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Machine Controller MP2300S Basic Module USER'S MANUAL

1. Response Code Register No Name Contents SVB SVR Bit 0 Motion Controller Operation Ready Yes Yes Bit 1 Running At Servo ON Yes Yes wooo RUN Status Bit 2 System Busy Yes Bit 3 Servo Ready Yes Bit 4 Latch Mode Yes Bits 5 to F Reserved Parameter Number Setting parameters 0 or higher Iiw0001 When Range Over is Yes Yes Generated Fixed Parameters 1000 or higher Bit 0 Excessive Deviation Yes Bit 1 Set Parameter Error Setting Parameter Error Yes Yes Bit 2 Fixed Parameter Error Yes Yes Bit 3 Servo Driver Error Yes Bit 4 Motion Command Set Error Yes Yes ILOO02 Warning Bit 5 Reserved AD Conversion Error Bit 6 Positive Direction Overtravel Yes Bit 7 Negative Direction Overtravel Yes Bit 8 Servo ON Incomplete Yes Bit 9 Servo Driver Communication Warning Yes Bits A to 1F Reserved Bit 0 Servo Driver Error Yes Bit 1 Positive Direction Overtravel Yes Bit 2 Negative Direction Overtravel Yes Bit 3 Positive Direction Software Limit Yes Bit 4 Negative Direction Software Limit Yes Bit 5 Servo OFF Yes Yes Bit 6 Positioning Time Over Yes Bit 7 Excessive Positioning Moving Amount Yes Bit 8 Excessive Speed Yes Bit 9 Excessive Deviation Yes Bit A Filter Type Change Error Yes Bit B Filter Time Constant Change Error Yes L00004 Alarm Bit C Reserved Bit D
2. Program Program 5 2300s MP23005 5 2300s MP23005 E fi Ladder program a Ladder program E High speed fp High speed a BH a BH fe Ho SMAN N H01 01 E Hoz ue 2 f HOS f Hos oB Low speed Open ES Low speed S L Main Progr ie ley L Main Program Cut Ctrl x a El LoL Si r g ley L01 Eo F5 copy Ctrl C E 101 01 ic 5 Start Paste Ctrley m B Start H E Interrupt _ gt E E Interrupt 4 P Delete Delete 5 me A 2 E Function E Function fe FUNCOL Rename Compile Set the Password Cancel the Password Enable Disable of CP ladder Import gt Export gt Property Print e Sequence Program In the module configuration definition screen of the MPE720 online mode open the M EXECUTOR module definition and check D of the sequence program definition to save the definition L No fo Executiontype Seting Program ez jequence program Start Direct SPMO01 e quence program L scan Direct SPMO02 Ye quence program H scan v Direct SPMOO03 seas a Jan on a oe ae oe oe ae oe oe v E Caution When a drawing function or sequence program is disabled the equipment may become unstable causing personal injury or damage to the equipment If carrying out an investigation be aware of the behavior of the equipment when it is disabled After the investi
3. Item Setting Range Details Default Select an application layer protocol Protocol Type Overview Extended Yaskawa s Extended MEMOBUS protocol E MEMOBUS j ears Extende 5 Protocol Type MEMOBUS MEMOBUS Yaskawa s MEMOBUS protocol Extended MEMOBUS Ethernet I F protocol for the sequencer A MEMOBUS MELSEC series manufactured by Mitsubishi Elec tric Corporation MODBUS TCP Industrial Ethernet protocol proposed by Modieon Inc Select a code type for the message communication data Depending on protocol type available codes are restricted as fol lows Code Protocol Type ASCII BIN RTU ASCII Extended Code BIN MEMOESS y y ASCII RTU MEMOBUS V V MELSEC V V MODBUS TCP V V Available Not available Up to 32 single Any text can be entered as a connection comment Remote Station byte characters Blank Name 16 double byte characters Input Disable Enable disable Select whether to update the input data in the I O message commu Saabs nication Output Disable Enable disable Select whether to update the output data in the I O message commu Sabie nication Set a start address of the input register of the MP2300S side for stor ing the data read from the remote equipment TW0000 to IW xxxx IW7FFF Note1 xxxx represents a start I O register number specified by the Note1 MP2300S Head 218IFA cell in the detailed field of the mo
4. E g When locked z When released Attachment for mounting panel 2 Insert two convex portions at the top of the panel mounting clamp into holes of the MP2300S case 3 Push the clamp as indicated by an arrow above onto the MP2300S case and use DIN fixing locks to fix MP2300S Mounting and Wiring 3 5 3 6 3 1 Mounting MP2300S 3 1 1 Method 4 Push the MP2300S mounted clamp onto the mounting plate as shown in the figure below and use four mounting screws to firmly secure the clamp S MP2300S Mounting screw M4 plus Use the screwdriver with this portion of a driver not less than 10 cm Note Vertically mount it on the wall as shown in the figure above 3 1 Mounting MP2300S 3 1 2 MP2300S Mount Direction 3 1 2 MP2300S Mount Direction Be sure to mount the MP2300S using DIN rail or metal fittings View from front when attached Mounting and Wiring 3 7 3 8 3 1 Mounting MP2300S 3 1 3 Space Required for Mounting MP2300S 3
5. Number Value Number NOUT Remarks DW00000 PARAM00 OUT Process result DW00001 PARAMO1 OUT Status DW00002 00003 PARAM02 IN Connection number 3 For receiving read operation DW00003 PARAM03 OUT Option DW00004 PARAM04 OUT Function code DW00005 PARAMO5 OUT Data address DW00006 PARAM06 OUT Data size DW00007 PARAMO7 OUT Remote CPU number DW00008 00000 PARAMO08 IN Coil offset 0 word DW00009 00000 PARAMO9 IN Input relay offset 0 word DW00010 00000 PARAM10 IN Input register offset 0 word DW00011 00000 PARAMI1 IN Holding register offset 0 word DW00012 00000 PARAM12 IN Writable address lower limit MW00000 DW00013 65534 PARAM13 IN Writable address upper limit MW65534 DW00014 PARAM14 SYS Reserved by the system Zero clear at startup DW00015 PARAMI15 SYS Reserved by the system DW00016 PARAM16 SYS Reserved by the system Note N Input OUT Output SYS For system use E Example of Using the Message Receive Function in a Ladder Program A ladder program for receiving messages in the remote equipment MP2300 side is similar to that in 2 How to Set up the Remote Device MP2300 to Be Connected of 6 2 3 When MP2300S Acts as Master I O message com munication function is used However change Communication buffer channel number and Connection number respectively based on the I O definition and parameter list settings
6. No Name input ata Unie Current Value The saving operation of SERVOPACK parameters can be used for writing data after SERVOPACK replacement because it writes all the parameters of the relevant axis 5 Copying Current Values to Set Values Input Data in the SERVOPACK Tab The data flow for SERVOPACK parameters is as follows when selecting Edit Copy Current Value from the SERVO PACK Tab in the SVB Definition Window on the MPE720 1 The MPE720 copies the values currently displayed in Current Value to Input Data on the SERVO PACK Tab and displays i MPE720 online Input eg Current Data Value Display i j Data N A Input F 1 l HDD in personal computer MECHATROLINK SRAM System Control Software Software Flash Memory EEP SDRAM RAM Servo Parameters Parameters All Axes MP2300S SERVOPACK SERVOPACK gt Appendices P o 2 The following figure shows a display example after having selected Edit Copy Current Value on the SERVOPACK Tab in the SVB Definition Window The values in Current Value are copied to Input Data Before copying EEOAE r 10 x PT 2 CPUH 1 JRACK O1 Slot 200 cIR 01 je000 07FF ME s1 gt SERVOPACK SGDS 1 Version 0020 z Servo Type Rota z Fixed Parameters Se
7. 4 9 4 4 Executing Motion step 3 4 11 4 4 1 Registering Program Execution 4 11 4 4 2 Starting a Motion Program Using the Operation Control Panel 4 12 4 5 Starting Motion Program from an External Signal 4 13 4 5 1 Overview 4 13 4 5 2 Required Equipment 4 13 4 5 3 Creation Procedure 4 15 gt System Start Up and Easy Programming 4 1 4 2 4 1 System Startup Overview 4 1 System Startup Overview The start up procedure for a model system is as follows For detailed information of each step refer to the cited refer ences This chapter explains a procedure where you can easily run and check a program without external signals The simple motion program which you create has three lines only moving and stopping 150 000 pulses from the cur rent position INC Specify an incremental mode MOV A1 150000 B1 150000 Position two axes 150 000 pulses END Preparation step 1 Wiring Programming Executing motion self configuration step 2 step 3 and test operation 4 2 Preparation step 1 4 2 Preparation step 1 99 c This section explains the steps of wiring syst
8. Motion program 8 Oo z Servomotor Q Optional modules a SERVOPACK oO maaan o Motion module X SUD ag SVB 01 3S a ee ar tee e DI sf O se at 2 2 x b losis Qo 1 e Jez Ji 25 I h Bel a Q ie 4 6 High speed scan Servomotor 2 48 2 2 Basic Module 2 2 6 SVR Virtual Motion Module 4 SVR Operation a SVR Execution Timing The SVR is processed at the beginning of the high speed scan SVR processing is performed in the next scan after specifying and the processing results are reflected in the monitoring parameters Reference set SVR processing Reflected in monitoring parameters I High speed scan Results of commands in the H SVR processing results drawing are used in SVR can be monitored in the H processing the next scan drawing of the same scan b Processing Time When fixed parameter 0 Selection of Operation Modes is set to 0 Normal Operation Mode services are started for each of the 16 SVR Module virtual axes The default for the Selection of Operation Modes parameter is 1 Axis Unused The following table gives guidelines for the processing time required for each SVR axis Command MP2300S NOP 35 14 x Number of axes us POSING 35 36 x Number of axes us Number of axes The number of axes 1 to 16 when Selection of Operation Modes fixed parameter 0 is set to Nor mal Operation Mode 0 The for
9. VAU Ol RTOGOSS Error Contents Description Result 8000H Reserved 8100H Ponchon code iror Unused function code was received Check the source function code The following setting is out of range Check the setting Data address request from transmission side PARAMOS coil offset 8200H Error in setting address PARAMO9 input relay offset PARAM 10 input register offset PARAM11 holding register offset 8300H ee ae The received data size is out of range Check the source data size ae The circuit number is out of range SAEC Error m setting ireuit number Check Cir No circuit number of the MSG RCV function The communication buffer channel number is out of range 8500H Error in setting channel number Check Ch No communication buffer channel number of the MSG RCV function 8600H Connettori numb rerror The connection number is out of range Check PARAMO02 connection number 8700H Reserved An error response was returned from the communication section com 8800H Communication section error munication device Check the equipment connection In addition check that the remote device is open to communication Unavailable device is set Check Dev Typ communication device SPE Device Se Pee error type of the MSG RCV function 3 Status PARAMO1 Outputs status of the communication section communication device The following figure shows the bit assignment Bit assi
10. LED 8 points w O Qus wO Qs wQ Q7 wO Oms DIP switch 6 points 4 points Battery cover 130 mm MECHATROLINK I connector 1 line 2 ports 2 pole connector i Feret RLY OUT 3 pole connector 24 V power supply Ethernet connector Optional slot with LED Overview 1 4 1 2 MP2300S Configuration 1 2 2 MP2300S Modules 1 2 2 MP2300S Modules The following table shows the names and specifications of the Basic Module and Optional Modules Group Name Description Model Specifications JAPMC MECHATROLINK I and II Interface Basic Module Basic Module ME23009 MP2300S E Ethernet communications MECHATROLINK SVB 01 JAPMC MC2310 MECHATROLINK I and II Interface 16 Motion Module axes maximum Motion Analog Output Motion Modules Module SVA 01 JAPMC MC2300 Analog output 2 axes maximum Eulse Output Motiori PO 01 JAPMC PL2310 Pulse output max 4 axes Module VO Module LIO 01 JAPMC 102300 16 inputs 16 outputs sink mode output 1 pulse input VO Module LIO 02 JAPMC 102301 16 inputs 16 outputs source mode output 1 pulse input T O Module LIO 04 JAPMC 102303 32 inputs 32 outputs sink mode output I O Modules I O Module LIO 05 JAPMC I02304 32 inputs 32 outputs
11. 8 24 monitor the motion program execution information 5 25 monitoring parameter list A 27 motion control function specifications 2 5 motion control functions 2 34 motion error details 8 34 motion parameter details A 20 motion program 5 7 motion program alarm codes 8 28 motion program alarms 8 25 motion program executor 2 50 mounting clamp 3 5 mounting to DIN rail 3 3 Index MP2300S appearance 2 63 error check flow 8 6 Features 1 2 general specifications 925 method 3 2 mount direction 3 7 product specifications 2 3 space required for mounting 3 8 MP2300S Modules 1 4 MPE 720 Ss heuc steve ty a tte Cee ee 1 9 MSG RGVie 6 2 t24ecegeeec lo el eet chi eel A 70 MSG SND 22h hse aneen ice raae A 35 MSG SND
12. Not used SW00230 Not used Not used SW00231 Not used Not used E 260IF 01 Module Error Status Example Slot 1 Bit No F 8 T 0 SW00224 i cai 1 Sub slot No 2 SW00225 ST15 es ST 0 SW00226 ST31 ST 16 SW00227 ST47 a ae ST 22 SW00228 ST63 ST 48 Error status details Item Code Remarks 0 Normal communication ST n Communication error at station n when slave n becomes a local station number Maintenance Inspection and Troubleshooting 8 23 8 24 8 2 Troubleshooting 8 2 4 Troubleshooting System Errors g Module Information Name Register No Contents SW00800 Basic Module C380H SW00801 Reserved by the system SW00802 CPU Software version BCD SW00803 Number of sub slots 0004H SW00804 CPU Function ID C310H SW00805 CPU Function Module Status SW00806 T O Function Module ID 8070H SW00807 T O Function Module Status SW00808 SVB Function Module ID 9113H Module SW00809 SVB Function Module Status Information SW00810 SVR Function Module ID 9210H SW00811 SVR Function Module St
13. 8 6 8 2 3 LED Indicators 8 6 8 2 4 Troubleshooting System Errors 8 8 8 2 5 Motion Program Alarms 8 25 8 2 6 List of Causes for Command Error Completed Status 8 30 8 2 7 Troubleshooting Motion Errors 8 33 Appendices Appendix A System Registers Lists A 2 A 1 System Service Registers A 2 A 2 Scan Execution Status and Calendar A 4 A 3 Program Software Numbers and Remaining Program Memory Capacity A 4 Appendix B SERVOPACK Parameter Data Flow A 5 B 1 Operations and Parameter Data Flow A 5 Appendix C Initializing SERVOPACKs A 14 xii Appendix D Initializing the Absolute Encoder A 15 D 1 X III SERVOPACK A 15 D 2 X II SERVOPACK A 16 D 3 X I SERVOPACK A 18 Appendix E Motion Parameter Details A 20 E
14. 5 28 5 2 4 Ladder Drawings DWG 5 31 5 3 Registers 5 36 5 3 1 Types of Registers 5 36 5 3 2 Data Types 5 39 5 3 3 How to Use Subscripts i j 5 40 5 3 4 Register Designation 5 41 5 4 Self configuration 5 42 5 4 1 How to Execute Self Configuration 5 43 5 4 2 Definition Information Updated with Self Configuration 5 51 5 5 Precaution on Using MP2300S 5 54 5 5 1 Precautions when User Definition File is Configured Changed 5 54 5 5 2 Setting or Changing Module Configuration Definition Files 5 55 5 5 3 Setting and Changing the Scan Time 5 56 o Outline of Motion Control Systems 5 1 5 1 Startup Sequence and Basic Operation 5 1 1 DIP Switch Settings 5 1 Startup Sequence and Basic Operation This section describes the MP2300S startup sequence and basic operation together with the DIP switch settings self diagnosis at startup and LED indicator patterns 5 1 1
15. 3 19 Ethernet connection example 3 20 Ethernet connector details 3 19 excessive positioning moving amount 8 36 excessive speed 8 36 excessively following error 8 36 executing motion 4 11 external function registers 5 37 F filter time constant change error 8 37 filter type change error 8 37 fixed parameter list A 20 flash memory A 5 function input registers 5 37 function output registers 5 37 function registers 5 37 functions 5 31 5 35 G grandchild drawings 5 31 STOUPS ssh oe eee Sse ok Se S S eE EE 5 7 H hierarchical structure of drawings 5 33 how to determine input error 7 18 how to determine slave CPU synchronous state 7 15 how to disable a user program 8 14 how to disable the I O process
16. 2 41 218IFA module 2 12 configuration definition 2 14 detailed screen 2 15 functions irn raen aE aA e eseeeed 2 12 Specification 2 13 32 byte mode 2 41 A a way to immediately control a motion program from external equipmen 5 20 ABS encoder count exceeded 8 38 accessories 1 9 actions to be taken when a transmission error ocurs 8 22 address 5 39 alarm ILODO04 list 8 34 allocation contact interlock 5 20 ARP isco oe eb eee oeassi gd Soest Re eee ele 2 13 automatic negotiation 2 13 automatic receive setting screen 9 99 axis alarms 8 34 B basic module 2 7 appearance 1 3 connections 3 12 indicators saena EAE se celse eee Sse see ote esse 2 8 specifications 2 11 switch settings 2 9 battery
17. 7 7 7 3 Operation 7 9 7 3 1 Input Output Register 7 9 7 3 2 How to Determine Slave CPU Synchronous State 7 15 7 3 3 Calculation of Slave CPU Synchronous Delay Time 7 16 7 3 4 How to Use Scan Counter 7 17 7 3 5 How to Determine Input Error 7 18 7 3 6 Management to Resume Slave CPU Synchronization 7 24 7 4 Precautions 7 28 7 4 1 Precautions on Usage 7 28 7 4 2 Effect of Error on Slave CPU Synchronous Operation 7 29 8 Maintenance Inspection and Troubleshooting 8 1 8 1 Inspection Items 8 2 8 1 1 Daily Inspections 8 2 8 1 2 Regular Inspections 8 3 8 1 3 Replacing the Basic Module Battery 8 4 8 2 Troubleshooting 8 5 8 2 1 Basic Flow of Troubleshooting 8 5 8 2 2 MP2300S Error Check Flowchart
18. 3 1 3 1 Mounting MP2300S 3 2 3 1 1 Method 3 2 3 1 2 MP2300S Mount Direction ee eee 3 7 3 1 3 Space Required for Mounting MP2300S 3 8 3 1 4 Replacing and Adding Optional Modules 3 9 3 2 Basic Module Connections 3 12 3 2 1 Connectors 3 12 3 2 2 Power Supply Connector 3 13 3 2 3 MECHATROLINK Connectors 3 14 3 2 4 Ethernet Connector Details 3 19 3 2 5 RLY OUT Connector Details 3 23 3 2 6 System Connection Example 3 25 4 System Start Up and Easy Programming 4 1 4 1 System Startup Overview 4 2 4 2 Preparation step 1 4 3 4 2 1 Wiring 4 3 4 2 2 Self Configuration 4 5 4 2 3 Test Operation
19. 3 17 total number of system works 5 18 transmission bytes 2 41 transmission distance 2 37 transmission parameter tab 2 40 troubleshooting 8 5 troubleshooting flowchart for system errors 8 11 U UDP srebra ceia n oe Seda d Peete Ss 2 13 user functions 5 35 user operation error status 8 19 user programs 5 6 virtual motion module when MP2300S acts as master I O message communication function is used 6 36 when the MP2300S acts as a slave ladder program which uses a MSG RCV function 6 17 When the MP2300S acts as master ladder program which uses MSG SND function 6 49 when the MP2300S acts as slave automatic receive function is used 6 3 wild card I O 2 43 wild card servo 2 43 without using a ladder program 2 50 work register 5 14 5 30 Z zero point not set 8 37 Revision History The revision dates and numbers of the revised manuals are given on the bot
20. DOO E How to set up in the I O Message Communication Easy Setting Window Set Port No of MP2300S side 10005 10006 for example Select MELSEC for Communication Protocol Type and click the Default Button 6 86 6 4 Communication with PLC Manufactured by Mitsubishi Electric Corporation MELSEC protocol 6 4 2 When the MP2300S Acts as Master I O message communication function is used m Caution When the communication protocol is MELSEC the register type for the default read write is Word Device Register D Select Connect Type TCP for example Select Code BIN for example Set Node Port IP Address for the other device MELSEC Q series to be connected 192 168 001 002 for example Set Port No of the other device MELSEC Q series to be connected 10005 10006 for example m Caution In I O message communications since a message is transmitted from each port number for register read write a connected remote device needs the two receive connections for receiving messages Set a storage area Input Reg for data read by the MP2300S IW0000 for example Set Read Size of data to be read by the MP2300S 100 W for example Set a storage area Output Reg for data written by MP2300S OW0064 for example Set Write Size of data written by the MP2300S 100 W for example Set an I O data update timing Data update timing for the CPU and buil
21. 5 7 5 28 management to resume slave CPU synchronization 7 24 maximum number of slave stations 2 36 MECHATROLINK cable 3 15 communication specifications 2 36 connector 3 14 modules 1 7 SERVOPACKS 1 7 MECHATROLINK transmission definition 2 39 MECHATROLINK compatible devices 1 7 MELSEC protocol 6 75 message communication 2 18 2 19 2 21 message receive function MSG RCV A 70 message transmit function MSG SND A 35 metal fittings 2 64 metal fittings for attachment 1 9 M EXECUTOR module 2 50 configuration definition 2 52 control register mapping window 2 56 execution scheduling 2 59 function overview 2 50 program definition screen 2 54 program execution registration screen 2 58 specification 2 51 module information
22. 5 7 5 2 3 Sequence Program 5 28 5 2 4 Ladder Drawings DWG 5 31 5 3 Registers 5 36 5 3 1 Types of Registers 5 36 5 3 2 Data Types 5 39 5 3 3 How to Use Subscripts i j 5 40 5 3 4 Register Designation 5 41 5 4 Self configuration 5 42 5 4 1 How to Execute Self Configuration 5 43 5 4 2 Definition Information Updated with Self Configuration 5 51 5 5 Precaution on Using MP2300S 5 54 5 5 1 Precautions when User Definition File is Configured Changed 5 54 5 5 2 Setting or Changing Module Configuration Definition Files 5 55 5 5 3 Setting and Changing the Scan Time 5 56 6 Ethernet Communications 6 1 6 1 Communication Methods 6 2 6 2 Communication with Other MP Series 6 3 6 2 1 When the MP2300S Acts as Slave
23. 4 6 4 3 Programming step 2 4 9 4 3 1 Programming Procedure 4 9 4 4 Executing Motion step 3 4 11 4 4 1 Registering Program Execution 4 11 4 4 2 Starting a Motion Program Using the Operation Control Panel 4 12 4 5 Starting Motion Program from an External Signal 4 13 4 5 1 Overview 4 13 4 5 2 Required Equipment 4 13 4 5 3 Creation Procedure 4 15 5 Outline of Motion Control Systems 5 1 5 1 Startup Sequence and Basic Operation 5 2 5 1 1 DIP Switch Settings 5 2 5 1 2 Startup Sequence 5 3 5 1 3 Startup Sequence Operation Details 5 4 5 1 4 LED Indicator Details 5 5 5 2 User Programs 5 6 5 2 1 Types and Execution Timing of User Program 5 6 5 2 2 Motion Programs
24. 88 42 111 5 6 76 6 2x 5 holes 408 35 4 5 121 N J H ne 130 BR o E Approx 8 when attached Units mm 2 64 3 Mounting and Wiring This chapter explains how to handle MP2300S and the connection methods for each module 3 1 Mounting MP2300S 3 2 3 1 1 Method 3 2 3 1 2 MP2300S Mount Direction 3 7 3 1 3 Space Required for Mounting MP2300S 3 8 3 1 4 Replacing and Adding Optional Modules 3 9 3 2 Basic Module Connections 3 12 3 2 1 Connectors 3 12 3 2 2 Power Supply Connector 3 13 3 2 3 MECHATROLIN
25. 1 9 bit Gaee n Sues etee ee Sere se eee 5 39 built in SVB module 2 30 Cc cables 1 8 3 15 calling a motion program 5 12 calling a sequence program 5 29 child drawings 5 31 communication buffer channel A 102 communication cycle 2 41 communication interface 2 13 communication protocols 2 12 communication with other MP series 6 3 communication with PLC manufactured by Mitsubishi Electric Corporation 6 75 communication with touch panel 6 65 connection parameter 2 19 2 24 connection procedure 3 14 constants registers 5 36 control signal 5 16 D D registers 5 36 Index 1 daily inspections 8 2 data registers 5 36 data types 5 39 definition information updated with self configuration 5 51 details of program information used by work n
26. C Tonnon A C 0027 wjSet 00100 NL 1 MWCount DWwO00030 MSG SND function MS GND 7 B Execute DB000200 B Busy bB000210 BJAbort DB000201 B Complete DB000211 W Dev Typ 00006 BJ Error DB000212 W Pro Typ 00001 PAjCir No 00001 MICh No 00004 fAjParam DA00000 0033 NL 4 treatment after normally finished after finish 0034 DB000211 tue NL 1 abort 08000201 count for normal 0035 NL 2 0037 NL 4 treatment while error taking place while error 0033 DB000212 true NL 1 count for abnormal 0039 WL Dest DWO0025 NL 2 results save i gt EXPRESSION F 0040 DWO00026 DWO00000 results PARAMOD NL 2 DWO0027 DW00001 status PARAMO1 022 4 _END_IF_ 0041 NL 1 treatment while timeout timeout ON pulse timeout taking place DB00020A DB000208 DB00020C po2s d m H Im O NL 1 o Ethernet Communications 6 15 6 2 Communication with Other MP Series 6 2 1 When the MP2300S Acts as Slave automatic receive function is used while timeout 0045 NL 1 0046 NL 2 count for timeout 0047 NL 4 0043 The communication setting and the ladder program creation are now finished when MP2300 acts as a master 3 How to Start Communications 1 The MP2300S side starts to receive the messages When the automatic receive function is used the message receive operation starts automatically Turn Execute ON for the message transmit function in t
27. 2 1 2 1 Specifications 2 2 2 1 1 General Specifications 2 2 2 1 2 Product Specifications eee 2 3 2 1 3 Function Lists eee ee e 2 4 2 2 Basic Module 2 7 2 2 1 Outline of Functions 2 7 2 2 2 External Appearance LED Indicators and Switch Settings 2 8 2 2 3 Specifications 2 11 2 2 4 218IFA Module Ethernet 2 12 2 2 5 Built in SVB Module 2 30 2 2 6 SVR Virtual Motion Module 2 47 2 2 7 M EXECUTOR Module Motion Program Executor 2 50 2 3 Option Module 2 61 2 3 1 Option Module Overview List 2 61 2 4 External Appearance 2 63 2 4 1 Basic Module 2 63 2 4 2 Basic Module with Metal Fittings 2 64 3 Mounting and Wiring
28. Type Data types Numeric Value Range Remarks B Bit 0 1 Used by relay circuits w interer 32768 to 32767 Used for numeric value operations The values in paren oe 8000H 7FFFH theses indicate use with logical operations L Double length 2147483648 to 2147483647 Used for numeric value operations The values in paren integer 80000000H 7FFFFFFFH theses are for use with logical operations F Real number 1 175E 38 to 3 402E 38 0 Used for numeric value operations A Address 0 to 32767 Used only when specifying pointers Data Types and Register Specifications Integer type V MW00100 MW00101 MW00102 MW00103 A digit to indicate the bit 6 is added to the register number 00100 MB001006 lt Bit type F EDCBA 9 8 7 6 5 43 2 1 0 ML00100 MF00100 ML00102 MF00102 E MB00103A lt Bit type number type Double length and real Each register number is one word Pointer Specification and Address Type A digit to indicate the bit A is added to the register number 00103 The words for the given register number 00102 and the next number 00103 are included Therefore every second number is used Address in memory MA00100 gt Register area Indicates r
29. 8 15 how to forcibly turn ON OFF coil 8 15 how to operate work register 5 19 how to set up communication process A 31 how to use scan counter FAT I O map tab 2 44 I O message 2 24 2 26 IGMP 5 Vane a eae RE Save Peet eee eos 2 13 indirect designation 5 13 INT p cate oe sie Ree e oo vet Te aes 5 44 INIT switch and RAM data 5 44 initializing the absolute encoder A 15 input registers 5 36 inspection items 8 2 integer 5 39 internal function registers 5 37 interpolation override 5 17 PY cakes eeeteceink aiciieel scone sce 2 13 J AASV 29 1 eee a raS 8 4 L ladder drawings DWG 5 31 LAN cable 4 4 LED indicator details 5 5 LED indicators 8 6 link assignment tab page 2 43 list of causes for command error occurrence 8 30 M main program
30. RDY O O RUN RDY x RUN RDY RUN ALM ERR gt ALM O ERR gt ALM OERR MTX O BAT MTX O O BAT MTX O BAT TRX O O IP TRX O IP TRX O IP Lit O Notlit Blinking STOP SUP gt INIT P CNFG MON M TEST sw1 OFF ON Self configuration is complete and MECHATROLINK slave device information has been written to a definition information file gt System Start Up and Easy Programming 4 5 4 2 Preparation step 1 4 2 3 Test Operation 4 2 3 Test Operation Confirm that the machine controller can command axis servo ON OFF and jog operation 1 Starting and Connecting MPE720 Ver 6 Launch MPE720Ver 6 and click 1 Ethernet LP 192 168 1 1 to connect to the controller For more information on the communications settings refer to Appendix F How to Set up Communication Process on page A 31 LET iI File Edit view Online Compile Debug Window Help D258 196 Boo Meee GG BB bo med ome DOE US FF oo Shire Fto gt 2 lt s 42 gt 50 ROR KOR YASKAWA ELECTRIC CORPORATION Programming Transfer Utility e config 2 Ethernet LP IP192 168 1 1 1 Serial COM1 Unit fa Output Check for Multiple Coils gt A X Cross Reference 1 Ready CAP NUM SCRL 4 When the connection is complete the display will change from offline to online 2 Operating Manually in the Test Operation Screen ME MPE720 er 6 MP23005 Start x Ati File Edit View Onl
31. 5 56 5 5 Precaution on Using MP2300S 5 5 3 Setting and Changing the Scan Time 2 Scan Time Set Value Examples E 0 8 ms Maximum Scan Time and 1 ms Communication Cycle MECHATROLINK II Only High speed or low speed scan set value 1 25 x 0 8 1 ms High speed or low speed scan set value 1 ms 2 ms 3 ms etc an integral multiple of at least 1 ms E 1 4 ms Maximum Scan Time and 1 ms Communication Cycle MECHATROLINK I Only High speed or low speed scan set value 2 1 25 x 1 4 1 75 ms High speed or low speed scan set value 2 ms 3 ms etc an integral multiple of at least 2 ms E 0 8 ms Maximum Scan Time and 2 ms Communication Cycle MECHATROLINK or MECHA TROLINK II High speed or low speed scan set value 1 25 x 0 8 1 ms High speed or low speed scan set value 1 ms 2 ms 4 ms etc an integral multiple of 2 ms at 1 ms and 2 ms or higher E 1 4 ms Maximum Scan Time and 2 ms Communication Cycle MECHATROLINK I or MECHA TROLINK II High speed or low speed scan set value 1 25 x 1 4 1 75 ms High speed or low speed scan set value 2 ms 4 ms etc an integral multiple of 2 ms at 2 ms or higher Outline of Motion Control Systems 5 57 MEMO 6 Ethernet Communications This chapter explains how to communicate with devices PLC touch panel etc connected to the MP2300S by Ethernet 6 1 Communication Methods 6 2 6 2 C
32. A 22 E 3 Monitoring Parameter List A 27 F How to Set up Communication Process A 31 F 1 Preparation A 31 F 2 Procedure A 31 G MSG SND MSG RCV Functions A 35 G 1 Message Transmit Function MSG SND A 35 G2 Message Receive Function MSG RCV A 70 G3 Communication Buffer Channel A 102 gt Appendices P Appendix A System Registers Lists A 1 System Service Registers 1 Shared by All Drawings Reserved for the system SB000005 to SB00000F Name Register No Remarks Reserved Reserved for the system 5B000000 Pinte High speed Scan SB000001 ON for only the first scan after high speed scan is started Low speed Scan SB000003 ON for only the first scan after low speed scan is started Always ON SB000004 Always ON 1 Reserved Not used 2 DWG H Only The following relays are reset at the start of the high speed scan Name Register No Remar
33. Processing when Alarm Occurs e The move command is not executed e The Command Error Completed Status in the Motion Command Status IWOD09 bit 3 will turn ON Error and Cause e A move command commands for positioning external positioning or STEP operation was executed that exceeded the limit of the positioning moving amount Correction e Check the moving amount for the axis being positioned h Bit 8 Excessive Speed Detection Timing A move command is executed Processing when Alarm Occurs e The move command is not executed e The Command Error Completed Status in the Motion Command Status IWOD09 bit 3 will turn ON Error and Cause e The speed moving amount output for one scan in case of interpolation commanded to MECHA TROLINK servo exceeds the upper limit Correction e Check the settings for speed reference interpolation command moving amount per scan and speed com pensation i Bit 9 Excessive Deviation Detection Timing e Always except during speed control and torque control Processing when Alarm Occurs The move command is not executed e The Command Error Completed Status in the Motion Command Status IWOD09 bit 3 will turn ON Error and Cause One of the following is possible e The position loop gain and speed loop gain are not set correctly creating poor response The Error Count Alarm Detection OLO022 is too small
34. Write 10006 192 168 001 002 10006 TCP gt MELSEC BIN 7 4 Head register number data size Head register number data size T input disable iwooo 100 Data register 00000 foo g MP2300S ws sis teaistenD Node equipment T output disable Jowoo64 100 W gt Data register D x 0100 fo fi The I O message communication is now set up when the MP2300S acts as a master E Caution When any transmission or connection parameter is changed the change will be reflected after FLASH has been saved and the power supply is turned ON again 2 How to Set up the Remote Equipment MELSEC Q series to Be Connected This section explains the MELSEC Q series side procedure to set up for connecting the MP2300S with the MELSEC Q series Note MELSEC Q series are products manufactured by Mitsubishi Electric Corporation Contact Mitsubishi Electric Corporation for more information 1 Start up GX Developer 2 Create anew project 3 Set up network parameters MELSECNET Ethernet Table 6 25 Network Parameter Setting example Setting Item Setting Details Network Type Ethernet Start I O No Any Network No Any Group No Any Exchange Number Any Mode Online 6 4 Communication with PLC Manufactured by Mitsubishi Electric Corporation MELSEC protocol 6 4 2 When the MP2300S Acts as Master I O message communication function is used 4 Set up Ethernet operation Table 6 26 Ethernet Operati
35. Automatic receive function ladderless 218IFA Extended MEMOBUS protocol A Fig 6 11 Message Flow with Touch Panel GP3000 series when Automatic Receive Function Is Used Note Here communication with the touch panel is carried out using the automatic receive function but it can also use the message receive function MSG RCV For information on how to set up when the message receive function MSG RCV is used refer to 2 How to Set up the Remote Device MP2300 to Be Connected of 6 2 2 When the MP2300S Acts as a Slave ladder program which uses a MSG RCV func tion o Ethernet Communications 6 65 6 66 6 3 Communication with Touch Panel 6 3 1 When MP2300S Acts as Slave E Setting Example The following figure shows an example which displays the content of the MP2300S slave holding register MW00100 on a touch panel and writes values from the touch panel to the same register Slave Master MP2300S Touch Panel Local station Remote station IP address 192 168 001 001 IP address 192 168 001 002 Communication Protocol Extended MEMOBUS Type protocol Connection Type TCP Data Code Type BIN Port number 10001 Ethernet Port number 10001 MP2300S Touch panel Local station GP3000 series Holding register M register Remote station Read MW00100 GMW0010
36. a Outline of Motion Control Systems 5 41 5 42 5 4 Self configuration 5 3 4 Register Designation 5 4 Self configuration The self configuration function automatically recognizes the Optional Modules mounted to the MP2300S Basic Mod ule and all slave data for slaves connected to the MECHATROLINK network and automatically generates a definition file Self configuration greatly simplifies the procedure needed to start the system Refer to 5 4 2 Definition Information Updated with Self Configuration for items that are automatically generated Execute Self Configuration Automatically write into Module Configuration Definition MP2300S yy Yaskawa Detect the option module information Allocate and O registers Automatically write into 218IFA MECHATROLINK I 102310 Detect the sl ah Automatically write into equipment a ea ante i information MECHATROLINK Transmission Definition ST ae a Automatically write into SVB Definition SSS tate Detect the motion parameter information SERVOPACK amp stepper Automatically write into SVR Definition SS Automatically write into M EXECUTOR Definition 5 4 Self configuration 5 4 1 How to Execute Self Configuration 5 4 1 How to Execute Self Configuration The following two methods are available for executing the self configuration e Execute the self configuration from DIP switch e Execute the self configuration
37. dence Level Hidden for ll Message Confi MECHATROLINK Not used for MECHATROLINK transmission Set to 0 default 2 2 Basic Module 2 2 5 Built in SVB Module cont d Item Display during Self configuration Options and Precautions on Settings SigmaWin beet Hidden for For MECHATROLINK II communications displays MECHATROLINK 1 whether or not to use SigmaWin for communication via MECHATROLINK II adapter such as JUSP NP115 Select either use or not use Number of Retry to Slaves Hidden for MECHATROLINK l Displays the maximum number of slave stations to which the Master can retry transmission in one transmission cycle when the Master has not received a normal response from a slave Only for Master station Set a number between 0 and 7 Cannot set for Slaves Number of Slaves Displays the number of slave stations that can be con nected The number of slave stations that can be connected is determined by communication type communication cycle SigmaWin use not use and number of retry to slaves Cannot be set Slave Synchro nous Function When using a built in SVB as a slave station select whether to synchronize with a master station Select either Enable or Disable For more information about the process refer to Chapter 7 Slave CPU Synchronous Func tion E Transmission Bytes Communication Cycle Number of Retries to S
38. m Bit 10 Servo Driver Synchronization Communications Error Detection Timing Detected by the communication control section when communication are synchronized between the Machine Controller and SERVOPACK Processing when Alarm Occurs e The current command will be aborted Error and Cause e Data of either Machine Controller or servo was not correctly updated Correction e Check the MECHATROLINK cable and reset the alarm n Bit 11 Servo Driver Communication Error Detection Timing Detected by the communication control section when communication is not synchronized between the Machine Controller and SERVOPACK Processing when Alarm Occurs The current command will be aborted The SERVOPACK will be Servo OFF status Error and Cause MECHATROLINK communication stopped because the cable was disconnected there is nois interference to the communication line or the power supply to the SERVOPACK was turned OFF Correction e Check the MECHATROLINK cable and reset the alarm e If this error frequently occurs refer to MECHATROLINK II Installation Manual manual number SIEPS 80000030 to correct wiring and eliminate noise interference Maintenance Inspection and Troubleshooting 8 37 8 38 8 2 Troubleshooting 8 2 7 Troubleshooting Motion Errors o Bit 12 Servo Driver Command Time out Error Detection Timing e Detected during execu
39. 6 Check the setting values Connection Parameter r Message Communication Easy setting It is possible to following parameter setting easily that communicate the message CNO Local Node IP address Node Connect Protocol Code Automaticall Node Name Port Port Type Type z Detail X 10002 TCP jExtended MEMOBUS BIN Cannot the overlap to local station port number used by the communicate the 1 0 message m Caution When any transmission or connection parameter is changed the change will be reflected after FLASH has been saved and the power supply is turned ON again o Ethernet Communications 6 21 6 22 6 2 Communication with Other MP Series 6 2 2 When the MP2300S Acts as a Slave ladder program which uses a MSG RCV function 7 Create a ladder program with a message receive function MSG RCV in it An example of a ladder program for receiving messages in the MP2300S side is as follows E Message receive function MSG RCV Required for receiving messages A message reception is carried out by inputting and executing this message receive function in a ladder program MSG RCV Communication device Execute DB000200 Busy DB000210 Ni Abort DB000201 Complete DB000211 Dev Typ 00016 Error DB000212 Pro Typ 00001 Protocol type Circuit number 1 ws Communication buffer channel number Cir No 00001 Ch No 00002 Parameter list start address Param A00000 DA00000 Communication devic
40. 6 2 Communication with Other MP Series 6 2 4 When the MP2300S Acts as Master ladder program which uses MSG SND function 1 How to Set up the MP2300S Side When the setting o f transmission parameters IP address subnet mask is already completed start from step 3 1 Double click the 218IFA Tab in the Module Details of the module configuration definition 2 Set transm m Module Details MP2300S SLOT O00 SlotNumber o J 2 a a e cate Module Type CPU Qira _ SYD SvR M EXECUTOR Controller Number 01 ission parameters D Transmission Hara eters Status Module Name Definition wwa h 34 fi a 0255 Equipment name CONTROLLER NAME 0 255 po Gateway IP Address 0 fo fo fo 0255 Detail Definition E How to set up transmission parameters Set IP A ddress 192 168 001 001 for example Set Subnet Mask 255 255 255 000 for example Set Gateway IP Address 000 000 000 000 for example E Caution Set up a uniqu e IP address in the network For the IP address check with your network administrator 3 Click the Easy Setting Button in the Message Communication area of the connection parameter set ting r Connection Parameter Port Port Type Type o Ethernet Communications 6 51 6 52 6 2 Communication with Other MP Series 6 2 4 When the MP2300S Acts as Master ladder program w
41. Error and Cause e The motor type setting rotary linear of the Machine Controller fixed parameter does not agree with that of SERVOPACK parameter Start Selection Pn000 3 for SGDH Rotary Linear for SGDS Correction e Check the setting and model of the SERVOPACK r Bit 1F Connected Encoder Type Error Detection Timing Detected when the communication with the SERVOPACK is established Processing when Alarm Occurs e None Error and Cause e The motor type setting rotary linear of the Machine Controller fixed parameter does not agree with the motor type connected to the SERVOPACK Correction e Check the motor 8 2 Troubleshooting 8 2 7 Troubleshooting Motion Errors 3 Servo Driver Status and Servo Driver Error Codes a Servo Driver Status IWOO2C List The status of aSERVOPACK for MECHATROLINK communication can be monitored in Monitor Parameter dWOO2c The list of Monitor Parameter IWOIH2C is provided in the following table Bit No Status Description Bit 0 Alarm OFF No alarm occurred ALM ON Alarm occurred Bit 4 Warning OFF No warning occurred WARNG ON Warning occurred Bit 2 Command Ready OFF Command reception not possible busy CMDRDY ON Command reception possible ready Bit 3 Servo ON OFF Servo OFF baseblock i SVON ON Servo ON baseblock cleared Bit 4 Main Power Supply O
42. ODH Ww Discontinuously reads holding register J E extended OEH w Discontinuously writes to holding register y E extended OFH B Changes multiple coil states V V 10H W Writes to multiple holding registers V V Note 1 B Bit type W Integer type RION respectively Available Not available Transmit and receive registers in the master operation mode are MW MB only In slave operation mode the coil holding register input relay and input register are MB MW IB IW 7 Data Address PARAMOS Specify the start address of the data The address must be input in decimal or hexadecimal numbers Example When the start address is MW01000 specify 1000 decimal or 3E8H hexadecimal The range of data addresses may differ depending on the function code The following table shows the valid ranges of data addresses when using a MEMOBUS or Extended MEMOBUS pro tocol Table G 2 Valid Range of Data Addresses MEMOBUS Extended MEMOBUS Function Target Valid Range of Data Addresses Function Code Data Type Ethernet 218IF Ethernet 218IFA 00H Unused Disable 01H B Reads coil state 0 to 65535 0 to FFFFH 02H B Reads input relay state 0 to 65535 0 to FFFFH 03H Ww Reads holding register content 0 to 65534 0 to FFFEH 04H Ww f ie 0 to 32767 0 to 65535 Reads input register content 0 to 7FFFH 0 to FFFFH OSH B Changes
43. ing flowchart Operation starts 3 Startup self diagnostics 1 Judges the Setting of switch 4 INIT of DIP switch SW1 FLASH gt RAM Copy Memory clear Judges the setting of switch 3 CNFG of DIP switch SW1 Self configuration execution 2 Configuration mode Normal operation Judges the etting of switch 6 STOP of DIP switch SW1 OFF Vv ON Operation stops 4 Watchdog timer start User program stops Vv S2 indicator RUN lit V DWG A executed Ladder program _ a So S2 indicator RDY lit Interrupt signal DWG I executed Completed after one cycle High Ladder program High speed scan DWG H executed Output Order of priority Output Low speed Background y pe self diagnostics 5 Low lt gt Refer to 5 1 3 Startup Sequence Operation Details on the next page for details on 1 to 5 a Outline of Motion Control Systems 5 3 5 4 5 1 Startup Sequence and Basic Operation 5 1 3 Startup Sequence Operation Details 5 1 3 Startup Sequence Operation Details 1 Self diagnosis at Startup Self diagnosis is performed on the following items after the power is turned ON e Read write diagnosis of memory RAM e System program ROM diagnosis e Main processor CPU
44. 3 Error DB000212 Error occurred When an error occurs the Error bit will turn ON only for one scan 1 When transmitting in MEMOBUS Extended MEMOBUS MELSEC or MODBUS TCP protocol set the communication protocol Pro Typ to MEMOBUS 1 The communication device automatically converts the protocol 2 Non procedure 1 In non procedural communications data is transmitted on a per word basis Non procedure 2 In non procedural communications data is transmitted on a per byte basis 6 2 Communication with Other MP Series 6 2 1 When the MP2300S Acts as Slave automatic receive function is used E Parameter list setting example for the message transmit function An example of a parameter list setting when writing 100 words of data from MW00000 to the destination using the connection with a connection number 1 follows Table 6 2 Sample Parameter List Setting parameter list start address Param DA00000 Niner Velie Number NOUT Romer DW00000 PARAM00 OUT Process result DW00001 PARAMO1 OUT Status DW00002 00001 PARAM02 IN Connection number 1 DW00003 PARAM03 IN Option Setting unnecessary DW00004 000BH PARAM04 IN Function code OBH Writes to holding register DW00005 00000 PARAM05 IN Data address 0 Starting from MW00000 DW00006 00100 PARAM06 IN Data size 100 100 words DW00007 00001 PARAMO7 IN Remote CPU number 1 DW0000
45. 5 27 difference between Ethernet LP and Ethernet A 33 differences from SVB simulation mode 2 49 digital operator A 14 DIN rail mounting 3 2 DIN rail mounting clips 323 DIN Rail Mounting Parts 1 9 DIP switch settings 5 2 direct designation 5 12 distributed synchronizing system 1 6 double length integer 5 39 drawing A 5 31 drawing execution control 5 32 drawing H 5 31 drawing I 5 3 drawing L 5 31 drawing types 5 31 DWG eteo o oe tie e ne Sie tone Se 5 3 DWG registers 5 36 DWGA ecni e steve tener ele rete eee 5 3 DWGH 38 obers sack ees eee ee 5 3 DWGI seni Sasa secede Sy See tase eee 5 3 DWAL esee Ai Le e i Eth ea eais 5 31 E EEPROMs sso cues Jondan eae aE ESE A 5 encoder cable 4 4 Ethernet 2 12 communication methods 6 2 Ethernet cable
46. 5 55 setting parameter list A 22 simple setting screen 2 21 2 26 single group operation 5 7 slave CPU synchronous delay time 7 16 slave CPU synchronous function 922 how to execute 7 7 how to set up 7 4 operation 7 9 requirements to execute 7 3 SRAMeis22 e256 26 See a ele eS A 5 standard system functions 5 35 starting motion program from an external signal 4 13 startup sequence 5 2 status flag of a motion program 5 15 status flag of sequence program 5 30 status tab page 2 44 sub program 5 7 5 28 subscripts i j 5 40 SVB features 2 30 specifications 2 34 SVB definition window 2 45 SVR 2 47 SVR execution timing 2 49 symbol designation 5 41 synchronization between
47. A 4 A 2 Scan Execution Status and Calendar Name Register No Remarks High speed Scan Set Value SW00004 High speed Scan Set Value 0 1 ms High speed Scan Current Value SW00005 High speed Scan Current Value 0 1 ms High speed Scan Maximum Value SW00006 High speed Scan Maximum Value 0 1 ms SW00007 Reserved by the system to Not used SWw00009 Low speed Scan Set Value SW00010 Low speed Scan Set Value 0 1 ms Low speed Scan Current Value SW00011 Low speed Scan Current Value 0 1 ms Low speed Scan Maximum Value SW00012 Low speed Scan Maximum Value 0 1 ms Reserved by the system SW00013 Not used Executing Scan Current Value Swo00014 Executing Scan Current Value 0 1 ms Calendar Year Swo00015 1999 0099 BCD Last two digits only Calendar Month Day SW00016 December 31 1231 BCD Calendar Hours Minutes SW00017 23 hours 59 minutes 2359 BCD Calendar Seconds SWw00018 59 s 59 BCD Calendar Day of Week SWwo00019 0 to 6 Sun Mon to Sat A 3 Program Software Numbers and Remaining Program Memory Capacity Name Register No Remarks System Program Software Number SWw00020 SOOOO 0000 is stored as BCD SW00021 System Number Not used SW00025 Remaining Program Memory Capacity SL00026 Bytes Total Memory Capacity SL00028 Bytes Appendix B SERVOPACK Parameter Data Flow B 1 In systems connected to MECHATROLINK SERVOPACK parameters can
48. AA Communication buffer channel number 1 Parameter list start address DA00000 use DW00000 to DW00016 2 Process Result PARAMOO Refer to G1 4 2 Process Result PARAMOO0 on page A 42 3 Status PARAMO1 Refer to G1 4 3 Status PARAMO00 on page A 43 A 56 4 Connection Number PARAMO2 5 Refer to G 1 4 4 Connection Number PARAMO2 on page A 45 Option PARAM03 Choose a unique setting for each communication device The following table provides the scope of the setting Communication Device Valid Range Remarks Ethernet 218IF or 218IFA 0 to 247 255 Set a remote unit ID when MODBUS TCP protocol is used When the transmission target is MP2000 series specify 0 Function Code PARAM04 Set a function code to transmit The functions read coil and input relay state write to holding register etc registered in the function codes are made available by specifying the code The following table shows the available function codes when using MODBUS TCP as a protocol Table G 12 Function Code List MODBUS TCP Function TargetData Eoi Communication device Code Type Ethernet 218IF Ethernet 218IFA 00H Unused 01H B Reads coil state V V 02H B Reads input relay state V V 03H W Reads holding register content V V 04H W Reads input register content V V 05H B Changes single coil s
49. Automatically Reception Unable to automated reception when the protocol type is no control sequence 2 2A Transmission Buffer Channel 1 y The automatic reception is fixed 1ch Slave I F Register Settings Head REG Readout of Input Relay iwoooo Readout of Input Register Iwoo00 Readout write in of Coil Mwo0000 Readout Write in of Hold Register Mw00000 Write in width of Coil Hold Register Lg MW 00000 HI Mw65534 Automatic input processing delay time fo ms 0 100 The influence on a low speed scanning can be adjusted according to this parameter Attention It is not in the setting of the communication period of an automatic reception o IS Cancel Note For more information on Slave Side I F Register Settings and Automatic input precessing delay time refer to 2 2 4 4 b Automatic Receive Setting Screen for Message Communication on page 2 22 Now the automatic receive function is set up when the MP2300S acts as a slave E Caution When any transmission or connection parameter is changed the change will be reflected after FLASH has been saved and the power is turned ON again 6 2 Communication with Other MP Series 6 2 1 When the MP2300S Acts as Slave automatic receive function is used 2 How to Set up the Remote Device MP2300 to Be Connected If the setting of transmission parameters IP address subnet mask is already completed start from step 3 1 Double c
50. Enable Enable Disable Outpur__ Enable Enable vl Motion StartRegister gooo _Motion End Register_ azr Deas mecHarounk JMEXE CUTOR Program control function Z Items displayed in the Module Details area show the following Item Description Change Slot Number Sub slot number Double click to open the M EXECUTOR detailed definition E screen Module Type A module name appears Changing the name to UNDEFINED enables you to y disable M EXCUTOR functions Controller Number Not used Fixed to Circuit Number Not used Fixed to 1 O Start Register Start register of the M EXECUTOR I O register valid range 0000 7FFFh size x 40h words I O End Register End register of the M EXECUTOR I O register valid range 0000 7FFFh size N 40h words Disable Input Not used Fixed at blank Disable Output Not used Fixed at blank Z Motion Start Register Not used Fixed at Motion End Register Not used Fixed at a Details Not used 7 Status M EXECUTOR Module status in online mode V Available Not available 2 52 2 2 Basic Module 2 2 7 M EXECUTOR Module Motion Program Executor E O Register Details An J O register assigned to M EXECUTOR is used to run a motion program and sequence program and to monitor a sequence progr
51. IP ddress 192 168 4 1 a 1 0 255 Equipment name CONTROLLER NAME Subnet Mask Joss ass ass o 0255 Gateway IP Address 0 a bf ap 0 0255 _ Detail Definition Connection Parameter Message Communication Easy setting is possible to following parameter setting easily that communicate the message 192 168 001 002 192 168 001 006 T T 20002 TCP 20003 TCP 02004 UDP 192 168 001 005 192 168 001 111 Cannot the overlap to local station port number used by the communicate the 1 0 message Fig G 10 218IFA Parameter Setting Screen for the MPE720 Module Configuration Definition Window A 80 Transmission Parameters Status CP 218 Transmission Parameters Station Setting IP Address gt 4192 a 1168 a 6 fi 0 255 MEMOBUS Response Time 0 s 0 255 Count of Retry 10 a time 0 255 m CP 218 Connection Parameter J Port Port Type Type Ca o4 0040 192 168 001 111 22222 UDP Eas Bas Fig G11 218IF Parameter Setting Screen for the MPE720 Module Configuration Definition Window 5 Option PARAMO3 A unique value is output for each communication device Not used for the MEMOBUS or Extended MEMOBUS protocols Appendices A 81 6 Function Code PARAM04 Received function code is output The following table lists function codes available when using MEMOBUS or Extended MEMOBUS as a protocol Table G 20 Function Code List MEM
52. Send Send l I I L System Control i 4 SRAM Software Display Input Current Data Value a L Flash EEP RREA a gt Memory SDRAM RAM ROM 1O T Input 7 1 SERVOPACK l Data l Parameters Parameters l All Axes peent Mpa309S SERVOPACK SERVOPACK HDD in personal computer 2 The following figure shows an example of the SERVOPACK Tab in the SVB Definition Window The values in Current Value are different from the values in Input Data im S B Definition MP2300S Online Local i lol x PT 2 CPUR 1 JRACK O1 Slot 00 CIR 01 8000 87FF gt SERVOPACK SGDS 1 Version 0020 z Servo Type Fota z Fixed Parameters Setup Parameters SERVOPACK Monitor 0001 Function Selection Application Switch 1 Function Selection Application Switch 6 0100 Function Selection Application Switch 2 Function Selection Application Switch 4 Function Selection Application Switch 7 Function Selection Application Switch 8 Speed Loop Gain Speed Loop Integral Time Constant 0102 Position Loop Gain Moment of Inertia Ratio Mass ratio 0104 2nd Speed Loop Gain 2nd Speed Loop Integral Time Constant 20 00 ms 20 00 2nd Position Loop Gain 40 0 fs 40 0 Bias 0 min 1 0 4 SERVOPACK
53. The following table shows registers available for each input item Input Item I O Option Available Register Execute Every bit type register Abort B VAL except C registers Same as above with subscript Dev typ Pro Typ Every integer type register Cir No I REG cae as above with subscript Ch No onstant Register address Param Address input except C registers Same as above with subscript 1 Execute executes a transmission Specifies a bit to command execution of a message transmission When the Execute bit turns ON message transmission is implemented To execute the process a ladder program or the like needs to be used to switch it ON OFF Note Keep Execute executes a transmission ON until Complete process completed or Error error occurred is turned ON When the command turns ON the message transmission is implemented To continuously command the transmit execution make sure to turn Execute executes a transmission OFF for one scan or more 2 Abort forcibly ends a transmission Specify a bit to command a forced terminated of a message transmission When the Abort bit turns ON the message transmission is forcibly terminated Abort takes precedence over Exe cute In order to execute the forced abort a ladder program or the like needs to be used to switch it ON OFF 3 Dev Typ communication device type Specify the type code of the communication device refer to the table b
54. assigning MP2300S SVB 7 2 Requirements and Setting of Execution 7 2 3 How to Set up Slave CPU Synchronous Function 2 Slave Side Setting 1 Select Slave synchronous function Enable as a MECHATROLINK communication parameter lad MECHATROLINK MP2300S Online Local Select Slave synchronous function Enable Slave CPU Synchronous Function y 7 5 7 6 7 2 Requirements and Setting of Execution 7 2 3 How to Set up Slave CPU Synchronous Function 2 Set the synchronous scan to High as a MECHATROLINK link assignment PT 2 CPUR 1 JRACK 01 Slot 00 CIR O F ami 000 03FF Lo Transmission Parameters Link Assignment 1 0 Map Status Liste tyre ft input size p outeut se scan ive 107 SvB 01 WOOO 15 OWO310 9 45 High o2 z Set the synchronous _ o3 scan to High a ee ee 7 2 4 7 2 Requirements and Setting of Execution 7 2 4 How to Execute Slave CPU Synchronous Function How to Execute Slave CPU Synchronous Function When the execution requirements described in 7 2 2 Requirements to Execute Slave CPU Synchronous Function are met slave CPU synchronization will be automatically executed after the communication between the master and the MP2300S is established so you do not need to explicitly command the start Of course you can explicitly control the start if you wish by using a slave side control bit SLVSC A precaution for the
55. 1 version i ters Setup Parameters SERVOPACK Monitor Double click ction of operation modes Function selection flag 1 Function selection flag 2 eal Reference unit selection 5 Number of digits below decimal point g Travel distance per machine rotation limes Servo motor gear ratio Lal Machine gear ratio Pate Infinite length axis reset pasition POSMAX Controller Number Circuit Number 1 0 Start Register 1 0 End Register Disable Output Motion Start Register Motion End Register Details Running Running Logical Axis Name Define a name for the specified axis number The name defined here is used when programming a motion program MVS A1 1000 B1 2000 C1 3000 F1000 Logical axis name a Outline of Motion Control Systems 5 9 5 2 User Programs 5 2 2 Motion Programs 2 How to Run a Motion Program The following two methods are available for running a motion program e Registering it to the M EXECUTOR program execution definition Executing it using a MSEE command from a ladder program of H drawing Now this section explains each way to run a motion program a Registering it to the M EXECUTOR Program Execution Definition After creating a motion program register it in the M EXECUTOR program execution definition screen The programs registered in the M EXECUTOR program execution definiti
