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with MECHATROLINK-III Interface

1. OC O C OC CO CO IM 34M06H60 03E 1st Edition Jan 2010 00 5 27 00001 Sample Program for Sending ALM_RD Command 00002 101400 Execute Execute ALM_RD Command 00003 Send ALM_RD command 00004 101401 AX1 CMD Execute 1 Command 00005 MOV 500 002001 Date bytes 1 2 00006 BMOV 0 002002 Date bytes 3 to 32 00007 Doi 3 001 16 Write parameters 00008 00333 1 Send 101402 Receiving Response AX1 Send Command relay ON 00009 Receiving Response 00010 Executing Command Executing ON Command 00011 Check sending of RD command 00012 101402 00301 pem AX1 Send Command Receiving AX1 AXiSend relay OFF Command 101402 Receiving Response READ 3001005001 Response Response Received 00013 Receiving Response OFF 00014 Read response 00015 Check completion of ALM_RD command 00016 101402 101403 200301 101403 Executing Command 101404 ALM_RD Completed Executing Command Receiving Executing 1 OFF Response Command Response 00017 Received ALM_RD Completed ON IM 34M06H60 03E 1st Edition Jan 2010 00 5 28 5 3 1 Parameters and Statuses of MECHATROLINK III Comm
2. Paane Parameter Number NO Coordinates Setting Mode POS SET MOD Servo Parameter Data Size byte SIZE Servo Parameter Read Write Mode MODE 0043 0044 Target Position for interpolation motion commands _ i i i m E 7 9939 to 9540 reserved i 0041 0042 Subcommand Control SUB_CTRL Y 0047 Interpolation Axes for interpolation motion commands 0048 Acceleration Time for interpolation motion commands 0049 Deceleration Time for interpolation motion commands System reserved 0050 21 2001 to 2750 Extended MECHATROLINK III Command Parameters IM 34M06H60 03E 1st Edition Jan 2010 00 5 33 Response parameters Data Position Number Data Name 9051 Servo Parameter Number NO mm Servo Parameter Data Se Be SIZE Servo Parameter Dee PAR Mode 928 0055 to 010060 Sato reserved 3001 10 3750 Extended MECHATROLINK III Response Parameters oc gt mu gt ia 11 CRS Se emen Statuses Data Position Systmreseved non a oe murem Weser wonton rep Y oor oos Monitor L7 9079 5580 Monitor 5 NONTORS 0081 0082 Monitor6 MONITOR6 47 07083700084 Subcomman
3. 4 14 4 15 4 16 Command Control CTRL 4 14 4 15 4 16 command error 4 29 Command Status STAT 4 28 4 29 5 59 common statuses 4 35 5 8 5 42 5 55 5 59 communication cycle 4 11 4 13 communication error codes 4 29 Communication Status relay 4 1 4 3 Configuration Mode CONFIG MOD 4 15 4 21 CONNECT command 0 3 4 3 6 5 2 Coordinates Set Value POS 4 15 4 21 Coordinates Setting Mode POS SET MOD 4 15 4 21 D DATA RWA command 20 3 6 5 23 Decelerate and Stop command 0200 2 6 5 46 Deceleration 4 14 4 20 Deceleration Time for interpolation motion commands 2 6 4 15 4 24 device eter ec 4 11 4 12 DISCONNECT command 0 3 4 3 6 5 2 IM 34M06H60 03E 1st Edition E Error Warning Detected relay 4 1 4 4 5 59 5 62 errors and warnings detected by external devices 5 58 5 59 7 5 errors and warnings checking for 5 59 5 60 errors and warnings clearing 5 61 5 62 errors interpolation motion command execution 5 58 7
4. DEMS DEM6 Torque Limit TM 0017 0018 Speed Reference VREF _ E E E E E lt lt lt lt lt lt FL LEEEELLLELEISSIIS SIS z pv sn EA 1 lt lt lt lt lt lt lt EN 0019 0020 Speed Limit VLIM 0021 0022 Torque Reference TQREF Y DD Configuration Mode CONFIG MOD AamClearMode ALM CLR MOD 9035 Servo Parameter Number NO Servo Parameter Data Size byte SIZE Servo Parameter Read Write Mode MODE vVivivivlv TSTST 111111 IE EL L L EN ee ee E 3 3p mp3 p 1111111 LL L Ese gren COO EZEAEAEAEZEX EE E 0037 0038 Parameter Data PARAMETER 020239 10 9040 System reserved AKAAKA KAEA KAE 0043 0044 Target Position for interpolation motion commands 0045 0046 Target Speed for interpolation motion commands 7 Interpolation Axes for interpolation motion commands 0048 Acceleration Time tor interpolation motion commands 0049 Deceleration Time for interpolation mo
5. LE ttt gd FII LE LE gd LE LL tt ttt tL2 2 li tt L2 a ee ee E L Zero Return Deceleration Limit Switch Input DEC 0 OFF 1 ON Forward Drive Prohibition Input P_OT 0 OFF 1 ON Reverse Drive Prohibition Input N_OT 0 OFF 1 ON External Latch 1 Input EXT1 0 OFF 1 ON External Latch 2 Input EXT2 0 OFF 1 ON External Latch 3 Input 0 OFF 1 ON Emergency Stop ESTP 0 OFF 1 ON Brake Application Output BRK 0 Brake released 1 Brake applied Forward Software Limit P SOT 0 Normal status 1 Software limit active Reverse Software Limit N SOT 0 Normal status 1 Software limit active Distribution Completed DEN 0 No 1 Yes Near Position NEAR 0 Outside range 1 Within range Positioning Completed PSET 0 Outside range 1 Within range Zero Point ZPOINT 0 Outside range 1 Within range IM 34M06H60 03E 1st Edition Jan 2010 00 31 X L Fixed Monitor 1 SEL MON 1 30 X L 29 28 X
6. 100703 Executing Command Executing ON Check sending of FEED command om 00702 00901 700333 AX1 Send Command Receiving 1 Send relay OFF Response X Response Command Received 100702 Receiving Response Receiving OFF Response Check completion of FEED command 100702 100703 00301 x00317 t jp 100703 Executing Command Receiving Executing 1 AX1 Executing OFF Response Command Response Positioning Command Received Completed SET 10704 Feeding Canceled Execution completed IM 34M06H60 03E 1st Edition Jan 2010 00 00001 00002 00003 00004 00005 00006 00007 00008 00009 00010 00011 00012 00013 00014 00015 00016 00017 00018 00019 00020 00021 00022 5 19 Sample Program for Sending Positioning POSING 35 Command This sample program issues a POSING 35 command for axis 1 to the positioning module mounted in slot 3 After issuing the command it verifies completion of the command execution by checking that the corresponding Positioning Completed relay has turned on us sample Program for Sending POSING Command 1 Execute Positioning Command Send POSING command CMD Execute POSING Command MOv O 600102 AX1CMD_CTRL L 8010000 000103 AX1 SVCMD_CTRL L 600105 1 SVCMD IO L 20000 000107 Target Position
7. E X L 27 X E 26 X L 25 24 X L Data Position No Data Range 4 32 N N M zi an hit s x Torque Limit 0 Not in torque limited state 1 In torque limited state Speed Limit V_LIM 0 Speed limit not detected 1 Speed limit detected Speech Match V_CMP 0 Speed not matched 1 Speed matched Zero Speed ZSPD 0 Zero speed not detected 1 Zero speed detected External Device Vendor Specific Area STD SERVO 0067 0068 denotes axis number from 01 to 15 2 147 483 648 to 2 147 483 647 Returns data of Fixed Monitor 1 SEL Fixed Monitor 2 SEL MON2 Data Position No Data Range STD SERVO 0069 0070 denotes an axis number from 01 to 15 2 147 483 648 to 2 147 483 647 Returns data of Fixed Monitor 2 CPRM SEL MON2 Monitor 1 1 Data Position No Data Range STD SERVO 0071 0072 denotes an axis number from 01 to 15 2 147 483 648 to 2 147 483 647 Returns Command Position CPOS data Monitor 2 MONITOR2 Data Position No Data Range STD SERVO 0073 0074 denotes an axis number from 01 to 15 2 147 483 648 to 2 147 483 647 Returns dat
8. 00021 00022 Receiving Response ON 00023 Send SV_OFF Command 100302 00801 X00302 X00303 00024 00025 00333 1 Send Command AX1 Send relay OFF Command 00334 AX2 Send Command AX2Send relay OFF Command 00335 AX3 Send Command Send relay OFF Command 100302 Receiving Response Receiving OFF Response Receiving 1 AX2 AX3 Response Response Response Response 00026 Received Received Received 00027 00028 Check completion of SV OFF command 100302 100303 Receiving Executing Response Command 00029 00030 READ 163 Read AX1 SVCMD_STAT 00031 00163 10310 Extract AX1 SVCMD_STAT bits 00032 READ 34 263 026 Read AX2 SVCMD_STAT 00033 DOC263 100920 Extract AX2 SVCMD_STAT bits 00034 READ 34 364 00363 Read AX3 SVCMD_STAT 00035 000363 100350 Extract SVCMD_STAT bits 00036 100303 00301 100323 200302 100343 X00303 100363 Executing 1 2 AX2 AX3 AX3 100303 Executing Command Executing OFF Receiving Response Command Response Servo on Response Servoon Response Servo on Command 00037 Received 5 Received SVON Received 5 Execution completed SV OFF Completed IM 34M06H60 03E 1st Edition Jan 2010 00 5 14 Sample Program for Sending Zero Point Return ZRET 3A Command This sample pr
9. Servo Parameter Data Size byte SIZE Servo Parameter Read Write Mode MODE 0037 0038 01039 to 210240 9043 9044 210245 210246 01047 9048 9049 Extended MECHATROLINK III Command Parameters 0041 0042 Subcommand Control SUB_CTRL 2001 to 2750 STITT TT TT TTT TET TT TTT PT ITTTT ERELELLEELLELLLE FL Se _ Sweser E LIEELEELELL LELEELLEELLELLELE E E E DISCONNECT ele A TT TTT TTT TT LEE o TET TTT TET Ea 0031 to 0032 Systemreseved m 34M06H60 03E 1st Edition Jan 2010 00 5 29 Response parameters Data Position Number Data Name ALM_RD ALM_CLR PPRM_RD MEM_RD MEM_WR 9651 Servo Parameter Number NO Servo Parameter Data Se on SIZE Servo Parameter ers PARI Mode 0055 to 0060 System reserved NC LN PE E 3001 3750 Extended Response 2 gt S To Te I _ pt S To Tol Parameters Statuses Data Position Number Data Name PRM RD PRM WR MEM RD MEM WR ins RD lt CL
10. 3 2 3 2 Compatible External Devices and Cables Servo Drives I O Equipment Products from Yaskawa Electric Corporation Table 3 4 Servo Drives I O Equipment Model 7 Description Servo Drive 2 V Series MECHATROLINK III Command Option type SGDV OOO00200 SERVOPACK 64 point module JEPMC MTD2310 E B MECHATROLINK III Communications Cable Products from Yaskawa Controls Co Ltd Table 3 5 MECHATROLINK III Communications Cable Product Description JEPMC W6012 LILI E No core JEPMC W6013 O0 E With core 0 connector on the other end MECHATROLINK III communications cable JEPMC W6014 0 B MECHATROLINK III Dedicated Hub Products from Yaskawa Electric Corporation Table 3 6 MECHATROLINK III Dedicated Hub Prodct 1 Model Description MECHATROLINK III compatible hub module JEPMC MT2000 E 201 34M06H60 03E 1st Edition Jan 2010 00 3 3 3 3 Scope of MECHATROLINK III Support 3 3 1 Profile Types The profile types supported by the module and the corresponding data size in bytes are listed in the table below Table 3 7 Profile Type and Number of Data Bytes Data Size Profile Code Profile Description bytes Profile supported by MECHATROLINK III compliant standard servo products 32 or 48 Profile supported by MECHATROLINK III 16 32 48 compliant standard I O products or 64 Standard servo profile S
11. ALM code and COMM ALM code of the MECHATROLINK III response returned from the external device B MECHATROLINK III Communication Initialization Related Errors Communication parameter error A communication parameter error is generated when starting MECHATROLINK III communication if a specified MECHATROLINK III communication parameter value is out of the valid data range Disconnected external device A disconnected external device error is generated if an external device defined in MECHATROLINK III communication parameters is not connected or powered off Station address error A station address setup error is generated if two or more connected external devices have the same station address B MECHATROLINK III Communication Related Errors Communication error In MECHATROLINK III communications data exchange with external devices is carried out at each communication cycle A communication error is generated if the data receive status for received data read from an external device is not normal for two or more consecutive cycles Watchdog data error In MECHATROLINK III 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 establish synchronous communication as well as detect any synchronization lag A watchdog data error is generated if the watchdog data value in received data re
12. Module Information Data position number 0001 to 0008 Data description Module Model Name F3NC970N Revision RVOO Returns the model name and revision of the module as module information IM 34M06H60 03E 1st Edition Jan 2010 00 4 11 4 2 2 MECHATROLINK III Communication Parameters This subsection lists and describes MECHATROLINK III communication parameters For details on the profile type supported by an external device to be connected and its communication specification communication cycle communication data size in bytes etc as well as how to set its station address read the user s manual of the external device B List of MECHATROLINK III Communication Parameters Table 4 5 List of MECHATROLINK III Communication Parameters E 2 Data Name Data Description For standard servo profile compliant external device High byte Profile type code 10 standard servo profile Bit 0 Subcommand setting 0 Enabled 1 Disabled For standard profile compliant external device High byte Profile type code 30 standard profile Bits 3to 0 Communication data size in bytes 0 16 1 32 2 48 3 64 0032 AX1 Station Address 0 unconnected 03 to EF 0033 AX2 Device Type 0034 AX2 Station Address 0035 AX3 Device Type 0036 AX3 Station Address 0037 AX4 Device Type 0038 AX4 Station Address 0039 AX5 Device Type 0040 AX5 Station Address 0041 AX6 Device Type 0042 AX6 Station Addres
13. 0402 100403 IM 34M06H60 03E 1st Edition Jan 2010 00 5 16 Sample Program for Sending Set Coordinates POS SET 20 Command This sample program issues a POS SET 20 command for axis 1 to the positioning module mounted in slot 3 After issuing the command it verifies completion of the command execution by checking that the corresponding Response Received relay has turned on 00001 Sample Program for Sending POS SET Command 00002 100500 100501 ERU Execute POS SET Command or pend POS_SET Command 4 000101 AX1 CMD Execute FROR SEU Command 00005 MOV O 000102 AX1 CTRL 00006 9907 0000 000103 1 SVCMD 00007 L Mov __ 0 000105 1 SVCMD IO 00008 L 80 000127 Coord Setting Mode POS_SET_MOD 00009 L 30000 000129 Coordinates Set POS_DATA 600101 Write AX1 parameters 00010 00011 00333 1 Send Command 1 Send relay Command 100502 Receiving Response 100503 Executing Command Executing ON Command 00012 Receiving Response ON 00013 Check sending of POS_SET command 100502 00301 00014 00015 AX1 Send Command AX1 Send relay OFF Command 100502 Receiving Response Receiving OFF Response Receiving AX1 Response Response 00016 Received Check completion of POS_SET command 100502 100503 00301 0001
14. Data Position No 1604 Data Range Bit data Bits 15 to 0 Returns bit data that indicates the axes where a module alarm is encountered This status is meaningful only when the module bit of Alarm Axis Bits has value 1 For more details see Section 5 6 Detecting Errors Warnings and Communication Alarms 1 Module alarm detected 0 No module alarm detected 15 14 13 12 11 10 0 p x o p xo pieces AC IM 34M06H60 03E 1st Edition Jan 2010 00 4 38 4 2 7 Extended MECHATROLINK III Command and Response Parameters This subsection lists and describes extended MECHATROLINK III command and response parameters These parameters are used when a ladder program is used to directly write a MECHATROLINK III command to be transmitted to an external device The data of each MECHATROLINK III command and MECHATROLINK III response depend on the external device that is connected For details on individual MECHATROLINK III commands and responses see the user s manual of the connected external device B List of Extended MECHATROLINK III Command and Response Parameters Data Position Number 2001 to 2050 Table 4 18 List of Extended MECHATROLINK II Command and Response Parameters Data Name Data Description AX1 Extended MECHATROLINK III command parameters 2051 to 2100 AX2 Extended MECHATROLINK III command parameters 2101 to 2150 AX3 Extended M
15. Data Range 1 No torque limit Maximum torque limit 0 to 2 147 483 647 Data Position 0015 0016 00 denotes an axis number from 01 15 Specify the torque limit TLIM Speed Reference VREF STD SERVO Data Range 2 147 483 648 to 2 147 483 647 Data Position 0017 0018 00 denotes an axis number from 01 to 15 Specify the torque reference TQREF with the sign indicating the direction of rotation Speed Limit VLIM STD SERVO Data Range 1 No speed limit Maximum speed limit 0 to 2 147 483 647 Data Position 0019 0020 00 denotes an axis number from 01 to 15 Specify the speed limit VLIM Torque Reference TQREF STD SERVO Data Range 2 147 483 648 to 2 147 483 647 Data Position 0021 0022 00 denotes an axis number from 01 to 15 Specify the torque reference TQREF with the sign indicating the direction of output torque Speed Feed Forward VFF STD SERVO Data Range 0 No speed feed forward 2 147 483 648 to 2 147 483 647 Data Position 0023 0024 00 denotes an axis number from 01 to 15 Specify the speed feed forward VFF Torque Feed Forward STD SERVO Data Range 0 No torque feed forward 2 147 483 648 to 2 147 483 647 Data Position 0025 0026 00 denotes an axis number from 01 to 15 Specify the torque feed forward TFF IM 34M06H60 03E 1st Edition Jan 2010 00 4 21 Coordinates Setti
16. Jan 2010 00 7 2 7 1 1 Flowchart for Troubleshooting When LED is Not Lit RDY LED is Not Lit power supply module supplied with correct Supply correct voltage Replace power supply LED of power supply module P module YES heck i Check power consumption RDY LEDs of other modules restriction or replace power lit supply module or base module YES Push the module inwards until it clicks into place 15 module correctly mounted in the slot YES 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 34M06H60 03E 1st Edition Jan 2010 00 7 3 7 1 2 Flowchart for Troubleshooting When Communication Fails Communication Fails or Data is Incorrect Are cables correctly connected Fix connection of cables YES Are slaves powered on Power on slaves YES addresses of slaves correctly Fix addresses of slaves YES Is application program correct Debug application program YES Is configuration of multi CPU system correct if applicable Configure system so that NO P positioning module is used by only one CPU module YES Replace positioning module Figure 7 3 Flowchart for Troubleshooting When Communication F
17. SVPRM_RD lo SVPRM_WR gt 0001 Command Code CMD 0002 Control CTRL 0003 0004 Servo Command Control Field SVOMD OO TTT qug T p 3b LLLA Target Position TPOS 2 point Return Mode MODE PTT EET TT OO09 OO10 Target Speed TSPD 9611 5512 nna 0013 0014 Deceleration DECR ee ee 34 j 0015 0016 TorqueLimit TLIM sd 9017 5518 Speed Reference 0019 0020 SpeedLimit VLIM Oo 9621 5022 TorqueReference TQREF LI LI 0023 0024 SpeedFeedForward VF BEES Eq p _ OOS pog 9 d qs E pee pede COCO s snp ode ul E E mos Configuration Mode CONFIG_MOD Alarm Clear Mode
18. Sample Program This sample program checks for errors and warnings of axes 1 to 3 for the positioning module mounted in slot 3 It is assumed that SEL of SVCMD CTRL of each axis is set to 8 for ALARM monitor beforehand so that any warning alarm codes are stored in the respective MONITOR3 axis statuses 00001 Sample Program for Checking Errors and Warnings 00002 2 READ 393 1601 001601 Alarm Axis Bits READ 001602 1 Waming Axis Bits 00004 001601 103001 Extract 1 Alarm Axis Bits Alarm Bit UUUUS 001602 10301 Extract Warning Axis Bits Warning Bit 0006 Read code for module error warning 00007 00332 103016 READ 1603 001603 1 Read Module Alarm Code Error Warning Module Detected Alarm 00008 READ 1604 001604 Read Module Detailed Alarm Code 00009 Read code for error warning detected on axis 1 00010 x00332 103001 000175 Read AX1 Monitor 3 Error Warning 1 for AX1 error warning Detected Alarm Bit code 103017 Warning Bit 00012 Read code for error warning detected on axis 2 00013 x00332 103002 READ D00275 Y Read AX2 Monitor 3 ErrorWarning AX2 for AX2 error warning Detected Alarm Bit code 103018 2 Warning Bit 00015 Read code for error warning detected on axis 3 00016 x00332 103003 READ 9 9 000375 Read Monitor 3 Error Warning AX2 for AX3 error warning
19. User s 2 Manual Positioning Module 22 with MECHATROLINK III Interface IM 34M06H60 03E vigilantplant Applicable Modules Model Code Model F3NC97 0N Positioning Module with MECHATROLINK III Interface YOKOGAWA IM 34M06H60 03E Yokogawa Electric Corporation 1st Edition Applicable Product Range free Multi controller FA M3 Model code 97 0 Name Positioning Module with MECHATROLINK III 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 34M06H60 03E Document Model Code DOCIM Media No 34 06 60 0 CD 1st Edition Jan 2010 AR IM 34M06H60 03E 1st Edition Jan 2010 00 All Rights Reserved Copyright 2010 Yokogawa Electric Corporation Important B 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
20. neni dan 4 1 4 1 2 Output Relays eene rer nt ce adds 4 2 4 1 3 Operation of Input Output 4 3 4 2 List of Parameters and Statuses esee 4 7 4 2 1 Module Information 4 4 10 4 2 2 MECHATROLINK III Communication Parameters 4 11 4 2 3 Axis MECHATROLINK III Command Parameters 4 14 4 2 4 Axis MECHATROLINK III Response Parameters 4 26 4 2 5 AXIS SIatiS88 i taki ra 4 28 4 2 6 Common Statuses 4 35 4 2 7 Extended MECHATROLINK III Command and Response Par ameterS MN 4 38 IM 34M06H60 03E 1st Edition Jan 2010 00 Using the Positioning 5 1 5 1 Startup Preparation 5 1 5 2 Starting and Stopping MECHATROLINK III Communications 5 2 5 3 Sending MECHATROLINK III Commands eee 5 6 5 3 1 Parameters and Statuses of MECHATROLINK III Commands 5 28 5 3 2 Example of MECHATROLINK III Command Format erento PET 5 36 5 4 Executing Interpolation Motion Commands 5 40 5 4 1 Parameters and Statuses of Interpolation Motion COMMANOS 5 51 5 5 Stal SES P 5 53 5 6 Detecting Errors Warnings and Communication
21. 10 0103 34M06H60 03E 1st Edition Jan 2010 00 Servo Command Control Field SVCMD CTRL Bit data Bits 31 to 0 0003 0004 00 denotes axis number from 01 to 15 Data Range Data Position No 4 17 STD SERVO Specify the Servo Command Control Field SVCMD CTRL as 16 bit data For details on monitor data selection codes see Table 4 8 1514131211109 87 654 32 10 00 X XX XXX 00 X X X XK X X LE tt gg fl dtd L LE d gd gg tt LE d gd gg fly LE d tt LE tt gg rtd tt L L rt tt gg LE d tt LE tt gg LE d gd gg L L LE tt gg rtd ttl LE d tt LE d gd gg b I tt tt I tt tt LL L L 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 XXXXXX000 1 LE II LLLL L Pause Move Command CMD_PAUSE 0 None 1 Pause move command Cancel Move Command CMD_CANCEL 0 None 1 Cancel move command Selection of Stop Mode STOP_MODE for CMD_PAUSE or CMD_CANCEL 0 Decelerate amp stop 1 Stop immediately Position Reference Filter ACCFIL 0 No position reference filter 1 Exponential function position reference filter 2 Movement average position reference filter Latch Request 1 LT_REQ1 0 None 1 Request for latch Latch Request 2 LT_REQ2 0 None 1 Request for latch Latch Signal Select 1 LT_SEL1 0
22. 6j 000147 Interpolation Axes for interpolation 00011 000148 Acceleration Time for interpolation 00012 501 000149 Deceleration Time for interpolation 00013 AX2 CMD_CTRL Execute Command 00014 2 SVCMD_CTRL 00015 AX2 SVCMD_IO 00016 for interpolation 00017 L 20000 000245 AX2 Target Speed for interpolation IM 34M06H60 03E 1st Edition Jan 2010 00 5 45 00018 102001 MOv 000302 CMD CTRL Execute Command 00019 L 8010000 000303 SVCMD CTRL 00020 AX3 SVCMD_IO L Mov Of D00305 00021 L 00000 000343 AX3 Target Position for interpolation 00022 L 15000 000345 Target Speed for interpolation 00023 000101 Write Execute AX1 parameters Command 00024 000202 3 20A 45 Write AX2 parameters 00025 000302 g CT Write AX3 parameters 00026 00333 AX1 Send Command 102002 Receiving Response AX1 Send Command relay ON 00027 Receiving Response N 00028 102003 Executing Command Executing ON Command Check execution of Start Positioning command 1020029 00301 00029 00030 Ynnaaa AX1 Send Command AX1 Send Command Receiving AX1 relay OFF Response Response Received 00031 Receiving Response Receiving OFF
