIS Class D Ground Japanese Industrial Standards JI
33. 005 00 5 3 Writing MECHATROLINK II Communication Parameters You can write MECHATROLINK II communication parameters to the module using a WRITE instruction in a ladder program Always set the station addresses of unconnected axes to 0 Table 5 1 MECHATROLINK II Communication Parameters Number 0031 AX1 Station Address 0 unconnected 41 toS4F 0032 AX2 Station Address 0 unconnected 41toS4F O 0033 AX3 Station Address O unconnected 41 to SAFO 0034 AX4 Station Address O unconnected 41 to 4F__ Z 00385 AX5 Station Address O unconnected 41 toS4F Z e AKS Sinion es MD lenconneciedh fatto SE ________ 0039 AX9 Station Address O unconnected 41 to 4 0041 AX11 Station Address 0 unconnected 41to 4 0042 AX12 Station Address 0 unconnected 41 to 4F_ 0043 AX13 Station Address 0 unconnected 41 to 4F__ Z 0044 AX14 Station Address O unconnected 41 to 4F__ Z 0045 AX15 Station Address O unconnected 41toS4F O 0 1 ms 1 2 ms 0049 Communication Cycle Time 1 ms is not allowed when more than 8 axes are a 0050 to 0100 Always 0 e edie Communication relay Turning on the Start Stop Communication relay after writing MECHATROLINK II communication parameter values initializes MECHATROLINK II communications The Communication Status relay turns on when MECHATROLINK II communication initialization
34. 01 Command Code 00007 x000 10602 A 00010 101 602 101608 x00617 X00318 4 x00519 00601 00011 RST yooss3 RST 101602 RST 101608 SET Write AX1 parameters Send Command ON Request to Receive ON Executing ON Send Command OFF Request to Receive OFF Executing OFF Execution Completed ON IM 34M6H60 02E 1st Edition July 1 2005 00 00001 00002 00003 00004 ooo 05 000 06 00007 000 08 00009 00010 00011 00012 00013 00014 00015 00016 00017 00018 101700 4 e Sample program for executing Change Speed command 5 44 This sample program issues a Change Speed command 0400 to the positioning module mounted in slot 3 to change the speeds of axes 1 2 and 3 while an interpolation movement is in progress with axis 1 as reference axis and axes 2 and 3 as interpolation axes After issuing the command it confirms completion of the command checking that the Positioning Completed relay has turned on Change Speed Command 101701 MOY nr ees MOY MOY RST RST RST x00301 101702 101702 101703 X00317 x00318 x00319 X00301 IM 34M6H60 02E execution by Command Code AX1 Target Speed Acceleration Time Deceleration Time AX2 Target Speed AX3 Target Speed Write AX1 parameters Write AX2 parameters Write AX3 parameters Send Command ON Request to Rec
35. 4M6H60 02E 1st Edition July 1 2005 00 5 47 5 7 1 Parameters and Statuses of Interpolation Movement Commands The following tables list the required command parameters as well as the response parameters and statuses that may be returned for each interpolation movement command Throughout an interpolation movement initiated by an interpolation movement command the positioning module automatically sends MECHATROLINK II INTERPOLATE commands 34 to constantly update the status values In the table OO denotes an axis number 01 to 15 Command parameters Data Position Data Name Number 0001 Command Code COMMAND 0100 0200 0300 0002 0003 system reserved Decelerate amp Stop Stop Immediately Change Target Position O Start Positioning 0004 Latch Signal LT_SGNL ri OS Jooo y y y a 0006 Option 2 OPTION2 20007 0008 Target Position TPOS OO 0 0 0009 0010 Target Speed TSPD 0011 system reserved 0012 Monitor 2 Selection O ee ee 1033 Monitor 3 Selection MOD_SEL 1034 Monitor 4 Selection MOD_SEL PO T O O 004 0042 _ Target Position for interpolation movement commands 0043 0044 Target Speed for interpolation movement commands Interpolation Axes for interpolation movement commands Acceleration Time for interpolation movement ami commands 0047 Deceler
36. 98 Remaining Travel Status 2 147 483 648 to 2 147 483 647 reference unit Note In the table O0 denotes an axis number 01 to 15 Common statuses Table 5 15 lists the common statuses For details of common statuses see Subsection 4 2 5 Common Statuses Table 5 15 List of Common Statuses Data Position Data Name Data Description Number 1601 Alarm Axis Bits Bit data for module AX15 AX14 AX2 and AX1 1602 Warning Axis Bits 0 and bit data for AX15 AX14 AX2 and AX1 1603 Command Ready CMDRDY Axis Bits O and bit data for AX15 AX14 AX2 and AX1 1604 Servo ON SVON Axis Bits O and bit data for AX15 AX14 AX2 and AX1 1605 Main Power On PON Axis Bits O and bit data for AX15 AX14 AX2 and AX1 1606 Machine Lock MLOCk Axis Bits O and bit data for AX15 AX14 AX2 and AX1 1607 Home Position ZPOINT Axis Bits O and bit data for AX15 AX14 AX2 and AX1 1608 Positioning Completed PSET Axis Bits O and bit data for AX15 AX14 AX2 and AX1 1609 Output Completed DEN Axis Bits 0 and bit data for AX15 AX14 AX2 and AX1 1610 Torque Limit T_LIM Axis Bits 0 and bit data for AX15 AX14 AX2 and AX1 1611 Latch Completed L_CMP Axis Bits 0 and bit data for AX15 AX14 AX2 and AX1 1612 Positioning Proximity NEAR Axis Bits 0 and bit data for AX15 AX14 AX2 and AX1 1613 Forward Software Limit P SOT Axis Bi
37. Completed DEN status 1 Fast forward speed Speed reference Figure 2 2 Speed Reference of Constant Speed Feed Command FEED 36 E Stop Motion Command HOLD 25 This command stops movement according to a deceleration pattern which can be specified using command options To check for execution completion check that the Output Completed DEN status 1 IM 34M6H60 02E 1st Edition July 1 2005 00 2 3 E External Input Positioning Command EX_POSING 39 This command executes fast forward movement according to the External Positioning Signal input When the external positioning signal input goes high the module latches the current counter position then moves decelerates and stops the axis by traveling through a distance specified by a parameter If the distance required for deceleration to rest is shorter than the specified distance the module decelerates and stops the movement according to the deceleration pattern and then executes a return to the target position before ending command execution Figure 2 3 and Figure 2 4 shows the operation sequences of an External Input Positioning command executed under different initial movement conditions To check for execution completion check that the Output Completed DEN status 1 Feed speed i P2 Travel distance to target position for external positioning Speed P1 Time External Positioning signal Figure 2 3 Speed Reference
38. D 01 Specify the parameter no NO parameter data size SIZE and parameter data ao when Command Code COMMAND is PRM_WR 02 or PPRM_WR Hold Mode HOLD_MOD Specify the hold mode when Command Code COMMAND is HOLD 25 0 Decelerate amp stop according to the deceleration parameter value 1 Stop immediately stop and complete output Alarm Clear Mode ALM_CLR_MOD Specify the alarm clear mode when Command Code COMMAND is ALM_CLR 06 0 Clear current alarm or warning status 1 Clear alarm status history Forward Torque Limit P_TLIM or Torque Feed Forward TFF Specify the forward torque limit P_TLIM or torque feed forward TFF when Command Code COMMAND is VELCTRL 3C Reverse Torque Limit N_TLIM Specify the reverse torque limit N_TLIM when Command Code COMMAND is VELCTRL 3C Speed Reference VREF Specify the speed reference VREF when Command Code COMMAND is VELCTRL 3C Speed Limit VLIM Specify the speed limit VLIM when Command Code COMMAND is TRQCTRL 3D Torque Reference TQREF Specify the torque reference TQREF when Command Code COMMAND is TRQCTRL 3D IM 34M6H60 02E 1st Edition July 1 2005 00 4 15 Target Position for interpolation movement commands Specify the target position when executing an interpolation movement command This parameter must be specified for the reference axis as well as each interpolation axis Targ
39. ECHATROLINK II Terminator Type Model Code MECHATROLINK II terminator JEPMC W6022 E Precautions on Wiring of MECHATROLINK II Cable Always take note of the following precautions when wiring MECHATROLINK II communication cables lt co Number of connected stations The maximum number of stations that can be connected depends on the configured transmission cycle time This module provides two communication cycle time options 1 ms for 8 axes or 2 ms for 15 axes Cable Always use the proprietary cable specified above for wiring IM 34M6H60 02E 1st Edition July 1 2005 00 3 11 Cable length The total cable length must not exceed 50 m Cable length between stations The cable length between two stations must be at least 0 5 m Termination Aterminator must be installed on the external equipment of the terminal station The wiring diagram for MECHATROLINK II communications is shown below FA M3 FE CF Figure 3 6 Wiring Diagram for MECHATROLINK II Communications IM 34M6H60 02E 1st Edition July 1 2005 00 4 1 4 Input Output Relays Parameters and Statuses 4 1 List of Input Output Relays This module provides 32 input relays and output relays for interfacing with the CPU module of a FA M3 system 4 1 1 Input Relays Figure 4 1 shows a list of input
40. I Command and Response Parameters This subsection lists and describes extended MECHATROLINK II command and response parameters These parameters are used when a ladder program is used to directly write a MECHATROLINK II command to be transmitted to external equipment The data of each MECHATROLINK II command and MECHATROLINK II response depend on the external equipment that is connected For details on individual MECHATROLINK II commands and responses see the user s manual of the connected external equipment E List of Extended MECHATROLINK II Command and Response Parameters Table 4 11 List of Extended MECHATROLINK II Command and Response Parameters Data Position Number Data Name 1701 to 1710 AX1 Extended MECHATROLINK II command parameters 1711 to 1720 AX2 Extended MECHATROLINK II command parameters 1721 to 1730 AX3 Extended MECHATROLINK II command parameters 1731 to 1740 AX4 Extended MECHATROLINK II command parameters 1741 to 1750 AX5 Extended MECHATROLINK II command parameters 1751 to 1760 AX6 Extended MECHATROLINK II command parameters 1761 to 1770 AX7 Extended MECHATROLINK II command parameters 1771 to 1780 AX8 Extended MECHATROLINK II command parameters 1781 to 1790 AX9 Extended MECHATROLINK II command parameters 1791 to 1800 AX10 Extended MECHATROLINK II command parameters 1801 to 1810 AX11 Extended MECHATROLINK II command param
41. I command parameters O Executable by a user using extended MECHATROLINK II command parameters A Not executable by a user but is executed automatically by the positioning module or external equipment x Not supported E MECHATROLINK II Common Commands Table 3 4 List of MECHATROLINK II Common Commands Coge Command uncon ciaosineaton ciaseiteaton r Code Classification Classification 00 NOP Nooperation O N a 01 PRM_RD_ Readparameter__ D a so PRM_WR Wwrteparameter D a a 03 IDRD Read _ D ALM_RD____ Read alarm or warning D A 06 ALM_CLR_ Clearalarmorwaming a PE O 07 Oo o o Ef e E a 0 DOO 09 0A B c es so communications connection DISCONNECT 10 11 12 17 18 19 1A 1B PPRM_RD Read non volatile parameter 1C PPRM_WR Write non volatile parameter C e a ae a Al This command is not executable because it is not supported by the Ill series SGDS OOO010A SERVOPACK EES ee es ee ee ee ee eee eee ee es a el O ea G a A aol l Eo oe Eoo a l oa ee el ss J S o S oS se J T T E O o T T O o T T O o T T e O e PPRMRD D D e P p A A Table 3 5 Processing Classifications and Synchronous Classifications Symbol Processing Classification Symbol Synchronous Classification Network command
42. K II synchronization error Update WDT data during each communication cycle error WDT data mismatch This error should normally not happen MECHATROLINK II command timeout error Command i no Check status of external equipment 8095 No response received after transmitting a command for about 10 timeout error gerade Make sure no unsupported command is sent 8101 ae setup ee se se for an interpolation movement Correct invalid parameter value An interpolation movement command was executed against a Wait for positioning to complete before restarting moving axis positioning Motion axis error A Change Speed command or Change Target Position command Wait for target position change movement to was executed for an axis while target position change was in complete before re executing Change Speed progress command or Change Target Position command 7 2 2 External Equipment Communication Alarms or Warnings The table below lists common communication alarm codes and warning codes For details of other equipment specific alarm codes and warning codes refer to the user s manual of the external equipment Table 7 2 List of MECHATROLINK II Communication Alarm Codes et sa Possible Causes and Description Troubleshooting 00E5 WDT error MECHATROLINK II synchronization error Update WDT data at each communication cycle This WDT data mismatch error should normally not happen MECHATROLINK II communication error was detected for two
43. MD Returns the values of Reference Point Enable REFE and Coordinate Selection POS_SET for a transmitted MECHATROLINK II command with Command Code COMMAND POS_ SET 20 1514131211109 8 76543210 00000000X000X XXX L L L L L Coordinate Selection POS_SEL 3 Absolute position APOS Reference Point Enable REFE 0 Disabled 1 Enabled e Preset Coordinate POS_DATA Returns the preset coordinate value POS_DATA for a transmitted MECHATROLINK II command with Command Code COMMAND POS_SET 20 IM 34M6H60 02E 1st Edition July 1 2005 00 4 17 e Parameter No NO Parameter Data Size SIZE and Parameter Data PARAMETER Returns the values of the parameter no NO parameter data size SIZE and parameter data PARAMETER when the command code COMMAND of the transmitted MECHATROLINK II command is PRM_RD 01 PRM_WR 02 or PPRM_WR 1C IM 34M6H60 02E 1st Edition July 1 2005 00 4 2 4 4 18 Axis Statuses This subsection lists and describes the axis statuses The data content of each status depends on the external equipment that is connected For details on individual statuses see the user s manual of the connected external equipment We describe here the statuses applicable for gt IIl Series SGDS OOO10A servo drivers manufactured by Yaskawa Electric Corporation E List of Axis Statuses Table 4 9 List of Axis Statuses Data Position