56. 25 C to 85 C ture Environmental Ambient Oper 30 to 95 with no condensation Conditions ating Humidity BAN ane 5 to 95 with no condensation Pollution Level Pollution level 1 conforming to JIS B 3501 Corrosive Gas There must be no combustible or corrosive gas oo 2 000 m above sea level or lower Conforming to JIS B 3502 Vibratl e 10 to 57 Hz with single amplitude of 0 075 mm Ibration Mechanical Resistance 57 to 150 Hz with fixed acceleration of 9 8 m s Operating 10 sweeps each in X Y and Z directions Conditions sweep time 1 octave min Shock Resi Conforming to JIS B 3502 oc esis tance Peak acceleration of 147 m s 15 G twice for 11 ms each in the X Y and Z directions Electrical Noise Resis Conforming to EN 61000 6 2 EN 55011 Group 1 Class A Operating tance Power supply noise FT noise 2 Kv min for one minute Conditions Radiation noise FT noise 1 Kv min for one minute Installation Ground Ground to 100 Q max Requirements Cooling Method Natural cooling 2 1 2 Product Specifications The following table shows the product specifications of the MP2300S Items MP2300S External Dimensions 64 mm x 130 mm x 108 mm Number of Optional Slots 1 slot Number of Basic 16 Control Axes AARS Number of Maximum Number of Control Axes Control Axes 32 axes when one SVB 01 is added Number of Virtual Axis Controlling Axes 16 axes MECHATROLINK Commun
57. 4 Cable Connections between the MP2300S and SGCD OOON and SGDB OOAN SER VOPACKs Use the MECHATROLINK cable JEPMC W611 O 0 for the connections between the MP2300S and SGD O OIOIN or SGDB OOAN SERVOPACK and between these SERVOPACKs MP2300S SVB 01 SERVOPACK SERVOPACK SERVOPACK terminating USB Connector i MR Connector MR Connector MR Connector i Signal Name Signal Name Signal Name ___ Signal Name NC 1 1 DATA 1 DATA 14 DATA i i IDATA 2 2 DATA 2 DATA 2 DATA i i DATA 3 3 3 3 Pan SH 4 ce 4 TERM 4 TERM 4 TERM i i Shield Ghe 5 FG 5 FG 5 IFG 1 I i e DATA i e DATA 6 LUDATA no ni Externally connect a terminator 7 DATA nu 3 DATA 7 PAA to Pin 6 and 7 i i Ea Resistance 130R 5 1 2W i 1 8 8 8 i i Note 1 The JEPMC 6011 O00 has a USB connector on one end and loose wires on the other end Use an MR connector and wiring material to create a 1 N cable The terminator must be provided by the user 2 The shield wire can be connected as instructed in the SERVOPACK s manual However the connec tions shown in the above diagram is recommended when using the MP2300S in combin
58. DB000200 Executes a transmission When Execute is ON the message transmission will be carried out Abort DB000201 Forcibly aborts a transmission When Abort is ON the message transmission is forcibly stopped Dev Typ 00006 Communication device type Specify the type of the communication device used in transmission When Ethernet 218IF is used specify 6 Pro Typ 00001 Communication protocol Specify the type of the communication protocol MEMOBUS 1 1 non procedure 1 2 2 non procedure 2 2 a5 Cir No 00001 Circuit number Specify a circuit number of the communication device Specify it in accordance with the circuit number displayed in the MPE720 module configuration definition screen Ch No 00002 Communication buffer channel number Specify the channel number of the communication buffer When Ethernet 218IF is used specify it in the range between 1 and 10 Set up a unique channel number in the line Param DA00000 Parameter list start address Specify the start address of the parameter list For the Parameter List 17 words are automatically assigned from the configured address Output Item Busy DB000210 In process Busy will be ON while executing a message transmission or forced abort process Complete DBO000211 Process completed When a message transmission or forced abort process is properly completed Complete will tu
59. MMCh No 00002 A Param DADOQOO treatment aftar normally finished after finish E gt 0011 Not count for normal 0012 NL Dest D0002 H 2 0014 N1 treatment while error taking place while error ponz T 0015 DDO00212 true H o Ethernet Communications 6 25 6 2 Communication with Other MP Series 6 2 2 When the MP2300S Acts as a Slave ladder program which uses a MSG RCV function count for abnormal 0016 WL Dest Dw00025 NL 2 results save EXPRESSION a 0017 DWDO026 DW00000 results PARAMOD NL 2 DWO0027 DW00001 status PARAMO1 0018 NL 1 0019 NL 1 The communication setting and the ladder program creation are now finished when the MP2300S acts as a slave 6 26 6 2 Communication with Other MP Series 6 2 2 When the MP2300S Acts as a Slave ladder program which uses a MSG RCV function 2 How to Set up the Remote Device MP2300 to Be Connected If the setting of transmission parameters IP address subnet mask is already completed start from step 3 1 Double click the 218IF Tab in the Module Details of the module configuration definition E Module Configuration MP2300 Online Local PT 3 CPUR 1 arr Controller Module Type MP2300 v 2181F 01 UNDEFINED UNDEFINED _ Controller Number EET __ Circuit Number sn o ue 0 End Register e E O o Disable input ns gt E A C Motion Start Register ke e e Eeeammmm eae E ae C Staus
60. Remote station Holding register M register si Holding register M register rite A MWO00000 MW00000 MW00001 je MW00001 Data size Data size MW00098 je MW00098 C MW00099 e MW00099 J The setup procedure is explained in the following pages 6 2 Communication with Other MP Series 6 2 1 When the MP2300S Acts as Slave automatic receive function is used 1 How to Set up the MP2300S Side If the setting of transmission parameters IP address subnet mask is already completed start from step 3 1 Double click the 218IFA Tab in the Module Details Window of the module configuration definition m Module Details MP2300S SLOT O0 Module Type Details PTRIFA TANM Fthamet in funrtinns 2 Set transmission parameters OD Transmission Parainete s Status Transmissipn Parameters Module Name Definition ri S782 Za ein f a ieee Equipment name CONTROLLER NAME Subnet Mas gt 205 Sy ad 4255 fo 2 0 255 GatewayIPAddess 0 a fo fo a 0 255 Detail Definition E How to set up transmission parameters Set IP Address to 192 168 001 001 for example Set Subnet Mask to 255 255 255 000 for example Set Gateway IP Address to 000 000 000 000 for example E Caution Set up a unique IP address in the network For the IP address check with your network administrator 3 Click the Easy Setting Button in the Message C
61. Reserved by System 2 PARAM13 to PARAM16 Used by system Never change the value with the user program etc A 60 G 1 7 Function Setting and Parameter Details for Non procedural Protocol This section explains the MSG SND function setting and its parameter list details when non procedure is used as a pro tocol Note Non procedure communication protocol transmits the M register content intact without a protocol conver sion You can create any protocol in accordance with the remote equipment 1 Message Transmit Function Setting a 218IFA Setting Example An example of a function setting when 218IFA is used as a communication device is as follows When non procedure 2 per byte is used set the Pro Typ field to 00003 non procedure per word Set the circuit number in accordance with the circuit number allocated to the target 218IFA Set a unique communication buffer channel number for the same circuit For information on the register number refer to G 1 2 1 Input Item on page A 36 and G 1 2 2 Output Item on page A 38 MSG SND Communication device 218IFA Execute DB000201 Busy DB000210 Protocol non procedure 1 Ni Abort DB000202 Complete DB000211 Dev Typ 00016 Error DB000212 Pro Typ 00002 Cir No 00001 Ch No 00001 Circuit number 1 es Communication buffer channel number 1 Parameter list start address DA00000 Param DA00000 use DW00000 to DW00016 b 218IF Setting Ex
62. The remote equipment slave side creates a ladder program using a Greene OSTRAS MSG RCV function wittig 2 oy Communication with gt Refer to 6 2 4 When the MP2300S Acts as Master ladder pro w slaye 1s gram which uses MSG SND function ca ce Uses the Extended MEMOBUS communication protocol Set the protocol for the touch panel side to the Extended MEMO When a touch panel BUS protocol Touch Panel SASS thegon The MP23008S slave side uses an automatic receive function You state or register content do not need to create a ladder program of MP2300S gt Refer to 6 3 Communication with Touch Panel Uses the MELSEC communication protocol When a PLC Manufac The remote equipment master side creates a ladder program using tured by Mitsubishi a BUFSND function ane AAU TN a Electric Corporation The MP2300S slave side uses an automatic receive function You cern oe h reads writes the do not need to create a ladder program om y ne ah en MP2300S register con oe eee S PLC Mariy tent gt Refer to 6 4 1 When the MP2300S Acts as Slave automatic BECRIYS RCE S factured by m tae I Aa a Lath RE receive function is used Mitsubishi Electric Uses the MELSEC communication protocol Corporation When an MP2300S The MP2300S master side uses an I O message communication The MP2300S can reads writes the relay function You do not need to create a ladder program communicate with state or register content The remot
63. YASKAWA Machine Controller MP2300S Basic Module USER S MANUAL Model JEPMC MP2300S E a MP2300S 4 YASKAWA E MANUAL NO SIEP C880732 00A Overview Specifications and Functions Mounting and Wiring System Start Up and Easy Programming Outline of Motion Control Systems Ethernet Communications Slave CPU Synchronous Function Maintenance Inspection and Troubleshooting Appendices EE cz Ex Ea 5 6 Ez Copyright 2007 YASKAWA ELECTRIC CORPORATION All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or other wise without the prior written permission of Yaskawa No patent liability is assumed with respect to the use of the information contained herein Moreover because Yaskawa is constantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless Yaskawa assumes no responsibility f
64. as a MECHATROLINK communication parameter H scan setting is either an integer multiple or an integer fraction of the MECHATROLINK communication cycle setting H scan setting is either an integer multiple or an integer fraction of the master side H scan setting e Sets Resume Control of Slave Synchronization OFF as an output register assigned to MP2300S SVB 3 Setting Example e Master side H scan setting Communication cycle setting 1 ms Peo e Slave side H scan setting 2ms The master side H scan setting is an integral multiple of the MECHATROLINK communication cycle The slave side H scan setting is an integer fraction of the master side H scan setting The slave side H scan setting is an integral multiple of the communication cycle setting lf requirements are met a slave CPU synchronization can be executed Slave CPU Synchronous Function 7 3 7 4 7 2 Requirements and Setting of Execution 7 2 3 How to Set up Slave CPU Synchronous Function 7 2 3 How to Set up Slave CPU Synchronous Function The way to set up the slave CPU synchronous function is as follows 1 Master Side Setting The master side does not need to enable disable the slave CPU synchronous function Set the synchronous scan of MP2300S SVB to High as a MECHATROLINK link assignment il MECHATROLINK MP2300S Online Local Set the Sea a Select SVB 01 even when eee ela
65. owon0n comer WOOO owoooo 1 f Iwoooo 1 Updates each scan with the application i Kofi n S Checks that the counter is updated is Mt i If not updated properly determines that the master side operation is abnormal E Master processing A master side application is increased the setting value by one for the start word of an output register assigned to the MP2300S SVB E Slave processing A slave side application checks that the scan counter value is increased by one from the previous value 1 As the scan counter is one byte of data it only checks the lower byte If not updated normally it determines that a problem has occurred with the master 2 Checking a Slave Status Using a Master Side Application Master Slave Input register i i Output register Jee Sime 5 5 or22aaS S Wwo0o0g s ar TENE owoon0n 2 W0O000 1 ow0000 1 f i oOo 1 Updates each scan with the application Checks that the counter is updated l If not updated properly determines that i the slave side operation is abnormal E Master processing A master side application checks that a scan counter value is increased by one from the previous value As the scan counter is one byte of data it only checks the lower byte If not updated normally it determines that a problem has occurred with the slave E Slave processing
66. y Available Not available 2 2 Basic Module 2 2 4 218IFA Module Ethernet 4 218IFA Module Detailed Screen a Displaying the 218IFA Module Detailed Window The 218IFA Module Detailed Window is displayed by selecting MP2300S in the Controller area of the Module Con figuration Window and double clicking the cell No 2 in the Module Details field figEngineering Manager Module Configuration MP2300S Online Local 4 E O x I Fie View Order window la xi D aS o ee a BRE Re A PT 2 CPUR 1 xa m Controller a _ ae ee on a ee LE __ MP23005 Controller module with network servo control ethernet virtual axes program control function m Module Details MP2300S SLOT O0 ae Ere e Z M EXECUTOR lt a i a GirevitNumber gt fon fo fo 10 stare Register Joos Joso e eo So pe oc oc se Disable Input li put Enable v Enable Disable Output Enable SS eE 87 FF FFF Derails Teco o c I lt lt b 2181F4 100M Ethemet in functions I I I I I For Help press F1 Specifications and Functions 2 15 2 16 2 2 Basic Module 2 2 4 218IFA Module Ethernet b 218IFA Module Detailed Window The 218IFA Module Detailed Window is composed of Transmission Parameter and Status Tabs and each tab is changed with a click 1 Parameter Setting Tab The Transmission Parameters Tab sets 21 8IFA tra
67. 0 Disabled 1 Enabled Yes Bit 5 Position Reference Type Yes Yes 0 Incremental Addition Mode 1 Absolute Mode Bit 6 Phase Compensation Type Yes 0 Incremental Addition Mode 1 Absolute Mode Bits 7 to F Reserved 0 NOP No Command Yes Yes 1 PRM_RD Read User Constant Read SERVOPACK Parameter OWODOO0A Motion Subcommand 2 PRM_WR Write User Constant Write SERVOPACK Parameter Yes 3 Reserved 4 SMON Status Monitor 5 FIXPRM_RD Read Fixed Parameters Yes Yes OWOO0B Reserved oanig SeA nns Unit is according to OWO0O03 bits 12 to 15 Torque Unit Yes Yes Reference Setting nit is according to bits o 15 Torque Unit Speed Limit Setting OWQODOE atthe Torque Thrust 1 0 01 percentage of rated speed Yes Reference OWOOOF Reserved Speed Reference z i OLOO10 Setting Unit is according to OWO003 bits 0 to 3 Speed Unit Yes Yes owo0012 to Reserved ow0013 Positive Side Limiting Torque Thrust 2 OLOO14 Setting at the Speed Unit is according to OWO003 bits C to F Torque Unit Yes Reference Secondly Speed ka OLOO16 Compensation Unit is according to OWO003 bits 0 to 3 Speed Unit Yes Yes OWOD18 Override 1 0 01 Yes ownooig9 to Reserved ow0 001B Position Reference OLOO1iC Sete 1 1 reference unit Yes Yes Width of Positionin OLOO1E Completan eng 1 1 reference unit Yes NEAR Signal Output OLOO20 Width g p 1 1 reference unit Yes OLOO22 Error Sount Aam 1 1 reference
68. 02 I O Start Register eae 0000 0800 I O End Register E O7FF OBFF be M EXECUTOR Disable Input Enable Disable Output Enable Enable _Motion StartRegister s000 8800 Motion End Register e Jerr jere Details Ss CC A T SCS Status Rumning Running Running Running Running SVB Network servo control function The Create New Confirmation Dialog Box will open Click OK to display the Fixed Parameters Tab of the SVB Definition Window 2 Select the axis to be set or monitored from the Axis pull down list PT 2 CPU 1 Jaxis1 SERVOPACK SGDS 1 Version 0020 7 Servo Type Rotary M ters Setup Parameters SERVOPACK Monitor of Name Input Data o Selection of operation modes Normal operation mode Function selection flag 1 0000 0000 0000 0000 0000 H Function selection flag 2 0000 0000 0000 0000 0000 H Specifications and Functions Es Number of digits below decimal point Reference unit selection pulse e 6l Travel distance per machine rotation 10000 User units 3 Servo motor gear ratio 1 revs 3 Machine gear ratio 1 revs ior Infinite length axis reset position POSMAX 360000 User units 12 Positive software limit value 2147483647 User units Negative software limit value 2147483648 User units 16 Backlash compensation amo
69. 03H Reads holding register content PARAMII 04H Reads input register content PARAM10 05H Changes single coil state PARAMO8 06H Writes to single holding register PARAMII 09H Reads holding register content extended PARAMII OAH Reads input register content extended PARAM 10 OBH Writes to holding register extended PARAM11 OEH Discontinuously writes to holding register extended PARAMI1 OFH Changes multiple coil states PARAMO08 10H Writes to multiple holding registers PARAMI1 31H Writes to fixed buffer PARAMII1 32H Reads the random access buffer Invalid 33H Writes to the random access buffer PARAMII1 gt Appendices A 87 A 88 11 Write Range PARAM12 PARAM13 Sets an available address range for a write request from the transmission side A write request which is out of this avail able address range will cause an error Specify the address range PARAM12 PARAM13 as a word address Note 1 In MP9O0 MP2000 series the data storage area for the write request from the transmission side is the M register 2 The write range parameter enables you to specify the range of M register which permits writing mes sages The following table shows the write range parameters Table G 27 Write Range Parameter List Parameter Contents Description PARAM12 Write range LO Start address of the write range PARAM13 Write range HI Last address of the write range Specify the write range so that the expr
70. 10001 iu Remote IP Address for Communication 192 168 1 1 Remote Port Number for Update 2711H 10001 6 6 81 6 4 Communication with PLC Manufactured by Mitsubishi Electric Corporation MELSEC protocol 6 4 1 When the MP2300S Acts as Slave automatic receive function is used E Caution Set up a unique IP address in the network For the IP address check with your network administrator m Complement Set up an initial setting and a router relay parameter below if needed e Initial setting Set a timer relevant configuration when TCP is selected as a protocol In most cases accept the default Set up if changes such as a shortened a TCP retransmit timer are required e Router relay parameter Set up when you use a subnet mask pattern or default gateway 6 Create a ladder program for communication E Procedure overview to communicate using a ladder program Use an OPEN command to establish a connection with the remote device Use a BUFSND command to write the register content configured by parameters below to the MP2300S holding register M register Setting example When the BUFSND command is used to set the device start number for storing the transmit data to D00200 D00200 transmit data length 100W D00201 to D00300 transmit data Written into MW00000 to MWO00099 If necessary use a CLOSE command to close the operation Note Contact Mitsubishi Electric Corporation for more information on the ladder progr
71. 15h fied for circular arc ee ee E 1ed in the aa Use PLN command to specify the axis arc or helical interpolation command plane Horizontal axis mot Horizontal axis was not specified in the circu 16h specified for circular arc tad Ps Use PLN command to specify the axis lar arc or helical interpolation command plane i ai ToSmany Axes were cone a the circular Modify the axis in the circular arc or helical 17h Specified axis over limit arc two axes or helical three axes interpola interpolation command tion command Turn number exceeded the valid range in the Modify the turn number in the circular arc 18h Turn number over limit ee ee circular arc or helical interpolation command or helical interpolation command Radius exceeded Radius exceeded the valid range in the circular Review the radius in the circular arc or heli 19h on a i LONG_MAX arc or helical interpolation command cal interpolation command 1Ah Center point error Improper center point was specified in the cir Specify the center point properly in the cir cular arc or helical interpolation command cular arc or helical interpolation command T FF th t t for th Running emergency Axis move command stopped due to a pro kare AOA E 1Bh stoo comand aaa motion program control signal and turn P 8 Meee ON the alarm reset request Linear mterpolatior Moving amount exceeded the valid range in Review the moving amount in the linear on moyne amount the
72. 218IF 1 to 20 Transmits to the remote station set for the specified connection number Ethernet 218IFA 1 to4 Same as above Note When the communication device is Ethernet 218IF 218IFA set the connection number in accordance with the connection number in the 218IF 218IFA Parameter Setting Window for the MPE720 module con figuration definition Transmission Parameters Status r Transmission Parameters Module Name Definiti odule Name Definition IP Address a fis2 fies 1 a 0 255 ERRER CONTROLLER NAME 0 z 0 255 0 0 255 Detail Definition Subnet Mask J255 4 _ 41255 Gateway IPAddress 0 a _ a r Connection Parameter r Message Communication Easy setting It is possible to following parameter setting easily that communicate the message 192 168 001 002 20001 T y jExtended MEOE gt BIN 192 168 001 006 20002 TCP HES 192 168 001 005 20003 TCP 7 MEMOBUS 192 168 001 111 02004 UDP Cannot the overlap to local station port number used by the communicate the 1 0 message Fig G2 218IFA Parameter Setting Screen for the MPE720 Module Configuration Definition Transmission Parameters Status m CP 218 Transmission Parameters Station Setting IP Address 12 16 ou f fi 0 255 MEMOBUS Response Time 0 s 0 255 Count of Retry o a time 0 255 gt CP 218 Connection Parameter Ton 192 168 001 003 TE Te gt MELSEC yfasc
73. 3 How to Start Communication 1 MP2300 side starts to receive the messages As the sample ladder program starts the message receive operation just after the system startup you don t need to operate it particularly Normally accept the default 2 Turn Execute ON for the message transmit function in the MP2300S side to transmit messages The sample ladder program is created to transmit a message every one second when five seconds elapsed after the low speed scan or high speed scan startup The way to change the message transmission interval is similar to that in 3 How to Start Communications of 6 2 1 When the MP2300S Acts as Slave automatic receive function is used 6 64 6 3 Communication with Touch Panel 6 3 1 When MP2300S Acts as Slave 6 3 Communication with Touch Panel This section explains how to communicate with a touch panel supporting for the Extended MEMOBUS protocol using the MP2300S automatic receive function In this section GP3000 series manufactured by Digital Electronics Corp is used as a touch panel supporting for the Extended MEMOBUS protocol 6 3 1 When MP2300S Acts as Slave Slave Master MP2300S Touch Panel Local station Remote station Communication Protocol Extended MEMOBUS Type protocol Connection Type TCP UDP Data Code Type BIN ASCII Ethernet Ethernet MP2300S Touch Panel GP3000 series
74. 3 Input the register number of the first system register to be accessed for Register input the register number of the last system register to be accessed for D and click anywhere in the list The contents of the specified range of register numbers will be displayed TYPE HEX gt Controller MP23005 oooo fswo0031 SW00032 SW00033 swo0034 0000 SWO0035 0000 SW00036 0000 swo0037 0000 8 10 8 2 Troubleshooting 8 2 4 Troubleshooting System Errors 3 Troubleshooting Flowchart for System Errors A troubleshooting flowchart for system errors is provided below START Use the LED indicator pattern to classify the error Battery alarm indicator BAT lit Replace battery Classifications Warning ALM indicator lit or blinking NO YES Alarm Classifications Fatal error YES _ Fatal error ERR indicator blinking Hardware failure watchdog timer timeout Only ERR indicator lit Turn OFF the STOP switch on DIP siwtch SW6 and turn ON the power Online Stop Mode Hardware Only RDY indicator lit failure User program error Check SW00050 Watchdog timer timeout YES User program error Check the location of the error 2 I O error SB000419 referring to 8 2 4 4 Correcting Refer to 8 2 4 e System Register Configuration User Program Errors on page 8 and Error Status on page 8 21 12 Check CPU Error Status SW00041 1 Op
75. 8 2 4 Troubleshooting System Errors 8 Investigate the I O state When the error cause can be assumed to be a problem with the external input data or output data from the user program disable the corresponding I O pro cess to investigate a cause based on the I O data Refer to 8 2 4 a How to Disable a User Program on page 8 14 Also when investigating an output point refer to 8 2 4 c How to Forcibly Turn ON OFF Coil on page 8 15 4 9 Correct Programs Correct the program that causes error 10 Investigate the scan time 4 If no problem is found in the program investigate the scan time Check to see whether the maximum value for high speed scan time is in excess of or equal to the setting value in the scan time screen or whether the maximum value for slow speed scan time is in excess of the setting value Refer to 8 2 4 d Operation in Case of Scan Time Over on page 8 16 4 11 Change the scan time Change the scan time setting value Refer to 5 5 3 Setting and Changing the Scan Time on page 5 56 Maintenance Inspection and Troubleshooting 8 13 8 2 Troubleshooting 8 2 4 Troubleshooting System Errors a How to Disable a User Program Drawing or Function In the ladder subwindow of the MPE720 online mode right click the corresponding drawing and function and select Enable Disable in the popup menu
76. A slave side application is increased the setting value by one for the start word of an output register mapped to SVB Note In this example H scan cycles of both master and slave sides have the same setting When they have a different scan cycle setting they must be updated and checked accordingly Slave CPU Synchronous Function 7 18 7 3 Operation 7 3 5 How to Determine Input Error 7 3 5 1 a How to Determine Input Error How to Determine an Input Error Using an Application Program If it is determined that an input error has occurred error processing such as discarding the input data must be imple mented Master Side Check S register I O Error Status Checks whether the bit of a station mapped to the MP2300S is turned ON in the I O error status of a slot attached with SVB ON indicates that an input error has occurred When an input error occurs the entered data is cleared to zero 4 Check Slave Status Checks that the second word Slave Status of an input register assigned to the MP2300S is in the following state bit WARNG OFF bit2 CMDRDY ON bit7 SYNC ON only when slave synchronous mode is enabled Otherwise a command error is issued by a master or a slave operation error may occur 4 Check the scan counter Checks that the first word Scan Counter of an input register mapped to the MP2300S is updated based on the rules
77. B Function a Outline of Motion Control Systems 5 49 5 4 Self configuration 5 4 1 How to Execute Self Configuration 7 Click Individual and only check Module Configuration Transfer Program Read from Controller a Target Project File MP23005 2300s MW 0 B Batch CT ta individual gt Save to Hash after transferring to the controller O System definition E System t tion Cl Scan time definition CY Module configuration CI Program gt a Register C Comment 4l r ones 8 Click Start to read the module configuration definition from a controller Transfer Program Read from Controller z Target Project File MP23005 2300s YMW A 0 Batch T Individual Hash after transferring to the controller O System definition E System Configuration O Scan time definition m Module configuration Program oe O Data trace Register C Comment 9 Click the Save amp FLASH Save Button to flash save the definition information rz Engineering Manager File View Order Window SCH e e MS e Eh Ee A et Be E Module Configuration MP2300S Online Local PTR 2 CPU 1 10 In the Module Configuration Definition Window check that the definition has been created 5 50 5 4 Self configuration 5 4 2 Definition Information Updated with Self Configuration 5 4 2 Definition Information Updated with Self Configuration Now the defin
78. Circuit Number 01 02 I O Start Register ase 9000 00 ocoo 1 0 End Register SaaS O7FF FF OC3F Disable Input Enable v fable f X bd Disable Output Enable v fable hd bd Motion Start Register_ wars 100 8800 Motion End Register_ Sane FF SFFF Details ECHATROLINK Status Running Running nning Running Running 218IFA 100M Ethemet in functions iff For Help press F1 a Mul 4 Items displayed in the Module Details area show the following meanings Items Descriptions Change Slot Number Sub slot number N f _ Double click it to open the 218IFA detailed definition window Module Type A module name is shown J Changing the name to UNDEFINED enables you to disable 218IFA functions Controller Number Not used Fixed at Circuit Number Module s line number valid range 01 08 V 1 O Start Register Start register of the I O register used in the I O message communication of 218IFA y valid range 0000 7FFFh size 800h words I O End Register End register of the I O register used in the I O message communication of 218IFA J valid range 0000 7FFFh size 800h words Disable Input Input Enable Disable V Disable Output Output Enable Disable V Motion Start Register Not used Fixed at Motion End Register Not used Fixed at m Details Not used Status 218IFA module status in online mode
79. Drawings are classified by their first letter A I H or L based on the processing purpose The following table outlines the order of priority and execution conditions for these drawings Type ot Parent Function Priority Execution Conditions Max No or Drawing Drawings Pleats Startup processin 1 PowerON 64 Drawing A P pro 8 Executed once only when power turned ON DWG I External interrupt executed by Option Module 2 64 Drawing 1 Interrupt processing DI interrupt or counter match interrupt DWG H High speed scan pro 3 Scheduled cycle startup 200 Drawing H cessing Executed each high speed scan DWG L Scheduled cycle startup Executed each low a 2 4 500 Drawing L Towsspoed scan speed scan The following table provides details of the number of drawings for each drawing Number of Drawings Drawing DWGA DWG I DWG H DWG L Parent Drawings 1 A 1 1 H 1 L OPETAN TEOR 1 A00 1 100 1 H00 1 L00 Processing Drawings A00 100 H00 C20 Child Drawings Total 62 max Total 62 max Total 198 max Total 498 max Grandchild Drawings o Outline of Motion Control Systems 5 31 5 2 User Programs 5 2 4 Ladder Drawings DWG 2 Execution Control of Drawings a Execution Control The following table shows when each drawing is executed based on the order of priority Power ON DWG A initial processing drawing Each
80. Enable Easy Setting o Opens the Simple Setting screen for the read write connection 2 parameters Set when to update the I O data for the controller side when the I O Data Update Timing H Scan L Scan a message communication is established L Scan In 218IFA Ethernet communications remote stations are distin Read Write guished by their connection numbers T O message communications have a connection for each read write Specify the 218IFA port number for each read write connection To delete the port number setting enter zero To use only a read or a write connection set the other port number to Local Port 256 to 65535 zero to delete the connection 0 Note When the connection type UDP the port number cannot be 9998 or 10000 Set a remote IP address for both read and write connections Set a common value for both read and write However the following Node IP Address 0 0 0 1 to addresses cannot be used 000 000 000 0 255 255 255 254 127 XxxX XXX XXX 00 XXX XXx xxx 000 XXX XXX XXX 255 Specify the remote port number for each read write connection Node Port 256 to 65535 A pair of a remote IP address and remote port number must not be 0 duplicated Select a transport layer protocol TCP Transmission control protocol TCP UP User datagram protocol TCP Connect Type yp UDP 2 24 2 2 Basic Module TE TE S TE EES 2 2 4 218IFA Module Ethernet
81. High High Wwo000 7 Data6 Low owo000 7 Data6 Low High High IWOO00O00 14 Data13 Low OwWO0000 14 Data13 Low High High E input data details Item Description One byte of area which allows a master side application to check a value configured and updated by a slave side application It is used for the following purposes Scan Counter Checks the update of input data from MP2300S Determines the MP2300S behavior in operation in pause Note that the use of this area is optional Status of MECHATROLINK transmission unit of MP2300S The configuration is shown on the subsequent page Up to 6 words of data area for MECHATROLINK II 17Byte and up to 13 words of data area for MECHATROLINK I 32Byte are available Slave Status Data Slave CPU Synchronous Function 7 10 7 3 Operation 7 3 1 Input Output Register E Slave status details bit7 bit6 bitS bit4 bit3 bit2 bit1 bitO SYNC SYNCRDY SBUSY 0 CMDRDY WARNG 0 Name Definition Description 0 Normal When a slave detects one of the following errors this bit is turned ON When the cause is corrected it is turned OFF e Receive error WARNG e Unsupported command reception 1 Warning T S e Transmission cycle is out of the specification range Data error in the receive command Command execution requirement is not met Command Unreceivable 0 Turned ON when a process for the MECHATR
82. ILOO62 the Power is OFF 1 1 pulse Yes Lower 2 Words Pulse Position when ILOO64 the Power is OFF 1 1 pulse Yes Upper 2 Words IWOD66 to R d 7 2 wo06F ee IWOO70 to Sees for Stores the response data when MECHATROLINK Servo commands Yes IWOO7F P are specified directly Command Mode Appendix F How to Set up Communication Process This section explains how to set up a communication process connecting the MPE720 and MP2300S In MPE720 Ver6 set the communication process on the MPE720 screen Prepare the following equipment to carry out this procedure F 1 Preparation 1 Controller Product Name Model Q ty MP2300S JEPMC MP2300S E 1 2 Personal Computer Product Name Model Q ty MPE720 CPMC MPE770 Ver 6 04 or later 1 Ethernet Communication Any Commercial product 1 Cable Ethernet cross cable category 5 or more Personal Computer Main Unit Any Commercial product 1 3 Necessary Others Name Specification Q ty 24 VDC Power Supply Current capacity 2A or more F 2 Procedure 1 Turn OFF the MP2300S 24 VDC power supply 2 Wire MPE720 and MP2300S 24 VDC Power supply Machine controller Optional module Personal computer with MPE720 gt Appendices A 31 3 Turn ON E INIT of DIP switch SW2 in the
83. IW xxxx Start I O register number specified by the 218IFA cell in the detailed field of the module configuration definition screen Input Disable Not checked enable Output Register OW xxxx Start I O register number specified by the 218IFA cell in the detailed field of the module configuration definition screen 4 Data Update Timing Low Node IP Address 192 168 1 7 Node Port Read 10005 Other Device Number Write 10006 Read Register MW00000 Write Register MW00004 Communication Protocol Type Extended MEMOBUS Read Size 4 Write Size 4 Connect Type TCP Code BIN 2 2 Basic Module 2 2 4 218IFA Module Ethernet In addition click the Default Button to set the default values for data code type local I O register setting read write size and node read write register setting according to the selected communication protocol type The following table provides these default values aan Default eet T a Cod Node Read Write Regist Protocol Type ata vode Local Input Output Register Setting Read Write Size A neon Type Setting PTE Extended a pilates PNE AN 4 read MW0000 to MW0003 read MEMOBUS j 4 write MW0004 to MW0007 write output MEMOBUS RTU Same as above Same as above Same as above D0000 to D0003 read MELSEC BIN Same as above Same as above D0004 to D0007 write 4X00001 to 4X0004 read MODBUS TCP BIN Same as above Same as abov
84. NL 1 Source 00000 Variable J Dest MW00200 Init 00000 Max 00039 Step 00001 EXPRESSION F MWOO200 MW00200 MW00100 END_FOR The result is a relay number added with i or j value For example MB000000i for i 2 is the same as MB000002 Also MB000000j for j 27 is the same as MB00001B The result is a register number added with i or j value For example MW00010i for i 3 is the same as MW00013 Also MW00001j for j 30 is the same as MW00031 The result is a register number with an added i or j value For example ML00000j for j 1 is the same as ML00001 Also MF00000j for j l is the same as MF00001 However as a word indicated by a regis ter number is the lower word for a long integer real type for the same ML00001 and MF00001 be aware that an upper lower word of ML00001 and MF00001 for j 0 may differ from those of The left program uses a subscript j and calculates the total amount of a hundred registers from MW00100 to MW00199 and stores the total amount in Mwo00200 5 3 4 Register Designation 5 3 Registers 5 3 4 Register Designation Registers can be specified directly by register number or by symbol register name A combination of both of these register designation methods can be used in ladder programs When using the symbol specification method the relationship between symbols and register numbers must be defined The following table shows the re
85. ROM diagnosis e Main processor CPU function diagnosis e Floating Point Unit FPU function diagnosis If diagnosis results in an error the ALM and ERR LED indicators will blink red for the specified number of times Refer to 5 1 4 LED Indicator Details on page 5 5 5 1 4 LED Indicator Details 5 1 Startup Sequence and Basic Operation 5 1 4 LED Indicator Details The MP2300S performs a variety of diagnostics at startup If an error is found the ERR LED indicator blinks red The number of times the indicators blink differs depending on the error details so error details can be determined from counting the number of blinks The following table shows details of MP2300S LED indicator shooting MPE720 cannot be operated when the indicators are blinking For information on errors and countermeasures refer to Chapter 8 Maintenance Inspection and Trouble LED Indicator Name Type Indicator Details Remarks RDY FUN ALM ERR BAT Not lit Not lit Lit Lit Not lit Hardware reset status Notlit Notlit Notlit Notlit Notlit Initializing Not lit Lit Not lit Notlit Notlit Executing DWGA z U P d User program stops when the DIP 2 Lit Not lit Notlit Notlit Not lit Fen on switch or MPE720 is used to exe Ofline stopimode cute the STOP operation Lit Lit Notlit Notlit Notlit User program executing normally Online operation mode The ERR L
86. Reserved Bits 8 to 15 Stop Mode Selection Yes Bits 0 to 3 Speed Unit Selection 0 Reference unit s 1 10 reference unit min Yes Yes 2 Percentage of rated speed 1 0 01 3 Percentage of rated speed 1 0 0001 Bits 4 to 7 Acceleration Deceleration Degree Unit Selection 0 Reference units s Yes Yes OWOO03 Function Setting 1 1 ms Bits 8 to B Filter Type Selection 0 No filter Yes Yes 1 Exponential acceleration deceleration filter 2 Moving average filter Bits C to F Torque Unit Selection 0 Percentage of rated toque 1 0 01 Yes Yes A 22 cont d Register No Name Contents SVB SVR owo0004 Function Setting 2 Bits 0 to 3 Latch Detection Signal Selection 0 1 2 Phase C Pulse Input Signal 3 EXT1 4 EXT2 5 EXT3 Bits 4 to 7 External Positioning Signal Setting 0 1 2 Phase C Pulse Input Signal 3 EXT1 4 EXT2 5 EXT3 Bits 8 to B Reserved Bits C to F Bank Selector OwOOH05 Function Setting 3 Bit 1 Phase Reference Creation Calculation Disable 0 Enabled 1 Disabled Bits 2 to A Reserved Bit B Zero Point Return Input Signal 0 OFF 1 ON Bits C to F Reserved OwoOH06 to OwdO0H07 Reserved OwOH0s Motion Command CIDNRWNPH OS NOP No Command POSING Position Mode Positioning EX_POSING Latch Target Positioning
87. Running Running fa 8IF 01 The module has Ethernet and RS232 functions m Module Details 2181F 01 SLOT O1 Module Type 21 Controller Number 07 Circuit Number __ 01 o Ethernet Communications 6 27 6 2 Communication with Other MP Series 6 2 2 When the MP2300S Acts as a Slave ladder program which uses a MSG RCV function 2 Set transmission parameters Transmission Parameters Status m CP 218 Transmission Parameters Station Settir IP Address i 19234 168 sj 0 255 MEMOBUS Response Time 0 a s 0 255 Count of Retry fo time 0 255 CP 218 Connection Parameter CP218 St ation Setting r Statiornetting Node IP Addr Subnet Mask eS 2s 5 al 255 Se fo 0 255 Gateway IP Addres 0 fo Jo a 0 255 System Port No 10000 DIAG Port No Engineering Port 256 65535 TCP IP Setting TCP Zero Window Timer Value B 4s 1 255 TCP Retry Time o s 50 32000 TCP Close Time jo s 1 255 pases IP Assemble Time po s 1 255 MAX Packet Length 1500 byte 64 1500 Caneel E How to set up transmission parameters Set IP Address 192 168 001 001 for example Click Edit and then click Local Station TCP IP Setting in the Engineering Manager Window Set Subnet Mask 255 255 255 000 for example Set Gateway IP Address 000
88. Sets a control bit SLVSC OFF allowing you to execute the slave CPU synchronous process If SYNC is turned ON while monitoring slave status SYNC changes the state to slave CPU syn chronous state Waiting state for the completion of slave CPU synchronization When entering slave CPU synchronous state turns ON the control bit SLVSC and prohibits the slave CPU synchronous resumption Slave CPU synchronous Thus even when entering slave CPU asynchronous state automatic recovery is not carried out state If SYNC is turned OFF while monitoring slave status SYNC changes the state to Preparation for slave CPU synchronous resumption Preparation state for Prepares for the resumption of slave CPU synchronization In particular stops an axis connected to slave CPU synchronous the motion module attached to an optional slot resumption If ready changes the state to Waiting state for the completion of the slave CPU synchronization An example in which this process is executed using a ladder application is shown in the next page Conditions Local station MP2300S is assigned to st 1 INPUT IW0800 SIZE 15W OUTPUT OW0810 SIZE 15W Register Meaning Remarks 0 Waiting for the completion of slave CPU synchronization 1 Slave CPU synchronous state MW00200 State 2 Preparation state for slave CPU synchronous resumption Note Initialized at figure A or the first scan
89. Start DATA Return SET The flashing will stop when initialization has been completed and the status display will change from BB to Done to A 941 MODE SET To cancel initialization press the Key before pressing the Key The display returns to the Auxiliary Function Mode main menu 7 Turn the SERVOPACK control and main power supplies from OFF to ON to enable the initialization A 14 Appendix D Initializing the Absolute Encoder The procedure for initializing an absolute encoder for a X I X II or X IIT SERVOPACK is given below Refer to 9 2 1 System Startup Flowchart in the Machine Controller MP2000 series SVB SVB 01 Motion Module User s Manual manual no SIEPC88070033 for the procedure for absolute position detection D 1 II SERVOPACK Refer to the following manuals for information on III series SERVOPACKs Ill Series SGMLOIS SGDS User s Manual Manual No SIEP S80000000 Ill Series SGMLIS SGDS User s Manual for MECHATROLINK Communications Manual No SIEP S80000011 and 3 IIl Series SGMLIS SGDS Digital Operator Instructions Manual Manual No TOBP S80000001 Follow the setup procedure below using a Digital Operator MODESET 1 Press the Key to display the Utility Function Mode main menu Use the Key or Key to select Fn008 BB FUNCT ION Fn0O0O7 Fn008 Fnoo09 FnOOA 2 Press the Key The display is switched to the execution display of Fn008 Absolute encoder mu
90. Status PARAMOO on page A 43 A timing chart of bit type I O items in the MSG SND function is as follows In Normal Condition To continuously command the transmit execution turn Execute OFF for one scan or more after the process completion lt IN gt Execute executes a transmission i Jes lt IN gt Abort forcibly ends a transmission lt OUT gt Busy in process lt OUT gt Complete process completed E oi One scan lt gt lt OUT gt Error error occurred 3 t When Forcibly Aborted To continuously command the transmit execution turn Execute OFF for a scan or more after the process completion lt IN gt Execute executes a transmission RR lt OUT gt Busy in process i lt IN gt Abort forcibly ends a transmission lt OUT gt Complete process completed i One scan lt gt lt OUT gt Error error occurred t When Error Occurs To continuously command the transmit execution turn Execute OFF for a scan or more after the process completion lt IN gt Execute executes a transmission lt IN gt Abort forcibly ends a transmission lt OUT gt Busy in process lt OUT gt Complete process completed lt OUT gt Error error occurred One scan lt gt gt t gt Appendices A 39 G 1 3 Message Transmit Function Parameter List Param Overview The param of the MSG SND funct
91. The capacity of the motor is insufficient for the machine load e SERVOPACK failure Correction Check the following and correct the problem If the problem persists contact the maintenance department e Check the position loop gain and speed loop gain e Check the Error Count Alarm Detection OLOO22 e Check the motor capacity The above check is not performed if the Error Count Alarm Detection OLOO22 is set to 0 8 2 Troubleshooting 8 2 7 Troubleshooting Motion Errors j Bit A Filter Type Change Error Detection Timing e Continuously monitored by the motion command processing section Processing when Alarm Occurs e The Change Filter Type command will not be executed The Command Error Completed Status in the Motion Command Status IWOO09 bit 3 will turn ON Error and Cause An error occurs if the Change Filter Type command is executed before the specified pulse distribution has not been completed i e when IWODC bit 0 was OFF Correction Correct the program to execute the Change Filter Type command after Discharging Completed status i e that IWOID0C bit 0 is ON is checked The command running will not stop even if the above error occurs The stop processing from the user program is needed to stop running commands when necessary k Bit B Filter Time Constant Change Error Detection Timing Continuously monitored by the motion command
92. User operation error SB000419 I O Error 1 T O error SB00041A to Reserved by the system SB00041F H Scan Over SW00044 Counter L Scan Over SW00046 Counter Reserved SW00047 SB000480 TEST SB000481 MON SB000482 CNFG DIP switch alarms B000483 INIT 0 ON 1 OFF Hardware SB000484 SUP Configuration SW00048 SB000485 STOP Status SB000486 SB000487 Battery Alarm SB000488 to Reserved by the system SB00048F SW000490 Reserved b ihe svetem y SW00049 to Reserved by the system k SW00049F Maintenance Inspection and Troubleshooting 8 17 8 18 8 2 Troubleshooting 8 2 4 Troubleshooting System Errors b System Error Status System error status is stored in registers SW00050 to SW00060 Drawing Number Name Register No Description 0001H Watchdog timer over error 0041H ROM diagnosis error 0042H RAM diagnosis error 0043H CPU diagnosis error 0044H FPU diagnosis error 00E0H Address read execption error 32 bit Error Code SW00050 0100H Address write execption error 0120H FPU exception error 0180H Illegal general command error 01A0H Illegal slot command error 01E0H User break after command execution 0800H General FPU prohibition exeption error 0820H Slot FPU prohibition exeption error SW00051 For system error analysis 32 bit Addresses SW00052 Generating Error SW00053 For system error analysis 0000H Sy
93. automatic receive function is used 6 3 6 2 2 When the MP2300S Acts as a Slave ladder program which uses a MSG RCV function 6 17 xi 6 2 3 When MP2300S Acts as Master I O message communication function is used 6 36 6 2 4 When the MP2300S Acts as Master ladder program which uses MSG SND function 6 49 6 3 Communication with Touch Panel 6 65 6 3 1 When MP2300S Acts as Slave 6 65 6 4 Communication with PLC Manufactured by Mitsubishi Electric Corporation MELSEC protocol 6 75 6 4 1 When the MP2300S Acts as Slave automatic receive function is used 6 75 6 4 2 When the MP2300S Acts as Master I O message communication function is used 6 83 7 Slave CPU Synchronous Function 7 1 7 1 Function 7 2 7 1 1 Overview 7 2 7 2 Requirements and Setting of Execution 7 3 7 2 1 Supported Version 7 3 7 2 2 Requirements to Execute Slave CPU Synchronous Function 7 3 7 2 3 How to Set up Slave CPU Synchronous Function 7 4 7 2 4 How to Execute Slave CPU Synchronous Function
94. four receptions or transmissions are available at the same time by using channel numbers to 4 Note 1 As many MSG RCV or MSG SND functions as lines used at the same time are required 2 For information on communication buffer channel refer to G3 Communication Buffer Channel on page A 102 7 Param parameter list start address Specify the start address of the parameter list For the parameter list 17 words are automatically assigned from the configured address In the parameter list enter the function code and its relevant parameter data Addition ally process result and status are output Note For more information about the parameter list refer to the parameter details for each protocol from G2 4 Function Setting and Parameter Details for MEMOBUS and Extended MEMOBUS Protocols on page A 77 to G2 7 Function Setting and Parameter Details for Non procedural Protocol on page A 93 Example When DA00000 is specified as a parameter list start address Parameter list Register Ee 280 DW00000 PRAMO0O DW00001 PRAMO01 DW00002 PRAM02 DW00003 PRAM03 DW00004 PRAM04 DW00005 PRAM05 DW00006 PRAMO06 DW00007 PRAM07 DW00008 PRAM08 DW00009 PRAMO09 DW00010 PRAM10 DW00011 PRAM11 DW00012 PRAM12 DW00013 PRAM13 DW00014 PRAM14 DW00015 PRAM15 DW00016 PRAM16 2 Output Item The following table lists the registers available for each output item
95. i Communication Mode Control communication Control communication Error Control CRC check CRC check Up to 16 stations can be connected if a JEPMC REP2000 MECHATROLINK II Repeater is not used Refer to Chapter 8 MECHATROLINK II Repeater of the Machine Controller MP900 MP2000 Series User s Manual MECHATROLINK System Manual No SIEZ 887 5 1 for details c Maximum Number of Slave Stations The maximum numbers of slave stations that can be connected to the SVB 01 Module are listed below E MECHATROLINK Communication Setting and Maximum No of Slave Stations MECHATROLINK Communication Setting f T sal Maximum Number of Slave Communication Method Baud Rate o mMuNcaMON Stations Cycle MECHATROLINK I 4 Mbps 2 ms 14 MECHATROLINK II 10 Mb 0 5 ms 6 17 byte Mode ps 1 ms 15 0 5 ms 1 MECHATROLINK II sate 32 byte Mode ps 1 5 ms 13 21 SERVOPACK for up to 2 ms 16 axes Refer to 8 8 6 MECHATROLINK Definitions of Machine Controller MP900 MP2000 Series MPE720 Software for Programming Device User s Manual Manual No SIEPC88070005 for information on the settings for MECHA TROLINK transmission 2 2 Basic Module 2 2 5 Built in SVB Module E Transmission Distance and Maximum No of Slave Stations Communication Method Transmission Distance Total Network Length ee ee ae DESIENS 50m MECHATROLINK I can be extended to 100 m by conne
96. i e setting the set values of the scan time to at least 1 25 times the maximum times required to execute the scans Note If the scan time is set too close to the maximum execution time for the scan the refresh time for the screen on the MPE720 will be very slow and communication timeouts may occur If the maximum execu tion time exceeds the scan time set value a watchdog timer timeout error will occur and the MP2300S system will stop e Set the set values of the high speed H and low speed L scan time to an integral multiple of the MECHATROLINK communication cycle 1 or 2 ms set in the MP2300S Always check the set values of the scan time after changing the MECHATROLINK communication cycle Do not change the scan time set value while the Servo is ON Never change the setting while the axis is moving while the motor is running Otherwise an error may occur during motor operation e g high speed rotation e When the scan time is set or changed be sure to save the data to flash memory Environment Setting E xj High speed Scan Setting Yalue 10 0 ms 0 5ms 32 0ms Current Value fo 2 ms Maximum Value 0 9 ms Low speed Scan Setting Value 200 0 ms 2 0ms 300 0ms Current Value fo ms Maximum Value 0 2 ms f 1 The operation of the application which depends at the scan time changes Co when change the setting value 2 Please do not set setting value smaller than current value The watchdog error occurs
97. s Manual Manual No SIEPC88070005 2 Check that the RDY indicator on the MP2300S Basic Module is lit 3 Open the battery cover on the unit front surface 4 Remove the connector on the end of lead of the built in battery from the connector on the MP2300S Basic Module Then remove the built in battery from the battery holder 5 Insert securely the connector on the end of the lead of the replacement battery into the connector on the MP2300S Then insert the replacement battery into the battery holder 6 Check if the BAT indicator on the MP2300S is unlit 7 Close the battery cover This completes replacing the battery 8 2 Troubleshooting 8 2 1 Basic Flow of Troubleshooting 8 2 Troubleshooting 8 2 1 This section describes the basic troubleshooting methods and provides a list of errors Basic Flow of Troubleshooting When problems occur it is important to quickly find the cause of the problems and get the system running again as soon as possible The basic flow of troubleshooting is illustrated below Step 1 Visually confirm the following items Machine movement or status if stopped Power supply I O device status Wiring status Indicator status LED indicators on each Module Switch settings e g DIP switches Parameter settings and program contents 4 Monitor the system to see if the problem changes for the following operations Step 2 Switching the
98. source mode output Output Module DO 01 JAPMC DO2300 64 outputs sink mode output Analog Input Module AI 01 JAPMC AN2300 Analog input 8 channels Optional Analog Output Module AO 01 JAPMC AN2310 Analog input 4 channels Modules JAPMC 7 Counter Module CNTR O1 PL2300 E Reversible counter 2 channels Ethernet Communica nots 218IF 01 JAPMC CM2300 RS 232C and Ethernet communication tion Module General purpose Serial Communication 217IF 01 JAPMC CM2310 RS 232C and RS422 485 communication Module Communica DeviceNet _ er tion Communication 260I1F 01 JAPMC CM2320 RS 232C and DeviceNet communication Modules Modul PROFIBUS Communication 261IF 01 JAPMC CM2330 RS 232C and PROFIBUS communication Module aD 215AIF 01 JAPMC CM2330 RS 232C MPLINK and CP 215 communi ETR JAPMC CM2361 cations 1 3 System Configuration 1 3 1 Example 1 3 System Configuration 1 3 1 Example The following diagram shows an example of system configuration Optional module tal I O module n ER Upper
99. tion If message functions are used while the automatic receive function is enabled the communications will not function prop erly Note By default the automatic receive function with a connection number 01 is set to Enable 6 68 6 3 Communication with Touch Panel 6 3 1 When MP2300S Acts as Slave 5 Click Yes in the parameter setting confirmation dialog box E Caution Note that when a parameter with the same connection number is already set and you click Yes in the parameter setting confirma tion dialog the setting will be overwritten by the parameter configured in the Message Communication Easy Setting Window 6 Check the setting value and click the Detail Button in the Automatically column r Connection Parameter Message Communication Easy setting lt is possible to following parameter setting easily that communicate the message i em 192 168 001 002 T0001 i v Extended CRETE Je Detail E Cannot the overlap to local station port number used by the communicate the 1 0 message 7 Check Enable in the Automatically Reception Setting Window and then click the OK Button Automatically Reception Setting j xj Automatically Reception Unable to automated reception when the rip protocol type is no control sequence Transmission Buffer Channel 1 of The automatic reception is fixed 1ch Slave I F Register Settings Head REG Readout of Input Relay wooo Readout of Input Regist
100. 000 000 000 for example E Caution Set up a unique IP address in the network For the IP address check with your network administrator 6 28 6 2 Communication with Other MP Series 6 2 2 When the MP2300S Acts as a Slave ladder program which uses a MSG RCV function 3 Set connection parameters 10002 TCP 10003 TCP 192 168 001 001 192 168 001 001 Extended MEMOBUS Extended MEMOBUS Extended MEMOBUS 10005 TCP 10006 TCP 192 168 001 001 192 168 001 001 E How to set up with a connection number 02 in the CP 218 Connection Parameter Window Set Local Port to the port number 10002 used in the MP2300 side for example Set the Node IP Address to the IP address 192 168 001 001 configured in the MP2300S side for exam ple Set the Node Port to the port number 10002 configured in the MP2300S side for example Select Connect Type TCP for example Select Extended MEMOBUS for Protocol Type Select Code BIN for example m Caution When any transmission or connection parameter is changed the change will be reflected after FLASH has been saved and the power supply is turned ON again o Ethernet Communications 6 29 6 30 6 2 Communication with Other MP Series 6 2 2 When the MP2300S Acts as a Slave ladder program which uses a MSG RCV function 4 Create a ladder program containing a message transmit function MSG SND An examp
101. 1 Fixed Parameter List A 20 E 2 Setting Parameter List A 22 E 3 Monitoring Parameter List A 27 Appendix F How to Set up Communication Process A 31 F 1 Preparation A 31 F 2 Procedure A 31 Appendix G MSG SND MSG RCV Functions A 35 G 1 Message Transmit Function MSG SND A 35 G2 Message Receive Function MSG RCV A 70 G3 Communication Buffer Channel A 102 INDEX Revision History xiii MEMO 1 Overview This chapter explains an overview and features of the MP2300S Machine Controller 1 1 MP2300S Features s Hce a a i a Daaa eee ea eee i ea i 1 2 MP2300S Configuration lt 4 5655 Se i ee ice 1 2 1 Basic Module Appearance 1 2 2 MP2300S Modules 1 3 System Configuration 1 3 1 Example 2 22 eee errr eer rrr ee eee ee eee eee ee 1 3 2 Example of Distributed Synchronizing System