23. B Description of Axis MECHATROLINK III Response Parameters Servo Parameter Number NO STD SERVO Data Position 0051 00 denotes an axis number from 01 to 15 Data Range 0000 to FFFF For SVPRM RD command CMD 40 or SVPRM WR command CMD 41 returns the Servo Parameter Number NO Servo Parameter Data Size byte SIZE Servo Parameter Read Write Mode MODE STD SERVO Data Position 0052 denotes an axis number from 01 to 15 Data Range Servo Parameter Data Size byte SIZE 2 4 Servo Parameter Read Write Mode MODE 00 Common parameter RAM area 01 Common parameter Retentive memory area 10 Device parameter RAM area 11 Device parameter Retentive memory area For SVPRM RD command CMD 40 or SVPRM WR command CMD 41 returns the Servo Parameter Data Size byte SIZE and Servo Parameter Read Write Mode MODE 1 14 13 121110 Servo Parameter Data Size byte SIZE 2 4 eS 9 X XX XXX LILLI LILII 1 Servo Parameter Read Write Mode MODE 00 Common parameter RAM area 01 Common parameter Retentive memory area 10 Device parameter RAM area 11 Device parameter Retentive memory area Servo Parameter Data PARAMETER STD SERVO Data Position 0053 0054 00 denotes an axis number from 01 to 15 Data Range 2 147 483 648 to 2 147 483 647 SVPRM_RD command CMD 40 or SVPRM WR command CMD 41
24. C phase 1 External input signal 1 2 External input signal 2 3 External input signal 3 Latch Signal Select 2 LT_SEL2 0 C phase 1 External input signal 1 2 External input signal 2 3 External input signal 3 Monitor Selection 1 SEL_MON1 1 Fixed to CPOS Monitor Selection 2 SEL_MON2 0 to 15 Monitor data selection code Monitor Selection SEL MON3 0 to 15 Monitor data selection code IM 34M06H60 03E 1st Edition Jan 2010 00 4 18 Table 4 8 List of Monitor Data Selection Codes Monitor Name Selection Code Contents Feedback Position Remark Current position of the motor Command Position Command position after acceleration deceleration filter Position Error Position error of the control loop Latched Position 1 Motor position 1 latched by the latch signal Latched Position 2 Motor position 2 latched by the latch signal Feedback Speed Current speed of the motor Reference Speed Command speed of the motor Torque Force Reference Command torque force of the motor Detailed Information of the Current Alarm Current alarm warning Command Position Input command position of the position control loop Common Monitor 1 Selects the monitor data specified by a parameter of the external device Common Monitor 2 Selects the monitor data specified by a parameter of the external device Optional Monitor 1
25. Execute Command 00005 600101 Write AX1 parameters 00006 700333 1 Command 102202 Receiving Response 102203 Executing Command AX1 Send Command relay ON 00007 Receiving Response ON 00008 Executing Command ON Check execution of Stop Immediately command 112202 00301 00009 00010 00333 1 Send Command AX1 Send Command relay OFF Receiving AX1 Response Response Received 00011 102202 Receiving Response Receiving OFF Response 00012 Check completion of Decelerate amp Stop command 00013 122027 12203 x00301 x00317 x00318 X00319 102203 _ Executing Command Receiving Executing 1 AX1 AX2 Executing Response Command Response Positioning Positioning Positioning Command 00014 Received Completed Completed Completed 102204 Stop Immediately Completed Execution completed IM 34M06H60 03E 1st Edition Jan 2010 00 5 48 Sample Program for Executing Change Speed Command 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 during interpolation motion with axis 1 as reference axis and axes 2 and 3 as interpolation axes After issuing the command it verifies completion of the command execution by checking that the corresponding Positioning Completed relays have turned on 000
26. Executing Command Executing ON Date bytes 9 to 32 00010 00011 relay ON 00012 00013 gont4 Check sending of ID RD command Commang 00015 101302 X00301 00333 AX1 Send Command Receiving AX1 AX1 Send relay OFF Response Response Command 00016 Received 101302 Receiving Response Receiving OFF Response READ 3001 003001 Read response 00017 Check completion of ID RD command 101302 101303 00301 00018 00019 101303 Executing Command Executing OFF Command Receiving Executing AX1 Response Command Response 00020 Received ID_RD Completed ID_RD ON Completed IM 34M06H60 03E 1st Edition Jan 2010 00 5 26 Sample Program for Sending Read Alarm Warning ALM RD 05 Command This sample program issues an ALM RD 05 command for axis 1 to the positioning module mounted in slot 3 After issuing the command it verifies completion of the command execution by checking the extended MECHATROLINK III response parameters To read the current alarm warning state the program writes the following ALM RD 05 MECHATROLINK III command directly to the extended MECHATROLINK III command parameter area and then sends the extended command Table 5 5 Send Data for ALM RD 05 Command Data Position Data Size Number 1 word 16 b its 0 NI gt Go PO
27. This sample program issues a SV ON 31 command for axes 1 to to the positioning module mounted in slot 3 After issuing the command it verifies completion of the command execution by checking that the SVON bit of each corresponding SVCMD STAT axis status has turned ON Sample Program for Sending SV ON Command 100200 100201 Execute V ON Command 100201 000101 AX1 CMD MOV 01 000102 1 CMD_CTRL L 3807 0000 000103 ommand AX1 SVCMD_CTRL L Mov 90 000105 SVCMD IO 000201 AX2 CMD SV ON Mov O 600202 X2 CTRL L 80 OOOO 000202 SVCMD L Mov 000205 2 SVCMD IO 000301 AX3 CMD SV ON MOv D00302 CMD CTRL L 50 00001 000303 SVCMD CTRL L MOv Of 000305 AX3SVCMD_IO 43 1011 Write AXI WRITE 000201 3 201 8 Write AX2 0008011 6 IM 34M06H60 03E 1st Edition Jan 2010 00 5 11 0019 100201 1 Send Command Y00334 AX2 Send Command 00335 AX3 Send Command AX3 Send relay ON Command 100202 Receiving Response Tirana AX1 Send Command Execute relay ON Command 00020 AX2 Send Command relay ON 00021 00022 Receiving Response ON 00023 7 Executing Command Execut
28. 00003 Send POSING command 00004 100901 000101_ AX1 CMD Execute POSING Command 00005 MOv Of 500102 1 CMD_CTRL 00006 L 50 0002 000103 AX1 SVCMD CTRL CMD CANCEL 1 00007 L Mov Wd 000105 AX1 SVCMD IO 00008 Dong 704 100333 AX1 Send Command 100902 Receiving Response Receiving ON Response 100903 Executing Command Write AX1 parameters 00009 relay ON 00010 00011 Executing Command ON Check sending of POSING command 100902 x00301 Y00333 AX1 Send Command 100902 00012 00013 1 relay OFF Receiving _ AX1 Response Response 00014 Received P Receiving Response Receiving OFF onpis Check completion of POSING command Responso 00016 100902 100903 x00301 00317 7 100909 Executing Command Receiving Executing 1 Executing OFF Command 100904 Positioning Canceled Response Command Response Positioning 00017 Received Completed Execution completed IM 34M06H60 03E 1st Edition Jan 2010 00 5 21 Sample Program for Sending Servo Status Monitor SMON 30 Command This sample program issues a SMON 30 command for axis 1 to the positioning module mounted in slot 3 After issuing the command it verifies completion of the command execution by checking that the corresponding Respons
29. 34M06H60 03E 5 55 Common statuses Table 5 16 lists the common statuses For details of common statuses see Subsection 4 2 6 Common Statuses Table 5 16 List of Common Statuses Data Position Number 1601 Alarm Axis Bits Data Name Data Description Bit data for module AX15 AX14 AX2 and AX1 See Also 1602 Warning Axis Bits 0 and bit data for AX15 AX14 AX2 and AX1 1603 Module Alarm Code MECHATROLINK III communication initialization related errors MECHATROLINK III communication related errors interpolation motion command execution related errors etc 1604 Module Detailed Alarm Code 0 and bit data for AX15 AX14 AX2 and AX1 1605 to 2000 System reserved IM 34M06H60 03E 1st Edition Jan 2010 00 5 56 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 Sample Program for Reading Axis Statuses 00002 Ween axis 1 statuses M READ 000162 26 Read Always ON AX1 Statuses Read Always ON AX2 Statuses Always ON Statuses 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 mo
30. 4 errors warnings communication alarms detecting 5 57 EX FEED command 37 2 3 3 4 EX POSING command 39 2 4 3 4 extended MECHATROLINK III command parameters E 4 38 4 39 extended MECHATROLINK III response parameters 4 38 4 39 external devices and cables compatible CADIS 3 2 dedicated hub 3 2 Jem 3 2 Servo drive 3 2 external devices connecting to 3 11 F FEED command 36 2 2 3 4 5 17 FEED command 36 canceling 5 18 Fixed Monitor CPRM SEL MON 4 28 4 32 ID RD command 30 3 4 3 6 5 24 Input Data 1 4 28 4 34 input relays 4 1 4 3 5 53 INTERPOLATE command 34 3 4 5 40 Interpolation Axes for interpolation motion commands TED 2 6 4 15 4 24 interpolation motion commands executing 5 40 Interpolation 4 28 4 34 L LED indicators a 3 7 CON green ERR red LNK1 LNK2 3 7 RDY green WRN yellow 3 7 linear interpolation motion starting and stopping multiple axes simultaneously 1 3 2 6 M MECHATROLINK I
31. AX15 AX14 AX2 and AX1 4 35 1602 Warning Axis Bits 0 bit data for AX15 AX14 2 and 1 4 36 MECHATROLINK III communication initialization related errors MECHATROLINK III communication 1603 Module Alarm Code related errors interpolation motion command execution related errors etc 1604 Module Detailed Alarm Code 0 and bit data for 15 AX14 AX2 and AX1 4 37 Errors and Warnings detected by external devices When an error or warning is detected by an external device the corresponding bit of the Alarm Axis Bits or Warning Axis Bits of common statuses turns on When an error or warning is detected by an external device read the error warning code using the ALM_RD 05 command pre setting SEL MON2 SEL MONS of SVCMD_CTRL to 8 for ALARM monitor the warning alarm code will be stored in MONITOR2 or MONITORS of axis statuses respectively Table 5 18 List of Statuses for Checking External Device Errors or Warnings Data Position E Data Name Data Description 1601 Alarm Axis Bits Bit data for module AX15 AX14 AX2 and AX1 4 35 1602 Warning Axis Bits 0 bit data for AX15 AX14 2 and AX1 4 36 Data Position Number Data Name Data Description Also 0062 Command Status STAT Bit data Bits 15 to 0 4 29 IM 34M06H60 03E 1st Edition Jan 2010 00 5 60 Example of Checking for Errors Warnings
32. Alarm Code Hex Alarm Name Possible Causes and Description Troubleshooting MECHATROLINK MECHATROLINK III synchronization error Update WDT data at each communication synchronization WDT data mismatch cycle error This error normally should not happen MECHATROLINK MECHATROLINK III communication error was E mae detected for two consecutive cycles Check connector wiring communication Sit t Bad contact of cables or connector Adopt measures against noise Operation error due to noise Table 7 3 List of MECHATROLINK III Communication Related Warning Codes ii n Possible Causes and Description Troubleshooting Data setup Value specified for MECHATROLINK III 0940 warning communication is out of range Fix specified value Ensure that all acceptance conditions for Some acceptance condition of a transmitted a transmitted command are satisfied 0950 command command ie not satisfied For details on the acceptance conditions warning JTranstmlted command is nof supported see the description of each command Make sure that no unsupported command is sent MECHATROLINK MECHATROLINK III communication error was LL ire detected for one cycle Check connector wiring 0960 communication Bad cable or connector contact Adopt measures against noise warning Operation error due to noise Note L1 denotes a detailed code 0 to 0F detailing the cause of a warning CAUTION When the p
33. Alarms 5 57 5 7 Clearing Errors and 5 61 Accessing the Module eese 6 1 6 1 Accessing from Sequence CPU eese 6 1 6 2 Accessing from BASIC 6 2 6 3 Precautions When Reading 2 word Data 6 3 SR RYE 7 1 7 1 Troubleshooting Flowchart eere 7 1 7 1 1 Flowchart for Troubleshooting When RDY LED is Not Lit 7 2 7 1 2 Flowchart for Troubleshooting When Communication Hc 7 3 7 2 List of Alarm Codes and Warning 7 4 7 2 1 Module Alar M Sirosen iinan ainiai 7 4 7 2 2 External Device Communication Alarms and Warnings 7 5 c c M Index 1 REVISION Information onu aiana 34M06H60 03E 1st Edition Jan 2010 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 III communications B What is MECHATROLINK III Communications Overview MECHATROLINK III commun
34. Detected Alarm Bit code 103019 00011 00014 00017 2 Warning Bit IM 34M06H60 03E 1st Edition Jan 2010 00 5 7 5 61 Clearing Errors and Warnings This section describes how to clear MECHATROLINK III communication initialization related errors MECHATROLINK III communication related errors and interpolation motion command execution related errors detected by the module as well as errors and warnings reported by external devices Errors warnings reported by external devices can be cleared only while MECHATROLINK III communication is in progress The positioning module clears errors and warnings by automatically sending the following sequence of MECHATROLINK III commands For standard servo profile compliant external device Clear alarm or warning command ALM CLR 06 Start synchronous communication command SYNC SET 00 For standard profile compliant external device Clear alarm or warning command ALM CLR 06 B Procedure for Clearing Errors and Warnings Procedure for clearing errors and warnings Clearing Errors and Warnings Turn on Clear Error Warning relay YLILILI64 Error Warning Detected relay OFF XOOO32 Read axis statuses and common statuses remove cause of error or warning and re issue request to clear errors and warnings Figure 5 5 Procedure for Clearing Errors and Warnings IM 34M06H60 03E 1st Edition Jan 2010 00 5 62 Turning on
35. Face eet Response 00032 Check completion of Start Positioning command 00033 200301 200317 x00318 X00319 ne due g m m Executing Command Receiving Executing AX1 1 2 Executing OFF Response Command Response Positioning Positioning Positioning Command 00034 Received Completed Completed Completed Execution completed Positioning Completed IM 34M06H60 03E 1st Edition Jan 2010 00 5 46 Sample Program for Executing Decelerate amp Stop Command This sample program issues a Decelerate amp Stop command 0200 against axis 1 to the positioning module mounted in slot 3 to decelerate and stop axes 1 2 and 3 during interpolation motion with axis 1 as reference axis and axes 2 and 3 as interpolation axes After issuing the command it verifies completion of the command execution by checking that the corresponding Positioning Completed relays have turned on 00001 00002 wee Program for Executing Decelerate amp Stop Command Execute Execute Decelerate amp Stop Command Execute Decelerate amp Stop command 102101 00003 00004 D00101 CMD Decelerate amp Stop Execute Command 00005 600101 Write AX1 parameters 00006 1 relay ON Y00333 AX1 Send Command 102102 Receiving Response 102103 Executing Command 00007 Receiving Response ON 00008 E
36. High byte Servo Parameter Read Write Mode 00 Common parameter RAM area 01 Common parameter Retentive memory area 10 Device parameter RAM area 11 Device parameter Retentive memory area 2 147 483 648 to 2 147 483 647 Always 0 Bit data Bits 31 to 0 2 147 483 648 to 2 147 483 647 1 to 2 147 483 647 0037 0038 0039 to O40 0041 0042 0043 0044 0045 0046 0047 Servo Parameter Data PARAMETER System reserved Subcommand Control SUB_CTRL Target Position for interpolation motion commands Target Speed for interpolation motion commands Interpolation Axes for interpolation motion commands Bit data 0000 to 7FFF 0048 Acceleration Time for interpolation motion commands 0 to 32767 ms 0049 Deceleration Time for interpolation motion commands 0 to 32767 ms 0050 System reserved Note denotes an axis number 01 to 15 Always 0 For standard I O profile compliant external device Data Position Number 0001 Table 4 7 List of Axis MECHATROLINK III Command Parameters Data Name Command Code CMD Data Description 0000 to 00FF MECHATROLINK III command FFFF 0002 Command Control CMD_CTRL Bit data Bits 15 to 0 0003 to 0032 Output Data OUTPUT Bit data Bits 15 to 0 0033 Configuration Mode CONFIG_MOD 0 Parameter re calculation and setup 1 Batch writing to retentive memory 2 Initia
37. N co 2 Standard I O Profile Commands 1 of 2 0034 Clear Mode 0035 to 0050 0051 to 0060 3001 3750 0063 to 0092 1st Edition Jan 2010 00 IM 34M06H60 03E 5 35 Standard I O Profile Commands 2 of 2 Command parameters Data Position 20 21 009 Command Code CMD pte Control CMD CTRD Y mms Configuration Mode CONFIG MOD HE Clear Mode MOD 0035 to 0050 System reserved poe 2001 to 2750 Extended MECHATROLINK III Command Parameters _ DATA RWA PTT TY gs cara ris Response parameters Data Position Data Name 0051 to 0060 System reserved ee Extended MECHATROLINK III Response 3001 to 3750 Parameters jo DATA RWA DATA RWS Statuses Data Position Data Name Number System reserved 9091 0062 Command Status STAT 0063 to 0092 Input Data INPUT Y 0093 to I II OO System reserved O T 1601 to 2000 Y I Iss DATA RWA DATA RWS IM 34M06H60 03E 1st Edition Jan 2010 00 5 36 5 3 2 Example of MECHATROLINK III Command Format Conversion B MECHATROLINK III Command Axis command parameters or extended MECHATROLINK III command parameters that are written to the positioning module are converted into a MECHATROLINK III command as shown below before
38. Precautions When Reading 2 word Data IM 34M06H60 03E 1st Edition Jan 2010 00 4 35 4 2 6 Common Statuses This subsection lists and describes the common statuses List of Common Statuses Table 4 17 List of Common Statuses res 2 Data Data Description 7 1601 Alarm Axis Bits Bit data for module AX15 AX14 AX2 and AX1 1602 Warning Axis Bits 0 bit data for AX15 AX14 2 and AX1 MECHATROLINK III communication initialization related errors MECHATROLINK III communication related errors interpolation motion command execution related errors etc 1604 Module Detailed Alarm Code 0 and bit data for AX15 AX14 AX2 and AX1 1605 to 2000 System reserved 1603 Module Alarm Code B Description of Common Statuses Alarm Axis Bits Data Position No 1601 Data Range Bit data Bits 15 to 0 Returns bit data that indicates the alarm status of the positioning module and each axis The alarm module bit turns on when MECHATROLINK III communication initialization related error MECHATROLINK III communication related error or an interpolation motion command execution related error is detected The alarm bit for an axis turns on when an external device detects an alarm for an axis and notifies the positioning module through a MECHATROLINK III response For more details see Section 5 6 Detecting Errors Warnings and Communication Alarms 1 Alarm detec
39. Selects the monitor data specified by a parameter 0 1 2 3 4 5 6 7 8 9 A B D E F Servo Command Output Signal SVCMD 1O Bit data Bits 31 to 0 0005 0006 00 denotes axis number from 01 to 15 Data Range Data Position No Optional Monitor 2 Selects the monitor data specified by a parameter STD SERVO Specify the Servo Command Output Signal as 16 bit data 15 0 gt lt L 14 0 9 13 0 12 0 R 1110 98 LL X L L rox N rx 3 nx N mx Y rx To 5 m gt lt mx mx a N E Speed Loop P PI Control V PPI 0 PI control 1 P control Position Loop P PI Control P PPI 0 PI control 1 P control Forward Torque Limit CL 0 Torque not clamped 1 Torque clamped Reverse Torque Limit N CL 0 Torque not clamped 1 Torque clamped Gain Select G SEL 0 to 15 External Device Vendor Specific Area IM 34M06H60 03E 1st Edition Jan 2010 00 4 19 Target Position TPOS Zero Point Return Mode MODE STD SERVO Data Range For Target Position TPOS 2 147 483 648 to 2 147 483 647 For Zero Point Return Mode MODE Bit data Bits 15 to 0 Data Position No 00
40. The zero point return direction and zero point return type is specified by MODE To cancel ZRET command execution set SVCMD CTRL CMD CANCEL the CANCEL bit of the Servo Command Control Field to 1 and re execute the ZRET command to pause ZRET command execution set SVEOMD CTRL CMD PAUSE to 1 and re execute the ZRET command Confirm the completion of motion reference output by checking that SVCMD IO DEN 1 and the completion of positioning by checking that SVCMD IO ZPOINT 1 and SVOMD O PSET 1 Speed Final travel distance for zero point return Approach speed Position latch signal Figure 2 7 Operation Example for Zero Point Return Command ZRET 3 When MODE 0 Zero point Time Speed Feed speed Final travel distance for zero point return Approach speed Zero point speed Deceleration Open limit switch Position latch signal Figure 2 8 Operation Example for Zero Point Return Command ZRET 3A When MODE 1 IM 34M06H60 03E 1st Edition Jan 2010 00 2 6 2 2 Positioning by Interpolation Motion Commands This section describes positioning by interpolation motion commands executable by the module Start Positioning Command 0100 The Start Positioning command executes linear interpolation motion 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
41. Tuming off 44 also tums off this relay XLILILT13 AX13 Response Received Tums on when a MECHATROLINK III response for axis 13 is received Tuming off 45 also tums off this relay X00014 14 Response Received Tums on when a MECHATROLINK III response for axis 14 is received Turning off YL1LIL146 also turns off this relay X00015 15 Response Received Turns on when a MECHATROLINK III response for axis 15 is received Turning off Y L047 also tums off this relay Note In the table denotes the slot number of the FA M3 unit where the module is mounted Reading MECHATROLINK III response parameters and statuses The Response Received relay X00001 to X00015 for an axis turns ON when MECHATROLINK III response is received for a transmitted MECHATROLINK III command Axis MECHATROLINK III response parameters axis statuses common statuses or extended MECHATROLINK III response parameters can then be read using READ instructions in a ladder program For details on the response parameters and statuses that are returned for each transmitted MECHATROLINK III command see Subsection 5 3 1 Parameters and Statuses of MECHATROLINK III Commands Checking for completion of MECHATROLINK III command execution Some MECHATROLINK III commands such as SV ON 31 SV OFF 32 POSING 35 FEED 36 EX FEED 37 EX POSING 39 and ZRET 3A commands continue exec