44. NK II Command Format Conversion Send Command relay Turning on the Send Command relay of an axis after writing MECHATROLINK II command parameter values sends a MECHATROLINK II command The Response Received input relay for the axis turns on when a response to the transmitted MECHATROLINK II command is received Confirm that the Response Received relay has turned on before turning off the Send Command relay Turning off the Send Command relay for an axis also turns off the corresponding Response Received relay Table 5 5 Relays for Sending MECHATROLINK II Commands NK I Turn off this relay after confirming that XOO10001 has turned on rm m Tr T i a YOOO41 AX9 Send Command Request to send MECHATROLINK II command for axis 9 Turn off this relay after confirming that XOOI009 has turned on IM 34M6H60 02E 1st Edition July 1 2005 00 NK ived X00001 AX1 Response Received Turns on when a MECHATROL response for axis 1 is received _ Turning off YOO033 also turns off this relay X00002 AX2 Response Received Turns on when a MECHATROLINK II response for axis 2 is received _ Turning off Y O01034 also turns off this rela X00003 AX3 Response Received Turns on when a MECHATROLINK II response for axis 3 is received Turning off YOO035 also turns off this rela a y y Turing off YLT37 also turns off this relay Turning off YALIT38 also tums off this relay urni ay i ay i ay ay
45. NK II Command IM 34M6H60 02E 1st Edition July 1 2005 00 0001 0002 0003 0004 0005 0006 0007 0008 000g 0010 0011 0012 0013 0014 0015 0016 0017 0018 0019 0020 100900 H ID_RD Command 100901 wne a al wml mov 300 Dioon mov olmo mov seo0 pons mov ol pows mov ol pos mov olmo wame oo al oml el sET yonsas sET mo ser moons x00301 100902 RST moo 100902 00903 x00301 RST moos IM 34M6H60 02E seT_ moons Ft 5 19 Command Code Data Data Data Data Data Data Data Data Write parameters Send Command ON Request to receive ON Executing ON Send Command OFF Request to receive OFF Read response Executing OFF Execution Completed 1st Edition July 1 2005 00 5 20 5 3 1 Parameters and Statuses of MECHATROLINK II Commands The following tables list the required command parameters as well as the response parameters and statuses that may be returned for each MECHATROLINK II command In the table 10 denotes an axis number 01 to 15 The MECHATROLINK II commands that are executable by the positioning module is indicated as follows Executable by a user using axis MECHATROLINK II command parameters O Executable by a user using extended MECHATROLINK II command parameters A Not executable by a user but is exe
46. ON Executing ON Send Command OFF Request to receive OFF Read STATUS Expand STATUS bits Executing OFF Execution Completed ON 1st Edition July 1 2005 00 00001 00002 00003 00004 00005 00006 00007 00008 00009 00010 00011 00012 00013 00014 00015 00016 5 10 Sample Program for Sending Turn Servo OFF SV_OFF Command This sample program issues a SV_OFF request for axis 1 to the positioning module mounted in slot 3 After issuing the command it confirms completion of the command checking that the Servo ON SVON bit of STATUS has turned OFF SV_OFF Command 100300 4 10301 Mov MOV MOV ry MOV RST RST x00301 100302 i 0302 10303 182 D10182 MOV RST 100302 100303 100320 x00301 IM 34M6H60 02E execution by Command Code Monitor 2 Selection Monitor 3 Selection Monitor 4 Selection Write parameters Send Command ON Request to receive ON Executing ON Send Command OFF Request to receive OFF Read STATUS Expand STATUS bits Executing OFF Execution Completed ON 1st Edition July 1 2005 00 Sample Program for Sending Home ZRET Command This sample program issues a ZRET command for axis 1 to the positioning module mounted in slot 3 After issuing the command it confirms completion of the command execution by checking that both the Home Position ZPOINT bit and Output Completed DEN bit of
47. S Class 3 Ground For compliance to CE Marking use braided or other wires that can ensure low impedance even at high frequencies for grounding 1 Japanese Industrial Standard JIS Class D Ground means grounding resistance of 100Q max e Configure and route cables with noise control considerations Perform installation and wiring that segregates system parts that may likely become noise sources and system parts that are susceptible to noise Segregation can be achieved by measures such as segregating by distance installing a filter or segregating the grounding system e Configure for CE Marking Conformance For compliance to CE Marking perform installation and cable routing according to the description on compliance to CE Marking in the Hardware Manual IM34M6C11 01E Keep spare parts on hand Stock up on maintenance parts including spare modules in advance IM 34M6H60 02E 1st Edition July 1 2005 00 vi e Discharge static electricity before operating the system Because static charge can accumulate in dry conditions first touch grounded metal to discharge any static electricity before touching the system e Never use solvents such as paint thinner for cleaning Gently clean the surfaces of the FA M3 controller with a cloth that has been soaked in water or a neutral detergent and wringed Do not use volatile solvents such as benzine or paint thinner or chemicals for cleaning as they may cause defo
48. SS Axis 6 Axis 7 Axis 8 Axis 9 Axis 10 Axis 11 Axis 12 Axis 13 Axis 14 Axis 15 Module IM 34M6H60 02E 1st Edition July 1 2005 00 4 24 e Warning Axis Bits Stores bit data that indicates the warning status of each axis The warning bit for an axis turns on when whenr external equipment detects a warning for an axis and notifies the positioning module through a MECHATROLINK II response For more details see Section 5 5 Detecting Errors Warnings and Communication Alarms 1 Warning detected 0 No warning detected 1514131211109 8 76543210 OXXXKXKXXXXKXKXXXXKXKX Job Axis 1 Axis 2 i Axis 3 Lm Axis 4 bomm Axis 5 SS Axis 6 Axis 7 Axis 8 Axis 9 Axis 10 Axis 11 Axis 12 Axis 13 Axis 14 Axis 15 IM 34M6H60 02E 1st Edition July 1 2005 00 4 25 Command Ready Axis Bits Servo ON Axis Bits Main Power On Axis Bits Machine Lock Axis Bits Home Position Axis Bits Positioning Completed Axis Bits Output Completed Axis Bits Torque Limit Axis Bits Latch Completed Axis Bits Positioning Proximity Axis Bits Forward Software Limit Axis Bits Reverse Software Limit Axis Bits Each of these status stores bit data that indicates the respective status for each axis 1514131211109 8 76543210 OXXXXKXKXXXXKXXXXXKX 1 Axis 1 ij eS Axis 2
49. Speed MOY 10000 D10043 Interpolation Axes MoV l DI0045 Acceleration Time MOY 500 D10046 Deceleration Time MOY DI 0047 IM 34M6H60 02E 1st Edition July 1 2005 00 0001 4 00015 00016 00017 00018 00019 00020 00021 00022 00023 00024 00025 00026 00027 00028 00029 00080 00081 00062 00083 101401 101401 101401 mov ol DIO1 05 Mov ol naos mov al monz mov al nass MOY 8 D10233 vov 11 T 3 MOV D1024 MOV D10243 WRITE mo al al 47 SET IM 34M6H60 02E 5 41 AX2 Option 1 AX2 Option 2 AX2 Monitor 2 Selection AX2 Monitor 3 Selection AX2 Monitor 4 Selection AX2 Target Position AX2 Target Speed AX3 Option 1 AX3 Option 2 AX3 Monitor 2 Selection AX3 Monitor 3 Selection AX3 Monitor 4 Selection AX3 Target Position AX3 Target Speed Write AX1 parameters Write AX2 parameters Write AX3 parameters Send Command ON Request to Receive ON Executing ON 1st Edition July 1 2005 00 00064 XOGO 101402 e a 00035 feencis 0402 1040 X087 OKT X00819 Xoo gt ot E h 00057 00007 00010 00011 RST RST 101402 RST SET Sample program for executing Decelerate amp Stop command This sample program issues a Decelerate amp Stop command 0200 from axis 1 to the pos
50. TROLINK II response parameter values POS_SET Command 100500 H 100501 mov 201 pion mov ol pron L mov 30000 pions were oom al wm asl SET ynnasa seT_ nosos xD0301 100502 H i 100502 m0503 x00301 est moso set nosos IM 34M6H60 02E execution by Command Code Coordinate Selection Preset Coordinate Write parameters Send Command ON Request to receive ON Executing ON Send Command OFF Request to receive OFF Read response Executing OFF Execution Completed ON 1st Edition July 1 2005 00 00001 00002 00003 00004 00005 00006 00007 00008 00009 00010 00011 00012 00013 00014 00015 00016 00017 m0600 4 5 13 e Sample Program for Sending Constant Speed Feed FEED Command This sample program issues a FEED command for axis 1 to the positioning module mounted in slot 3 After the command is issued movement continues until another command is issued FEED Command 0601 MOV MOV o D10005 mov ol ponos MOV 10000 D10009 MOV 3 D10012 MOV E MOW RST x00301 m0602 RST D0602 0603 x00301 RST IM 34M6H60 02E Command Code Option 1 Option 2 Target Speed Monitor 2 Selection Monitor 3 Selection Monitor 4 Selection Write parameters Send Command ON Request to receive ON Executing ON Send Command
51. User s Manual Positioning Module with MECHATROLINK II Interface IM 34M6H60 02E Applicable Modules Model Code Model Name F3NC96 0N Positioning Module with MECHATROLINK II Support YOKOGAWA IM 34M6H60 02E Yokogawa Electric Corporation ist Edition Applicable Product e Range free Multi controller FA M3 Model code F3NC96 0N Name Positioning Module with MECHATROLINK II Interface The document number and document model code for this manual are given below Refer to the document number in all communications also refer to the document number and the document model code when purchasing additional copies of this manual Document No IM 34M6H60 02E Document Model Code DOCIM Media No IM 34M6H60 02E CD 1st Edition July 2005 AR IM S4M6HG0 02E 1st Edition July 1 2005 00 All Rights Reserved Copyright 2005 Yokogawa Electric Corporation Important E About This Manual This Manual should be passed on to the end user Before using the product read this manual thoroughly to have a clear understanding of the product This manual explains the functions of this product but there is no guarantee that they will suit the particular purpose of the user Under absolutely no circumstances may the contents of this manual be transcribed or copied in part or in whole without permission The contents of this manual are subject to change without prior notice Every effort has be
52. ands When an interpolation movement command is executed from an axis the positioning module sends a MECHATROLINK II INTERPOLATE 34 command to the external equipment corresponding to the axis number 1 to 15 Only interpolation movement can be executed while an interpolation movement is in progress Other MECHATROLINK II commands cannot be transmitted during interpolation movement Therefore always confirm that an interpolation movement initiated by an interpolation movement command has completed execution by checking that the Positioning Completed input relay has turned on before sending the next MECHATROLINK II command If an alarm such as a communication error is encountered on an axis involved in interpolation movement the positioning module automatically sends a SV_OFF 32 command to all axes to turn off servo for all axes E Procedure for Executing Interpolation Movement Command e Procedure for executing interpolation movement command Execute Interpolation Movement Command Set up axis command parameters related to interpolation movement command Data position no 0041 to 0060 Send Command relay ON Y00033 to Y00047 Confirm that Response Received relay has turned on x00001 to x00015 Is Error Warning Detected relay ON x00032 Read Alarm Code ALARM of axis statuses remove cause of errors or warnings clear errors and warnings and then re execute interpolation movement command
53. ation Time for interpolation movement commands This parameter must be specified for the reference axis as well as each interpolation axis O This parameter must be specified only for the reference axis A _ This parameter must be specified only if the command is executed in Positioning Completed state Statuses 81 AlarmCode ALARM OO 82 Status STATUS TO 083 0084 Monitor 1 MONITOR OO Monitor 2 MONITOR2 em en 87 VOSignalMonitor VO OO 8 systemreserved o S T 89 0090 CounterLatchedPosition LPOS Oo 0 em em O 9S Substatus SUBSTATUS OT 96 Interpolation Status OO 097 0098 Remaining Travel Status OO OT CO E E 1601to1700 Commonstatuses CE OT OT OT OT OT IM 34M6H60 02E 1st Edition July 1 2005 00 6 1 Accessing the Module Accessing from Sequence CPU The following instructions can be used for accessing the module from a sequence CPU using a ladder sequence program For more information on each instruction see Sequence CPU Modules Instructions IM34M6P12 03E Reading and Writing Parameters and Statuses Reading and writing must be performed using word based instructions Long word based instructions cannot be used Special Module Read Instruction READ Instruction READ SL n1 D k SL number of slot where the module is installed n1 data position number for the first word of data to be read D first device for storing the read data