102. 11 C Pulse owousc Zero Point Return 12 POT amp C Pulse Method 13 POT Only Yes 14 HOME LS amp C Pulse 15 HOME Only 16 NOT amp C Pulse 17 NOT Only Yes 18 INPUT amp C Pulse 19 INPUT Only Width of Starting z OWOO3D Point Position Output 1 1 reference unit Yes Yes OLOO3E Approach Speed Unit is according to OWON03 bits 0 to 3 Speed Unit Yes OLOO40 Creep Rate Unit is according to OWO003 bits 0 to 3 Speed Unit Yes OLOOD42 aoe Point Return 1 1 reference unit Yes Travel Distance OLOO44 STEP Maye 1 1 reference unit Yes Yes Distance OLOD46 Exemel Positioning 1 1 reference unit Yes Final Travel Distance Zero Point Position in OLOO48 Machine Coordinate 1 1 reference unit Yes Yes System Offset Work Coordinate OLOO4A System Offset 1 1 reference unit Yes Yes Number of iach it OLOO4c POSMAX Turns S Yes Yes Presetting Data e Invalid for linear type gt Appendices A 25 A 26 cont d Register No Name Contents SVB SVR Bits 0 to 3 Monitor 1 Setting impossible Servo User Monitor Bits 4 to 7 Monitor 2 Y evn Setting Bits 8 to B Monitor 3 Setting impossible se Bits C to F Monitor 4 owo0o04F Servo Evens Set the number of the alarm to monitor Yes Monitor No owogso Seve Driver User Set the number of the SERVOPACK t Yes Constant No et the number of the parameter Servo Driver User owo0o0
103. 13 Message Flow with MELSEC Q series when I O Message Communication Function Is Used m Caution T O message communication is 1 1 communication In addition you can read and write the registers below using inter CPU communication when Communication Protocol Type MELSEC is used in the communication with the MELSEC series e Bit device register _ X Y read only M B e Word device register D W R Note A bit device register reads or writes on a per word 16 bit basis When communicating with multiple remote devices To carry out a fixed buffer random access buffer communication when reading writing registers other than those mentioned above use the message transmit function MSG SND gt Ethernet Communications 6 83 6 4 Communication with PLC Manufactured by Mitsubishi Electric Corporation MELSEC protocol 6 4 2 When the MP2300S Acts as Master I O message communication function is used E Setting Example The following figure illustrates one example of reading the content of the data register D00000 to D00099 of the MELSEC Q series slave into an input register IW0000 to W0063 of the MP2300S master and writing the content of an output register OW0064 to OW00C7 of the MP2300S master in a data register D00100 to D00199 of the MELSEC Q series slave MP2300S Local station IP address 192 168 001 001 6 84 MELSEC Q series Remote station IP address 1
104. 2 Communication with Other MP Series 6 2 4 When the MP2300S Acts as Master ladder program which uses MSG SND function 4 Create a ladder program with a message receive function MSG RCV in it An example of a ladder program for receiving messages in the remote equipment MP2300 side follows E Message receive function MSG RCV Required for receiving messages Message reception is carried out by describing and executing this message receive function in a ladder program In addition in order to support Read and Write by MP2300S two message receive functions should be provided Here the input item and parameters communication buffer channel number and connection number of the mes sage receive function need to accord with the MP2300S side settings MSG RCV Communication device Ethernet 218IF Ni Execute DB000200 Busy DB000210 Protocol type Abort DB000201 Complete DB000211 Dev Typ 00006 Error DB000212 Circuit number 1 Pro Typ 00001 Cir No 00001 Communication buffer channel numbe S Ch No 00003 Parameter list start address DA00000 Param DA00000 Note Similarly a message receive function with the communication buffer channel number 6 is required Communication device 218IF Circuit number 1 CircuitNumber_ 0 o 1O Start Register e WOEnd Register Motion Start Register Motion End Register EE ss Status Running Running Fig 6
105. 8 contact outputs A D Module JAMSC 120AV102030 Analog inputs 10 to 10 V 4 channels nes No D A Module JAMSO 1T20AV001030 Analog outputs 10 to 10 V 2 channels YPS No JAMSC 120EHC21140 Counter Module Yes No Reversible counter 2 channels JAMSC 120MMB20230 Pulse Output Module Yes No Pulse output 2 channels JEPMC REP2000 MECHATROLINK II Repeater No Yes JEVSA YV250 MYVIS image processing device Yes Yes Overview 1 7 1 8 1 5 Cables and Accessories 1 5 1 Cables 1 5 Cables and Accessories 1 5 1 Cables The following table shows the cables that can be connected to the MP2300S Basic Module and Optional Modules Module Connector Application Model Specifications Name MP2300S Ethernet communication Basic Module Ethernet cable Provided by customers JEPMC W6002 00 with MECHATROLINK Used between the devices listed below connectors on both ends SVB 01 and I O Unit JEPMC W6003 00 SVB 01 and SGDH OOE NS100 MP2300S MECHATROLINK I with MECHATROLINK SVB 01 and SGDH OOE NS115 Basic Module M I II MECHATROLINK II connectors on both ends SVB 01 and SGDS OO0100 and SVB 01 cable with ferrite core JEPMC W6011 O0 Used between the devices listed below with a MECHATROLINK SVB 01 and SGD OOON connector and loose wires SVB 01 and SGDB OOAN JEPMC W6022 Terminator Used between the devices listed below CN 1 Cable for analog
106. Appendices A 65 G 1 8 Relationship between Data Address Data Size and Offset for MSG SND Function The relationship between data address data size and offset is as follows when transmitted with offset 1 When Reading Start address of the read data storage area A 66 Data address B MP2000 series transmission master M register A Offset A y A y i an aa ee A Remote device reception slave Coil input relay input register and holding registers ial pi aa A Data address B y A Fig G 4 Data Flow when Reading MSG SND function Parameter list PARAMOO PARAMO1 PARAM05 PARAMO6 PARAMO07 PARAMO08 PARAMO9 PARAM10 PARAM 11 PARAM16 lt q Data address B d Data size C lt 4 Offset A Fig G5 Parameter Setting Valid parameter may differ depending on the function code and communication protocol used 2 When Writing MP2000 series transmission master MW00000 A MWxxxxx Start address of the write data source Data address B M register Remote device reception slave Coil and holding registers Offset A y A y Data size C A a a A Data address B amp Data size C A The data type of the remote device is not determined in non procedural protocol
107. As the sample ladder program starts the message receive operation just after the system startup you are not required to do anything In normal operation accept the default The MP2300S side transmits messages When an I O message communication function is used message transmit operation status automatically 6 2 Communication with Other MP Series 6 2 4 When the MP2300S Acts as Master ladder program which uses MSG SND function 6 2 4 When the MP2300S Acts as Master ladder program which uses MSG SND function The I O message communication function cannot operate any registers other than the holding register M register Note that it can communicate with only one slave To communicate with more than one slave use a ladder program with a message transmit function MSG SND on the MP2300S side You can use the message transmit MSG SND function as well as the I O message communication function by keeping connections separate from each other This section explains how to communicate with the MP2300 message receive function MSG RCV using the MP2300S message transmit function MSG SND Master Slave MP2300S MP2300 Local station Remote station iezi 218IF 01 py Yaskawa novo orun ren Ore ALMO OERR sO Oco Communication Protocol Extended MEMOBUS Type protocol Connection Type a Data Code Type BIN ASCII OF E
108. Battery on page 8 4 and replace the Battery Warnings Refer to 8 2 4 c System Register l Obeaton eror Configuration and Error Status on Lit Lit Lit Not lit Not lit P 7 page 8 19 and 8 2 4 e System Reg T O error g ister Configuration and Error Status on page 8 21 Maintenance Inspection and Troubleshooting 8 8 8 2 Troubleshooting 8 2 4 Troubleshooting System Errors 8 2 4 Troubleshooting System Errors The LED indicators on the front of the Basic Module can be used to determine MP2300S operating status and error sta tus To obtain more detailed information on errors the system S registers can be used A detailed check of the con tents of system registers can be used to determine the location of the error and take the corrective measures Details on system registers are provided below System Register Allocations The following table shows the overall structure of the system registers Swo00000 SWw00030 Swo00050 Swo00080 Swo00090 Swo00110 Swo00190 Swo00200 Sw00500 Swo00698 SWw00800 Sw01312 Sw02048 SW03200 SWw05200 to SW08191 System Service Register System Status 8 2 4 a System Register Allocations on page 8 9 System Error Status 8 2 4 b Accessing System Registers on page 8 10 User Operation Error Status 8 2 4 c Correcting User Program Errors on page 8 15 System Service Execution Status 8 2 4 d Correcting User Progra
109. Bit 3 Servo ON SVON Bit 4 Main Power Supply ON PON Bit 5 Machine Lock MLOCK Bit 6 Zero Position ZPOINT Yes IW002C Servo Driver Status Bit 7 Locating Completed Positioning Completed PSET Bit 8 Command Profile Complete Distribution Completed DEN Bit 9 Torque Restriction T_LIM Bit A Latch Complete L_CMP Bit B Locating Neighborhood NEAR Position NEAR Bit C Positive Software Limit P_SOT Bit D Negative Software Limit N_SOT Bits E to F Reserved Servo Driver Alarm IwOO2D Code Stores the alarm code from the SERVOPACK Yes Bit 0 Forward Side Limit Switch Input Bit 1 Reverse Side Limit Switch Input Bit 2 Deceleration Dog Switch Input Bit 3 Encoder Phase A Signal Input Bit 4 Encoder Phase B Signal Input Bit 5 Encoder Phase C Signal Input Bit 6 EXT1 Signal Input Servo Driver I O Moni Bit 7 EXT2 Signal Input WER tor Bit 8 EXT3 Signal Input Bit 9 Brake State Output Bit A Reserved Bit B Reserved Bit C CN1 Input Signal 1012 Bit D CN1 Input Signal 1013 Bit E CN1 Input Signal 1014 Bit F CN1 Input Signal 1015 Bits 0 to 3 Monitor 1 Servo Driver User Bits 4 to 7 Monitor 2 ee Monitor Information Bits 8 to B Monitor 3 pa Bits C to F Monitor 4 Servo Driver User F ILOO30 Stores the result of the selected monitor Yes Monitor 2 ILOO32 Servo Driver ser Reserved Monitor 3 ILOO34 SEVO Driver user Stores the result of the selected monitor Yes Monitor 4 Servo Driver User Constant No I
110. Code Function oe 01H Reads coil state PARAMO8 02H Reads input relay state PARAMO09 03H Reads holding register content PARAMI1 04H Reads input register content PARAM10 05H Changes single coil state PARAMO08 06H Writes to single holding register PARAMII1 09H Reads holding register content extended PARAMII1 OAH Reads input register content extended PARAM10 OBH Writes to holding register extended PARAMII OEH Discontinuously writes to holding register extended PARAMI1 OFH Changes multiple coil states PARAMO08 10H Writes to multiple holding registers PARAMI1 31H Write to fixed buffer PARAMII 32H Reads the random access buffer PARAMII1 33H Writes to the random access buffer PARAMII 11 Reserved by System 1 PARAM12 Used by system the channel number of the communication buffer in use is stored Note At the first scan during power up make sure to set it to O by using the user program After that the reg ister is used by system Do not change the value thereafter with the user program 12 Reserved by System 2 PARAM13 PARAM16 Used by system Never change this value with the user program etc gt Appendices A 55 G 1 6 Function Setting and Parameter Details for MODBUS TCP Protocol This section explains the MSG SND function setting and its parameter list details when MODBUS TCP is used as a protocol type 1 Message Transmit Function Setting a 218IFA Setting Example An example of a fu
111. Counter 7 17 7 3 5 How to Determine Input Error 7 18 7 3 6 Management to Resume Slave CPU Synchronization 7 24 7 4 Precautions 7 28 7 4 1 Precautions on Usage 7 28 7 4 2 Effect of Error on Slave CPU Synchronous Operation 7 29 Slave CPU Synchronous Function 7 1 7 2 7 1 Function 7 1 1 Overview 7 1 Function 7 1 1 Overview A slave CPU synchronous function synchronizes the master side high speed scan cycle with the MP2300S high speed scan cycle in a configuration where another MP2300S series controller acts as a MECHATROLINK master and the MP2300S with a built in SVB acts as a MECHATROLINK slave This function automatically allows you the synchronization among slave CPUs and the distribution of application pro grams by connecting multiple MP2300Ss as a slave The following figure shows a schematic diagram of the slave CPU synchronous function of MECHATROLINK II O MP2200 CPU SVB 01 MP2300S MP2300S Here there is a communication delay in MECHATROLINK II as shown above until a command from a master side application program is transmitted to a slave
112. DV WOO006 100 data size 100 words setting partner CPU No PARAMO7 0005 bwoo007 1 NL2 setting offset PARAMOS PARAM11 poos 3 EXPRESSION 7 0006 DW00008 0 coil offset PARAMOS NL 2 DwWO0O009 0 input relay offset PARAMOQ DW00010 0 input register offset PARAM10 DWO0G011 0 register offset PARAM 11 clear for system register PARAM12 0007 WLF Sre 00000 WLF Dest DW00012 NL 2 gt 0008 NL 4 normal sean treatment take it as timeout for abortion if not ended in 10 seconds after sending command sending command abort timeout 0B000200 DB000201 D8000204A C Tonpoi MSet 01000 MCount DWO0031 release abort if timeout or error take place timeout treating end abort DB00020A bB000211 06000201 D gt f m j O NL 1 error bB000212 6 14 6 2 Communication with Other MP Series 6 2 1 When the MP2300S Acts as Slave automatic receive function is used possible to resend in 60 seconds after abortion abort waiting end waiting 66000201 bB000203 DB000208 1 1 O 0018 NL4 waiting bB000208 waiting waiting end DB000208 D8000209 no12 4 TON 10ms 29 TO 0022 MSet 06000 Nut wyCount Dwo0028 sending message every 1 second after 5 seconds of scan started use SBOO00003 for low scan 58000001 for high scan After 0s Scan Star tup Relay 5s0N SBO0000ZA DBO0020D 0025 NL 1 5s0N treating end eror waiting sending command DB000200 DB000211 DB000212 DB000208 DB000200
113. DWG A being executed and correct any system errors Norma This status occurs operation When the stop operation is exe P i User program stopped cuted from the MPE720 Ee NORE Not lit TOES NOE RE O fine Stop Mode When the STOP switch is turned ON This status does not indicate an error Lit Lit Not lit Not lit Not lit User program bemig executed nor This is the normal status mally Not lit Not lit Not lit Lit Not lit A seroso errr ten Refer to 8 2 4 4 Correcting User Program Errors on page 8 12 No lit Not lit Lit Not lit Not lit Software Error Number of LED blinks indicates error type 3 Address error read exception 4 Address error write exception 5 FPU exception 6 Illegal general command exception 7 Illegal slot command exception Not lit Not lit Not lit Blinking Not lit 8 General FPU inhibited exception Errors 9 Slot FPU inhibited exception 10 TLB multibit exception 11 LTB error read exception A hardware error has occurred 12 LTB error write exception Replace the Module 13 LTB protection violation read exception 14 LTB protection violation write exception 15 Initial page write exception Hardware Error Number of LED blinks indicates error type Not lit Not lit Blinking Blinking Not lit 2 RAM diagnostic error 3 ROM diagnostic error 4 CPU function diagnostic error 5 FPU function diagnostic error Refer to 8 1 3 Replacing the Basic Lit Battery alarm Module
114. Driver Status 2 lwou2c Bit 0 Alarm ALM Bit 1 Warning WARNG Bit 2 Command Ready CMDRDY Bit 3 Servo ON SVON Bit D Negative Software Limit Servo Driver Alarm Code 3 WO002D 00 Absolute Data Error 02 Parameter Corrupted 10 Overcurrent 11 Ground Fault F3 Momentary Power Loss 41 Refer to a Alarm ILOO004 List 2 Refer to a Servo Driver Status IWOO2C List 3 Refer to b Servo Driver Status IWOO2C List Maintenance Inspection and Troubleshooting 8 33 8 34 8 2 Troubleshooting 8 2 7 Troubleshooting Motion Errors 2 Motion Error Details and Corrections The following tables show the contents of the axis alarms ILO0104 subsection a and axis alarm details subsection b a Alarm ILOO04 List ILOO04 Alarm Contents ILOO04 Alarm Contents Bit 0 Sivo Driver EOE Bit 10 ooo Synchronization Communica Bit 1 Positive Direction Overtravel Bit 11 Servo Driver Communication Error Bit 2 Negative Direction Overtravel Bit 12 Servo Driver Command Time out Error Bit 3 Positive Direction Software Limit Bit 13 Excessive ABS Encoder Rotations Bit 4 Negative Direction Software Limit Bit 14 Reserved Bit 5 Servo OFF Bit 15 Reserved Bit 6 Positioning Time Over Bit 16 Not used Bit 7 Excessive Positioning Moving Amount Bit 17 Not used Bit 8 Excessive Speed Bit 18
115. EE 2 CPUH 1 DP ee fot ll che eg gt ula ei JIS Ia e I ee se 00001 00000 Select All Add Register Register for Trace Manager Refer Motion alarm analyzer Line Block Insert an INC Command Insert a MOV Command x xi Select Command Mov POSITIONING x Select Command JKM INC MOY Axis1 Axis2 Axis number l z Update Asis number 2 x Update Set to the arguments Set to the arguments Argument Axis Positi n A Axis2 Position B1 M Comment Comment INCREMENTAL MODE Click the save icon to save the motion program 4 10 4 4 Executing Motion step 3 4 4 1 Registering Program Execution 4 4 Executing Motion step 3 4 4 1 Registering Program Execution 1 Click the Execution Registration Icon 2 01 x PT 2 CPUR 1 Pe Group J POs Paley Hl wR FEL FE Sah e 00001 INCREMENTAL MODE 00002 00000 INC 00003 POSITIONING 00004 00001 MOV A1 15000 B1 15000 00005 00002 END Line Block I I The Program Execution Registry Screen Dialog Box will appear 2 Check Program Number and click OK to save the registered contents Program execution registry screen 4 x M EXECUTOR individual Program execution registry number Program number E X Execution type Specification Motion program x Direct x m Allocation register Allocat
116. Execution type Setting Program IF MW000 lt 32767 Sa I Sequence program Start Direct MW000 MW000 1 ete Sequence program H scan Direct avian IEND Fig 5 5 Calling a Sequence Program a Outline of Motion Control Systems 5 29 5 30 5 2 User Programs 5 2 3 Sequence Program 3 Work Register a Monitor a sequence program through a work register A work register similar to the motion program registered in M EXECUTOR has status flags in the M EXECUTOR control register The following table shows the work register configuration of the sequence program Work Register Content Status Status flag of a sequence program Status Flag of Sequence Program The status flags of a sequence program allow you to know the execution status of the sequence program The following table explains the detailed contents of status flags Status Status Program running Reserved Reserved Reserved Reserved Reserved Reserved Reserved Program alarm is occurring Stopping at breakpoint reserved In debug mode EWS debug operation Program type 1 Sequence program Start request history Reserved 1 2 3 4 5 6 7 8 9 A B C D E F Reserved E Sequence program alarm When referencing a sub sequence program SSEE command execution and an error is detected Bit8 Progr
117. Functions 2 9 2 10 2 2 Basic Module 2 2 2 External Appearance LED Indicators and Switch Settings b Sw2 Sets the Ethernet port condition and other operating conditions The change of switch setting is invalid after the power is turned ON read only when the module is initialized by soft ware SW E INIT 2 E TEST gt N No Switch State Operation Mode Default Description Name ON S2 4 Reserved OFF Reserved for future use OFF ON S2 3 Reserved OFF Reserved for future use OFF ON Transmission parameter for oe 2 2 E INIT Ethernet default OFF When ON transmission parameters such as an IP address are set to default at startup OFF Normal operation ON System use S2 1 E TEST y OFF Always leave set to OFF OFF Normal operation 2 2 Basic Module 2 2 3 Specifications 2 2 3 Specifications 1 Hardware Specifications The following table shows hardware specifications for the basic module Item Specifications Classification Basic Module Name MP2300S Model Number JEPMC MP2300S E Input Voltage 24 VDC 20 Input Current 1 A max during input output rating Inrush Current 40 A max full discharge state during output rating or the secondary output of the external 24 V power supply is turned ON Power Rated Voltage 5 0 V Unit Rated Current 2 0 A Output Current Range 0
118. G 7 Valid Range of Data Addresses MELSEC bit device Device Range of Decimal Device ACPU Common Hexa Function Code Valid Range of Corresponding Register Data Addresses Number Commands decimal X X0000 to X07FF Hexadecimal 02H Input relay 0 to 2047 MB000000 to MB00127F Y Y0000 to YO7FF Hexadecimal 01H 0FH Coil 0 to 2047 MB000000 to MB00127F M M0000 to M2047 Decimal 01H 05H 0FH Coil 2048 to 4095 MB001280 to MB00255F M M9000 to M9255 Decimal 01H 05H 0FH Coil 4096 to 4351 MB002560 to MB00271F B B0000 to BO3FF Hexadecimal 01H 05H 0FH Coil 4352 to 5375 MB002720 to MB00335F F F0000 to F0255 Decimal 01H 05H 0FH Coil 5376 to 631 MB003360 to MB00351F TS TS000 to TS255 Decimal 02H Input relay 2048 to 2303 MB001280 to MB00143F TC TC000 to TC255 Decimal 02H Input relay 2304 to 2559 MB001440 to MB00159F CS CS000 to CS255 Decimal 02H Input relay 2560 to 2815 MB001660 to MB00175F CC CC000 to CC255 Decimal 02H Input relay 2816 to 3071 MB001760 to MB00191F M M2048 to M8191 Decimal 01H 05H 0FH Coil 8192 to 14335 MB005120 to MB00895F Table G 8 Valid Range of Data Addresses MELSEC word device Device Range of Decimal i Device ACPU Common Hexa Function Code Valid Range of Corresponding Register Data Addresses Number Commands decimal TN TN000 to TN255 Decimal OOOH 0 to 255 MW00000 to MW0255 Input register CN CNO000 to C
119. I Master Slave Displays whether the selected SVB Module is used as a Master station or Slave station Select either Master or Slave l MECHATROLINK munication type and the station type Master or Slave Refer to n Transmission Bytes Communication Cycle Number of Retries to Slaves Number of Slaves for details My station For Master station fixed to 0 address Displays the local station address set by using the rotary OE AES a ain k For slave stations set a number between 1 and Local station switches h berots address the number of slave stations Displays the transmission speed Transmission MECHATROLINK II 32 byte mode 10 Mbps Cannot be set Speed MECHATROLINK II 17 byte mode 10 Mbps MECHATROLINK I 4 Mbps Transmission Byte cae sans of eee a Hidden for e number of transmission bytes depends on the com Cannot be set Cycle Communication Displays the communication cycle The number of transmission bytes depends on the com munication type and the station type Master or Slave Refer to n Transmission Bytes Communication Cycle Number of Retries to Slaves Number of Slaves for details Can be set only for the Master station and when MECHATROLINK II is selected as the com munication type The value that can be set dif fers depending on whether the SVB Module is a built in SVB Module or optional SVB Mod ule Refer to n Communication Cycle That Can be Set for details
120. Manual Motion Module SVB 01 Module The SVB 01 Module is a motion module equipped with a MECHA TROLINK supporting interface The adoption of MECHATROLINK enables reduced wiring and multi axis control In addition the support for MECHATROLINK II standard allows you to control position speed torque and phase realizing precise synchronous control Also complex mechanical operation can be achieved by changing the control mode during axis operation E Features e Up to 21 slave stations per module are connectable up to 16 servo axes are controllable e Because synchronization between modules is enabled adaptable to interpolation and synchronous control between modules e With the SVB 01 Module as a slave connectable to an upper control ler with the MECHATROLINK communication function Self configuration function allows you to automatically map slave devices connected to MECHATROLINK e SERVOPACK parameters are manageable over the network Machine Controller MP2000 Series SVB SVB 01 Motion Moa ule User s Manual manual num ber SIEPC88070033 SVA 01 Module The SVA 01 Module is a motion control module with analog output Capable of controlling a two axes servo per module or an inverter The module has two connectors CN1 CN2 for connection to a SER VOPACK and an external I O Each connector is equipped with an ana logue output to command speed and torque an analogue input to monitor feedback speed and torque a
121. NAME Detail Definition Message Communication Easy setting It is possible to following parameter setting easily that communicate the message 192 168 001 002 192 168 001 006 192 168 001 005 192 168 001 111 TE QP 20002 TCP 20003 TCP 02004 UDP Y MELSEC 7 MEMOBUS None Cannot the overlap to local station port number used by the communicate the 1 0 message Fig G 13 218IFA Parameter Setting Window for the MPE720 Module Configuration Definition Transmission Parameters Status m CP 218 Transmission Parameters Station Setting m CP 218 Connection Parameter IP Address gt 4192 1168 U E A fi 0 255 MEMOBUS Response Time 0 s 0 255 Count of Retry gt 10 time 0 255 me 10010 192 168 001 003 IE m0 eee 10020 192 168 001 006 20200 UDP 03 _ 10030 000 000 000 000 90000 TCP 104 10040 192 168 001 111 22222 UDP y Extended MEMOBUS y BIN Fig G 14 218IF Parameter Setting Window for the MPE720 Module Configuration Definition A schematic diagram of the communication buffer channel is shown in the next page A 102 The communication buffer channel is associated with the connection by setting the input item Ch No communication buffer channel number of the MSG SND MSG RCV function and PARAMO02 connection numbe
122. Number System Work No 1 1 No 2 2 No 16 16 Program Designation Method Direct or indirect designation Direct designation Registered in the definition turns start signal ON Override Setting for Interpolation Yes No I O Link Definition Yes No S Register Report Function of Motion Program Status Number of Parallels 1 to 8 4 main parallels x 2 sub parallels 1 Execute an Error Drawing when Operation Error Occurred Program Startup Method Starts up when registered in the definition Yes Yes Specifications and Functions 2 51 2 2 Basic Module 2 2 7 M EXECUTOR Module Motion Program Executor 3 Module Configuration Definition a Details of Module Configuration Definition Window Click MP2300S in the Controller area to display the details of the basic module functions in the Module Details area The cell No 5 provides a detailed definition of M EXECUTOR E Module Configuration MP2300S Online Local E 5 x PT 2 CPUR 1 m Controller Module Type MP23005 JUNDEFINED 7 Oo Tosara o CU Disable Output Motion Start Register Motion End Register m r MP2300S Controller module with network servo control ethermet virtual axes program control function m Module Details MP2300S SLOT 00 Module Type cru 2181FA__ Sv z Controller Number fon fo z E fon fon foe Disable Input
123. O message communication function is used 1 How to Set up the MP2300S Side If the setting of transmission parameters IP address subnet mask is already completed start from step 3 1 Double click the 218IFA Tab in the Module Details of the module configuration definition m Module Details MP23005 SLOT 00 C a S S ee Ge Wodule Type 0 Qpe D ro C Ce 2 Set transmission parameters Module Name Definition fi 34 0255 ERIEN TAAT CONTROLLER NAME jo SJ 0255 o 0255 Detail Definition E How to set up transmission parameters O Set IP Address 192 168 001 001 for example Set Subnet Mask 255 255 255 000 for example Set Gateway IP Address 000 000 000 000 for example E Caution Set up a unique IP address in the network For the IP address check with your network administrator 3 Click Enable in the I O Message Communication of the connection parameter setting 120 Message Communication C Di Easy setting It is possible to set easily that communicate the 0 message Data update timing flow gt Scan Arite Port Port Type Type Head register number data size Head register number data size gt input disable Hold register Mw y JO0000 f4 w MP23005 TAON Node equipment output disable 0 Hold reaister Mw Y eooo fi M 6 38 6 2 Communication with Other MP Series 6 2 3 When MP2300S Acts as Master I O me
124. OFF IF NON IBOC000 DB000001 Process when program operation is stopped IEND END a Outline of Motion Control Systems 5 21 5 2 User Programs 5 2 2 Motion Programs 2 Example using a ladder program axis 1 serwo on 1p00000 0880000 0000 NL 4 program start 1p00001 Ds000000 oBco100 0002 NL 4 hold 1B00002 OBOCO11 0005 NL 4 program stop 1800003 oBoco12 0007 NL 4 1500004 opoco1s 0009 NL 1 alarm reset for axis 1 0011 NL 4 motion program stop in run IBOCOOQ DB000001 1 0013 NL 4 007 g 0016 DBOOOONZ true NL 1 0017 NL 1 0018 NL 1 5 22 5 2 User Programs 5 2 2 Motion Programs b A motion program referenced by a MSEE command from a ladder program When a motion program is referenced by a MSEE command from a ladder program control the motion program via a sequence or ladder program To use this execution processing incorporate a MSEE command in the ladder H drawing In this case MSEE work reg ister configures and monitors the motion program The following figure shows a setting example in this method External ladder control oe T signal MSEE e Operation start work registers oo e Pause address e Stop etc DAOD0000 Status J DADOOOO 1 Control signal DADNOOOO 2 Override for interpolation DWG H DADOOOO 3 System work number Ladder program for Oi nexadecimal numbe
125. OFF enters slave CPU synchronous state again Slave side H scan setting is changed Enters slave CPU asynchronous state once When the changed H scan setting meets the execution requirement of slave CPU synchronization and control bit SLVSC OFF enters slave CPU synchronous state again Slave CPU Synchronous Function 7 29 MEMO 8 Maintenance Inspection and Troubleshooting This chapter explains daily and regular inspection items to ensure that the MP2300S can always be used at its best conditions 8 1 Inspection Items 8 2 8 1 1 Daily Inspections 8 2 8 1 2 Regular Inspections 8 3 8 1 3 Replacing the Basic Module Battery 8 4 8 2 Troubleshooting 8 5 8 2 1 Basic Flow of Troubleshooting 8 5 8 2 2 MP2300S Error Check Flowchart 8 6 8 2 3 LED Indicators 8 6 8 2 4 Troubleshooting System Errors 8 8 8 2 5 Motion Program Alarms 8 25 8 2 6 List of Causes for Command Error Completed Status 8 30 8 2 7 Troubleshoo
126. Parameters Saved in the MPE720 The data flow for SERVOPACK parameters is as follows when File Save is selected from the SERVOPACK Tab Page 1 The MPE720 writes all the parameters in Input Data currently displayed on SERVOPACK Tab Page of the relevant axis to the followings HDD hard disk of the personal computer e SDRAM of MP2300S e RAM and EEPROM of the SERVOPACK 2 After having completed writing the parameters the MPE720 updates the values in Current Value on the SERVOPACK Tab Page with the SERVOPACK parameter values stored in the RAM MECHATROLINK Send Send MPE720 online I l Control 4 SRAM Software Display Input Current _ Data Value Jie 2 Flash EEP p y 1 S Memory SDRAM T ROM x SERVOPACK T Input l Parameters Parameters pan All Axes l J MP2300S SERVOPACK SERVOPACK HDD in personal computer gt Appendices N A 8 3 The following figure shows a display example after having executed save operation on the SERVO PACK Tab in the SVB Definition Window After having saved the data the values in Input Data of all the parameters become the same as the values in Current Value on the SERVOPACK Tab Before saving EEDE TAE nee ne 15 x PT 2 CPU 1 RACK O1 Slot 00 cinwoi 8000 87FF Dee ee axis z SERVOPACK SaDs 1
127. Parameters in the SERVOPACK Tab Page The data flow for SERVOPACK parameters is as follows when parameters for the cursor position are changed from the SERVOPACK Tab Page in the SVB Definition Window for MPE720 1 The MPE720 writes parameters of the relevant axis to the followings when the Enter Key is pressed on the computer The parameters other than those of the relevant axis will not be written Input Data set data on the SERVOPACK Tab Page e SDRAM of the MP2300S e RAM of the SERVOPACK 2 After having completed writing the MPE720 updates the values in Input Data on the SERVOPACK Tab Page with the parameter values stored in the RAM of the SERVOPACK MECHATROLINK Send Send ZF I MPE720 i online 4 l 4 System Control A SRAM Software Software Displa nput urren d Data Value p 1 Flash EEP os k A Memory SDRAM ROM 1 Input F Data Servo Parameters Parameters All Axes aes MP2300S SERVOPACK SERVOPACK HDD in personal computer gt Appendices A 12 Before pressing pressed ENTER 3 The following figure shows a display example after having changed the value 2nd Speed Loop Gain in Input Data on the SERVOPACK Tab After having pressed the Enter Key the values of Speed Loop Gain Speed Loop Integral Time Constant and Position Loop Gain boxed in dotted line in Input Data remain different
128. Q Pg FLOAT MAA Online Local Pr BN 168 1 1 CPU 1 LONG ASCII 3 Input the register number of the first system register to be accessed for Register input the register number of the last system register to be accessed for D and click anywhere in the list The contents of the specified range of register numbers will be displayed ig MP2300 23005 MP2300S Online Local MP2300 2300S MP2300S ig MP2300 23005 MP2300S Online Local Local mfe xj PTA 2 IPH192 4681 1 CPUR 1 EC swoo0042 SW00043 SW00045 SW00046 SW00047 SW00049 Swoo005s0 swo0051 SWO0053 SW00054 SW00055 SW00057 SW00058 SW00059 SWOO0061 swoo0062 Swoo0063 swoo06s SWo00066 SWOO0067 SwWo0069 swo0070 SWOO0 7 1 Swoo073 SW00074 SW00075 SWOOO7 SW00078 SW00079 SW00081 SW00082 SW00083 SW00085 SWOO0086 SWO0087 SWw00089 swo0090 SwWw00091 Maintenance Inspection and Troubleshooting 8 2 Troubleshooting 8 2 4 Troubleshooting System Errors b Displaying a Register List with the Quick Reference Register lists can also be accessed with the Quick Reference 1 Select View Quick Reference from the MPE720 Engineering Manager Window ig Engineering Manager Module Configuration MP2300 2300S MH E File View Order Window Help B ToolBar v Status Bar Quick Reference Motion Task Manager Next Page Ctrl M e cue 91 Back Page 2 Click the Register List Tab to switch to the register list
129. Q series to be connected 192 168 001 002 for example Set Port No of the other device MELSEC Q series to be connected 10001 for example Click OK 6 78 6 4 Communication with PLC Manufactured by Mitsubishi Electric Corporation MELSEC protocol 6 4 1 When the MP2300S Acts as Slave automatic receive function is used E Caution When message functions MSG SND MSG RCV are used with the connection number 01 disable the automatic receive func tion If message functions are used while the automatic receive function is enabled the communications will not function prop erly Note By default the automatic receive function with a connection number 01 is set to Enable 5 Click Yes in the parameter setting confirmation dialog box E Caution Note that when a parameter with the same connection number is already set and you click Yes in the parameter setting confirma tion dialog the setting will be overwritten by the parameter configured in the Message Communication Easy Setting Window 6 Check the setting value and click the Detail Button in the Automatically column m Message Communication Easy setting It is possible to following parameter setting easily that communicate the message pe pe seas 192 168 001 002 10001 vo MELSEC Detail Cannot the overlap to local station port number used by the communicate the 1 0 message o Ethernet Communications 6 79 6 4 Communicati
130. RDYO a0 Communication Protocol Extended MEMOBUS Type protocol Foo oe Connection Type TCP UDP aa Se en Data Code Type BIN ASCII ome j rou Ethernet Ethernet MP2300S MP2300 Automatic receive function MSG SND function ladderless ladder application 2 OR Cod Ro A A 218IFA Option Module 218IF 01 Extended MEMOBUS protocol Fig 6 1 Message Flow with MP2300 when Automatic Receive Function Is Used o Ethernet Communications 6 3 6 4 6 2 Communication with Other MP Series 6 2 1 When the MP2300S Acts as Slave automatic receive function is used E Setting Example The following figure illustrates how the content of the MP2300S master holding register MW00000 to MW00099 is written into the MP2300S slave holding register MW00000 to MW00099 Slave Master MP2300S MP2300 Local station Remote station IP address 192 168 001 001 IP address 192 168 001 002 MP2300 YASKAWA ROY Communication Protocol Extended MEMOBUS Type protocol Connection Type TCP Data Code Type BIN Port number 10001 Ethernet Port number 10001 MP2300S MP2300 Local station
131. Series SGMOS SGDS MECHATROLINK II SERVOPACKs with Communication User s Manual SIEP S800000 11 Describes the models specifications wiring trial operation adjustment function application methods maintenance inspection and MECHATROLINK communication of the X III Series SERVOPACKs and Servomotors Machine Controller MP900 MP2000 Series Linear Servomotor Manual SIEP C880700 06 Describes the connection methods setting methods and other information for Linear Servomotors Machine Controller MP900 MP2000 Series New Ladder Editor User s Manual Programming Manual SIEZ C887 13 1 Describes the programming instructions of the New Ladder Editor which assists MP900 MP2000 series design and maintenance Machine Controller MP900 MP2000 Series New Ladder Editor User s Manual Operation SIEZ C887 13 2 Describes the operating methods of the New Ladder Editor which assists MP900 MP2000 series design and maintenance Machine Controller MP900 MP2000 Series User s Manual MECHATROLINK System SIEZ C887 5 1 Describes MECHATROLINK distributed I O for MP900 MP2000 series Machine Controllers E Copyrights e DeviceNet is a registered trademark of the ODVA Open DeviceNet Venders Association e PROFIBUS is a trademark of the PROFIBUS User Organization Ethernet is a registered trademark of the Xerox Corporation e Microsoft Windows Windows NT and Internet Explorer are registered trade
132. Some of MP2300S setting parameters and commands temporarily change SERVOPACK parameters Refer to Chapter 4 in the Machine Controller MP2000 series SVB SVB 01 Motion Module User s Man ual manual no SIEPC88070033 for details RAM in the SERVOPACK are written MECHATROLINK When the MP2300S has Send Send temporarily changed het I a _ MPE720 Ly Sg el ae ar Say System Contro L UA SRAM Software Software Input P f Data l A k I j TAR Pose a Flash EEP HDD in personal computer Memory SDRAM RAM ROM SERVOPAGK Parameters Parameters All Axes MP2300S SERVOPACK SERVOPACK Parameters held in the SERVOPACK s RAM are displayed on a Digital Operator connected to the SERVO PACK They are also written to EEPROM when the DATA ENTER Key is pressed 3 When the SERVOPACK Tab Page Is Open The data flow for SERVOPACK parameters is as follows when the SERVOPACK Tab Page is open in the SVB Defini tions Window on the MPE720 refer to 2 2 5 5 SVB Definition on page 2 45 for details on how to open the SERVO PACK Tab Page 1 The MPE720 writes and displays the parameters that are held in the SERVOPACK s RAM for the rele vant axis to the Current Value in the SERVOPACK Tab Page It also reads and displays the values that are held in the MP2300S s SDRAM values to the Input Data in the SERVOPACK Tab Page MECHATROLINK
133. Start Register and I O End Register must be set even though the I O Module is connected or not connected to MECHATROLINK 2 2 Basic Module 2 2 5 Built in SVB Module 4 MECHATROLINK Transmission Definition a How to Open the MECHATROLINK Transmission Definition Window In the Module Configuration Window select the SVB Module in the Controller field and double click the MECHA TROLINK cell in the Module Details field The MECHATROLINK Transmission Definition Window will open If several SVB Modules are mounted select the SVB Module to be checked or set in the Controller field To check or set the built in SVB Module select slot number 00 in the Controller field EE Module Configuration MP2300S Online Local E PT 2 CPUR 1 aa Controller Module Type MP2300S be Running JMP2300s Controller module with network servo control ethemet virtual axes program control function m Module Details MP2300 SLOT 00 Module Type CPU Y 218IFA 7 SVB E 01 C2 E BSS Sse a OBFF Cc rel Enable a Disable Input Disable Output enable Motion End Register fave Network servo control function Specifications and Functions 2 39 2 40 2 2 Basic Module 2 2 5 Built in SVB Module b MECHATROLINK Transmission Definition Window Details The MECHATROLINK Transmission Definition Window has four tabs Transmission Parameters Link Assign ment I O M
134. Time In a slave CPU synchronous arrangement a command from the master is processed as in the following flow and trans mitted to the slave side Here the time between and is constant Execute master side application x Update output data 4 SVB module processing Slave CPU synchronous delay time 4 MECHATROLINK transmission 4 AA Execute slave side application Retrieve input data This delay time is referred to as Slave CPU Synchronous Delay Time and is calculated as follows Slave CPU synchronous delay time Master H scan cycle x 2 MECHATROLINK cycle Setting Example Master side H scan setting 4 ms MECHATROLINK communication cycle setting 1 ms 4 Slave CPU synchronous delay time 4 ms x 2 1 ms 9 ms 7 3 Operation 7 3 4 How to Use Scan Counter 7 3 4 How to Use Scan Counter A scan counter enables the reception device to check that data is updated by the transmission device It also allows the master and slave to confirm each other s proper working order Use of the scan counter is optional and there is no problem if you choose not to use it An example follows In this example H scan cycles of both master and slave sides are assumed to have the same set ting 1 Checking the Master Status Using a Slave Side Application Master Slave Output register i i Input register oerernrre H i oor
135. Time Constant 0 0 ms OWOD3B Bias Speed for Index Deceleration Acceleration Ouehereneanies Filter OWODO3D Width of Starting Point Position Output 100 reference unit oLOn44 STEP Travel Distance 1000 reference unit oLowas Zero Point Position in Machine Coordinate Sys Oastereneawnt tem Offset OLOD4A Work Coordinate System Offset 0 reference unit OLOD4cC Number of POSMAX Turns Presetting Data 0 turn owOOsc Fixed Parameter Number 0 e M EXECUTOR Definition Item Allocation Number of Program Definitions 8 Program Allocation None Control Register Allocation None o Outline of Motion Control Systems 5 53 5 54 5 5 Precaution on Using MP2300S 5 5 1 Precautions when User Definition File is Configured Changed 5 5 Precaution on Using MP2300S 5 5 1 This section explains precautions when a user definition file is configured changed and when setting a scan time Precautions when User Definition File is Configured Changed System settings scan time settings and module configuration definitions must be saved in flash memory flash save When a system setting scan time setting or module configuration definition is configured changed be sure to use MPE720 to flash save it Note that when the MP2300S power supply is turn ON again without flash saving the config ured changed data may be lost e System Setting Environment Setting k x E3 System E3 Security System Setting emm gt System Se
136. Zero Point Unsetting e Invalid for linear type ues Bit E Reserved Yes Bit F Reserved Yes Bit 10 Servo Driver Synchronization Communications Error Yes Bit 11 Servo Driver Communication Error Yes Bit 12 Servo Driver Command Time out Error Yes Bit 13 Excessive ABS Encoder Rotations Invalid for linear type as Bits 14 to 1D Reserved s BitlE Motor Type Set Error BitlF Connected Encoder Type Error ILOO06 Reserved IwOH08 Moron Command Same as OWOOO08 Motion Command Yes Yes gt Appendices A 27 A 28 cont d Register No Name Contents SVB SVR Bit 0 Command Execution Flag Yes Yes Bit 1 Command Hold Completed Yes Yes Bit 2 Reserved E Bit 3 Command Error Completed Status Yes Yes IwOOo09 Motion Command Command Error Occurrence Status Bits 4 to 6 Reserved Bit 7 Reset Absolute Encoder Completed Yes Bit 8 Command Execution Completed Yes Yes Bits 9 to F Reserved 7 IWODO0A S bommand Re Same as OWOOO0A Motion Subcommand Yes Yes sponse Code Bit 0 Command Execution Flag Yes Yes Bits 1 to 2 Reserved S Bit 3 Command Error Completed Status Yes Yes IWOOOB Subcommand Status Command Error Occurrence Bits 4 to 7 Reserved Bit 8 Command Execution Completed Yes Yes Bits 9 to F Reserved Bit 0 Distribution Completed Yes Yes Bit 1 Positioning Completed Yes Yes Bit
137. a ferrite core in the manner described below Ethernet Attach it to the communication port side and the external equipment side of the MP2300S main unit MECHATROLINK Attach it only to the communication port side of the MP2300S main unit We will provide a standard cable with core Model JEPMC W6003 OD MP2300S SERVOPACK eeosotai2n allig Core L1 tollo s e Other station 12c B 3 B1 B EE oa e2 Bls oa e u B R 5 B o Sa i 100Base Tx Care straight cable Core S HUB Servomotor sas MPE720 Note Recommended ferrite core Model Manufacturer E04SR301334 Seiwa Electric Mfg Co Ltd 3 2 5 3 2 Basic Module Connections 3 2 5 RLY OUT Connector Details RLY OUT Connector Details The RLY OUT connector is a terminal for outputting state and NO contact relay output A circuit between terminals is short circuited when RDY LED is lit and opens when it is unlit Note A state when RDY LED is lit indicates that a controller is operating normally It does not indicate that an user program is running RLY OUT Connector Specifications and Pin Arrangement The following table provides th
138. and Functions 2 59 2 2 Basic Module 2 2 7 M EXECUTOR Module Motion Program Executor An execution example is as follows e M EXECUTOR program definition inixxi PT 2 CPUR 1 JRACK 01 Slot 00 jocoo oc3F Ea M EXECUTOR List Individual display Program definition number fs x Program definition Allocation Control register No o Executiontype Setting Program Execution monitor register SPMOO1 SPMO02 SPMOO03 Direct x MPMO04 SW03380 SW03437 SPMOO5 register e Execution scheduling The following diagram shows the execution scheduling when set in the screen above Startup SPMO001 DWG A High speed scan cycle High speed scan cycle le gn sp y ple gh sp y gt High speed scan seuoo DA SPM005 DWG H sruoo DA SPM005 DWG H Low speed scan SPM002 SPM002 DWG L The hatched area indicates that the DWG X Ladder process program is being interrupted by a higher priority process 2 60 2 3 Option Module This section provides an option module overview For more information on its specifications functions connections settings etc refer to the following documents separately 2 3 1 Option Module Overview List 2 3 Option Module 2 3 1 Option Module Overview List Classification Option Module Name Module Overview Reference
139. and the message communication Detail Setting Local Port TCP IP Setting x m Local Port Setting Engineering Port 9999 256 65535 The port number is specified that connect with MPE 720 MEMOBUS Setting Response Time 0 s 0 255 Count of Retry 0 time 0 255 Cancel _ The following table shows each setting item Item Setting Range Details Default Specify the 218IFA port number used in the engineering communica tion with MPE720 Engineering Port 256 to 65535 Note When changing this setting you must also change the engineer 9999 ing port value in the logical port setting detailed screen of the MPE720 communication process The port number cannot be 9998 or 10000 Specify the wait time until a remote response is returned after sending a command when carrying out a message communication using MSG SND function value zero waits infinitely 0 to 255 i i i i i Response Time If the retransmit number of times is zero set response monitor period 0 sec to zero Note If no response is returned after the setting period expires a time out occurs retry the transmission the number of times specified by resend number of times Specify the command retransmit number of times when a timeout is 0 to 255 i i i Count of Retry c detected after response monitor period expires 0 time Note If no response is returned after as many retries as the retransmit number of t
140. coil states PARAMO8 V V 10H Writes to multiple holding registers PARAM11 y y Note v Available Not available gt Appendices A 49 11 Reserved by System 1 PARAM12 Used by system the channel number of the communication buffer in use is stored Note Before the first scan during power up make sure to set it to O by using a user program After that the register is used by the system so never change the value with the user program 12 Reserved by System 2 PARAM13 to PARAM16 Used by the system Never change the value with the user program etc A 50 G 1 5 Function Setting and Parameter Details for MELSEC Protocol This section explains MSG SND function setting and its parameter list details when MELSEC is used as a protocol 1 Message Transmit Function Setting a 218IFA Setting Example An example of a function setting when 218IFA is used as a communication device follows Set the protocol type to MEMOBUS when used in MELSEC protocol Set the circuit number in accordance with the circuit number allocated to the target 218IFA Set a unique communication buffer channel for the same circuit For information on the register number refer to G 2 1 Input Item on page A 36 and G 1 2 2 Output Item on page A 38 Communication device 218IFA Execute DB000201 Busy DB000210 Protocol MEMOBUS Abort DB000202 Complete DB000211 NG Dev Typ 00016 Error DB000212 Circuit number 1 E Pro Typ 00
141. communication device Specify it in accordance with the circuit number displayed in the MPE720 Module Configuration Definition Window Circuit number m Module Details MP2300S SLOT OO L Module Type cru vleisra Bw s M EXECUTOR Controller Number ov on fot Circuit Number_ Cn foe E VO Start Register_ 0000 _ fosoo fc iyo End Register or mre fCF O M Disable Output v Motion Start Register Motion End Register Detais Status Rumning a BIFA 100M Ethernet in functions Fig G 9 MPE720 Module Configuration Definition Window The following table indicates the range of valid circuit numbers Communication device Valid Circuit Number Ethernet 218IF 218IFA 1 to 8 Ch No communication buffer channel number Specify the channel number of a communication buffer It can be any channel number in the range However when starting multiple functions at the same time set a unique channel for each function If you do not start up multiple functions at the same time the channel numbers can duplicate each other The following table indicates the range of valid channel numbers Communication device Valid Channel Number Ethernet 218IF 1 to 10 Ethernet 218IFA 1 to4 When the communication device is Ethernet 218IFA because the communication buffer common to the trans mission and reception have four channels
142. control register M EXECUTOR Control Register Usage Sets a program number Program Number hog This register is used only when set to an indirect designation Status Monitors the program execution status Control Signal Controls the program Sets an override value when running a move command for the Override interpolation system Note For more information on the M EXECUTOR control register refer to 2 2 7 1 M EXECUTOR Module Function Overview Allocation Disable Enables disables the mapping register Uncheck to enable the definition Direction Displays the data I O direction 2 56 2 2 Basic Module 2 2 7 M EXECUTOR Module Motion Program Executor Allocation register Data is exchanged between mapping and M EXECUTOR control registers in real time Any register can be mapped to the mapping register Registers that can be set as a Mapping Register Word type I O M except the motion register Allocation Contact interlock An allocation contact interlock is used to control the data exchange between the allocation register and M EXECUTOR control registers When the allocation contact interlock is ON data can be exchanged between the allocation register and M EXECUTOR control registers Any register bit can be mapped to the allocation contact interlock Registers that can be set as an Allocation Contact Interlock Bit type O S M C except
143. end error waiting sending command DBO00200 be000211 08000212 DB000208 DB000200 maA C Tonno A E 0027 MSet 00100 NL 4 McCourt DwWO0D30 MSG SND function ee a 0033 B Execute DBO00200 B Busy bB000210 NL 4 BJAbort DBO00201 B Complete DBO000211 W Dev Typ 00006 B Error D8000212 MMPro Typ 00001 MCi No 00001 MCh No 00002 A Param DA00000 treatment after normally finished after finish 0034 DB000211 true NL 1 abor DB000201 count for normal 0035 NL 2 0037 NL 1 treatment while error taking place while error 0038 DB000212 true NL 4 count for abnormal 0039 NL 2 i gt EXPRESSION Fj 0040 DWO0026 DW00000 results PARAMO0 NL2 Dw00027 DwW00001 status PARAMO41 _END_IF_ 0041 NL 1 treatment while timeout timeout ON pulse timeout taking place DB00020A DB000208 DB00020C p023 4 f O 0042 NL 1 6 34 6 2 Communication with Other MP Series 6 2 2 When the MP2300S Acts as a Slave ladder program which uses a MSG RCV function while timeout 0095 NL 1 DB00020C true count for timeout 0046 WLjDest DW00022 NL 2 0047 NLA 0048 NLA The communication setting and the ladder program creation are now finished when MP2300 acts as a master 3 How to Start Communications 1 The MP2300S side starts to receive the messages As the sample ladder program automatically starts the message receive operation just after system startup you are not required to do anything In normal opera
144. error contents Valueof Process Error Contents Description Result 8000H E Reserved 8100H The following setting is out of range Check the setting S2o0cn Error setting address PARAMII holding register offset 83010H Data size error The received data size is out of range Check the source data size f ES The circuit number is out of range Check Cir No circuit number of 8400H Error in setting circuit number the MSG RCV function The communication buffer channel number is out of range 8500H Error in setting channel number Check Ch No communication buffer channel number for the MSG RCV function 86004 C onnec onnunbereiior The connection number is out of range Check PARAMO02 connection number 8700H Reserved An error response was returned from the communication section com 88 0H Communication section error munication device Check the equipment connection In addition check that the remote device is open to communication Unavailable device is set Check Dev Typ communication device omen Device Belech Enot type of the MSG RCV function 3 Status PARAMO1 Outputs status of the communication section communication device The following figure shows the bit assignment The bit assignment details are listed in the following tables F E DC BA 9 8 7 6 5 4 3 2 1 0 P a REQUEST a R
145. for All the Modules By performing the following operation the self configuration for MP2300S basic and option modules is executed Before performing the operation turn ON the power supply of equipment such as SERVOPACK 1 Double click System Module Configuration a Axis configuration BULL Sea Module configuration The Engineering Manager Window will open and the Module Configuration Window will appear 2 Select Order Self Configure All Modules to execute self configuration fig Engineering Manager File View Order Win dow Re dule 3 Click Yes for the following message Module Configuratio at Ee sR cay fon Online Local xi Execute Self Configuration OK 4 While running the self configuration the following message is shown Self Configuration Module Configuration is being saved a Outline of Motion Control Systems 5 45 5 46 5 4 Self configuration 5 4 1 How to Execute Self Configuration 5 If the following warning message is shown after performing step 4 the module configuration definitions for CPU and MPE720 may differ from each other Continue to perform step 6 When the message is not shown go to step 9 Module Configuration 4 xj A Some modules in the module configuration are different between controller and Engineering Tool Please transfer the module configuration from Controller to Engineering Tool aaa 6 Se
146. for Motion Program The following table shows the alarm codes of motion programs Alarm Bae Name Description Corrective Actions Code 02h Division error Data divided by 0 Review the motion program Toe Designate a center coordinate instead of a F Turn number was specified instead of radius in te A circle instead of E A radius to perform the circular arc or heli 10h f the circular arc or helical interpolation com radius was specified and cal interpolation command e Never specify the turn number 14h Interpolation feeding Interpolation feeding speed exceeded the valid Modify the interpolation feeding speed of speed over limit range of the FMX command the interpolation command i No interpolation feedi d ified 3 No interpolation feeding e EPE e ceding Spore WaS Speen Specify the interpolation feeding speed in 12h A once specified this can be omitted as in the A speed specified the interpolation command motion program Range execeden atter Indirect acceleration parameter exceeded the er 13h converting acceleration Change the indirect register value valid range parameter ircul length ded the vali i f 14h Circular arc length eaa Mia Pa aa cheer Review the circular arc length in the circu exceeded LONG_MAX mad P lar arc or helical interpolation command Vertical axis not speci d i Vertical t fi th l
147. for more information 6 74 6 4 Communication with PLC Manufactured by Mitsubishi Electric Corporation MELSEC protocol 6 4 1 When the MP2300S Acts as Slave automatic receive function is used 6 4 Communication with PLC Manufactured by Mitsubishi Electric Corporation MELSEC protocol In Ethernet communication between the MP2300S and MELSEC Q A series general purpose PLC manufactured by Mitsubishi Electric Corporation the MELSEC protocol MELSEC ACPU common command is used as a communi cation protocol Using the MELSEC protocol allows a master to read write the slave register content This chapter explains communication when the MP2300S acts as a slave and a master respectively For using the MP2300S as a slave we explain communication using the automatic receive function For using the MP2300S as a master we explain communication using the I O message communication function 6 4 1 When the MP2300S Acts as Slave automatic receive function is used This section explains how to carry out a fixed buffer communication with the BUFSND command with procedure of the MELSEC Q series using the MP2300S automatic receive function MP2300S MELSEC Q series Local station Remote station Slave Communication Protocol MELSEC protocol Master Type Po Connection Type TCP UDP Data Code Type BIN ASCII Ethernet Ethernet MP2300S MELSEC Q series Automatic receive function BUFSN