42. Turns on when a MECHATROLINK III response for axis 15 is received Turning off YOO47 also turns off this relay Note In the table O00 denotes the slot number of the FA M3 unit where the module is mounted Reading statuses After verifying that the Response Received relay XLILILIO1 to XLILILI15 for the axis has turned on indicating that the executed interpolation motion command has been processed normally read the axis statuses and common statuses using READ instructions in a ladder program For details on the statuses that can be read for each executed interpolation motion command see Subsection 5 4 1 Parameters and Statuses of Interpolation Motion Commands Checking completion of interpolation motion command execution Interpolation motion 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 motion commands by reading the following relays and statuses in a ladder program and checking the values of the relevant status bits Positioning Completed relay X00017 to X00031 Error Warning Detected relay X00032 Axis statuses and common statuses IM 34M06H60 03E 1st Edition Jan 2010 00 5 43 Example for Executing Interpolation Motion Command Procedure 1 Specify the comma
43. YLILILI47 for an axis also turns off the corresponding Response Received relay X00001 to x00015 Table 5 12 Relays for Sending Interpolation Motion Commands i i i i i i i i To be continued on the next page IM 34M06H60 03E 1st Edition Jan 2010 00 5 42 Turns on when MECHATROLINK III response for axis 1 is received Turning YLIL1L133 also turns off this re XLILILI02 AX2 Response Received Turns on when a MECHATROLINK III response for axis 2 is received Turning off YLILILI34 also turns off this relay Tuming off YLILIL135 also turns off this relay K ll K ll Turns on when a MECHATROLINK III response for axis 9 is received off YLILILI41 also turns off this relay XOOO11 AX11 Response Received Turns on when a MECHATROLINK III response for axis 11 is received Turning off YLILIL143 also turns off this relay 12 12 Response Received Turns on when a MECHATROLINK III response for axis 12 is received Tuming off 144 also tums off this relay x00013 13 Response Received on when a MECHATROLINK III response for axis 13 is received off 45 also turns off this relay x00014 14 Response Received Tums on when a MECHATROLINK III response for axis 14 is received off YLILILI46 also turns off this relay X00015 15 Response Received
44. a SVPRM WR 41 command for axis 1 to the positioning module mounted in slot 3 After issuing the command it verifies completion of the command execution by checking the response received Sample Program for Sending SVPRM WR Command 00 a Execute Execute SVPRM WR Command Send SVPRM WR command id AX1 CMD Execute zSVPRM WR Command 7 000102 AXI CMD CTRL L 8010000 000103 AX1 SVCMD_CTRL L 7 Moy 000105 AX1 SVCMD IO 000135 Servo Parameter ee DN hun Mov 4 000136 Servo Parameter Data Size SIZE L 100000 000137 Servo Parameter Data PARAMETER 000101 Write a ae om 00333 AX1 Send Command AX1 Send relay ON Command 101102 Receiving Response Receiving ON Response 101103 Executing Command Executing ON Command Check sending of SVPRM_WR command 101102 x00301 Y00333 AX1 Send Command 1 Send relay OFF Command 101102 Receiving Response Receiving OFF Response READ 000151 7 4 Read response Receiving AX1 Response Response Received Check completion of SVPRM_WR command 01102 101103 x00301 Receiving Executing 1 Response Command Response Received 101103 Executing Command Executing OFF Command 101104 Execution completed SVPRM_WR Completed IM 34M06H60 03E 1st Edition Jan 2010 00 5 23 Sample Program for Sending Dat
45. are the same Data concurrency cannot be assured when reading from a BASIC CPU Sample Program This sample program reads MONITOR of axis statuses for axis 1 from the positioning module installed in slot 3 READ 3 DOCODI First read e a MESE READ 02003 Second read 000001 000003 READ 000001 Secure data concurrency IM 34M06H60 03E 1st Edition Jan 2010 00 7 1 7 1 Troubleshooting This chapter describes how to troubleshoot problems involving the positioning 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 Reported Sequence CPU error reported NO YES Is CON LED lit at beginning of communication YES Is ERR or WRN LED lit NO Fix application program Figure 7 1 Troubleshooting Flowchart See Subsection 7 1 1 Flowchart for Troubleshooting when RDY LED is Not Lit Remove cause of sequence CPU error See Subsection 7 1 2 Flowchart for Troubleshooting When Communication Fails Check alarm code or warning code against Section 5 6 Detecting Errors Warnings and Communication Alarms See Section 7 2 List of Alarms Codes and Warning Codes and rectify problem IM 34M06H60 03E 1st Edition
46. benzine or paint thinner or chemicals for cleaning as they may cause deformity discoloration or malfunctioning Avoid storing the FA M3 controller in places with high temperature 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 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 e Do not touch components in the module n 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 te
47. essential to the understanding of operation and functions Indicates a TIP Gives information that complements the present topic SEE ALSO 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 f
48. or command axis while the other axes involved in the interpolation motion 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 motion is in progress another linear interpolation motion can be executed using a different set of axes which are at rest Up to 15 axes can be made to move this way Concurrent execution of two or more linear interpolation motions with overlapping sets of axes is however not allowed Target position and speed must be specified for each motion axis reference axis and interpolation axes In order that all motion 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 motion 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 motion 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 Lin
49. returns the Servo Parameter Data PARAMETER IM 34M06H60 03E 1st Edition Jan 2010 00 4 28 4 2 5 Axis Statuses This subsection lists and describes the axis statuses The statuses of an axis depend on the profile type supported by the connected external device The content and reference data of each status depends on the connected external device For details on individual statuses see the users manual of the connected external device List of Axis Statuses For standard servo profile compliant external device Table 4 12 List of Axis Statuses Data Position Data Name Data Description 0061 System reserved 0062 Command Status 5 Bit data Bits 15 to 0 0063 0064 Servo Command Status Field SVCMD STAT Bit data Bits 31 to 0 0065 0066 Servo Command Input Signal 10 Bit data Bits 31 to 0 0067 0068 Fixed Monitor 1 SEL MON1 Fixed monitor 1 data 2069 02070 Fixed Monitor 2 SEL MON2 Fixed monitor 2 data 0071 0072 Monitor 1 1 Monitor 1 data Fixed to CPOS data 0073 0074 Monitor 2 MONITOR2 Monitor 2 data 0075 0076 Monitor 3 MONITOR3 Monitor 3 data 0077 0078 Monitor 4 MONITOR4 Monitor 4 data 0079 0080 Monitor 5 MONITORS Monitor 5 data 0081 0082 Monitor 6 MONITOR6 Monitor 6 data 0083 0084 Subcommand Status SUB STAT Bit data Bits 15 to 0 0085 0086 Remaining Travel Status 2 147 483 648 2 147 483 647
50. 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 instruction to read the data twice consecutively and verify that the data read are the same in both instances If the HRD instruction is used data concurrency is not assured even if you had verified that the data are the same Data concurrency cannot be assured when reading from a BASIC CPU For details on how to check that data read twice consecutively by a sequence CPU are the same in both instances see Section 6 3 Precautions When Reading 2 word Data IM 34M06H60 03E 1st Edition Jan 2010 00 4 10 4 2 1 Module Information Statuses This subsection lists and describes module information statuses Do not write any data to Module Information Statuses as it will overwrite and result in loss of module information data List of Module Information Statuses Table 4 4 List of Module Information Statuses Parameter Name Data Description 0001 Module information 0002 Module information NC 0003 Module information 97 0004 Module information ON 4 10 0005 Module information 2 0006 Module information 0007 Module information RV 0008 Module information OO denotes the module revision 0009 to 0030 System reserved Always 0 Description of Module Information Statuses
51. the format conversion performed on a MECHATROLINK III command before actual transmission see Subsection 5 3 2 Example of MECHATROLINK III Command Format Conversion Turning Send Command relay and checking for Response Received relay turning on Turning on the Send Command relay YLILILI33 to YLILILI47 of an axis after writing MECHATROLINK III command parameter values sends MECHATROLINK III command The Response Received input relay X00001 to X00015 for the axis turns on when a MECHATROLINK III response to the transmitted MECHATROLINK III command is received Verify that the Response Received relay XLILILIO1 to XLILILI15 has turned on before turning off the Send Command relay YLILILI33 to YLILILI47 Turning off the Send Command relay YLILILI33 to YLILILI47 for an axis also turns off the corresponding Response Received relay X00001 to X00015 Table 5 3 Relays for Sending MECHATROLINK III Commands Output To be continued on next page YLILILMO 8 Send Command Request to send MECHATROLINK III command foraxis8 off this relay after verifying that XLIL1L108 has turned on IM 34M06H60 03E 1st Edition Jan 2010 00 NK ll XOOO11_ AX11 Response Received_ Tums on when MECHATROLINK III response for axis 11 is received Tuming off 43 also tums off this relay XLILILT12 AX12 Response Received on when MECHATROLINK III response for axis 12 is received
52. 0087 Interpolation Status Bit data Bits 15 to 0 0088 to 00 System reserved Note denotes an axis number 01 to 15 mm denotes the value of OO 1 For standard I O profile compliant external device Table 4 13 List of Axis Statuses Data Position 7 Data Name Data Description 0061 System reserved 0062 Command Status 5 Bit data Bits 15 to 0 01063 to 0092 Input Data INPUT Bit data Bits 15 to 0 0093 to 00 System reserved Note denotes an axis number 01 to 15 mm denotes the value of OO 1 IM 34M06H60 03E 1st Edition Jan 2010 00 Description of Axis Statuses Command Status CMD_STAT 4 29 STD SERVO STD IO Data Position 0062 00 denotes an axis number from 01 to 15 Data Range Bit data Bits 15 to 0 Returns the Command Status STAT For details on command error codes and communication error codes see Table 4 14 and Table 4 15 respectively 1514131211109 87 654 32 10 XX XX XX XX XX00XXXXx LE gd ttt tt gg L LE gd ttt gd LE tt tt tt gg LE tt tt tt gg L LE tt tt tt gg LE tt tt tt gg LE gd ttt tt gg L LE gd dL tt gd LE ttt ttt LE tt tt tt gg L LE ttt tt LE tt tt tt tl g 4 LE gd gd tt tt Leto rs te Table
53. 01 Sample Program for Executing Change Speed Command 00002 102300 Execute Execute Change Speed Command 00003 Execute Change Speed command 00004 102301 MOV 400 000101 AX1 CMD Change Speed Execute Command 00005 L MOV 000145 000148 000149 L 10000 000245 1 Target Speed for interpolation 00006 ne Acceleration Time for interpolation 00007 Deceleration Time for interpolation 00008 AX2 Target Speed for interpolation 00009 L 7500 000345 AX3 Target Speed for interpolation 00010 000101 Write AX1 parameters 00011 000245 Write AX2 parameters 00012 000345 Write AX3 parameters 00013 Y00333 AX1 Send Command 102302 Receiving Response 112303 Executing Command AX1 Send Command relay ON 00014 Receiving Response 00015 Executing Command ON Check execution of Change Speed command 102302 00301 00016 00017 00333 AX1 Send Command 102302 Receiving Response AX1 Send Command relay OFF Receiving 1 Response Response Received 00018 Receiving Response OFF Check completion of Change Speed command 102302 102303 200301 X00317 X00318 X00319 00019 00020 102303 Executing Command Receiving Executing 1 AX1 AX2 Executing OFF Response Command Response Positioning Pos
54. 05 x00332 00364 Clear Error Warning Clear OFF Error Warning 103102 Error Warning Cleared 00006 Detected Execution completed IM 34M06H60 03E 1st Edition Jan 2010 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 IM34MO06P12 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 ni 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 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 ni 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 Sp
55. 07 0008 00 denotes an axis number from 01 to 15 For POSING CMD 35 or EX POSING CMD 39 command specify the target position TPOS ZRET command CMD 3A specify the zero point return mode MODE Zero Point Return Mode MODE 15 14 131211109 876 543 21 0 0 9 0 00 0 DO X 0 0 0 XX XX L L L L Zero Point Return Type MODE TYPE 0 Latch signal 1 Deceleration LS Latch signal Zero Point Return Direction MODE HOME_DIR 0 Positive direction 1 Negative direction Target Speed TSPD STD SERVO Data Range For POSING 35 EX POSING 39 or ZRET 3A command 0 to 2 147 483 647 For FEED 36 or EX FEED 37 command 2 147 483 648 to 2 147 483 647 Data Position 0009 0010 00 denotes an axis number from 01 to 15 Specify the target speed TSPD For FEED 36 or EX FEED 37 command the direction of motion is specified by the sign of the TSPD value Acceleration ACCR STD SERVO Data Range 1 Maximum acceleration 0 to 2 147 483 647 Data Position No 0011 0012 denotes an axis number from 01 to 15 Specify the acceleration ACCR IM 34M06H60 03E 1st Edition Jan 2010 00 4 20 Deceleration DECR STD SERVO Data Range 1 Maximum deceleration 0 to 2 147 483 647 Data Position 0013 0014 denotes axis number from 01 to 15 Specify the deceleration DECR Torque Limit STD SERVO
56. 3 5 5 28 to 5 33 star 3 11 Start Positioning command 0100 2 6 5 44 Start Stop Communication relay 4 2 4 6 5 4 station address 4 11 4 12 statuses reading 5 53 5 56 Stop Immediately command 0300 2 6 5 47 Subcommand Control SUB CTRL 4 15 4 23 Subcommand Status SUB STAT 4 28 4 33 SV OFF command 32 3 4 5 14 5 40 SV ON command 31 3 4 5 10 SVPRM WR command 41 3 4 5 22 SYNC SET command 00 3 4 3 6 5 61 T Target Position for interpolation motion commands nib eimi deae a dd eed ib 4 15 4 23 Target Position 4 14 4 19 Target Speed for interpolation motion commands 4 15 4 23 Target Speed TSPD 4 14 4 19 Torque Feed Forward TFF 4 14 4 20 Torque Limit 20 22222 4 14 4 20 Torque Reference TQREF 4 14 4 20 troubleshooting 7 1 troubleshooting when communication fails 7 3 troubleshooting when RDY LED is not lit 7 2 U units system of 4 8 Warning Axis 4 35 4 36 5 59 2 Z
57. 4 14 Command Error Codes Code Description 0 Normal Invalid data Unsupported command received Invalid data Command execution condition error Subcommand combination error Phase error Device Alarm Status D ALM 0 No alarm 1 Alarm state Device Warning Status D WAR 0 No warning 1 Warning state Command Ready CMDRDY 0 Command reception disabled 1 Command reception enabled Alarm Clear Completed ALM CLR CMP 0 No 1 Yes Command ID RCMD 10 0 to 3 Command Error Status ALM 0 Normal 1 to F Command error code Communication Alarm Status COMM ALM 0 Normal 1 to F Communication error code Table 4 15 Communication Error Codes Code Description 0 Normal FCS error Command data not received Synchronous frame not received FCS error Command data not received Synchronous frame not received gt IN Dla Synchronization interval error WDT error IM 34M06H60 03E 1st Edition Jan 2010 00 Servo Command Status Field SVCMD STAT 4 30 STD SERVO Data Position 0063 0064 00 denotes an axis number from 01 to 15 Data Range Bit data Bits 31 to 0 Returns the Servo Command Status Field SVCMD STAT For details on monitor data selection codes see Table 4 8 15 14 13 12 11 10 0 pS ee 0 0 X L Paus
58. 54 AX12 Device Type AX12 Station Address 0055 AX13 Device Type 0056 AX13 Station Address 0057 AX14 Device Type 0058 AX14 Station Address 0059 AX15 Device Type 0060 AX15 Station Address 0061 System reserved Always 0 0062 0 2 ms 1 1 ms Communication Cycle 2 0 5 ms 8 axes max 3 0 25 ms 4 axes 0063 to 0100 System reserved Always 0 IM 34M06H60 03E 1st Edition Jan 2010 00 Start Stop Communication relay Turning the Start Stop Communication relay YLILILI48 after writing MECHATROLINK III communication parameter values initializes MECHATROLINK III communications The Communication Status relay XLILILI16 turns on when MECHATROLINK III communication initialization is successfully completed to indicate that the module is ready to send and receive MECHATROLINK III commands Always keep the Start Stop Communication relay YLILILIA8 ON while operating the module Turning off this relay stops MECHATROLINK III communications and turns off the Communication Status XLILILI16 relay It also stops the operation of connected external devices Table 5 2 Relays for Issuing Request to Start or Stop MECHATROLINK III Communication Signal Name Description Relation with Other Relays Start stop Request to start or stop MECHATROLINK III x00016 shows the current 0048 22220 Communication communications communication statu
59. 601 to 2000 Common Statuses 34M06H60 03E 1st Edition Jan 2010 00 5 53 5 5 Reading Statuses The positioning module allows statuses of external devices corresponding to axes 1 to 15 to be read from input relays axis statuses and common statuses Status data is updated at each communication cycle The statuses that are updated depend on the transmitted MECHATROLINK III commands For details on the statuses that are updated for each MECHATROLINK III command see Subsection 5 3 1 Parameters and Statuses of MECHATROLINK III Commands and Subsection 5 4 1 Parameters and Statuses of Interpolation Motion Commands After the module receives a response from a standard servo profile compliant external device for a transmitted MECHATROLINK III command but not an extended MECHATROLINK III command for which status data is not updated it automatically sends a Servo Status Monitor 30 command In this way status data is updated automatically B How to Read Status Reading statuses Input relays can be read as input relays in a ladder program Axis statuses and common statuses can be read using READ instructions in a ladder program 9 Input relays Table 5 13 lists the input relays Table 5 13 List of Input Relays n N i 08 Tumi is relay 10 Response Received AX11 Response Received X12 Response Received X13 Response Received urns on when a MECHATROLINK III respons
60. 7 00018 100503 Executing Command Executing OFF Command 100504 Execution completed POS_SET Completed Receiving Executing AX1 Response Command Response 00019 Received IM 34M06H60 03E 1st Edition Jan 2010 00 5 17 Sample Program for Sending Feed FEED 36 Command This sample program issues a FEED 36 command for axis 1 to the positioning module mounted in slot 3 After the command is issued motion continues until a command cancellation is issued using the CMD_CANCEL bit 00001 Sample Program for Sending FEED Command 00002 100600 100601 precute Execute FEED Command 00003 Send FEED command 00004 100601 000101 1 CMD Execute FEED Command 00005 MOv 000102 1 CTRL 00006 L 280100001 000103 1 SVCMD_CTRL 00007 MOV Of 000105 AX1 SVCMD IO 00008 L 10000 000109 Target Speed TSPD 00009 L 000111 Acceleration ACCR 00010 000113 Deceleration DECR 00011 L 78 000115 Torque Limit 00012 16 Write 1 parameters 00013 Y00333 AX1 Send Command Send relay ON Command 100602 Receiving Response Receiving ON Response 100603 Executing Command Executing ON Command 00014 00015 Check sending of FEED command 100602 00301 00333 1 Receiving 1 AX1 Send relay OFF Response Response Command Receiv
61. ATROLINK III response parameters Statuses 1201 to 1300 Axis 12 MECHATROLINK III command parameters MECHATROLINK III response parameters Statuses 1301 to 1400 Axis 13 MECHATROLINK III command parameters MECHATROLINK III response parameters Statuses 1401 to 1500 Axis 14 MECHATROLINK III command parameters MECHATROLINK III response parameters Statuses 1501 to 1600 Axis 15 MECHATROLINK III command parameters MECHATROLINK III response parameters Statuses 1601 to 2000 Common statuses 2001 to 2750 3001 to 3750 Extended MECHATROLINK III command parameters Extended MECHATROLINK III response parameters 3751 amp above System reserved IM 34M06H60 03E 1st Edition Jan 2010 00 4 8 System of Units MECHATROLINK III standard servo profile compliant external devices allow units for position speed acceleration deceleration and torque to be selected using parameters of the external device Check the respective user s manuals of external devices connected to the module for the units to be used when writing MECHATROLINK III command parameter data as well as reading MECHATROLINK III response parameter data and axis statuses for each axis from the CPU module Position 7 reference unit default Can be defined as x10 reference unit Speed Reference unit s default Can be defined as x10 reference unit s Reference uni
62. D SERVO Data Range Bit data Bits 15 to 0 Data Position No 0047 denotes an axis number from 01 to 15 Specify the set of axes to be moved in tandem with the reference axis during interpolation motion as bit data This parameter is only valid when specified for the reference axis It is ignored when specified for an interpolation axis 1514131211109 87 654 32 1 0 OX X X X XX XX XX XX XXX LE E d E P gd gd Pg 1 d LP Axis 1 0 1 yes LIE LE gd P gd gd d d 1 d d amp 2 0 1 yes bt l I d Axis 3 0 1 yes LE LE dE PL td ttt I E Axis 4 0 t yes 60 5 0 1 0 6 0 1 Axis 7 0 1 yes b Axis 8 0 no 1 yes Axis 9 0 no 1 yes Ll Axis 10 0 no 1 yes Ll bS Axis 11 0 no 1 yes t2 Axis 12 0 no 1 yes Axis 13 0 1 yes 1 Axis 14 0 1 yes Axis 15 0 1 yes Acceleration Time for interpolation motion commands STD SERVO Data Range 0 to 32 767 ms Data Position No 0048 denotes an axis number from 01 to 15 Specify the acceleration time for an interpolation motion This parameter is only valid when specified for the reference axis It is igno
63. ECHATROLINK III command parameters 2151 to 2200 A X4 Extended MECHATROLINK III command parameters 2201 to 2250 AX5 Extended MECHATROLINK III command parameters 2251 to 2300 AX6 Extended MECHATROLINK III command parameters 2301 to 2350 AX7 Extended MECHATROLINK III command parameters 2351 to 2400 AX8 Extended MECHATROLINK III command parameters 2401 to 2450 9 Extended MECHATROLINK III command parameters 2451 to 2500 AX10 Extended MECHATROLINK III command parameters 2501 to 2550 AX11 Extended MECHATROLINK III command parameters 2551 to 2600 AX12 Extended MECHATROLINK III command parameters 2601 to 2650 AX13 Extended MECHATROLINK III command parameters 2651 to 2700 AX14 Extended MECHATROLINK III command parameters 2701 to 2750 Data Position Number 3001 to 3050 AX15 Extended MECHATROLINK III command parameters Data Name Data Description AX1 Extended MECHATROLINK III response parameters 3051 to 3100 AX2 Extended MECHATROLINK III response parameters 3101 to 3150 Extended MECHATROLINK III response parameters 3151 to 3200 AX4 Extended MECHATROLINK III response parameters 3201 to 3250 AX5 Extended MECHATROLINK III response parameters 3251 to 3300 AX6 Extended MECHATROLINK III response parameters 3301 to 3350 AX7 Extended MECHATROLINK III response parameters 3351 to 3400 AX8 Extended MECHA