54. cceeeeeseeeeees 2 5 4 10 4 15 Alarm Axis BitS cccsssceccceeeeeeeseeseeeees 4 22 4 23 Alarm COde ccccccceeeenesseeeeeeeeeeeeaees 4 18 4 19 7 4 C CADIE edsn a aa 3 10 3 11 Change Speed cecceseceeceeeeeeeeeeeeeneeees 2 6 5 44 Change Target Position cceeeeeeee 2 6 5 45 Clear Error Warning relay ceeeeeeeee 4 2 4 5 Command Code ccccccceesssseeeeeeeeeeeaees 4 10 4 11 Communication parametels cccccccceeeees 4 8 5 5 Communication Status relay 0 ee 4 1 4 3 CONNECCION 5 26 seececel tate ein tetereet ac eatidecee ses sis 3 6 3 10 D Decelerate amp StOP ccccccccccccceeseseeeeeeereees 2 5 5 42 Deceleration TimMe ccccccesseseeeeees 2 5 4 10 4 15 E Positioning Completed relay 4 1 4 3 Error Warning Detected relay eee 4 1 4 4 EX POSING taeeeutieaieadled eae eteadecks 2 3 F FEED e tae eaen 2 2 5 13 H AQLDA 2 2 5 15 l input relays 2 eee eee eeeeeeeeceeeeeeeeeseeneeeeeeeeeteees 4 1 4 3 Interpolation AXES 0c0cceceeeeeeeeeees 2 5 4 10 4 15 Interpolation Status ccccceseeeeeeeeeees 4 18 4 21 M Module Alarm Code ccccceseseeeeees 4 22 4 26 7 4 Module Detailed Alarm Code 4 22 4 26 Module Information Statuses cccceeeeeeees 4 28 Monitor Selection ccccceeseseeeeeeeeeeeees 4 10 4 13 MONITO cinneann aaa 4 18 4 19 O OULPUL TOlAYS tak iac
55. communications is an open architecture high speed motion field network proposed by Yaskawa Electric Corporation which enables distributed control of multiple FA units servo systems inverters I O modules etc by one FA controller Compared to MECHATROLINK I the MECHATROLINK II transmission specification provides for higher speed 10 Mbps versus 4 Mbps and additional functions MECHATROLINK II has the following features Synchronous communication through cyclic transmission High speed transmission of 10 Mbps Communication cycle time options allow optimization based on the number of connected stations and transmission volume This module provides two communication cycle time options 1 ms for 8 axes or 2 ms for 15 axes Reduced wiring cost through the use of a single shielded twisted pair interface cable Low FA controller load as transmission control by the Transmission LSI manufactured by Yaskawa Electric includes error detection and retransmission within a communication cycle Allows other FA support tools to be connected to a FA controller acting as the master e Network Connection MECHATROLINK II communications allows one C1 master to be connected to a maximum of 30 slaves and an optional C2 master The positioning module itself supports connection to a maximum of 15 slaves Figure 1 1 shows the network connection for MECHATROLINK II communications C1 Master FA Controller C2 Master Support tool
56. cuted automatically by the positioning module or external equipment x Not supported IM 34M6H60 02E 1st Edition July 1 2005 00 5 21 E MECHATROLINK II Common Commands Command parameters Data Position Data Name Number 001 Command Code 0002 0003 system reserved mj 0004 Latch Signal LT_SGNL Option 1 OPTION1 O07 0008 Target Position TPOS OO system reserved 0012 Monitor 2 Selection MOD_SEL 0013 systemreserved _ 0014 Coord Selection PS_SUBCMD o015 0016 Ta OS ition ER 0015 0016 00 i 4 _ s i 3 Alarm Clear Mode oma fam ore mon e o5 Forward Torque Limit P_TLIM or Torque Feed Forward TFF 026 Reverse Torque Limit N_TLIM 0027 0028 Speed Reference VREF 0029 0030 Speed Limit VLIM 0031 0032 Torque Reference TQREF 0033 Monitor 3 Selection MOD_SEL 034 Monitor 4 Selection MOD_SEL ee eee 1701t0 1850 Extended command parameters O Response parameters 062 Coord Selection PS_SUBCMD 0063 0064 Preset Coordinate POS_DATA OO65 Parameter No NO OO66 Parameter Data Size SIZE 0067 0068 Parameter Data PARAMETER pe O 1851 to 2000 Extended response parameters e Statuses 0095 Substatus SUBSTATUS
57. d Response Parameters 4 2 7 e Axis Extended MECHATROLINK II Command Parameters Specify the parameters for the MECHATROLINK II command to be transmitted Specified extended MECHATROLINK II command parameter data is transmitted as is if the command code COMMAND axis MECHATROLINK II command parameter is specified as 1 Axis Extended MECHATROLINK II Response Parameters These parameters return the response for a transmitted MECHATROLINK II command These parameters return the response to a MECHATROLINK II command transmitted according to the extended MECHATROLINK II command parameter values Module Information Statuses The Module Information Statuses stores the model name and revision of the positioning module Do not write any data to these statuses as it will result in loss of module information data Table 4 12 List of Module Information Statuses mere Data Description 0001 F3 0002 NC 0003 96 0004 ON 0005 aes 0006 Poe 0007 RV 0008 200 00 denotes the module revision IM 34M6H60 02E 1st Edition July 1 2005 00 5 Using the Positioning Module 5 1 Startup Preparation Figure 5 1 shows a flowchart for commissioning the positioning module in an FA M3 system Workflow Task Description SEE ALSO Build overall system configuration Install module to base unit 3 6 Attaching Detaching the Module Set up station addresses of external i 3 User s manual of externa
58. e HRD command is used data concurrency is not assured even if you confirm that the data are the same Data concurrency cannot be assured when reading from a BASIC CPU Sample program This sample program reads axis status named Monitor 1 MONITOR1 of axis 1 for the positioning module mounted in slot 3 Reading MONITOR1 status First read READ 3 183 D00001 Second read READ 3 183 D000 al Check concurrency m S wos READ 3 183 D00001 2 IM 34M6H60 02E 1st Edition July 1 2005 00 5 5 5 31 Detecting Errors Warnings and Communication Alarms Errors and warnings reported by the positioning module can be classified into two types The first type of errors and warnings is detected by the module itself while the second type of errors and warnings is detected by external equipment and reported to the module via MECHATROLINK II communications The Error Warning Detected relay turns on for both types of errors and warnings The module itself may detect a MECHATROLINK II communication alarm communication error watchdog timer error command timeout error etc or parameter setup error when an interpolation movement command is executed When this happens the module bit of Alarm Axis Bits of common statuses turns on and alarm information is stored in Module Alarm Code and Module Detailed Alarm Code of common statuses External equipment may report a MECHATROLINK II communica
59. e printed and used for the sole purpose of operating this product When using a printed copy of the online manual pay attention to possible inconsistencies with the latest version of the online manual Ensure that the edition agrees with the latest CD ROM version Copying passing selling or distribution including transferring over computer networks of the contents of the online manual in part or in whole to any third party is strictly prohibited Registering or recording onto videotapes and other media is also prohibited without expressed permission of Yokogawa Electric Corporation E Trademarks The trade and company names that are referred to in this document are either trademarks or registered trademarks of their respective companies IM 34M6H60 02E 1st Edition July 1 2005 00 Blank Page TOC 1 FA M3 Positioning Module with MECHATROLINK II Interface IM 34M6H60 02E 1st Edition CONTENTS Applicable Progue th wissscvscsstacscssssatsccssiesstacsaacsnasaseustscsnendaaundadnaessaanctacaaanendins i IN POM ANN ciiisistedaiiseuicarinencnninsavenetdcsrannssaineeusnieiiaakanseivedasadeuescecinenciennenedeuiais ii et gete Lt 3 Beseeelnte spre Mrn lem lmeMyimrMm esanaia ern msn ee nar ete tenon cle mre frase eemopen an viii Copyrights and Trademarks csstisstiredeterasatsascisadanniinninensounliiatinalianiunlanetnn ix 1 OVErVi W sepshecchcthstthcchtedacciaied ett tse 1 1 2 Overview of Positioning FUNCTIONS
60. ed E Precautions Once you set up the MECHATROLINK II communication parameters and issue a request to start communication modification of the parameters will be disallowed You may sometimes need to change MECHATROLINK II communication parameter values to match a change in external equipment configuration or to rectify invalid parameter values when MECHATROLINK II communication initialization is unsuccessful If so always power off and power on the external equipment and the FA M3 and restart communication after changing the communication parameter values IM 34M6H60 02E 1st Edition July 1 2005 00 5 3 Sending MECHATROLINK II Commands This section describes how to send MECHATROLINK II commands to external equipment corresponding to axes 1 to 15 of the positioning module It also describes how to receive MECHATROLINK II responses for transmitted MECHATROLINK II commands The positioning module performs no error status checking of the destination external equipment and no range checking of the parameter values to be transmitted You should therefore check the execution status of a transmitted command by checking the alarm code ALARM and status STATUS of the received MECHATROLINK II response E Sending a Command Procedure for Sending a Command Sending MECHATROLINK I Command Set up axis MECHATROLINK II command parameters or extended MECHATROLINK II command parameters Data position no 00101 to OO60 1701
61. ed it is the user s responsibility to include in the system additional equipment and devices that ensure personnel safety Do not attempt to modify the product from Responsibility Yokogawa Electric Corporation hereinafter simply referred to as Yokogawa Electric makes no warranties regarding the product except those stated in the WARRANTY that is provided separately Yokogawa Electric assumes no liability to any party for any loss or damage direct or indirect caused by the use or any unpredictable defect of the product IM 34M6H60 02E 1st Edition July 1 2005 00 E Software Supplied by the Company Yokogawa Electric makes no other warranties expressed or implied except as provided in its warranty clause for software supplied by the company Use the software with one computer only You must purchase another copy of the software for use with each additional computer Copying the software for any purposes other than backup is strictly prohibited Store the original media such as CD ROM containing the software in a safe place Reverse engineering such as decompiling of the software is strictly prohibited No portion of the software supplied by Yokogawa Electric may be transferred exchanged sublet or leased for use by any third party without prior permission by Yokogawa Electric IM 34M6H60 02E 1st Edition July 1 2005 00 E General Requirements for Using the FA M3 Controller e Avoid installing the FA M3 controller in
62. ed external equipment Clear Error Warning relay YOOO64 Turning on the Clear Error Warning relay clears warnings and errors on all axes It also clears any communication alarm communication error watchdog timer error command timeout error etc detected by the module and any parameter setup error detected for an interpolation movement command execution The Error Warning Detected relay X00032 turns off if all errors and warnings are cleared successfully If an error warning condition persists even after turning on the Clear Error Warning relay the Error Warning Detected relay X00032 remains ON IM 34M6H60 02E 1st Edition July 1 2005 00 4 2 List of Parameters and Statuses Table 4 3 shows the layout of the parameter areas and the status areas provided for interfacing with the module A CPU module writes parameters to the parameter areas and reads status values from the status areas For details of individual parameters and statuses see Subsections 4 2 1 to 4 2 7 In Tables 4 4 4 6 4 8 to 4 12 a parameter or status that is listed with two position data numbers stores two word data The smaller position data number represents the low word while the larger position data number represents the high word O0 in a 4 digit data position number denotes an axis number ranging from 01 to 15 for axes 1 to 15 Each data position number represents one data word Always use word based WRITE and READ instructions when access
63. ees 4 6 4 2 1 MECHATROLINK II Communication ParametersS 0 0 4 8 4 2 2 Axis Command Parameters ccccccsseceesesseceessssseeeeesseeseeeaaes 4 9 4 2 3 Axis MECHATROLINK II Response Parameters 06 4 16 4 2 4 Axis StatUSES iseanan kanian keken aN KK KAENA RAER KRENAN KARAN KERRAEN NERKA 4 18 4 2 5 Common Statuses ceescceceesseceseeeeeeeseeaeeeessesaeeseseneeeeseaes 4 22 4 2 6 Extended MECHATROLINK II Command and Response PAPAMCIETS eiee eneeier Eae ENEE NE EEEE 4 27 4 2 7 Module Information StatuSes ccccsseeeseeeeeeessteeeeeeeeeeees 4 28 IM 34M6H60 02E 1st Edition July 1 2005 00 5 Using the Positioning Module sssssssssnsnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 5 1 5 1 Startup Preparation iss cessscsccs veciessedeseen cavevsvnnccuacis taveeavessewit ds cztuensessesictecets 5 1 5 2 Starting and Stopping MECHATROLINK II Communications 5 2 5 3 Sending MECHATROLINK II Commands cccssseeecesseeeeeeeseeeeeeneeeeeees 5 6 5 3 1 Parameters and Statuses of MECHATROLINK II COMMMAMNGS seve crac isni a a a a adia 5 20 5 3 2 An Example of MECHATROLINK II Command Format COMVETSIOM sceneria a E E a iE 5 24 5 4 Reading Statuss eis seci oe svcd ses cece cede cdeteeee cesececnsdhteentectheensesatedeesstptieresennetes 5 27 5 5 Detecting Errors Warnings and Communication Alarms 00 5 31 5 6 Clearing Errors and Warnings ccccceseeeseseeesesesnenseeeeeeeeseseeseneenenes 5 35 5