148. from the values in Current Value since the parameters other than the one that has been changed are not written 210 x ENTER Key PT 2 CPUR 1 RACK 01 Slot 00 cIR 01 s000 87FF Jy Jase gt SERVOPACK saDs 1 Version 0020 z Bero Type Rosy z Fixed Parameters Setup Parameters SERVOPACK Monitor PN J Name Input Data nit Current Value Function Selection Basic Switch 0 0000 H 0000 H Function Selection Application Switch 1 0000 H 0000 H Function Selection Application Switch 2 0011H 0011H Function Selection Application Switch 4 0110H 0110H Function Selection Application Switch 6 0002 H 0002 H Function Selection Application Switch 7 0000 H 0000 H Function Selection Application Switch 8 4000 H 4000 H 10100 Speed Loop Gain 40 0 Hz 1100 0 0101 Speed Loop Integral Time Constant 20 00 ms l 40 00 1 0102 Position Loop Gain 40 0 fs 100 0 Moment of Inertia Ratio Mass ratio A ox Qi 2nd Speed Loop Gain 40 01 2nd Speed Loop Integral Time Constant UUU ms 0 00 0106 2nd Position Loop Gain 40 0 fs 40 0 0107 Bias O min 1 0 After having ioii PT 2 CPUR 1 RACK 01 Slot 00 Raon B000 87FF LOL Es z SERVOPACK sGDS 1 Mersion Joozo z Servo Type l Rotary z Fixed Parameters Setup Parameters SERVOPACK Monitor No Name input Dat Current Value 0000 Function Selection Basic Switch O 9000 H 0001 Fun
149. low speed scan Operation error Interrupt signal Each high speed scan Vv NZ Ny Ny Input all Input all BWO Oran DWG I Interrupt Vv Vv processing drawing Output all Output all drawing AA Y Note X A l H or L DWG H High speed DWG H Low speed l H scan processing scan processing Continuation of Continuation of drawing drawing processing before processing before V V error occurred interruption occurred b Execution Schedule for Scan Processing Drawings The scan processing drawings are not executed simultaneously As shown in the following figure the execution of each drawing is scheduled based on the order of priority and time sharing Low speed scan z e High speed scan High speed scan High speed scan High speed scan gt lt gt lt gt a gt DWG H DWG L Background Executing Background processing is used to execute internal system processing e g communication processing Low speed scan processing is executed in spare processing time of the high speed scan Set the time of the high speed scan to approximately double the total execution time for DWGH 5 32 c Hierarchical Structure of Drawings 5 2 User Programs 5 2 4 Ladder Drawings DWG Each processing program is made up of parent drawings child d
150. modules 2 32 system configuration example 1 5 2 31 system connection example 3 25 system error status 8 18 system errors 8 8 system I O error status 8 21 system register accessing 8 9 allocations 8 8 system register configuration 8 17 system registers 5 36 Index 3 system registers lists A 2 system service execution status 8 21 system service registers A 2 system startup 4 2 executing motion 4 11 programming 4 9 self configuration 4 5 test run 4 6 wiring 4 3 system status 8 17 system work number 5 18 T TCP 2 13 terminating resistor 1 9 terminator 1 9 3 15 terminator connections
151. numbers 05 06 CP 218 Connection Parameter EI 192 168 001 001 100 E 192 168 001 001 100p C 10003 192 168 001 001 100 Set Local Port the port number 10005 10006 used in the MP2300 side for example Set Node IP Address the IP address 192 168 001 001 configured in the MP2300S side for example Set Node Port the port number 10005 10006 configured in the MP2300S side for example Select Connect Type TCP for example Select Extended MEMOBUS for Protocol Type Select Code BIN for example E Caution When any transmission or connection parameter is changed the change will be reflected after FLASH has been saved and the power supply is turned ON again 6 42 6 2 Communication with Other MP Series 6 2 3 When MP2300S Acts as Master I O message communication function is used 4 Create a ladder program with a message receive function MSG RCV in it An example ofa ladder program for receiving messages in the remote equipment MP2300 side follows E Message receive function MSG RCV Required for receiving messages Message reception is carried out by inputting and executing this message receive function in a ladder program In addition in order to support Read and Write by MP2300S two message receive functions should be provided Here the input item and parameters Communication buffer channel number and Connection number of the message receive fu
152. of process request is completed b RESULT result Outputs an execution result of the MSG SND function Code Abbreviation Meaning 0 CONN_NG In Ethernet communications transmit error or connection error is complete 1 SEND_OK Normal transmission complete 2 REC_OK Normal reception complete 3 ABORT_OK Forced abort complete 4 FMT_NG Parameter format error 5 SEQ NG Command sequence error 6 RESET_NG Reset state 7 REC_NG Data reception error error detected in the lower layer program c COMMAND command Outputs a process command for the MSG SND function The executed process contents can be found according to the command Code Hex Abbreviation Meaning 1 U_SEND General purpose message transmission 2 U_REC General purpose message reception 3 ABORT Forced abort 8 M SEND MEMOBUS command transmission Complete when response is received for MEMOBUS protocol 9 M REC MEMOBUS command reception Accompanies a response transmission for MEMOBUS protocol C MR_SEND MEMOBUS response transmission for MEMOBUS protocol gt Appendices A 63 A 64 d PARAMETER parameter When RESULT process result 4 FMT_NG parameter format error an error code in the table below is output Otherwise the connection number is output RESULT process result Code Hex Meaning 00 No error 01 Connection number is o
153. processing section Processing when Alarm Occurs e The SCC Change Filter Time Constant command will not be executed The Command Error Completed Status in the Motion Command Status IWOO09 bit 3 will turn ON Error and Cause An error occurs if the SCC command is executed before the specified pulse distribution has not been com pleted i e when IWOCOOCO bit 0 was OFF Correction Correct the program to execute the SCC command after Discharging Completed status i e that IBOOO0C0 is ON is checked The command running will not stop even if the above error occurs The stop processing from the user program is needed to stop running commands when necessary Detection Timing 1 Bit D Zero Point Unsetting Enabled only when an absolute encoder is used for an infinite length axis and detected when the next com mand is set in the Motion Command Response Code OWOID08 Commands Positioning External Positioning Interpolation Interpolation with position detection function phase reference Processing when Alarm Occurs e The set command will not be executed The Command Error Completed Status in the Motion Command Status IWO009 bit 3 will turn ON Error and Cause A move command was set without executing the ZSET command IWOID0C bit 5 is OFF Correction After clearing the motion command and resetting the alarm execute a Zero Point Setting operation
154. program for outputting signals of and to the motion parameters 3 For information on creating a program for the panel side refer to 6 2 1 When the MP2300S Acts as Slave automatic receive function is used 4 5 Starting Motion Program from an External Signal 4 5 3 Creation Procedure 4 5 3 Creation Procedure 1 Creating a Sequence Program Now create a sequence program which copies the M register content mapped to Servo ON OFF and Axis Alarm Reset Buttons on the touch panel to the relevant registers in the motion setting parameter of the embedded SVB Follow a procedure similar to creating a motion program from the motion program subwindow E Motion tditer Pie 2 CPUR 1 Cr ae 00001 00002 ANI 0OAAN 00004 00001 00005 00006 00002 00007 00003 nonon 00009 00010 00004 00011 Une Block i MPE720 Ver 6 MP23005 Start SF Fle Edt Wew onne Compie peu xl DZ Su R 456 Bom Progamno sPmooz DTE BUR A eroo O on Px Monitor Configuration E File privilege T MP23005 Pe y Detail definition i Read EB Motion program Write ES Main program D register 5 MPmoo1 jub progr gers fi N waists Ay Gono fer A A Output the information of the Servo ON OFF button on the touch panel to the motion setting parameter Axi
155. reception When Abort is ON the message reception is forcibly stopped Dev Typ 00006 Communication device type Specify the type of the communication device used in reception When Ethernet 218IF is used specify 6 Pro Typ 00001 Communication protocol Specify the type of the communication protocol MEMOBUS 1 1 non procedure 1 2 2 non procedure 2 2 3 Cir No 00001 Circuit number Specify a circuit number of the communication device Specify it in accordance with the circuit number displayed in the MPE720 module configuration definition screen Ch No 00005 00006 Communication buffer channel number Specify the channel number of a communication buffer When Ethernet 218IF is used specify it in the range between 1 and 10 Set up a unique channel number in the line Param DA00000 Parameter list start address Specify the start address of the parameter list For the Parameter List 17 words are automatically assigned from the configured address Output Item Busy DBO000210 In process Busy will be ON while executing a message reception or forced abort process Complete DBO000211 Process completed When a message reception or forced abort process is properly com pleted Complete will turn ON only for one scan Error DB000212 Error When an error occurs Error will turn ON only for one scan 1 When transm
156. serial interface RS 232C and DeviceNet interface 260IF 01 Allows you to connect to a controller by other makers via DeviceNet Module k connector Also allows you to connect to a personal computer or HMI Machine Controller MP2300 ommuni equipment by other makers via the PORT connector as tion gt o Communication Module User s ca Equipped with serial interface RS 232C and PROFIBUS interface Manual manual number Module 2611F 01 Allows you to connect to a controller by other makers via the PROFI SIEPC88070004 Module BUS connector Also allows you to connect to a personal computer or HMI equipment by other makers via the PORT connector MPLINK and CP 215 specifications MPLINK specification is equipped with one line of our original real time 24 5AlF 01 TA interface MPLINK transmission and a serial interface RS Module CP 215 specification is equipped with one line of our original real time core network interface CP 215 transmission and a serial interface RS 232C 2 4 External Appearance 2 4 1 Basic Module 2 4 External Appearance The external appearance of the basic module is as follows 2 4 1 Basic Module 64 42 108 MP2300S y veskawa OO wO OF mo O o0 ah DIN rail 35mm width 7 E I Model namep
157. slave CPU synchronous process is given when powering the equipment As described in 7 4 1 Precautions on Usage when transforming from the asynchronous to synchronous state using the slave CPU synchronous function a slave side scan cycle high low speed may delay up to one scan cycle affecting the slave side application To avoid this impact the procedures of Turning on the Master Side Power First and Turning on the Slave Side Power First are suggested In general we recommend that you execute the simple procedure for Turning on the Master Side Power First Turning ON the Master Side Power First After confirming that the master side startup is complete turn ON the slave side power To determine the startup completion within the application use system register SB000401 RUN Operate the master side Operate the slave side Turn ON the master power Confirm the completion of master startup Os Turn ON the slave power Refer to Check the slave status Check the slave status Ln 3 1 and 7 3 2 Slave CPU Synchronous Function 7 7 7 8 7 2 Requirements and Setting of Execution 7 2 4 How to Execute Slave CPU Synchronous Function 2 Turning ON the Slave Side Power First After confirming that the slave side startup is complete use an application program to set control bit SLVSC ON Then turn ON the master side power After confir
158. speed High low speed Low scan is carried out at a constant Basic Module User s Manual cycle manual number LIO 04 LIO 05 As a digital I O function equipped with 32 digital inputs DI and 32 SIERC 98070093 Module digital outputs DO LIO 04 sink output LIO 05 source output Input Out z i F f DO 01 As a digital output function equipped with 64 digital outputs DO sink put Module Module output Al 01 Module 8 channel analogue input module For the input capable of selecting Machine Controller MP2000 from three options 10V to 10V OV to 10V or 0 to 20 mA Series Analogue Input Output Module AI 01 AO 01 Users Man AO 01 4 channel analogue output module For the output select one from two ual manual number Module options 10V to 10V or OV to 10V SIEPC88070026 i 2 channel reversible counter module 5V differential 12V input is Machine Controller MP2000 CNTR 01 optional and phase A or B sign add subtract method is optional Series Counter Module CNTR 01 Module User 5 Manual manual number SIEPC88070027 218IF 01 Equipped with serial interface RS 232C and Ethernet interface Allows Module you to connect to a personal computer HMI equipment or controller by other makers via PORT or 10Base T connector 2171F 01 Equipped with serial interfaces RS 232C and RS422 485 Allows you Module to connect to a personal computer HMI equipment or controller by other makers via PORT or RS422 485 connector Equipped with
159. the connection type UDP the port number cannot be 9998 or 10000 Set the remote IP address for each connection However the fol lowing addresses are excluded 127 XXX XXX XXX XXX XXX xxx 000 except 000 000 000 000 XXX XXX XXX 255 Note When 0 0 0 0 is set it will enter into Unpassive open mode When 218IFA is within the network specified by the subnet mask it responds to the connection request from the remote station regardless of the remote IP address setting Connection Number CNO 1to4 Local Port 256 to 65535 0 0 0 0 to 255 255 255 254 000 000 000 0 Node IP Address 00 Specify the remote port number for each connection A pair of 0 and Node Port 256 a 5535 remote IP address and remote port number must not be duplicated 0 Note In case of Unpassive open mode set it to zero TCP Select a transport layer protocol Connect Type UDP TCP Transmission control protocol TCP UDP User datagram protocol Select an application layer protocol Protocol Type Overview Extended Yaskawa s Extended MEMOBUS protocol Extended MEMOBUS MEMOBUS MEMOBUS Yaskawa s MEMOBUS protocol Protocol Type MEMOBUS Ethernet I F protocol for the sequencer A Extended MELSEC MELSEC series manufactured by Mitsubishi Elec MEMOBUS None tric Corporation MODBUS TCP General purpose message communication Non procedure Transmits and receives continuous data intact in the specified register MODBUS TCP I
160. the motion register E Caution An allocation contact interlock is used to interlock the operation of a motion program When setting an allocation register be sure to set the allocation contact interlock Status Control Signal Details Double click the status and control register to display the bit detail You can check the signal sequence and status here Detod 2 Progam motatan mgehobon No 3 Progam mncuen regehobon No 3 Control signal Stma M EXECUTOR progran is running feocogo M EXECUTOR Program stop request p program sop ogram stopped under single block egram alarm has been generated Start request signal histo Nos work error ram single block mode selection am stop request oor Specifications and Functions 2 57 2 2 Basic Module 2 2 7 M EXECUTOR Module Motion Program Executor E Program Execution Registration Screen M EXECUTOR individual display screen Click the Individual Display Button in the M EXECUTOR list display dialog box to display this dialog box The items that can be set are similar to those in the program definition window and the control register mapping win dow Program execution registry screen x M EXECUTOR individual Program execution registry number Program number x Execution type Specification 3 Motion program bad m Allocation register OWoOCOO v Allocation DISABLE Program number a wooo Sta
161. to 32 axes when an SVB Modules are mounted PTP Control Linear rotary and infinite length Interpolation Up to 16 linear axes 2 circular axes and 3 helical axes Yes Speed Reference Output p gia Only with MECHATROLINK II Yes Torque Reference Output a rs Only with MECHATROLINK II Yes Phase Control Only with MECHATROLINK II Control Positioning Yes Specifica External positioning Yes tons Zero point return Yes Interpolation Yes Position Interpolation with posi Yes Control tion detection function JOG operation Yes STEP operation Yes Parameter changes Yes during motion com mand execution Only with MECHATROLINK II in 32 byte mode Reference Unit mm inch deg or pulse Reference Unit Minimum Setting 1 0 1 0 01 0 001 0 0001 0 00001 Maximum Programmable Value 2147483648 to 2147483647 signed 32 bit value Speed Reference Unit Reference unit s designation mm s inch s deg s pulse s Reference unit min designation mm min inch min deg min pulse min Percentage designation Percentage of rated speed Acceleration Deceleration Type Linear asymmetric S curve exponent Acceleration Deceleration Reference Unit Reference unit s designation mm s inch s deg s pulse s Acceleration deceleration time constant Time from 0 to rated speed ms Override Function Positioning 0 01 to 327 67 by axis Coo
162. unit Yes Detection OLOO24 Reserved for system use Position Complete gt OWO26 Cheek Time LSL wes ow0027 Reserved for system use OLOO28 Prase Correction 1 1 reference unit Yes Setting OLOO2A ee Zone Ower 1 1 reference unit Yes Limit Setting Register No Name Contents SVB SVR Latch Zone Upper N OLOO2C Limit Setting 1 1 reference unit Yes OWO2E Position Loop Gain 1 0 1 s Yes OWOO2F Speed Loop Gain 1 1Hz Yes Speed Feedf d owo0o030 renters oe 1 0 01 percentage of distribution segment Yes owans1 Seed 1 0 01 f rated speed Yes Yes Compensation 0 01 percentage of rated speed owono32 Position Integration tTa Yes Time Constant OWOND33 Reserved Speed Integration E OWOD34 Time Constant O Oms xe owo035 Reserved Straight Line Acceler OLOO36 ation Acceleration Unit is according to OWO003 bits 4 to 7 Speed Unit Yes Yes Time Constant Straight Line Decel OLOO38 eration Deceleration Unit is according to OWO003 bits 4 to 7 Speed Unit Yes Yes Time Constant OWOODSA Filter Time Constant 1 0 1 ms Yes Yes Bias Speed for Index wh OWOO3B Deceler tion ccel Unit is according to OWO003 bits 0 to 3 Speed Unit Yes eration Filter 0 DEC1 C DEC 1 and C Phase 1 ZERO Zero signal Yes 2 DEC1 ZERO DEC 1 and zero signal 3 C C pulse 4 to 10 Reserved E
163. when received with offset are as follows 1 When Reading MP2000 series reception slave M register MW00000 A Offset A y A Data address B Iwooooo y f Data size C Data A Start address of the read data register IW00000 Offset A y A Data address B IwOOOoOoOoO J p ye Data size C Data Start address of the read data Transmission side sets the data address B and the data size C In case of non procedure read cannot be received The valid offset parameter may differ according to each data type The data type and register correspond as follows Coil MBOOOOOG holding register MWOOOOO Input relay IBOOOOGD input register IWOOOO Remote device transmission master i Data Data size C Data flow Offset A Write range when reading MSG RCV function Parameter list Parameter list PARAMOO PARAMO1 PARAMO8 PARAMO9 PARAM10 PARAM 11 PARAM12 PARAM13 gt lt gt PARAM16 2 When Writing MP2000 series reception slave Write range LO M register MW00000 Offset A Start address of y the write data Data address B MWOOOOD _ y Data size C Write range HI A io oS a ane Remote device transmission master y A Data flow when wr
164. with Other MP Series 6 2 4 When the MP2300S Acts as Master ladder program which uses MSG SND function E How to set up transmission parameters Set IP Address 192 168 001 001 for example Click Edit and then click Local Station TCP IP Setting in the Engineering Manager Window Set Subnet Mask 255 255 255 000 for example Set Gateway IP Address 000 000 000 000 for example E Caution Set up a unique IP address in the network For the IP address check with your network administrator 3 Set connection parameters 10003 TCP Extended MEMOBLS 192 168 001 001 Extended MEMOBUS Extended MEMOBUS 10005 TCP 10006 TCP 192 168 001 001 192 168 001 001 E Procedure to set up in the CP 218 Connection Parameter Window for example with a connection number 03 Set Local Port the port number 10003 used in the MP2300 side for example Set Node IP Address the IP address 192 168 001 001 configured in the MP2300S side for example Set Node Port the port number 10003 configured in the MP2300S side for example Select Connect Type TCP for example Select Extended MEMOBUS for Protocol Type Select Code BIN for example m Caution When any transmission or connection parameter is changed the change will be reflected after FLASH has been saved and the power supply is turned ON again o Ethernet Communications 6 61 6
165. 0 Write 6 3 Communication with Touch Panel 6 3 1 When MP2300S Acts as Slave 1 How to Set up the MP2300S Side 1 Double click the 218IFA Tab in the Module Details of the module configuration definition m Module Details MP23005 SLOT O0 SlotNumber 1 d 2 a ae eet e ee Module Type 0 Qpa D j MEXECUTOR Controller Number f Circuit Number ore 0 C i 00 secon F Jocs O E M able ee ee Booo esoo fJ eze o Jere o o J y ECHATROLINK 2 Set transmission parameters OD Transmission Parameters Status r Transmission Parameters IP Address Subnet Mask 3 255 A 255 i 25s fo 0 255 Gateway IP Address jo fo fo fo 0 255 Detail Definition Module Name Definition E How to set up transmission parameters Set IP Address 192 168 001 001 for example Set Subnet Mask 255 255 255 000 for example Set Gateway IP Address 000 000 000 000 for example E Caution Set up a unique IP address in the network For the IP address check with your network administrator 3 Click the Easy Setting Button in the Message Communication area of the connection parameter set ting pea p a h 2 0258 Equipment name CONTROLLER NAME Connection Parameter r Message Communication Easy setting IY possible to following parameter setting easily that communicate th
166. 0 0001 0000 0000 10 Subcommand response code IWS800A No Command 11 Subcommand status IW8008 0000 0000 0000 0000 Fig 2 4 Monitor Parameters Tab read only 6 Precautions when Saving the Servo User Constant To save it in the SERVOPACK parameter screen except when SERVOPACK is changed make sure in advance to select Edit E SERVOPACK Current Value and To Setting Value V menus in order 2 2 6 SVR Virtual 1 Outline 2 2 Basic Module 2 2 6 SVR Virtual Motion Module Motion Module The Virtual Motion Module is a software module provided as a standard feature with the MP2300S It is not connected to a motor but pro vides a virtual axis interface The SVR is configured in the same way as the MP2300S built in SVB with fixed parameters setting parameters and monitoring parameters and can be accessed from application programs using I O registers The SVR can be used to control up to 16 virtual axes in the high speed scan control cycle Note For information on how to use SVR motion parameters and motion commands refer to Machine Control ler MP2000 series SVB SVB 01 Motion Module User s Manual manual no SIEPC88070033 In the MP2300S Basic Module slot 4 in the celal Module Configuration Window i is for SVR ioj xi PT 2 CPUR 1 arere r Controller cadilla Number Circuit Number WOstareRegister 1 0 End Register Disable Input Disable Output v
167. 0 to 2 0 A Constant Voltage 2 max including input voltage and output load fluctuations Precision Battery Battery for memory retention attachable Flash Memory 8 MBytes User area 5 5 MBytes SDRAM 32 MBytes SRAM 512 kBytes M registers S registers trace memory alarm history battery backup Motion Network MECHATROLINK channel SERVOPACK and I O for up to 21 stations connectable SERVOPACK for up to 16 axes Baud rate 4 Mbps MECHATROLINK I or 10 Mbps MECHATROLINK ID Communication Function Ethernet 1 OOBASE TX 10BASE T Seconds to year timer Calendar Battery backup POWER Power supply connector Connectors M I II MECHATROLINK connector Ethernet Ethernet connector RLY OUT RLY OUT connector Indicators RDY green RUN green ALM red ERR red MTX green BAT red TRX green IP green LINK yellow 100M green Switches STOP SUP INIT CNFG MON TEST E INIT and E TEST Current Consumption 1A max Dimensions mm 64 x 130 x 108 W x H x D Mass 390 g For the external 24V power supply rated current not more than 1A select a power supply which satisfies the specifications below as well as the Allowable output load capacity 1200uF or more Overcurrent detection is automatically restored by removing causes However except that the primary side AC side of the external 24V power supply is turned ON OFF Note Recomme
168. 00 use DW00000 DW00016 Circuit number 1 ile Communication buffer channel number 1 e Parameter list setting of the MSG RCV function Table G 32 Parameter List Setting Register Num Setting Parameter Num IN OUT Rermi rks ber Value ber DW00000 PARAM00 OUT Process result DW00001 PARAM01 OUT Status DW00002 00001 PARAM02 IN Connection number 1 DW00003 PARAMO03 OUT Option setting unnecessary DW00004 PARAM04 OUT Function Code DW00005 g PARAMO05 OUT Data address DW00006 PARAM06 OUT Data size DW00007 PARAM07 OUT Remote CPU number DW00008 00000 PARAMO8 IN Coil offset 0 word DW00009 00000 PARAM09 IN Input relay offset 0 word DW00010 00000 PARAM10 IN Input register offset 0 word DW00011 01000 PARAMI11 IN Holding register offset 1000 words DW00012 00000 PARAM12 IN Write range LO 0 DW00013 65534 PARAM13 IN Write range HI 65534 DW00014 PARAM14 SYS Reserved zero clear at startup DW00015 PARAMIS5 SYS Reserved DW00016 PARAM16 SYS Reserved Note IN Input OUT Output SYS For system use e Relationship with the Remote Device Data The following figure shows the data flow when receiving writes to multiple holding registers with offset When transmission and reception are carried out normally in the figure below the data in the remote device is stored in MW03000 and after of MP2300S MP2300S series recep
169. 00 data address 400 DwO00006 100 data size 100 words setting partner CPU No PARAMO EXPRESSION Z DWwn00007 1 setting offset PARAMOS PARAM11 C EXPRESSION DWO00008 0 coil offset PARAMOS DWOO00S 0 input relay offset PARAMOS DWO00010 0 input register offset PARAM10 DWO00011 0 iregister offset PARAM 1 clear for system register PARAM12 TOA WLF Ste 00000 MLF Dest Dwo0012 _END_IF_ normal sean treatment take it as timeout for abortion if not ended in 10 seconds after sending command sending command abort timeout bB000200 DB000201 DB00020A H TON 10ms 2a C MjSet 01000 wjCount Dwo00031 release abort if timeout or error take place timeout treating end abort bBO0020A DBO00211 06000201 1 1 enor bB000212 abort DB000201 o Ethernet Communications 6 57 6 2 Communication with Other MP Series 6 2 4 When the MP2300S Acts as Master ladder program which uses MSG SND function possible to resend in 60 seconds after abortion abort waiting end waiting 06000201 06000203 D5000208 gt OQ 0018 NL1 waiting DB000208 waiting waiting end D8000208 DB000209 poi2 d __TON 10ms Z 0022 Set 06000 NL 14 jCount DW00028 sending message every 1 second after 5 seconds of scan started use SBOO00003 for low scan SB000001 for high scan After 5 0s Scan Star tup Relay 5s0N sBoo003A bB00020D 0025 NL 4 55s0N treating end error waiting sending
170. 00 side is shown as follows E Message transmit function MSG SND Required for transmitting messages Message transmission is carried out by describing and executing this mes sage transmit function in a ladder program Communication device Ethernet 218IF Protocol type Line number 1 Communication buffer channel number Parameter list start address DA00000 MSG SND aaa Execute Abort Dev Typ Pro Typ Cir No Ch No Param Communication device 218IF 1 0 End Register i o O Motion Start Register Motion End Register See EE ae Status Running Running Module Details 2181F 01 SLOTHO1 Slot Number 1 Ja ModuleType ami eier 7 Controller Number 01 Olmen Circuit Number 01 Qo OStart Register DB000200 DB000201 00006 00001 00001 00001 DA00000 Busy DB000210 Complete DB000211 Error DB000212 Line number 1 Fig 6 2 MPE720 Module Configuration Definition Window o Ethernet Communications 6 11 6 12 6 2 Communication with Other MP Series 6 2 1 When the MP2300S Acts as Slave automatic receive function is used E input output definitions for message transmit functions The input output definitions for the message transmit function are explained as follows Table 6 1 Input Output Definitions for Message Transmit Functions 1 0 Definition Setting NG Example Name Explanation 1 Execute DB000200 Executes a tran
171. 000 0000 0000 H 3_ Function setting 1 OWS003 0000 0000 0001 0001 0011 H Fig 2 2 Setup Parameters Tab 21x PT 2 CPU 1 RACK 01 Slot 00 C RaT jeoo0 67FF EE ns z SERVOPACK sGDS 1 version 0020 7 Servo Type Rataiy z Fixed Parameters Setup Paramet s SERYOPACK Monitor No f ne inpueData Unit Current Value Function Selection Basic Switch O 0000 H 0001 Function Selection Application Switch 1 0000 H 0000 H Function Selection Application Switch 2 0011H 0011 H Function Selection Application Switch 4 0110H 0110 H Function Selection Application Switch 6 0002 H 0002 H 0007 Function Selection Application Switch 7 0000 H 0000 H Fig 2 3 SERVOPACK Parameters Tab Refer to the relevant SERVOPACK user s manual for information on SERVOPACK parameters Refer to Appendix B SERVOPACK Parameter Data Flow zimiz PT 2 CPUR 1 RACK 01 Slot 00 fc TRHOI jsoo0 27FF Loo asc SERVOPACK saps 1 Version 0020 z Servo Type Rass gt Fixed Parameters Setup Parameters SERVO ACK Monitor Name REG Monitor Data Unit 0 _ Run status IW8000 0000 0000 0000 1001 1 Parameter number when range over is generate IW8001 0l 2_ Warning IL8002 0000 0000 0000 0000 0000 0000 0000 0000 4 Alarm IL8004 0000 0000 0000 0000 0000 0000 0000 0000 8 Motion command response code IwW8008 No Command 9 Motion command status IWw8009 000
172. 0000 PARAM12 IN Writable address lower limit MW00000 Dwo00013 65534 PARAM13 IN Writable address upper limit MW65534 DW00014 PARAM14 SYS Reserved by the system Zero clear at startup DW00015 PARAMI5 SYS Reserved by the system DW00016 PARAM16 SYS Reserved by the system Note N Input OUT Output SYS For system use Table 6 11 Parameter List Setting Example 2 parameter list start address Param DA00000 Co ee eee ee Rone DW00000 7 PARAMOO0 OUT Process result DW00001 PARAMO1 OUT Status DW00002 00006 PARAM02 IN a number 6 For receiving write opera DW00003 PARAM03 OUT Option DW00004 PARAM04 OUT Function code DW00005 PARAMO5 OUT Data address DW00006 PARAM06 OUT Data size DW00007 PARAM07 OUT Remote CPU number DW00008 00000 PARAMO08 IN Coil offset 0 word DW00009 00000 PARAM09 IN Input relay offset 0 word DW00010 00000 PARAM10 IN Input register offset 0 word DW00011 00000 PARAM11 IN Holding register offset 0 word DW00012 00000 PARAM12 IN Writable address lower limit MW00000 DW00013 65534 PARAM13 IN Writable address upper limit MW65534 DW00014 7 PARAM 14 SYS Reserved by the system Zero clear at startup DW00015 PARAMI15 SYS Reserved by the system DW00016 PARAM16 SYS Reserved by the system Note N Input OUT Output SYS For system use o Ethernet Communications 6 45 6 2 Communi
173. 001 Communication buffer channel 1 SNe goco Ch No 00001 Parameter list start address Param DA00000 use DW00000 to DW00016 b 218IF Setting Example An example of a function setting when 218IF is used as a communication device follows Set the protocol type to MEMOBUS when used in MELSEC protocol Set the circuit number in accordance with the circuit number allocated to the target 218IF Set a unique communication buffer channel for the same circuit For information on the register number refer to G 2 1 Input Item on page A 36 and G 1 2 2 Output Item on page A 38 Communication device 218IF Execute DB000201 Busy DB000210 Protocol MEMOBUS Abort DB000202 Complete DB000211 NG Dev Typ 00006 Error DB000212 Circuit number 1 ei Pro Typ 00001 Communication buffer channel 1 _ Cio ean Ch No 00001 Parameter list start address Param DA00000 use DW00000 to DW00016 2 Process Result PARAMOO Refer to G1 4 2 Process Result PARAMOO0 on page A 42 3 Status PARAMO1 Refer to G1 4 3 Status PARAMO0 on page A 43 4 Connection Number PARAMO2 Refer to G1 4 4 Connection Number PARAMO2 on page A 45 gt Appendices A 51 5 Option PARAMO3 Choose a unique setting for each communication device This is not used by the MELSEC protocol and does not require setting when MELSEC is used 6 Function Code PARAM04 Set a function code to transmit The functions read bit
174. 001 Parameter list start address DA00000 Param DA00000 use DW00000 DW00016 2 Process Result PARAMOO Refer to G2 4 2 Process Result PARAMOO0 on page A 78 gt Appendices A 89 A 90 3 Status PARAMO1 Refer to G2 4 3 Status PARAMO01 on page A 79 4 Connection Number PARAM02 Refer to G2 4 4 Connection Number PARAMO2 on page A 80 Option PARAM03 A unique value is output for each communication device The output details are as follows Communication device Output Details Ethernet 2181F 218IFA A remote unit ID is output when MODBUS TCP protocol is used Function Code PARAM04 Received function code is output The following table lists the function codes available when using the MODBUS TCP protocol Table G 28 Function Code List MODBUS TCP Function Code Target Data Function eae Type Ethernet 218IF Ethernet 218IFA 00H Not used 01H B Reads coil state V V 02H B Readsinputrelaystte vV vV 03H W Reads holding register content V V 04H W Reads input register content V V 05H B Changes single coil state V V oH W Writestosingleholdingregistr V vV 07H Not used OEH OFH B Changes multiple coil states V V 10H W Writes to multiple holding registers V V 11H Not used 15H 16H W Mask writes to holding register V 17H W Reads Writes mult
175. 004 DwW00005 100 data address 100 NL2 Dw00006 100 data size 100 words setting partner CPU No PARAMO7 gt EXPRESSION A 0006 DW00007 1 NL 2 setting offset PARAMOS PARAM11 0006 Dw00008 0 coil offset PARAMOS NL 2 DwOO0009 0 input relay offset PARAMOS Dwo00010 0 input register offset PARAM10 DwWO00011 0 register offset PARANM11 clear for system register PARAM12 0007 WLF Sre 00000 WLF Dest DW00012 NL 2 0008 NL 1 normal scan treatment take it as timeout for abortion if not ended in 10 seconds after sending command sending command abort timeout D8000200 DB000201 DB00020A 0009 MSet 01000 NL 1 fw Count Dwo0031 release abort if timeout or error take place timeout treating end 08000204 DB000211 poio d 1 lz 0013 NL 1 enor DB000212 abort DB000201 o Ethernet Communications 6 33 6 2 Communication with Other MP Series 6 2 2 When the MP2300S Acts as a Slave ladder program which uses a MSG RCV function possible to resend in 60 seconds after abortion abort waiting end waiting bB000201 bB000209 bB000208 f z 1 F 7 O NL 1 waiting DB8000208 waiting waiting end DB000208 DB000209 p012 4 TON 10ms 2 C 0022 fajset 06000 NU4 w Count Dwoo028 sending message every 1 second after 5 seconds of scan started use SBO00003 for low scan 58000001 for high scan After 5 0s Scan Star tup Relay 0N SBO0003A DB00020D 0025 t NL 1 5sON treating
176. 049 Bit0 gre Y 58w SW03236 MPO080 Bit15 to MPLI055 Bit0 work 11 i SW03902 W03237 MPOO096 Bit15 to MPL1081 Bito Program information used by 58W work 12 SW03238 MPO112 Bit15 to MPO097 Bit0 Program information used by 58W SW03239 MPO128 Bit15 to MPO 113 BitO work 13 SW03960 SW03240 MPO144 Bit15 to MPL1129 Bit0 Sw04018 Program information used by 58W work 14 ene cad MPD1160 Bit15 to MPL1145 Bit0 Sw04076 SW03242 MPD1176 Bit15 to MPL1161 BitO Program information used by sew i work 15 SW03243 MPL1192 Bit15 to MPO 177 Bit0 SWOS Program information used by 58W SW03244 MPO208 Bit15 to MPO 193 Bit0 work 16 SW03245 MPO224 Bit15 to MPO209 Bit0 SW04192 REES aN SW03246 MPO240 Bit15 to MPO225 Bit0 SW03247 MPO256 Bit15 to MPO241 Bit0 SW05120 Reserved by the system gay Note O indicates M or S 5 26 5 2 User Programs 5 2 2 Motion Programs E Details of Program Information Used by Work n Program information used by work n Program status Program control signal Executing program number Parallel 0 information Executing block number Parallel 1 information Error code Parallel 2 information Parallel 3 information Parallel 4 information Parallel 5 information Parallel 6 information Parallel 7 information Logical axis 1 program current position Logical axis 2 program
177. 07 00001 PARAMO7 IN Remote CPU number 1 DW00008 00000 PARAMO8 IN Coil offset 0 word DW00009 00000 PARAM09 IN Input relay offset 0 word DW00010 00000 PARAM10 IN Input register offset 0 word DW00011 00000 PARAMI1 IN Holding register offset 0 word DW00012 PARAM12 SYS Reserved by the system Zero clear at startup DW00013 PARAM13 SYS Reserved by the system DW00014 PARAM14 SYS Reserved by the system DW00015 PARAM15 SYS Reserved by the system DW00016 PARAM16 SYS Reserved by the system Note IN Input OUT Output SYS For system use 6 32 6 2 Communication with Other MP Series 6 2 2 When the MP2300S Acts as a Slave ladder program which uses a MSG RCV function E Example of Using the Message Transmit Function in a Ladder Program Here is one example of the message transmit function through Ethernet 218IF message sending ladder program 2481F initializing setting parameters for MSG SND function on the first scan after power on use SBOO000S for low sean SB000001 for high scan ist scan after power 0000 SBOOO003 true NL 1 clear for all D registers 0001 MDest Dwoo000 NL2 MData 00000 Wwywidth 00032 setting connection No PARAMO2 p002 4 EXPRESSION A A00002 2 0002 D NL2 setting function code PARAMOS 003 EXPRESSION F 0003 DwW00004 0 0009 409H reading register extended NL 2 setting data address PARAMOSY date size PARAMOS pos 4 D 0
178. 0S include ladder programs and motion programs This section describes the basic operation and other information about user programs For programming details refer to the following manuals Machine Controller MP900 MP2000 Series User s Manual Ladder Programming SIEZ C887 1 2 Machine Controller MP900 MP2000 Series User s Manual Motion Programming SIEZ C887 1 3 Machine Controller MP900 MP2000 Series New Ladder Editor Programming Manual SIEZ C887 13 1 Machine Controller MP900 MP2000 Series New Ladder Editor User s Manual SIEZ C 887 13 2 5 2 1 Types and Execution Timing of User Program The following table shows the types and execution timing of MP2300S user program User Program Execution Timing Motion Program High speed Scan Turns ON the program operation start request of the control signal Process runs when program operation start request is ON Startup Process Power up during power up runs only once High speed Scan Periodical hti high d fi d Sequence Program Process eriodical startup runs each time a high speed scan is performed Low speed Scan Process Periodical startup runs each time a low speed scan is performed Startup Process Power up during power up runs only once Runs on external interrupt runs on DI interrupt of option module and Interrupt Process counter match interrupt Ladder Program High speed Scan Process Periodical startup runs each time a high speed scan is pe
179. 1 021 Parameter Format Error 1 022 System Constant Checksum Error 1 023 Parameter Password Error 1 02A Parameter Checksum Error 2 02B System Constant Checksum Error 2 030 Main Circuit Detector Error 040 Parameter Setting Error 1 04A Parameter Setting Error 2 041 Divided Pulse Output Setting Error 042 Parameter Combination Error 050 Combination Error 051 Unsupported Product Alarm 8 42 8 2 Troubleshooting 8 2 7 Troubleshooting Motion Errors Name oe Code Meaning OBO Servo ON Reference Invalid Alarm 100 Overcurrent or Heat Sink Overheat 300 Regeneration Error 320 Regeneration Overload 330 Main Circuit Wiring Error 400 Overvoltage 410 Undervoltage 510 Overspeed 511 Divided Pulse Output Overspeed 520 Vibration Alarm 710 Overload Instantaneous Maximum Load 720 Overload Continuous Maximum Load 730 731 DB Overload 740 Inrush Resistance Overload 7A0 Heat Sink Overheat 810 Encoder Backup Alarm 820 Encoder Checksum Alarm 830 Encoder Battery Alarm 840 Encoder Data Alarm 850 Encoder Over Speed 860 Encoder Overheat 870 Fully closed Serial Encoder Checksum Alarm Servo Driver WWOO2D 880 Fully closed Serial Encoder Data Alarm Alarm Code cont d 8A0 Fully closed Serial Encoder Scale Error contd 8Al Fully closed Serial Encoder Mod
180. 1 3 Space Required for Mounting MP2300S Install MP2300S so that enough space is left around it as shown in the following figure E Mount condition e Vertical direction 40 mm or more e Horizontal direction 10 mm or more Note However ambient temperature should be 55 C or less Electronic product Wall Cable Duct etc 10 mm or more Electronic product Wall Cable Duct etc Electronic product Wall Cable Duct etc 1 10 mm or more lt _ Electronic product Wall 1 Cable Duct etc 3 1 Mounting MP2300S 3 1 4 Replacing and Adding Optional Modules 3 1 4 Replacing and Adding Optional Modules Use the following procedures to replace and add Optional Modules 1 Preparations 1 Create a backup data file Use the MPE720 to save the MP2300S program on a computer right click the PLC and select Transfer All Files From Controller to MPE720 2 Remove the MP2300S Turn OFF the power supply and disconnect all cables from the MP2300S Then remove the MP2300S from the panel or rack and place on a workbench or other area with sufficient space 2 Removi
181. 1 4 MECHATROLINK compatible Devices IAT SERVOPACKS mrene nn eee ee eee eee eee ce es 1 4 2 Modules 1 5 Cables and Accessories lt lt lt ss6s9sesescseseseseecee a snes 1 5 1 Cables eee enn er ne rn rr rn ee nr eee eee rene 1 5 2 Accessories and Options 2 2 2 eee eee ee eee eee eee eee 1 5 3 Software Programming Tool Overview 1 1 1 2 1 1 MP2300S Features 1 1 MP2300S Features The MP2300S is a small all in one machine controller and successor to the MP2000 series in function and perfor mance It is characterized by the following standard features Standard Feature Motion Network MECHATROLINK II Controls up to 16 axes of servos supporting MECHATROLINK II Connects up to 21 stations including I Os Standard Feature Ethernet 100Mbps Allows high speed communications with the engineering tool MPE720 Enables communication without a ladder program by using a touch panel automatic receive function Enables communication without a ladder program by using an upper PLC I O message communication func tion Scalability Ensured in Preparation for Single Optional Slot Single optional slot ensures scalability The existing optional modules of MP2000 series are available An optional module allows the use of various open networks such as CC Lin
182. 10 MPE720 Module Configuration Definition Screen 6 62 6 2 Communication with Other MP Series 6 2 4 When the MP2300S Acts as Master ladder program which uses MSG SND function E input output definitions contents for message receive functions The input output definition content for message receive function is as follows Table 6 14 Input Output Definitions for Message Receive Functions I O Definition No Name Setting Example Contents Input Item Execute DB000200 Executes a reception When Execute turns ON the message reception is carried out Abort DB000201 Aborts a reception When Abort turns ON the message reception is forcibly stopped Dev Typ 00006 Communication device type Specify the type of the communication device used in reception When Ethernet 218IF is used specify 6 Pro Typ 00001 Communication protocol Specify the type of the communication protocol MEMOBUS 1 1 non procedure 1 2 2 non procedure 2 2 5 Cir No 00001 Circuit number Specify a circuit number of the communication device Specify it in accordance with the circuit number displayed in the MPE720 module configuration definition screen Ch No 00003 Communication buffer channel number Specify the channel number of a communication buffer When Ethernet 218IF is used specify it in the range between 1 and 10 Set up a unique channel number in the li
183. 100 W for example Set a storage area Output Reg of data written by the MP2300S OW0064 for example Set the Write Size of data written by the MP2300S 100 W for example Set an I O data update timing Data update timing for CPU and built in Ethernet Low scan for example m Data Update Timing Data update timing indicates when to send and receive data between the CPU and built in Ethernet Communication with the remote device is carried out asynchronously so note that a message is not necessarily transmitted to the remote equipment at each set data update time Set the register type and start address Read Reg of the remote device MP2300 read by the MP2300S MW00200 for example Set the register type and start address Write Reg of the remote device MP2300 written by the MP2300S MW00300 for example Click OK Click Yes in the parameter setting confirmation window Caution Note that when a parameter with the same connection number is already set and you click Yes in the parameter setting confirma tion window the setting will be overwritten by the parameter configured in the Message Communication Easy Setting Win dow 6 Check the setting values 140 Message Communication Disable Enable lt is possible to set easily that communicate the 1 0 message Data update timing Low wi Scan Node padares Nese Comes ae coe O Write Port Port USEE T
184. 168 1 1 1 Serial COM1 Unit1 2 The motion program subwindow will appears When you double click Motion Program and there is not any group definition the group definition screen will be shown For this setting example you do not need to change it so accept the default setting and click the OK Button Note that if a group definition already exists the group definition screen will not be shown 3 Right click Main Program and select Create New to display the Create New Program Dialog Box Then click the OK Button IM MPE720 Ver 6 MP23005 Start z z lol xi m x SY gle Edt view Onine Compie Deu x Tag iD2SESs Ape Wom Program No MPmo01 amp i nn i B RUE RUR Y 2 eoo SF PXG X Program Name rnet LP IP192 168 1 1 CPU RUN Ed Monitor Tra Configuration E File privilege 0 1 program BEE E Detail definition Read jo l Write J1 D register ji 32 aE Sequence program Cancel Help lt lt Detail uonow ol A ui gt System Start Up and Easy Programming 4 3 Programming step 2 4 3 1 Programming Procedure 4 Editing Motion Program Use the command input assist feature to insert INC and MOV Commands into the motion program The command input assist feature is made accesible by right clicking the mouse on the Motion Editor Window Call the command input assist feature 5 x
185. 18 Transmission Parameters Station Settin IP Addres gt p2 jea J 0 255 MEMOBUS ResponseTime 0 4s 0 255 CountofRety 0 time 0 255 CP218 Station Setting x m CP 218 Connection Parameter BB Joss Fi 255 S fo a 0 255 Gateway IP dd es 0 a i fo 0 a fo a 0 255 prenes System Port No 10000 DIAG Port No Engineering Port 256 65535 Node IP Addr FRAP Setn ___ _ _ _ _________ a TCP Zero Window TimerValue 3 s 1 255 TCP Retry Time o s 50 3200 TCP Close Time feo 1 255 FETED IP Assemble Time jpo s 1 255 MAX Packet Length 1500 byte 64 1500 o Ethernet Communications Carcel 6 41 6 2 Communication with Other MP Series 6 2 3 When MP2300S Acts as Master I O message communication function is used E How to set up transmission parameters O Set IP Address 192 168 001 001 for example Click Edit and then click Local Station TCP IP Setting in the Engineering Manager Window Set Subnet Mask 255 255 255 000 for example Set Gateway IP Address 000 000 000 000 for example E Caution Set up a unique IP address in the network For the IP address check with your network administrator 3 Set connection parameters BI BI Extended MEMOBUS Bl E How to set up in the CP 218 Connection Parameter Window with connection
186. 2 Latch Completed Yes Bit 3 NEAR Position Yes Yes Bit 4 Zero Point Position Yes Yes Bit 5 Zero Point Return Setting Completed Yes Yes Iwoooc Position Management Bit 6 During Machine Lock Yes Status Bit 7 Reserved Bit 8 ABS Rotary Pos Load Complete ABS System Infinite Length Position Control Information Load Completed Yes Invalid for linear type Bit 9 POSMAX Turn Preset Complete TPRSE Yes Yes e Invalid for linear type Bits A to F Reserved IWOOOD Reserved Target Position in ILOOOE Machine Coordinate 1 1 reference unit Yes Yes System TPOS Calculated Position in ILOO10 Machine Coordinate 1 1 reference unit Yes Yes system CPOS Machine Coordinate ILOO12 System Reference 1 1 reference unit Yes Yes Position MPOS ILO0014 CPOS for 32 bit 1 1 reference unit Yes Yes Machine Coordinate ILOO16 System Feedback 1 1 reference unit Yes Yes Position APOS Machine Coordinate ILOO18 System Latch Position 1 1 reference unit Yes LPOS ILOO1A_ Position Error PERR 1 1 reference unit Yes ILOO1C Target Position 1 1 reference unit Yes Difference Monitor ILOO1E Number of POSMAX 1 1 turn l Yes Yes Turns e Invalid for linear type cont d Register No Name Contents SVB SVR Speed Reference ILOO20 Output Monitor pulse s Yes ILOO22 to iLoo2a Reserved Bit 0 Alarm ALM Bit 1 Warning WARNG Bit 2 Command Ready CMDRDY
187. 2 3 2 1 3 Function Lists 2 4 2 2 Basic Module 2 7 2 2 1 Outline of Functions 2 7 2 2 2 External Appearance LED Indicators and Switch Settings 2 8 2 2 3 Specifications 2 11 2 2 4 218IFA Module Ethernet 2 12 2 2 5 Built in SVB Module 2 30 2 2 6 SVR Virtual Motion Module 2 47 2 2 7 M EXECUTOR Module Motion Program Executor 2 50 2 3 Option Module 2 61 2 3 1 Option Module Overview List 2 61 2 4 External Appearance 2 63 2 4 1 Basic Module 2 63 2 4 2 Basic Module with Metal Fittings 2 64 Specifications and Functions 2 1 2 1 Specifications 2 1 1 General Specifications 2 1 Specifications 2 1 1 General Specifications 2 2 Item Specifications Ambient Oper ating Tempera 0 C to 55 C ture Ambient Stor age Tempera
188. 2 Communication with Other MP Series 6 2 2 When the MP2300S Acts as a Slave ladder program which uses a MSG RCV function E Parameter list setting example for message receive function An example of a parameter list setting when receiving messages from a transmit source using the connection with a connection number 2 follows 6 24 Table 6 5 Parameter List Setting Example parameter list start address Param DA00000 Number Value o Naber Our Remarks DW00000 PARAM00 OUT Process result DW00001 PARAMO1 OUT Status DW00002 00002 PARAM02 IN Connection number 2 DW00003 PARAM03 OUT Option DW00004 PARAM04 OUT Function code DW00005 PARAMO5 OUT Data address DW00006 PARAM06 OUT Data size DW00007 PARAMO7 OUT Remote CPU number DW00008 00000 PARAMO08 IN Coil offset 0 word DW00009 00000 PARAMO9 IN Input relay offset 0 word DW00010 00000 PARAM10 IN Input register offset 0 word DW00011 00000 PARAMI1 IN Holding register offset 0 word DW00012 00000 PARAM12 IN Writable address lower limit MW00000 DW00013 65534 PARAM13 IN Writable address upper limit MW65534 DW00014 PARAM14 SYS Reserved by the system Zero clear at startup DW00015 PARAM15 SYS Reserved by the system DW00016 PARAM 16 SYS Reserved by the system Note IN Input OUT Output SYS For system use 6 2 Communication with Other MP Series 6 2 2 When the MP2300
189. 3 Click Yes for the following message Module Configuration xj Execute Self Configuration OK E A No 5 48 5 4 Self configuration 5 4 1 How to Execute Self Configuration 4 While running the self configuration the following message is shown Self Configuration Module Configuration is being saved 5 If the following warning message is shown after performing step 4 the module configuration definitions for CPU and MPE720 may differ from each other Continue to perform step 6 When the message is not shown go to step 9 Module Configuration x Some modules in the module configuration are different between controller and Engineering Tool Please transfer the module configuration from Controller to Engineering Tool 6 Select Online O Read from Controller A DE MPE720 Yer 6 2300s MP2300S Start LFY File Edit view Compile ODE By Tp Disconnection jt TS Be Uy Debug Window Help lt Communications Setting RRE GG amp OR ant to it Nae fe CPU RUN Administrator My Docume A Setup Progra B CPU STOP Utility g tem Scanti 5 a malted Thi write into Controller j T Read from Controller Ta Save to Flash Program a l 2300s MP2300 D Transfer MP23005 Motion progr 5 er program i Sequence pr Online Security Setting Igh speed CA Controller Information pw speed THEY Start m B Interrupt
190. 32 When the fixed parameter Automatic Updating of Parameter was enabled and the setting of Filter Time Constant Acceleration Rate Time or Deceleration Rate Time was changed at the time a move command was set 8 2 7 Troubleshooting Motion Errors 1 This section explains the details and remedies for errors that occur in motion control functions Overview of Motion Errors 8 2 Troubleshooting 8 2 7 Troubleshooting Motion Errors Motion errors in the MP2000 series Machine Controller include axis alarms detected for individual SERVOPACKs The failure location can be determined and appropriate corrections can be taken simply by checking the contents of the Warning ILO002 and Alarm LOO04 monitoring parameters The motion alarms for the Machine Controller Basic Module s MECHATROLINK I or MECHATROLINK II func tionality are shown below Warning ILOO02 Bit 1 Set Parameter Error Bit 2 Fixed Parameter Error Parameter number when Range Over is Generated IWO001 Alarm ILO10004 Bit 0 Excessive Deviation Bit 3 Servo Driver Error Bit 4 Motion Command Set Error Bit 0 Servo Driver Error Bit 1 Positive Direction Overtravel Bit 2 Negative Direction Overtravel Bit 3 Positive Direction Software Limit Bit 4 Negative Direction Software Limit Bit 5 Servo OFF Bit 1E Set Error Motor Type Bit 1F Connected Encoder Type Error Servo
191. 40 NLA i gt ma 0023 WL SrcA OWO810 WL Dest OW0810 NLA WL StcB HOOFF 0024 NL 1 2 How to Recover from Input Error Recovery is automatic and no particular operation is needed However if input errors occur frequently check the following e Are local station addresses duplicated e Do scan time overs occur e Isa MECHATROLINK terminating resistor attached e Is there a problem with MECHATROLINK wiring Slave CPU Synchronous Function 7 23 7 24 7 3 Operation 7 3 6 Management to Resume Slave CPU Synchronization 7 3 6 Management to Resume Slave CPU Synchronization The slave CPU synchronous process is automatically carried out when its execution requirements are met Here in a transient state from slave CPU asynchronous to slave CPU synchronous state the following operations are carried out by the system Start of timing adjustment of the slave scan cycle e When SVB 01 is attached to a optional slave slot the MECHATROLINK communication is reset As a result operation of the slave side application is affected as follows e One scan with a longer cycle than the setup time occurs e When a servo connected to the SVB 01 is running its axis stops and an alarm occurs To avoid these impacts to avoid automatic recovery to the slave CPU synchronous state use the slave side application to operate a control bit SLVSC slave CPU synchronous resume control Operating this bit allows you to control the synchro
192. 5 positive software limit 8 35 power supply connector 1 9 3 13 precaution on using MP2300S 5 54 precautions when setting or changing the scan time 5 56 precautions when user definition file is configured changed 5 54 processing time 2 49 program control method 2 51 program numbers 5 7 5 28 programming 4 9 programming tool 1 9 R RAM 2vecececectwantietecedecacteimecsiek ett oe E A 5 real number 5 39 recommended ferritic core 3 99 register designation 5 41 register number direct designation 5 41 registers 5 36 regular inspections 8 3 repeater 2 36 repeater HUB 3 20 replacing the battery 8 4 RLY OUT Connector 1 9 Index RLY OUT connector connection cable 3 23 details 3 23 S S register
193. 5 25 scan processing drawing 5 32 scan time set value examples 5 57 screwed method 3 5 SDRAM a enyana s eam tin en A 5 self configuration of each module 5 48 self configuration 5 4 5 42 procedure using MPE720 5 45 procedure using the DIP switch 5 43 self configuration for all the modules 5 45 self diagnosis at startup 5 4 sequence program 2 50 5 28 sequence program alarm 5 30 servo driver command timeout error 8 38 servo driver communication error 8 37 servo driver error 8 34 servo driver error codes 8 39 servo driver synchronization communication error 8 37 servo OFF 8 35 SERVOPACK initialization A 14 SERVOPACK unmatched encoder type 8 38 SERVOPACK unmatched motor type 8 38 setting and changing scan time 5 56 setting or changing module configuration definition files
194. 51 Constant Number Set the number of words in the SERVOPACK parameter Yes Size Servo Driver User OLOO52 Constant Set Point Set the setting for the SERVOPACK parameter Yes Servo Driver for owo0o054 Assistance User Set the number of the SERVOPACK parameter number Yes Constant No Servo Driver for owo0055 Assistance User Set the number of words in the SERVOPACK parameter Yes Constant Size Servo Driver for OLOO56 Assistance User Set the setting for the SERVOPACK parameter Yes Constant Set Point owo058 to Reserved owo0o05B owousc Fixed Parameter Set the number of the fixed parameter to read with the FIXPRM_RD motion Yes Yes Number subcommand owo085D Reserved Encoder Position i OLOOS5E When Power is OFF E A PREE Yes Lower 2 Words o not set in the linear type Encoder Position ieis OLOIO60 When Power is OFF b pu rhe eee eee Yes Upper 2 Words o not set in the linear type Pulse Position When ae OLOO62 Power is OFF atts hei Yes Lower 2 Words o not set in the linear type Pulse Position When ae OLOO64 Power is OFF ne oe eee Ree Yes Upper 2 Words o not set in the linear type OLEIN66 19 _ Reserved OLOO6E Command Buffer for Pies Transparent S This area is used for command data when MECHATROLINK servo com Yes owoo7e Command Mode mands are specified directly E 3 Monitoring Parameter List The following table provides a list of SVB and SVR motion monitoring parameters