64. FA M3 system Workflow Build overall system configuration Install module to base module Set up MECHATROLINK III communication parameters data position no 0031 to 0100 Turn on Start Stop Communication relay YOOO48 Communication Status relay X00016 Start operation Task Description SEE ALSO 3 6 Attaching Detaching the Module Set up station addresses of external Refer to respective user manuals of devices using hardware rotary external devices Switches or other means Use dedicated cable 3 7 Connecting to External Devices Set up device types and station addresses 5 2 Starting and Stopping for external devices to be connected to the MECHATROLINK III module as well as the communication Communications cycle Initialize and start MECHATROLINK III communications If the Communication Status relay does not turn on check the setup and wiring of external devices and MECHATROLINK III communication parameter values Sending MECHATROLINK III Commands Executing Interpolation Motion Commands Reading Statuses Detecting Errors Warnings and Communication Alarms Clearing Errors and Warnings Accessing the Module Troubleshooting Set up MECHATROLINK III command parameters for the relevant axes and transmit the command to external devices by turning on the Send Command relay N Figure 5 1 Startup Preparation Flowchart IM 34M06H60 03E 1st Edition Ja
65. ID ID_RD 03 Command This sample program issues an ID_RD 03 command for axis 1 to the positioning module mounted in slot 3 After issuing the command it verifies completion of the command execution by checking the extended MECHATROLINK III response parameters To read the device name the program writes the following ID RD 03 MECHATROLINK III command directly to the extended MECHATROLINK III command parameter area and then transmits the extended command Table 5 4 Send Data for ID RD 03 Command DA Data Position Data Size Numer 1 word 16 b its 0 80 0C 0 0 0 0 0 0 0 0 0 0 0 0 IM 34M06H60 03E 1st Edition Jan 2010 00 5 25 00001 Sample Program for Sending ID RD Command 00002 101300 101301 Execute Execute ID_RD Command Send ID_RD command 101301 SWC gt Execute 1 Command MOV 300 D02001_ Date bytes 1 2 MOV Of 002002 Date bytes 3 4 00005 00006 00007 80001 002003 Date bytes 5 6 00008 002004 Date bytes 7 8 00009 BMOV 0 002005 002001 2001 Write parameters 00333 AX1 Send Command AX1 Send Command 171302 Receiving Response Receiving ON 101303
66. II commands format 2 042 2 5 36 independent axis motion 1 3 2 1 SOMO 5 6 IM 34M06H60 03E 1st Edition Jan 2010 00 MECHATROLINK III communications A 3 2 3 12 communication 5 57 7 4 communication parameters 4 11 5 3 5 5 3 8 dedicated 3 2 initialization error 5 57 7 4 SCOPE of 3 3 starting and stopping communications 5 2 topology retten een 1 1 3 11 wiring 3 12 Module Alarm Code 4 35 4 36 5 59 7 4 Module Detailed Alarm Code 4 35 4 37 5 59 Module Information Statuses 4 10 Monitor MONITOR 4 28 4 32 4 33 monitor data selection codes 4 18 Monitor Selection SEL MON 4 17 4 18 4 23 N command 00 3 4 3 6 5 2 O Output Data OUTPUT 4 15 4 25 output relays secsec 4 2 4 5 P POS SET command 20 3 4 5 16 POSING command 35 2 2 3 4 5 19 POSING command 35 cancel
67. III communication cables Cable Always use a MECHATROLINK III dedicated cable for connection 9 Inter station cable length All cables between stations must be kept within 0 2 m and 100 m long Detaching a MECHATROLINK III communication cable Follow the procedure shown in the figure below when detaching a cable connector Always slide the lock injector of the connector towards the module to release the lock before pulling out the connector Module 1 lt M 1 Slide the lock injector towards the module 2 lc 2 With the lock injector slided to the module side pull out the connector Lock injector Figure 3 7 How to Detach MECHATROLINK III Communication Cables CAUTION Pulling out a cable connector without first releasing its lock may damage the connector IM 34M06H60 03E 1st Edition Jan 2010 00 4 Input Output Relays Parameters and Statuses 4 1 List of Input Output Relays This module provides 32 input relays and 32 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 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 denotes the FA M3 slot number where the module is mounted Table 4 1 List of Input Relays Tum TE imm T XLILILI06 6 Response Received on when a MECHATRO
68. III standard profile commands that are executable by the module Executable by a user using MECHATROLINK III command parameters of each axis Executable by a user using extended MECHATROLINK III command parameters Not executable by a user but is executed automatically by the positioning module or external devices X Not supported B Standard Profile Commands Table 3 11 List of Standard Profile Commands Command Communi Common commands Standard I O e ree 0 ET s s PRM RD Read parameter X sp PRM WR Wrte parameter 89 IDRD Redi A CONFIG Setupdevice 8 ARD Ressamswm f A s QOlaraamorwamng A 5 SYNC SET Start synchronous communication A X DISCONNECT Release connection A a PPRM RD Read stored parame x Sic PPRM WR Write stored parameter A RD Reamemy X SE MMWR Wi ememy X 82 DataReadwrtea a sm DAA RWS DaaReadwie s _ S QD gt S gt gt BS S YS gt S S S S S m Table 3 12 Communication Type Symbol Communication Type 5 Synchronous communication command A Asynchronous communication command IM 34M06H60 03E 1st Edition Jan 2010 00 3 4 Components and Their Functions Appe
69. LINK III response for axis 6 is received Turning off YL1L1L138 also turns off this relay X00007 AX7 Response Received Turns on when a MECHATROLINK III response for axis 7 is received Turning off YL1L1L139 also turns off this relay XLILILI08 8 Response Received on when a MECHATROLINK III response for axis 8 is received Turning off YL1L1L140 also turns off this relay XLILILIt1 11 Response Received Turns on when MECHATROLINK III response for axis 11 is received Turning off YLICIL143 also turns off this relay X00012 12 Response Received Turns on when a MECHATROLINK III response for axis 12 is received Turning off 46 also turns off this relay XLILILT15 15 Response Received Tums on when a MECHATROLINK III response for axis 15 is received Turning YL1LIL147 also turns off this relay Turning on YL1LILI4A8 to initiate 6 Communication Status Turns on while MECHATROLINK III communication is in progress communication turns on this relay when turns off otherwise communication begins Turning off YL1L1L148 also turns off this relay uL WE S Relation wih Other Relays 17 Positioning Completed on when axis 1 is in positioning completed state XLILILI8 2 Positioning Completed on when axis 2 is in positioning completed state XCILILT9 Positioning Completed _ Turns on when axis 3 is in positioning compl
70. M06M51 04E IM 34M06H60 03E 1st Edition Jan 2010 00 Copyrights and Trademarks 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 be 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 B Trademarks The trade and company names that are referred to in this document are either trademarks or registered trademarks of their respective companies IM 34M06H60 03E 1st Edition Jan 2010 00 TOC 1 FA M3 Positioning Module with MECHATROLINK III Interface IM 34M06H60 03E 1st Edition CONTENTS Applicable Produe th IN POM AIG ii ct vii
71. NK III command timeout error No response was received within the timeout interval about 10 seconds after a command was transmitted A parameter value specified for an interpolation motion command is out of range Check connector wiring Check communication parameter values Adopt measures against noise Check status of external device Make sure no unsupported command is sent Correct invalid parameter value Motion axis error An interpolation motion command was executed against a moving axis A Change Speed command or Change Target Position command was executed for an axis while target position change was in progress Wait for positioning to complete before executing the Starting Positioning command Wait for target position change to complete before executing a Change Speed command or Change Target Position command Communication parameter error MECHATROLINK III communication parameter setup error Check MECHATROLINK III communication parameter settings IM 34M06H60 03E 1st Edition Jan 2010 00 7 5 7 2 2 External Device Communication Alarms Warnings The table below lists the codes of common communication related alarms and warnings which may be detected by external devices For details of other alarm codes and warning codes see the respective user s manuals of the external devices Table 7 2 List of MECHATROLINK III Communication Related Alarm Codes
72. OLINK III response parameters as shown below The following example illustrates the case for the POSING 35 command Conversion of MECHATROLINK III response to axis statuses and axis MECHATROLINK III response parameter data Table 5 9 MECHATROLINK III Response Byte Data 8 bits 35 Command RWDT CMD STAT SVCMD STAT SVCMD IO CPRM SEL MON1 CPRM SEL MON2 MONITOR1 MONITOR2 MONITOR3 Table 5 10 Axis Statuses aS Long Word Data Data Position Number Data Name Low word High word 16 bits 16 bits 0061 System reserved 0062 Command Status 5 0063 00264 Servo Command Status Field SVCMD STAT 020265 02066 Servo Command Input Signal SVCMD_IO 010167 0210268 Fixed Monitor 1 CPRM_SEL_MON1 0069 0070 Fixed Monitor 2 CPRM_SEL_MON2 0071 0072 Monitor 1 MONITOR1 0073 0074 Monitor 2 MONITOR2 0075 0076 Monitor MONITOR3 IM 34M06H60 03E 1st Edition Jan 2010 00 5 39 Conversion of MECHATROLINK III response to extended MECHATROLINK III response parameter data Table 5 11 MECHATROLINK III Response Extended MECHATROLINK III Response Parameters Data Position Word Data Number 16 bits IM 34M06H60 03E 1st Edition Jan 2010 00 5 40 5 4 Executing Inter
73. R IM 34M06H60 03E 1st Edition Jan 2010 00 4 23 Subcommand Control SUB CTRL STD SERVO Data Range Bit data Bits 31 to 0 Data Position 0041 0042 00 denotes an axis number from 01 to 15 Specify the Subcommand Control Field SUB CTRL as 32 bit data For details on monitor data selection codes see Table 4 8 1514131211109 8 765 43 21 0 XXXX000000000000 LLLL Monitor Selection 4 SEL MONA 0 to 15 Monitor data selection code Monitor Selection 5 SEL MONS 0 to 15 Monitor data selection code Monitor Selection 6 SEL_MON6 0 to 15 Monitor data selection code Target Position for interpolation motion commands STD SERVO Data Range 2 147 483 648 to 2 147 483 647 Data Position 0043 0044 00 denotes an axis number from 01 to 15 Specify the target position when executing an interpolation motion command This parameter must be specified for the reference axis as well as each interpolation axis Target Speed for interpolation motion commands STD SERVO Data Range 1 to 2 147 483 647 Data Position 0045 0046 00 denotes an axis number from 01 to 15 Specify the target speed when executing an interpolation motion command This parameter must be specified for the reference axis as well as each interpolation axis IM 34M06H60 03E 1st Edition Jan 2010 00 4 24 9 Interpolation Axes for interpolation motion commands ST
74. R ej enes PEE coco PPRM_RD Eo 0063 0064 Servo Command Status Field SVCMD_STAT j PF E065 0066 Servo Command Input Signal SVCMD_IO _ E067 O68 Fixed Monitor 1 SEL VOND E e e a MON 10 0 0 0 MONT 0075 0076 Monitor 3 MONITOR3 0077 0078 Moitr4 MONTORO mW Monitor 5 MONITORS 0081 0082 Monitor6 MONITOR6 0 77 il ell cnestommoo Systemreserved PH 1 m 160100200 Statuses Tv IM 34M06H60 03E 1st Edition Jan 2010 00 5 30 B Standard Servo Profile Commands 2 of 3 Command parameters Data Position Number Data Name POS_SET BRK_ON BRK_OFF SENS_ON se SV_ON SV_OFF EX FEED m e e e e e e e m a N b a N N A N A N A A 59 m RK gt 99 a A A A gt __ 0001 Command Code CMD 0002 Control CMD_CTRL 0003 0004 Servo Command Control Field SVCMD_CTRL 0005 0006 Servo Command Output Signal SVCMD IO Target Position 5 eeu oe Zero Point Return Mode MODE 0009 0010 Target Speed TSPD 0011 0012 Acceleration 0013 0014 Deceleration DECR
75. TPOS L 100001 000109 a L 000111 Acceleration L 000113 Deceleration DECR E DOOT15 Torque Limit TLIM 200101 Write AX1 parameters Y00333 AX1 Send Command AX1 Send relay ON Command 10802 Receiving Response Receiving Response ON Executing Command 2 Executing ON Check sending of POSING command Command 100802 200301 AX1 Send Command Receiving AX1 AXiSend relay OFF Response Response Command Received Check completion of POSING command 100802 Receiving Response 100802 Receiving Response Receiving OFF Response 100803 00301 X00317 100803 Executing Command Executing AX1 AX1 Executing OFF Command Response Positioning Command Received Completed 100804 Execution completed Positioning Completed IM 34M06H60 03E 1st Edition Jan 2010 00 5 20 Sample Program for Canceling a Positioning POSING 35 Command This sample program cancels POSING command execution of axis 1 which is moving by reissuing to the positioning module mounted in slot 3 a POSING 35 command with the SVCMD_CTRL CMD_CANCEL bit set to 1 After issuing the command it verifies completion of positioning by checking that the corresponding Positioning Completed relay has turned on 00001 Sample Program for Canceling POSING Command 00002 100900 100901 Positioning Command
76. TROLINK III response parameters 3401 to 3450 AX9 Extended MECHATROLINK III response parameters 3451 to 3500 AX10 Extended MECHATROLINK III response parameters 3501 to 3550 AX11 Extended MECHATROLINK III response parameters 3551 to 3600 AX12 Extended MECHATROLINK III response parameters 3601 to 3650 AX13 Extended MECHATROLINK III response parameters 3651 to 3700 AX14 Extended MECHATROLINK III response parameters 3701 to 3750 AX15 Extended MECHATROLINK III response parameters IM 34M06H60 03E 1st Edition Jan 2010 00 4 39 B Description of Extended MECHATROLINK III Command and Response Parameters Axis Extended MECHATROLINK III Command Parameters Specify the parameters for a MECHATROLINK III command to be transmitted The specified extended MECHATROLINK III command parameter data is transmitted as is if the Command Code CMD axis MECHATROLINK III command parameter is specified as 1 Axis Extended MECHATROLINK III Response Parameters These parameters return the response for a transmitted MECHATROLINK III command These parameters return the response to a MECHATROLINK III command transmitted according to the extended MECHATROLINK III command parameter values IM 34M06H60 03E 1st Edition Jan 2010 00 Using the Positioning Module Startup Preparation Figure 5 1 shows a flowchart for commissioning the positioning module in an
77. a Read Write A DATA_RWA 20 Command This sample program issues a DATA_RWA 20 command for axis 4 to the positioning module mounted in slot 3 After the command is issued output data OUTPUT is sent continually and input data INPUT is received continually while the Send Command relay remains ON e n Sample Program for Sending DATA RWA Command 0002 101200 101201 Execute Execute DATA_RWA Command 00003 DFD 101205 00004 Send DATA RWA command 00005 101201 000401 AX4 CMD Execute DATA RWA Command nnn MOV 0 D00402 AX4 CMD_CTRL 00007 30 Output Data OUTPUT 00008 WRITE 000401 Write 4 parameters 00009 Y00336 4 Send Command Send relay ON Command 11202 __ Receiving Response 00010 Receiving Response 00011 Write output data OUTPUT and read input data INPUT 00012 101202 00304 MOV 1777 000403 Set Output Data Receiving OUTPUT Response Response 00013 Received 000404 Set Output Data OUTPUT 00014 Write Output Data OUTPUT 00015 30 Read Input Data Stop DATA_RWA transmission 00016 00017 101205 101202 Y00336 4 Send Command Receiving Send relay OFF Response Command 101202 _ Receiving Response Receiving OFF Response 00018 34M06H60 03E 1st Edition Jan 2010 00 5 24 Sample Program for Sending Read
78. a of monitor 2 MONITOR2 Monitor 3 MONITOR3 Data Position No Data Range STD SERVO 0075 0076 denotes an axis number from 01 to 15 2 147 483 648 to 2 147 483 647 Returns data of monitor 3 MONITOR3 Monitor 4 MONITOR4 Data Position No Data Range STD SERVO 0077 0078 denotes an axis number from 01 to 15 2 147 483 648 to 2 147 483 647 Returns data of monitor 4 MONITOR4 IM 34M06H60 03E 1st Edition Jan 2010 00 4 33 Monitor 5 MONITORS STD SERVO Data Position 0079 0080 00 denotes an axis number from 01 to 15 Data Range 2 147 483 648 to 2 147 483 647 Returns data of monitor 5 MONITORS Monitor 6 MONITOR6 STD SERVO Data Position 0081 0082 00 denotes an axis number from 01 to 15 Data Range 2 147 483 648 to 2 147 483 647 Returns data of monitor 6 MONITOR6 Subcommand Status SUB STAT STD SERVO Data Position 0083 0084 00 denotes an axis number from 01 to 15 Data Range Bit data Bits 31 to 0 Returns Subcommand Status SUB STAT For details on monitor data selection codes see Table 4 8 15 14 13 1211109 876 543 210 XXXXXXXX00000X00 Ly d sg odi Subcommand Ready SUBCMDRDY LE dL tt ttt 0 Command reception disabled LE dL tt gd g 14 1 Command reception enabled Eb Jd LL L Subcommand Alarm SUBCMD ALM q AE d 0 Normal 1 to F Command error code L LL bo Mo
79. acilities aviation facilities or medical equipment If so used 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 Exemption 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 34M06H60 03E 1st Edition Jan 2010 00 B 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 34M06H60 03E 1st Edition Jan 2010 00 General Requirements for U
80. ad from an external device is not equal to the previous watchdog data value plus 1 IM 34M06H60 03E 1st Edition Jan 2010 00 5 58 Command timeout error A command timeout error is generated if no MECHATROLINK III response for a MECHATROLINK III command is received within ten seconds after command transmission It is assumed that a command processing error is detected by the external device Interpolation Motion Command Execution Related Errors Parameter setup error A parameter setup error is generated when an invalid parameter value is specified for an interpolation motion 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 motion the motion is decelerated to a stop Motion axis error A motion axis error is generated if an interpolation motion is executed against 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 III 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 9 Internal computation error An internal compu
81. ails IM 34M06H60 03E 1st Edition Jan 2010 00 7 2 7 2 1 Alarm Code Hex List of Alarm Codes and Warning Codes Module Alarms The table below lists codes for alarms and warnings that may be detected by the positioning module Table 7 1 List of Module Alarm Codes Alarm Name Access driver error Possible Causes and Description An error was reported by the access driver for MECHATROLINK III communication Troubleshooting Check the connection with the external device and its status This error normally should not happen Disconnected external device An external device specified in the MECHATROLINK III communication parameter area is not connected or powered off Check the connection of the external device If no external device is connected specify it as such in the MECHATROLINK III communication parameter area Station address error The connected external device has the same station address as another external device Check the station addresses of connected external devices Watchdog data error MECHATROLINK III synchronization error WDT data mismatch Update WDT data at each communication cycle This error normally should not happen Communication error Command timeout error Parameter setup error MECHATROLINK III communication error was detected for two consecutive cycles Bad contact of cables or connector Operation error due to noise MECHATROLI
82. an 2010 00 Module Operation Figure 1 2 shows the principle behind the operation of the positioning module Independent axis motion using MECHATROLINK III commands The procedure for initiating a positioning motion by sending a MECHATROLINK III command is given below From the CPU module a program writes the command code 35 for the 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 III command is transmitted to the external device e g servo drive to initiate the desired positioning motion in the external device The Response Received input relay turns on when a response to the transmitted MECHATROLINK III command is received The Positioning Completed input relay turns on subsequently when the positioning motion completes Linear interpolation motion starting and stopping multiples axes simultaneously The procedure for performing linear interpolation is given below From the CPU module a program writes the command code 100 and other command parameters for the interpolation motion command such as acceleration time in ms deceleration time in ms and interpolation axes as well as the target position reference unit and target speed reference unit s of each motio
83. and a direction change is required the motion is decelerated to a stop before operation is initiated in the reverse direction SVCMD CTRL CMD CANCEL 1 Feed speed Speed Figure 2 2 Operation Example for Feed Command FEED 36 IM 34M06H60 03E 1st Edition Jan 2010 00 2 3 External Input Feed Command EX FEED 37 The EX FEED command performs positioning in response to the input of the external positioning signal during constant speed feed at the specified feed speed When the external positioning signal is input during constant speed feed the current position counter P2 is latched and motion is then decelerated to a stop at position P3 by traveling through the external positioning final travel distance specified by a parameter If the travel distance required for deceleration to a stop is longer than the specified external positioning final travel distance the motion is first decelerated to a stop according to the deceleration pattern and then a return to the target position is executed before command execution ends The external signal used to latch the current position is specified by SVCMD_CTRL LT_SEL To cancel EX FEED command execution set SVCMD_CTRL CMD_CANCEL the CMD CANCEL bit of the Servo Command Control Field to 1 and re execute the EX FEED command to pause FEED command execution set SVCMD CTRL CMD PAUSE to 1 and re execute the EX FEED command Confirm the completion of motion ref
84. ands The following tables list the required command parameters that must be written as well as the response parameters and statuses that are returned for each MECHATROLINK III command The command parameters and returned response parameters and statuses depend on the profile type supported by the connected external device In the table OO denotes an axis number 01 to 15 while denotes the value of OO 1 The MECHATROLINK III commands that are executable by the positioning module are listed with the following indications 9 Executable by a user using MECHATROLINK III command parameters of each axis Executable by a user using extended MECHATROLINK III command parameters Not executable by a user but is executed automatically by the positioning module or external device Not supported B Standard Servo Profile Commands 1 of 3 Command parameters a Data Position Data Name Q Number 0 Y ALM RD ALM CLR PPRM RD MEM RD MEM WR 9503 5504 0005 0006 Servo Command Output Signal SVCMD IO Target Position 5 DE Zero Point Return Mode MODE 0009 0010 oon 0012 0013 0014 210215 0016 0017 0018 0019 0020 0021 0022 Torque Reference TQREF 0023 0024 Speed Feed Forward VFF 0027 0028 Coordinates Setting Mode POS SET MOD 0 0029 003 0025 0026 Torque Feed Forward TFF Coordinates Set Value POS_DATA _ _