64. eive ON Executing ON Send Command OFF Request to Receive OFF Executing OFF Execution Completed ON 1st Edition July 1 2005 00 00001 00002 00003 00004 00005 00006 00007 00008 00009 00010 00011 00012 00013 00014 00015 00016 00017 5 45 Sample program for executing Change Target Position command This sample program issues a Change Target Position command 0500 to the positioning module mounted in slot 3 to change the target positions of axes 1 2 and 3 while an interpolation movement is in progress with axis 1 as reference axis and axes 2 and 3 as interpolation axes After issuing the command it confirms completion of the command execution by checking that the Positioning Completed relay has turned on Change Target Position Command 101800 5 T E 101801 MOV 500 D10001 MOV 60000 D10041 MOV 10000 D10043 MOV mov soo proo47_ L MOV MOV 20000 D10143 MOV 80000 D10241 MOV 15000 D10243 wre pov al 4l ware oo sl sal 4l IM 34M6H60 02E Command Code AX1 Target Position AX1 Target Speed Acceleration Time Deceleration Time AX2 Target Position AX2 Target Speed AX3 Target Position AX3 Target Speed Write AX1 parameters Write AX2 parameters Write AX3 parameters Send Command ON Request to Receive ON Executing ON 1st Edition July 1 2005 00 IM 3
65. eletelel felt LETT TL Aee ETE PETE TTT ploe elof exrosine e feft felole LETT o PTET TTT er e fell Isl z e efef felele OOT le tee ot H e fel fele veer e loff floot A Heo TEE HA e ell llef moere SE SS ee ee IM 34M6H60 02E 1st Edition July 1 2005 00 5 24 5 3 2 An Example of MECHATROLINK II Command Format Conversion E MECHATROLINK II Command Axis MECHATROLINK II command parameters or extended MECHATROLINK II command parameters that are written to the positioning module are converted into a MECHATROLINK II command as shown below before transmission to external equipment The following example illustrates the conversion for the POSING command Converting axis MECHATROLINK II command parameter data to a MECHATROLINK II command Table 5 7 Axis MECHATROLINK II Command Parameters Data Position poet Command Code COMMAND o oa TP atch Signar seny o ee oms Soini option o co C ooe TF Option2 OPTION2 o oo amores ferget Speed SP0 Ye system reserved Eor T 2 pct ee 2 Tk Table 5 8 MECHATROLINK II Command 1 COMMAND 2 LT_SGNL BB BB Lee a a O 13 MON SEL N _ M_ Mis always 0 POS 14 o o0 IM 34M6H60 02E 1st Edition July 1 2005 00 5 25 Converting extended MECHATROLINK II command parameter data to a MECHATROLINK II command Table 5 9 Extended MECHATROLINK II MECHATROLINK II Command Command Paramet
66. en made to ensure accuracy in the preparation of this manual However should any errors or omissions come to the attention of the user please contact the nearest Yokogawa Electric representative or sales office E Safety Precautions when Using Maintaining the Product The following safety symbols are used on the product as well as in this manual AN Danger This symbol on the product indicates that the operator must follow the instructions laid out in this instruction manual to avoid the risk of personnel injuries fatalities or damage to the instrument Where indicated by this symbol the manual describes what special care the operator must exercise to prevent electrical shock or other dangers that may result in injury or the loss of life Protective Ground Terminal Before using the instrument be sure to ground this terminal an Function Ground Terminal Before using the instrument be sure to ground this terminal NIA Alternating current Indicates alternating current Direct current Indicates direct current IM 34M6H60 02E1st Edition July 1 2005 00 The following symbols are used only in the instruction manual WARNING Indicates a Warning Draws attention to information essential to prevent hardware damage software damage or system failure A CAUTION TIP Indicates a Caution Draws attention to information essential to the understanding of operation and functions Indicates a
67. ernal equipment e g servo driver using parameters Linear interpolation movement starting and stopping multiples axes simultaneously The procedure for performing linear interpolation is given below CPU module Ladder program From the CPU module a program writes the command code 100 for the interpolation command as well as other command parameters for the interpolation movement such as acceleration time in ms deceleration time in ms interpolation axes target position reference unit and target speed reference unit s to the command parameters area After writing completes the program turns on the Send Command output relay The module computes the target position at each communication cycle and transmits the computed target position to all external equipment involved in the linear interpolation movement simultaneously using MECHATROLINK II commands to initiate the desired positioning movement The Response Received input relay turns on when positioning movement begins The Positioning Completed input relay turns on subsequently when positioning movement completes Positioning module F3NC96 0N Input relays Output relays Communication parameters K Path Command parameters gt generation MECHATROLINK II External equipment servo driver MECHATROLINK II Somani commands for 15 axes sl Position speed Po
68. erpolation movement This parameter is only valid when specified for the reference axis It is ignored when specified for an interpolation axis IM 34M6H60 02E 1st Edition July 1 2005 00 4 16 4 2 3 Axis MECHATROLINK II Response Parameters This subsection lists and describes MECHATROLINK II response parameters for each axis The data content and data range of each response parameter depends on the external equipment that is connected For details on individual parameters see the user s manual of the connected external equipment We describe here the response parameters applicable for gt IIl Series S DS OOO1i0A servo drivers manufactured by Yaskawa Electric Corporation E List of Axis MECHATROLINK II Response Parameters Table 4 8 List of Axis MECHATROLINK II Response Parameters Data Position Data Name Data Description Number o061 system reserved Bit 7 Reference Point Enable O62 Coordinate Selection PS_SUBCMD 0 disabled 1 enabled Bits 3 to 0 Coordinate Selection 3 APOS 0063 0064 Preset Coordinate POS_DATA 1 073 741 823 to 1 073 741 823 reference unit O65 Parameter No NO 0000 to FFFF a066 Parameter Data Size SIZE 2or4 0067 0068 Parameter Data PARAMETER Parameter data returned after reading O069 to 0080 system reserved Note O10 denotes an axis number 01 to 15 E Description of Axis MECHATROLINK II Response Parameters e Coordinate Selection PS_SUBC
69. ers Data Position Data Size Byte No Byte Data Number 1 word 16 bits AA ijn Ww i Ww 7 A Qim Ole x M1O 12 14 1 o 16 wDT BB CC EE FF GG HH JJ KK LL NN DT IM 34M6H60 02E 1st Edition July 1 2005 00 5 26 m MECHATROLINK II Response MECHATROLINK II response data received from external equipment can be read from axis statuses or extended MECHATROLINK II response parameters as shown below The following example illustrates the case for the POSING command Converting MECHATROLINK II response to axis statuses and axis MECHATROLINK II response parameter data Table 5 10 MECHATROLINK II Response Byte No Byte Data COMMAND 2 ALARM a ee MONITOR1 14 ue pp Table 5 11 Axis Statuses Data Position O81 AlarmCode ALARM 00 BB 0082 Status STATUS DD cc itor 2 m i 00 o0800085 Monitor 2 MONITOR2 0087 1 0 Signal Monitor I O PP e Converting MECHATROLINK II response to extended MECHATROLINK II response parameter data Table 5 12 MECHATROLINK II Response Extended MECHATROLINK II Response Parameters Data Position Data Size Number 1 word 16 bits IM 34M6H60 02E 1st Edition July 1 2005 00 5 27 5 4 Reading Statuses The positioning module allows statuses of external equipment corresponding to axes 1 to 15 to be read from input relays axis statuses and common statuses Status data
70. erved r I lor ti Monitor 1 MONITOR1 Monitor 2 MONITOR2 Monitor 3 MONITOR3 Monitor 4 MONITOR4 Stores read data for Monitor 1 Monitor 2 Monitor 3 and Monitor 4 Monitor 1 is always fixed to POS IM 34M6H60 02E 1st Edition July 1 2005 00 4 20 I O Signal Monitor I O Stores read data for I O signals 1514131211109 8 7654321 0 XXXXXXXKXXXKKXXXKX Job Forward Limit Switch Input P OT bL Reverse Limit Switch Input N OT DCC Limit Switch Input DEC b Encoder Phase A Input PA Lamm Encoder Phase B Input PB Encoder Phase C Input PC External Latch Input 1 EXT1 External Latch Input 2 EXT2 External Latch Input 3 EXT3 Brake Output BRK system reserved system reserved CN1 input selected in Pn81E 0 CN1 input selected in Pn81E 1 CN1 input selected in Pn81E 2 CN1 input selected in Pn81E 3 e Counter Latched Position LPOS Stores read data for the counter latched position LPOS which was latched when the latch signal went high for a transmitted MECHATROLINK II command with Command Code COMMAND set to EX_POSING 39 or LTMOD_ON 28 Substatus SUBSTATUS Stores status data 1514131211109 8 765432 1 0 000000000000 0X XX Subcommand Alarm SBALARM Subcommand Warning SBWARNG E S
71. et Speed for interpolation movement commands Specify the target speed when executing an interpolation movement command This parameter must be specified for the reference axis as well as each interpolation axis Interpolation Axes for interpolation movement commands Specify the set of axes to be moved in tandem with the reference axis during interpolation movement using bit data This parameter is only valid when specified for the reference axis It is ignored when specified for an interpolation axis 1514131211109 8 76543210 OXXXXKXKXXXXKXXXXKXKX amp Axis 1 0 no 1 yes amp _ Axis 2 0 no 1 yes _ Axis 3 0 no 1 yes 4 _ Axis 4 0 no 1 yes L Axis 5 0 no 1 yes a Axis 6 0 no 1 yes s Axis 7 0 no 1 yes Axis 8 0 no 1 yes Axis 9 0 no 1 yes Axis 10 0 no 1 ye Axis 11 0 no 1 yes Axis 12 0 no 1 yes Axis 13 0 no 1 yes Axis 14 0 no 1 yes Axis 15 0 no 1 yes Acceleration Time for interpolation movement commands Specify the acceleration time for an interpolation movement This parameter is only valid when specified for the reference axis It is ignored when specified for an interpolation axis Deceleration Time for interpolation movement commands Specify the deceleration time for an int
72. eters 1811 to 1820 AX12 Extended MECHATROLINK II command parameters 1821 to 1830 AX13 Extended MECHATROLINK II command parameters 1831 to 1840 AX14 Extended MECHATROLINK II command parameters 1841 to 1850 AX15 Extended MECHATROLINK II command parameters 1851 to 1860 AX1 Extended MECHATROLINK II response parameters 1861 to 1870 AX2 Extended MECHATROLINK II response parameters 1871 to 1880 AX3 Extended MECHATROLINK II response parameters 1881 to 1890 AX4 Extended MECHATROLINK II response parameters 1891 to 1900 AX5 Extended MECHATROLINK II response parameters 1901 to 1910 AX6 Extended MECHATROLINK II response parameters 1911 to 1920 AX7 Extended MECHATROLINK II response parameters 1921 to 1930 AX8 Extended MECHATROLINK II response parameters 1931 to 1940 AX9 Extended MECHATROLINK II response parameters 1941 to 1950 AX10 Extended MECHATROLINK II response parameters 1951 to 1960 AX11 Extended MECHATROLINK II response parameters 1961 to 1970 AX12 Extended MECHATROLINK II response parameters 1971 to 1980 AX13 Extended MECHATROLINK II response parameters 1981 to 1990 AX14 Extended MECHATROLINK II response parameters 1991 to 2000 AX15 Extended MECHATROLINK II response parameters IM 34M6H60 02E 1st Edition July 1 2005 00 4 28 E Description of Extended MECHATROLINK II Command an
73. for F8SP66 4S F3SP67 6S IM34M6P14 01E Sequence CPU Network Functions User s Manual for F3SP66 4S F3SP67 6S IM34M6P14 02E e For information on the functions of the F3SP28 F3SP38 F3SP53 F3SP58 or F3SP59 sequence CPU modules refer to Sequence CPU Functions User Manual for F3SP28 3N 3S F38SP38 6N 6S F3SP53 4H 4S F3SP58 6H 6S F3SP59 7S IM384M6P13 01E e For information on the functions of the F3SP21 F3SP25 F3SP35 F3SP05 or F3SP08 sequence CPU modules refer to Sequence CPU Functions User s Manual for F83SP21 F3SP25 and F38SP35 IM34M6P12 02E e For information on the instructions used with sequence CPUs refer to Sequence CPU Instructions User s Manual IM34M6P12 03E When creating programs using ladder language refer to FA M83 Programming Tool WideField2 User s Manual IM34M6Q15 01E For hardware information common to all sequence CPU modules refer to Hardware Manual IM34M6C11 01E e For informationonCPU modules for Windows CE F3RP42 5P F3RP44 5P F3RP45 5P refer to Network CPU Module IM34M6M51 04E IM 34M6H60 02E 1st Edition July 1 2005 00 Copyrights and Trademarks m Copyrights Copyrights of the programs and online manual included in this CD ROM belong to Yokogawa Electric Corporation This online manual may be printed but PDF security settings have been made to prevent alteration of its contents This online manual may only b
74. ing the module from a sequence program Using long word based instructions will result in incorrect access Similarly always use word based instructions when accessing the module from a BASIC program AN CAUTION When the CPU module reads 2 word status data from the positioning module concurrency of the high order word and low order word of 2 word data is not assured due to conflicts between the timing of reading from the CPU module and the data update cycle of the positioning module To ensure that the high order word and low order word of 2 word data are concurrent when reading from a sequence CPU use the READ command to read the data twice consecutively and verify that the data read are the same in both instances If the HRD command is used data concurrency is not assured even if you confirm that the data are the same Data concurrency cannot be assured when reading from a BASIC CPU IM 34M6H60 02E 1st Edition July 1 2005 00 Table 4 3 Layout of Parameter and Status Areas Data Position Description Number 0001 to 0008 Module information statuses 0009 to 0030 System reserved 0031 to 0100 MECHATROLINK II communication parameters 0101 to 0160 Axis 1 MECHATROLINK II command parameters 0161 to 0180 MECHATROLINK II response parameters 0181 to 0200 Statuses Axis 2 MECHATROLINK II command parameters 0201 to 0300 MECHATROLINK II response parameters Statuses Axis 3 MECHATROLINK II command parameters 0301 to 0400 MECHATROLINK