195. 55 Slot 4 error status SW00456 to Reserved by the system SW00463 Slot 30 error status Maintenance Inspection and Troubleshooting 8 21 8 2 Troubleshooting 8 2 4 Troubleshooting System Errors f Actions to be Taken when a Transmission Error Occurs When a transmission error occurs during system I O the error status is reported in the system registers as shown below Name Register No Remarks SW00208 t Slot 0 Error Status SW0021 h Refer to Basic Module Error Status SW00216 to Reserved by the system SW00223 Depends on the mounted module and error code SW00224 t Slot 1 Error Status Mea tig Depends on the mounted module and error code Reserved by the system SW00232 to Slot 2 Error Status SW00239 Depends on the mounted module and error code Reserved by the system SW00240 to Slot 3 Error Status SW00247 Depends on the mounted module and error code Reserved by the system SW00248 to Slot 4 Error Status SW00255 Depends on the mounted module and error code Reserved by the system SW00456 to Slot 30 Error Status SW00463 Depends on the mounted module and error code The following a to c show the allocations of the registers when the Basic Module is allocated to the slot 0 the LIO 01 LIO 02 Module to the slot 1 and the 260IF 01 Module to the slot 3 WE Basic Module Error Status Slot 0 Bit numbe
196. 8 00000 PARAMO8 IN Coil offset 0 word DW00009 00000 PARAMO9 IN Input relay offset 0 word Dwo00010 00000 PARAM10 IN Input register offset 0 word DW00011 00000 PARAMI11 IN Holding register offset 0 word DW00012 PARAM12 SYS Reserved by the system Zero clear at startup DW00013 PARAM13 SYS Reserved by the system DW00014 PARAM14 SYS Reserved by the system DW00015 PARAMI15 SYS Reserved by the system DW00016 PARAM16 SYS Reserved by the system Note N Input OUT Output SYS For system use o Ethernet Communications 6 2 Communication with Other MP Series 6 2 1 When the MP2300S Acts as Slave automatic receive function is used E Example of Using the Message Transmit Function in a Ladder Program Here is one example of the message transmit function through Ethernet 218IF message sending ladder program 2181F initializing setting parameters for MSG SND function on the first scan after power on use SBOO0003 for low scan SBOO0001 for high scan Ast scan after power on 0000 SBO000003 true NL 1 clear for all D registers 0001 NL2 MData 00000 M Width 00022 setting connection No PARAMO2 gt EXPRESSION A 0002 DW00002 1 NL2 setting function code PARAMO4 i gt EXPRESSION 0003 DW00004 0 000B OBH writing register extended NL2 setting data address PARAMOSY date size PARAMOS iz EXPRESSION zI 0004 Dwo0005 0 ddata address 0 NL 2
197. 92 168 001 002 Master Communication Protocol MELSEC protocol Slave Type Connection Type TCP Data Code Type BIN Ethernet Ethernet Port number 10005 Port number 10005 Port number 10006 Port number 10006 MP2300S MELSEC Q series Local station Remote station Input register I register Read Data Register D register IW0000 e D00000 D Data size Data size 100W lt D jp gt 100W Me IW0063 En D00099 Output register O register Write o OW0064 gt D00100 D Data size Data size 100W lt eee gt 100W C OWO00C7 gt D00199 J A particular setup procedure is explained in the subsequent pages 6 4 Communication with PLC Manufactured by Mitsubishi Electric Corporation MELSEC protocol 6 4 2 When the MP2300S Acts as Master I O message communication function is used 1 How to Set up the MP2300S Side If the setting of transmission parameters IP address subnet mask is already completed start from step 3 1 Double click the 218IFA Tab in the Module Details of the module configuration definition m Module Details MP23005 SLOT O0 0 Ea eo 07 oe O M nable Enable C M M sso0 Co MECHATROLINK Running Running Running 2 Set transmission parameters 0 Transmissior Parameters Status r Transmissjon Parameters Module Name
198. ARAM09 V V 03H Reads holding register content PARAMI1 y y 04H Reads input register content PARAM10 V y 05H Changes single coil state PARAMO8 V V 06H Writes to single holding register PARAM11 V y 09H Reads holding register content extended PARAMI1 V OAH Reads input register content extended PARAM10 V OBH Writes to holding register extended PARAMI1 V ODH Peace al reads holding register PARAMII J _ OEH P TA writes to holding register PARAMII _ OFH Changes multiple coil states PARAMO8 y V 10H Writes to multiple holding registers PARAM11 V V Note vV Available Not available gt Appendices A 83 A 84 11 Write Range PARAM12 PARAM13 Sets an available address range for the write request from the transmission side A write request which is out of this available address range will cause an error Specify the address range PARAM12 PARAM13 as a word address Note 1 In MP9010 MP2000 series the data storage area for the write request from the transmission side is M register 2 The write range parameter enables you to specify the range of M register which permits writing mes sages The following table indicates the write range parameters Table G 23 Write Range Parameter List Parameter Contents Description PARAM12 Write range LO Start address of the write range PARAM13 Write range HI Last address of the write range Specify the write range so that the expression below is m
199. ATROLINK II Sync Failure E60 MECHATROLINK II Communication Error E61 MECHATROLINK II Transmission Cycle Error EAO DRV Alarm 0 EAI DRV Alarm 1 EA2 DRV Alarm 2 Alarm codes are normally two digits but three digit codes are stored in the Alarm Monitor for motion commands 8 44 Appendices A System Registers Lists A 2 A 1 System Service Registers A 2 A 2 Scan Execution Status and Calendar A 4 A 3 Program Software Numbers and Remaining Program Memory Capacity A 4 B SERVOPACK Parameter Data Flow A 5 B 1 Operations and Parameter Data Flow A 5 C Initializing SERVOPACKS A 14 D Initializing the Absolute Encoder A 15 D 1 S IIl SERVOPACK A 15 D 2 S II SERVOPACK A 16 D 3 S I SERVOPACK A 18 E Motion Parameter Details A 20 E 1 Fixed Parameter List A 20 E 2 Setting Parameter List
200. B Module The SVB Module is a motion module used to control SERVOPACKs stepping motor drivers inverters distributed I O devices etc via MECHATROLINK interface MECHATROLINK I or II The MECHATROLINK II enables position speed torque and phase control for highly accurate synchronized control In addition sophisticated machine operations can be performed by switching the control mode while the axis is mov ing Machine Controller CPU User application Position control Ladder motion program Speed reference Speed control MECHATROLINK SERVOPACK Torque reference Torque control SERVOPACK Torque reference Phase control Phase reference Built in SVB and Slot mounting Optional SVB The SVB Modules are of two types The built in SVB hereinafter referred to as Built in SVB and the Slot mounting Optional SVB hereinafter referred to as Optional SVB A built in SVB Module is incorporated in the MP2300S The Optional SVB is one of the optional modules for the Machine Controller The SVB 01 Module is an Optional SVB that can be mounted on the optional slot of the MP2300S Features e Up to 21 slave stations can be connected to a single Module the SERVOPACKs can be connected up to 16 axes MP2300S Only an SVB 01 Module can be mounted in optional slot Including the MP23008 s built in SVB a total of 32 axes can be controlled e Synchronization between Modules is also supported making it suitable for both synchronous c
201. B000012 0007 NL 1 alarm reset Ib00O04 MB000015 0009 NL 1 alarm reset for axis 1 1B00005 OBS000F 0011 NL 1 motion program stop In un MBoo0000 bB000001 DBO00O0OZ 0013 NL 1 aaa a he 0016 D8000002 true NL 1 0017 NL 4 0018 WyProgram No 00004 NL 1 A Data MAD0000 0019 NL 1 5 24 6 a b 5 2 User Programs 5 2 2 Motion Programs Monitor the motion program execution information using S register Using S register SW03200 to SW04191 allows you to monitor the motion program execution information The way to monitor the execution information for a motion program registered in the M EXECUTOR program execu tion definition differs from that for a motion program referenced by an MSEE command from a ladder program The way to monitor it in each case is shown as follows A motion program registered in the M EXECUTOR program execution definition When a motion program is registered in the M EXECUTOR program execution definition the same system work num ber as the definition No is used For example a motion program is registered as Definition No 3 the used system work number is System Work 3 In this case the execution information for the motion program can be monitored in Program Information Using Work 3 SW03380 to SW03437 A motion program referenced by an MSEE command from a ladder program When a motion program is referenced by an MSEE command from a ladder program the wa
202. C3F a M EXECUTOR List Individual display f Program definition number 8 7 Program definition Allocation Control register No ID ss Executiontype Serui Program Execution monitor register S register Kaurugo SW03264 SW03321 srmo nm 4 e In the Allocation Control Register Window map the M registers allocated to control signals Start Stop Alarm Clear and status Running Program Alarm on the touch panel as an M EXECU TOR allocation register for the motion program created in 4 3 Programming step 2 Status MW00501 control signal MW00500 allocation contact interlock SB00004 im M EXECUTOR MP2300S Online Local ol x PT 2 CPUR 1 RACK OT iar jocoo 0c3F Lom Program number MPMOO1 Status lwocoo anos OWOCOI B000004 Override OWOCO2 B000004 Program number SPMO02 Status Control signal Program number 4 5 Starting Motion Program from an External Signal 4 5 3 Creation Procedure e Click the Save Icon to save the M EXECUTOR definition cur Din File View Order Window Save OK tes Ek ER a 08 ey 3 Communication Setting with Touch Panel For information on communication setting with the touch panel refer to 6 2 1 Automatic Receive Example Using Touch Panel 4 FLASH Save When all settings are completed click the FLASH Save Icon to save the data to the flash memory BY MPE720 e
203. CD eee 5 Press the MODE SET Key The display will change as shown below and the clear operation will be performed for multiturn data for the absolute encoder This completes initializing the absolute encoder Reset the SERVOPACK to turn the power supply OFF and then back ON gt Appendices P D 3 X I SERVOPACK Refer to the following manuals for information on SERVOPACKS Z Series SGMLYSGD User s Manual Manual No SIE S800 26 3 Z Series SGMLYSGDB High speed Field Network MECHATROLINK compatible AC Servo Driver User s Manual Manual No SIE S800 26 4 1 Initializing a 12 bit Absolute Encoder Use the following procedure to initialize a 12 bit absolute encoder 1 Properly connect the SERVOPACK Servomotor and MP2300S 2 Disconnect the connector on the encoder end and short circuit pins 13 and 14 on the encoder end con nector for 2 seconds or more 13 14 3 Remove the short piece and insert the connector securely in its original position 4 Connect the cables using normal wiring and make sure the encoder battery is connected 5 Turn ON the system Repeat the procedure starting from step 1 if an Absolute Encoder Alarm occurs so the system has been success fully initialized A 18 2 Initializing a 15 bit Absolute Encoder Use the following procedure to initialize a 15 bit absolute encoder 1 Turn OFF the SERVOPACK an
204. Check flag of preparation for a f When resumption preparation is completed set to 1 synchronous resumption MW00201 DW00000 Temporary for updating condi _ tion Slave CPU Synchronous Function 7 25 7 26 7 3 Operation 7 3 6 Management to Resume Slave CPU Synchronization E Application Example 0000 NL 1 0001 NL 4 0002 NL 2 0004 NL 2 0005 NLS 0006 NL 2 0007 NL 4 0008 NL 1 0009 NL 2 0011 NL 2 0012 NL 3 0013 NL 2 0014 NL 4 saving status waiting forslave CPU synchronous Muy00200 0 control bit SLYSYNV OFF Always ON SB000004 slave status SYNC ON 1808017 true status change slave CPU synchronous slave CPU synchronous C a WLF Sre MWO0200 WLF Dest DWO00000 0B08110 a sro a WLF Sre 00004 WLF Dest DwOood0 MWw00200 1 control bit SLYSC ON Always ON SB000004 0808110 5 slave status SYNC OFF i 1B08017 false status change slave CPU re synchronous prepare STORE a WLF Sro 00002 MLF Dest DwO000 Continued on the next page 7 3 Operation SSS a rE eS a ee 7 3 6 Management to Resume Slave CPU Synchronization Continued from the previous page slave CPU re synchronous prepare 0015 miWw00200 2 take the preparation of re synchronous as OK after confirming the stopped of servo ete 0016 MWw00201 status change waiting for slave CP
205. Cir No 00001 Circuit number Specify a circuit number of the communication device Specify it in accordance with the circuit number displayed in the MPE720 Module Configuration Definition Window Ch No 00002 Communication buffer channel number Specify the channel number of the communication buffer When Ethernet 218IF is used specify it in the range between 1 and 4 Set up a unique channel number in the line Param DA00000 Parameter list start address Specify the start address of the parameter list For the Parameter List 17 words are automatically assigned from the configured address Output Item Busy DB000210 In process Busy will be ON while executing a message reception or forced abort process Complete DB000211 Process completed When a message reception or forced abort process is properly com pleted Complete will turn ON only for one scan Error DB000212 Error When an error occurs Error will turn ON only for one scan 1 When transmitting in MEMOBUS Extended MEMOBUS MELSEC or MODBUS TCP protocol set the communication protocol Pro Typ to MEMOBUS 1 The communication device automatically converts the protocol 2 Non procedure 1 In non procedural communication data is received on a per word basis Non procedure 2 In non procedural communication data is received on a per byte basis gt Ethernet Communications 6 23 6
206. Connector Ee JEPMC W6002 05 Sm JEPMC W6002 10 10m zj fi ul E sepmc we002 20 20 m a S JEPMC W6002 30 30m JEPMC W6002 40 40m JEPMC W6002 50 50m JEPMC W6003 A5 0 5 m MECHATROLINK Cable JEPMC W6003 01 lm MECHATROLINK Connector MECHATROLINK Connector JEPMC W6003 03 3m with Ferrite Core TEPMC W6003 05 zm JEPMC W6003 10 10m a ii T miT JEPMC W6003 20 20m a l ii E 2 I JEPMC W6003 30 30m JEPMC W6003 40 40m JEPMC W6003 50 50m JEPMC W6011 A5 0 5m JEPMC W6011 01 lm MECHATROLINK Cable MECHATROLINK Connector Loose Wire JEPMC W6011 03 3m JEPMC W6011 05 Sm JEPMC W6011 10 10m e fu JEPMC W6011 20 20m JEPMC W6011 30 30m JEPMC W6011 40 40m JEPMC W6011 50 50m Terminator JEPMC W6022 Mounting and Wiring 3 15 3 16 3 2 Basic Module Connections 3 2 3 MECHATROLINK Connectors 3 Cable Connections between the MP2300S and I O Units and the MP2300S and SERVO PACKs Use the MECHATROLINK cable JEPMC W6002 O00 or JEPMC W6003 O10 with a ferrite core for connection between the MP23008S and I O units or SERVOPACKs MP2300S SVB01 I O Unit or SERVOPACK Pin number Signal Name Signal Name NC 1 1 NC IDATA 2 2 IDATA DATA 3 3 DATA SH 4 4 SH Shield Ghell gt hei D Shield Standard model JEPMC W6002 O0 and JEPMC W6003 00 3 2 Basic Module Connections 3 2 3 MECHATROLINK Connectors
207. Controller to STOP status Resetting alarms Turning the power supply OFF and ON 4 Determine the location of the cause from the results of steps 1 and 2 Step 3 Controller or external Sequence control or motion control Software or hardware Maintenance Inspection and Troubleshooting 8 5 8 2 Troubleshooting 8 2 2 MP2300S Error Check Flowchart 8 2 2 MP2300S Error Check Flowchart Find corrective actions for the problem using the following flowchart if the cause of the problem is thought to be the MP2300S or SERVOPACK START Basic Module LEDs ERR and ALM lit Go to 8 2 4 Troubleshoot ing System Errors Is a motion program being used Check the status register Note1 content of the motion program Is a program alarm occurring bit8 of status register Display the registers Note3 below for motion parameters of the used axis Warning ILxx02 Alarm ILxx04 Display the motion program Command Error Completed Status IWxx09 bit3 execution information Servo Driver Status IWxx2C SW03200 to SW04191 Note2 Servo Driver Alarm Code IWxx2D Check Error Code in Parallel 0 to 7 Information of the Check alarm contents using corresponding work number s the above motion monitor program information parameters Note 1 Refer to 5 2 2 4 Work Register 2 Refer to 5 2 2 6 Monitor the motion program execution informatio
208. D command ladderless ladder application eee i N 218IFA MELSEC protocol fixed buffer communication with procedure L J Fig 6 12 Message Flow with the MELSEC Q Series when the Automatic Receive Function Is Used o Ethernet Communications 6 75 6 4 Communication with PLC Manufactured by Mitsubishi Electric Corporation MELSEC protocol 6 4 1 When the MP2300S Acts as Slave automatic receive function is used E Caution Communication using the automatic receive function is 1 1 communication Also when Communication Protocol Type MELSEC is used in communication with the MELSEC Q series the MELSEC Q series master side can read write the holding register of the MP2300S slave using fixed buffer communication However when the MP2300S acts as a slave you cannot use the inter CPU or random access communication because of the MELSEC specifications In addition use the message receive function MSG RCV when communicating with multiple remote devices E Setting Example The following figure illustrates one example of writing the contents of the data register D00201 to D00300 of MELSEC Q series master into the MP2300S slave holding register MW00000 to MW00099 MP2300S MELSEC Q series Local station Remote station IP address 192 168 001 001 IP address 192 168 001 002 C ic
209. DB000202 Complete DB000211 NG Dev Typ 00016 Error DB000212 Circuit number 1 S Pro Typ 00001 Communication buffer channel number 1 Cieto gooo Ch No 00001 Parameter list start address DA00000 Param DA00000 use DW00000 DW00016 b 218IF Setting Example An example of a function setting when 218IF is used as a communication device follows Set the protocol type to MEMOBUS even when used in Extended MEMOBUS protocol Set the circuit number in accordance with the circuit number allocated to the target 218IF Set a unique communication buffer channel number for the same circuit For information on the register number refer to G 2 2 1 Input Item on page A 71 and G 2 2 2 Output Item on page A 73 Communication device 218IF Execute DB000201 Busy DB000210 Protocol MEMOBUS Abort DB000202 Complete DB000211 NG Dev Typ 00006 Error DB000212 Circuit number 1 Ee Pro Typ 00001 ir 00001 Communication buffer channel number 1 SIGNS Ch No 00001 Parameter list start address DA00000 Param DA00000 use DW00000 DW00016 gt Appendices A 77 A 78 2 Process Result PARAMOO The process result is output to the upper byte The lower byte is used for system analysis Value of Process Meaning Result OOOOH In process Busy 1000H Process completed Complete 8yOOH Error occurred Error When an error occurs take corrective action by referring to the following error contents
210. DIP Switch Settings Set the DIP switch SW1 on the Basic Module to control operations of the startup sequence The six switches are pro vided on the DIP switch SW1 on the Basic Module as shown in the following figure The following table lists the functions of six switches STOP H SUP INT SW CNFG 1 MON TEST NO Switch gt Default No N nie Status Operating Mode Setting Remarks ON User program stops S1 6 STOP prog 4 OFF Set to ON to stop user program operation OFF User program operation N tem load i i 31 5 SUP O System loa OFF If set to ON starts up in the mode that can renew the version OFF Normal operation of the farmware ON Memory clear Set to ON to clear memory s1 4 INIT OFF Programs stored in flash memory will be run when Memory OFF Normal operation Clear is set to OFF S and M registers are cleared to all zeros ON Self configuration mode 1 3 CNFG OFF Set to ON for self configuration of connected devices OFF Normal operation ON System use 1 2 MON a OFF Always set to OFF OFF Normal operation System use ON Adjusted before S1 1 TEST Shipment OFF Always set to OFF OFF Normal operation 5 1 2 Startup Sequence 5 1 Startup Sequence and Basic Operation 5 1 2 Startup Sequence The startup sequence for the MP2300S from the moment when the power has been turned ON is shown in the follow
211. Data 6 Low p High Data 7 Low p High Data 13 Low High Slave CPU Synchronous Function 7 14 7 3 Operation 7 3 1 Input Output Register E From MP2300S slave to MP2000 master MP2000 master Input register 76543210 Wwoo00 0 Scan counter used by system WEE Slave status used by system Wwoo00 2 Data 1 Low High Wwo000 3 Data 2 Low High Iwoonoo 4 Data 3 Low High IWwOODO S Data 4 Low High Wwoo00 6 Data 5 Low High Wwoo00 7 Data 6 Low High Wwo000 8 Data 7 Low High Iwoooo 14 Data 13 Low High 00h Oth 02h 03h 04h 05h 06h 07h 08h 09h OAh OBh OCh ODh OEh OFh 10h 11h 1Ch 1Dh MECHATROLINK transmission path 76543210 DATA_RWA Alarm Status Status scan counter Data 1 Low p High Data 2 Low p High Data 3 Low p High Data 4 Low i High Data 5 Low f High Data 6 Low p High Data 7 Low p High Data 13 Low High owo000 0 owoooo 1 owo000 2 owo0o000 3 owo000 4 owo000 5 owo000 6 owo000 7 owo000 8 owo000 14 MP2300S slave Output register 6543210 Scan counter unused Control bit Data 1 Low High Data 2 Low High Data 3 Low High Data 4 Low High Data 5 Low High Data 6 Low High Data 7 Low High Data 13
212. Definition IP Address 1683 fi Af H o5 Equipment name CONTROLLER NAME Subnet Mask 25s 4 255 f 254 fo 0 255 Gateway IP Address 0 5 JO fo fo 0 255 Detail Definition E How to set up transmission parameters Set IP Address 192 168 001 001 for example Set Subnet Mask 255 255 255 000 for example Set Gateway IP Address 000 000 000 000 for example E Caution Set up a unique IP address in the network For the IP address check with your network administrator 3 Click Enable in the I O Message Communication of the connection parameter setting 1 0 Message Communication Cc Easy setting It is possible to set easily that communicate the 1 0 message Data update timing Low x Sean rite Port Port Type Type Write Head register number data size Head register number data size I input disable E w lt Holdregiste MW v MP23005 focooo i W peta I output disable JOWON04 fe We Hold register MW v o Ethernet Communications 6 85 6 4 Communication with PLC Manufactured by Mitsubishi Electric Corporation MELSEC protocol 6 4 2 When the MP2300S Acts as Master I O message communication function is used 4 Set up a communication settings in the I O Message Communication Easy Setting Window 1 0 Message Communication Easy Setting y MP Series Local Port IP Address 192 168 001 001 Input Regllwxsxx fwO000
213. Definition exists 1 No definition 0 Data Trace Execution Status SW00099 BrO t3 oroup to f Trace stopped 1 Trace executing 0 Table 8 6 Latest Data Trace Record Numbers Name Register No Remarks Data Trace Group 1 SW00100 Latest record number Data Trace Group 2 SW00101 Latest record number Data Trace Group 3 SW00102 Latest record number Data Trace Group 4 SW00103 Latest record number e System I O Error Status Name Register No Remarks Current Alarm SW00190 Cleared when power is turned ON Number of Alarm History Records SW00191 The number of alarms in the alarm history Clear Alarms SW00192 1 Alatin cleared 2 Current alarm and alarm history cleared O Error Count SW00200 Number of I O errors Input Error Count SW00201 Number of input errors Input Error Address SW00202 Latest input error address WOOO register number Output Error Count SW00203 Number of output errors Output Error Address SW00204 Latest output error address OWOO000 register number SW00205 Reserved by the system SW00206 Not used SW00207 SW00208 to Slot 0 SW00215 ot 0 error status SW00216 to R deri SW00223 eserved by the system SW00224 to Slot 1 SW00231 ot error status SW00232 to Reserved by the system 1 0 Error Status SW00239 Slot 2 error status SW00240 to Reserved by the system SW00247 Slot 3 error status SW00248 to Reserved by the system SW002
214. Devices For details refer to 7 4 2 Modules on page 1 7 Communication Interface MECHATROLINK II 9 Baud Rate 10 Mbps S E Transmission Cycle The transmission cycle of the master station fa 0 5 ms min L Number of Link 17b 32 b 3 Communication Bytes ytes OF s D Messaging s d Slave Function upported Only with MECHATROLINK II 2 2 Basic Module 2 2 5 Built in SVB Module cont d Item Details Communication Method Single send communication cycle transmission cycle synchronous communication Transmission communication error detection hardware provided Synchronous communication error detection software provided Automatic recovery function not provided recovery when alarm is cleared I O Registers Input output using motion registers synchronized on high speed scan Command Mode Motion Command Mode MECHATROLINK Transparent Command Mode Supported Servomotors Standard motors linear motors and direct drive motors Control Type Position control speed control torque control and phase control Motion Commands Positioning External Positioning Zero Point Return Interpolation Interpolation with Posi tion Detection JOG operation STEP operation Speed Reference Torque Reference Phase Control etc I O Registers 5 Acceleration Deceleration One step asymmetric trapezoid
215. E for these devices after execution of self configuration JEPMC IO350 e JAMSC 120DAI53330 e JAMSC 120DAI73330 e JAMSC 120DA083330 e JAMSC 120DRA83030 For a servo with customized specifications that could not be recognized by self configuration SERVO wild card servo will be displayed in TYPE Select a correct device type in the Link Assignment Tab Page for the devices with J O or SERVO displayed in TYPE Specifications and Functions 2 43 2 2 Basic Module 2 2 5 Built in SVB Module 3 I O Map Tab The status allocated to I O registers is displayed The I O Map Tab is used for deals read only Do not change the displayed settings zax PT 2 CPU 1 RACK O1 Slot 00 CIR O1 i 000 03FF E Transmission Parameters Link Assignment 1 0 Map Status 02 JEPMC 102310 3 c Status Tab Page The MECHATROLINK transmission status is displayed The ne settings cannot be changed Pie PT 2 CPUR 1 iz CK 01 Slot 00 CIR 01 7 800 0BFF Loam Transmission Parameters Link Assignment 170 Map Status sta twee E INPUT sell oureur size sts ____s 8002 SGDS nr qiw Ea 102310 30 IWw0800 004 OWO804 004 8003 102310 2330 The items shown on the Status Tab are the same as those on the Link Assignment Tab except for STS E STS In online mode MECHATROLINK transmission status information is displayed in hexadecimal In offline mode nothing will be displayed The meaning of e
216. ED indicator is lit red Not lit Not lit Not lit Lit Not lit ot li ot hi ot li 1 ot lit Major damage has occurred when the CPU is down Software error No of blinks 3 Address error read exception 4 Address error write exception 5 FPU exception 6 Illegal general command error 7 Illegal slot command error The ERR LED indicator will blink Not lit Not lit Notlit Blinking Not lit 8 General FPU inhibited error red when an exception error has z 9 Slot FPU inhibited error occurred 2 10 TLB duplicated bit error WW 11 LTB mistake read 12 LTB mistake write 13 LTB protection violation read 14 LTB protection violation write 15 Initial page write error Hardware errors Noor pinks i The ALM and ERR LED indicators Fare ae 2 RAM diagnosis error r Not lit Not lit Blinking Blinking Not lit y will blink red if there is a self diag 3 ROM diagnosis error nosis failur 4 CPU function diagnosis error a 5 FPU function diagnosis error A The BAT LED indicator will be lit Lit Battery alarm z when the battery voltage drops G Re erio The ALM LED indicator will be lit lt Lit Not lit Lit Not lit Not lit p red when an operation or I O error is I O error detected o Outline of Motion Control Systems 5 5 5 6 5 2 User Programs 5 2 1 Types and Execution Timing of User Program 5 2 User Programs User programs for executing machine control using the MP230
217. EQUEST request Outputs whether MSG RCV function is requesting a process A Re yY v Bits 0 to 7 Bits 8 to B gt d PARAMETER gt c COMMAND Bits CtoE b RESULT Bit F Bit State Contents 1 Requesting to process 0 The acceptance of process request is completed b RESULT result Outputs the execution result of the MSG RCV function Code Abbreviation Meaning 0 CONN NG In Ethernet communications transmit error or connection error is com a pleted 1 SEND_OK Normal transmission completed 2 REC_OK Normal reception completed 3 ABORT _OK Forced abort completed 4 FMT_NG Parameter format error 5 SEQ NG Command sequence error 6 RESET_NG Reset state 7 REC_NG Data reception error error detected in the lower layer program c COMMAND command Outputs a process command for the MSG RCV function The executed process content can be found according to the command Code Hex Abbreviation Meaning 1 U_SEND General purpose message transmission 2 U_REC General purpose message reception 3 ABORT Forced abort Command transmission Completed when response is received 8 M SEND for MEMOBUS protocol M REC Command reception Accompanies a response transmission T for MEMOBUS protocol C MR_ SEND Response transmission for MEMOBUS protocol gt Appendices A 95 A 96 d PARAMETER parameter 4 5 When RESU
218. External Positioning ZRET Zero Point Return INTERPOLATE Interpolation ENDOF_ INTERPOLATE Last Interpolation Segment LATCH Interpolation Mode with Latch Input FEED Jog Mode STEP Relative Position Mode Step Mode ZSET Set Zero Point ACC Change Acceleration Time DCC Change Deceleration Time SCC Change Filter Time Constant CHG FILTER Change Filter Type KVS Change Speed Loop Gain KPS Change Position Loop Gain KFS Change Feed Forward PRM_RD Read User Constant Read SERVOPACK Parameter PRM_WR Write User Constant Write SERVOPACK Parameter ALM_MON Alarm Monitor ALM_HIST Alarm History Monitor ALMHIST_CLR Clear Alarm History ABS_RST Absolute Encoder Reset VELO Speed Reference TRQ Torque Thrust Reference PHASE Phase Reference KIS Change Position Loop Integral Time Constant PPRM_WR Stored Parameter Write Yes gt Appendices A 23 A 24 cont d Register No Name Contents SVB SVR Bit 0 Holds a Command 0 OFF 1 ON Yes Yes Bit 1 Interrupt a Command 0 OFF 1 ON Yes Yes Bit 2 Moving Direction JOG STEP ae Yes 0 Forward rotation 1 Reverse rotation Bit 3 Zero Point Return Direction Selection Yes Motion Command 0 Reverse rotation 1 Forward rotation owo009 Control Flag Bit 4 Latch Zone Effective Selection
219. FA is used as a transmission device follows Set the protocol type to MEMOBUS when used in MODBUS TCP protocol Set the circuit number in accordance with the circuit number allocated to the target 218IFA Set a unique communication buffer channel number for the same circuit For information on the register number refer to in G2 2 1 Input Item on page A 71 and G 2 2 2 Output Item on page A 73 Communication device 218IFA Execute DB000201 Busy DB000210 Protocol MEMOBUS Abort DB000202 Complete DB000211 NG Dev Typ 00016 Error DB000212 Circuit number 1 Ee Pro Typ 00001 Communication buffer channel number 1 UAE oe Ch No 00001 Parameter list start address DA00000 Param DA00000 use DW00000 DW00016 b 218IF Setting Example An example of a function setting when 218IF is used as a communication device follows Set the protocol type to MEMOBUS when used in MODBUS TCP protocol Set the circuit number in accordance with the circuit number allocated to the target 218IF Set a unique communication buffer channel number for the same circuit For information on the register number refer to G2 2 1 Input Item on page A 71 and G 2 2 2 Output Item on page A 73 Communication device 218IF Execute DB000201 Busy DB000210 Protocol MEMOBUS Abort DB000202 Complete DB000211 Ng Dev Typ 00006 Error DBO00212 Circuit number 1 S Pro Typ 00001 see Cir No 00001 Communication buffer channel number 1 Ch No 00
220. FFH 06H W Writes to single holding register 0 to 65534 0 to FFFEH 07H E Unused Disable OEH OFH B Changes multiple coil states 0 to 65535 0 to FFFFH 10H W Writes to multiple holding registers 0 to 65534 0 to FFFEH 11H E Unused Disable 15H 16H W Mask writes to holding register 0 to 65534 0 to FFFEH 17H W Reads Writes multiple holding register 3 0 to 65534 0 to FFFEH 41 Invalid when Ethernet 218IF is used 2 Mask write request to holding register Specify the start M register number of the remote address cum local data table 3 Request for reading writing multiple holding registers Specify the start M register number of an address table Note 1 Data table A data table used for a mask write request to the holding register is used for storing mask data The two words of addresses at the beginning of the M register specified by PARAMO5 data address are used as an address table Specify AND and OR mask data for the data table Note that PARAMO05 data address used for the mask write request to the holding register doubles as the start M register number in the local station which is also used for specifying the start data address and as the data table in the remote station for mask writing The contents of the data table used when mask writing to the holding register is as follows Data table for mask writing to PARAMO5 gt Mwo0000 Mwooooo 1 holding register AND mask data OR ma
221. IP address subnet mask is already completed start from step 3 1 Double click the 218IF Tab in the Module Details of the module configuration definition il Module Configuration MP2300 Online Local F B PT 3 CPUR 1 Es r Controller Module Type MP2300 218IF 01 UNDEFINED UNDEFINED E CircvieNumber E t E FE m A o 1 0 End Register Disable Input Details ier Status Running Running J218IF O1 The module has Ethemet and A5232 functions aaa m Module Details 218IF 01 SLOT O1 Module Type 217IF Qer DD Controller Number 0 Jo o CircuieNumber for fo yO star Register O o 2 Set transmission parameters Transmission Parampters Status m CP 218 Transmission Parameters Station Setti IP Address h24 1e 2 0 255 MEMOBUS Response Time fo s Count of Retry 3 fo a time m CP 218 Connection Parameter a sa p fo af 0 255 las Gateway IP Addres fo 40 fo y fo 0 255 ZELS System Port No froooo DIAG Port No Engineering Port 256 65535 Node IP Addr Shae m TCP IP Setting a TCP Zero Window Timer Value f3 s 1 255 a TCP Retry Time 500 js 50 32000 a TCP Close Time BO js 1 255 Bases IP Assemble Time 30 s 1 25 ore MAX Packet Length 1500 byte 64 1500 Cercel 6 60 6 2 Communication
222. Input Item 1 O Option Available Register Busy Every bit type register Complete B VAL except C registers Error Same as above for subscript 1 Busy in process Specify a bit to report message reception The Busy bit is turned ON while executing message reception or a forced abort process Keep Execute or Abort ON while Busy is ON 2 Complete process completed Specify a bit to report message reception ended When message reception or a forced abort process is completed properly the Complete bit will turn ON only for one scan 3 Error error occurred Specify a bit to report when an error occurs in the message reception When an error occurs the Error bit will turn ON only for one scan gt Appendices A 73 Note For more information about the error cause refer to G 2 4 2 Process Result PARAMOO on page A 78 and G 2 4 3 Status PARAM01 on page A 79 A timing chart of bit type I O items in the MSG RCV function follows In Normal Condition To continuously command the receive execution keep Execute ON after the process is completed lt IN gt Execute executes a reception a ar lt IN gt Abort forcibly ends a reception lt OUT gt Busy in process lt OUT gt Complete process completed C oi One scan lt gt lt OUT gt Error error occurred When Forcibly Aborted To continuously command the receive execution keep Execute ON after the p
223. Input Relay J x Readout of Input Register V y 7V Readout Write in of Coil V V V Readout Write in of Hold Register V V y Ki Write in Width of Coil Hold Register LO V V y V Write in Width of Coil Hold Register Hl V V y Ni Note V Enable Disable Specifications and Functions 2 23 2 2 Basic Module 2 2 4 218IFA Module Ethernet E O Message Communication Item Connection Parameter Setting Sets connection parameters for I O message communication T O message communication exchanges the data using I O images with the remote equipment 120 Message Communication Disable Enable Easy setting It is possible to set easily that communicate the 1 0 message Data update timing Low vj Scan oe rite Port Port Type Type Read 10005 192 168 001 007 10005 TCP gt Extended MEMOBUS a ee Write 10006 192 168 001 007 10006 TCP y Extended MEMOBUS BIN gt Head register number data size Head register number data size J inputdisable fiwoo00 f4 7 i f00000 f4 wW MP2300S S poreon Node equipment J output disable OW0004 4 W gt Hold reaister Mw w 0004 14 Ww The following table explains each setting item Item Setting Range Details Default I O Message Communication Enable Disable Select whether to enable I O message communications Disable Enable Disable The setting items below can only be set when the I O Message Communication is set to
224. Input register offset 0 word DW00011 00000 PARAMI1I1 IN Holding register offset 0 word DW00012 PARAM12 SYS Reserved by the system Zero clear at startup DW00013 PARAM13 SYS Reserved by the system DW00014 PARAM14 SYS Reserved by the system DW00015 PARAM15 SYS Reserved by the system DW00016 PARAM16 SYS Reserved by the system Note N Input OUT Output SYS For system use 6 56 6 2 Communication with Other MP Series 6 2 4 When the MP2300S Acts as Master ladder program which uses MSG SND function E Example of Using the Message Transmit Function in a Ladder Program Here is one example of using the message transmit function through Ethernet 218IFA 0000 NL 1 0001 NL 2 0002 NL 2 0003 NL 2 0004 NL2 0005 NL 2 0006 NL2 0007 NL 2 0008 NL 1 0009 NL 14 0013 NL 1 message sending ladder program 218IFA initializing setting parameters for MSG SND function on the first scan after power on use SB000003 for low sean SBO00001 for high scan 1st soan after power on ee es AJ SB000003 true clear for all D registers ___setw__ ZW Dest Dwoo000 M Data 00000 AWidth 00032 setting connection No PARAMO2 EXPRESSION A DW00002 3 setting function code PARAMO4 EXPRESSION aI DWO00004 0 0009 9H reading register extended setting data address PARAMOS5Y date size PARAMOB EXPRESSION aI DWwO0005 4
225. Interrupt operation and output 0 0 0040H SQRT 0041H SIN 0042H COS 0043H TAN 0040H 0044H ASIN 0045H ACOS 0046H ATAN 0047H EXP 0048H LN 0049H LOG 004AH DZA 004BH DZB to 004CH LIM 004DH PI 004EH PD 004FH PID 0059H 0050H LAG 0051H LLAG 0052H FGN 0053H IFGN 0054H LAU 0055H SLAU 0056H REM 0057H RCHK 0058H BSRCH 0059H SQRT 1000H or 2000H is added for an index error Yes Can be set to value other than system default from the user program No The system default cannot be changed from the user program Table 8 4 Ladder Program User Operation Error Codes 2 8 20 Error Code Error Contents User System Default Integer Real 1000H Index error within drawing x Execute again with i j 0 Number A Toe as Operations 2000H Index error within function x Execute again with i j 0 Integer system functions y Operation stopped and output input 0060H Index error The A register remains the same Integer to CO6DH PI DO6DH PD OO6FH PID 0070H LAG Operation 0077H O 1 2 0071H LLAG 0072H FGN 0073H IFGN 0074H LAU 0075H SLAU 0076H FGN 0077H IFGN 8 2 Troubleshooting 8 2 4 Troubleshooting System Errors d System Service Execution Status Table 8 5 Data Trace Execution Status Name Register No Remarks SW00090 to Reserved by the system SW00097 Existence Of Data Trace Definition SW00098 pie 1o 2 Group Nie _
226. It can be any channel in the scope However when starting up multiple functions at the same time set a unique channel for each function If you do not start up multiple functions at the same time the channel numbers can duplicate each other The following table shows the scope of channel numbers Communication Device Valid Channel Number Ethernet 218IF 1 to 10 Ethernet 218IFA 1 to 4 When the communication device is Ethernet 218IFA because the communication buffer common to the trans mission and reception has four channels four transmissions or receptions are available at the same time by using channels to 4 Note 1 As many MSG SND or MSG RCV functions as lines used at the same time are required 2 For information on communication buffer channels refer to G3 Communication Buffer Channel on page A 102 gt Appendices A 37 A 38 7 Param parameter list start address Specify the start address of the parameter list For the parameter list 17 words are automatically assigned from the configured address In the parameter list enter the function code and its relevant parameter data Also pro cess result and status are output Note For more information about the parameter list refer to the parameter details for each protocol from G 1 4 Function Setting and Parameter Details for MEMOBUS and Extended MEMOBUS Protocols on page A 41 to G 1 7 Function Setting and Parameter Details for N
227. K Connectors 3 14 3 2 4 Ethernet Connector Details 3 19 3 2 5 RLY OUT Connector Details 3 23 3 2 6 System Connection Example 3 25 A Mounting and Wiring 3 1 3 2 3 1 Mounting MP2300S 3 1 1 Method 3 1 Mounting MP2300S 3 1 1 Method There are two methods for mounting MP2300S e Using DIN rail standard e Using screws 1 DIN Rail Mounting a DIN Rails and Spacer Several types of DIN rails are available with 7 mm to 15 mm gap from the mounting base as shown in the following diagram If mounting a MP2300S using DIN rail with 10 mm gap install a spacer on the rear of the MP2300S near the bottom to protect the MP2300S from vibration and shock Gap from mounting base 7 0 mm to 15 0 mm gt For a 10 mm gap DIN rail Mounting base gt DIN rail gt q Spacer 3 1 Mounting MP2300S 3 1 1 Method b Procedure for Mounting to DIN Rail Use the following procedure to attach the DIN rail mounting parts to the MP2300S and then mount the MP2300S to the DIN rail 1 Insert the DIN rails to the dotted line in the two slots on the rear of the MP2300S as shown in the f
228. LINK II 32Byte are available Slave CPU Synchronous Function 7 11 7 3 Operation 7 3 1 Input Output Register E Output data details Item Description One byte of area which allows a master side application to check a value configured and updated by a slave side application It is used for the following purposes Checks the update of input data from MP2300S e Determines the MP2300S behavior in operation in pause Scan Counter Note that the use of this area is optional and the data input output process is carried out without updat ing the scan counter value Control Bit Sets the behavior of the MECHATROLINK transmission unit of the control bit MP2300S The configuration is shown as follows Data Up to 6 words of data area for MECHATROLINK II 17Byte and up to 13 words of data area for MECHATROLINK II 32Byte are available E Control bit details bit7 bit6 bitS bit4 bit3 bit2 bit1 bitO Unused SLVSC bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 Unused Name Definition Description Even when the slave CPU synchronization is not carried out the slave 0 Resume enable RA SLVSC CPU synchronization is automatically resumed Even when the slave CPU synchronization is not carried out it contin 1 Resume disable ues to work in an asynchronous state Note For information on SLVSC usage refer to 7 3 6 Management to Resume S
229. LT process result 4 FMT_NG parameter format error an error code in the following table is output Otherwise the connection number is output RESULT process result Code Hex Meaning 00 No error 01 Connection number is out of range 02 Time error while monitoring to receive MEMOBUS response When RESULT process re or MEMOBUS proce sult 4 03 Error in setting retransmit count FMT_NG parameter for 04 Error in setting cyclic area mat error 05 CPU number error 06 Data address error 07 Data size error 08 Function code error for MEMOBUS protocol Others XX Connection number Connection Number PARAM02 Refer to G2 4 4 Connection Number PARAMO2 on page A 80 Data Size PARAM06 A data size requested from the transmission side is output In case of non procedure 1 the number of words is output In case of non procedure 2 the number of bytes is output Register Offset PARAM12 Specify an offset address for the reception side data address The address for the reception side will be displaced by the number of words designated by the offset Note 1 For more information refer to G2 8 Relationship between Data Address Data Size and Offset for MSG RCV Function on page A 98 2 The offset cannot be a negative value In case of non procedure received continuous data is stored in the M register Setting the register offset enables you to specify a start address of the M regis
230. Low High 7 3 Operation 7 3 2 How to Determine Slave CPU Synchronous State 7 3 2 How to Determine Slave CPU Synchronous State The way to determine the slave CPU synchronous state from an application program is as follows 1 How to Check with a Master Side Application Use bit 7 SYNC of the second word Slave Status WOOOO 1 of an input register assigned to MP2300S MP2000 master Input register 76543210 IWOOOO 0 Scan counter used by system IWOOOO 1 Slave status ss pes Suaa 4 used by system Iwooon 2 i Data1 Low l High bit7 Bit6 bit5 bit4 bit3 bit2 bit1 bitO SYNC SYNCRDY SBUSY 0 CMDRDY WARNG 0 If SYNC ON it is in a slave CPU synchronous state 2 How to Check with a Slave Side Application Use bit7 SYNC of the second word Slave Status WOOOO 1 of an input register assigned to a local station MP2300S slave Input register 76543210 IWOOOO 0 Scan counter unused IWODOO 1 Slave status gt 4 unused Data1 Low I High bit7 bit6 bit5 bit4 bit3 bit2 bit1 bitO SYNC SYNCRDY SBUSY 0 CMDRDY WARNG 0 If SYNC ON it is in a slave CPU synchronous state Slave CPU Synchronous Function 7 15 7 16 7 3 Operation 7 3 3 Calculation of Slave CPU Synchronous Delay Time 7 3 3 Calculation of Slave CPU Synchronous Delay
231. M01 03 2 Encoder cable 3m JZSP CSP05 03 2 HUB commercial product LSW TX 8EP 1 MPE720 Ver 6 CPMC MPE770 1 LAN cable for Ethernet connection Commercial straight cable 2 Personal computer main unit Commercial product 1 24 VDC Current capacity of power supply 2A or more 1 E Caution Install MPE720 Ver 6 in the personal computer before starting step 1 For information on its installation refer to MP2000 Series MPE720Ver 6 0 Users Manual manual number SIEPC88070030 Set the PC Ethernet port in advance For information on the setup refer to Appendix F How to Set up Communication Pro cess on page A 31 The SERVOPACK station number SW1 is set to 1 and 2 e Ina 1 1 connection without HUB use a cross cable as a LAN cable 4 2 2 Self Configuration Run the self configuration to automatically recognize devices connected to the MECHATROLINK connector Steps for self configuration are as follows 1 2 3 4 4 2 Preparation step 1 4 2 2 Self Configuration Check that the II SERVOPACK power supply is ON Turn OFF the MP2300S 24 V power supply Turn ON INIT and CONFIG of DIP switch SW1 on the MP2300S main unit Turn ON the 24 VDC power supply on the MP2300S main unit and confirm the LED display changes as follows AW RYO RuN 24VDC
232. MECHATROLINK I MECHA TRX O E IP BAT Red Lit during battery alarm TRX Green Lights up when transmitting and receiving Ethernet data IP Green Lights up when an IP address setting is completed For details on indicator meanings refer to 8 2 3 2 LED Indicator Meanings on page 8 7 3 Switch Settings 2 2 Basic Module 2 2 2 External Appearance LED Indicators and Switch Settings The DIP switch sets the operating conditions for the Basic Module when the power is turned ON a SW1 STOP SUP H INT SW CNFG 1 MON TEST Br No Name Setting Operating Mode Default Details ON User program stopped i s1 6 STOP prog pE OFF Stops the user program execution Enabled only OFF User program running when the power is turned ON ON System load i s1 5 SUP ystem loa l OFF If set to ON starts in a mode that can change the OFF Normal operation version ON Memory clear Set to ON to clear the memory If this switch is set S1 4 INIT 3 OFF to OFF the program stored in flash memory will OFF Normal operation b e executed s1 3 CNFG ON Seve ean mode OFF Set to ON to execute self configuration for con OFF Normal operation nected devices ON System use S1 2 MON y OFF Always leave set to OFF OFF Normal operation ON System use S1 1 TEST M OFF Always leave set to OFF OFF Normal operation Specifications and
233. MECHATROLINK II 17Byte and up to 13 words of data area for MECHATROLINK I 32Byte are available 7 3 Operation 7 3 1 Input Output Register 2 Slave Side Input Output Data Input register 76543210 Output register 76543210 Ww o000 0 Scan counter PARERE Y Scan counter unused unused IWOOOO 1 Slave status owo000 1 amp Control bit unused IWO0000 2 Dataa Low owoo0o00 2 Data1 Low High High WWO000 3 Ano Lew owo0o00 3 Data2 Low High High Iwoooo 4 bio Lew owonoo 4 Data3 Low High High Iwoooo s Data4 Low owoo0o00 5 Data4 Low High High IWO000 6 Datas Lew owoo0o00 6 Data5 Low High High WWO000 7 Data6 Low owo000 7 Data6 Low High High IWO000 14 Data13 Low OWOOOO 14 Data13 Low High High E input data details Item Description Scan Counter One byte of area which allows a slave side application to check a value configured and updated by a master side application It is used for the following purposes e Checks the update of output data from the master e Determines the master behavior in operation in pause Note that the use of this area is optional Slave Status Status of MECHATROLINK transmission unit of a slave status MP2300S It is the same content as reported to the master Data Up to 6 words of data area for MECHATROLINK II 17Byte and up to 13 words of data area for MECHATRO
234. MELSEC Valid Range of Data Sizes Function Code eis Function Common Ethernet 218IF Ethernet 218IFA Command 01H 02H 00H Reads bit device in units 1 to 256 units 03H 04H 01H ice i i 1 to 256 unit O9H OAH Reads word device in units 0 units O5H OFH 02H Writes to bit device in units 1 to 256 units 06H OBH 10H 03H Writes to word device in units 1 to 256 units 08H 16H Loopback test OEH 05H Specifies a device number for each word device at 1 to 40 units random and sets resets each word device 31H 60H Writes to the fixed buffer in words 32H 61H Reads from the random access buffer in words See the table below 33H 62H Writes to the random access buffer in words Valid Range of Data Sizes Function Connection Type Code Ethernet 218IF Ethernet 218IFA ep BIN 1 to 507 words 1 to 727 words p F ASCII 1 to 362 words 1 to 362 words Writes to the fixed buffer in words UDP BIN 1 to 507 words 1 to 1017 words ASCII 1 to 507 words 1 to 508 words ie BIN 1 to 508 words 1 to 728 words Reads from the random access buffer in ASCII 1 to 363 words 1 to 363 words words BIN 1 to 508 words 1 to 1017 words UDP ASCII 1 to 508 words 1 to 508 words BIN 1 to 507 words 1 to 726 words TCP Writes to the random access buffer in ASCII 1 to 361 words 1 to 361 words words upp BIN 1 to 508 words 1 to 1017 words ASCII 1 to 508 words 1 to 508 words Note The restricted data size when using TCP is the maximum size transmitted using one segment The segmen
235. MOBUS even when used in Extended MEMOBUS protocol Set the circuit number in accordance with the line number allocated to the target 218IFA Set a unique communication buffer channel for the same circuit For information on the register number refer to G 1 2 1 Input Item on page A 36 and G 1 2 2 Output Item on page A 38 Communication device 218IFA Execute DB000201 Busy DB000210 Protocol MEMOBUS Abort DB000202 Complete DB000211 Dev Typ 00016 Error DB000212 Circuit number 1 Pro Typ 00001 Cir No 00001 Ch No 00001 Param DA00000 Communication buffer channel 1 VAA Parameter list start address DA00000 use DW00000 to DW00016 b 218IF Setting Example An example of a function setting when 218IF is used as a communication device follows Set the protocol type to MEMOBUS even when used in Extended MEMOBUS protocol Set the circuit number in accordance with the line number allocated to the target 218IF Set a unique communication buffer channel for the same circuit For information on the register number refer to G 1 2 1 Input Item on page A 36 and G 1 2 2 Output Item on page A 38 Communication device 218IF Execute DB000201 Bey DB000210 Dev Typ 00006 Error DB000212 Circuit number 1 Pro Typ 00001 Cir No 00001 Ch No 00001 Param DA00000 Communication Buffer Channel 1 IA Parameter list start address DA00000 use DW00000 to DW00016 gt Appendices A 41 A 42 2 Pr
236. MP2300S main unit 4 3 E INIT 2 E TEST 1 OFF ON 4 Turn ON the 24 VDC power supply of the MP23008S and confirm that the RDY RUN and IP LEDs are lit on the MP2300S main unit When the IP LED is lit you can confirm that the MP2300S side has successfully retrieved an IP address RDY O O RUN RDY RUN ALM O O ERR gt ALM O CERR MTX O O BAT MTX O BAT TRX O OIP TRX O IP Lit O Unlit 5 Double click the icon on the personal computer desktop to start up MPE720 Ver6 bie MPE 720 Ver 6 6 Create a new PLC folder Create New Project 21x i Save in Qj PLC J ex Ee File name rest z o Save as type Project File 4 YMW x Cancel My Network P Help Controller me2so0s z 7 Click Communications Setting R Communications Setting Connection 2 Ethermnet LP IP192 168 1 1 A 32 8 Select Ethernet LP IP 192 168 1 2 as the communication port Personal computer IP address Note You can check the personal computer IP address in the control panel HP Communications Setting a xj Set the communication setting Communication port 2 Ethernet LP IP 192 168 1 2 Y Setting ALLL 2 Ethernet LP IP 19 lt lt Detail IP address Search Controller i Controller IP address port Module name P Use the router m Difference between Ethernet LP and Ethernet The LP of Ethernet LP is short for Long packet Co
237. MSG RCV functions A 35 multiple group operation 5 7 N negative overtravel 8 35 negative software limit 8 35 network servo status 8 39 O online self diagnosis 5 4 operation error processing drawings 5 31 operation in case of scan time over 8 16 operation start 5 4 operation stop 5 4 option module 2 61 option module overview list 2 61 optional cover 3 11 optional modules 1 4 installing 3 11 removing 3 9 optional SVB 2 30 options 1 9 output registers 5 36 overview of motion errors 8 33 P parent drawings 5 31 PLC function specifications 2 4 positioning time over 8 36 positive overtravel 8 3
238. MX Cross Reference Ctr R g s n Check for Multiple Coils TE BUR Z 7 0 H Force Coil List Online MP23005 C Documents and Setti Display Register Map Setup Programming Add to Watch Ctrl Ww Add to Scope Force ON Force OFF DB000010 DBO00011 Disable Force REFER DB000010 DB000011 E Caution When a coil is set to forced ON or OFF the equipment may become unstable causing personal injury or damage to the equip ment If carrying out an investigation be aware of the behavior of the equipment when it is forcibly turned ON OFF After the investigation make sure to forcibly cancel the setting Maintenance Inspection and Troubleshooting 8 2 Troubleshooting 8 2 4 Troubleshooting System Errors d Operation in Case of Scan Time Over When the maximum value for high speed scan time is equal to a setting value a watchdog timeout error will occur because the time for performing a low speed scan cannot be ensured Low speed scan setting value igh speed scan setting value High speed scan setting value High speed scan setting value ees scan setting value en E ee ee When the maximum value for a scan time is in excess of a setting value the scan cannot be performed at every setting value SW00044 is added due to a high speed scan over SW00046 is added due to a low speed scan over High speed scan Low speed scan Low speed scan se
239. N OFF Main power OFF PON ON Main power ON Bit 5 Machine Lock OFF Machine lock released l MLOCK ON Machine locked Bit6 Zero Position OFF The APOS absolute position is not in the zero point i ZPOINT ON The APOS absolute position is in the zero point range OFF Pulse distribution is not completed or the APOS is not in the positioning completed Bit7 Locating Complete width PSET ON Pulse distribution is completed and the APOS is within the positioning completed width Bit8 Command Profile OFF Pulse distribution is being performed for positioning command Complete DEN ON Pulse distribution for positioning commands has been completed Bit 9 Torque Restriction OFF A torque limit is not being applied T_LIM ON A torque limit is being applied Bit A Latch Complete OFF Latch not completed L_CMP ON Latch completed Bit B Locating neighborhood OFF The APOS is outside the position proximity range NEAR ON The APOS is inside the position proximity range Bit C Positive Software Limit OFF The positive software limit has not been exceeded P SOT ON The positive software limit has been exceeded Bit D Negative Software Limit OFF The negative software limit has not been exceeded N SOT ON The negative software limit has been exceeded BitE Reserved BitF Reserved Maintenance Inspection and Troubleshooting 8 39 8 2 Troubleshooting 8 2 7 Troubleshooting Motion Errors b Servo Driver Al
240. N255 Decimal 04 0AH 256 to 511 MW00256 to MW00511 Input register 03H 06H 09H 0BH D D0000 to D1023 Decimal 0EH 10H 0 to 1023 MW00000 to MW01023 Holding register D 03H 06H 09H 0BH D9000 to D9255 Decimal 0EH 10H 1024 to 1279 MW01024 to MW01279 special i Holding register 03H 06H 09H 0BH Ww W0000 to WO3FF Hexadecimal 0EH 10H 1280 to 2303 MW01280 to MW02303 Holding register 03H 06H 09H 0BH R R0000 to R8191 Decimal 0EH 10H 2304 to 10495 MW02304 to MW10495 Holding register 03H 06H 09H 0BH D D1024 to D6143 Decimal 0EH 10H 10496 to 15615 MW10496 to MW15615 Holding register Note 1 The device range may differ according to the MELSEC sequencer even within the device range For more information refer to the MELSEC manual 2 The register number corresponding to MP2000 can be adjusted by the offset setting of the MSG SND function gt Appendices A 53 A 54 8 Data Size PARAMO6 Set the data size number of bits or words for the read write request Be sure that the last data address determined based on the offset data address and data size does not go beyond the scope of the data addresses The range of data addresses may differ depending on the function code and communication device The following table gives the valid ranges of data sizes when using MELSEC as a protocol Table G 9 Valid Range of Data Sizes