85. arance and Construction The outer appearance of the module is shown in the figure below RDY LED indicators ERR 97 0 POSIT LNK1 LED MECHATROLINK III connector 1 LNK2 LED MECHATROLINK III connector 2 Figure 3 1 Appearance and Part Names B Component Functions LED Indicators The various LED indicators turn on or turn off to indicate the operating status of the module Table 3 13 LED Indicators Name color RDY green Status of internal circuitry CON green MECHATROLINK III one Not communication status Communicating communicating WRN yellow Warning status Warning detected ALM red Error detected LNK1 LED LNK2 LED The LNK1 and LNK2 LED indicators are lit when an external device is connected to the LNK1 and LNK2 connectors respectively IM 34M06H60 03E 1st Edition Jan 2010 00 3 8 MECHATROLINK III Connectors 1 and 2 These connectors are used for connecting MECHATROLINK III compliant external devices The table below shows the pin assignments for the module s MECHATRONLINK connectors used for attaching MECHATROLINK III compliant external devices Table 3 14 MECHATROLINK III Connector Specifications Pin No Signal Function TXP Send data Send data Receive data Receive data Note The connector shell is connected to the FG terminal These signal lines are isolated from the internal circuitr
86. can be connected using fewer cables terminated with easy to attach connectors contributing to lower wiring cost High speed accurate position control through high speed high throughput communication High transmission rate of 100 Mbps and short cycle time of 0 25 0 5 or 1 ms for 4 8 or 15 axis control respectively enable shorter control cycle faster startup better control performance shorter tact time and higher productivity Up to 8 monitor data target position current position speed torque etc per axis can be read simultaneously for better monitoring of external device operation Control by transmitted commands enables full exploitation of motor performance high speed and high resolution to achieve fast and accurate position control Versatile position control includes linear interpolation motion of up to 15 axes starting and stopping multiple axes simultaneously simultaneous linear interpolation motion of any combination of axes and change of speed or target position during motion Flexible system configuration Cascade and star network topologies with inter station distance up to 100 m are supported enabling optimal system configuration More compatible external devices upcoming n addition to AC servomotors from Yaskawa Electric Corporation stepping motors external equipment and inverters from other manufacturers will be supported in the future IM 34M06H60 03E 1st Edition J
87. command begins The relay turns on or turns off according to the Positioning Completed Status PSET bit of SVCMD IO of a MECHATROLINK III response When executing interpolation motion 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 motion which is initiated by an interpolation motion command begins After a positioning motion which is initiated by an interpolation motion command is completed the relay turns on or turns off according to the Positioning Completed Status PSET bit of SVCMD IO of the MECHATROLINK III response Error Warning Detected relay X00032 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 CMD STAT of a MECHATROLINK III response received from an external device indicates an alarm STAT D ALM bit 21 a warning STAT D WAR bit 21 a command error code STAT CMD ALM code 0 or a communication error code STAT COMM ALM code 0 It also turns on when the module detects a MECHATROLINK III communication initialization related error MECHATROLINK III communication related error or an interpolation motion command execution related error To clear all reported errors and warnings turn on the Clear Error Warning relay YLILILI64 If an error o
88. command parameters Data position no 01 to 0050 2001 to 2750 Turn on Send Command relay YOOO33 to YO0047 Check if Response Received relay has turned on X00001 to X00015 Is Error Warning Detected relay ON YES X00032 Read axis MECHATROLINK III response parameters or extended MECHATROLINK III response parameters Data position no 0051 to 0060 3001 to 3750 MECHATROLINK III command execution completed axis statuses Figure 5 3 Procedure for Sending a MECHATROLINK III Command IM 34M06H60 03E Read axis statuses and common statuses and remove causes of errors and warnings Clear warnings and errors before resending MECHATROLINK III command 1st Edition Jan 2010 00 5 7 Acceptance conditions for MECHATROLINK III commands MECHATROLINK III communication is in progress Send Command relay is OFF Response Received relay is OFF No interpolation motion in progress A command is ignored if any of the above conditions is not true Writing MECHATROLINK III command parameters Axis MECHATROLINK III command parameters and extended command parameters can be written to the module using a WRITE instruction in a ladder program For details on the required command parameters of each MECHATROLINK III command see Subsection 5 3 1 Parameters and Statuses of MECHATROLINK III Commands For details on
89. d Status SUBSTAN 08570008 Remaining Tae _ InterpolationStatus TT 088 to maoo System reserved ____ NUT ET ERE RES UN 160110200 Statuses I TY 5544544 jet 55454444 le mem COCO se IM 34M06H60 03E 1st Edition Jan 2010 00 5 34 wen qe di Pen Hie Be YM Wedd INHdd xT x 0 LOANNOOSIG LOANNOO 13S ONAS 419 WIV NM qu WIV YM Wed SISANOO 1 ps ox s nj a i mere EE Noomen Bed Parameters Data Name Data Name INPUT Extended MECHATROLINK III Response Parameters Command Code CMD Statuses Command Status nput Data Command parameters Response parameters Data Position Number Data Position Number Data Position Number d 5 o B amp 7 c o E 5 2 5 S K 9 z c 5 5 5 gt L 2 e System reserved 1 ale gt gt galg amp sz 5 5 2 59 wn o gt S t o T m 9j 55 85 50 lt 21 so EIS 2
90. d parameters Data Name Command Code CMD Start Positioning o5 Ie 2 42 0200 0300 Immediately Change Speed 0400 Change Target executed in Positioning Position 0002 Command Control CMD_CTRL 0003 0004 Servo Command Control Field SVCMD_CTRL 0005 210206 Servo Command Output Signal SVCMD_IO 0007 0008 Target Position 5 Zero Point Return Mode MODE 0009 0010 Target Speed TSPD 0011 0012 Acceleration ACCR 0013 0014 Deceleration DECR 0015 0016 Torque Limit TLIM 0017 0018 Speed Reference VREF 0019 0020 Speed Limit VLIM 0021 0022 Torque Reference TQREF 0023 0024 Speed Feed Forward 0025 0026 Torque Feed Forward 0027 0028 Coordinates Setting Mode POS_SET_MOD 0029 0030 Coordinates Set Value POS_DATA 0031 to 0032 System reserved 0033 Configuration Mode CONFIG_MOD 0034 Alarm Clear Mode ALM_CLR_MOD 0035 Servo Parameter Number 0036 Servo Parameter Data Size byte SIZE Servo Parameter Read Write Mode MODE 0037 0038 Servo Parameter Data PARAMETER 0039 to 0040 System reserved 0210241 0042 Subcommand Control SUB_CTRL 0043 0044 Target Position for interpolation motion commands 0045 0046 Target Speed fo
91. device 1514131211109 8 7 0 L 6543210 00000X L Subcommand Setting 0 Enabled 1 Disabled Profile type code 10 Standard servo profile For standard servo I O compliant external device 15 14 13 12 11 10 9 7 0 0 1 0 0 0 8 10 0 Station Address of Data Range Data Position No 6543210 000 XXXX L L L L Communication Data Size 0 16 bytes 1 32 bytes 2 48 bytes 3 64 bytes Profile type code 30 Standard I O profile each axis 0 Unconnected 03 to EF Station address Axis 1 0032 Axis 2 0034 Axis 3 0036 Axis 4 0038 Axis 5 0040 Axis 6 0042 Axis 9 0048 Axis 10 0050 Axis 13 0056 Axis 14 0058 Axis 7 0044 Axis 8 0046 Axis 11 0052 Axis 12 0054 Axis 15 0060 The Station Address of each axis axes 1 to 15 specifies the station address of the corresponding external device IM 34M06H60 03E 1st Edition Jan 2010 00 4 13 Communication Cycle Data Range 0 2ms 1 1ms 2 0 5 ms 8 axes 3 0 25 ms 4 axes max Data Position No 0062 This parameter specifies the communication cycle time If communication cycle time is specified as 0 5 ms no more than eight axes can be connected If it is specified as 0 25 ms no more than four axes can be connected IM 34M06H60 03E 1st Edition Jan 2010 00 4 14 4 2 3 Axis MECHATROLINK III Command Parameters Th
92. dge of the Send Command relay YLILILI33 to YLILILI47 of the axis To confirm that a response has been received check that the command code RCMD stored in the received MECHATROLINK III response tallies with the command code CMD of the transmitted MECHATROLINK II command and that the axis is ready to receive commands CMDRDY bit of CMD_STAT 1 Turning off the Send Command relay of an axis YOOO33 to YLILILI47 turns off the corresponding Response Received relay When sending MECHATROLINK III standard I O profile commands If the command code CMD of the MECHATROLINK III command parameters of an axis is set to DATA_RWA 20 for the Data Read Write_A command and transmission of the command is initiated by a rising edge of the Send Command relay YOOO33 to YOOO47 of the axis the Response Received relay of the axis turns on when MECHATROLINK III response is received for the transmitted MECHATROLINK III command While the Response Received relay is ON output data OUTPUT is sent and input data INPUT is received continually Turning off the Send Command relay of an axis YLILILI33 to YLILILI47 turns off the corresponding Response Received relay and stops sending of output data OUTPUT However receiving of input data INPUT continues until another MECHATROLINK III command is sent When executing interpolation motion commands The Response Received relay of an axis turns on to indicate normal processing of an interpolation mot
93. dule 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 had verified that the data are the same Data concurrency cannot be assured when reading from a BASIC CPU For details on how to check that data read twice consecutively by a sequence CPU are the same in both instances see Section 6 3 Precautions When Reading 2 word Data IM 34M06H60 03E 1st Edition Jan 2010 00 5 6 5 57 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 devices and reported to the module via MECHATROLINK III communications The Error Warning Detected relay turns on for both types of errors and warnings Error and warnings detected by external devices may be caused by communication errors during MECHATROLINK III communication communication error watchdog data error transmission cycle error and synchronous command error command errors and external device faults These errors are reported to the positioning module via STAT specifically its D ALM bit D WAR bit
94. e Move Command Completed CMD PAUSE CMP 0 No 1 Yes Cancel Move Command Completed CMD_CANCEL_CMP 0 No 1 Yes pS SSS SS Current Position Reference Filter ACCFIL 0 No position reference filter 1 Exponential function position reference filter 2 Movement average position reference filter Latch Completed 1 LT CMP1 0 No 1 Yes banin Latch Completed 2 LT_CMP2 0 No 1 Yes Position Data Enabled POS_RDY 0 Disabled 1 Enabled pee Power ON PON 0 Power OFF Power ON L Motor Energization Ready M_RDY 0 Not ready 1 Ready LI elc Servo ON SVON 0 Servo OFF 1 Servo ON 000 L L L L Monitor Selection 1 MON1 1 Always fixed to CPOS L Monitor Selection 2 SEL_MON2 0 to 15 Monitor data selection code Monitor Selection 3 SEL MON3 0 to 15 Monitor data selection code External Device Vendor Specific Area IM 34M06H60 03E 1st Edition Jan 2010 00 Servo Command Input Signal SVCMD IO Data Position No Data Range 4 31 STD SERVO 0065 0066 00 denotes an axis number from 01 to 15 Bit data Bits 31 to 0 Returns Servo Command Input Signal SVCMD data 1514131211109 876543210 XX X X X XX0X XX X X X XO LL11 I amp LE gd dL I L11 I E toott tt
95. e Received relay has turned on 00001 Sample Program for Sending SMON Command 00002 101001 Execute Execute Command AX1 CMD Execute SMON MOv Of 500102 1 CMD_CTRL 00006 L 80 0000 200103 AX1 SVCMD CTRL 00007 000105 1 SVCMD IO 00008 Dori 83 AX1 parameters 00009 0333 101002 Receiving Response AX1 Send Command relay ON 00010 Receiving Response ON 00011 11003 Executing Command Executing ON z 00012 Check sending of SMON command Ess 00013 101002 x00301 Y00333 AX1 Send Command Receiving 1 Send relay OFF Response Response Command Received 00014 101002 Receiving Response Receiving OFF 00915 Check completion of SMON command Responsa 00016 101002 01003 x00301 7 101003 Executing Command Receiving Executing Executing OFF Command 101004 SMON Completed Response Command Response 00017 Received Execution completed IM 34M06H60 03E 1st Edition Jan 2010 00 00001 00002 00003 00004 00005 00006 00007 00008 00009 00010 00011 00012 00013 00014 00015 00016 00017 00018 00019 00020 00021 5 22 Sample Program for Sending Write Servo Parameter SVPRM WR 41 Command This sample program issues
96. e for axis 14 is received urns on when a MECHATROLINK III response for axis 15 is received Turning off YCILIL147 also turns off this relay Turning 148 to initiate 6 Communication Status Turns on while MECHATROLINK III communication is in progress communication turns on this relay when turns off otherwise communication begins Turning off YL1L1L148 also turns off this relay x00010 XLILILI14 14 Response Received X15 Response Received To be continued on the next page IM 34M06H60 03E 1st Edition Jan 2010 00 5 54 pir Relation wiih Other Relays 17 AX1 Positioning Completed on when axis 1 is in positioning completed state XLILILI8 2 Positioning Completed on when axis 2 is in positioning completed state 59519 Positioning Completed on when axis 3 is in positioning completed state XCILILI20 Positioning Completed on when axis 4 is in positioning completed state 21 5 Positioning Completed on when axis 5 is in positioning completed state oo XLILILI22 6 Positioning Completed on when axis 6 is in positioning completed state XLILILI23 7 Positioning Completed on when axis 7 is in positioning completed state XLILILI24 AX8 Positioning Completed on when axis 8 is in positioning com
97. ear Interpolation Motion Y axis Speed Speed attained along X axis 1 Speed attained along Y axis X axis travel Y axis travel PO Time Acceleration time Deceleration time X axis Fo20201 VSD Figure 2 9 Linear Interpolation Motion Initiated by Start Positioning Command 0100 IM 34M06H60 03E 1st Edition Jan 2010 00 Change Speed command 0400 The Change Speed command can be executed to change the speeds of moving axes during a linear interpolation motion Changing the set of motion axes during linear interpolation motion 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 to a stop according to the deceleration time specified in the Change Speed command Speed Time Start Request to Request to change speed change speed Figure 2 10 Operation Example fof Change Speed Command 0400 Change Target Position Command 0500 The Change Target Position command is executed to change the target positions of moving axes during a linear interpolation motion Changing the set of motion axes during linear interpolation motion 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 usin
98. ecial 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 Interrupt Handling All input relays XLILILIO1 to XLILILI32 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 INTP S IRET S input relay raising interrupt IM 34M06H60 03E 1st Edition Jan 2010 00 6 2 6 2 Accessing from BASIC CPU The following instructions can be used for accessing the module from a BASIC CPU Basic CPU Modules and YM BASIC FA For details of each instruction see Programming Language IM 34M06Q22 01E Function Statement Format Description Declare use of ASSIGN NC93 SL Declares use of a module or CPU module module SL slot number Read ENTER SL n NOFORMAT I Reads the parameter or status at a data parameter or SL slot number position number n of the module status n data position number installed a slot SL and stores it in a Name of integer or integer variable 1 array variable for storing read data Write OUTPUT SL n NOFORMAT I Overwrites the parameter at a data parameter SL slot number position number n o
99. ed 100602 Receiving Response Receiving OFF Response 00016 00017 00018 Check completion of FEED command 100602 100603 00301 00019 00020 100603_ Executing Command Executing OFF Receiving Executing Response Response Response Command 00021 Received Execution completed Feeding Started 34M06H60 03E 1st Edition Jan 2010 00 00001 00002 00003 00004 00005 00006 00007 00008 00009 00010 00011 00012 00013 00014 00015 00016 00017 5 18 Sample Program for Canceling Feed FEED 36 Command This sample program cancels FEED command execution of axis 1 which is moving by reissuing to the positioning module mounted in slot 3 a FEED 36 command with the SVCMD_CTRL CMD_CANCEL bit set to 1 After issuing the command it verifies completion of positioning by checking that the corresponding Positioning Completed relay has turned on Sample Program for Canceling FEED Command 700 00 100701 Cancel Execute Command Send FEED Command 100701 000101 AX1 CMD Execute FEED command 0 000102 AX1 CTRL L 280000 000103 1 SVCMD CTRL CMD_CANCEL 1 L Ol 000105 1 SVCMD_IO 5 Write 1 parameters AX1 Send Command relay ON Y00333 AX1 Send Command 100702 Receiving Response Receiving Response ON
100. emosusmono s BevwON 9 O 4 INTERPOLATE S A 5 POSING Positioning a o 5 FED Fed EXFEED Externalinputfeed O 5 EXPOSING _ Externalinput positioning ERET Zeoponrim o Sc VELCTRL Velocity control A 3D TRQCTRL Torque control 4 Pepe gt a VPRM_WR Write servo parameter A 1 The standard servo command profile does not use PRM_RD PRM_WR PPRM_RD and PPRM_WR but uses SVPRM_RD and SVPRM_WR instead 2 Brake ON OFF should be controlled by an external device n tandem with Servo ON OFF commands Table 3 9 Communication Type Symbol Communication Type 5 Synchronous communication command A Asynchronous communication command IM 34M06H60 03E 1st Edition Jan 2010 00 3 5 Standard Servo Profile Subcommands Table 3 10 Standard Servo Profile Subcommand List Command Profile Code Command Function Supported 0 NOP Nooperation 1 Standard servo 50 SMON 51 The standard servo command profile does not use PRM RD WR PPRM RD PPRM_WR but uses SVPRM_RD and SVPRM_WR instead IM 34M06H60 03E 1st Edition Jan 2010 00 3 6 3 3 3 Standard I O Profile Commands This section lists the MECHATROLINK
101. en stations Minimum distance between 0 2m stations Standard servo profile Standard profile Position 2 147 483 648 to 2 147 483 647 reference reference unit Independent axis motion using standard servo profile commands availability dependent on connected external amp device and supported standard servo profile commands Positioning Linear interpolation motion starting and stopping multiple functions axes simultaneously and speed target position change during motion Status monitoring of external devices target position current position speed and torque Reading and writing parameters of external devices External device I O using standard I O profile commands Number of installed modules 8 modules max controlling 120 axes max Current consumption 530 mA at 5 V DC Two MECHATROLINK III connectors industrial mini connector External dimensions 28 9 W x 100 H X 83 2 D Weight 130g Operating ambient temperature 0 to 55 Operating ambient humidity 10 to 9096 RH non condensing Must be free of corrosive gases flammable gases and heavy dust Storage ambient temperature 20 to 75 10 to 90 non condensing Excluding protrusions for details see external dimensions drawing Supported profiles Others External connection Operating ambient atmosphere 34M06H60 03E 1st Edition Jan 2010 00
102. erated to a stop according to the deceleration pattern and then a return to the target position is executed before command execution ends The external signal used to latch the current position is specified by SVCMD_CTRL LT_SEL To cancel EX POSING command execution set SVCMD_CTRL CMD_CANCEL the CMD CANCEL bit of the Servo Command Control Field to 1 and re execute the EX POSING command to pause an EX POSING command execution set SVCMD CTRL CMD PAUSE to 1 and re execute the EX POSING command Confirm the completion of motion reference output by checking that SVCMD IO DEN 1 and the completion of positioning by checking that SVCMD IO PSET 1 P2 Latched position data Feed speed Ze gt m P Speed Y External positioning signal Figure 2 5 Operation Example for External Input Positioning Command EX_POSING 39 Positioning after Latching Speed eee External positioning signal External positioning final travel distance Position is the integral of speed reference Figure 2 6 When Motion Cannot be Decelerated to a Stop Using the Specified External Positioning Final Travel IM 34M06H60 03E 1st Edition Jan 2010 00 2 5 B Zero Point Return Command ZRET 3A The ZRET command is used to perform a zero point return operation using the zero point limit switch and the position latch signal The signal used to latch the position is specified by SVCOMD CTRL LT SEL
103. erating path 9 Input Data INPUT STD I O Data Position 0063 to 0092 00 denotes an axis number from 01 to 15 Data Range Bit data Bits 15 to 0 Returns input data INPUT from standard I O profile compliant external devices Input data INPUT is received continually while the Send Command relay YLILILI33 to YOOO47 remains ON Even after YLILILI33 to YLILILI47 is turned off input data INPUT continues to be received until another MECHATROLINK III command is sent Table 4 16 Input Data INPUT Data Position 15 Number 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 instruction to read the data twice consecutively and verify that the data read are the same in both instances If the HRD instruction is used data concurrency is not assured even if you had verified that the data are the same Data concurrency cannot be assured when reading from a BASIC CPU For details on how to check that data read twice consecutively by a sequence CPU are the same in both instances see Section 6 3