75. ion July 1 2005 00 5 39 Table 5 20 Relays for Sending Commands i rming tha ming tha A YOOO42 AX10Send Command Request to send MECHATROLINK II command for axis 10 Turn off this relay after confin X00010 has turned on T i irming tha i irming tha j YOOO46 AX14Send Command Request to send MECHATROLINK II command for axis 14 Turn off this relay after confi XOOO14 has turned on YOOOS47 AX15 Send Command Request to send MECHATROLINK II command for axis 15 Turn off this relay after conf x00015 has turned on XOOO01 AX1 Response Received Turns on when a MECHATROLINK II response for axis lis received Turning off Y 1010033 also turns off this relay x00002 AX2 Response Received Turns on when a MECHATROLINK II response for axis 2 is received Turning off Y 1010034 also turns off this relay x00003 AX3 Response Received Turns on when a MECHATROLINK II response for axis 3 is received Turning off Y 1010035 also turns off this relay XOOO04 AX4 Response Received Turns on when a MECHATROLINK II response for axis 4is received Turning off Y 1010036 also turns off this relay A A X5 Response Received Turns on when a MECHATROLINK lI response for axis 5 is received _ Turning off Y O01037 also turns off this relay XOS _ AX6 Response Received __ Turns on when a MECHATROLINK II response for axis 6 is received _ Turning off Y 1010138 also turns off this relay X7 Response Received _ Turns
76. ioning completed state o XCIOO20_ AX4 Positioning Completed Turns on when axis 4 is in positioning completed state o XCIOO21_ AX5 Positioning Completed _ Turns on when axis 5 is in positioning completed state oo Po Po Po Po Turns on when axis 8 is in positioning completed state Turns on when axis 9 is in positioning completed state XOVOO26 AX10 Positioning Completed Turns on when axis 10 is in positioning completed state XOOO27 AX11 Positioning Completed Turms on when axis 11 is in positioning completed state o y yO XOO028 _ AX12 Positioning Completed Turns on when axis 12 is in positioning completed state J oS O XOOO29 AX13 Positioning Completed Turns on when axis 13 is in positioning completed state o i y O XO AX14 Positioning Completed Turns on when axis 14 is in positioning completed state i y O XEO AX15 Positioning Completed Turns on when axis 15 is in positioning completed state i y O Turns on when an error or warning is detected by the module or Turing on MESES torclearalerrors ang x00032 Error Warning Detected any aiig g y warnings turns off this relay if errors and y axis warnings are successfully cleared IM 34M6H60 02E 1st Edition July 1 2005 00 4 1 2 Output Relays Figure 4 2 shows a list of output relays that are provided with the module In the table O00 denotes the FA M3 slot number where the module is mounted Table 4
77. is refreshed at fixed intervals defined by the Communication Period parameter The statuses that are updated depend on the transmitted MECHATROLINK II command For details on the statuses that are updated for each MECHATROLINK II command see Subsection 5 3 1 Parameters and Statuses of MECHATROLINK II Commands After receiving a response for a transmitted MECHATROLINK II command but not an extended MECHATROLINK II command that is not updated by axis status monitoring the positioning module automatically sends a SMON 30 command to update the axis status monitor data E Reading Statuses Reading statuses Input relays can be read using a ladder program Axis statuses and common statuses can be read using READ instructions in a ladder program Input relays Table 5 13 lists the input relays Table 5 13 List of Input Relays XOD Axt Positioning Completed AX1 Positioning Completed ___ Turns on when axis 1 is in positioning completed state o XCIIO18_ AX2 Positioning Completed _ Turns on when axis 2 is in positioning completed state o XCIOIO19_ AX3 Positioning Completed _ Turns on when axis 3 is in positioning completed state ooo XCIOO20_ AX4 Positioning Completed _ Turns on when axis 4 is in positioning completed state oo XCIOIO21_ AX5 Positioning Completed __ Turns on when axis 5 is in positioning completed state oo XEOO022_ Ax6 Positioning Completed _ Turns on when axis 6 is in positioning completed s
78. is successfully completed to indicate that the module is ready to send and receive MECHATROLINK II commands Always keep the Start Stop Communication relay ON while operating the module Turning off this relay stops MECHATROLINK II communications and turns off the Communication Status relay It also stops the operation of connected external equipment Table 5 2 Relays for Issuing Request to Start or Stop MECHATROLINK II Communication yoouss start stop Communication Request to Start or stop MECHATROLINK II x00016 shows the current communications communication status Turning on YOOD048 to initiate communications turns on this relay x00016 Communication Status when communication begins Turns on while MECHATROLINK II communications is in progress turns off otherwise Turning off YOOO48 turns off this relay Note In the table O00 denotes the slot number of the FA M3 unit where the module is mounted IM 34M6H60 02E 1st Edition July 1 2005 00 E Commands Sent When Communication is Initiated When a program turns on the Start Stop Communication relay after writing MECHATROLINK II_ communication parameter values the positioning module automatically sends the following MECHATROLINK II commands and initiates communication with the specified axes according to the MECHATROLINK II communication parameter values 1 Sends NOP command 2 Sends DISCONNECT command 3 Sends CONNECT command 4 Sends SENS_ON command
79. itioning module mounted in slot 3 to decelerate and stop axes 1 2 and 3 while an interpolation movement is in progress with axis 1 as reference axis and axes 2 and 3 as interpolation axes 5 42 Send Command OFF Request to Receive OFF Executing OFF Execution Completed ON After issuing the command it confirms completion of the command execution by checking that the Positioning Completed relay has turned on Decelerate amp Stop Command 101501 mov oal D10001 x000 10502 ae 101502 101508 x00517 x00318 H m F 4 x00519 x00501 14 RST 101502 RST SET Command Code Write AX1 parameters Send Command ON Request to Receive ON Executing ON Send Command OFF Request to Receive OFF Executing OFF Execution Completed ON IM 34M6H60 02E 1st Edition July 1 2005 00 e Sample program for executing Stop Immediately command This sample program issues a Stop Immediately command 0300 from axis 1 to the positioning module mounted in slot 3 to stop the movement of axes 1 2 and 3 immediately while an interpolation movement is in progress with axis 1 as reference axis and axes 2 and 3 as interpolation axes 5 43 After issuing the command it confirms completion of the command execution by checking that the Positioning Completed relay has turned on Stop Immediately Command 101600 DIFU 11601 MoV E D1 00
80. ks or unused pins of connectors of the module Doing so may affect the function of the module IM 34M6H60 02E 1st Edition July 1 2005 00 vii E Waste Electrical and Electronic Equipment Waste Electrical and Electronic Equipment WEEE Directive 2002 96 EC Ke This directive is only valid in the EU Game This product complies with the WEEE Directive 2002 96 EC marking requirement The following marking indicates that you must not discard this electrical electronic product in domestic household waste Product Category With reference to the equipment types in the WEEE directive Annex 1 this product is classified as a Monitoring and Control instrumentation product Do not dispose in domestic household waste When disposing products in the EU contact your local Yokogawa Europe B V office IM 34M6H60 02E 1st Edition July 1 2005 00 Introduction E Overview of the Manual This manual describes the specifications and functions of the F3NC96 0N positioning module with MECHATROLINK II Interface which is to be installed in an I O slot of the FA M3 as well as information required for operating these modules E Related Instruction Manuals The manuals to be read depend on the CPU module to be used You should read the latest versions of the following instructions manuals as required e For information on the functions of the F3SP66 or F3SP67 sequence CPU modules refer to Sequence CPU Functions Users Manual
81. l equipment equipment using hardware rotary switch ae Install and setup external equipment Connect to external equipment Use dedicated cable 3 7 Connecting to External Equipment Power on external equipment Power on FA M3 Set up MECHATROLINK II Set up station addresses of external i communication parameters equipment to enable communications with 5 2 Starting and Stopping data position no 0031 to 0100 the module MECHATROLINK II Communication Turn on Start Stop Communication relay Y00048 Initialize and start MECHATROLINK II communications If the Communication Status relay does not turn on check the setup and wiring of external equipment and MECHATROLINK II communication parameter values Always power off and power on external NO Communication Status relay X00016 ON equipment and the FA M3 after changing 5 3 Sending MECHATROLINK II MECHATROLINK II communication parameter Commands values 5 4 Reading Statuses YES 5 5 Detecting Errors Warnings and Communication Alarms Start operation Set up MECHATROLINK II command 5 6 Clearing Errors and Warnings parameters for the relevant axes and transmit 5 7 Executing Interpolation Movement the command to external equipment by turning Commands on the Send Command relay ee a Module roubleshooting Figure 5 1 Startup Preparation Flowchart IM 34M6H60 02E 1st Edition July 1 2005 00 5 2 5 2 Starting and Stopping MECHATROLINK II Comm
82. lears all reported errors and warnings The Error Warning Detected relay turns off if all errors and warnings are cleared successfully Confirm that the Error Warning Detected relay has turned off before turning off the Clear Error Warning relay If an error warning condition persists even after turning on the Clear Error Warning relay the Error Warning Detected relay remains ON Table 5 19 Relays for Clearing Errors and Warnings ad Signal Name Relation with Other Relays Turn off this relay after confirming that YOOO64 Clear Error warning Request to clear all errors and warnings X00032 has turned off er Turning on YOO064 to clear all errors and Error Warning Detected TEES One WHR an error or ern dorecied warnings turns off this relay if errors and by the module or any axis warnings are successfully cleared Note In the table O00 denotes the slot number of the FA M3 unit where the module is mounted IM 34M6H60 02E 1st Edition July 1 2005 00 5 36 E Example for Clearing Errors and Warnings Sample program This sample program clears all errors and warnings for the positioning module mounted in slot 3 0016 Clear Errors and Warnings 101300 H fa 301 x00332 ser Tua ae Error Warning 00332 RST voasa 0017 0018 0019 Clear Error Warning OFF 0020 Execution Completed ON IM 34M6H60 02E 1st Edition July 1 2005 00 5 37 5 7 Executing Interpolation Movement Comm
83. m Code ALARM Status STATUS and Interpolation Status of axis statuses Various axis bit pattern statuses of common statuses IM 34M6H60 02E 1st Edition July 1 2005 00 5 40 E Example for Executing Interpolation Movement Command 00001 00004 00007 e Procedure 1 Specify the command code and required parameter values of the interpolation movement command in data position numbers 0001 to OO60 2 Turn on the Send Command relay YOOO33 to YOO047 3 Confirm that the Response Received relay X00001 to X00015 has turned on 4 Confirm that positioning has completed by checking the Positioning Completed relay and statuses as required for each command Sample Program for Executing Start Positioning Command This sample program issues a Start Positioning command 0100 to the positioning module mounted in slot 3 specifying axis 1 as reference axis and axes 2 and 3 as interpolation axes After issuing the command it confirms completion of the command execution by checking that the Positioning Completed relay has turned on Start Positioning Command 00010 00011 00012 00013 101 400 DIFU 101 401 Command Code P vov so AX1 Option 1 MOY ol D100 i AX1 Option 2 MoV ol D1 000 AX1 Monitor 2 MOV 3 D1002 Selection AX1 Monitor 3 MoV 8 O10083_ Selection AX1 Monitor 4 MOV D10064 Selection AX1 Target Position Mov aco AX1 Target
84. module The description assumes that the FA M3 is powered on and the module is correctly mounted Troubleshooting Flowchart The flowcharts below show how to troubleshoot problems when using the positioning module for different scenarios Error Occurred See Subsection 7 1 1 NO Flowchart for Troubleshooting when RDY LED is Not Lit YES Sequence CPU error reported Remove cause of YES sequence CPU error NO See Subsection 7 1 2 NO Flowchart for Troubleshooting When Communication Fails Is LNK LED lit at beginning of communication YES Check alarm code or warning YES code against Section 5 5 Detecting Errors Warnings and Communication Alarms Is ALM or WRN LED lit See Section 7 2 List of a Alarms Codes and Warning Fix application program Codes and rectify problem Figure 7 1 Troubleshooting Flowchart IM 34M6H60 02E 1st Edition July 1 2005 00 7 2 7 1 1 Flowchart for Troubleshooting When RDY LED is Not Lit RDY LED is Not Lit power supply module supplied with correct Supply correct voltage LED of power supply module NO Replace power supply module YES Check power consumption NO restriction or replace power supply module or base module RDY LEDs of other modules lit YES Push the module inwards until it clicks into place Is module correctly mounted in the slot YES