241. No IN OUT Contents Description 00 OUT Process result Outputs the process results 01 OUT Status Outputs the status of the communication device 02 IN Connectionnumber Specifies the remote source n i 03 OUT Not used 04 OUT Not used 05 OUT Not used 06 OUT Data size Outputs the write data size requested from the transmission side 07 OUT Not used 08 to 11 IN Not used 12 IN Register offset Sets the register s offset word address 13 IN Write range HI Sets the last address for a write range 14 SYS Reserved 1 15 to 16 SYS Reserved 2 Note IN Input OUT Output SYS For system use G 2 4 a Function Setting and Parameter Details for MEMOBUS and Extended MEMO BUS Protocols This section explains the MSG RCV function setting and its parameter list details when MEMOBUS or Extended MEMOBUS is used as a protocol Message Receive Function Setting 218IFA Setting Example An example of a function setting when 218IFA is used as a communication device follows Set the protocol type to MEMOBUS even when used in Extended MEMOBUS protocol Set the circuit number in accordance with the circuit number allocated to the target 218IFA Set a unique communication buffer channel number for the same circuit For information on the register number refer to G 2 2 1 Input Item on page A 71 and G 2 2 2 Output Item on page A 73 Communication device 218IFA Execute DB000201 Busy DB000210 Protocol MEMOBUS NI Abort
242. Not used Bit 9 Excessive Deviation Bit 19 Not used BitA Filter Type Change Error Bit 1A Not used Bit B Filter Time Constant Change Error Bit 1B Not used Bit C Not used Bit 1C Not used Bit D Zero Point Unsetting Bit 1D Not used BitE Not used Bit 1E Motor Type Set Error Bit F Not used Bit 1F Connected Encoder Type Error b Bit 0 Servo Driver Error Detection Timing SERVOPACK alarms are continuously monitored by the alarm management section e The current command will be aborted Processing when Ifa SERVOPACK error is detected during execution of a POSING command the positioning will be Alarm Occurs aborted and the axis will decelerate to a stop e The Command Error Completed Status in the Motion Command Status IWOD09 bit 3 will turn ON on page 8 40 for details e The cause of the error depends on the type of alarm The contents of an alarm is monitored in IWOO2D Error and Cause Refer to the list of SERVOPACK alarms in 8 2 7 b Servo Driver Status and Servo Driver Error Codes Correction e Reset the alarm e Confirm the SERVOPACK alarm and remove the cause The above status bit will turn ON for any of the SERVOPACK alarm codes for alarms classified as SERVOPACK alarms 8 2 Troubleshooting 8 2 7 Troubleshooting Motion Errors c Bit 1 Positive Direction Overtravel and Bit 2 Negative Direction Overtravel Detection Timing e Overtravel is continuously monitored by the posit
243. O6 The read write data size number of bits or words requested from the transmission side is output 9 Remote CPU Number PARAM07 Refer to G2 4 9 Remote CPU Number PARAMO07 on page A 82 10 Offset PARAM08 PARAM09 PARAM10 PARAM11 Specify an offset address for the reception side data address The address for the reception side will be displaced by the number of words designated by the offset Note 1 For more information refer to G2 8 Relationship between Data Address Data Size and Offset for MSG RCV Function on page A 98 2 The offset cannot be a negative value The offset parameter is prepared for each target data type The following table lists the offset parameters Table G 25 Offset Parameter List Parameter Contents Description PARAM08 Coil offset Sets the coil s offset word address PARAMO9 Input relay offset Sets the offset word address of an input relay PARAM10 Input register offset Sets the offset word address of an input register PARAM11 Holding register offset Sets the offset word address of a holding register The valid offset parameter may differ according to the function code The following table lists the valid parameters for the function codes Table G 26 Valid Parameter List for Offset of Each Function Code Function Code Function Valid Offset Parameter 01H Reads coil state PARAMO8 02H Reads input relay state PARAMO09
244. OBUS Extended MEMOBUS F Target Data Pees unction Code Type Function Extended MEMO MENOBUS BUS 00H Unused S 01H B Reads coil state V V 02H B Reads input relay state V V 03H W Reads holding register content V V 04H W Reads input register content V V 05H B Changes single coil state V V 06H W Writes to single holding register V V 07H Unused E 08H Loopback test V V 09H W Reads holding register content extended V OAH W Reads input register content extended V OBH W Writes to holding register extended V OCH Unused ODH w a R reads holding register y OEH w Cau writes to holding register J E OFH B Changes multiple coil states V V 10H W Writes to multiple holding registers V V Note 1 B Bit type W Integer type 2 vV Available Not available 3 Transmit and receive registers in the master operation mode are MW MB only 4 In the slave operation mode coil holding register input relay and input register are MB MW IB IW respectively 7 Data Address PARAMOS A data address requested from the transmission side is output 8 Data Size PARAMO6 The read write data size number of bits or words requested from the transmission side is output 9 Remote CPU Number PARAM07 When the remote equipment is MP2000 series 1 is output When the remote equipment is a controller manufactured by YASKAWA Electric Co
245. OLINK command trans busy f CMDRDY mitted from a master is completed and the slave is ready to receive the 1 Command receivable next command ready SBUSY 0 Steady state This bit is turned ON while the slave CPU synchronization is in pro 1 Transient state cess Preparation for slave syn This bit is turned ON when an execution requirement of the slave CPU chronization not completed synchronization is met It is turned OFF in the following conditions SYNCRDY i e An execution requirement of the slave CPU synchronization has not 1 Preparation for slave syn been met chronizati n completed A control bit SLVSC is turned ON by MP2300S side 0 Slave asynchronous state one A SYNC This bit is turned ON when entering the slave CPU synchronous state 1 Slave synchronous state Note When a receive error occurs both system registers I O Error Count SW00200 and Input Error Count SW00201 increase E Output data details Item Description Scan Counter One byte of area which allows a master side application to check a value configured and updated by a slave side application It is used for the following purposes e Checks the update of output data from the master e Determines the master behavior in operation in pause Note that the use of this area is optional and the data input output process is carried out without updat ing the scan counter value Data Up to 6 words of data area for
246. P23005 Online Local PT 2 CPUR 1 o AAR Stor ZOO fpocooocsF EMMA M EXECUTOR List Individual display Program definition number Program definition Allocation Control register E z No fD Execution type Setting Program Execution monitor register S register i Sequence program Start Direct 1 i Sequence prograrm L scan y Direct 2 E Sequence programf H scan Direct m Motion program v Direct we 4 E Motion program Yilndirect e z o z O z o I z a SPMO01 SPMO02 SPMO03 MPMOO4 OWOCOC SWO3380 SWO3437 SW03438 SWO3495 0 x Individual display Shows M EXECUTOR individual display screen Program definition number Sets the number of program definitions registered in the M EXECUTOR Module The valid range is 0 16 8 by default No Shows the program execution order Processed according to the scan in ascending numeric order D Enables disables the definition Uncheck to enable the definition Execution type Sets the program execution type 2 2 Basic Module 2 2 7 M EXECUTOR Module Motion Program Executor Execution Type Program to Execute Execution Condition a None None select this to delete the definition Sequence Program startup Sequence Program Sequence program Power up during power up run only once Periodical startup run each time a low sped scan is L scan perfor
247. PLC MPE720 lal tio l output 2 29225 l ollolo o sa E 5 S 5 8 elz lt Input Ethernet Hub Communication module Ethernet slisiisils ma RS 232C lt e Ethernet TIT 0 NINJNJN a DeviceNet 5 L a gt PROFIBUS T 7 YASKANA p R8422 485 lt e 215 communications Motion module elel 5 1215 amp T CAAS plifier i 130 Q Other module such as other company s module ma gt AnyWire ma gt CC Link la A net A link AFMP 02 C MPANLOO 0 MPANLOO 0 IMPALLOO 0 IMPALOOO 0 IMPANOOO 0 AFMP 02 Terminating resistor Overview Servo Servo Repeater Servo Inverter v Max 21 stations including I O Max 16 stations servo can be included 1 3 System Configuration 1 3 2 Example of Distributed Synchronizing System For the details on the system configuration example refer to 4 2 1 1 System Layout Model on page 4 3 Use the connecting cables and connectors recommended by Yaskawa Always check the device to be used and select the correct cable for the device Different SERVOPACKs are connec
248. Position E0 No Option El Option Timeout Maintenance Inspection and Troubleshooting 8 41 8 2 Troubleshooting a eT 8 2 7 Troubleshooting Motion Errors Name saree Code Meaning E2 Option WDC Error E5 WDT Error E6 Communication Error E7 Application Module Detection Failure E9 Bus OFF Error Servo Driver EA SERVOPACK Failure Alarm Code eee EB SERVOPACK Initial Access Error cont d pee EC SERVOPACK WDC Error ED Command Execution Not Completed EF Application Module Alarm Fl Broken Phase in Power Line F5 Motor Wire Disconnection when control power supply is turned ON F6 Motor Wire Disconnection when Servo is ON E Ill Series Name A ei Code Meaning 000 Normal 900 Excessive Position Error 901 Excessive Position Error at Servo ON 910 Overload 911 Vibration 920 Regeneration Overload 930 Absolute Encoder Battery Error 941 Parameter Change Requiring Power Recycling 94A Data Setting Warning 1 Parameter Number 94B Data Setting Warning 2 Outside Data Range 94C Data Setting Warning 3 Calculation Error 94D Data Setting Warning 4 Parameter Size 95A Command Warning 1 Command Conditions Not Met 95B Command Warning 2 Unsupported Command 95C Command Warning 3 ree raid IwOO2D 95D Command Warning 4 95E Command Warning 5 960 MECHATROLINK Communication Warning 020 Parameter Checksum Error
249. R Virtual Motion Module on page 2 47 for information on SVR 1 Percentage of rated toque 1 0 0001 Register No Name Contents SVB SVR Bit 0 Servo ON 0 OFF 1 ON Yes Yes Bit 1 Machine Lock 0 Normal operation 1 Machine locked Yes Bits 2 to 3 Reserved Bit 4 Latch Detection Demand 0 OFF 1 ON Yes Bit 5 Reserved for system use Bit 6 POSMAX Turn Number Presetting Demand 0 OFF 1 ON Yes Yes e Set to 0 for linear type Bit 7 Request ABS Rotary Pos Load Absolute System Infinite Length Posi RUN Command tion Information LOAD 0 OFF 1 ON Yes owoO000 Setting e Set to 0 for linear type Bit 8 Forward Outside Limiting Torque Thrust Input Yes Forward External Limiting Torque Thrust Input 0 OFF 1 ON Bit 9 Reverse Outside Limiting Torque Thrust Input Yes Reverse External Limiting Torque Thrust Input 0 OFF 1 ON Bit A Reserved Bit B Integration Reset 0 OFF 1 ON Yes Bits C to D Reserved Bit E Communication Reset 0 OFF 1 ON Yes Bit F Alarm Clear 0 OFF 1 ON Yes Yes Bit 0 Excessive Deviation Error Level Setting Yes 0 Alarm 1 Warning Bits 1 to 2 Reserved OWOO01 Mode Setting 1 Bit 3 Speed Loop P PI Switch Yes Bit 4 Gain Switch Yes Bit 5 Gain Switch 2 Yes Bits 6 to F Reserved Bit 0 Monitor 2 Enabled Yes Bits 1 to 3 Reserved OWOD02 Mode Setting 2 Bits 4 Reserved Bits 5 to 7
250. S Acts as a Slave ladder program which uses a MSG RCV function E Example of Using the Message Receive Function in a Ladder Program Here is an example of the message receive function through Ethernet 218IFA message receiving ladder program 2451FA initializing setting parameters for MSG RCV function on the first scan after power on use SBOO000S for low scan SBO00001 for high scan Ast scan after power on i gt Gee 2S a 0000 88000003 true NA clear for all D registers poon d C sw J 0001 fayOest DW00000 No2 MIOata 00000 pVidth 00032 setting connection No PARAMO2 ponz d __EXPRESSION QJ 0002 Dinn0002 2 No2 setting offset PARAMOS PARANI1 poos g EXPRESSION 7 0003 DWO0009 0 fosil offset PARAMOS No2 DAO0009 0 input relay offset PARAMOS DW0O0010 0 input register offset PARAM10 DWO0041 0 register offset CPARAM41 wuiting range PARAM12 PARANM12 EXPRESSION 7 0004 Dwoo012 0 ffextting range LO PARAM 12 No2 DW00013 65534 smutiting range HI PARAM 13 clear for system register PARAM14 0005 WLF Ste 00000 MLF Dest Dwo0014 N Z 0008 N1 normal sean treatment generating command for receiving Alwezys ON abort receiving command spoo0004 DB000201 DB000200 poor d ae o 0007 H 1 MS 6 RCV function Cc _ merv OO J 0010 B Execute DB000200 BJBusy DBCCO210 H 1 BlAbon DB000201 B Complete DB000211 WCewTyp 00016 B Eror DB000212 MPro Typ 00001 MCiNo 00001
251. SEC protocol Set the circuit number in accordance with the circuit number allocated to the target 218IFA Set a unique communication buffer channel number for the same circuit For information on the register number refer to G 2 2 1 Input Item on page A 71 and G 2 2 2 Output Item on page A 73 Communication device 218IFA Execute DBO000201 Busy DB000210 Protocol MEMOBUS NI Abort DB000202 Complete DBO000211 Ne Dev Typ 00016 Error DB000212 Circuit number 1 Ee Pro Typ 00001 Communication buffer channel number 1 ers eee Ch No 00001 Parameter list start address DA00000 Param DA00000 use DW00000 DW00016 b 218IF Setting Example An example of a function setting when 218IF is used as a communication device follows Set the protocol type to MEMOBUS when used in MELSEC protocol Set the circuit number in accordance with the circuit number allocated to the target 218IF Set a unique communication buffer channel number for the same circuit For information on the register number refer to G 2 2 1 Input Item on page A 71 and G 2 2 2 Output Item on page A 73 Communication device 218IF Execute DB000201 Busy DB000210 Protocol MEMOBUS Abort DB000202 Complete DB000211 Ne Dev Typ 00006 Error DB000212 Circuit number 1 S Pro Typ 00001 er Cir No 00001 Communication buffer channel number 1 __ Ch No 00001 Parameter list start address DA00000 Param DA00000 use DW00000 DW00016 2 Proces
252. SHANGHAI CO LTD BEIJING OFFICE Room 1011A Tower W3 Oriental Plaza No 1 East Chang An Ave Dong Cheng District Beijing 100738 China Phone 86 10 8518 4086 Fax 86 10 8518 4082 YASKAWA ELECTRIC TAIWAN CORPORATION 9F 16 Nanking E Rd Sec 3 Taipei Taiwan Phone 886 2 2502 5003 Fax 886 2 2505 1280 YASKAWA ELECTRIC CORPORATION YASKAWA In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations Therefore be sure to follow all procedures and submit all relevant documentation according to any and all rules regulations and laws that may apply Specifications are subject to change without notice for ongoing product modifications and improvements 2007 YASKAWA ELECTRIC CORPORATION All rights reserved MANUAL NO SIEP C880732 00A Published in Japan November 2007 07 11 07 11 2
253. Since the delay time is constant you can use an application program to manage the timing between the master and slave Note that you don t need to control the timing between slave CPUs E Caution A precaution is given to safely use the slave CPU synchronous function For more information on the precautions refer to 7 4 Precautions 7 2 Requirements and Setting of Execution 7 2 1 Supported Version 7 2 Requirements and Setting of Execution 7 2 1 Supported Version In order to use the slave CPU synchronous function the master side must support the MP2300S The following table shows supported versions Controller Model Version MP2100 JAPMC MC2100 E MP2100M JAPMC MC2140 E MP2300 MP2300S JEPMC MP2300 E JEPMC MP2300S E Ver 2 60 or later MP2400 JEPMC MP2400 E MP2000 series SVB 01 JAPMC MC2310 E Ver 1 21 or later 7 2 2 Requirements to Execute Slave CPU Synchronous Function In order to use the slave CPU synchronous function both master and slave sides must meet all the following require ments 1 Master Side Requirements e Supports the slave synchronous function the versions mentioned above and later H scan setting is either an integer multiple or an integer fraction of the MECHATROLINK communication cycle e Communication system is MECHATROLINK II 17Byte 32Byte 2 Slave Side Requirements e Selects Slave Synchronous Function Enable
254. The register numbers that can be set are in the range between the leading register number and the ending register number in the Module Configu ration Definition Window The leading input register number INPUT and INPUT SIZE the number of input registers in words SIZE The maximum number of input registers will be automatically set in SIZE When setting be careful not to overlap the register range among stations The register numbers that can be set are in the range between the leading register number and the ending register number in the Module Configu ration Definition Window The leading output register number OUTPUT OUTPUT SIZE and the number of input registers in words i SIZE The maximum number of output regis ters will be automatically set in SIZE Scan type used for synchronization with CPU SCAN High High speed scan Low Low speed scan Select either High or Low When TYPE is set to a SERVOPACK fixed to High Comment Station name Enter a comment of up to 32 characters for each station E Deleting a Station Assignment Click any cell in the row of the station to be deleted and select Edit Assignment Delete from the main menu Care must be taken when deleting a station assignment The deletion is irreversible m 1 0 and SERVO in Type The following slave devices I O Modules do not have model codes Therefore J O wild card I O will be displayed in TYP
255. U synchronous complete 0017 WLF Sro 00000 WLF Dest Dwino000 NLS 0018 NL 2 0019 NL 14 0020 WLF Sre DWO0O0O WLF Dest MWw00200 NL 1 pood 0021 NL 4 Slave CPU Synchronous Function 7 27 7 4 Precautions 7 4 1 Precautions on Usage 7 4 Precautions 7 4 1 Precautions on Usage E When using the slave CPU synchronous function the slave side cannot use option module PO 01 To use PO 01 disable the slave CPU synchronous function E in the transient condition from asynchronous to synchronous state using the slave CPU synchro nous function a slave side scan cycle high low speed may be delayed by up to one scan cycle For an application which requires fixed timing and fixed cycles take preventative measures if using any data that would affect the timing of such an application E When an SVA 01 is attached to a slave side optional slot and the slave CPU synchronous state is entered the operation may suffer such an impact that an axis is shocked Stop the SVA 01 opera tion in advance E When an SVB 01 is attached to a slave side optional slot during transition to the slave CPU syn chronous state disconnect and later reconnect the communication between a slave and its con nected SVB 01 When a slave device such as a servo or inverter is connected stop their operation in advance Due to the disconnection of communications the device may suffer shock when an axis is suddenly stopped E The oper
256. Unpassive open mode refer to 2 2 4 b 218IFA Module Detailed Window on page 2 16 For information on the relationship between GP Pro EX and MPE720 settings see the table below MPE720 Side Setting f F Unpassive open Fixed Value Mode Setting GP Pro EX Side Setting Automatic Assignment Enable V Automatic Assignment Disable V V Note V connectable unconnectable e How to set up Unpassive open mode of the MP2300S reference Set Node IP Address to 000 000 000 000 and the Node Port to 0 to enter into the Unpassive open mode Transmission Parameters Status m Transmission Parameters Module Name Definition IP Address fig2 a fies g f fi 0 255 Bei eae CONTROLLER NAME NAME Subnet Mask a fsa fas fo 0255 Gateway IP Address fo fo a fo fo a 0 255 Detail Definition r Connection Parameter r Message Communication Easy setting It is possible to following parameter setting easily that communicate the message CNO Local Node IP Address Connect Protocol Automaticall Port Port Type Type o _ 10001 G90 000 000 000 oooogsrcr Extended MEMOBUS BIN Cannot the overlap to local station port number used by the communicate the 1 0 message o Ethernet Communications 6 71 6 3 Communication with Touch Panel 6 3 1 When MP2300S Acts as Slave 8 Click the setup button of the connected PLC1 for each device setting to display the setti
257. Version 0020 T Servo Type Rotary 7 Fixed Parameters Setup Parameters SERVOPACK Monitor 0002 0101 Speed Loop Integral Time Constant 0102 Position Loop Gain 0103 Moment of Inertia Ratio Mass ratio 0104 2nd Speed Loop Gain 0105 2nd Speed Loop Integral Time Constant 0000 Hf Function Selection Basic Switch 0 Function Selection Application Switch 1 Function Selection Application Switch 2 Function Selection Application Switch 4 Function Selection Application Switch 6 Function Selection Application Switch 7 Function Selection Application Switch 8 After saving imi SYB Definition MP23005 Online Local No Name input ata une Current Value 5 x PT 2 CPUR 1 RACK O1 Slot 00 cin 01 e000 87FF aa Sns SERVOPACK SGDS 1 Version 0020 z Servo Type Ross z Fixed Parameters Setup Parameters SERVOPACK Monitor 0000 Hf Function Selection Basic Switch O 10001 Function Selection Application Switch 1 0002 Function Selection Application Switch 2 Function Selection Application Switch 4 Function Selection Application Switch 6 Function Selection Application Switch 7 Function Selection Application Switch 8 Speed Loop Gain Speed Loop Integral Time Constant Position Loop Gain 0103 Moment of Inertia Ratio Mass ratio 10104 2nd Speed Loop Gain
258. W SL SFnnnnn SAnnnnn MB MW ML M Data registers MFnnnnn MAnnnnn Same as DWG registers These registers are shared by drawings and functions Pay attention to how l Input registers E IL TFhhhih TAR these registers are to be used when calling the same function from a drawing of a different priority level O Output registers OB OW OL OFhhhh OAhhhh C Constants registers CB CW CL Chihhh CAnnnn n Decimal number h Hexadecimal number B W L F and A Data type B Bit W Integer L Double length integer F Real number A Address Refer to 5 3 2 Data Types on page 5 39 SA MA IA OA DA A and CA registers can be used within functions o Outline of Motion Control Systems 5 37 5 3 Registers 5 3 1 Types of Registers 3 Register Ranges in Programs The following figure shows DWG programs function programs and register call ranges Common DWG registers DWG HOO drawing i Program R System registers i 1 SB SW SL SFnnnnn 1000 steps max gt 2 i i Data registers i DWG registers i MB MW ML MFnnnnn i A ENEN E E Ny N I S S RN A m i l Constant data 16384 words max i Kl 1 B W L Fnnnnn i l Individual data 16384 words max lt 1 1 DB DW DL DFnnnnn f i FUNC 000 function i i gt Input registers i i IB IW IL IF
259. W00070 Day of Week Generated SW00071 Day of Month Generated Sw00072 Hour Generated SW00073 Minutes Generated SW00074 Seconds Generated SW00075 Milliseconds Generated Not used SW00076 to w00079 Reserved by the system 8 2 Troubleshooting 8 2 4 Troubleshooting System Errors c Ladder Program User Operation Error Status Error information for user operation errors in ladder programs is stored in registers SW00080 to SW00089 Error Sta tus 1 and SW00110 to SW00189 Error Status 2 Table 8 1 Ladder Program User Operation Error Status 1 Name Register No Description DWG A Error Count Error SW00080 Code Sw00081 DWG I Error Count Error SW00082 Code SW00083 Operation error code DWG H Error Count Error SW00084 See Ladder Program User Operation Error Codes 1 Code Sw00085 Sw00086 Error code when an index error occurs Reserved by the system See Ladder Program User Operation Error Codes 2 SW00087 DWG L Error Count Error SW00088 Code SW00089 Table 8 2 Ladder Program User Operation Error Status 2 Register No Name Remarks DWG A DWG I DWG H DWG L Error Count SW00110 SW00126 SW00142 SW00174 Error Code SW00111 SW00127 SW00143 SW00175 Error Drawing Number SW00112 SW00128 SW00144 SW00176 Parent drawing FFFFH SW00113 sw00129 sw00145 Swo00177 Child drawing OOO0H HOD Child Pe drawing number Modification A SW00114 SW00130 SW00146 S
260. W00178 Grandchild drawing OOyyH Hyy Register SW00115 SW00131 SW00147 SW00179 Grandchild drawing number SW00116 SW00132 SW00148 SW00180 Function 8000H SW00117 SW00133 Swo0149 swoo1g1 Motion program sequence program FOxxH Hxx program number Error A Register Error F Register Modification F SW00118 SWw00134 Swo00150 SW00182 Register SW00119 SWw00135 Swo00151 SW00183 Address Generating SW00120 Sw00136 Swo00152 SW00184 Function Calling Drawing Number Error Swo0121 SW00137 SW00153 SW00185 Number of the drawing that calls the func tion in which an error occurred Error Drawing Number SW00122 SW00138 SW00154 SW00186 Function Calling Drawing Number SWV OOI AaS WO0 132S WO0153 S0017 Function Calling DWG Step Number j Step number of the drawing that calls the Function Calling DWG SWo0124 swo0140 swoo1s6 sw00188 function in which an error ocaumed 0 when there is an error in the drawing Step Number Reserved by the SW00125 SW00141 SW00157 SW00189 system Maintenance Inspection and Troubleshooting 8 19 8 2 Troubleshooting 8 2 4 Troubleshooting System Errors Table 8 3 Ladder Program User Operation Error Codes 1 ae Error Contents User System Default Value 0001H Integer operation un
261. WO0003 WL SroB HOOFF 0006 NL 3 0007 NL 3 0008 NL 3 scan count present value prewious value 17 WL SroA DWODOO4 WL Dest DWO00OS WL SreB HOOFF WLF Sie IWO000 WLF Dest Dywo0004 DB000021 0009 NL 3 0011 DB000021 true NL 3 renew input value if scan count OK OQ 0012 NL 4 0013 NL Continued on the next page WDest DW00010 W width 90013 Slave CPU Synchronous Function 7 19 7 3 Operation 7 3 5 How to Determine Input Error Continued from the previous page error count increment abnormal sean count inc 0014 WL Dest Dwooo09 NL 4 0015 NL 3 0016 NL 2 error count increment abnormal slve status 0017 NL 3 0018 NL 2 0019 NL 1 eror count increment input error 0020 NL 2 0021 NL 1 tenew scan count for master 0022 WL Dest Owo010 0023 WL SteA OWO010 WL Dest Owoo10 NLA WL SteB HOOFF 0024 NL 1 7 20 b Slave Side 7 3 5 How to Determine Input Error Check S register I O Error Status Check whether the bit of a local station is turned ON in the I O error status of an MP2300S with built in SVB The bit ON indicates that an input error has occurred When an input error occurs the entered data is cleared to zero Note 4 Check Slave Status Check that the second word Slave Status of an input register assigned to the MP2300S is in the following stat
262. WOO36 SERVOPACK Pa Stores the number of the parameter being processed Yes rameter No for MECHATORLINK Command Area Supplementary Servo Driver User Constant IWOO37 No SERVOPACK Stores the number of the parameter being processed Yes Parameter No for MECHATROLINK Subcommand Area gt Appendices A 29 A 30 cont d Register No Name Contents SVB SVR Servo Driver User Constant Reading Data SERVOPACK ILOO38 Parameter Reading Stores the data of the parameter being read Yes Data for MECHATROLINK Command Area Supplementary Servo Driver User Constant Reading Data ILOO3A SERVOPCK Stores the data of the parameter being read Yes Parameter Reading Data for MECHATROLINK Subcommand Area Stores the type of motor actually connected IWOO3F Motor Type 0 Rotation type motor Yes 1 Linear motor ILOO40 Feedback Speed Unit is according to OWO003 bits 0 to 3 Speed Unit Yes Yes ILOO42 Feedback Unit is according to OWO003 bits 12 to 15 Torque Unit Yes Yes torque thrust IWOD44 to _ R d es Iwooss subs ILoOos6 Fixed Parameter Stores the data of the fixed parameter when FIXPRM RD has been Yes Yes Monitor specified in the Motion Subcommand IWODS8 to _ R d _ p IWO005C is Encoder Position ILOO5E When the Power is 1 1 pulse Yes OFF Lower 2 Words Encoder Position ILOO60 When the Power is 1 1 pulse Yes OFF Upper 2 Words Pulse Position When
263. a 1k A a RA wa 1MC SP pge 24 VDC doh A power 4 alec ee supply 1 aba RAI Ground resistance RA1 T Load 100Q or less e equipment 4 24vVDC 24V p Machine power 024V gt 1 0 supply 2 r i gt r ra a gt t Terminating p D D D resistor O 4 O N O 5 O 6 6 6 6 HoT HoT ee eo LCS 5 e Lie cl Geol c Lice 6 Lcis cl IN Lcis al N Lcs ol IN Lace o IN B100 3 B1joo 3 Bijoo 3 B1 0 o 3 B2 0 0 B2 0 0 B2 0 0 B2 0 0 oo c m FO c te 28D c O c y on 4 u oo 1 U oa 4 u oo 1 V V V V won woa Wis a wio i oom oo Oo mom aon PG co M PG ao M PG og M PG 2MC 4 eR gt S gt T 1 SA Surge absorber for switching surge 2 RAI CPU RUN output Mounting and Wiring 3 25 MEMO 4 System Start Up and Easy Programming This chapter explains how to start up a model system using the programming tool MPE720 Ver 6 Note that the procedure for designing a mechanical system has been omitted here 4 1 System Startup Overview 4 2 4 2 Preparation step 1 4 3 4 2 1 Wiring 4 3 4 2 2 Self Configuration 4 5 4 2 3 Test Operation 4 6 4 3 Programming step 2 4 9 4 3 1 Programming Procedure
264. ach bit is shown below FEDCBA9876543210 AAA CY WM _ Type code 01H Inverter 02H Servo 03H I O Reserved Transmission error High speed scan Transmission error Low speed scan Reserved Normal transmission 2 44 2 2 Basic Module 2 2 5 Built in SVB Module 5 SVB Definition The SVB Definition file defines the motion parameters motion fixed parameters motion setting parameters and motion monitoring parameters to control motion axes such as the SERVOPACK inverter and stepper Refer to Appendix E Motion Parameter Details for details on motion parameters a Opening the SVB Definition Window Open the SVB Definition Window by the following procedure 1 Select MP2300S in the Controller area then double click the slot number cell of the SVB Module in the Module Details field in the Module Configuration Window El PT 2 CPUR 1 z f Controller 7 Module Type MP23005 v UNDEFINED Controller Number __ a Circuit Number a z I O Start Register 1 0 End Register Disable Input Disable Output A Motion Start Register Motion End Register MP23005 Controller module with network servo control ethernet virtual axes program control function Running m Module Details MP2300S SLOT 00 SS siecNumber A lt _ E o
265. al acceleration deceleration exponential acceleration decel 2 Method eration filter moving average filter 5 Position Unit pulse mm inch degree um Speed Unit Reference units s 10 reference units min percentage of rated speed Acceleration Unit Reference units s ms acceleration from 0 until rated speed reached Torque Unit Percentage of rated torque Electronic Gear Provided Position Control Method F inite length position control infinite length position control absolute system infinite length position control and simple absolute system infinite length position control Software Limit Positive negative direction for each point Zero Point Return Method 13 types SERVOPACK Karamele P b d in the MPE720 s SERVOPACK P ter Wind Management arameters can be managed in the s arameter Window Single send communication cycle transmission cycle asynchronous communication Communication Method Transmission communication error detection hardware provided 5 Synchronous communication error detection software not provided Automatic recovery function not provided recovery when alarm cleared I O Registers Input output using motion registers synchronized on high speed scan Command Mode Motion Command Mode MECHATROLINK Transparent Command Mode D Control Type Speed control only V F vector control and other control methods use inverter settings Motion Commands Inverter I O control etc Speed Unit The speed unit depends on the i
266. am M EXECUTOR I O register details are as follows M EXECUTOR Input Register M EXECUTOR Output Register M EXECUTOR item M EXECUTOR ism Input Register Output Register Iwxxxx 0 Status Owxxxx 0 Program number Iwxxxx 1 Definition Spare Owxxxx 1 Definition Control signal IWxxxx 2 No 1 Spare Owxxxx 2 No 1 Override IWXXxx 3 Spare Owxxxx 3 Spare IWXXXX 4 Status Owxxxx 4 Program number IWxxxx 5 Definition Spare Owxxxx 5 Definition Control signal IWxxxx 6 No 2 Spare Owxxxx 6 No 2 Override IWXXXx 7 Spare Owxxxx 7 Spare IWxxxx 3C Status Owxxxx 3C Program number Iwxxxx 3D Definition Spare Owxxxx 3D Definition Control signal IWXxxx 3E No 16 Spare Owxxxx 3E No 16 Override Iwxxxx 3F Spare Owxxxx 3F Spare Specifications and Functions 2 53 2 54 2 2 Basic Module 2 2 7 M EXECUTOR Module Motion Program Executor 4 Detailed Screen This section describes the M EXECUTOR detail screen E Program Definition Screen M EXECUTOR list display screen The program definition screen allows you to register a motion or sequence program to run Programs are executed according to the scan in ascending numeric order A white cell can be set by the user and a grey cell cannot be set by the user E M EXECUTOR M
267. am The setting is finished for now If necessary transfer the settings to the PLC after setting all parameters 3 How to Start Communication 1 The MP2300S side starts to receive the messages When an automatic receive function is used the message receive operation starts automatically so you are not required to do anything 2 Use an OPEN command in the MELSEC Q series side to establish a connection with the MP2300S and use a BUFSND command to transmit messages When messages are transmitted from the MESLSEC Q series communication with the MP23008S will start 6 82 6 4 Communication with PLC Manufactured by Mitsubishi Electric Corporation MELSEC protocol 6 4 2 When the MP2300S Acts as Master I O message communication function is used 6 4 2 When the MP2300S Acts as Master I O message communication function is used This section explains how to carry out the communications between CPU and the MELSEC Q series using the MP2300S I O message communication function MP2300S MELSEC Q series Local station Remote station Communication Protocol MELSEC protocol Slave Master Ssh 4 Connection Type TCP UDP Data Code Type BIN ASCII Etherne Ethernet MP29005 MELSEC Q series I O Message Communication Function ladderless 4 218IFA MELSEC protocol A inter CPU communication J Fig 6
268. am alarm is occur ring is turned ON If the error is cleared it is turned OFF Error details are as follows Error Details Called program is unregistered Called program is not a sequence program Called program is not a sub program main program is called Called program number is over Nest over error 5 2 User Programs 5 2 4 Ladder Drawings DWG 5 2 4 Ladder Drawings DWG 1 Types of Drawings Ladder programs are managed in units of ladder drawings which are identified by drawing numbers These drawings form the basis of user programs Ladder drawings include parent drawings child drawings grandchild drawings and operation error processing draw ings In addition to drawings there are functions that can be freely accessed from each drawing e Parent Drawings Parent drawings are automatically executed by the system program when the execution conditions outlined in the table below are met Child Drawings Child drawings are accessed using a SEE command from a parent drawing e Grandchild Drawings Grandchild drawings are accessed using a SEE command from a child drawing e Operation Error Processing Drawings Operation error processing drawings are automatically executed by the system program when an operation error occurs e Functions Functions are accessed and executed from parent child and grandchild drawings using the FSTART command a Drawing Types and Order of Priority
269. am shows a connection example of a system using the MP2300S The following diagram shows a 200 VAC power supply example Note elect the SERVOPACK 24 VDC power supply to use in accordance with the input power supply specifi cation 200 VAC power supply R S T 1MCCB A Z Noise filter tun ON the Shut OFF the Panel Programming device control power control power pis EID aay cok 1MC T ra T ete IMC Sa 1 Turn ONthe Shut OFF the Emergency a servo power servo power ae 4MC 2MC Y we rer 2MC sa HUB MP2300S y TO OT Terminating resistance 29 08 aiis aE s
270. ameters Table G 15 Offset Parameter List Parameter Contents Description PARAM08 Coil offset Sets the coil s offset word address PARAMO9 Input relay offset Sets the offset word address of an input relay PARAM10 Input register offset Sets the offset word address of an input register PARAM 11 Holding register offset Sets the offset word address of a holding register The valid offset parameter may differ depending on the function code The following table lists the valid parameters for each function code Table G 16 Valid Parameter List for Offset of Each Function Code Function Code Function Valid Offset Parameter 01H Reads coil state PARAMO08 02H Reads input relay state PARAM09 03H Reads holding register content PARAMI1 04H Reads input register content PARAMI10 05H Changes single coil state PARAMO08 06H Writes to single holding register PARAMI1 OFH Changes multiple coil states PARAMO08 10H Writes to multiple holding registers PARAMI1 16H Mask writes to holding register PARAMI11 17H Reads Writes multiple holding registers PARAMI1 11 Reserved by System 1 PARAM12 Used by system the channel number of communication buffer in use is stored Note At the first scan during power up make sure to set it to O by using the user program After that the reg ister is used by system Do not change the value thereafter with the user program 12
271. ample E Caution Set up a unique IP address in the network For the IP address check with your network administrator o Ethernet Communications 6 77 6 4 Communication with PLC Manufactured by Mitsubishi Electric Corporation MELSEC protocol 6 4 1 When the MP2300S Acts as Slave automatic receive function is used 3 Click the Easy Setting Button in the Message Communication area of the connection parameter set ting T ee Parameter age Co Cannot the overlap to local station port number used by the communicate the 1 0 message 4 Set up the communication settings in the Message Communication Easy Setting Window Message Communication Easy Setting Connect No 1 Y Specify the connection number y MP Series Local Port IP Address 192 168 001 001 Other Device Node Port IP Addgess 0 255 fis2 pez TE p Communication protocol Type Default Port No 2556 65535 fi 0001 Connect Type TCP Code BIN z Cancel E How to set up in the Message Communication Easy Setting Window When automatic receive is used select 1 for the Connect No Set Port No of MP2300S side 10001 for example Select MELSEC for Communication Protocol Type and click the Default Button Select Connect Type TCP for example Select Code BIN for example Set Node port IP Address for the other device MELSEC
272. ample An example of a function setting when 218IF is used as a communication device follows When non procedure 2 per byte is used set the Pro Typ field to 00003 non procedure 1 per word Set the circuit number in accordance with the circuit number allocated to the target 218IF Set a unique communication buffer channel number for the same circuit For information on the register number refer to G1 2 1 Input Item on page A 36 and G 1 2 2 Output Item on page A 38 Communication device 218IF Execute DBO000201 Busy DB000210 Protocol non procedure 1 Abort DB000202 Complete DB000211 NG Dev Typ 00006 Error DB000212 Circuit number 1 Ee Pro T 00002 yp Communication buffer channel number 1 Cir No 00001 Ch No 00001 Parameter list start address DA00000 Param DA00000 use DW00000 to DW00016 gt Appendices A 61 A 62 2 Process Result PARAMOO The process result is output to the upper byte The lower byte is used for system analysis Value of Process Meaning Result 00O0H In process Busy 1000H Process completed Complete 8yOOH Error occurred Error When an error occurs take corrective action by referring to the following error contents Value of Process Error Contents Description Result 8000H Reserved 8100H The following setting is out of range Check the setting 8200H Error in setting ad
273. and M EXECUTOR control register at H scan cycle Now the motion program becomes executable e When an allocation contact interlock is OFF data is not exchanged between an allocation register and M EXECUTOR con trol register Now the motion program becomes unexecutable When an allocation contact interlock is switched from ON to OFF while running a motion program the running motion pro gram stops and an axis in operation also stops Now the motion program falls into the alarm 1 Bh Executing an emergency stop command state and the status Bit8 Program alarm is occurring is turned ON Again to execute a motion program follow the procedure below for operation Switch the interlock contact from OFF to ON Turn ON a control signal Bit5 Alarm reset request Make sure that the status Bit8 Program alarm is occurring is turned OFF Turn OFF the control signal BitS Alarm reset request Turn ON a control signal Bit0 Request for the program operation startup ANH 5 2 User Programs 5 2 2 Motion Programs E A Way to Control a Motion Program via a Sequence or Ladder Program Without using the allocating function of the above mentioned M EXECUTOR control register controls a motion program via a sequence or ladder program To use this execution processing save the blank Allocation register and the blank Allocation interlock contact as a blank In this case the M EXECUTOR control register configu
274. ansmission 2 Abort B VAL Forcibly ends a transmission Communication device type S Pap FREG Ethernet 218IF 6 Ethernet 218IFA 16 Communication protocol 4 Pro Typ I REG MEMOBUS 1 non procedure 103 9 Input Item non procedure 23 3 Circuit number 2 ene FREQ Ethernet 218IF 1 to 8 Ethernet 218IFA 1 to 8 Communication buffer channel number Ae ERNO FREG Ethernet 218IF 1 to 10 Ethernet 218IFA 1 to 4 Parameter list start address if Param Address input MA DA 1 Busy B VAL In process Output Item 2 Complete B VAL Process completed 3 Error B VAL Error has occurred 41 The meanings of I O options are as follows B VAL Specify I O by bit type data I REG Specify I O by integer type data When specifying set an integer type register number As for the input only it can be a constant literal Address input The address of the specified register any integer register is passed to the function 2 When transmitting in MEMOBUS Extended MEMOBUS MELSEC OMRON or MODBUS TCP protocol set the communication protocol Pro Typ to MEMOBUS 1 The communication device automatically converts the proto col 3 Non procedure 1 In non procedural communication data is transmitted on a per word basis Non procedure 2 In non procedural communication data is transmitted on a per byte basis gt Appendices A 35 G 1 2 O Item Details of the Message Transmit Function 1 Input Item
275. anufactured by Mitsubishi Electric Corporation MELSEC protocol 6 4 1 When the MP2300S Acts as Slave automatic receive function is used 2 How to Set up the Remote Device MELSEC Q series to Be Connected This section explains the MELSEC Q series side procedure to set up for connecting the MP2300S with the MELSEC Q series Note MELSEC Q series are manufactured by Mitsubishi Electric Corporation Contact Mitsubishi Electric Corporation for more information 1 Start up GX Developer 2 Create anew project 3 Set up network parameters MELSECNET Ethernet Table 6 22 Network Parameter Setting example Setting Item Setting Details Network Type Ethernet Start I O No Any Network No Any Group No Any Exchange Number Any Mode Online 4 Set up Ethernet operation Table 6 23 Ethernet Operation Setting example Setting Item Setting Details Communication Data Code R Iean Setting Binary code communication Initial Timing Setting Any IP Address 192 168 1 2 Transmit Frame Setting Ethernet V2 0 TCP Alive Check Setting Any Permit Writing during RUN Permitted 5 Set the open setting Table 6 24 Open Setting example Setting Item Eo Rap e Protocol TCP 2 Open System Active g Fixed Buffer Transmit E Procedure to Communicate with Fixed Buffer With procedure 8 Pairing Open Any Check Alive Any 5 Local Port Number 2711H
276. ap and Status Click the tab to view each 1 Transmission Parameters Tab The parameters required to use the MECHATROLINK transmission system are displayed lt Communication Method in MECHATROLINK II gt lt Communication Method in MECHATROLINK I gt bel MECHATROGT MPZ ojxi EE MECHATROLINK MP23005 Online Local Aife B za PT 2 CPUR 1 PACK 01 Siot 00 PT 2 CPUR 1 RACK 01 ee Transmission Parameters Link Assignment 1 0 Map Status Transmission Parameters Link Assignment 1 0 Map Status Communication Type Master Slave My station address Transmission Speed Transmission Byte Communication Cycle 1 0 ms v Sigmawin Not Used X Number of retry to slaves 1 X Number of slaves 9 Slave synchronous function Disable v Communication Type MECHATROLINK bd Master Slave agin gt My station address T Transmission Speed 4Mbr Communication Cycle On Message confidence level gt X Number of slaves 14 The items shown on the Transmission Parameters Tab are described in the following table For items whose input fields are available the settings can be changed Always save the settings to the flash memory after chang ing them Item Display during Self configuration Options and Precautions on Settings Type Communication Displays the detected communication method Select MECHATROLINK II 32 Byte Mode MECHATROLINK II 17 Byte Mode or MECHATROLINK
277. arm Code IWOO12D When the Servo Driver Error LOO04 bit 0 turns ON a SERVOPACK alarm will exist The content of the alarm can be confirmed using the Servo Driver Alarm Code monitoring parameter IWOO2D The Servo alarm codes are listed in the following tables E gt I Series Name Sea Code Meaning 99 Normal 94 Parameter Setting Warning 95 MECHATROLINK Command Warning 96 MECHATROLINK Communication Error Warning 00 Absolute Value Data Error 02 Parameter Corrupted 10 Overcurrent 11 Ground Fault 40 Overvoltage 41 Undervoltage 51 Overspeed 71 Overload Instantaneous 72 Overload Continuous 7A Heat Sink Heating 80 Absolute Encoder Error 81 Absolute Encoder Backup Error 82 Absolute Encoder Checksum Error ae eee IwOO2D 83 Absolute Encoder Battery Error 84 Absolute Encoder Data Error 85 Absolute Encoder Overspeed Bl Gate Array 1 Error B2 Gate Array 2 Error B3 Current Feedback Phase U Error B4 Current Feedback Phase V Error B5 Watchdog Detector Error Cl Servo Run away C2 Encoder Phase Error Detected C3 Encoder Phase A or B Broken C4 Encoder Phase C Broken C5 Incremental Encoder Initial Pulses Error DO Position Error Exceeded E5 MECHATROLINK Sync Error E6 MECHATROLINK Communication Error F1 Broken Phase in Power Line F3 Momentary Power Loss 8 40 8 2 Troubleshooting 8 2 7 Troubleshooting Motion E
278. as zero Review the MVT command MVT command omand erectin A motion command which cannot be executed 8Bh by the destination motion module was Review the motion program disabled instructed T on A motion command was executed when a Review the motion program so that a Distribution incom Petey Das 8Ch leted motion module was not in the Distribution motion command is executed in the Distri P Completed state bution Completed state 8Dh Motion command Motion module fell into the Motion com e Release the destination axis error abnormally aborted mand abnormally aborted state e Review the motion program Maintenance Inspection and Troubleshooting 8 29 8 30 8 2 Troubleshooting 8 2 6 List of Causes for Command Error Completed Status 8 2 6 List of Causes for Command Error Completed Status The Command Error Completed Status WO009 bit 3 turns ON when the set motion command cannot be executed for some reasons or the execution of motion command ended with error The cause for which this bit turns ON differ depending on motion command The following table shows the causes of Command Error Completed Status by motion command Motion Command Code Cause of Command Error Occurrence Warning vand Alarm A That Occur at Command Error Occurrence The positioning moving amount exceeds the A Excessive Positioni
279. asynchronized to synchronized when the high speed scan setting is changed Specifications and Functions 2 33 2 34 2 2 Basic Module 2 2 5 Built in SVB Module 2 Specifications The specifications of built in and optional SVB Modules are as follows a Motion Control Function Item Details Number of Communication Gieli Lines Benet Number of Communication 2 Ports Connectors pong Terminating Resistor JEPMC W6022 terminator must be purchased separately MECHATROLINK II Min distance between stations 0 5 m Transmission Distance Total network length 50 m can be extended to 100 m by connecting repeaters MECHATROLINK I Min distance between stations 0 3 m Total network length 50 m can be extended to 100 m by connecting repeaters 5 Communication Interface MECHATROLINK II 2 N synchronous MECHATROLINK I 1 N synchronous 3 Baud Rate 10 Mbps 4 Mbps Transmission Cycle 0 5 ms 1 ms 1 5 ms or 2 ms 2 ms z a Number of Link 17b 32 b 7b 8 Communication Bytes FOYLES OR RS p tes 7 bytes x amp Number of Connectable Up to 21 stati Zle p to 21 stations 3 a ir Stations SERVOPACK for up to 16 axes pito Sean C1 Messaging lt 8 Master Function Provided selectable Not provided tu ez Messaging Provided selectabl N ided Allocations rovided selectable ot provided Retry Function Provided selectable Not provided Supported Slave
280. ate with the MP2300 message receive function MSG RCV using the MP2300S I O message communication function Master MP2300S Local station Slave MP2300 Remote station MP2300 MP2300S yy Yaskawa a y YASKAWA 3g p Communication Protocol Extended MEMOBUS 7 Type protocol iE Connection Type TCP UDP sail Te x o5 Fi Data Code Type BIN ASCII Ethernet Ethernet MP2300S MP2300 I O message receive function ladderless A 218IFA Extended MEMOBUS protocol MSG RCV function ladder application Option Module 2181F 01 Fig 6 6 Message Flow with MP2300 when I O Message Communication Function Is Used m O Message Communication T O message communication implements out 1 1 communication In addition you can read and write only the holding register in the case of Communication Protocol Type Extended MEMO BUS used in the communication with MP series When you communicate with multiple remote devices or when you need to read a coil state or input relay or change a coil state as well as read write a holding register use the message transmit function MSG SND 6 36 6 2 Communication with Other MP Series 6 2 3 When MP2300S Acts as Master I O message communication function is used E Set
281. ated BitE Error without a system work is reported to the status 2 Override setting for interpolation OFF 100 fixed at an override for interpolation ON Depends on the designated override for interpolation Use signals conforming to the above signal types when writing ladder programs Note Motion programs are executed if the program operation start request signal is ON when the power is turned ON 5 2 User Programs 5 2 2 Motion Programs E Timing Chart for Motion Program Control Signals The following figure shows an example of a timing chart for motion program control signals Program Operation Start Request Control signal Operation start request Status Operating Distribution Pause Request Control signal Operation start request Control signal Pause request Status Operating One scan Status Paused Distribution oe eee ee N Stop Request Control signal Operation start request Control signal Stop request Control signal Alarm clear Status Operating Status Stopped gt e Status Alarm Distribution MVS a ae Distribution MOV An alarm will occur if the stop request is turned ON during axis operation using a motion command c Interpolation Override The override when execu
282. ation Protocol MELSEC protocol Slave ae ion Protoco protocol Master Connection Type TCP Data Code Type BIN Etherne Ethernet Port number 10001 Port number 10001 MP2300S MELSEC Q series Local station Remote station Holding register M register Data Register D register Writ C mwo0000 sa D00201 MW00001 j D00202 Data size Data size MW00098 j lt D00299 MW00099 j D00300 The particular setup procedure is explained in the subsequent pages 6 76 6 4 Communication with PLC Manufactured by Mitsubishi Electric Corporation MELSEC protocol 6 4 1 When the MP2300S Acts as Slave automatic receive function is used 1 How to Set up the MP2300S Side If the setting of transmission parameters IP address subnet mask is already completed start from step 3 1 Double click the 218IFA Tab in the Module Details of the module configuration definition m Module Details MP2300S SLOTH 00 Module Type cu Q S SVR M EXECUTOR 2 Set transmission parameters OFORO Transmission Ffaranjeter Status Module Name Definition fi A 0255 Equipment name CONTROLLER NAME 3 fo 10255 o O O fo 0 255 Detail Definition E How to set up transmission parameters Set IP Address 192 168 001 001 for example Set Subnet Mask 255 255 255 000 for example Set Gateway IP Address 000 000 000 000 for ex
283. ation with a SVB 01 Module 3 Prepare the cables according to MECHATROLINK I specifications Connections that do not meet the specifications will prevent normal communication due to the influence of reflected waves or other fac tors MECHATROLINK I Specifications e Total network length 50 m max e Maximum number of slave stations 14 stations max e Minimum distance between stations 0 3 m min 5 Terminator Connections JEPMC W6022 Pin number Name NC 1 DATA 2 J130 Q DATA 3 SH 4 Shield Mounting and Wiring 3 2 Basic Module Connections 3 2 3 MECHATROLINK Connectors 6 Connection Example between MP2300S SERVOPACK and 102310 Terminator 3 18 p terminating resistance JEPMC W6022 O YASKAWA JEPMC 102310 hi m outi ourz Wi a A il gt T BIAT I Brat T B1 A1 T BI Terminator JEPMC W6022 Use MECHATROLINK cables between modules Use under the conditions thatL1 L2 L3 Ln lt 50m 3 2 Basic Module Connections 3 2 4 Ethernet Connector Details 3 2 4 Eth
284. ations below change the slave CPU synchronous state to the asynchronous state Master side operation e Change of an H scan setting e Saving of a MECHATROLINK communications definition e Self configuration Slave side operation e Change of an H scan setting e Self configuration While recovering to the slave CPU synchronous state a scan cycle disturbance may occur E When a communication error occurs the condition changes from slave CPU synchronous to asyn chronous state E When the MP2300S with a built in SVB is changed from slave to master flash save the change and turn ON the power again E The slave CPU synchronous function is available only when the MP2000 series SVB is used as a master When connected to another master controller it works in asynchronous mode 7 28 7 4 Precautions 7 4 2 Effect of Error on Slave CPU Synchronous Operation E When the MP2300S with a built in SVB works as a slave and the SVB 01 in an optional slot works as a master never connect them so that they form a loop as shown in the following figure ra 7 4 2 Effect of Error on Slave CPU Synchronous Operation When an error occurs in a slave CPU synchronization the slave side behavior reacts as follows Action State The master side power is turned OFF Continues to work in slave CPU asynchronous state An input error may occur but other scan operations are not affected MECHATROLINK communication ca ble is disco
285. atus SW00812 M EXECUTOR function module ID 8430H SW00813 M EXECUTOR function module status SW00814 to SW00815 Reserved by the system SW00816 to SW00823 Slot 1 SW00824 to SW00831 Reserved by the system Slot 2 SW00832 to SW00839 Reserved by the system Slot 3 SW01008 to SW01015 Reserved by the system Slot 26 8 2 5 Motion Program Alarms a Error Information Screen Open from Operation Control Panel Drive control panel P24 Program exec registry No Program number MPM foo a If a motion program alarm occurs find the cause of alarm indicated by the alarm code This section explains the error information screen and motion alarm codes The following two options are available for displaying the error information screen No01 START START PAUSE PAUSE Stopped STOP ALMRST ALMRST RUNNING RUNNING O PAUSING PAUSING O STOPPED STOPPED O ALARM ALARM O PRGNOERR PRGNOERFO b Open from Right click Menu on the Motion Editor Motion command assist Insert motion command F12 Set Delet Enables Disabil Select All Add Register Register for Trace Manager 8 2 Troubleshooting 8 2 5 Motion Program Alarms The alarm code alarm name and its corrective actions in a motion program can be checked on the error information Click the Display Button on the Drive Control Panel Window to display error i
286. be read directly from the MP2300S Refer to 11 1 Parameters That Are Automatically Updated in the Machine Controller MP2000 series SVB SVB 01 Motion Module User s Manual manual no SIEPC88070033 This means that parameters are saved in the memory area of both the MP2300S and the SERVOPACK It is thus necessary to consider the relationship between the settings in both memory areas Operations and Parameter Data Flow 1 Power ON 1 Parameter data saved in the SERVOPACK s EEPROM is copied to SERVOPACK s RAM 2 Parameter data saved in the MP2300S s flash memory for all axes is copied to SDRAM Some gain related settings are sent from the MP2300S to SERVOPACK RAM 1 EEPROM flash memory and SRAM Store data even when the power is turned OFF 2 RAM SRAM SDRAM Lose data when the power is turned OFF MECHATROLINK Send Send I MPE720 ee k System Control A y SRAM Software Software T Input FO l Data J ee NL As HDD in personal computer Indicates data has been written same below Flash Memory gt SDRAM Servo Parameters All Axes RAM lt FOM Parameters MP2300 SERVOPACK SERVOPACK gt Appendices a A 6 2 Normal Operation 1 Control software of the SERVOPACK operates based on the parameter data held in SERVOPACK s RAM 2
287. ber y MP Series 4 Other Device Local Port IP Address Node Port IP Address 0 255 192 168 001 001 192 168 001 a 003 Communication protocol Type Extended MEMOBUS _ Default Port No 256 65535 10010 Code Connect Type TCP BIN bd Cancel The following table provides the default values for each connection stored when the connection parameters are not yet set and this screen is opened Default Item Connection Connection Connection Connection Number 01 Number 02 Number 03 Number 04 Local Port 10001 10002 10003 10004 Node IP Address 192 168 1 2 192 168 1 3 192 168 1 4 192 168 1 5 Node Port Number 10001 10002 10003 10004 Se Extended MEMOBUS Connect Type TCP Code BIN By clicking the Default Button default values are set for each data code type according to the selected communication protocol type The following table shows the default values for each data code type Communication Protocol Type Default for Data Code Type Extended MEMOBUS BIN MEMOBUS RTU MELSEC BIN Non procedure BIN MODBUS TCP BIN Specifications and Functions 2 21 2 2 Basic Module 2 2 4 218IFA Module Ethernet E Automatic Receive Setting Screen for Message Communication The automatic receive function can be enabled only for connections where the connection number 1 The automatic receive function enables you to automatically run a functio