104. erence output by checking that SVCMD IO DEN 1 and the completion of positioning by checking that SVCMD IO PSET 1 To change the speed and or direction during motion change the speed feed setting and re execute the EX FEED command If a direction change is required the motion is decelerated to a stop before operation is initiated in the reverse direction P2 Latched position data Feed speed External Positioning signal Figure 2 3 Operation Example for External Input Feed Command FEED 37 Positioning after Latching SVCMD_CTRL CMD_CANCEL 1 Feed speed Speed External positioning signal Figure 2 4 Operation Example for External Input Feed Command EX_FEED 37 Interrupted Operation IM 34M06H60 03E 1st Edition Jan 2010 00 External Input Positioning Command POSING 39 The EX POSING command performs positioning in response to the input of the external positioning signal during positioning to a specified position When the external positioning signal is input during positioning to a specified position P1 the current position counter P2 is latched and motion is then decelerated to a stop at position P3 by traveling through the external positioning final travel distance specified by a parameter If the travel distance required for deceleration to a stop is longer than the specified external positioning final travel distance the motion is first decel
105. ero Point Return Mode 4 14 4 19 ZRET command 34 2 5 3 4 5 14 IM 34M06H60 03E 1st Edition Jan 2010 00 Revision Information Document Name Positioning Module with MECHATROLINK III Interface Document No IM 34M06H60 03E Edition Date Revised 1st Jan 2010 New publication Written by International Sales amp Marketing Gr PLC Product Marketing Dept IA Systems Business Div Industrial Automation Systems Business Headquarters Yokogawa Electric Corporation Published by Yokogawa Electric Corporation 2 9 32 Nakacho Musashino shi Tokyo 180 8750 JAPAN Printed by Kohoku Publishing amp Printing Inc 1st Edition Jan 2010 00
106. es MECHATROLINK III communication for the axes specified in the MECHATROLINK III communication parameters area The Communication Status relay XLILILI16 turns when MECHATROLINK III communication initialization is successfully completed to indicate that the module is ready to send and receive MECHATROLINK III commands Always keep the Start Stop Communication relay ON while operating the module Turning off this relay stops MECHATROLINK III communication and turns off the Communication Status relay It also stops the operation of connected external devices Clear Error Warning relay YOOO64 Turning on the Clear Error Warning relay clears warnings and errors on all axes It also clears all reported MECHATROLINK III communication initialization related errors MECHATROLINK III communication related errors and interpolation motion command execution related errors 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 XLILILI32 remains ON IM 34M06H60 03E 1st Edition Jan 2010 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 individ
107. eted state 20 4 Positioning Completed on when axis 4 is in positioning completed state XLILILI21 5 Positioning Completed on when axis 5 is in positioning completed state XOOO22 6 Positioning Completed on when axis 6 is in positioning completed state XCILIL23 AX7 Positioning Completed on when axis 7 is in positioning completed state 24 AX8 Positioning Completed on when axis 8 is in positioning completed state XLILILI25 AX9 Positioning Completed on when axis 9 is in positioning completed state XCILIL26 10 Positioning Completed __ Turns on when axis 10 is in positioning completed state i XCILICI27 11 Positioning Completed_ Tums on when axis 11 is in positioning completed state XLILILI28 12 Positioning Completed _ Tums on when axis 12 is in positioning completed state XLILICI29 13 Positioning Completed on when axis 13 is in positioning completed state XCILILI30 14 Positioning Completed __ Turns on when axis 14 is in positioning completed state Turning on YL1LILI64 to clear all errors Error Warning Detected and warnings turns off this relay if errors and warnings are successfully cleared IM 34M06H60 03E 1st Edition Jan 2010 00 4 1 2 Output Re
108. f the module n data position number installed in a slot SL with the value Name of integer or integer stored in a variable 1 array variable storing write data Read input STATUS SL n P Reads the status of input relays of a relays SL slot number module that is installed in a slot SL and n data position no 101 or 102 stores it in a variable P P Name of integer variable for storing read data Write output CONTROL SL n P M Overwrites output relays of a module relays SL slot number installed in a slot SL with a value stored n data position no 101 or 102 in a variable P The mask pattern M P output data allows writing only to selected output M mask pattern relays Declare ON INT SL nn GOSUB labelj Declares branch destination for handling interrupt ON INT SL nn CALL subprogram interrupt request from the CPU module ON INT SL nn GOTO label SL slot number nn input relay no Clear interrupt OFF INT SL nn Clears an ON INT statement declaration SL slot number nn input relay no 1 2 How Handle 2 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 101 and 102 refer to input relays having data position numbers 0001 to X00016 and X00017 to X00032 res
109. g a Change Target Position Command If a Change Target Position command is executed in positioning completed state a Start Positioning sequence is executed Change in Target Position Y axi e axis during 2 axis Linear Interpolation X axis speed Transition Start Start Figure 2 11 Operation Example for Change Target Position Command 0500 IM 34M06H60 03E 1st Edition Jan 2010 00 3 1 3 Module Specifications 3 1 Specifications B Model and Suffix Code Table 3 1 Model Name and Suffix Code Option Controls up to 15 axes e Operating Environment This module is compatible with the following CPU modules Table 3 2 CPU Module Restrictions 2 cPUMoue Style Code and ROM Version 3N FSSPSESN F3SP38 6N F3SP53 4H F3SP58 6H Rev 7 or later OtherCPUs restriction General Specifications Table 3 3 General Specifications Specifications Interface MECHATROLINK III compliant Physical layer Ethernet Transmission rate 100 Mbps Cycle time No of stations 0 25 ms for 4 axes 0 5 ms for 8 axes or 1 0 ms for 15 axes Transmission bytes 16 32 48 or 64 bytes intermixing allowed Communications method Cyclic communication Network topology Cascade or star Transmission media Ethernet STP Cat5e dedicated cable Maximum transmission distance 100 betwe
110. i Copyrights and Trademarks Lucas iani diable dian UE Eth n c enda nda ix 1 OyVervieW pee 1 1 2 Overview of Positioning Functions 2 1 2 1 Positioning by Standard Servo Profile Commands 2 1 2 2 Positioning by Interpolation Motion Commands 2 6 3 Module Specifications onines 3 1 3 1 3 1 3 2 Compatible External Devices and 3 2 3 3 Scope of MECHATROLINK III 3 3 3 3 1 Profile H 3 3 3 3 2 Standard Servo Profile 3 4 3 3 3 Standard I O Profile 3 6 3 4 Components and Their Functions eere 3 7 3 5 External 3 8 3 6 Attaching Detaching the Module 3 9 3 7 Connecting to External Devices eese 3 11 4 Input Output Relays Parameters and Statuses 4 1 4 1 List of Input Output Relays nnne 4 1 4 1 1 Input Relay
111. ial Standards JIS Class D Ground Japanese Industrial Standards JIS 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 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 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 IM34M06C11 01E Keep spare parts on hand Stock up on maintenance parts including spare modules in advance IM 34M06H60 03E 1st Edition Jan 2010 00 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 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
112. ications is a high performance advanced open architecture motion field network standard published by the MECHATROLINK Members Association It enables distributed control of multiple FA units servo drives inverters I O modules etc by one FA controller With higher communication specification than its predecessors namely MECHATROLINK I of 4 Mbps transmission rate and MECHATROLINK II of 10 Mbps transmission rate MECHATROLINK III features higher speed and more functions MECHATROLINK III has the following features Synchronous communication through cyclic transmission High speed transmission at 100 Mbps Communication cycle time options allow optimization based on the number of connected stations and transmission data size This module provides three communication cycle time options 0 25 ms for 4 axes 0 5 ms for 8 axes and 1 ms for 15 axes Reduced wiring at low cost through the use of standard Ethernet cables between external devices Lower FA controller load as transmission control by the proprietary Communication ASIC includes error detection and retransmission within a communication cycle Allows a FA controller acting as master to connect to other FA support tools Network Connection MECHATROLINK III communications allows one C1 master to be connected to a maximum of 62 slaves and an optional C2 master The positioning module itself supports connection to a maximum of 15 slaves Figure 1 1 shows the net
113. ing 5 20 positioning by interpolation motion commands 2 6 Positioning Completed relay 4 1 4 4 profile type centi erret hr rena 3 3 R Remaining Travel Status 4 28 4 33 Response Received relay 4 1 4 3 5 7 5 8 5 41 5 42 5 Send Command relay 4 2 4 5 5 7 5 41 SENS ON command 23 3 4 5 2 Servo Command Control Field SVCMD T TEN 4 14 4 17 Servo Command Input Signal SVCMD IO 4 28 4 31 Servo Command Output Signal SVCMD IO 2 4 14 4 18 Servo Command Status Field SVCMD STAT 4 28 4 30 Servo Parameter Data PARAMETER 4 15 4 22 4 26 4 27 Servo Parameter Data Size SIZE Pade 4 15 4 22 4 26 4 27 Servo Parameter Number NO 4 15 4 22 4 26 4 27 Servo Parameter Read Write Mode MODE 4 15 4 22 4 26 4 27 SMON command 30 3 4 5 2 5 21 5 53 Speed Feed Forward VFF 4 14 4 20 Speed Limit VLIM 4 14 4 20 Speed Reference VREF 4 14 4 20 standard profile commands 3 6 5 34 to 5 35 Index 2 standard servo profile commands EN 2 1 3 4 10
114. ing ON Command 00024 Check sending of SV ON command T 00025 100202 00301 300302 300303 a SS 00333 AX1 Send Command Receiving AX AX1 Send relay OFF Response Response Response Response Command 00026 Received Received Received 00394 Send Command AX2Send relay OFF Command 00335 YO0336 Send relay OFF Sadie Command 100202 Receiving Response Receiving OFF Response 00029 00030 Check completion of SV_ON command READ 34 165 00063 Read AX1 SVCMD_STAT Receiving Executing Response Command 00031 00 163 100210 Extract AX1 SVCMD_STAT bits 00032 READ 002263 Read AX2 SVCMD_STAT 00033 60263 100230 Extract AX2 SVCMD_STAT bits i READ 3 36 506363 Read AX3 SVCMD_STAT 00035 000363 10250 Extract AX3 SVCMD_STAT bits 00036 100203 X00301 100223 200302 100243 200303 10263 SS a E Receiving Executing 1 AX1 AX2 AX2 Response Command Response Servoon Response Response Servo Received SVON Received 5 Received SVON 100203 Executing Command 100204 SV_ON Completed Executing Command OFF 00037 Execution completed IM 34M06H60 03E 1st Edition Jan 2010 00 5 12 Sample Program for Sending Servo OFF SV_OFF 32 Command This sample program issues a SV_OFF 32 command fo
115. ion command whose execution was initiated by a rising edge in the Send Command relay YLILILI33 to YLILILI47 of the axis Turning off the Send Command relay of an axis YLILILI33 to YLILILI47 turns off the corresponding Response Received relay e Communication Status relay X00016 The Communication Status relay turns on when MECHATROLINK III communication initialization which was initiated by a rising edge in the Start Stop Communication relay YLILILI48 is successfully completed to indicate that the module is ready to send and receive MECHATROLINK III commands Turning off the Start Stop Communication relay YLILIL148 to stop MECHATROLINK III communication also turns off this relay If MECHATROLINK III communication initialization is not successful this relay does not turn on If this happens check the configuration and wiring of external devices as well as communication parameter values IM 34M06H60 03E 1st Edition Jan 2010 00 4 4 Positioning Completed relays 0017 to X00031 These relays are valid only for MECHATROLINK III standard servo profile compliant external devices These relays are always OFF for MECHATROLINK III standard I O profile compliant external devices 1 2 When sending MECHATROLINK III commands The Positioning Completed relay for an axis turns on when the axis is in Positioning Completed state This relay turns off when positioning motion which is initiated by a MECHATROLINK III
116. ion 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 screwdriver Required Screw Binding head machine screw M4 of 12 to 15 mm long washer screw of 14 15 mm long FO2R1 VSD Figure 3 4 Securing Module Using Screws IM 34M06H60 03E 1st Edition Jan 2010 00 3 11 3 7 Connecting to External Devices The positioning module uses MECHATROLINK III dedicated cables for connecting MECHATROLINK III compliant external devices Attach the connector of a MECHATROLINK III cable to the MECHATROLINK III connector 1 or MECHATROLINK III connector 2 of the module B Network Topology Both cascade and star network configurations are supported Cascade topology Figure 3 5 Cascade Network Configuration for MECHATROLINK III Communications Star topology Figure 3 6 Star Network Configuration for MECHATROLINK III Communications A WARNING Machine fault or misoperation may cause a motor to behave in an unexpected manner All motors should be wired according to manufacturers recommendations to allow external power shutdown and emergency stop IM 34M06H60 03E 1st Edition Jan 2010 00 3 12 Precautions on Wiring of MECHATROLINK III Cable Observe the following precautions when wiring MECHATROLINK
117. ions Users Manual F3SP66 4S F3SP67 6S IM34MO6P14 01E Sequence CPU Network Functions User s Manual for F3SP66 4S F3SP67 6S IM34MO6P14 02E For information on the functions of the F3SP28 F3SP38 F3SP53 F3SP58 F3SP59 sequence CPU modules refer to Sequence CPU Functions User Manual for F3SP28 3N 3S F3SP38 6N 6S F3SP53 4H 4S F3SP58 6H 6S F3SP59 7S 34 06 13 01 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 F3SP21 F3SP25 and F3SP35 IM34M06P12 02E e For information on the instructions used with sequence CPUS refer to Sequence CPU Instructions User s Manual IM34M06P12 03E e When creating programs using ladder language refer to FA M3 Programming Tool WideField2 User s Manual IM34M06Q15 01E For information common to all sequence CPU modules on the specifications configuration installation wiring trial operation maintenance and inspection of the FA M3 or system wide limitation of module installation refer to Hardware Manual IM34M06C11 01E For information on the specifications of products other than power supply modules base modules I O modules cables and terminal block units refer to their respective user s manuals e For information on CPU modules for Windows 42 5 F3RP44 5P F3RP45 5P refer to Network CPU Module IM34
118. is subsection lists and describes MECHATROLINK III command parameters for each axis MECHATROLINK III command parameters of an axis depend on the profile type supported by the connected external device The content and setting data of each MECHATROLINK III command parameter depends on the connected external device For details on individual parameters see the user s manual of the connected external device B List of Axis MECHATROLINK III Command Parameters For standard servo profile compliant device Table 4 6 List of Axis MECHATROLINK III Command Parameters 1 2 Data Position Number Data Name Data Description 0000 to 00FF MECHATROLINK III commands 0001 Command Code CMD FFFF Extended MECHATROLINK III commands 0100 to FFOO Interpolation motion commands 0002 Command Control Bit data Bits 15 to 0 0003 0004 Servo Command Control Field SVCMD_CTRL Bit data Bits 31 to 0 0005 0006 Servo Command Output Signal 10 Bit data Bits 31 to 0 For target position TPOS 2 147 483 648 to 2 147 483 647 Target Position 5 Zero Point Return Mode MODE For Zero Point Return Mode MODE Bits 0 to 3 Zero point return type 0 or 1 Bit 7 Zero point return direction 0 or 1 For POSING EX_POSING or ZRET command 0 to 2 147 483 647 For FEED or EX_FEED command 2 147 483 648 to 2 147 483 647 0011 0012 Acceleration 1 Maximum decelerati
119. itioning Positioning Command 00021 Received Completed Completed Completed 112304 Positioning Completed Execution completed IM 34M06H60 03E 1st Edition Jan 2010 00 00001 00002 00003 00004 00005 00006 00007 00008 00009 00010 00011 00012 00013 00014 00015 00016 00017 00018 5 49 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 during interpolation motion with axis 1 as reference axis and axes 2 and 3 as interpolation axes After issuing the command it verifies completion of the command execution by checking that the corresponding Positioning Completed relays have turned on pu ample Program for Executing Change Target Position Command 4i 102401 Execute Change Execute Target Position Command Execute Change Target Position command 102401 Mow 500 000101 AX1 CMD Change Target Position L 400000 D UT43 1 Target Position for interpolation Execute Command L 0000 000145 Target Speed for interpolation MOV 500 000148 Acceleration Time for interpolation MOV 500 D00149 Deceleration Time for interpolation L 50000 000243 AX Target Position for interpolation L 20000 000245 AX2 Target Speed for interpolatio
120. itioning module with MECHATROLINK III Interface provides positioning by MECHATROLINK III standard servo profile commands and positioning by interpolation motion commands The module implements the latter by computing and sending position references required for implementing an interpolation motion 2 1 Positioning by Standard Servo Profile Commands This section gives an overview of positioning by MECHATROLINK III standard servo profile commands executable by the module For details on the operation of each of these commands as well as other MECHATROLINK III standard servo profile commands refer to the technical documentation published by the MECHATROLINK Members Association MMA or user manuals published by Yaskawa Electric Corporation as listed in the tables below Table 2 1 List of MECHATROLINK III Technical Documents published by the MECHATROLINK Members Association Document Name Document Number Description MECHATROLINK III Overview MLCO07 003 Gives an overview of MECHATROLINK III MECHATROLINK III Protocol Specifications MMATDEPO20A Describes the physical layer data link layer and application layer of MECHATROLINK III MECHATROLINK III Command 21 Describes the MECHATROLINK III command Specifications for Standard Servo Profile specifications for standard servo profile MECHATROLINK III Command MMATDEP022A Describes the MECHATROLINK III command Specifications for Standard Profile specifications for
121. lays Figure 4 2 shows a list of output relays that are provided with the module In the table denotes the FA M3 slot number where the module is mounted Table 4 2 List of Output Relays rly elton wih Oter Fly YLILILI33 AX1 Send Command Request to send MECHATROLINK III command for axis 1 off this relay after verifying that XOO001 has turned on Start Stop Request to start or stop MECHATROLINK III m YLILILI48 XLILILI116 shows the current communication status 009 ssemmsewd ssemmsme YCICICISS YCICICISS 14 4 YOOD60 systemreseved 7 system reserved l 14 YLILILI62 system reserved YLILILI63 system reserved YOOO64 Clear Error warning Request to clear all errors and warnings uuu eps Wa 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 IM34M06Q15 01E IM 34M06H60 03E 1st Edition Jan 2010 00 4 1 3 Operation of Input Output Relays Input Relays e Response Received relays XLILILIO1 to X00015 1 2 3 When sending MECHATROLINK III standard servo profile commands The Response Received relay of an axis on when a MECHATROLINK III response is received for a MECHATROLINK III command whose transmission is initiated by a rising e
122. lization to the factory parameter settings 0034 Alarm Clear Mode ALM_CLR_MOD 0 Clear current alarm warning state 1 Clear alarm history 0035 to 0050 System reserved Note denotes an axis number 01 to 15 Always 0 IM 34M06H60 03E Extended MECHATROLINK III command 1st Edition Jan 2010 00 4 16 B Description of Axis MECHATROLINK III Command Parameters Command Code CMD STD SERVO STD IO Data Range 0000 to 00FF Transmits MECHATROLINK III command parameter data for an axis FFFF Transmits extended MECHATROLINK III command parameter data 0100 to 0500 Executes interpolation motion command standard servo only 0100 Start positioning 0200 Decelerate amp stop 0300 Stop immediately 0400 Change speed 0500 Change target position Data Position 1001 00 denotes an axis number from 01 to 15 Specify the command code for the MECHATROLINK III command to be transmitted or the interpolation motion command to be executed Command Control CMD CTRL STD SERVO STD IO Data Range Bit data Bits 15 to 0 Data Position No 0002 00 denotes an axis number from 01 to 15 Specify the Command Control CMD_CTRL as 16 bit data 1514131211109 87 65 4 32 10 00000000XX00X000 Clear Alarm Warning ALM CLR 0 Clear alarm warning disabled 1 Clear alarm warning triggered L L______ Command ID
123. mmand Control Field to 1 and re execute the POSING command to pause a POSING command execution set SVCMD CTRL CMD PAUSE to 1 and re execute the POSING command Confirm the completion of motion reference output by checking that SVCMD IO DEN 1 and the completion of positioning by checking that SVCMD_IO PSET 1 To change the speed during motion or change the target position during motion change the command value and re execute the POSING command 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 motion direction the motion is decelerated to a stop before positioning to the new position Positioning speed P1 Target position Figure 2 1 Operation Example for Positioning Command POSING 35 B Feed Command FEED 36 The FEED command is used to perform constant speed feed control at a specified feed speed To cancel a FEED command execution set SVCMD CTRL CMD CANCEL the CMD CANCEL bit of the Servo Command Control Field to 1 and re execute the FEED command to pause a FEED command execution set SVEOMD CTRL CMD PAUSE to 1 and re execute the FEED command Confirm the completion of motion reference output by checking that SVCMD IO DEN 1 and the completion of positioning by checking that SVCMD IO PSET 1 To change the speed and or direction during motion change the feed speed setting and re execute the FEED comm
124. n L 60000 000343 Target Position for interpolation L MOV 85000 000345 AX3 Target Speed for interpolation 000101 Write Ce ee AH 000243 Write AX2 parameters 000343 3 Write parameters 0333 AX1 Send Command AX1 Send relay ON Command 102402 Receiving Response ON Receiving Response 102403 Executing Command Executing ON Command IM 34M06H60 03E 1st Edition Jan 2010 00 5 50 00301 34M06H60 03E 1st Edition Jan 2010 00 5 4 1 5 51 Parameters and Statuses of Interpolation Motion Commands The following tables list the required command parameters that must be written as well as the statuses that are returned for each interpolation motion command Throughout interpolation motion initiated by an interpolation motion command the positioning module automatically sends MECHATROLINK III INTERPOLATE commands 34 to constantly update the status values In the table OO denotes an axis number 01 to 15 while denotes the value of 1 The parameters for each command are listed with the following indications This parameter must be wirtten for the reference axis as well as each interpolation axis This parameter must be written only for the reference axis A This parameter must be written only if the command is Completed state Data Position Number 00901 Comman