85. ms Communication cycle time of 1 ms is disallowed when more than 8 axes are connected 0050 to 0100 system reserved Always 0 E Description of MECHATROLINK II Communication Parameters e Axis Stations Address The Axis Station Address of each axis axes 1 to 15 specifies the station address of an external machine Table 4 5 Switch Setup of External Equipment and Station Address 0 OFF Invalid do not set switch to this position 1 OFF factory setting o 2 OFF 4 O 3 TO OFE S O 4 OFE Ss i P OFF 84 a oF se i O 8 oF 848 O 9 J or fs i 13 OFF SAD 15 OFF SAR IM 34M6H60 02E 1st Edition July 1 2005 00 e C2 Master Specifies whether a C2 master is to be connected Communication Cycle Time This parameter specifies the communication cycle time If communication cycle time is set to 1 ms no more than eight axes can be connected 4 2 2 Axis Command Parameters This subsection lists and describes axis command parameters The data content and data range of each MECHATROLINK II command parameter depends on the type of external equipment that is connected For details on individual parameters see the user s manual of the connected external equipment We describe here the command parameters applicable for gt IIl Series SGDS 00010A servo drivers manufactured by Yaskawa Electric Corporation IM 34M6H60 02E 1st Edition July 1 2005 00 E List of Axis Command Parameters
86. nd whose transmission was initiated by a rising edge of the Send Command relay YOOO33 to YOOD47 of the axis To confirm that a response has been received check that the command code COMMAND stored in the received MECHATROLINK II response tallies with the command code of the transmitted MECHATROLINK II command and that the axis is ready to receive commands CMDRDY bit of STATUS 1 Turning off the Send Command relay of an axis YOOO33 to YOO047 turns off the corresponding Response Received relay 2 When executing interpolation movement commands The Response Received relay of an axis turns on to indicate normal processing of an interpolation movement command whose execution was initiated by a rising edge in the Send Command relay YOOO33 to YOOD47 of the axis Turning off the Send Command relay of an axis YOOO33 to YOOO47 turns off the corresponding Response Received relay e Communication Status relay X00016 The Communication Status relay turns on when MECHATROLINK II communication initialization which was initiated by a rising edge in the Start Stop Communication relay Y00048 is successfully completed to indicate that the module is ready to send and receive MECHATROLINK II commands Turning off the Start Stop Communication relay YOO048 to stop MECHATROLINK II communication also turns off this relay If MECHATROLINK II communication initialization is not successful this relay does not turn on If so you should check
87. on when a MECHATROLINK II response for axis 7 is received Turns on when a MECHATROLINK II response for axis 9 is received Turning off Y O01041 also turns off this relay Turns on when a MECHATROLINK II response for axis 10 is received X00011 AX11 Response Received Turns on when a MECHATROLINK II response for axis 11 is received XOO012 AX12 Response Received Turns on when a MECHATROLINK II response for ax X00013 AX13 Response Received Turns on when a MECHATROLINK II response for axis 13 is received Turning off Y O01045 also tums off this relay Turns on when a MECHATROLINK lI response for axis 14 is received X00015 AX15 Response Received Turns on when a MECHATROLINK II response for axis 15 is received Note In the table O00 denotes the slot number of the FA M3 unit where the module is mounted e Checking Completion of Interpolation Movement Command Execution Interpolation movement commands Start positioning 0100 Decelerate amp stop 0200 Stop immediately 0300 Change speed 0400 and Change target position 0500 continue execution even after the Response Received relay turns on You can check the completion of these interpolation movement commands by reading the following relays and statuses from a ladder program and checking the values of the relevant status bits Positioning Completed relay X00017 to X00031 Error Warning Detected relay X00032 Alar
88. or Warning Axis Bits of common statuses turns on and alarm information is stored in Alarm Code ALARM of axis statuses Table 5 17 List of Statuses for Checking Errors or Warnings Data Position Data Name Data Description Number 1601 Alarm Axis Bits Bit data for module AX15 AX14 AX2 and AX1 1602 Warning Axis Bits O and bit data for AX15 AX14 AX2 and AX1 Data Moition Data Name Data Description Number Communication error watchdog timer error command 1623 Module Alarm Code timeout error parameter setup error for interpolation movement commands etc 1624 Module Detailed Alarm Code O and bit data for AX15 AX14 AX2 and AX1 Data POSON Data Name Data Description Number 0081 Alarm Code ALARM 0002 to 00F1 0099 or 0000 when normal IM 34M6H60 02E 1st Edition July 1 2005 00 5 34 E Example of Checking for Errors and Warnings 00001 00002 00003 00004 00005 00006 00007 00008 00009 00010 00011 00012 00013 00014 Sample program This sample program checks for errors and warnings of axes 1 and 2 for the positioning module mounted in slot 3 Check for Communication Alarm x00332 Alarm Axis Bits Warning Axis Bits MOV D00302 101217 Expand Alarm Axis Bits Expand Warning Axis Read Alarm Code if Alarm is Detected by Module x00332 11216 Bits a Module De
89. ovement are known as interpolation axes Interpolation axes are specified using the Interpolation Axes parameter of the reference axis at the time of command execution While a linear interpolation movement is in progress another linear interpolation movement can be executed using a different set of axes which are at rest Up to 15 axes can be made to move this way Executing two or more linear interpolation movements with overlapping sets of axes is however not allowed Target position and speed must be specified for each movement axis reference axis and interpolation axes In order that all movement axes can stop at the same time this module computes the attained speed of each axis to accommodate the axis that requires the longest travel time as detected by the module Each axis then moves according to its attained speed regardless of its preset speed To stop a linear interpolation movement in progress execute a Decelerate and Stop command 0200 or a Stop Immediately command 0300 against the reference axis which is the axis from which the Start Positioning command was originally issued To change the speed or target position during a linear interpolation movement execute a Change Speed command 0400 or a Change Target Position command 0500 against the reference axis which is the axis from which the Start Positioning command was originally issued 2 axis Linear Interpolation Movement Y axis Speed Speed attained
90. received for a MECHATROLINK II command ten seconds after transmission It is assumed that a command processing error is encountered by the external equipment IM 34M6H60 02E 1st Edition July 1 2005 00 5 32 E Errors Detected When an Interpolation Movement Command is Executed e Parameter setup error A parameter setup error is generated when an invalid parameter value is specified for an interpolation movement command For instance this may happen when a Start Positioning command is executed with a specified parameter value that is out of valid range If a parameter setup error is detected during movement the movement is decelerated and stopped Motion axis error A motion axis error is generated if an interpolation movement is executed with respect to a moving axis using a different set of interpolation axes Some examples include executing a Start Positioning command for a moving axis or executing a Change Target Position command for a moving axis using a MECHATROLINK II command Other examples include executing a Change Speed command or Change Target Position command while a target position change is in progress Bit 4 of Interpolation Status of axis statuses is ON while a target position change is in progress Internal computation error An internal computation error is generated when internal computation by the positioning module produces an invalid value Internal computation errors do not normally happen E
91. relays that are provided with the module Each input relay can be made to raise an interrupt signal to the CPU module when it switches from OFF to ON In the table O00 denotes the FA M3 slot number where the module is mounted Table 4 1 List of Input Relays Ta A Signal Name Description Relation with Other Relays AX2 Response Received AX3 Response Received AX4 Response Received AX5 Response Received AX6 Response Received Turns on when a MECHATROLINK II response for axis 7 is received Turns on when a MECHATROLINK II response for axis 9 is received Turns on when a MECHATROLINK II response for axis 11 is received XO _ AX13 Response Received A A X00014 AX14 Response Received Turns on when a MECHATROLINK II response for axis 14 is received Turning off YO010146 also turns off this relay x00015 AX15 Response Received Turns on when a MECHATROLINK II response for axis 15 is received Turning off YO1010047 also turns off this relay i PAPERA T urning on YOOO 48 to initiate communication x00016 Communication Status ee MECMATROLINK Il communication Isin pr gress Aum turns on this relay when communication begins i Turning off YOO048 also turns off this relay XCIOIO17_ AXt Positioning Completed Turns on when axis 1 is in positioning completed state o XCIOIO18_ AX2 Positioning Completed __ Turns on when axis 2 is in positioning completedstate o XCIOIO19_ AX3 Positioning Completed _ Turns on when axis 3 is in posit
92. rmity discoloration or malfunctioning Avoid storing the FA M3 controller in places with high temperature or humidity Since the CPU module has a built in battery avoid storage in places with high temperature or humidity Since the service life of the battery is drastically reduced by exposure to high temperatures take special care storage temperature should be from 20 C to 75 C There is a built in lithium battery in a CPU module and temperature control module which serves as backup power supply for programs device information and configuration information The service life of this battery is more than 10 years in standby mode at room temperature Take note that the service life of the battery may be shortened when installed or stored at locations of extreme low or high temperatures Therefore we recommend that modules with built in batteries be stored at room temperature e Always turn off the power before installing or removing modules Failing to turn off the power supply when installing or removing modules may result in damage Do not touch components in the module In some modules you can remove the right side cover and install ROM packs or change switch settings While doing this do not touch any components on the printed circuit board otherwise components may be damaged and modules may fail to work e Do not wire unused terminals Do not wire unused terminals of external connection terminal bloc
93. s S Synchronous Data communications commands Cc Control commands Motion commands X Compound commands IM 34M6H60 02E 1st Edition July 1 2005 00 E MECHATROLINK II Common Motion Commands Table 3 6 List of MECHATROLINK II Common Motion Commands Command Processing Synchronous 9 20 POS_SET Set coordinates Oo o Do J a 22 BRKOFF Releasebrake c J A 23 SENS_ON TurmsensorON c A 24 SENS_OFF TurnsensorOFF_ _ c A 25 HOLD Stopmotion m A 26 MLOCK_ON MachinelockhON c A 29 LTMOD_OFF Releaselatcnmode c a oa e a ee ooo ee B s ST o see T S S oS O sd T T S O se T S S S eee Oos T S S S 41 These commands are not executable because they are not supported by the 2 III series SGDS OOO10A SERVOPACK 2 Apply or release brake by operating the external equipment itself Table 3 7 Processing Classifications and Synchronous Classifications S Synchronous x E MECHATROLINK II Standard Servo Commands Table 3 8 List of MECHATROLINK II Standard Servo Commands Command ea come pan SMON Status monitoring SV_ON SV_OFF Turn servo OFF 30 31 SV 32 sv_ Oos do o o S ee 34 INTERPOLATE Interpolationfeed _ 35 36 37 31 POSING FEED Constant speed feed 37 ee 38 Ea detection 39 EX POSING External input positioning a ee a
94. s axes simultaneously Independent axis movement using MECHATROLINK II commands dependant on connected external equipment and supported MECHATROLINK II commands Reading of statuses target position current position etc of external equipment Reading and writing of parameters of external equipment Number of installed modules 8 modules max 120 axes max Current consumption 570 mA 5V DC External connection One MECHATROLINK II communication port External dimensions 28 9 W X 100 H x 83 2 D mm 120g 0 to 55 C 10 to 90 RH non condensing Must be free of corrosive gases flammable gases and heavy dust Storage ambient temperature 20 to 75 C Storage ambient humidity 10 to 90 RH non condensing Excluding protrusions for details see external dimensions drawing Positioning Functions functions Operating ambient temperature Operating ambient humidity Operating ambient atmosphere IM 34M6H60 02E 1st Edition July 1 2005 00 3 2 Compatible External Equipment m Products of Yaskawa Electric Corporation gt Ill series SGDS OO010A SERVOPACK gt ll series SGDH OE SERVOPACK SGDH OE SERVOPACK must be installed with MECHATROLINK II Application Module JUSP NS115 IM 34M6H60 02E 1st Edition July 1 2005 00 3 3 Scope of MECHATROLINK II Interface This section lists the MECHATROLINK II commands that are executable by the module Executable by a user using axis MECHATROLINK I