288. cation with Other MP Series 6 2 3 When MP2300S Acts as Master I O message communication function is used E Example of Using the Message Receive Function in a Ladder Program Here is one example of using the message receive function through Ethernet 218IF In addition this ladder pro gram is for receiving read operation A ladder program for receiving write operations is required separately MP2300S Remote device MP2300 I O Message Communication X 01 Read MSG RCV For receiving read operations Write X 02 gt MSG RCV For receiving write operations 6 46 6 2 Communication with Other MP Series rrr E TE EE TE ET a TT TT TT EE LE TL LIES 6 2 3 When MP2300S Acts as Master I O message communication function is used message receiving ladder program 2181F initializing setting parameters for MSG RCV function on the first scan after power on use SBO00003 for low scan SBO00001 for high scan Astscan after power o Ethernet Communications 0000 NL 1 clear for all D registers 0001 NL2 Mata 00000 fywidth 00032 setting connection No PARAMO2 Set DW00002 6 MA _ Expression A 0002 Dwo0002 6 to receive write NL 2 setting offset PARAMOS PARAM11 operations poos d 0003 DWO0008 0 coil of
289. ck test Disable i 1 to 2044 BIN 09H W Reads holding register content extended 1 to 508 1 to 1020 ASCH 1 to 2044 BIN OAH Ww Reads input register content extended 1 to 508 1 to 1020 ASCH 1 to 2043 BIN OBH Ww Writes to holding register extended 1 to 507 1 to 1019 ASCH OCH Unused Disable ODH w Discontinuously reads holding register 1 to 508 1 to 2044 BIN extended 1 to 1020 ASCII OEH Ww Discontinuously writes to holding register 1 to 254 1 to 1022 BIN extended 1 to 510 ASCII OFH B Changes multiple coil states 1 to 800 10H Writes to multiple holding registers 1 to 100 1 Specifies the number of bits 2 Specifies the number of words Note Data size in the table is represented as a decimal number 9 Remote CPU Number PARAMO7 Set a remote CPU number When the remote device is MP2000 series specify 1 When the remote device is a controller manufactured by YASKAWA Electric Corporation but other than the MP2000 series and comprises multiple CPU modules specify the destination CPU number Otherwise specify 0 10 Offset PARAM08 PARAM09 PARAM10 PARAM11 Specify the offset addresses of read data storage areas and write data source of the transmission side The address for the transmission side will be displaced by the number of words designated by the offset Note 1 For more information refer to G 1 8 Relationship between Data Address Data Size and Offset fo
290. ck to see whether an oper Check the error count for each drawing in SW00080 to SW00088 If errors ation error has occurred have been counted an operation error has occurred Go to 6 4 1 Check Error Details Check error codes for drawings where the error is counted DWG A SW00111 DWG H SW00143 DWG I SW00127 DWG L SW00175 2 Check the Drawing Number Check the error drawing number for the drawing number where an error 6 Investigate the type of opera occurred tion error and its location DWG A SW00122 DWG H SW00154 DWG I SW00138 DWG L SW00186 3 Errors in Functions Check the Function Referencing Drawing Number and Function Referencing STEP Number DWG A SW00123 4 DWG H SW00155 6 DWGI SW00139 40 DWG L SW00187 8 4 After the investigation of an error drawing or error function is complete set the 7 Determine the error occur corresponding drawing function or sequence program to Disable and turn on rence location the power supply in the RUN state to check that no error occurs Refer to 8 2 4 a How to Disable a User Program on page 8 14 4 4 Investigate the function with the error lt ERR indicator lit gt lt ALM indicator lit gt Go on to the next page Continued on from the previous page 8 2 Troubleshooting
291. command 0B00020D 0e000211 DB000212 DB000208 D8000200 porad F dirk C TOnpomg N O 0027 W Set 00100 NL 1 W Count DWw00030 MSG SND function pois d MSG SND z 0033 B Execute DB000200 B Busy pB000210 NL 1 BJAbort DB000201 B Complete DB000211 MDew Typ 00016 B Error DB000212 M Pro Typ 00001 MCirNo 00001 MCh No 00003 A Param DaAd0000 treatment after normally finished after finish poio d E 0034 0800021 1 true NL 41 abort 06000201 count for normal f inc 0035 WL Dest DW00024 NL 2 _END_IF_ 0037 NL 4 treatment while error taking place while error 0038 NL 4 count for abnormal 0039 NL 2 0219 EXPRESSION Al 0040 DWO0026 DW00000 results PARAMO0 NL2 DW00027 DW00001 status PARAMO1 _END_IF 0041 NLA treatment while timeout timeout ON pulse timeout taking place DB00020A DB000208 DB00020C 0042 NLA 6 58 6 2 Communication with Other MP Series 6 2 4 When the MP2300S Acts as Master ladder program which uses MSG SND function while timeout 0045 NL 4 count for timeout 0046 NL 2 0047 NL 1 0048 NL 4 The communication setting and the ladder program creation are now finished when MP2300S acts as a master o Ethernet Communications 6 59 6 2 Communication with Other MP Series 6 2 4 When the MP2300S Acts as Master ladder program which uses MSG SND function 2 How to Set up the Remote Equipment MP2300 to Be Connected If the setting of transmission parameters
292. computer IP address 11 MPE720 connects to the controller BE MPE 720 Ver 5 MP23005 Start lgj xi i Ble Edt wew Oime Compie Dsbuy Window Hep 8x iDBSAR 4986 Moe Meee GS Mino npa wua amg tnf zo DE lt S FS gt AB ROR NSE ii hernet LP IP 192 168 11 CPU RUN f ILL MP23005 Bim Ladder progam E CONTROL 7 E High speed Commurecations Setting Function a E Low epand Connection 2 Ethemet LP 1P192 168 1 1 MOVE AB Start 5 poc Internupt Disconnection E TABLE 7 E Function History History E SYSTEM 2300s YMW 2Ethemet LP IP192 168 1 1 MOTION 2300 YMW Z Ethernet IP192 168 1 1 1 Serial COM Unit DX Coss Reterence 1 D5 Check for Muluple Cois Ready CAP NUM SOL Appendix G MSG SND MSG RCV Functions Message Transmit Function MSG SND This section explains the message transmit function MSG SND used in a ladder program when transmitting mes G 1 sages G 1 1 Specification Overview of the Message Transmit Function Function Name MSG SND Transmits messages to a remote station on the circuit specified by the communication device type Function Supports multiple protocols Keep the execution command Execute until Complete or Error turns ON MSG SND Execute Busy Abort Complete Function Defi Dev Typ Error nition Pro Typ Cir No Ch No Param I O Definition No Name 1 0 Option Contents Execute B VAL Executes a tr
293. cting 14 repeaters 30m can be extended to 100 m by connecting 16 21 MECHATROLINK II eee 50m can be extended to 100 m by connecting 15 21 repeaters The values in parentheses apply when a JEPMC REP2000 Repeater is used JEPMC REP2000 Repeater must be used if 17 or more slave stations are connected when using MECHATROLINK II communication 3 Module Configuration a Module Configuration Window Click MP2300S in the Controller area to display the details of the basic module functions in the Module Details area The cell No 3 provides a detailed definition of built in SVB nix PT 2 CPU 1 Controller Module Type MP23005 v UNDEFINED Controller Number _ E z I O Start Register 1 0 End Register Disable Input el Disen oupa gt gt oe ree ee o MP23005 Controller module with network servo control ethemet virtual axes program control function r Module Details MP23005 SLOT 00 I O Start Register 1 0 End Register MECHATROLINK Running Running Running SVB Network servo control function Disable Input Specifications and Functions 2 37 2 38 2 2 Basic Module 2 2 5 Built in SVB Module The following table lists the items shown in the Module Configuration Window Item Description Modification Slot Number Slot numbe
294. ction m Module Details MP2300S SLOT O0 Module Type cru 2 18IFA SVR SVR M EXECUTOR Controler Number la fof E CircutNumber_ la o e E f Disable Input Disable Output CPU CPU module CPU operation such as a scan time setup and a system definition is set up Motion End Register ba 5 5 2 Setting or Changing Module Configuration Definition Files Observe the following precautions when setting or changing module configuration definition files e Always check to make sure that the mounted Module is the one that is defined e Be sure to save any new settings or changes to flash memory e After the settings or changes have been completed turn the power supply to the MP2300S OFF and ON a Outline of Motion Control Systems 5 55 5 5 Precaution on Using MP2300S 5 5 3 Setting and Changing the Scan Time 5 5 3 Setting and Changing the Scan Time 1 Precautions When Setting or Changing the Scan Time The scan time can be set and changed in the Scan Time Setting Window in the Environmental Setting Dialog Box on the MPE720 Observe the following precautions when setting or changing the scan time e Set the set values of the scan time for both the high speed H and low speed L scans to at least the maximum time required to execute the scans We recommend setting the set values of the scan time using the formula set value maximum time to execute scan 2 0 2 x set values of the scan time
295. ction Selection Application Switch 1 0000 H 0002 Function Selection Application Switch 2 0011 H 0004 Function Selection Application Switch 4 0110H 0006 Function Selection Application Switch 6 0002 H 0007 Function Selection Application Switch 7 9000 H 0008 Function Selection Application Switch 8 0100 Speed Loop Gain 4000 H STS 40 0 Hz Speed Loop Integral Time Constant 010 0102 Position Loop Gain I 1 20 00 md L 40 0 js 0103 Moment of Inertia Ratio Mass ratio V 0 2nd Speed Loop Gain 0105 2nd Speed Loop Integral Time Constant gt z a ms 0106 2nd Position Loop Gain 40 0 fs 0107 Bias 0 min 1 7 Saving Data to Flash Memory The data flow for SERVOPACK parameters is as follows when saving the parameters to flash memory on the MPE720 1 The MP2300S writes the parameters data Input Data held in SDRAM to flash memory MECHATROLINK Send Send MPE720 online I System Control Display Input Current ibaa ene Data Value 1 zasa BOO Flash EEP eros SDRAM RAM ROM Input To Data Servo Parameters Parameters Ie J All Axes MP2300S SERVOPACK SERVOPACK HDD in personal computer Save to flash memory also after having changed set data of SERVOPACK parameter m P
296. current position Logical axis 3 program current position Logical axis 4 program current position Logical axis 5 program current position Logical axis 6 program current position Logical axis 7 program current position Logical axis 8 program current position Logical axis 9 program current position Logical axis 10 program current position Logical axis 11 program current position Logical axis 12 program current position Logical axis 13 program current position Logical axis 14 program current position Logical axis 15 program current position Logical axis 16 program current position a Outline of Motion Control Systems 5 27 5 2 User Programs 5 2 3 Sequence Program 5 2 3 Sequence Program A sequence program is a program described with motion language of text format The following table shows two types of sequence programs Designation Category Method Features Number of Programs sPMO00 ee a Program QOD to 256 Calling from the M EXECUTOR program execution definition spsooo Sub te QOD to 256 Calling from the main program Up to 256 programs of the following types can be created e Main motion program e Sub motion program e Main sequence program e Sub sequence program E The program numbers of sequence programs are managed in the same manner as the motion program num bers Assign a different
297. cuted when the SERVOPACK was Servo OFF status Correction After clearing the motion command and resetting the alarm turn the SERVOPACK to the Servo ON sta tus Maintenance Inspection and Troubleshooting 8 35 8 2 Troubleshooting 8 2 7 Troubleshooting Motion Errors 8 36 f Bit 6 Positioning Time Over Detection Timing e Positioning was not completed within Positioning Completion Cheek Time OWO026 after completing pulse distribution Processing when Alarm Occurs e The current command was ended forcibly e The Command Error Completed Status in the Motion Command Status IWOD0 9 bit 3 will turn ON Error and Cause One of the following is possible e The position loop gain and speed loop gain are not set correctly creating poor response Or there is oscil lation The Positioning Completion Cheek Time OWM1126 is too short e The capacity of the motor is insufficient for the machine load e Connections are not correct between the SERVOPACK and the motor Correction Check the following e Check the SERVOPACK gain parameters e Check connections between the SERVOPACK and the motor e Check the motor capacity e Check the Positioning Completion Cheek Time OWOM26 The above check is not performed if the Positioning Completion Cheek Time OWO26 is set to 0 g Bit 7 Excessive Positioning Moving Amount Detection Timing e Positioning command is executed
298. d MP2300S 2 Discharge the large capacity capacitor in the encoder using one of the following methods E At the SERVOPACK End Connector 1 Disconnect the connector on the SERVOPACK end 2 Use a short piece to short circuit together connector pins 10 and 13 on the encoder end and leave the pins short circuited for at least 2 minutes 3 Remove the short piece and insert the connector securely in its original position E At the Encoder End Connector 1 Disconnect the connector on the encoder end 2 Use a short piece to short circuit together connector pins R and S on the encoder end and leave the pins short circuited for at least 2 minutes 3 Remove the short piece and insert the connector securely in its original position SERVOPACK Key location Encoder it White orange PG cable Short circuit here 3 Connect the cables using normal wiring and make sure the encoder battery is connected 4 Turn ON the system Repeat the procedure starting from step 1 if an Absolute Encoder Alarm occurs so the system has been success fully initialized gt Appendices P A 20 Appendix E Motion Parameter Details E 1 Fixed Parameter List The following table provides a list of SVB and SVR motion fixed parameters Slot Name Contents SVB SVR Number 0 Normal Operation Mode Yes Yes 1 Axis U
299. d Offset for MSG RCV Function on page A 98 2 The offset cannot be a negative value The offset parameter is prepared for each target data type The following table lists the offset parameters Table G 29 Offset Parameter List Parameter Contents Description PARAM08 Coil offset Sets the coil s offset word address PARAMO09 Input relay offset Sets the offset word address of an input relay PARAM10 Input register offset Sets the offset word address of an input register PARAM11 Holding register offset Sets the offset word address of a holding register The valid offset parameter may differ according to the function code The following table lists the valid parameters for each function code Table G 30 Valid Parameter List for Offset of Each Function Code Function Code Function valid Offset Parameter 01H Reads coil state PARAMO8 02H Reads input relay state PARAMO09 03H Reads holding register content PARAMII1 04H Reads input register content PARAM10 05H Changes single coil state PARAMO08 06H Writes to single holding register PARAMI1 OFH Changes multiple coil states PARAMO08 10H Writes to multiple holding registers PARAMI1 16H Mask writes to holding register PARAMI1 17H Reads Writes multiple holding registers PARAMI1 11 Write Range PARAM12 PARAM13 Sets an available address range for the write request from the transmission side A write request which is o
300. d Range of Data Addresses 00H Unused Disable 01H B Reads coil state 1 to 2000 02H B Reads input relay state 1 to 2000 03H WwW Reads holding register content 1 to 125 04H W Reads input register content 1 to 125 05H B Changes single coil state Disable 06H W Writes to single holding register Disable 07H Unused Disable OEH OFH B Changes multiple coil states 1 to 00 10H Writes to multiple holding registers 1 to 100 11H Unused Disable 15H 16H Ww Mask writes to holding register 3 Disable 17H Reads Writes multiple holding registers 23 ae ee rite 1 to 100 1 Specify the number of bits 2 Specify the number of words 3 Invalid when Ethernet 218IF is used Note The data size in the table is represented in decimal number gt Appendices A 59 9 Remote CPU Number PARAM07 Refer to G1 4 9 Remote CPU Number PARAMO07 on page A 49 10 Offset PARAMO08 PARAMO9 PARAM10 PARAM11 Specify the offset addresses of the read data storage area and the write data source of the transmission side The address for the transmission side will be displaced by the number of words designated by the offset Note 1 For more information refer to G 1 8 Relationship between Data Address Data Size and Offset for MSG SND Function on page A 66 2 The offset cannot be a negative value The offset parameter is prepared for each target data type The following table lists the offset par
301. d for read register the display is shown in bit size Specifications and Functions 2 25 2 2 Basic Module 2 2 4 218IFA Module Ethernet E Easy Setting Window for I O Message Communication Graphically adjusts the setting for the read write connection parameters Generally the contents are similar to I O message communication items in connection parameter setting When the connection parameters are not yet set and this dialog box is opened the default values for read write connec tion will be automatically stored 1 0 Message Communication Easy Setting 2 26 MP Series Local Port IP Address 192 168 001 001 Input Reg IW xxx twoooo T Trp ble Output RegiOWxkxx Jowooo4 x Eere 7 Output disable Data update timing Low v Scan Connect Type TCP X Write Size j w Other Device Node Port IP Address 0 255 192 168 4 001 foo Communication protocol Type Extended MEMOBUS v Default Read Size jo wW oher a lS 256 65535 aw v 00000 frooos a paw pa 103 i Write Reg Port No BIN x Cancel The following table provides the default values for each connection stored when the connection parameters are not yet set and this screen is opened Item Default MP Series Local IP Address Values set in transmission parameter setting items are shown Read Local Port 10005 Write 10006 Input Register
302. dder Editor Programming Manual manual number SIEZ C887 13 1 Machine Controller MP900 MP2000 Series New Ladder Editor User s Manual manual number SIEZ C887 13 2 MP2000 Series Engineering Tool for Controller MPE720 Ver 6 0 User s Manual manual number SIEPC88070030 Outline of Motion Control Systems 5 35 5 36 5 3 Registers 5 3 1 Types of Registers 5 3 Registers This section describes the types of registers used in MP2300S user programs mainly ladder programs and how to use them 5 3 1 Types of Registers 1 DWG Registers Registers used by ladder programs ladder drawings DWG Each drawing can use the registers outlined in the follow ing table Type Name Specification Method Range Details Characteristics Registers provided by the system SW00000 to S System registers SBS W SL SEnnann 3W00009 to SW00049 are cleared to all zeros when the sys SAnnnnn SW08191 tem starts MB MW ML l M Data registers MFnnnnn MW00000 to Registers shared by all drawings Used e g as MW65534 an interface between drawings MAnnnnn Common to all IB IW IL IFhhhh TW0000 to drawings Input registers Fg eae l p g IAhhhh IW13FFF Registers used for input data F OB OW OL OFhhhh OW0000 to Output registers i ents O p g OAhhhh OW13FFF Registers used for output data Constants regis CB CW CL CFnnnnn CW00000 to C ters CAnnnnn CW16383 Registe
303. decided by an application If not updated normally an operation error on the slave side may occur An example of an application which checks an input error is shown in the next page Conditions Use MP2200 CPU 02 SVB 01 is attached to the slot 1 of rack 1 MP2300S is assigned to st 1 INPUT IW0000 SIZE 15W OUTPUT OW0010 SIZE 15W Register Meaning Remarks DW00001 Copy of slave status DW00002 Condition check result DW00003 Copy of current value of scan counter DW00004 Previous value of scan counter DW00005 Data for checking scan counter DW00007 Input error counter value detected DW00008 Error counter value of slave status tus is detected DW00009 Error counter value of a scan counter counter is detected DW000010 Copy of input data data 1 DW000022 Copy of input data data 13 Increased by one when an input error is Increased by one when an error of the slave sta Increased by one when an error of the scan E Application Example check input error for st 1 7 3 Operation 7 3 5 How to Determine Input Error 0000 B002261 false NL 4 confirm the slave status if input OK 0001 NL 2 biti WARNG OFF bit2 CMRDY ON bit SYNC ON 0002 WLF SreA DWO0001 NL 2 WLF SteB H0084 DB000020 0004 DB000020 true NL 2 check scan count renew read present value 0005 NL 3 renew previous value WL SreA IWO000 WL Dest D
304. der program Specify any register M or D register used for an indirect designation for Program No in the MSEE command MPMO003 3 Motion program reference command ABS MOV X _ Y _ bai ee 7 y Program No MW00200 IOW MB0001 egister Data DA00OO0O0O Stored in MOVIX _ Y _ MW00200 MW00200 3 Register number Ladder program Motion program Fig 5 4 Calling a Motion Program Using an Indirect Designation 2 o Outline of Motion Control Systems 5 13 5 2 User Programs 5 2 2 Motion Programs 5 14 4 Work Register Configure and monitor a motion program via a work register The work register constitution for motion programs registered in the M EXECUTOR program execution definition dif fers from that for motion programs referenced by a MSEE command from a ladder program The work register constitution in each case is as follows E A motion program registered in the M EXECUTOR program execution definition The work register is assigned to a M EXECUTOR control register automatically defined by system The M EXECUTOR control register constitution is as follows M EXECUTOR Control register MPMOO Status WOCO lt 4 Work register Control signal OWOCO automatically defined Override owoco2 by system M EXECUTOR Se Control Register escription Status flag of a motion program Control Signal Control Signal of a motion program Override for interpolation E A motion pr
305. derflow Yes 32768 32768 0002H Integer operation overflow Yes 32767 32767 0003H Integer operation division error Yes The A register remains the same Integer 0009H Double length integer operation underflow Yes 2147483648 2147483648 Operations 000AH Double length integer operation overflow Yes 2147483647 2147483647 000BH Double length integer operation division error Yes The A register remains the same 0100H a error drawing integer operation error O 1 No Default indicated above 0010H Integer storage non numeric error Yes Store not executed 00000 0011H Integer storage underflow Yes Store not executed 32768 0012H Integer storage overflow Yes Store not executed 32767 0021H Real number storage underflow Yes Store not executed 1 0E 38 0022H Real number storage overflow Yes Store not executed 1 0E 38 0023H Real number operation division by zero error Yes Operation Tot monte The F register remains the same 0030H Real number operation invalid operation non numeric No Operation not executed 0031H Real number operation exponent underflow No 0 0 0032H Real number operation exponent overflow No Maximum value Real 0033H Real number operation division error non numeric 0 0 No Operation not executed Number 0034H Real number storage exponent underflow No Stores 0 0 Operation 0035H Real number operation stack error De ee No
306. designation 5 2 User Programs 5 2 2 Motion Programs b Executing H Drawings by MSEE Command Motion programs are always called from H drawings using the MSEE command motion program call command Motion programs can be called from any parent child or grandchild drawing in an H drawing The following figure shows an example of motion program execution System programs are started according to execution conditions y Parent Drawings Child Drawings Grandchild Drawings Motion Programs DWG H DWG H01 DWG HO01 01 MPM001 SEE gt SEE H01 01 gt VEL a1 5000 b1 H01 lt lt FMX T10000000 MSEE 4 IAC T25 MPMO01 ee MOV a1 300 b1 MVS a1 200 b1 DEND END MPMO002 MSEE MPM002 4 P DEND END MPM003 Subroutine MSEE MPS101 MPMO03 4 MSEE 2 gt MPS101 T DEND END RET H drawing ladder commands are executed in hierarchical order i e parent drawings child drawings then grandchild drawings each high speed scan cycle The above method is a preparation for running a motion program When a MSEE command is built in the motion pro gram does not start up To start up the motion program after the MSEE command is incorporated use a control signal to turn on the request for the program operation startup Motion programs are also called each scan cycle but unlike ladder programs all motion programs cannot be executed in on
307. differ according to the operating conditions including the ambient temperature If the BAT indicator on the Basic Module lights replace the battery with a replacement battery JZSP BAO1 within two weeks Any delay in battery replacement will result in the data stored in the memory being lost The appearance of the battery is illustrated below LiTHIUM Red lead Black lead Fig 8 1 JZSP BA01 Battery with Cable This battery is not commercially available Contact your Yaskawa representative 1 Procedure N CAUTION There is danger of electric shock if the battery is not replace correctly Furthermore machine malfunction may occur the operator may be injured or the machine may be damaged Allow only a qualified technician trained in safety procedures to replace the battery When replacing the battery always do so with power supplied to the Basic Module If power to the Basic Mod ule is turned OFF when the battery is replaced data stored in the memory in the Module may be lost Do not touch the battery electrodes The battery may be destroyed by the static electricity 1 Save the data stored in the Motion Board to a compact flash memory hard disk on an external com puter or other media This data is used to restore any data accidently lost during battery replacement For information on saving methods refer to the MPE720 Programming Device Software for MP900 MP2000 Machine Controllers User
308. ding to execution conditions Parent Drawings Child Drawings Grandchild Drawings DWG A DWG A01 DWG A01 01 SEEAQ1 j gt SEE A01 01 Functions lt FUNC 001 FUNC 001 gt gt het i____ DEND DWG A01 02 1 _ DEND 02 See FUNC 001 gt L DEND L DEND SEE A02 a DWG A02 System starts T automatically DWG A00 Operation _ error 7 l N 4 DEND DEND DEND Note 1 Parent drawing is automatically called and executed by system Therefore you can execute the child and grandchild drawings by programming a DWG reference command SEE command in the parent and child drawings 2 Functions can be referenced from any drawing Functions can also be referenced from other functions 3 When an operation error occurs the operation error processing drawing for that drawing will be started 5 34 3 Functions 5 2 User Programs 5 2 4 Ladder Drawings DWG Functions are executed by calling them from parent child or grandchild drawings using the FSTART command Functions can be called from any drawing and the same function can be called at the same time from different types of drawings and from different levels of drawings Another completed functions can also be called from functions Using functions has the following advantages e Easier creatio
309. ding to the data addresses 1 n When writing data stored in the local data addresses 1 n is picked up and written into the remote sta tion s data addresses 1 n The address table used when discontinuously reading writing registers is as follows Address table PARAMOS gt MWOOOOO MWOoOoOoOo 1 mwooooo n 1 Data address 1 Data address 2 Data address n n Data size PARAM06 gt Appendices A 47 A 48 8 Data Size PARAMO6 Set the data size number of bits or words for the read write request Be sure that the last data address determined based on the offset data address and data size does not go beyond the scope of the data addresses The range of data addresses may differ depending on the function code and communication device The following table shows the valid ranges of data sizes when using a MEMOBUS or Extended MEMOBUS protocol Table G 3 Valid Range of Data Sizes MEMOBUS Extended MEMOBUS Target Valid Range of Data Sizes Function Code Function Data Type Ethernet 218IF Ethernet 218IFA 00H Unused Disable 01H B Reads coil state 1 to 2000 02H B Reads input relay state 1 to 2000 03H w Reads holding register content 1 to125 04H W Reads input register content 1 to 125 05H B Changes single coil state Disable 06H W Writes to single holding register Disable 07H Unused Disable 08H Loopba
310. dress PARAMOS5 data address PARAM 11 register offset i The transmit or receive data amount is out of range semi Datasizeierror Check PARAMO6 data size ioa The circuit number is out of range OB Erfot in setting Girc it number Check Cir No circuit number of the MSG SND function The communication buffer channel number is out of range 8500H Error in setting channel number Check Ch No communication buffer channel number of the MSG SND function 5 The connection number is out of range SGEE Conneoton Number GITor Check PARAM02 connection number 8700H Reserved An error response was returned from the communication section com 88 0H Communication section error munication device Check the equipment connection In addition con firm that the remote device is open to communication i Unavailable device is set Check Dev Typ communication device 8900H Device select error type of the MSG SND function 3 Status PARAMO1 Outputs status of the communication section communication device The following figure illustrates bit assignment Bit assignment details are listed in the table below F ED CBA 9 8 7 6 5 4 8 1 0 As tks NE yY v Sey p Bits 8 to B d PARAMETER i c COMMAND Bits C to E b RESULT __y Bit Fit a REQUEST a REQUEST request Outputs whether MSG SND function is requesting a process Bit State Contents 1 Requesting processing 0 The acceptance
311. dule configuration Register Number definition screen Data Size Set a start address of the MP2300S side output register for referenc OW0000 to ing the aa wiitten in the remote equipment i OWxxxx 4 OW7FFF Note2 xxxx represents a start I O register number specified by the Note2 218IFA cell in the detailed field of the module configuration a definition screen Data Size Varies according Specify the data size word read from the remote equipment 4 to protocol type Specify the data size word written in the remote equipment 4 Specify the register type and the start register address for the remote Head Register Vari di Ee eRe to Pe E E Varies accord Number for the PSS Sy mg eee p ing to proto Node Equipment to protocol type Specify the register type and the start register address for the remote col type equipment to write Generally the same value specified in MP2300S data size is shown By way of exception when MELSEC is selected for communication protocol type and a bit device such as input relay X output relay 4 YY internal relay M link relay B is selected for read register Data Size of the the display is shown in bit size F Display only Node Equipment Generally the same value specified in MP2300S data size is shown By way of exception when MELSEC is selected for communication protocol type and a bit device such as input relay X output relay 4 YY internal relay M link relay B is selecte
312. e bit WARNG OFF bit2 CMDRDY ON bit7 SYNC ON only when slave synchronous mode is enabled Otherwise a command error issued by a master or a slave operation error may be considered 4 Check the scan counter Check that the first word Scan Counter of an input register assigned to the MP2300S is updated based on the rules decided by an application If not updated normally an operation error of the master may be considered 7 3 Operation Note For an error to be reported to an I O Error Status at least one normal input must be executed For exam ple when the power is turned ON while unconnected to a master the local bit of the I O error status remains OFF An example of an application which checks input error is shown on the next page Conditions Local station MP2300S is assigned to st 1 INPUT IW0800 SIZE 15W OUTPUT OW0810 SIZE 15W Register Meaning Remarks DW00001 Copy of a slave status DW00002 Inspection result of conditions DW00003 Copy of current value of a scan counter DW00004 Previous value of a scan counter DW00005 Data for checking a scan counter DW00007 Input error counter value detected Increased by one when an input error is DW00008 Error counter value of slave status status is detected Increased by one when an error of the slave DW00009 Error counter value of scan counter counter is detected Increased by one wh
313. e 4X00005 to 4X0008 write Specifications and Functions 2 27 2 2 Basic Module 2 2 4 218IFA Module Ethernet 2 Status tab In the Status Tab each setting for 218IFA transmission definition and transmission status is shown The displayed contents are as follows PT 2 CPU 1 RAC Transmission Parameters Status Equipment name Station IP Address Transmission Speed Auto 192 168 001 001 CONTROLLER NAME Subnet Mask 255 255 255 000 000 000 000 000 09999 Gateway IP Engineering Port Message Communication Trans Error Send Receive Error Response Connectio Protocol CNO z Code Ng Status Status Count Count Count Time ms n Type N K 01 Slot 00 ciR 01 0000 07FF ME r 1 0 Message Communication Read Trans Error Send Receive Error Response Connec Protocol 4 p x k Code 4 Write Status Status Count Count Count Time ms tion Type Read _ E Transmission Parameter Item Item Displayed Content Default Station IP Address Displays local IP address specified in the Transmission Parameter Tab 000 000 000 000 Equipment Name Displays equipment name specified in the Transmission Parameter Tab NULL When the equipment name is not yet set nothing is shown Transmission Speed Displays transmission rate retrieved from the status information Fixed at Auto Automatic matic Subnet Mask Dis
314. e Circuit number 1 Module Details MP23005 SLOT O00 Module Type eru 2 teira SB sv M EXECUTOR Controller Number OT Tope fon Circuit Number o 9 fo OStareRegister 0000 so Disable Input vfEnabe enable Disable Output Enable Enable A Motion Start Register Motion End Register E ESS es Status Running Running jai BIFA 100M Ethemet in functions Fig 6 4 MPE720 Module Configuration Definition Window MECHATROLINK 6 2 Communication with Other MP Series 6 2 2 When the MP2300S Acts as a Slave ladder program which uses a MSG RCV function E input output definition contents for message receive functions The input output definition content for message receive function is as follows Table 6 4 Input Output Definitions for Message Receive Functions I O Definition No Name Setting Example Contents Input Item Execute DB000200 Executes a reception When Execute is ON message reception will be carried out Abort DB000201 Aborts a reception When Abort is ON message reception is forcibly stopped Dev Typ 00016 Communication device type Specify the type of the communication device used in reception When Ethernet 218IF is used specify 16 Pro Typ 00001 Communication protocol Specify the type of the communication protocol MEMOBUS 1 1 non procedure 1 2 2 non procedure 2 2 3
315. e RLY OUT connector specifications Connector Number Connector Model Name Name of Pins Module Side Cable Side Manufacturer RLY OUT RLY OUT 2 734 162 734 YE102 Wago Corporation The following table shows the RLY OUT connector pin arrangement Pin Number Signal Name Description H 3 RY 1 OUT Operating normally Short circuit 2 OUT e Error occurred Opened The following table provides the RLY OUT connector contact ratings Input Voltage Current Capacity 24 VDC 0 5 A resistance load 0 25 A induced load 125 VAC 0 4A resistance load 0 2A induced load RLY OUT Connection Cable For the RLY OUT connection cable use a cable of line size AWG28 to AWG14 0 08 mm to 1 5 mm maximum sheath diameter 3 4 mm The RLY OUT connector cable is similar in manufacture to the 24 VDC power supply cable Mounting and Wiring 3 23 3 2 Basic Module Connections 3 2 5 RLY OUT Connector Details 3 RLY OUT Connection Example The following figure shows how to connect the RLY OUT connector MP2300S RLY OUT output Power supply Operating normally ON Error occurred OFF 24 VDC Power supply Ground resistance 100 Q or less 3 24 3 2 6 System Connection Example 3 2 Basic Module Connections 3 2 6 System Connection Example The following diagr
316. e channel number of the communication buffer in use is stored Note At the first scan during power up make sure to set this to O by user program After that the register is used by system so do not change the value with the user program 13 Reserved by System 2 PARAM15 PARAM16 Used by system Do not change the value with the user program etc G 2 7 a Function Setting and Parameter Details for Non procedural Protocol This section explains the MSG RCV function setting and its parameter list details when non procedure is used as a pro tocol Note Non procedure communication protocol stores the received data in the M register intact without a proto col conversion You can receive any protocol in accordance with the remote device Message Receive Function Setting 218IFA Setting Example An example of a function setting when 218IFA is used as a transmission device follows When non procedure 2 per byte is used set the Pro Typ field to 00003 non procedure 1 per word Set the circuit number in accordance with the circuit number allocated to the target 218IFA Set a unique communication buffer channel number for the same circuit For information on the register number refer to G 2 2 1 Input Item on page A 71 and G 2 2 2 Output Item on page A 73 Communication device 218IFA Execute DB000201 Busy DB000210 Protocol non procedure 1 Abort DB000202 Complete DB000211 NG Dev Typ 00016 E
317. e equipment slave side needs to set the network parame only one slave when of PLC Manufactured ters You do not need to create a ladder program using the I O message by Mitsubishi Electric communication func Corporation gt Refer to 6 4 2 When the MP2300S Acts as Master I O message tion communication function is used 6 2 Communication with Other MP Series 6 2 1 When the MP2300S Acts as Slave automatic receive function is used 6 2 Communication with Other MP Series 6 2 1 When Ethernet communication is carried out between the MP2300S and other MP series the Extended MEMOBUS protocol is used as a communication protocol The Extended MEMOBUS protocol allows the master to read write the slave register contents This chapter explains communications when an MP2300S acts as a slave and a master respectively When the MP2300S acts as a slave this chapter explains communications using an automatic receive function and a ladder program with the MSG RCV function When the MP23008S acts as a master this chapter explains communications using an I O message communication func tion and a ladder program with the MSG SND function When the MP2300S Acts as Slave automatic receive function is used This section explains how to communicate with the MP2300 message transmit function MSG SND using the MP2300S automatic receive function Slave Master MP2300S MP2300 Local station Remote station MP2300 2181F 01 y YASKAWA
318. e message Port Port Type Type Cannot the overlap to local station port number used by the communicate the 1 0 message o Ethernet Communications 6 67 6 3 Communication with Touch Panel 6 3 1 When MP2300S Acts as Slave 4 Seta communication setting in the Message Communication Easy Setting Window 9 Message Communication Easy Setting E x Connect No fi x Specify t Y MP Series Local Port IP Address 192 168 001 001 e connection number Other Device Node Port IP Addiess 0 255 fis2 pez TE Communication protocol Type Extended MEMOBUS Default Port No 2556 65535 fi 0001 Connect Type TCP Code BIN bs Cancel E How to set up in the Message Communication Easy Setting Window When automatic receive is used select 1 for the Connect No Set Port No of MP2300S side 10001 for example Select Extended MEMOBUS for Communication Protocol Type and click the Default Button Select Connect Type TCP for example Select Code BIN for example Set Node Port IP Address for the other device MP2300 to be connected 192 168 001 002 for example Set Port No of the other device MP2300 to be connected 10001 for example Click OK E Caution When message functions MSG SND MSG RCV are used with the connection number 01 disable the automatic receive func
319. e scan For this reason motion programs are executed and controlled by special system s motion management function E Caution When running a motion program pay attention to the followings The motion program registered in M EXECUTOR cannot be executed using a MSEE command e Multiple motion programs with the same number cannot be executed using a MSEE command A subroutine MPS OOD cannot be executed from a MSEE command in a ladder It can only be referenced from a motion program MPM O00 MPs OOD e A sequence program SPM O00 SPS OOD cannot be executed from a MSEE command in a ladder e The same subroutine cannot be referenced at the same time a Outline of Motion Control Systems 5 11 5 2 User Programs 5 2 2 Motion Programs 3 How to Designate a Motion Program The following two methods are available for designating a motion program e Using a direct designation to invoke a motion program e Using a indirect designation to invoke a motion program Now this section explains each way to designate a motion program a Using a Direct Designation to Call a Motion Program A direct designation method designates a motion program to call using a program number MPM OOD E A motion program registered in the M EXECUTOR program execution definition Select Direct for the Setting and set a program number MPM OOD MPMO01 ABS MOV X _ Y _ Sequence program Start Direct MVS X _ Y _F Motion p
320. ed by a ladder MSEE command Error without a system work Status flag Bit E of the motion program 5 2 User Programs 5 2 2 Motion Programs 5 How to Operate a Work Register The way to operate a work register of a motion program registered in the M EXECUTOR program execution definition differs from that of a motion program referenced by a MSEE command from a ladder program The way to operate it in each case is shown as follows a A motion program registered in the M EXECUTOR program execution definition When a motion program is registered in M EXECUTOR program execution definition select one from the following two execution processings e A way to immediately control a motion program from external equipment e A way to control a motion program via a sequence or ladder program Now this section explains each execution processing in the subsequent pages Outline of Motion Control Systems 5 19 5 20 5 2 User Programs 5 2 2 Motion Programs E A Way to Immediately Control a Motion Program from External Equipment M EXECUTOR has a function which allocates any register to an M EXECUTOR control register Using this function allows you to automatically exchange data between an M EXECUTOR control register and an I O register connected to an external equipment This allows you to immediately control the motion program from the external equipment The following figure shows a setting example in this method Figure for a
321. egisters with consecutive multiple addresses with MA00100 as the leading address o Outline of Motion Control Systems 5 39 5 40 5 3 Registers 5 3 3 How to Use Subscripts i j 5 3 3 How to Use Subscripts i j Two type of registers i j are available as dedicated registers to modify the relay and register numbers Both i and j have the same function They are used when you want to handle a register number as a variable An example for each register data type is given as explanation 1 Bit Type Attached with a Subscript i gt 0002 NL 1 0002 9 0003 NL 1 Source 00002 Dest I NB000000 i Equivalent gt mE 0004 NL 1 WBOO0002 2 Integer Type Attached with a Subscript 0002 NL 1 NL 1 002g 0003 Source 00030 Dest J STORE Fa Source MW00001j Dest 3 Long Integer or Real Type Attached with a Subscript Equivalent 003g 0004 Ap hi STORE Fs Source M 00031 Dest Long integer type ML00000j for j 0 MLO0000 ML00000j for j 1 ML00001 Real type MF00000j for j 0 MFO0000 MF00000j for j 1 MF00001 Upper word Lower word Mwo0001 Mwo0000 Mwo0002 Mwoo0001 Upper word Lower word Mwo0001 MW00000 MW00002 MW00001 Program example using subscript i gt 0002 NL 1 me 0003 NL 1 TE 0004 NL 2 ooa d 0005
322. elow Communication Device Type Code Ethernet 218IF 6 Ethernet 218IFA 16 4 Pro Typ communication protocol Specify the type code of the communication device refer to the table below Type Code Communication Protocol Remarks Set the type code to 1 when also transmitting using Extended MEMO 1 MEMOBUS BUS MELSEC or MODBUS TCP protocol The communication device automatically converts the protocol 2 Non procedure 1 Data is transmitted on a per word basis in non procedural communica per word tion No response is received from the remote 3 Non procedure 2 Data is transmitted on a per byte basis in the non procedural communi per byte cation No response is received from the remote A 36 5 Cir No line number Specify a circuit number for the communication device Specify it in accordance with the circuit number displayed in the MPE720 Module Configuration Definition Window Circuit number r Module Details MP23005 SLOT O0 Convoler Nurber O nat circuit Number 0 MECHATROLINK Running AES 100M Ethermet in functions Fig G 1 MPE720 Module Configuration Definition Window The following table shows the scope of circuit numbers Communication Device Valid Circuit Number Ethernet 218IF or 218IFA 1 to 8 6 Ch No communication buffer channel number Specify the channel of the communication buffer
323. em 4 2 1 Wiring 4 2 1 Wiring self configuration and test operation for starting up the model We use the following layout model to explain the startup of the model system Prepare each device listed on the next page and connect them as shown in the figure below 1 System Layout Model 24 VDC MECHATROLINK cable power supply SERVOPACK yon noe SGDS 01A12A o Cable LA i a B L2c o 5 g 3 TE Oo i 5 mm e logis 3 lu E N Ehe 5 k z eo pa v4 fan oom y Controller 100 VAC RE gabig Encoder Motor cable cable HUB UL Servomotor Personal computer equipped with MPE720 om MECHATROLINK SERVOPACK AA SERVOPROR SGDS 01A12A Terminator terminating resistor hike 7 JE Li 5 L2 B Licllo B E 2 Zozo czo B1 B B2 B zzo B fp m Qe Servomotor gt System Start Up and Easy Programming 4 4 4 2 Preparation step 1 4 2 1 Wiring a Required Equipment Product Name Model Q ty MP2300S JEPMC MP2300S E 1 MECHATROLINK cable 0 5m JEPMC W6002 A5 2 Terminator terminating resistor JEPMC W6022 2 D Ill SERVOPACK SGDS ASF12A 2 III servomotor SGMAS ASA2A21 2 Motor cable 3m JZSP CS
324. en SVR is set to Disable SVR may be reset to Enable To retain the changed register mapping etc manually map a register to the additional devices instead of using self configuration and then update the definition file E INIT Switch and RAM Data RAM data will be cleared if the INIT switch of the DIP switch on the MP2300S Basic Module is ON and the power is turned ON Flash memory data is read and overwritten when the INIT switch is OFF and the power is turned ON Therefore to protect RAM data always save data to the MP2300S flash memory before turning OFF the power when writing or editing programs E Turning OFF Power After Executing Self configuration Do not turn OFF the 24 VDC power supply to the MP2300S after executing self configuration until the definitions data has been saved to flash memory in the MP2300S If the power is somehow turned OFF before the data is saved to flash memory re execute the self configuration 5 44 2 a Procedure Using MPE720 5 4 Self configuration 5 4 1 How to Execute Self Configuration Executing self configuration from MPE720 allows self configuration for individual Modules as well as for all mod ules When self configuration is carried out from MPE720 a definition for any axis newly detected in the MECHA TROLINK transmission is created The definitions for already mapped axes are not updated This section explains each way to execute the self configuration Self configuration
325. en a parallel execution command PFORK is used in the motion program multiple alarms may occur at the same time For more information refer to 3 1 11 Parallel Execution Command PFORK JOINTO PJOINT of Machine Controller MP900 MP2000 Series Users Manual Motion Program Section manual number SIE C887 1 3 Alarm code The alarm code is shown Alarm name The alarm name is shown 8 26 8 2 Troubleshooting 8 2 5 Motion Program Alarms Program number The name of the program where an error occurred is shown Block number The number of the block where an error occurred is shown Double clicking the number will bring you to the corresponding program where the error occurred The block number is shown in the motion editor EE Motion Editor MP2300S Online Local MP ox PT 2 CPUR 1 Pr Oe Group1 eae INCREMENTAL MODE INC POSITIONING MoV A1 10000 END Block number Alarm Contents The alarm content are shown Corrective Action Corrective actions for the alarm are shown Maintenance Inspection and Troubleshooting 8 27 8 28 8 2 Troubleshooting 8 2 5 Motion Program Alarms 2 Motion Program Alarm Codes a Configuration of Motion Program Alarms The following diagram shows the configuration of alarms Bit15 Bit12 Bit8 Bit7 BitO Alarm occurrence axis Alarm code When Bit 7 is ON Axis alarm information 1 to 16 b Alarm Code List
326. en an error of the scan DW000010 Copy of input data data 1 DW000022 Copy of input data data 13 Slave CPU Synchronous Function 7 21 7 3 Operation 7 3 5 How to Determine Input Error E Application Example check input error for self station st 1 0000 8002141 false NL 1 confirm the slave status if input OK 0001 NL 2 biti WARNG OFF bit2 CMRDY ON bit7 SYNC 0N DB000020 0002 WLF SrcA DW00001 NL 2 WLF SreB H0084 0004 NL 2 check scan count renew read present value 9005 WLJSreA M0800 fWLJDest DWw00003 NLS WL SrcB HOOFF renew previous value 0006 NL 3 0007 WLJStcA DWOO0OG WL Dest DWwOCOOS NL 3 WL SrcB HOOFF STORE F 0008 NLS scan count present value previous value 1 DB000021 0009 WLF SroA DW00003 NLS WLF SreB DWO0005 0011 DBOO0021 true NL3 renew input value if scan count OK 0312 MS Nwos02 WjDest bw00010 NL 4 PwyWwidth 00013 0013 NL 3 Continued on the next page 7 22 7 3 Operation Ee lt L lt L lt L LLLLL l LL EEEE E E E ee ee 7 3 5 How to Determine Input Error Continued from the previous page eror count increment abnormal scan count 0017 NL 3 0018 NL 2 0019 NL 4 error count increment input error 0020 WL Dest DWO0007 NL 2 0021 NL 1 renew soan count for sive inc A 0022 WLJDest Owns
327. ence Read SERVOPACK An alarm is occurring Asynchronized communication status A Servo Driver Synchronization Com munication Error ALMHIST_CLR completed within the specified time Parameter 7 7 7 17 PRM_RD SERVOPACK parameter reading was not com A Servo Driver Command Timeout n Write SERVOPACK pleted within the specified time Error Parameter Warning A 94 or A 95 occurred in the f PRM_WR SERVOPACK W Servo Driver Error SERVOPACK parameter number or size is out W Setting Parameter Error of the setting range Monitor SERVOPACK The command to the SERVOPACK was not A Servo Driver Command Timeout 19 Alarms completed within the specified time Error ALM_MON e 20 Monitor SERVOPACK Servo driver alarm monitor number is out of W Setting Parameter Error Alarm History setting range 8 ALM_HIST Clear SERVOPACK Alarm i i 21 History The command to the SERVOPACK was not A Servo Driver Command Timeout Error 22 Reset Absolute Encoder ABS_RST This command was used for Z I SERVOPACK Executed while servo is ON Asynchronous communication status A Servo Driver Synchronization Com munication Error The command to the SERVOPACK was not completed within the specified time A Servo Driver Command Timeout Error 23 Speed Reference VELO Commanded when having been connected to MECHATROLINK I An alarm is occurring Asynchronous communication
328. er As for the input only it can be a constant literal Address input The address of the specified register any integer register is passed to the function 2 When transmitting in MEMOBUS Extended MEMOBUS MELSEC OMRON or MODBUS TCP protocol set the communication protocol Pro Typ to MEMOBUS 1 The communication device automatically converts the proto col 3 Non procedure 1 In non procedural communication data is received on a per word basis Non procedure 2 In non procedural communication data is received on a per byte basis G 2 2 O Item Details of the Message Receive Function 1 Input Item The following table indicates the registers available for each input item Note Input Item I O Option Available Register Execute A Every bit type register Abort B VAL except C registers Same as above with subscript Dev typ Pro Typ Every integer type register Cir No I REG pen as above with subscript Ch No onstant Register address Param Address input except C registers Same as above with subscript Execute executes a reception Specify a bit to command execution of a message reception When Execute turns ON the message reception is carried out In order to execute the process a ladder program or the like needs to be used to switch the bit ON OFF Keep Execute executes a reception until Complete process completed or Error error occurred is turned ON When
329. er wooo Readout Write in of Coil Mwoo000 Readout write in of Hold Register Mw00000 Write in width of Coil Hold Register pg M00000 HI Mw65534 Automatic input processing delay time jo ms 0 100 The influence on a low speed scanning can be adjusted according to this parameter Attention It is not in the setting of the communication period of an automatic reception Cancel Note For more information on Slave Side I F Register Setting and Automatic Receive Process Delay Time refer to 2 2 4 4 b Automatic Receive Setting Screen for Message Communication on page 2 22 The automatic receive function for connecting the MP2300S to the touch panel is now set up m Caution When any transmission or connection parameter is changed the change will be reflected after FLASH has been saved and the power supply is turned ON again o Ethernet Communications 6 69 6 70 6 3 Communication with Touch Panel 6 3 1 When MP2300S Acts as Slave 2 How to set up a touch panel This section explains the GP Pro EX side set up procedure for connecting the MP2300S to an indicator GP3000 series and the screen creation example Note The indicator GP3000 series and GP Pro EX are manufactured by Digital Electronics Corp Contact Digital Electronics Corp for more information a How to Set up GP Pro EX 1 Start up GP Pro EX 2 Create a new project 3 Set its indicator type Set the indicator type in acc
330. er Programs 5 2 2 Motion Programs b Control Signal Program control signals e g program operation start requests and program stop requests need to be entered to exe cute the motion program The following types of signals for controlling motion programs are available Bit No Signal Name Signal Type 0 Program operation start request Differential or NO contact input 1 Program pause request NO contact 2 Program stop request NO contact 3 Program single block mode selection NO contact 4 Program single block start request Differential or NO contact input 5 Alarm reset request NO contact 6 Program continuous operation start request Differential or NO contact input 7 Reserved 8 Skip 1 information NO contact 9 Skip 2 information NO contact A Reserved B Reserved C Reserved D System work number setting NO contact E Override setting for interpolation NO contact F reserved 41 System work number setting When a motion program is registered in M EXECUTOR Unable to designate it The same system work number as No defined in the system is used When a motion program is invoked by a MSEE command from a ladder program OFF A system work automatically retrieved by system is used The system work number may differ in each case ON A work with the designated system work number is used However when a work occupied by M EXECUTOR is design
331. eration error SB000418 Refer to 8 2 4 c System Register Configuration and Error Status on page 8 19 For LED indicator pattern refer to 8 2 3 2 LED Indicator Meanings on page 8 7 Maintenance Inspection and Troubleshooting 8 11 8 2 Troubleshooting 8 2 4 Troubleshooting System Errors 4 Correcting User Program Errors A serious error may have occurred if the ALM and ERR indicators on the front of the MP2300S Basic Module are lit red Set the MP2300S in stop status STOP switch on DIP switch 1 6 ON and investigate the error Use the following procedure to investigate ladder program errors 1 Investigate type of serious er Check the contents of SW00050 Error Type to determine if the type of the ror serious error is a system error or a user program error 4 2 Investigate type of program in Check the contents of SW00055 Program Type to determine if the error is in a which there is an error drawing or function 4 3 Investigate the drawing with Check the contents of SW00054 Error Task and SW00056 Drawing Number the error to determine the drawing with the error 4 If SW00056 Drawing Number contains 0100H the error is in a function Check the contents of SW00057 Error Task and SW00058 Drawing Number to determine the drawing with the error Check the contents of SW00059 Function Referencing Drawing Step No to determine the step number with the operation error 4 5 Che
332. erface Note1 10Base T 100Base TX Communication Protocol Note2 TCP UDP IP ARP ICMP Maximum Number of Communication Connections 4 2 I O Message communication Maximum Number of Communication Channels 4 2 I O Message communication Write 100W MEMOBUS Read 125W Write 2043W _ Extended MEMOBUS Read 2044W Panay Gomes Write 1017W Read 1017W Write 100W MODBUS TCP Read 125W Non procedure Write 2046W Write 100W MEMOBU Read 125W Write 1024W 10O Message Extended MEMOBUS Read 1024W Communication METIEN P rite maximum MELSEC Read 256W Write 100W MODBUS TCP Read 125W MEMOBUS O Extended MEMOBUS O Automatic Receive MELSEC O MODBUS TCP O Simple Function for Connecting with Engineering Tool O Note 1 Communication Interface The discrimination between 10Base T 100Base TX and full duplex half duplex is done by 218IFA based on the remote equipment When connecting to an equipment without automatic negotiation function set the remote equipment to half duplex mode Correspondence of Communication Mode Device to be connected 218IFA Module Automatic 10Base T 10Base T 100Base TX 100Base TX Negotiation Half duplex Full duplex Half duplex Full duplex Aitiomatic Depends on the Communicates in Geabieds Communicates in Unable to Negotiation Temor equip 10Base T communicate 100Base TX communicate ment half duplex mode half duplex mode Communication protocols TCP Transmission Con