125. n 2010 00 4 22 Servo Parameter Number NO STD SERVO Data Range 0000 to FFFF Data Position No 0035 denotes an axis number from 01 to 15 For SVPRM RD command CMD 40 SVPRM WR command CMD 41 specify the Servo Parameter Number NO Servo Parameter Data Size byte SIZE Servo Parameter Read Write Mode MODE STD SERVO Data Range Servo Parameter Data Size byte SIZE 2 4 Servo Parameter Read Write Mode MODE 00 Common parameter RAM area 01 Common parameter Retentive memory area 10 Device parameter RAM area 11 Device parameter Retentive memory area Data Position 0036 00 denotes an axis number from 01 to 15 For SVPRM RD command CMD 40 or SVPRM WR command CMD 41 specify the Servo Parameter Data Size byte SIZE and Servo Parameter Read Write Mode MODE 15 14 13 12 11 10 Servo Parameter Data Size byte SIZE XXX 2 4 LLL L L LL Servo Parameter Read Write Mode MODE 00 Common parameter RAM area 01 Common parameter Retentive memory area 10 Device parameter RAM area 11 Device parameter Retentive memory area Servo Parameter Data PARAMETER STD SERVO Data Range 2 147 483 648 to 2 147 483 647 Data Position 0037 0038 00 denotes an axis number from 01 to 15 For SVPRM_WR command CMD 41 specify the Servo Parameter Data PARAMETE
126. n 2010 00 5 2 5 2 Starting and Stopping MECHATROLINK III Communications This section describes how to set up the device types and station addresses of external devices corresponding to axes 1 to 15 of the positioning module and the communication cycle the MECHATROLINK III communication parameters area initialize MECHATROLINK III communications and begin communications The positioning command automatically sends the MECHATROLINK III commands listed below in sequence to begin communications For standard servo profile compliant external device No operation command NOP 00 Release connection command DISCONNECT 0F Establish connection command CONNECT 0E Turn sensor ON command SENS ON 23 Servo status monitor command SMON 30 For standard profile compliant external device No operation command NOP 00 Release connection command DISCONNECT 0F Establish connection command CONNECT 0E B Starting Communications Procedure for Starting Communications Starting MECHATROLINK III Communications Set up MECHATROLINK III communication parameters Data position no 0031 to 0100 Turn on Start Stop Communication relay Y00048 15 Communication Status relay 0016 Check setup and wiring of external devices as well as MECHATROLINK III icati lues End of MECHATROLINK III communication parameter values communications F050102 VSD Figu
127. n axis 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 devices involved in the linear interpolation motion simultaneously using MECHATROLINK III commands to initiate the desired positioning motion The Response Received input relay turns on when positioning motion begins The Positioning Completed input relay turns on subsequently when positioning motion completes Positioning module F3NC97 0N CPU module Input relays Output relays Communication parameters Path gt generation Ladder Command parameters program External device servo driver MECHATROLINK III commands for 15 axes MECHATROLINK III command Position speed computation MECHATROLINK III response MECHATROLINK III responses for 15 axes Encoder Figure 1 2 Operating Principle of the Positioning Module IM 34M06H60 03E 1st Edition Jan 2010 00 WARNING Machine fault or misoperation may cause a motor to behave in an unexpected manner All motors should be wired according to manufacturers recommendations to allow external power shutdown and emergency stop IM 34M06H60 03E 1st Edition Jan 2010 00 2 1 2 Overview of Positioning Functions The pos
128. nd code and required parameter values of the interpolation motion command in data position numbers 0001 to 0050 2 Turn on the Send Command relay YLILILI33 to YLILILI47 3 Verify that the Response Received relay X00001 to X00015 has turned on 4 Verify that positioning has completed by checking the Positioning Completed relay Error Warning Detected relay XLILILI32 axis statuses and common statuses IM 34M06H60 03E 1st Edition Jan 2010 00 5 44 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 verifies completion of the command execution by checking that the corresponding Positioning Completed relays have turned on 00001 Sample Program for Executing Start Positioning Command 00002 pe Execute Execute Positioning Command 00003 Execute Start Positioning command 00004 122001 Mov 3104 000101 1 CMD Execute Command Start Positioning 00005 Moy Of 600102 1 CTRL 00006 L AX1 SVCMD_CTRL 00007 L OJ 6001065 1 SVCMD_IO 00008 L 400000 000143 1 Target Position for interpolation 00009 100001 000145 AX1 Target Speed for interpolation 00010 MOv
129. ng Mode POS SET MOD STD SERVO Data Range Bit data Bits 31 to 0 Data Position 0027 0028 00 denotes an axis number from 01 to 15 For POS SET command CMD 20 specify whether to enable or disable the reference point REFE and select the coordinate system POS SEL 15 14 13 12 11 10 0 987654 0000000 000 10 XX L L lt lt Coordinate Selection POS_SEL 0 to 15 Monitor selection code Reference Point Enable REFE 0 Disabled 1 Enabled Coordinates Set Value POS DATA STD SERVO Data Range 2 147 483 648 to 2 147 483 647 Data Position 0029 0030 00 denotes an axis number from 01 to 15 For POS_SET command CMD 20 specify set values for the selected coordinate system POS DATA Configuration Mode CONFIG MOD STD SERVO STD IO Data Range 0 Parameter re calculation and setup 1 Batch writing to retentive memory 2 Initialization to the factory set parameter setting values Data Position 0033 denotes an axis number from 01 to 15 For CONFIG command CMD 04 specify the Configuration Mode CONFIG MODE Alarm Clear Mode ALM CLR MOD STD SERVO STD IO Data Range 0 Clear current alarm warning state 1 Clear alarm history Data Position 0034 denotes an axis number from 01 to 15 For ALM CLR command CMD 06 specify the Alarm Clear Mode ALM CLR MOD IM 34M06H60 03E 1st Edition Ja
130. nitor Selection 4 SEL_MON4 0 to 15 Monitor data selection code 15 14 13 1211 10 9 876 543 210 00000000 XX X X X X X X LLL L Monitor Selection 5 SEL MON5 0 to 15 Monitor data selection code LLLLIII Monitor Selection 6 SEL MON6 0 to 15 Monitor data selection code Remaining Travel Status STD SERVO Data Position 0085 0086 00 denotes an axis number from 01 to 15 Data Range 2 147 483 648 to 2 147 483 647 Returns the remaining distance to the target position for an interpolation motion If a Decelerate amp Stop motion was executed during motion this status returns the remaining distance to the position for deceleration to a stop If a change in target position was executed during motion this status returns the remaining travel distance to the new target position after the target position change completes execution IM 34M06H60 03E 1st Edition Jan 2010 00 4 34 9 Interpolation Status STD SERVO Data Position 0087 denotes an axis number from 01 to 15 Data Range Bit data Bits 15 to0 Returns the status of an interpolation motion in progress 1514131211109 87 65 4 3 2 1 0 0X000000000XXXXX Accelerating at beginning of motion Moving at constant speed L Decelerating decelerating to stop L Changing speed Changing target position Interpolating Module is gen
131. of this manual are subject to change without prior notice Every effort has been 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 B Safety Precautions when Using Maintaining the Product The following safety symbols are used on the product as well as in this manual Danger This symbol 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 d Function Ground Terminal Before using the instrument be sure to ground this terminal Alternating current Indicates alternating current Direct current Indicates direct current IM 34M06H60 03E 1st Edition Jan 2010 00 following symbols are used only in the instruction manual A WARNING Indicates a Warning Draws attention to information essential to prevent hardware damage software damage or system failure CAUTION TIP Indicates a Caution Draws attention to information
132. ofile commands Turning on the Send Command relay for an axis after setting the Command Code CMD axis MECHATROLINK III command parameter to the command code DATA RWA 20 of the Data Read Write A command transmits the specified MECHATROLINK III command The corresponding Response Received input relay X00001 to X00015 turns on when a MECHATROLINK III response to the transmitted MECHATROLINK III command is received To send output data OUTPUT and receive input data INPUT continually keep the Send Command output relay ON Turning off the Send Command output relay of an axis YLILILI33 to YOOO47 turns off the corresponding Response Received relay and stops sending of output data OUTPUT However receiving of input data INPUT continues until another MECHATROLINK III command is sent When executing interpolation motion commands Turning on the Send Command relay for an axis after setting the Command Code CMD axis MECHATROLINK III command parameter to an interpolation motion command code executes the specified interpolation motion command The Response Received relay XLILILIO1 to XLILILT15 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 XOOO01 to X00015 IM 34M06H60 03E 1st Edition Jan 2010 00 Start Stop Communication relay YLILIL148 Turning on the Start Stop Communication relay initializ
133. ogram issues a ZRET 3A command for axis 1 to the positioning module mounted in slot 3 After issuing the command it verifies completion of the command execution by checking that both the corresponding Positioning Completed relay and the ZPOINT bit of the corresponding SVCMD axis status have turned on 00001 Sample Program for Sending ZRET Command 00002 100400 Execute ZRET Command 00003 Send ZRET command 010004 100401 000101 Execute Command 00005 MOv 000102 L 8010100 000103 AX1 CMD ZRET 1 CMD CTRL 00006 1 SVCMD_CTRL L 0 0001065 00007 AX1 SVCMD IO L 000107 00008 Zero Point Return Mode MODE 00009 L 10000 000109 L 000111 000113 L 000115 Target Speed TSPD 00010 Acceleration ACCR 00011 Deceleration DECR 00012 Torque Limit TLIM 00013 000101 Write Da Aes fog 00333 AX1 Send Command AXiSend relay ON Command 100402 Receiving Response 100403 Executing Command 00014 00015 Receiving Response N 00016 Executing Command ON Check sending of ZRET command 100402 00301 I 00333 1 Command 100402 Receiving Response 00017 00018 AX1 Send Command relay OFF Receiving 1 Response Response 00019 Received Receiving Response IM 34M06H60 03E 1st Edition Jan 2010 00 5 15
134. olation motion command End Figure 5 4 Procedure for Executing Interpolation Motion Command IM 34M06H60 03E 1st Edition Jan 2010 00 5 41 Acceptance conditions for interpolation motion commands MECHATROLINK III 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 motion command is the Start Positioning command 0100 An interpolation motion command is ignored if any of the above conditions is not true Writing parameters for interpolation motion commands Axis command parameters for an interpolation motion command can be written to the module using a WRITE instruction in a ladder program For details on the required parameters of each interpolation motion command see Subsection 5 4 1 Parameters and Statuses of Interpolation Motion Commands Turning on Send Command relay and checking for Response Received relay turning on Turning on the Send Command relay of an axis YLILILI33 to YLILILI47 after writing interpolation motion command parameter values executes the interpolation motion command The Response Received relay X00001 to X00015 of the axis turns on if the executed command is processed normally Verify that the Response Received relay has turned on before turning off the Send Command relay Turning off the Send Command relay YLILILI33 to
135. on 1 to 2 147 483 647 0015 0016 Torque Limit torque limit value 0017 0018 Speed Reference VREF 2 147 483 648 to 2 147 483 647 0019 0020 Speed Limit e speed limit value 0021 0022 Torque Reference TQREF 2 147 483 648 to 2 147 483 647 0023 0024 Speed Feed Forward VFF 4 0 No torque feed forward 2 147 483 648 to 2 147 483 647 0007 0008 0009 0010 Target Speed TSPD 0013 0014 Deceleration DECR 0025 0026 Torque Feed Forward IM 34M06H60 03E 1st Edition Jan 2010 00 4 15 Table 4 6 List of Axis MECHATROLINK III Command Parameters 2 2 Data Position Number 0027 0028 0029 0030 Data Data Description Bits 0103 Coordinate system selection 0 to F Bit 7 Reference point enable disable 0 or 1 2 147 483 648 to 2 147 483 647 Coordinates Setting Mode POS_SET_MOD Coordinates Set Value POS_DATA 0031 to 0032 System reserved Always 0 0 Parameter re calculation and setup 1 Batch writing to retentive memory 2 Initialization to the factory parameter settings 0 Clear current alarm warning state 1 Clear alarm history 0000 to FFFF Low byte Servo Parameter Data Size byte 2 4 Configuration Mode CONFIG_MOD Alarm Clear Mode ALM_CLR_MOD Servo Parameter Number NO Servo Parameter Data Size byte SIZE Servo Parameter Read Write Mode MODE
136. ositioning module is notified of an alarm or warning that has been detected by an external machine it performs no error handling such as issuing a Decelerate amp Stop Stop Immediately or Servo Off command Such error handling should be implemented by a user application program as required IM 34M06H60 03E 1st Edition Jan 2010 00 Positioning Module 1 with MECHATROLINK III Interface Index Numeric 2 word data precautions when reading 6 3 2 word data reading and writing 4 9 A Acceleration 4 14 4 19 Acceleration Time for interpolation motion commands 2 6 4 15 4 24 Alarm Axis 5 4 35 5 59 Alarm Clear Mode ALM CLR MOD 4 15 4 21 alarm CodeS 7 4 ALM CLR command 06 3 4 3 6 5 61 ALM_RD command 05 3 4 3 6 5 26 axis MECHATROLINK III command parameters 4 14 5 7 axis MECHATROLINK III response parameters 4 26 5 8 axis statuses 4 28 5 8 5 42 5 54 C cascade 3 11 Change Speed command 0400 2 7 5 48 Change Target Position command 0500 2 7 5 49 Clear Error Warning relay 4 2 4 6 5 62 Command Code CMD
137. pectively 101 and 102 refer to output relays having data position numbers YLILILI33 to YLILILIA8 and 00049 to 00064 respectively 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 word high word order 100 IDD VAL S RIGHTS LH EXS LDAT 4 110 IDU VAL S LEFTS LHEXS LDAT 4 ISD ISU Integer variables storing the two words read low word high word order LST long word integer variable after conversion 100 LST VAL ISU ISD IM 34M06H60 03E 1st Edition Jan 2010 00 6 3 00001 Sample Program for Reading MONITOR1 00002 M00033 00003 00004 Precautions When Reading 2 word Data When the CPU module reads 2 word status data such as MONITOR1 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 instruction to read the data twice consecutively and verify that the data read are the same in both instances If the HRD instruction is used data concurrency is not assured even if you had verified that the data
138. pleted state XLILILI25 9 Positioning Completed on when axis 9 is in positioning completed state XLILILI26 AX10 Positioning Completed Turns on when axis 10 is in positioning completed XLILILI27 AX11 Positioning Completed Turns on when axis 11 is in positioning completed state XLILILI28 AX12 Positioning Completed Turns on when axis 12 is in positioning completed state XLILILI29 13 Positioning Completed Tumsonwhenaxisi3isinpostionngcompletedstate XLILILI30 14 Positioning Completed when axis 14 is in positioning completed state XLILILI31 AX15 Positioning Completed on when axis 15 is in positioning completed state M Turning on YL1LILI64 to clear all errors Error Warning Detected and warnings turns off this relay if errors yas and warnings are successfully cleared Note In the table denotes the FA M3 slot number where the module is mounted Axis statuses Table 5 14 and Table 5 15 list the axis statuses The axis statuses depend on the profile type supported by the connected external device For details of axis statuses see Subsection 4 2 5 Axis Statuses Table 5 14 List of Axis Statuses for standard servo profile compliant external devices Data Name Data Description Number 0061 0062 System reserved Command Status CMD_STAT Bit data Bits 15 to 0 0063 0064 Servo Command Sta
139. polation Motion Commands When an interpolation motion command is executed from an axis the positioning module sends a MECHATROLINK III INTERPOLATE 34 command to the external device corresponding to the axis number 1 to 15 Only interpolation motion commands can be executed during interpolation motion Other MECHATROLINK III commands cannot be transmitted during interpolation motion Therefore always verify that an interpolation motion initiated by an interpolation motion command has stopped by checking that the Positioning Completed input relay has turned on before sending the next MECHATROLINK III command lf an alarm such a communication error is detected on an axis involved interpolation motion the positioning module automatically sends a SV_OFF 32 command to all axes to turn off servo for all axes Executing Interpolation Motion Command Procedure for executing an interpolation motion command Executing Interpolation Motion Command Set up axis interpolation motion command parameters Data position no LILIO1 to 0050 Turn on Send Command relay YOOO33 to 00047 Confirm that Response Received relay has turned on x00001 to X00015 Is Error Warning Detected relay ON x00032 YES Interpolation motion completed Positioning Completed relay Read axis statuses and common statuses remove the cause of error or warning YES Clear warning or error before re executing interp
140. r axes 1 to 3 to the positioning module mounted in slot 3 After issuing the command it verifies completion of the command execution by checking that the SVON bit of each corresponding SVCMD_STAT axis status has turned OFF 00001 Sample Program for Sending SV OFF Command 00002 100300 Execute Execute SV_OFF Command 00003 Send SV OFF Command 00004 100301 eem 000101 Mov o 0001002 AX1 CMD SV OFF Execute Command 00005 1 CMD_CTRL 00006 L 80 0000 000103 1 SVCMD_CTRL 00007 L MOv Of 000105 AX1SVCMD IO 00008 600201 AX CMD SV_OFF 00009 Mov 000202 AX 00010 L 80 0000 000203 AX SVCMD_CTRL 00011 L MOV 000205 AX SVCMD IO 000301 AX3 CMD SV_OFF 00013 Mov O 000302 AX3CMD_CTRL 00014 L 80 0000 000303 SVCMD_CTRL 00015 L Mov o D00205 AX3SVCMD_IO 00016 000101 3 11 X parameters 00017 00021 34 6 Write AX2 parameters 00018 hac 0003 3 30 8 Write AX3 parameters 34M06H60 03E 1st Edition Jan 2010 00 5 13 00019 100301 00333 AX1 Send Command AX1 Send relay Command 00334 AX2 Send Command AX2Send relay Command 00335 Send Command AX3 Send relay Command 100302 Receiving Response maan Executing Command Executing ON Command Execute command 00020
141. r interpolation motion commands 0047 Interpolation Axes for interpolation motion commands 0048 Acceleration Time for interpolation motion commands 0049 Deceleration Time for interpolation commands 0050 System reserved 2001 to 2750 Extended MECHATROLINK III Command Parameters IM 34M06H60 03E 1st Edition Jan 2010 00 5 52 Statuses Data Position Nomber Data Name Position 9 gt o Balas o9 5 2 29 oO ep S a Start Positioning Change Speed Change Target 0061 System reserved 0062 Command Status STAT Q O 0063 0064 Servo Command Status Field SVCMD STAT O 0065 01066 Servo Command Input Signal SVCMD IO Q O O O O 0067 0068 Fixed Monitor 1 CPRM_SEL_MON1 O O O O O 0069 0070 Fixed Monitor 2 CPRM_SEL_MON2 O O O O O 0071 0072 Monitor 1 MONITOR1 O O O O O 0073 0074 Monitor 2 MONITOR2 O O O O O 0075 0076 Monitor MONITOR3 O 0077 0078 Monitor 4 MONITOR4 0079 0080 Monitor 5 MONITORS 0081 0082 Monitor 6 MONITOR6 0083 0084 Subcommand Status SUB STAT 0085 0086 Remaining Travel Status 0087 Interpolation Status 0088 to 00 System reserved 1
142. r warning condition persists even after the Clear Error Warning relay YLILILI64 is turned on 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 6 Detecting Errors Warnings and Communication Alarms IM 34M06H60 03E 1st Edition Jan 2010 00 Output Relays Send Command relays YLILILI33 to YOO47 1 2 3 When sending MECHATROLINK III standard servo profile commands Turning on the Send Command relay for an axis after setting the Command Code CMD axis MECHATROLINK III command parameter to a MECHATROLINK III command code transmits the specified MECHATROLINK III command Extended MECHATROLINK II command parameter data is transmitted as is if the command code CMD is specified as 1 The corresponding Response Received input relay XLILILIO1 to X00015 turns on when a MECHATROLINK III response to the transmitted MECHATROLINK III command is received Turning off the Send Command output relay thereafter also turns off the corresponding Response Received input relay XOOO01 to X00015 MECHATROLINK III response data is stored in axis MECHATROLINK III response parameters axis statuses and common statuses MECHATROLINK III response data is stored as is in the Extended MECHATROLINK III response parameter area if the command code CMD was specified as 1 When sending MECHATROLINK III standard pr
143. re 5 2 Procedure for Starting MECHATROLINK III Communications IM 34M06H60 03E 1st Edition Jan 2010 00 5 3 Writing MECHATROLINK III Communication Parameters Data Position Number You can write MECHATROLINK III 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 III Communication Parameters Data Name Data Description See Also For standard servo profile compliant external device High byte Profile type code 10 standard servo profile Bit 0 Subcommand setting 0 Enabled 1 Disabled For standard profile compliant external device High byte Profile type code 30 standard profile Bits 3to 0 Communication data size in bytes 0 16 1 32 2 48 3 64 AX1 Device Type AX1 Station Address 0 unconnected 03 to AX2 Device Type AX2 Station Address AX3 Device Type Station Address 4 Device AX4 Station Address AX5 Device Type AX5 Station Address 0042 AX6 Device Type AX6 Station Address 0043 7 Device Type 0044 0045 7 Station Address AX8 Device Type 0046 AX8 Station Address 0047 0048 AX9 Device Type AX9 Station Address 0049 AX10 Device Type 0050 0051 AX10 Station Address AX11 Device Type 0052 11 Station Address 0053 00