95. se Received input relay X00001 to X00015 The MECHATROLINK II response data is stored in the axis MECHATROLINK II response parameters axis statuses and common statuses MECHATROLINK II response data is stored as is in the Extended MECHATROLINK II response parameter area if the command code Command Code was specified as 1 2 When executing interpolation movement commands Turning on the Send Command relay for an axis after setting the Command Code COMMAND axis command parameter to an interpolation movement command code executes the specified interpolation movement command The Response Received relay X00001 to X00015 turns on when the executed command is successfully processed Turning off the Send Command output relay thereafter also turns off the corresponding Response Received input relay X00001 to X00015 Start Stop Communication relay YOOO48 Turning on the Start Stop Communication relay initializes MECHATROLINK II communication for the axes specified in the MECHATROLINK II communication parameters The Communication Status relay X00016 turns on when MECHATROLINK II communication initialization is successfully completed to indicate that the module is ready to send and receive MECHATROLINK II commands Always keep the Start Stop Communication relay ON while operating the module Turning off this relay stops MECHATROLINK II communication and turns off the Communication Status relay It also stops the operation of connect
96. sitioning control Supports versatile positioning control including linear interpolation motion of up to 15 axes as well as change in speed or target position during motion Currently supports servomotors manufactured by Yaskawa Electric Future support for stepping motors inverters I O equipment and other equipment is expected IM 34M6H60 02E 1st Edition July 1 2005 00 m Module Operation Figure 1 2 shows the principle behind the operation of the positioning module 1 Independent axis movement using MECHATROLINK II commands The procedure for initiating a positioning movement by sending a MECHATROLINK II command is given below From the CPU module a program writes the command code 35 for positioning command POSING 35 as well as other command parameters such as target position reference unit and target speed reference unit s to the command parameters area After writing completes the program turns on the Send Command output relay The corresponding MECHATROLINK II command is transmitted to the external equipment e g servo driver to initiate the desired positioning movement in the external equipment The Response Received input relay turns on when a response to the transmitted MECHATROLINK II command is received The Positioning Completed input relay turns on subsequently when the positioning movement completes The acceleration deceleration curve and acceleration deceleration constants are preset in the ext
97. sitioning servo MECHATROLINK II 1 computation responses nN for 15 axes MECHATROLINK II response Encoder Figure 1 2 Operating Principle of the Positioning Module IM 34M6H60 02E 1st Edition July 1 2005 00 2 1 2 1 Overview of Positioning Functions The positioning module with MECHATROLINK II Interface provides MECHATROLINK Il command positioning functions using a MECHATROLINK II communication interface as well as interpolation movement command positioning functions which compute and send position references required for implementing an interpolation movement MECHATROLINK II Command Positioning Functions This section describes the positioning functions of MECHATROLINK II commands that are executable by the module For details on the operation of each of these commands as well as other MECHATROLINK II commands refer to the relevant manuals published by Yaskawa Electric Corporation as given in the table below Table 2 1 List of Technical Manuals Related to MECHATROLINK II Communications Published by Yaskawa Electric Corporation Document Number L IIl SeriesSGM S SGDS SIE80000011B Describes the SGDS type SERVOPACK User s Manual for MECHATROLINK II Communications x I Series SGMOIH SGDH User s Manual SIE80000005C Describes the SGDH type SERVOPACK 2 I SeriesSGDH MECHATROLINK II SIEC71080001C Describes the application module for Application Module User s Manual MECHATROLINK II communica
98. t to receive OFF Executing OFF Execution Completed ON 1st Edition July 1 2005 00 00007 00010 00011 00012 00013 00014 00015 5 17 Sample Program for Sending Write Parameter PRM_WR Command This sample program issues a PRM_WR command for axis 1 to the positioning module mounted in slot 3 After issuing the command it confirms completion of the command execution by checking the response PRM_WR Command H 165 101102 101108 H 00601 101100 DFU 1010 Command Code k el een Parameter No vov so Parameter Data Size MoV 4 00018 a Parameter Data MOV 100000 D009 Write parameters WRITE moo 3 101 Send Command ON SET _ yoos33 Request to receive ON SET 0m1 Executing ON SET XO0B01 101102 Send Command OFF Request to receive OFF Read response Diores Executing OFF Execution Completed ON IM 34M6H60 02E 1st Edition July 1 2005 00 5 18 Sample Program for Sending Read ID ID_RD Command This sample program issues an ID_RD command for axis 1 to the positioning module mounted in slot 3 After issuing the command it confirms completion of the command execution by checking the extended MECHATROLINK II response The program writes the following ID RD MECHATROLINK II command directly to the extended MECHATROLINK II command parameter area and then transmits the extended command Table 5 6 ID_RD MECHATROLI
99. tailed a Read Alarm Code if Alarm is Detected on Axis 1 x00332 101201 11217 AX1 Alarm Code Read Alarm Code if Alarm is Detected on Axis 2 x00332 101202 11218 ane IM 34M6H60 02E 1st Edition July 1 2005 00 5 35 5 6 Clearing Errors and Warnings This section describes how to clear communication alarms communication error watchdog timer error command timeout error etc and parameter setup errors of interpolation movement commands detected by the module as well as errors and warnings reported by external equipment Errors and warnings can be cleared only while MECHATROLINK II communication is in progress The positioning module clears errors and warnings by automatically sending ALRM_CLR 06 commands and SYNC_SET 0D commands to all axes where an error or warning is encountered ALRM_CLR and SYNC_SET commands are however not sent to external machines that are in the midst of command transmission E Procedure for Clearing Errors and Warnings e Procedure for clearing errors and warnings Clear Errors and Warnings Turn on Clear Error Warning relay YOOO64 Error Warning Detected relay OFF x00032 Read Alarm Code ALARM of axis statuses remove cause of error or warning and re issue request to clear errors and warnings Figure 5 4 Procedure for Clearing Errors and Warnings Clearing Error Warning relay Turning on the Clear Error Warning relay c
100. tances If the HRD command is used data concurrency is not assured even if you confirm that the data are the same Data concurrency cannot be assured when reading from a BASIC CPU IM 34M6H60 02E 1st Edition July 1 2005 00 4 22 4 2 5 Common Statuses This subsection lists and describes the common statuses E List of Common Statuses Table 4 10 List of Common Statuses Data Position Number Data Name Data Description 1601 Alarm Axis Bits Bit data for module AX15 AX14 AX2 and AX1 1602 Warning Axis Bits 0 and bit data for AX15 AX14 AX2 and AX1 1603 Command Ready CMDRDY Axis Bits 0 and bit data for AX15 AX14 AX2 and AX1 1604 Servo ON SVON Axis Bits O and bit data for AX15 AX14 AX2 and AX1 1605 Main Power ON PON Axis Bits O and bit data for AX15 AX14 AX2 and AX1 1606 Machine Lock MLOCK Axis Bits O and bit data for AX15 AX14 AX2 and AX1 1607 Home Position ZPOINT Axis Bits 0 and bit data for AX15 AX14 AX2 and AX1 1608 Positioning Completed PSET Axis Bits 0 and bit data for AX15 AX14 AX2 and AX1 1609 Output Completed DEN Axis Bits 0 and bit data for AX15 AX14 AX2 and AX1 1610 Torque Limit T_LIM Axis Bits O and bit data for AX15 AX14 AX2 and AX1 1611 Latch Completed L_CMP Axis Bits O and bit data for AX15 AX14 AX2 and AX1 1612 Positioning Proximity NEAR A
101. tate ooo XCIOO23_ AX7 Positioning Completed _ Turns on when axis 7 is in positioning completed state o XEIO24 _ AX8 Positioning Completed _ Turns on when axis 8 is in positioning completed state o XCIOI25_ AX9 Positioning Completed__ Turns on when axis 9 is in positioning completed state XCIOI26_ AX10 Positioning Completed _ Turns on when axis 10 is in positioning completed state ooo _XEO27 _ AX11 Positioning Completed _ Turns on when axis 11 is in positioning completed state oo XCII28_ AX12 Positioning Completed __ Turns on when axis 12 is in positioning completed state o _XEOO029 _ AX13 Positioning Completed __ Turns on when axis 13 is in positioning completed state Janni eegene pesee a eg oM XOO032 Error Warning Detected om on when error or warning is detected on the module or any on YOOI664 to clear all errors and axis warnings also turns off this relay Note In the table O00 denotes the slot number of the FA M3 unit where the module is mounted IM 34M6H60 02E 1st Edition July 1 2005 00 5 28 e Axis statuses Data Position Number Table 5 14 lists the axis statuses For details of axis statuses see Subsection 4 2 4 Axis Statuses Table 5 14 List of Axis Statuses Data Name Data Description Monitored data 1 always fixed to POS o088 systemreserved O To o oo O 9S Substatus SUBSTATUS D15 to DO OO96 Interpolation Status D15 to DO 0097 00
102. te execute a Start Positioning command instead Change in Target Position during 2 axis Linear Interpolation Y axis X axis speed Transition Start Start X axis Figure 2 8 Target Position Change Movement Initiated By Change Target Position Command IM 34M6H60 02E 1st Edition July 1 2005 00 3 1 3 Module Specifications 3 1 Specifications E Model Name and Suffix Code Table 3 1 Model Name and Suffix Code Option a ON 15 axes sees twee Supports MECHATROLINK II communications F3NC96 Compatible CPU Modules This module is compatible with the following CPU modules Table 3 2 CPU Module Restrictions CPU Module Style Code and ROM Version F3SP28 3N F3SP38 6N F3SP53 4H F3SP58 6H Other CPUs No restriction Rev 7 or later E General Specifications Table 3 3 General Specifications Specification MECHATROLINK II compliant Transmission rate 10 Mbps Transmission bytes 32 bytes Cycle time versus number of 1 0 ms for up to 8 axes 2 0 ms for up to 15 axes user stations selectable Network Topolog Bus multi drop Communication method Master slave synchronous Transmission media 2 wire shielded twisted pair cable proprietary cable Maximum transmission distance 50 m total length Minimum distance between stations Interface a 3 Position reference 2 147 483 648 to 2 147 483 647 reference unit Linear interpolation movement starting and stopping multiple
103. ter values in data position numbers 0001 to O60 To transmit an extended MECHATROLINK II command specify value 1 for the command code COMMAND and specify the data to be transmitted in the extended MECHATROLINK II command parameter area 2 Turn on the Send Command relay YOOO33 to YOO047 3 Confirm that the Response Received relay X00001 to X00015 has turned on 4 Confirm that positioning has completed by checking the Positioning Completed relay and statuses as required for each command IM 34M6H60 02E 1st Edition July 1 2005 00 00001 00002 00003 00004 00005 00006 00007 00008 00009 ooo 10 000 11 000 12 00013 ooo 14 00015 00016 00017 00018 10200 er 5 9 Sample Program for Sending Turn Servo ON SV_ON Command This sample program issues a SV_ON request for axis 1 to the positioning module mounted in slot 3 After issuing the command it confirms completion of the command checking that the Servo ON SVON bit of STATUS has turned ON SV_ON Command 10201 MOV mov ol ponos mov ol proo0s_ MOV mov el poose MOV RST RST reo al 1l 1l MOV RST x00301 100202 0202 100203 100202 100203 100220 X00301 IM 34M6H60 02E execution by Command Code Option 1 Option 2 Monitor 2 Selection Monitor 3 Selection Monitor 4 Selection Write parameters Send Command ON Request to receive
104. tion alarm communication error watchdog timer error or command warning or an error or warning due to external equipment fault External equipment reports such errors or warnings to the positioning module by returning a MECHATROLINK II response with the Alarm bit ALARM or Warning bit WARNG of STATUS turned on When this happens the corresponding bit of the Alarm Axis Bits or Warning Axis Bits of common statuses turns on and alarm information is stored in Alarm Code ALARM of axis statuses E Communication Alarms Detected by the Module Communication error In MECHATROLINK II communications data exchange with external equipment is carried out during each communication cycle A communication error is generated if not received status is detected for two or more consecutive cycles when receive data is read from external equipment Watchdog timer error In MECHATROLINK II communications the master station and slave stations exchange synchronization data WDT RWDT during each communication cycle This data exchange allows the master and its slaves to Synchronize their communication cycles and detect any synchronization lag and Detect system errors CPU errors A watchdog timer error is generated if the watchdog timer value in received data read from external equipment is not equal to the previous watchdog timer value plus 1 Command timeout error A command timeout error is generated if no MECHATROLINK II response is
105. tions E Positioning Command POSING 35 This command performs positioning movement to a given position reference As shown in Figure 2 1 the command moves an axis to a target position P1 using a specified fast forward speed The speed and position data can be changed during execution by sending a command that contains modified reference values If the new position provides inadequate allowance for the deceleration distance or if the new position is in the reverse direction relative to the current movement direction the module decelerates and stops the movement the DEN status remains at zero before initiating positioning to the new position To check for execution completion check that the Output Completed DEN status 1 Fast forward speed Speed reference Figure 2 1 Speed Reference of Positioning Command POSING 35 IM 34M6H60 02E 1st Edition July 1 2005 00 E Constant Speed Feed Command FEED 36 This command executes constant speed movement at a specified feed speed Figure 2 2 shows the movement curve Executing the Stop Motion command HOLD 25 decelerates and stops the movement The speed and direction can be changed during execution by sending a command containing modified reference values If a change in movement direction is required the module decelerates and stops the axis before initiating movement in the reverse direction To check for execution completion check that the Output
106. to 1850 Turn on Send Command relay YOOO33 to Y00047 Check if Response Received relay has turned on x00001 to x00015 Is Error W arning Detected relay ON x00032 YES NO Read axis MECHATROLINK II response parameters or extended MECHATROLINK II response parameters Data position no 0061 to 0080 1851 to 2000 MECHATROLINK II command execution completed STATUS Read alarm code ALARM of axis YES statuses remove the cause of error or warning clear warning or error and resend MECHATROLINK II End command Figure 5 3 Procedure for Sending MECHATROLINK II Commands IM 34M6H60 02E 1st Edition July 1 2005 00 e Acceptance Conditions for MECHATROLINK II Commands MECHATROLINK II communication is in progress Send Command relay is OFF Response Received relay is OFF No interpolation movement in progress A command is ignored if any of the above conditions is not true Writing MECHATROLINK II Command Parameters Axis MECHATROLINK II command parameters and extended MECHATROLINK II command parameters can be written to the module using a WRITE instruction in a ladder program For details on the required parameters of each MECHATROLINK II command see Subsection 5 3 1 Parameters and Statuses of MECHATROLINK II Commands For details on the format conversion performed on a MECHATROLINK II command before actual transmission see Subsection 5 3 2 An Example of MECHATROLI
107. ts O and bit data for AX15 AX14 AX2 and AX1 1614 Reverse Software Limit N SOT Axis Bits 0 and bit data for AX15 1615 to 1622 system reserved Command error watchdog timeout error command 1623 Module Alarm Code timeout error parameter setup error for interpolation movement commands 1624 Module Detailed Alarm Code O and bit data for AX15 AX14 AX2 and AX1 IM 34M6H60 02E 1st Edition July 1 2005 00 5 29 E Example for Reading Statuses Sample program This sample program reads axis statuses for axes 1 to 3 for the positioning module mounted in slot 3 00001 Read Statuses 00002 Axis 1 a M00033 H o READ 3 181 D10081 ieee 00004 Axis 2 Ei M00033 HO 00006 Axis 3 ad M00033 H IM 34M6H60 02E 1st Edition July 1 2005 00 5 30 E Precautions 00001 When the CPU module reads 2 word status data such as Monitor 1 to 4 MONITOR 1 4 of axis statuses from the positioning module using the word based Special Module Read instruction READ concurrency of the high order word and low order word of 2 word data is not assured due to conflicts between the timing of reading from the CPU module and the data update period of the positioning module To ensure that the high order word and low order word of 2 word data are concurrent when reading from a sequence CPU use the READ command to read the data twice consecutively and verify that the data read are the same in both instances If th
108. ubcommand Ready SBCMDRDY IM 34M6H60 02E 1st Edition July 1 2005 00 4 21 Interpolation Status Stores the status of an interpolation movement in progress 1514131211109 876543210 0X000000000 XXX XxX f Job Accelerating at beginning of movement be Moving at constant speed t Decelerating in decelerate and stop movement L Changing speed Lac Changing target position interpolating Module is generating path e Remaining Travel Status Stores the remaining distance to the target position for an interpolation movement in progress If a Decelerate amp Stop movement is executed during movement this status stores the remaining distance to the position for deceleration and stopping If a Change Target Position movement is executed during movement this status stores the remaining distance to the new target position after the Change Target Position movement completes execution AN CAUTION When the CPU module reads 2 word status data from the positioning module concurrency of the high order word and low order word of 2 word data is not assured due to conflicts between the timing of reading from the CPU module and the data update cycle of the positioning module To ensure that the high order word and low order word of 2 word data are concurrent when reading from a sequence CPU use the READ command to read the data twice consecutively and verify that the data read are the same in both ins
109. ubprogram ON INT SL nn GOTO label SL slot number nn input relay no Declares branch destination for handling interrupt request from the CPU module Clear interrupt declaration OFF INT SL nn SL slot number nn input relay no Clears an ON INT statement 41 101 and 102 refer to input relays having data position numbers X00001 to X00016 and X00017 to x00032 respectively 2 101 and 102 refer to output relays having data position numbers YOOO33 to YOOO48 and YOOO49 to YOOO64 respectively How To Handle 2 Word Data Before writing long word parameter data to the positioning module you need to convert it into two words of integer data Similarly after reading a two word parameter from the positioning module into two integer variables you may need to convert it into long word data A sample program for these conversions is shown below LDAT long word integer variable to be converted IDD IDU integer variables for storing the data after conversion low order high order 100 IDD VAL RIGHTS LHEXS LDAT 4 110 IDU VAL LEFTS LHEXS LDAT 4 ISD ISU Integer variables storing the two words read low order high order LST long word integer variable after conversion 100 LST VAL HEXS ISU HEXS ISD IM 34M6H60 02E 1st Edition July 1 2005 00 7 1 7 1 Errors and Troubleshooting This chapter describes how to troubleshoot problems involving the positioning
110. uction see Basic CPU Modules and YM BASIC FA Programming Language IM 34M6Q22 01E Function _ Statement Format Declare use of module ASSIGN NC93 SL SL slot number Declares use of a module or CPU module Read parameter or status ENTER SL n NOFORMAT I SL slot number n data position number Name of integer or integer array variable for storing read data Reads the parameter or status at a data position number n of the module installed in a slot SL and stores it in a variable I Write parameter OUTPUT SL n NOFORMAT I SL slot number n data position number Name of integer or integer array variable storing write data Overwrites the parameter at a data position number n of the module installed in a slot SL with the value stored in a variable I Read input relays 4 STATUS SL n P SL slot number n data position no 101 or 102 P Name of integer variable for storing read data Reads the status of input relays of a module that is installed in a slot SL and stores it in a variable P Write output relays CONTROL SL n P M SL slot number data position no 101 or 102 output data mask pattern Overwrites output relays of a module installed in a slot SL with a value stored in a variable P The mask pattern M allows writing only to selected output relays Declare interrupt INT SL nn GOSUB label INT SL nn CALL s
111. unications This section describes how to set up the station addresses of external equipment corresponding to axes 1 to 15 of the positioning module in the MECHATROLINK II communication parameter area initialize MECHATROLINK II communications and begin communications You may sometimes need to change MECHATROLINK II communication parameter values to match a change in external equipment configuration or to rectify invalid parameter values when MECHATROLINK II communication initialization is unsuccessful If so always power off and power on the external equipment and the FA M3 and restart communication after changing the communication parameter values Once you have set up the MECHATROLINK II communication parameters and issued a request to start communication modification of parameter values will not be allowed E Starting Communications e Procedure for Starting Communications Starting MECHATROLINK II Communications Set up MECHATROLINK II communication parameters Data position no 0031 to 0100 Turn on Start Stop Communication relay Y00048 Is Communication Status relay ON x00016 Check setup and wiring of external equipment and MECHATROLINK II communication parameter values Always power off and power on the external equpiment and FA M3 after changing MECHATROLINK II communication parameter values Figure 5 2 Procedure for Starting MECHATROLINK II Communications IM 34M6H60 02E 1st Edition July 1 2
112. ves sedaxeasanlanseanenscecanaelasennandaceaes 4 2 4 5 P POSING iernii aaia 2 1 5 14 IM 34M6H60 02E 1st Edition R Remaining Travel Status 4 18 4 21 Response Received relay cesceee 4 1 4 3 S Send Command relay c eeeeeeeeteteee 4 2 4 5 Start Positioning relay ceeeeeeeeees 2 5 5 40 Start Stop Communication relay 4 2 4 5 Stop Immediately eeeseeeeeeeeeeeee 2 5 5 43 T Target Position cceseeeteeeee 4 10 4 12 4 15 Target Speed ececseceeeeeeteeeeeees 4 10 4 12 4 15 Ww Warning Axis Bits 0 cecceeeeeeeeeeeeeees 4 22 4 24 Z ZRET a A A 2 4 5 11 IM 34M6H60 02E 1st Edition July 1 2005 00 Blank Page Revision Information Document Name Positioning Modules with MECHATROLINK II Support Document No IM 34M6H60 02E Edition Date Revised Item 1st 1 July 2005 New publication Written by Product Marketing Department Open Control Solutions Div Yokogawa Electric Corporation Published by Yokogawa Electric Corporation 2 9 32 Nakacho Musashino shi Tokyo 180 8750 JAPAN Printed by Kohoku Publishing and Printing Inc IM 34M6H60 02E 1st Edition July 1 2005 00 Blank Page
113. wdriver Required Screw Binding head machine screw M4 of 12 to 15 mm long washer screw of 14 15 mm long q ay i See F02R1 VSD Figure 3 4 Securing Module Using Screws IM 34M6H60 02E 1st Edition July 1 2005 00 3 10 3 7 Connecting to External Equipment The positioning module uses a proprietary cable for connecting to MECHATROLINK II compliant external equipment E MECHATROLINK II Connector The figure below shows the pin assignment of the module s MECHATROLINK II connector o m 2 a __ Not connected 3 B OS 4 se ee Not connected Note The connector shell is connected to the FG terminal Internal circuitry is insulated using a pulse transformer A built in130 Q terminating resistor is installed between the S and S signals Figure 3 5 Pin Assignment of MECHATROLINK II Connector E MECHATROLINK II Communication Cable and Terminator manufactured by Yaskawa Electric Corporation The table below shows the specifications for the communication cable and terminator for MECHATROLINK II communications Table 3 12 MECHATROLINK II Communication Cable with connectors on both ends Type Model Code nae JEPMC W6002 00 MECHATROLINK II communication cable JEPMC Wwe003 O0 Table 3 13 Connector for MECHATROLINK II Communication Cable Manufacturer s Model Code DDK Ltd DUSB APA41 B1 C50 Table 3 14 M
114. xis Bits 0 and bit data for AX15 AX14 AX2 and AX1 1613 Forward Software Limit P SOT Axis Bits 0 and bit data for AX15 AX14 AX2 and AX1 1614 Reverse Software Limit N SOT Axis Bits O and bit data for AX15 AX14 AX2 and AX1 1615 to 1622 system reserved Communication error watchdog timer error command 1623 Module Alarm Code timeout error parameter setup error for interpolation movement commands etc 1624 Module Detailed Alarm Code O and bit data for AX15 AX14 AX2 and AX1 1625 to 1700 system reserved IM 34M6H60 02E 1st Edition July 1 2005 00 4 23 E Description of Common Statuses e Alarm Axis Bits Stores bit data that indicates the alarm status of the positioning module and each axis The alarm module bit turns on when a communication alarm communication error watchdog timer error command timeout error etc is detected by the module or when a parameter setup error is detected when an interpolation movement command is executed The alarm bit for an axis turns on when external equipment detects an alarm for an axis and notifies the positioning module through a MECHATROLINK II response For more details see Section 5 5 Detecting Errors Warnings and Communication Alarms 1 Alarm detected 0 No alarm detected 1514131211109 8 76543210 XXXXXXXXXXKXXXK XK XK X amp Axis 1 Axis 2 Axis 3 L Axis 4 L Axis 5

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