144. red when specified for an interpolation axis Deceleration Time for interpolation motion commands STD SERVO Data Range 0 to 32 767 ms Data Position 0049 denotes an axis number from 01 to 15 Specify the deceleration time for an interpolation motion This parameter is only valid when specified for the reference axis It is ignored when specified for an interpolation axis IM 34M06H60 03E 1st Edition Jan 2010 00 4 25 Output Data OUTPUT STD 1 0 Data Range Bit data Bits 15 to0 Data Position 0003 to 0032 denotes an axis number from 01 to 15 For a DATA_RWA command CMD 20 specify the Output Data OUTPUT to a standard I O profile compliant external device Output data OUTPUT is sent continually for an axis while its Send Command relay YOOO33 YLILILI47 remains ON Turning OFF the Send Command relay YLILILI33 to YLILILI47 of an axis stops transmission of output data OUTPUT for the axis Table 4 9 Output Data OUTPUT Data Position No 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0003 O16 Og O7 lOs 0 4 O3 0004 Oz 2 Ozs Oz Ose Ozs O20 05 Oz 01006 Oa 0007 0031 34M06H60 03E 1st Edition Jan 2010 00 4 26 4 2 4 Axis MECHATROLINK III Response Parameters This subsection lists and describe
145. rminals Do not wire unused terminals of external connection terminal blocks or unused pins of connectors of the module Doing so may affect the function of the module IM 34M06H60 03E 1st Edition Jan 2010 00 Vii B Waste Electrical and Electronic Equipment Waste Electrical and Electronic Equipment WEEE Directive 2002 96 EC This directive is only valid the EU 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 34M06H60 03E 1st Edition Jan 2010 00 Introduction B Overview of the Manual This manual describes the specifications and functions of the F3NC97 0N positioning module with MECHATROLINK III Interface as well as information required for operating the module B 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 Funct
146. s un Signal Name Description Relation with Other Relays Turning on YLILILIA8 to initiate communications turns this relay x00016 Communication Status when communication begins communications is in progress turns off otherwise Turning off YOO048 turns off this relay Note In the table O00 denotes the slot number of the FA M3 unit where the module is mounted IM 34M06H60 03E 1st Edition Jan 2010 00 5 5 B Communication Parameters Setup Example 00001 00002 00004 00005 00006 00007 00008 00009 00010 00011 00012 00013 Procedure 1 Specify the device type and station addresses of external devices to be connected in data position numbers 0031 to 0060 2 Specify the communication cycle time in data position number 0062 3 Turn on the Start Stop Communication relay YLILILIA8 4 Check that the Communication Status relay X00016 has turned on Sample Program This sample program issues a request to the positioning module installed in slot 3 to initiate communication with three standard servo profile compliant external devices having station addresses 03 04 and 05 as well as one standard l O profile compliant device having station address 06 It verifies whether MECHATROLINK III communication is successfully initiated by checking whether the Communication Status XLILIL116 relay has turned on Sample Program for Starting Communication S
147. s 0043 AX7 Device Type 0044 7 Station Address 0045 AX8 Device Type 0046 AX8 Station Address 0047 AX9 Device Type 0048 AX9 Station Address 0049 AX10 Device Type 0050 AX10 Station Address 0051 AX11 Device Type 0052 AX11 Station Address 0053 AX12 Device Type 0054 AX12 Station Address 0055 AX13 Device Type 0056 AX13 Station Address 0057 AX14 Device Type 0058 AX14 Station Address 0059 AX15 Device Type 0060 AX15 Station Address 0061 System reserved Always 0 0 2 ms 1 1 ms 2 0 5 ms 8 axes max 3 0 25 ms 4 axes max 0063 to 0100 System reserved Always 0 Device Type 0062 Communication Cycle IM 34M06H60 03E 1st Edition Jan 2010 00 4 12 B Description of MECHATROLINK III Communication Parameters Device Type of each axis Data Range Data Position No Profile type code high byte 10 Standard servo profile 30 Standard profile Detailed setting for profile type low byte Axis 1 0031 Axis 2 0033 Axis 3 0035 Axis 4 0037 Axis 5 0039 Axis 6 0041 Axis 7 0043 Axis 8 0045 Axis 9 0047 Axis 10 0049 Axis 11 0051 Axis 12 0053 Axis 13 0055 Axis 14 0057 Axis 15 0059 The Device Type of each axis axes 1 to 15 specifies the profile type code of the corresponding external device and detailed information of each profile type For standard servo profile compliant external
148. s MECHATROLINK III response parameters for each axis MECHATROLINK III response parameters of an axis depend on the profile type supported by the connected external device The content and reference data of each MECHATROLINK III response parameter depends on the connected external device For details on individual parameters see the user s manual of the connected external device B List of Axis MECHATROLINK III Response Parameters For standard servo profile compliant external device Table 4 10 List of Axis MECHATROLINK III Response Parameters Data Position Data Name Data Description Number Servo Parameter Number NO 0000 to FFFF Low byte Servo Parameter Data Size byte 2 4 Servo Parameter Data Size byte SIZE High byte Servo Parameter Read Write Mode Servo Parameter Read Write Mode MODE 00 Common parameter RAM area 01 Common parameter Retentive memory area 10 Device parameter RAM area 11 Device parameter Retentive memory area 0053 0054 Parameter Data PARAMETER 2 147 483 648 2 147 483 647 2055 to 0060 System reserved Note denotes an axis number 01 to 15 For standard I O profile compliant external device Table 4 11 List of Axis MECHATROLINK III Response Parameters Data Position 0051 to 1 160 System reserved Note denotes axis number 01 to 15 IM 34M06H60 03E 1st Edition Jan 2010 00 4 27
149. sing the FA M3 Controller Avoid installing the FA M3 controller in 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 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 Low impedance grounding For safety reasons connect the FG grounding terminal to a Japanese Industr
150. standard profile Note MECHATROLINK Members Association MMA membership is required for accesing technical documentation published by MMA Table 2 2 List of Manuals for MECHATROLINK Compatible Products manufactured by Yaskawa Electric Corporation Document Name Document Number Description Servodrive 2 V Series USER S SIEP 5800000 64A Describes information required for design and MANUAL Design and Maintenance maintenance for the 5 V Series SERVOPACK Rotational Motor MECHATROLINK III Rotational Motor MECHATROLINK III Command Option Command Option Type Type AC Servodrive 2 V Series USER S SIEP S800000 65A Describes information required for design and MANUAL Design and Maintenance maintenance for the 5 V Series SERVOPACK Linear Linear Motor MECHATROLINK III Motor MECHATROLINK III Command Option Type Command Option Type AC Servodrive 2 V Series USER S SIEP S800000 63A Describes the specifications of standard servo profile MANUAL MECHATROLINK III commands used in MECHATROLINK III communication Standard Servo Profile Commands for the 2 V Series SERVOPACK IM 34M06H60 03E 1st Edition Jan 2010 00 2 2 Positioning Command POSING 35 The POSING command is used to execute positioning to a specified position Positioning is executed to the target position P1 at the positioning speed To cancel a POSING command execution set SVCMD CTRL CMD CANCEL the CMD CANCEL bit of the Servo Co
151. t min Can be defined as x10 reference unit min of rated speed Can be defined as x10 rpm be defined as x10 min Max motor speed 40000000 Acceleration deceleration Reference unit s default Can be defined as 10 reference unit s ms Can be defined as X 10 ms Torque N Can be defined as X 10 of rated torque default Can be defined as X 10 9 Max torque 40000000 IM 34M06H60 03E 1st Edition Jan 2010 00 Reading and Writing 2 Data In Tables 4 6 4 10 and 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 The leading 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 accessing 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 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
152. tandard profile IM 34M06H60 03E 1st Edition Jan 2010 00 3 4 3 3 2 Standard Servo Profile Commands This section lists the MECHATROLINK III standard servo profile commands that are executable by the module Executable by a user using MECHATROLINK III command parameters of each O O x axis Executable by a user using extended MECHATROLINK III command parameters Not executable by a user but is executed automatically by the positioning module or external device Not supported Standard Servo Profile Main Commands Table 3 8 Standard Servo Profile Main Command List Command Communi Common commands Standard servo s PRM RD JReadpaamser sm PRM WH 9 cone O9 5 AM RD orwaming O 5 CLR ODearaamorwamng 7790 SYNC SET Start synchronous communication A CONNECT o jEstablishconnection DISCONNECT Release connection PPRM RD Read stored parameter X sic PPRM_WR___ Write stored parameter X sip VEMWR Wiemy O 3 5 SET Set coordinates o sn 9 sm Orr Reeasebake 9 3 SENSON umsemoON o sa SENS OFF mumsenorrF a O9 sx SMON B
153. tart Communication 100100 BMOv ol 000031 32 Clear communication parameters L 31000 DOOUST device type station address L MOV 41000 000033 AX device type station address L 51000 000035 AX3 device type station address L 53000 00037 4 device type lon UE d d MOV 00061 System o 1 000062 000031 Write parameters Communication Cycle 0 25 ms Start Stop Start stop Communication ON Communication Check for starting of communication De Verify communication Communication Communicating has started Status IM 34M06H60 03E 1st Edition Jan 2010 00 5 6 5 3 Sending MECHATROLINK III Commands This section describes how to send MECHATROLINK III commands to external devices corresponding to axes 1 to 15 of the positioning module It also describes how to receive MECHATROLINK III responses for transmitted MECHATROLINK III commands The positioning module performs no error and other status checks of the destination external device 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 MECHATROLINK III response received subsequently B Sending a MECHATROLINK III Command Procedure for sending a MECHATROLINK III command Sending MECHATROLINK III Command Set up axis MECHATROLINK III command parameters or extended MECHATROLINK III
154. tation error is generated when internal computation by the positioning module produces an invalid value Internal computation errors do not normally happen B Errors and Warnings Detected by External Devices For details on errors and warnings that may be reported by a connected external device see its user s manual IM 34M06H60 03E 1st Edition Jan 2010 00 5 59 Checking for Errors and Warnings Error Warning Detected relay The Error Warning Detected relay turns on when the positioning module or an external device detects an error or warning Table 5 17 Relays for Checking Errors or Warnings Turns on when an error or warning is detected by on YLILILI64 to clear all x00032 Error Warning Detected the module or any axis errors and warnings also turns off this relay Note In the table denotes the slot number of the FA M3 unit where the module is mounted Errors and Warnings detected by the module When the positioning module detects a warning or an error 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 The Module Alarm Code and Module Detailed Alarm Code are meaningful only when the module bit of Alarm Axis Bits has value 1 Table 5 18 List of Statuses for Checking Module Errors or Warnings Data Position Data Data Description 1601 Alarm Axis Bits Bit data for module
155. ted 0 No alarm detected 15 14 13 12 11 10 9 8 X X X X X X x 34M06H60 03E 1st Edition Jan 2010 00 4 36 Warning Axis Bits Data Position No 1602 Data Range Bit data Bits 15 to 0 Returns bit data that indicates the warning status of each axis The warning bit for an axis turns on when an external device detects a warning for an axis and notifies the positioning module through a MECHATROLINK III response For more details see Section 5 6 Detecting Errors Warnings and Communication Alarms 1 Warning detected 0 No warning detected 15 14 13 12 11 10 0 Sa ee ee SSS SS 1 p x Module Alarm Code Data Position No 1603 Data Range 0 No module alarm detected 0000 to FFFF Alarm code Returns the alarm code when a module alarm is detected This status is meaningful only when the module bit of Alarm Axis Bits has value 1 If multiple alarms are detected concurrently the alarm code of the first detected alarm is stored The alarm code may indicate a MECHATROLINK III communication initialization related error MECHATROLINK III communication related error or an interpolation motion command execution related error For more details see Section 5 6 Detecting Errors Warnings and Communication Alarms and Section 7 2 1 Module Alarms IM 34M06H60 03E 1st Edition Jan 2010 00 4 37 Module Detailed Alarm Code
156. the Clear Error Warning relay Turning on the Clear Error Warning relay clears all reported errors and warnings The Error Warning Detected relay turns off if all errors and warnings are cleared successfully Verify 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 20 Relays for Clearing Errors and Warnings YLILILI64 Clear Error warnin Request to clear all errors and warnings Turn off this relay after verifying that 9 4 9 XLILILI32 has turned off i E elay Signal Name Relation with Other Relays Turning on YLILILI64 to clear all errors Error Warning Detected Patines H 224 ud 2 warnings turns off this relay if errors y y and warnings successfully cleared Note In the table O00 denotes the slot number of the FA M3 unit where the module is mounted B Example for Clearing Errors and Warnings Sample Program This sample program clears all errors and warnings for the positioning module mounted in slot 3 00001 Sample Program for Clearing Errors and Warnings 00002 103100 103101 Execute Clear Execute Error Warning 00003 Clear errors and warnings 00004 103101 00332 Y00364 Clear Error Warning Execute Error Warning Clear ON Command Detected Error Warning 000
157. tion commands 3 0050 21 2001 to 2750 Extended MECHATROLINK III Command Parameters IM 34M06H60 03E 1st Edition Jan 2010 00 5 31 Response parameters Data Position Number Data Name BRK_ON BRK_OFF SENS ON SV ON SV OFF EX FEED POS SET 0651 Servo Parameter Number NO mm Servo Parameter Data Size byte SIZE Servo Parameter Read Write Mode MODE 010055 to 0100160 System reserved 3001 10 3750 Extended MECHATROLINK III Response Parameters LL LL 2 _ Tief smon T 111 le INTERPOLATE LEE zer ttt Te Statuses Data Position ooe Systmresered BB amp Command Status STAD 0 BRK OFF EX FEED Y Y Y Y Y Y Y Y 2 7 0085 0086 Remaining Travel Status 0087 interpolation Status O O O T L 0008810 System reserved 1601 10 2000 Y 455454554555 fo Y Y 455544115446 545554544444 saxon 454455454454 intenrovare 154555455555 ef rosne SIT Iddo Je zr 411 NSS fo 34M06H60 03E 1st Edition Jan 2010 00 5 32 Standard Servo Profile Commands 3 of 3 Command parameters Data Position Number Data Name mE olo 9 EE
158. transmission to an external device The following example illustrates the conversion for the POSING 35 command Conversion of axis MECHATROLINK III command parameter data to a MECHATROLINK III command Table 5 6 Axis MECHATROLINK III Command Parameters Data Positi Long Word Data ata Position Number Data Name Low word High word 16 bits 16 bits 0001 Command Code CMD 2002 Command Control CMD_CTRL 0003 0004 Servo Command Control Field SVCMD_CTRL 0005 0006 Servo Command Output Signal SVCMD_IO Target Position TPOS 9007 5508 Zero Point Return Mode MODE O009 0010 Target Speed TSPD 0011 0012 Acceleration 0013 0014 Deceleration DECR Torque Limit TLIM Table 5 7 MECHATROLINK III Command Byte Data 35 WDT A2 IM 34M06H60 03E 1st Edition Jan 2010 00 5 37 Conversion of extended MECHATROLINK III command parameter data to a MECHATROLINK III command Table 5 8 Extended MECHATROLINK III MECHATROLINK III Command Command Parameters Data Position Word Data gra Number 16 bits 1 1 34M06H60 03E 1st Edition Jan 2010 00 5 38 B MECHATROLINK III Response MECHATROLINK III response data received from an external device can be read from axis statuses or extended MECHATR
159. tus Field SVCMD_STAT Bit data Bits 31 to 0 0065 O66 Servo Command Input Signal SVCMD_IO Bit data Bits 31 to 0 0067 0068 0069 0070 Fixed Monitor 1 CPRM_SEL_MON1 Fixed Monitor 2 CPRM_SEL_MON2 Fixed monitor 1 data Fixed monitor 2 data 0071 0072 Monitor 1 1 Monitor 1 data Fixed to 5 data 0073 0074 Monitor 2 MONITOR2 Monitor 2 data 0075 0076 Monitor 3 data 0077 0078 Monitor 4 MONITOR4 Monitor 4 data 0079 0080 Monitor MONITORS Monitor 5 MONITORS Monitor 5 data 0081 0082 Monitor 6 MONITOR6 Monitor 6 data 0083 0084 Subcommand Status SUB_STAT Bit data Bits 15 to 0 0085 O86 Remaining Travel Status 2 147 483 648 to 2 147 483 647 0087 Interpolation Status Bit data Bits 15 to 0 0088 to 00 Data Position Number 0061 System reserved Note denotes an axis number 01 to 15 denotes the value of 00 1 Table 5 15 List of Axis Statuses for standard profile compliant external devices Data Name System reserved Data Description 0062 Command Status STAT Bit data Bits 15 to 0 0063 to 0092 Input Data INPUT Bit data Bits 15 to 0 0093 to 00 1st Edition Jan 2010 00 System reserved Note OO denotes an axis number 01 to 15 denotes the value of O00 1 IM
160. ual parameters and statuses see Subsections 4 2 1 to 4 2 7 Table 4 3 Layout of Parameter and Status Areas Description E 0001 to 0008 Module information statuses 4 10 0009 to 0030 System reserved 0031 0100 MECHATROLINK IIII communication parameters 4 11 0101 to 0150 Axis 1 MECHATROLINK III command parameters 0151 to 0160 MECHATROLINK III response parameters 0161 to 0200 Statuses Axis 2 MECHATROLINK III command parameters 0201 to 0300 MECHATROLINK III response parameters Statuses Axis 3 MECHATROLINK III command parameters 0301 to 0400 MECHATROLINK III response parameters Statuses Axis 4 MECHATROLINK III command parameters 0401 to 0500 MECHATROLINK III response parameters Statuses Axis 5 MECHATROLINK III command parameters 0501 to 0600 MECHATROLINK III response parameters Statuses Axis 6 MECHATROLINK III command parameters 0601 to 0700 MECHATROLINK III response parameters Statuses Axis 7 MECHATROLINK III command parameters 0701 to 0800 MECHATROLINK III response parameters Statuses Axis 8 MECHATROLINK III command parameters 4 14 0801 to 0900 MECHATROLINK III response parameters 4 26 Statuses 4 28 Axis 9 MECHATROLINK III command parameters 0901 to 1000 1001 to 1100 Axis 10 MECHATROLINK III response parameters Statuses MECHATROLINK III command parameters MECHATROLINK III response parameters Statuses 1101 to 1200 Axis 11 MECHATROLINK III command parameters MECH
161. ution even after the Response Received relay XLILILIO1 to X00015 has turned ON You can check the completion of these MECHATROLINK III commands by reading the following relays and statuses in a ladder program and checking the values of the relevant status bits Positioning Completed relay X00017 to X00031 Error Warning Detected relay XLILILI32 Axis statues and common statuses IM 34M06H60 03E 1st Edition Jan 2010 00 5 9 B Examples for Sending MECHATROLINK III Commands Procedure 1 Specify the MECHATROLINK III command code and required parameter values in data position numbers 0001 to 0050 To transmit an extended MECHATROLINK command specify value 1 for the command code CMD and specify the data to be transmitted in the extended MECHATROLINK III command parameters area Turn on the Send Command relay YLILILI33 to Y00047 Verify that the Response Received relay X00001 to X00015 has turned on Verify that command execution has completed by checking the Positioning Completed relay XOOO17 to X00031 Error Warning Detected relay x00032 axis statuses and common statuses as required for each command SEB IM 34M06H60 03E 1st Edition Jan 2010 00 00001 00002 00003 Send SV ON Command 00004 00005 00006 00007 00008 00009 00010 00011 00012 00013 00014 00015 00016 00017 00018 5 10 Sample Program for Sending Servo ON SV 31 Command
162. work connection for MECHATROLINK III communications C1 Master C2 Master station station FA Controller Support tool No 62 Slave station Slave station Slave station Slave station FA unit FA unit FA unit FA unit Figure 1 1 Network Connections for MECHATROLINK III Communications IM 34M06H60 03E 1st Edition Jan 2010 00 1 2 Module Features The positioning module provides the C1 master function of the MECHATROLINK III communications transmitting MECHATROLINK III commands to external devices slaves according to the instructions from a CPU module and receiving MECHATROLINK III responses from external devices The module enables 1 Independent axis motion using MECHATROLINK III commands 2 Linear interpolation motion starting and stopping multiple axes simultaneously 8 Reading target positions current positions and other statuses of external devices 4 Reading and writing parameters of external devices b External device 1 2 WH The module has the following features Latest open motion field network MECHATROLINK III is high performance advanced open architecture motion field network standard published by the MECHATROLINK Members Association It adopts proven Ethernet as its physical layer Fewer cables simpler configuration lower wiring cost The module implements position control for up to 15 axes from a single slot Controllers and motors
163. xecuting Command ON Check execution of Decelerate amp Stop command 102102 00301 00009 00010 00333 1 Send 102102 AX1 Send Command relay OFF Receiving AX1 Response Response Received 00011 Receiving Response Receiving OFF Response 00012 Check completion of Decelerate amp Stop command 00013 102102 102103 00301 0031 00918 00319 5 15 1 102103 Executing Command Receiving Executing AX1 AX1 AX2 AX3 Executing OFF Response Command Response Positioning Positioning Positioning Command Received Completed Completed Completed 00014 Completed IM 34M06H60 03E 1st Edition Jan 2010 00 5 47 Sample Program for Executing Stop Immediately Command This sample program issues a Stop Immediately command 0300 against axis 1 to the positioning module mounted in slot 3 to stop the motion of axes 1 2 and 3 immediately during interpolation motion with axis 1 as reference axis and axes 2 and 3 as interpolation axes After issuing the command it verifies completion of the command execution by checking that the corresponding Positioning Completed relays have turned on 00001 Sample Program for Executing Stop Immediately Command 00002 102200 Execute Execute Stop Immediately Command execute Stop Immediately command 00003 00004 AX1 CMD Stop Immediately 000101
164. y by pulse transformers 3 5 External Dimensions Unit mm 83 2 28 9 C nmn iun A RDY CON WRN ERR 7 POSIT 100 Figure 3 2 External Dimensions Drawing IM 34M06H60 03E 1st Edition Jan 2010 00 3 9 3 6 Attaching Detaching the Module 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 CAUTION Always switch off the power before attaching or detaching the module Base Module Anchor pin Positioning Module 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 F01 VSD B 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 34M06H60 03E 1st Edition Jan 2010 00 3 10 Attaching the Module Intense Vibration Environments If the module is used in intense vibrat

with MECHATROLINK-III Interface

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