333. ernet Connector Details Connects to a personal computer or HMI device by Ethernet 100Base TX 10Base T 1 Ethernet Connector Specification and Pin Arrangement Indicator Light The following table provides the Ethernet connector specifications Connector Number Connector Model Name Name of Pins Module Side Cable Side Manufacturer Ethernet Ethernet 8 RJ 45 CAT5 Socket RJ 45 CATS Plug Pulse Engineering The following table provides Ethernet connector pin arrangement indicator light details Pin Number Signal Name Description 1 TXD Transmitted data side ER 2 TXD Transmitted data side LIK 3 RXD Received data side 4 i 5 100M 6 RXD Received data side 7 8 Display Name Display Color Description Lit Connect Yell LINK COW Unlit Unconnected Lit Connected at 100Mbps or automatically 100M Green negotiating Unlit Connected at 10Mbps 2 Ethernet Cable For the Ethernet cable use a twisted pair cable with RJ 45 connector Ethernet Type Category Remarks 10Base T Category 3 or more e When connecting to remote equipment through a hub Straight cable 100Base TX Category 5 or more e When connecting to remote equipment without using a hub Cross cable Mounting and Wiring 3 19 3 2 Basic Module Connections 3 2 4 Ethernet Connector Details 3 Ethernet Connecti
334. ession below is met 0 lt Write range LO lt Write range HI lt Maximum address of M register This write range is effective for the following function codes 05H changes single coil state 06H writes to single holding register OBH writes to holding register write OEH discontinuously writes to holding register extended OFH changes multiple coil states 10H writes to multiple holding registers 31H writes to fixed buffer 33H writes to the random access buffer Example When setting the address of the M register which permits writing to 1000 to 1999 PARAM12 1000 PARAM13 1999 The reception side will return an error against a write request to an address other than MW01000 to MW01999 and will not write it 12 Reserved by System 1 PARAM14 Used by system the channel number of the communication buffer in use is stored Note At the first scan during power up make sure to set this to O by user program After that the register is used by system so do not change the value with the user program 13 Reserved by System 2 PARAM15 PARAM16 Used by system Do not change the value with the user program etc G 2 6 a Function Setting and Parameter Details for MODBUS TCP Protocol This section explains the MSG RCV function setting and its parameter list details when MODBUS TCP is used as a protocol Message Receive Function Setting 218IFA Setting Example An example of a function setting when 218I
335. et 0 lt Write range LO lt Write range HI lt Maximum address of M register This write range is effective for the following function codes 05H changes single coil state 06H writes to single holding register OBH writes to holding register write OEH discontinuously writes to holding register extended OFH changes multiple coil states 10H writes to multiple holding registers Example When setting the address of M register which permits writing to 1000 to 1999 PARAM12 1000 PARAM13 1999 The reception side will return an error against a write request to an address other than MW01000 to MW01999 and will not write it 12 Reserved by System 1 PARAM14 Used by system the channel number of the communication buffer in use is stored Note At the first scan during power up make sure to set this to O with the user program After that the regis ter is used by system so do not change the value with the user program 13 Reserved by System 2 PARAM15 PARAM16 Used by system Do not change the value with the user program etc G 2 5 Function Setting and Parameter Details for MELSEC Protocol This section explains the MSG RCV function setting and its parameter list details when MELSEC is used as a protocol 1 Message Receive Function Setting a 218IFA Setting Example An example of a function setting when 218IFA is used as a transmission device follows Set the protocol type to MEMOBUS when used in MEL
336. etails for MODBUS TCP Protocol on page A 89 G2 7 Function Setting and Parameter Details for Non procedural Protocol on page A 93 gt Appendices A 75 A 76 1 MEMOBUS Parameter List Param No IN OUT Contents Description 00 OUT Process result Outputs process results 01 OUT Status Outputs the status of the communication device 02 IN Connection number Specifies the remote source 03 OUT Option Outputs a unique value for each communication device 04 OUT Function code Outputs a function code requested from the transmission side 05 OUT Data address Outputs the start address of data requested from the transmission side 06 OUT unde ae the read write data size requested from the transmission 07 OUT Remote CPU number Outputs the remote CPU number 08 IN Coil offset Sets the coil s offset word address 09 IN Input relay offset Sets the offset word address of an input relay 10 IN Input register offset Sets the offset word address of an input register 11 IN Holding register offset Sets the offset word address of a holding register 12 IN Write range LO Sets the start address for a write range 13 IN Write range HI Sets the last address for a write range 14 SYS Reserved 1 05 to 16 SYS Reserved 2 Itis IN OUT for MODBUS TCP Note IN Input OUT Output SYS For system use 2 Non procedural Parameter List Param
337. fault Sets 218IFA IP address However the following addresses are excluded IP Address 0 0 0 1 t6 127 XXX XXX XXX 192 168 001 001 Poppe eet XXX XXX Xxx 000 XXX XXX XXX 255 0 0 0 0 to Subnet Mask u 255 255 255 254 Sets the 218IFA subnet mask 255 255 255 000 Sets the 218IFA default gateway IP address However the follow ing addresses are excluded Gateway IP 0 0 0 0 to 127 XXX XXX XXX Address 255 255 255 254 XxXX XXX XXX 000 except 000 000 000 000 000 000 000990 XXX XXX XXX 255 When you do not use it set it to 000 000 000 000 218IFA can be any name The name specified here is displayed as a search result in the mod ule name field of controller search list when running the Search in the communications setting dialog box of MPE720 Ver 6 EE Communications seting o x Set the communication setting Communication port Setting Equipment Name Upto 16 single IP address Cancel CONTROLLER byte characters NAME Search Controller _ lt lt betal_ Controller _ IP address port Mo dyle name MP23005 192 168 1 1 9999 CONTROLLER I Use the router Detailed Definition o Opens the screen for setting the engineering communication with _ MPE720 and the MEMOBUS communication Specifications and Functions 2 17 2 18 2 2 Basic Module 2 2 4 218IFA Module Ethernet E Detailed Setting Screen of Transmission Parameter Setting Sets the engineering communication with MPE720
338. fer according to the communication device Table G 18 Valid Range of Data Sizes non procedure Valid Range of Data Sizes Non procedure 2 Non procedural Target Data Function Type Type Ethernet 218IF Ethernet 218IFA 7 1 to 2046 BIN Non procedure 1 W Transmits data in words 1 to 510 1 to 1023 en 1 to 4092 BIN B Transmits data in bytes 1 to 1020 ae 1 to 2046 ASCI 1 Specify the number of words 2 Specify the number of bytes Note The data size in the table is represented in decimal numbers Register Offset PARAM1 1 Specify the offset address of write data source in the transmission side The address for the transmission side will be displaced by the number of words designated by the offset Note 1 For more information refer to G 1 8 Relationship between Data Address Data Size and Offset for MSG SND Function on page A 66 2 The offset cannot be a negative value Example When specifying 1000 words of offset for the register address PARAM11 1000 Reserved by System 1 PARAM12 Used by system the channel number of the communication buffer in use is stored Note At the first scan during power up make sure to set this to O by the user program After that the register is used by system so do not change the value with the user program Reserved by System 2 PARAM13 PARAM16 Used by system Do not change the value with the user program etc gt
339. figuration the parameter setting for MECHATROLINK transmission definition must be set to Slave in MPE720 d SVR Definition 5 4 2 Definition Information Updated with Self Configuration 5 4 Self configuration Type No Name Allocation 0 Selection of Operation Modes Axis unused 1 Function Selection Flag 1 0000h 4 Reference Unit Selection pulse 5 Number of Digits below Decimal Point 3 6 Travel Distance per Machine Rotation 10000 reference unit Ered Parameter 8 Servo Motor Gear Ratio 1 rev rotation 9 Machine Gear Ratio 1 rev rotation 10 Infinite Length Axis Reset Position POSMAX 360000 reference unit 34 Rated Motor Speed 3000 min 36 Number of Pulses per Motor Rotation 65536 pulse rev 42 Feedback Speed Movement Averaging Time 10 ms Constant owo0000 RUN Command Setting 0000h owo0003 Function Setting 1 0011h OWOD08 Motion Command 0 No command OWOO09 Motion Command Control Flag 0000h OWQODO0A Motion Subcommand 0 No command OLOD0c Torque Thrust Reference Setting 0 00 OLOO10 Speed Reference Setting 3000 10 n reference unit min OLOO16 Secondly Speed Compensation 0 00 OLOOIC Position Reference Setting 0 reference unit owO031 Speed Compensation 0 00 OLOO36 Straight Line Acceleration Acceleration Time Gane Setting Parameter Constant OLUO38 Straight Line Deceleration Deceleration Time bank Constant OWOD3A Filter
340. from MPE720 Now this section explains each way to execute the self configuration 1 Procedure Using the DIP Switch Self configuration can be executed from the Basic Module DIP switch a When Executing the Self Configuration First Time after Connecting Equipment By performing the operation below the self configuration for all modules is newly executed and all new definition files are created Before performing the operation turn ON the power supply of equipment such as SERVOPACK E Caution Note that this operation can clear the following data in MP2300S e All definition files all user programs and all registers Turn OFF the power supply Turn OFF the 24 VDC power supply to the MP2300S STOP Vy SUP gt INIT 2 Set the DIP switch gt CNFG Set the switches INIT and CNFG of the DIP switch SW1 on the MP2300S MON Basic Module to ON TEST J 3 Turn ON the power supply Turn ON the 24 VDC power supply to the MP2300S We 4 Check the LED indicators Check that the LED indicators on the MP2300S Basic Module change as follows RIYO RUN RDY X RUN RDY RUN ALM ERR gt AMO O ERR y ALM C ERR MTX C BAT MTX BAT MIX BAT TXO IP TXO O IP TXO IP wa O Lit O Unlit x Blinking NT re 7 ate 5 Reset the DIP siwtch TEST Set the switches INIT and CNFG of the DIP switch SW1
341. fset PARAMOS NL 2 DWO0009 0 input relay offset PARAMOQ DWO0010 0 input register offset PARAM10 Dw00011 0 register offset PARAM11 waiting range PARAM12 PARAM13 p04 d 0004 DW00012 0 fioniting range LO PARAM12 NL 2 DW00013 85534 writing range HI PARAM13 clear for system register PARAM 14 poos 2 STORE F 0005 WLF Sre 00000 WLF Dest DWO00014 NL 2 0006 NL 4 normal scan treatment generating command for receiving Always ON abort receiving command B000004 08000201 66000200 n 0007 NL 14 MSG RCY function poos d 0010 BJExecute DB000200 8 Busy pB000210 NL BJAbort DB000201 B Complete DB000211 W Dev Typ 00016 8 Error DB000212 WPro Typ 00001 WICi No 00004 WICh No 00005 A Param DA00000 treatment atter normally finished Set Ch No 6 atter finish to receive write operations NL 1 count for normal 0012 NL 2 0014 NLA treatment while error taking place while error 0015 DB000212 true NLA 6 47 6 48 6 2 Communication with Other MP Series 6 2 3 When MP2300S Acts as Master I O message communication function is used count tor abnormal 0016 NL 2 tesults save CC eXPRESSION CZ 0017 DWO0026 DW00000 results PARAMO0 NL 2 DW00027 DW00001 status PARAMO1 0018 NL 14 0019 NLA The communication setting and the ladder program creation are now finished when MP2300 acts as a slave 3 How to Start Communication 1 The MP2300 side starts to receive the messages
342. function diagnosis e Floating Point Unit FPU function diagnosis If diagnosis results in an error the ALM and ERR LED indicators will blink red for the specified number of times Refer to 5 1 4 LED Indicator Details on page 5 5 Self configuration Self configuration automatically recognizes the connected Optional Modules and automatically creates a definitions file For details refer to 5 4 Self configuration on page 5 42 The RUN LED indicator will blink green during execution of self configuration Operation Start When the STOP switch is set to OFF RUN or changes from ON STOP to OFF RUN the CPU starts the watchdog timer and then executes DWG A in the ladder program Refer to the startup processing drawing and 5 2 2 Motion Pro grams on page 5 7 First scan processing is executed once DWG A has been completed and the high speed or low speed scan time has elapsed System I O are executed from the first scan Operation Stop MP2300S stops motion control operation when the STOP switch is ON STOP and in the following circumstances Cause Restart method Power supply turned OFF Turn ON the power again Power interruption Check the LED indicator for the cause of the error and then turn the power OFF then ON STOP executed from MPE720 Execute RUN from MPE720 Fatal error Online Self diagnosis Self diagnosis is performed on the following items when the user logs on online e System program
343. g 3 10 3 1 Mounting MP2300S 3 1 4 Replacing and Adding Optional Modules 3 Installing Optional Modules 1 Insert Optional Modules Hold the top and bottom of the Module to be installed line up the Module on the left side guide rail inside the Option Slot and then insert it straight The FG bar on the inside bottom of the Unit Case may be damaged if the Module is not inserted straight Guide ry rail rn as 2 Mount on to the mounting base Once the Optional Module has been completely inserted place your hand on the front face of the Optional Mod ule and push hard until the Optional Module has been inserted into the mounting base connectors The front face of the Optional Module and the hook will be aligned when the Optional Module has been installed properly 3 Install the panel of the Optional Module Place the hole on the bottom of the panel of the Optional Module onto the hook on the bottom of the MP2300S Next hook the hole at the top of the panel of the Optional Module onto the hook at the top of the MP2300S This completes the Optional Module mounting procedure Be sure to attach the optional cover model JEPMC OP2300 on the empty slot Mounting and Wiring 3 11 3 2 Basic Module Connections 3 2 1 Connectors 3 2 Basic Module Connections 3 2 1 Connectors The following diagram shows the connectors for the Basic Module MP2300S MECHATROLINK connector RLY OUT connecto
344. g range POT method is selected for zero point return W Setting Parameter Error but the approach speed is a negative value NOT method is selected for zero point return W Setting Parameter Error but the approach speed is a positive value During zero point return using DEC1 Phase hock C ZERO signal or Phase C method the OT od Alam o7 or Nye cero Pome f divas Return Direction signal in zero point return direction was ON The commanded moving distance for one scan exceeds the segment that can be commanded to the MECHATROLINK SERVOPACK or the A Excessive Speed speed feed forward value exceeds the allowable 4 Interpolation maximum speed INTERPOLATE The axis is ABS infinite length and the zero A Zero Point Not Set 5 Interpolation last segment point return setting is not completed ENDOF_INTERPOLATE In servo OFF status A Servo OFF An alarm is occurring T ss aes A Servo Driver Synchronization Com Asynchronous communication status Soe munication Error 8 2 Troubleshooting 8 2 6 List of Causes for Command Error Completed Status Motion Command Code Cause of Command Error Occurrence Warning W and Alarm A That Occur at Command Error Occurrence Latch LATCH The commanded moving amount for one scan exceeds the segment that can be commanded to the MECHATROLINK SERVOPACK or the speed feed forward value exceeds the allowable maximum speed A Excessive Speed The axis is ABS infinite le
345. gation make sure to enable the drawing function or sequence program again 8 2 Troubleshooting 8 2 4 Troubleshooting System Errors b How to Disable the I O Process In the module configuration definition screen of the MPE720 online mode open the detailed definition of the module for which you want to disable the I O process Click D and save it to disable the I O process for the clicked item You can change the disabled input register to any value PT 2 CPUH 1 RACK 01 Slot 01 lac C40 0C41 ce Nol kem IT eG Word scan Current Value HEX 1 Local Input 1 C ioc4o 1 2 Local Input 2 Ej WOC41 1 Local Output 1 CD woco 1 Hor 4 Local Output 2 El owoc41 1 HIGH 5 IRQ Input 1 WY goc400 z 6 IRQ Input 2 MH g0C 401 7 IRQ Input 3 B0C410 z 8 IRQ Input 4 i 1B0C411 E Caution When an I O process is disabled the equipment may become unstable causing personal injury or damage to the equipment If carrying out an investigation be aware of the behavior of the equipment when it is disabled After the investigation make sure you enable the I O service again c How to Forcibly Turn ON OFF Coil In the main menu of the MPE720 online mode select Debug Force ON or Force OFF menus in that order PE720 er 6 2300s MP23005 H02 01 Jog and Step Run for axis 1 Eile Edit view Online Program Compile Window Help 12524 536 Wom
346. gister MW00100 to MW00199 Slave MP2300S Local station IP address 192 168 001 001 MP2300S p nsn OO Master MP2300 Remote station IP address 192 168 001 002 MP2300 218IF 01 Yas gy askama rov nO O AO Osa m Communication Protocol Type Extended MEMOBUS protocol i Connection Type TCP AS 3 pen ae Data Code Type BIN one D Port number 10002 Ethernet Port number 10002 MP2300S MP2300 Local station Remote station Holding register M register Read Holding register M register ea MW00100 gt MW00100 D MW00101 gt MW00101 Data size Data size 100W lt r gt 100W MW00198 MW00198 X MW00199 gt MW00199 J The particular setup procedure is explained in the subsequent pages 6 2 Communication with Other MP Series 6 2 2 When the MP2300S Acts as a Slave ladder program which uses a MSG RCV function 1 How to Set up the MP2300S Side If the setting of transmission parameters IP address subnet mask is already completed start from step 3 1 Double click the 218IFA Tab in the Module Details of the module configuration definition m Module Details MP23005 SLOTH OO on 01 foooo a 7 Module Type CPU Qisa B svR_ M EXECUTORY 01 2 Set transmission
347. gister specification methods Designation Method Designation Example for Each Data Type Register Number Direct Designation Symbol Designation Bit register MB00100AX Integer register MWwW00100X Double length integer register ML00100X Real number register MF00100X Address register MAO00100X X When specifying subscripts subscript i or j is added after the register number Bit register RESET1 A X Integer register STIME H X Double length integer registers POS REF X Real number registers IN DEF X Address registers PID DATA X 4 8 alphanumeric characters max X When specifying subscripts a period is added after the symbol 8 alphanu meric characters max and then a subscript i or j is added Register No Direct Designation Register Number V T No Bit No Subscript Subscript i or j can be specified When T B bit register hexadecimal 0 to F Register number allocated for V decimal hexadecimal Data type allocated by V B W L F or A L Register type DWG S M I O C or D Function S M O C D X Y Z or A Symbol Symbol Designation Symbol name Subscript Subscript i or j can be specified Required if using subscripts Name for registers 8 characters max X XXXXXXX Alphanumeric characters or symbols English characters or symbols Symbol names cannot start with numerals
348. gnment details are listed in the tables following FE D C Be Ae 9 86 298 A G2 dy 0 Bit F P a REQUEST a REQUEST request Outputs whether MSG RCV function is requesting a process X A Da v gt Bits 0 to 7 Bits 8 to B d PARAMETER c COMMAND Bits C to E b RESULT Bit State Contents 1 Requesting processing 0 The acceptance of process request is completed b RESULT result Outputs the execution result of the MSG RCV function Code Abbreviation Meaning 0 CONN_NG In Ethernet communication transmission or connection error is completed 1 SEND_OK Normal transmission complete 2 REC_OK Normal reception complete 3 ABORT_OK Forced abort complete 4 FMT_NG Parameter format error 5 SEQ NG Command sequence error 6 RESET_NG Reset state 7 REC_NG Data reception error error detected in the lower layer program c COMMAND command Outputs a process command for the MSG RCV function The executed process contents can be found according to the command Code Hex Abbreviation Meaning 1 U_SEND General purpose message transmission for non procedural protocol 2 U_REC General purpose message reception for non procedural protocol 3 ABORT Forced abort 8 M_SEND MEMOBUS command transmission Completed when response is received 9 M_REC MEMOBUS command reception Accompan
349. halogen which includes chlorine fluorine bromine or iodine can contribute to the erosion of the capacitors E installation N CAUTION Never use the MP2300S in locations subject to water corrosive atmospheres or flammable gas or near burnable objects There is a risk of electrical shock or fire Do not step on the MP2300S or place heavy objects on the MP2300S There is a risk of injury Do not block the air exhaust port or allow foreign objects to enter the MP2300S There is a risk of element deterioration inside an accident or fire Always mount the MP2300S in the specified orientation There is a risk of an accident Do not subject the MP2300S to strong shock There is a risk of an accident vii viii E Wiring CAUTION Check the wiring to be sure it has been performed correctly There is a risk of motor run away injury or an accident Always use a power supply of the specified voltage There is a risk of burning In places with poor power supply conditions take all steps necessary to ensure that the input power supply is within the specified voltage range There is a risk of device damage Install breakers and other safety measure to provide protection against shorts in external wiring There is a risk of fire Provide sufficient shielding when using the MP2300S in the following locations There is a risk of device damage Noise such as from static electricity Str
350. he MP2300 side to transmit messages Messages are transmitted by turning ON the register DB000200 for example configured in Execute of the message transmit function starting communication with the MP2300S Table 6 3 Input Output Definition for Message Transmit Function I O Definition No Name Setting Example Executes a transmission Input Item 1 Execute DB000200 When Execute is ON the message transmission will be carried out The sample ladder program is created to transmit a message every one second when five seconds have elapsed after the low speed scan or high speed scan startup To change the message transmission interval change the timer value sending message every 1 second after 5 seconds of scan started use 56000003 for low scan 58000001 for high scan After 5 0s Scan Star tup Relay 5s0N SB00003A D6000200 0025 NL 1 s0N treating end error waiting sending command DBO0020D 06000211 08000212 DB0002065 DB000200 1 4 IH aon O 0027 MSet 00100 MCount DWOo0S0 NL 4 6 2 Communication with Other MP Series 6 2 2 When the MP2300S Acts as a Slave ladder program which uses a MSG RCV function 6 2 2 When the MP2300S Acts as a Slave ladder program which uses a MSG RCV function The MP2300S can communicate with only one master when using the automatic receive function To communicate with more than one master use a ladder program with a mes
351. he coil s offset word address 09 IN Input relay offset Sets the offset word address of an input relay 10 IN Input register offset Sets the offset word address of an input register 11 IN Holding register offset Sets the offset word address of a holding register 12 SYS Reserved 1 13 to 16 SYS Reserved 2 Note IN Input OUT Output SYS For system use 2 Non procedual Parameter List Param No IN OUT Contents Description 00 OUT Process result Process result is output 01 OUT Status The status of the communication device is output 02 IN Connection number Specifies the remote destination 03 IN unused 04 IN unused 05 IN Data address Specifies the start address of the data 06 IN Data size Sets the data size for a write request 07 IN unused 08 IN unused 09 IN unused 10 IN unused 11 IN Register offset Sets the offset word address of the register 12 SYS Reserved 1 13 to 16 SYS Reserved 2 Note IN Input OUT Output SYS For system use G 1 4 Function Setting and Parameter Details for MEMOBUS and Extended MEMO BUS Protocols This section explains the MSG SND function setting and its parameter list details when MEMOBUS or Extended MEMOBUS is used as a protocol type 1 Message Transmit Function Setting a 218IFA Setting Example An example of a function setting when 218IFA is used as a communication device follows Set the protocol type to ME
352. he terminal to the power supply connector Use 0 2 mm to 0 51 mm AWG24 to AWG20 twisted pair cable 1 Strip approx 6 5 mm the end of the wire ZZZZ77 777A 8 to 9mm 2 Open the wire insert opening on the terminal with the tool shown in Fig A or Fig B Fig A with lever Fig B with screwdriver 3 Insert the wire into the opening and then close the opening by releasing the lever or removing the screwdriver 3 2 3 MECHATROLINK Connectors MECHATROLINK connector is used to connect the MP2300S and the SERVOPACKs and distributed I O via MECHATROLINK cables 1 Specifications and Pin Arrangement Connector No of Connector Model Name s Name Pins Module Cable Manufacturer MECHATROLINK M I II 8 DUSB ARB82 T11A FA DUSB APA42 B1 C50 DDK Ltd Connector n 7 7 E ta No Signal Name Description No Signal Name Description A1 B1 M I II il A2 SRD Signal B2 SRD Signal A3 SRD Signal B3 SRD Signal A4 SLD Shield B4 SLD Shield 3 14 3 2 Basic Module Connections 3 2 3 MECHATROLINK Connectors 2 Cables Name and Specification Model Number Length JEPMC W6002 A5 0 5 m JEPMC W6002 01 lm MECHATROLINK Cable E 3 MECHATROLINK Connector MECHATROLINK
353. heek Whether the inidicatotis is abnormal if the indicator is not lit lit Check whether the indicator The indicator must be lit it R MTX i noi abnormal if the indicator is not lights during communication lit ET The indicator must not be lit BAT C neck whether tieinoiator is The battery voltage is too low if Replace the battery not lit the indicator is lit 8 1 2 Regular Inspections 8 1 Inspection Items 8 1 2 Regular Inspections This section explains inspection items that must be performed once or twice every six months to one year Inspections must also be performed when the equipment is relocated or modified or when the wiring is changed PROHIBITED Do not replace the built in fuse If the customer replaces the built in fuse the MP2300S may malfunction or break down Contact your Yaskawa representative Environment and hygrometer respectively There must be no corrosive No Inspection Item Inspection Details Criteria Action Ambient Temperature Check the temperature and 0 C to 55 C If the MP2300S is used Operating Ambient Humidity humidity with a thermometer 30 to 95 RH inside a panel treat the tem perature inside the panel as Module not lit Atmosphere Check for corrosive gases gases the ambient temperature Power Supply Measure the voltage between Change the power s
354. her with the CPU stopped or when motion commands are not being exe cuted Change the high speed scan setting and then save the settings to flash memory and turn the power supply OFF and ON when operation changes from synchronized to asynchronized or from asynchronized to synchronized 5 Operation When the MECHATROLINK Communication Cycle Is Changed e Changing the MECHATROLINK communication cycle of the SVB in the CPU Synchronization may be lost when a change is made even if synchronization is possible for the high speed scan and communication cycle combination When a change is made save the settings to flash memory and then turn the power supply OFF and ON e Changing the MECHATROLINK communication cycle of the SVB 01 Module Operation will be automatically synchronized when a change is made if synchronization is possible for the high speed scan and communication cycle combination It is not necessary to turn the power supply OFF and ON 6 Conditions when the Power Supply Must Be Turned OFF and ON When any of the following operations is performed save the settings to flash memory and then turn the power supply OFF and ON e After executing a self configuration command from the MPE720 after turning ON the power supply e After loading a Module definition after turning ON the power supply e After changing the SVB communication cycle in the CPU after turning ON the power supply e After operation changes from synchronized to asynchronized or from
355. here is a risk of injury Do not allow installation disassembly or repairs to be performed by anyone other than specified person nel There is a risk of electrical shock or injury E Storage and Transportation Z CAUTION Do not store or install the MP2300S in the following locations There is a risk of fire electrical shock or device damage Direct sunlight Ambient temperature exceeds the storage or operating conditions Ambient humidity exceeds the storage or operating conditions Rapid changes in temperature or locations subject to condensation Corrosive or flammable gas Excessive dust dirt salt or metallic powder Water oil or chemicals Vibration or shock Do not overload the MP2300S during transportation There is a risk of injury or an accident If disinfectants or insecticides must be used to treat packing materials such as wooden frames pallets or plywood the packing materials must be treated before the product is packaged and methods other than fumigation must be used Example Heat treatment where materials are kiln dried to a core temperature of 56 C for 30 minutes or more If the electronic products which include stand alone products and products installed in machines are packed with fumigated wooden materials the electrical components may be greatly damaged by the gases or fumes resulting from the fumigation process In particular disinfectants containing
356. hich uses MSG SND function 4 Seta communication setting in the Message Communication Easy Setting Window Message Communication lasy Setting xj Connect No 3 v Specify the connection number y MP Series Local Port IP Address 192 168 001 001 Other Device Node Port IP Ada fis2 4 fies foot E Communication protocol Type Default Port No 256 65535 fi 0003 Connect Type TCP ii Code BIN k Coree E How to set up in the Message Communication Easy Setting Window When automatic receive is used select 3 for the Connect No Set Port No of the MP23008S side 10003 for example Select Extended MEMOBUS for Communication Protocol Type and click the Default Button Select Connect Type TCP for example Select Code BIN for example Set Node Port IP Address for the other device MP2300 to be connected 192 168 001 002 for example Set Port No of the other device MP2300S to be connected 10003 for example Click OK E Caution When message functions MSG SND MSG RCV are used with the connection number 01 disable the automatic receive func tion If message functions are used while the automatic receive function is enabled the communication will not function prop erly Note By default the automatic receive function with a connection number 01 is set to Enable 6 2 Communication wi
357. i gt 0020 192 168 001 006 20200 UDP Extended MEMOBUS BIN 0030 000 000 000 000 00000 TCP gt MEMOBLS y RTU 04 foo40 192 168 001 111 22222 UDP None fasci kim gt Fig G3 218IF Parameter Setting Screen for the MPE720 Module Configuration Definition 5 Option PARAMO3 Choose a unique setting for each communication device When the protocol is MEMOBUS or Extended MEMOBUS this is not used and no setting is necessary Appendices A 45 6 Function Code PARAM04 Set a function code to transmit The functions read coil or input relay state write to holding register etc registered in the function codes are made available by specifying the code The following table shows the function codes available when using a MEMOBUS or Extended MEMOBUS protocol Table G 1 Function Code List MEMOBUS Extended MEMOBUS A 46 Protocol Type Target Data Function Code Function Extended Type MEMOBUS MEMOBUS 00H Unused 01H B Reads coil state V V 02H B Reads input relay state V V 03H W Reads holding register content V V 04H W Reads input register content V V 05H B Changes single coil state V 06H W Writes to single holding register V 07H Unused a 08H Loopback test V V 09H W Reads holding register content extended V OAH W Reads input register content extended V OBH W Writes to holding register extended V OCH E Unused
358. ication System MECHATROLINK MECHATROLINK II 32 byte or MECHATROLINK II 17 byte Communication Cycle M II 0 5 ms 1 ms 1 5 ms or 2 ms Maximum Number of Connectable Stations M II 21 stations up to 16 servo stations Slave Function Nj Slave Synchronous Function Ni High speed Scan 0 5 ms to 32 ms Scan Interval per 0 5 ms Setting Fonspsed Scan 2 0 ms to 300 ms P per 0 5 ms Communication Ethernet 100Base TX VF 1 port On board I O 2 o da Optional Output Signal during y RUN SDRAM 32 MB SRAM 512 KB Battery backup Memory Capacity FLASH 8 MB Program Capacity 5 5 MB Ladder Language V Programming Motion Language V Language Sequence Program V C Language V Symbols in the table mean as follows M I MECHATROLINK I M II MECHATROLINK II y Available Not available 2 1 Specifications 2 1 2 Product Specifications Specifications and Functions 2 3 2 1 Specifications 2 1 3 Function Lists 2 1 3 Function Lists 1 PLC Function Specifications The following table shows the PLC function specifications Item Specifications Control Method Sequence High speed and low speed scan methods Programming Ladder diagram Relay circuit Language Text type language Numeric operations logic operations etc Two scan levels High speed scan and low speed scan High speed scan
359. ies a response transmission C MR_SEND MEMOBUS response transmission gt Appendices A 79 d PARAMETER parameter When RESULT process result 4 FMT_NG parameter format error an error code in the table below is output Oth erwise the connection number is output RESULT process result Code Hex Meaning 00 No error 01 Connection number is out of range 02 Time error for monitoring to receive MEMOBUS response When RESULT process re 03 Error in setting retransmit count sut 4 04 Error in setting cyclic area FMT_NG parameter format error 05 CPU number error 06 Data address error 07 Data size error 08 Function code error Others XX Connection number 4 Connection Number PARAM0O2 Specify the remote source When the communication device is Ethernet 218IF or 218IFA set the connection number The following table shows the setting range Communication Device anag n Num Remarks Ethernet 218IF 1 to 20 Receives from the remote station set for the specified connection number Ethernet 218IFA 1 to4 Same as above Note When the communication device is Ethernet 218IF 218IFA set the connection number in accordance with the connection number in the 218IF 218IFA Parameter Setting Window for the MPE720 module con figuration definition Transmission Parameters Status Transmission Parameters Module Name Definition
360. imes an error is returned to the MSG SND function 2 2 Basic Module 2 2 4 218IFA Module Ethernet E Message Communication Item of Connection Parameter Setting Sets the connection parameters for the message communication using MSG SND MSG RCV function and the message communication using automatic receive function r Connection Parameter m Message Communication Easy setting It is possible to following parameter setting easily that communicate the message GANAN Port Port pe pe 192 168 001 003 20010 TCP Detail 20020 TCP 20030 UDP 20040 TCP 192 168 001 004 192 168 001 005 192 168 001 006 Cannot the overlap to local station port number used by the communicate the 1 0 message The following table shows each setting item Item Setting Range Details Default Easy Setting Opens the easy setting screen for the connection parameters The content of the selected connection is shown In 218IFA Ethernet communication remote stations are distin guished by their connection numbers This connection number is used in remote connection number PARAMO2 of the parameter list PARAM of the MSG SND MSG RCV function Specify the 218IFA port number for each connection 218IFA establishes a message communication with the connection with this port number only Set an unique channel number for the port number of this connections 0 Also to delete the port number enter zero Note When
361. ine Compile Debug Window Help 8X AmA LE 436 Moo me aR ee GS E gt im Do BB DOUE TUS Y Aeon Oey ET LE XO Online MP23005 2 Ethernet LP IP192 168 1 1 CPU RUN a gt Controller ah EST CUN eet Communications Setting fg Axis monitor E Alarm monitor Connection 2 Ethernet LP 1P192 168 1 1 Gg Cir 01 SVB MECHA Dikcunnecton Gg Cir 02 SVR Virtual History History mp2300sladder Y MW 2 Ethernet LP IP192 168 1 1 E Ladder E Motion System 1 Click System in the subwindow and double click Axis Configuration Test Run to display a warning dialog a box for the test run Click the Accept Button 2 Axis Selection and Servo ON 4 2 Preparation step 1 4 2 3 Test Operation Set an axis number in the Axis Window and click the Enable Servo ON Button in the Test Run Window Test Run x BB 2 Axis I Servo On Alarm Speed reference The axis operates only while hold down Forward button or reverse button 3 Forward AG zZ Axis l Cir 01 Axis 01 SGDS 1 St Servo On Alarm Ln oc 49 Disable Monitor Sheed reference P a The axis operates only while hold down Forward button or reverse button _ 3 B Forward Reverse iguratio Turning the servo ON allows you to manipulate the jog step buttons a System Start Up and Easy Programming 4 7 4 8 4 2 Prepara
362. ing 16W SW03202 Program number used by work 3 eae Reserved by the system 16W SW03232 SW03203 Program number used by work 4 Executing Program Bit Executing when corresponding SW03204 Program number used by work 5 bit is ON Program number used by work 6 SW03248 91v03203 SW03206 Program number used by work 7 S032604 Program information used by pa 1 58W SW03207 Program number used by work 8 P b db k9 SW03222 Program information used by san 3 N SW03208 rogram number used by worl work 2 _ SW03209 Program number used by work 10 SW03380 Program information used by BAIN SW03210 Program number used by work 11 work 3 SW03211 Program number used by work 12 SW03438 x Program information used by work 4 58W SW03212 Program number used by work 13 SW03496 N SW03213 Program number used by work 14 Program information used by 58W work 5 SW03214 Program number used by work 15 SW03554 Program information used by gy SW03215 _ Program number used by work 16 work 6 SW03612 Program information used by say work 7 SWO0360 Program information used b y SE 3 Y sew i Executing program bit SW03728 Program information used by E SW03232 MPO016 Bit15 to MPO001 BitO work 9 SW03233 MPO032 Bit15 to MPLI017 Bit SM03199 Program information used by gy SW03234 MPO048 Bit15 to MPL1033 Bit0 work 10 SW03235 i i swoseaa Ho MPO054 Bit15 to MPL1
363. ing operation application inspection and disposal These precautions are important and must be observed E General Precautions A WARNING Before connecting the machine and starting operation ensure that an emergency stop procedure has been provided and is working correctly There is a risk of injury Do not touch anything inside the MP2300S There is a risk of electrical shock Always keep the front cover attached when power is being supplied There is a risk of electrical shock Observe all procedures and precautions given in this manual for trial operation Operating mistakes while the servomotor and machine are connected may damage the machine or even cause acci dents resulting in injury or death There is a risk of electrical shock Do not remove the front cover cables connector or options while power is being supplied There is a risk of electrical shock Do not damage pull on apply excessive force to place heavy objects on or pinch cables There is a risk of electrical shock operational failure or burning of the MP2300S Do not attempt to modify the MP2300S in any way There is a risk of injury or device damage Do not approach the machine when there is a momentary interruption to the power supply When power is restored the MP2300S and the device connected to it may start operation suddenly Provide safety mea sures in advance to ensure human safety in the event that operation restarts suddenly T
364. ion setting unnecessary DW00004 00001 PARAM04 IN Function code 1 reads coil state DW00005 08192 PARAM05 IN Data address 8192 bits 512 words DW00006 00100 PARAM06 IN Data size 100 DW00007 00001 PARAMO7 IN Remote CPU number 1 DW00008 01000 PARAMO08 IN Coil offset 1000 words DW00009 00000 PARAMO9 IN Input relay offset 0 word Dwo00010 00000 PARAM10 IN Input register offset 0 word DW00011 00000 PARAMI1 IN Holding register offset 0 word DW00012 PARAM12 SYS Reserved zero clear at startup DW00013 PARAM13 SYS Reserved DW00014 z PARAM14 SYS Reserved DW00015 PARAMI5 SYS Reserved DW00016 PARAM16 SYS Reserved Note IN Input OUT Output SYS For system use e Relationship with the Data of the Remote Device The following figure shows the data flow when transmitting reads coil state with offset When transmission and reception are carried out normally in the figure below the coil state in the device is stored in MW01512 and after of MP2300S MP2300S series transmission master M register Coil MW00000 Offset 1000 words A Mw01000 Data address 8192 bits 512 words mid Data y A y MW01512 Data size 100 points rid y Data Remote device reception slave Data address 8192 bits Data size 100 points Fig G 8 Reading Example of Coil State gt Appendices A 69 A 70 G2 Me
365. ion DISABLE Program number a a Status 2 Vv a Control signal 2 Vv a Override 1 0 01 Vv List Delete Cee Cancel a System Start Up and Easy Programming 4 11 4 4 Executing Motion step 3 4 4 2 Starting a Motion Program Using the Operation Control Panel 4 4 2 Starting a Motion Program Using the Operation Control Panel 1 Click the Operation Control Panel Icon 2101 x PT 2 CPUR 1 Pr EC mmn SS OMS Hl el F T S eh oO 00001 INCREMENTAL MODE i 00002 00000 INC 00003 POSITIONING 00004 00001 MOY A1 15000 B1 15000 00005 00002 END Line Block 4 The Device Control Panel Dialog Box will appear 2 Check Program to run and click the START Button START Drive control panel __ M2005 sg Program exec registry No No01 Program number MPM o en START PAUSE PAUSE O Stopped stop g ALMRST ALMRST O RUNNING RUNNING O PAUSING PAUSING O STOPPED STOPPED O ALARM ALARM O PRGNOERR PRGNOERF Display Display The MPMO001 s motion program is executed m Caution e This chapter explains the simple procedure where you can easily run and check a program without external signals In prac tice you need to connect to external signals and create a sequence e Registering a program execution enables the M EXECUTOR definition The MP2300S automatically controls the motion program so be aware that changing registers registered i
366. ion has a parameter list structure composed of 17 words The value of the Param itself is the start address MA DA of the parameter list In the parameter list enter a connection number function code and its relevant parameter data Process results and sta tus are also output When MEMOBUS or non procedure is used as a communication protocol the parameter list is as follows Note Parameter details are explained in the parameter details for each protocol type Refer to the following items G1 4 Function Setting and Parameter Details for MEMOBUS and Extended MEMOBUS Protocols on page A 41 G1 5 Function Setting and Parameter Details for MELSEC Protocol on page A 51 G1 6 Function Setting and Parameter Details for MODBUS TCP Protocol on page A 56 G1 7 Function Setting and Parameter Details for Non procedural Protocol on page A 61 1 MEMOBUS Parameter List Param No IN OUT Contents Description 00 OUT Process result Process result is output 01 OUT Status The status of the communication device is output 02 IN Connection number Specifies the remote destination 03 IN Option Sets a unique setting for each communication device 04 IN Function code Sets a function code to transmit 05 IN Data address Specifies the start address of the data 06 IN Data size Sets the data size for a read write request 07 IN Remote CPU number Sets a remote CPU number 08 IN Coil offset Sets t
367. ion management section during execution of a motion command Overtravel is detected when the overtravel signal in the direction of movement turns OFF Processing when Alarm Occurs The SERVOPACK performs stop processing The stop method and processing after stopping depends on the SERVOPACK parameter settings The Command Error Completed Status in the Motion Command Status IWO009 bit 3 will turn ON e Machine Controller Processing The command is canceled and the axis decelerates to a stop Follow up processing each scan the current position of the machine is adjusted to the reference position is executed Error and Cause One of the following is possible e A move command that exceeded the travel limit of the machine was executed as follows A user program command exceeded the travel limit The software limit was exceeded in manual operation e Overtravel signal malfunction Correction e Check the following Check the overtravel signal Check the program or manual operation Then after clearing the motion command code and resetting the alarm use a return operation to eliminate the overtravel status Commands in the overtravel direction will be disabled and an alarm will occur again if one is executed E Precautions Fora vertical axis the following should be set at the SERVOPACK to avoid dropping and vibration at the overtravel limit e An emergency deceleration stop Zero clamp status af
368. iple holding registers 35 V Note 1 B Bit type W Integer type BON respectively Available Not available Transmit and receive registers in the master operation mode are MW MB only In the slave operation mode coil holding register input relay and input register are MB MW IB IW 7 9 Data Address PARAM05 A data address requested from the transmission side is output However when reading writing multiple holding registers function code 17H enter a start M register number for the address table The four words of addresses at the beginning of the M register set by PARAMO05 data address are used as an address table In this address table read address read size write address and write size requested from the trans mission side are output For more information about the address table refer to G 1 6 7 Data Address PARAMOS on page A 58 Data Size PARAM06 The read write data size number of bits or words requested from the transmission side is output Remote CPU Number PARAMO7 Refer to G2 8 Relationship between Data Address Data Size and Offset for MSG RCV Function on page A 98 10 Offset PARAM08 PARAM09 PARAM10 PARAM11 Specify an offset address for the reception side data address The address for the reception side will be displaced by the number of words designated by the offset Note 1 For more information refer to G2 8 Relationship between Data Address Data Size an
369. is Manual ee iii Safety Information v Safety Precautions vi 1 Overview 1 1 1 1 MP2300S Features 1 2 1 2 MP2300S Configuration 1 3 1 2 1 Basic Module Appearance 1 3 1 2 2 MP2300S Modules 1 4 1 3 System Configuration 1 5 1 3 1 Example 1 5 1 3 2 Example of Distributed Synchronizing System 1 6 1 4 MECHATROLINK compatible Devices 1 7 1 4 1 SERVOPACKS 1 7 1 4 2 Modules 1 7 1 5 Cables and Accessories 1 8 1 5 1 Cables 1 8 1 5 2 Accessories and Options 1 9 1 5 3 Software Programming Tool 1 9 2 Specifications and Functions
370. iting Transmission side sets the data address B and the data size C In case of non procedure write cannot be received The data type and register correspond as follows Coil MMO0 0000 holding register MWOOOOO The valid offset parameter may differ according to each data type Communication protocol MEMOBUS Offset A Write range gt lt gt lt MSG RCV function Parameter list PARAMOO PARAM01 PARAMO8 PARAMO9 PARAM10 PARAM 11 PARAM12 PARAM13 PARAM16 Communication protocol non procedure Offset A Write range MSG RCV function Parameter list PARAMOO PARAMO1 PARAMO08 PARAMO9 PARAM10 PARAM 11 PARAM12 PARAM13 PARAM16 gt Appendices A 99 A 100 Example Writes to multiple holding registers with offset is received When writes to multiple holding registers with offset is received in MEMOBUS protocol various setting values and the relationship with the data of remote equipment are as follows e Description of the MSG RCV function in ladder program Communication device 218IFA Execute DB000201 Bey DB000210 Protocol MEMOBUS NI Abort DB000202 Complete DB000211 Dev Typ 00016 Error DB000212 Pro Typ 00001 Cir No 00001 Ch No 00001 Parameter list start address DAO0000 Param DA000
371. ition information updated during executing the self configuration and the module configuration defini tion example based on the module combination are as follows 1 Definition Data of MP2300S Basic Module a I O Allocations Item Allocation e Start I O register IW0000 OW0000 e End I O register IWO7FF OW07FF Input register IW0000 to IWO7FF Output register OW0000 to OW07FF e Start I O register W0800 OW0800 End I O register IWOBFF OWOBFF Input register IW0800 to IWOBFF Output register OW0800 to OWOBFF e Start motion register W8000 OW8000 End motion register W87FF OW87FF Input register IW8000 to IW87FF Output register OW8000 to OW87FF e Start motion register IW8800 OW8800 e End motion register IW8FFF OW8FFF Input register IW8800 to IW8FFF Output register OW8800 to OW8FFF e Start I O register IWOC00 OWO0CO00 e End I O register IWOC3F OWO0C3F Input register WOCOO to IWOC3F Output register OWO0CO00 to OWO0C3F 218IFA MECHATROLINK SVB Motion Parameter SVR Motion Parameter M EXECUTOR b 218IFA Definition Item Allocation Local IP Address 192 168 1 1 Subnet Mask 255 255 255 0 Gateway IP Address 0 0 0 0 Module Name Definition CONTROLLER NAME System Port engineering port 3227 UDP Check amp Monitor Time of MEMOBUS J response Retransmit Count 0 Note The self configuration allows you to con
372. itting in MEMOBUS Extended MEMOBUS MELSEC or MODBUS TCP protocol set the communication protocol Pro Typ to MEMOBUS 1 The communication device automatically converts the protocol 2 Non procedure 1 In non procedural communication data is received on a per word basis Non procedure 2 In non procedural communication data is received on a per byte basis 6 2 Communication with Other MP Series 6 2 3 When MP2300S Acts as Master I O message communication function is used E Parameter list setting example for message receive function An example of a parameter list setting when receiving messages from a transmit source using the connection with connection numbers 5 and 6 follows Table 6 10 Parameter List Setting Example 1 parameter list start address Param DA00000 Numbers Velie Number NOUT Romer DW00000 PARAM00 OUT Process result DW00001 PARAMO1 OUT Status DW00002 00005 PARAM02 IN Connection number 5 For receiving read operation DW00003 PARAM03 OUT Option DW00004 PARAM04 OUT Function code DW00005 PARAMO05 OUT Data address DW00006 PARAM06 OUT Data size DW00007 PARAM07 OUT Remote CPU number DW00008 00000 PARAMO08 IN Coil offset 0 word Dwo0009 00000 PARAMO9 IN Input relay offset 0 word DW00010 00000 PARAM10 IN Input register offset 0 word Dwo0011 00000 PARAMI1 IN Holding register offset 0 word DW00012 0
373. k DeviceNet and PROFIBUS Connecting an SVB 01 module to the optional slot allows the synchronized control of up to 32 axes of servos Capable of a Synchronous Distributed System with MECHATROLINK The MP2300S has a CPU synchronous function using MECHATROLINK communications This is a new func tion in the MP2000 series Machine Controllers A sync operation between slave controllers is made possible by connecting the MP2300S as a slave with an MP2000 series model as a master via MECHATROLINK II The controller s load balancing affords a high speed synchronization of multi axis motions Simple Programming The operation procedures needed before performing a motion operation are significantly reduced You can start up a motion program from an upper PLC without the need for programming simply by creating the motion program and registering execution orders 1 2 MP2300S Configuration 1 2 1 Basic Module Appearance 1 2 MP2300S Configuration The MP2300S is configured with one Basic Module and an optional slot 1 2 1 Basic Module Appearance The following figure shows the external appearance of the Basic Module with metal fittings for attachment Also the values in the figure do not include the length of metal fittings lt 64 mm Metal fittings for attachment
374. ks gt 1 scan 1 scan Flicker Relay SB000010 eR ale gt 1 scan 0 5s 0 5s 0 5 s Flicker Rela SB000011 gt f 1 0s 1 0s 1 0 s Flicker Relay SB000012 4 N 2 0s 2 0s gt l 2 0 s Flicker Relay SB000013 i gt lt 0 5s 0 5s 0 5 s Sampling Relay SB000014 gt 1scan 1 0s 1 0s lt Pi gt 1 0 s Sampling Relay SB000015 gt 1scan 2 0s pla 2 0s gt 2 0 s Sampling Relay SB000016 I gt 1scan 60 0s 60 0s 60 0 s Sampling Relay SB000017 gt 1scan 1 0s 1 0 s After Start of Scan Relay SB000018 2 0s 2 0 s After Start of Scan Relay SB000019 5 0s 5 0 s After Start of Scan Relay SBO0001A j K E DWGL Only The following relays are reset at the start of the low speed scan Name Register No Remarks gt 1scan One scan Flicker Relay SB000030 gt 1 scan 0 5s 0 5s 0 5 s Flicker Relay SB000031 ea 1 0s 1 0s 1 0 s Flicker Relay SB000032 ee 2 0s pl 2 0s gt l 2 0 s Flicker Relay SB000033 Ik ie So T 0 5s 0 5s 0 5 s Sampling Relay SB000034 gt 1scan 1 0s 1 0s lt _ _ gt 1 0 s Sampling Relay SB000035 H gt 1scan 2 0s 2 0s 2 0 s Sampling Relay SB000036 lt gt 1 scan 60 0s 60 0s 60 0 s Sampling Relay SB000037 lt 4 1 scan 1 0s 1 0 s After Start of Scan Relay SB000038 2 0s 2 0 s After Start of Scan Relay SB000039 A 5 0s 5 0 s After Start of Scan Relay SB00003A gt Appendices w
375. l Motion Start Register Motion End Register a a O Status Rumning _ MP2300S Controller module with network servo control ethemet virtual axes program control function m Module Details MP23005 SLOT 00 i A meea O T CO U Circuit Number fom fon fon 1O Start Register_ _foooo_fogoo f foo WOEnd Register o _ Enable C EE Status Running Running Running SVR Virtual axes function MECHATROLINK I I I FINED in the Module Configuration Window Module Details MP2300S SLOT 00 Sea ie a ee ees ee a oo _OStartRegister _ O Start Register 9000 0800 o amme Poo ee t o HH oO n BE E merr of GO Ee E Motion Start Register 8000 k a Motion End Register Ea be N Deas o Oo ecHaRouK o i i Running Running Running JUNDEFINED Not used If the SVR is not used MP2300S processing time can be reduced by setting the Module Type for SVR to UNDE Specifications and Functions 2 47 2 2 Basic Module 2 2 6 SVR Virtual Motion Module 2 Example SVR Usage The SVR is used in the following two applications Program testing Results are easily obtained without mounting a motor Generating commands If the SVR is used in applications where motion modules are required only for gen erati
376. late A g A g 4 W C1 N N 4 TOOOOOEOooUL Relay connector 2P Lis bay L aii 734 YE102 Hoa ie I erminating resistor eS F for MECHATROLINK Offy attachment Olle g H Dllo 1 EB Ole Power connector 3P i 721 203 026 000 LJ 14 when released J 10 when DIN Iail is attached Units mm 1 The following cable side connectors are attached to the power and relay connectors Power connector 721 203 026 000 Relay connector 734 YE102 Note Attachment Handle for power connector model 231 131 Handle for relay connector model 734 230 These handles are used when connecting a cable to the cable side connector Terminating resistor for MECHATROLINK JEPMC W6022 E Specifications and Functions 2 63 2 4 External Appearance 2 4 2 Basic Module with Metal Fittings 2 4 2 Basic Module with Metal Fittings
377. lave CPU Synchronization 3 Input Output Data Flow between Master and Slave E From MP2000 master to MP2300S slave OWwOOO0 0 owoooo 1 owo000 2 owo0o000 3 owo000 4 OWOOOO 5 OWOOOO 6 owo0o000 7 OWOOOO 8 owo0o000 14 MP2000 master Output register 76543210 Scan counter Unused Unused Data 1 Low High Data 2 Low p High Data 3 Low ik High Data 4 Low High Data 5 Low High Data 6 Low High Data 7 Low High Data 13 Low High 00h 01h 02h 03h 04h 05h 06h 07h 08h 09h OAh OBh OCh ODh OEh OFh 10h 11h 1Ch 1Dh MECHATROLINK transmission path 76543210 DATA_RWA Scan counter Used by system Used by system Data 1 Low p High Data 2 Low p High Data 3 Low p High Data 4 Low High Data 5 Low p High Data 6 Low p High Data 7 Low High Data 13 Low High 7 3 Operation 7 3 1 Input Output Register IwOOOO 0 Iwoooo 1 IwOooOoOO 2 IWOOOO 3 Iwoooo 4 IWwOOOO S IwOOOO 6 IwOOOO 7 IwOOOO 8 IwOoOoOoOoO 14 MP2300S slave Input register 76543210 Scan counter p Unused 7 Slave status p Unused Data 1 Low i High Data 2 Low p High Data 3 Low j High Data 4 Low j High Data 5 Low High
378. laves Number of Slaves Transmission bytes communication cycle number of retries to slaves and number of slaves at execution of self con figuration will be automatically set according to conditions including communication type station type Master or Slave and the largest slave station number the largest number among the detected slave station numbers lt For Master Station gt Hen MECHATROLINK II MECHATROLINK II 32 byte mode 17 byte mode MECHATRO targ st Slave 1to8 9 10 to 16 17 to 21 1 to 14 15 ae Station Number R g 5 9 Transmission Byte 31 bytes 16 bytes Communication f i 5 5 i 1 5 Cycle ms ms ms ms ms ms ms Numberiof 1 0 5 A l 1 0 14 Retry to Slaves y ArgESt SAYS station number Number of The largest slave Slaves 9 16 station number me 15 ii Specifications and Functions 2 41 2 42 2 2 Basic Module 2 2 5 Built in SVB Module lt For Slave Stations gt Item MECHATROLINK II 32 byte mode MECHATROLINK II 17 byte mode MECHATROLINK I Transmission Byte Communication Cycle 1 ms 1 ms 2 ms Number of Retry to Slaves 30 30 15 Number of Slaves 30 30 15 E Communication Cycle That Can be Set The communication cycle that can be set will differ depending on the communication type as follows Communication Mode MECHATROLINK II 32 byte mode 17 byte mode Commu
379. le group operation or multiple group operation Definitions for axes to be grouped together are made under Group Definitions a Single Group Operation b Multiple Group Operation MP2300S MP2300S fallal lal 8 8 Vhs yal dai tae 1H al e B B a fa i ja a i fa 00 00 VED a AD E GROUP 1 GROUP 1 GROUP 2 GROUP 3 o Outline of Motion Control Systems 5 7 5 2 User Programs 5 2 2 Motion Programs This section explains the Group Definition screen HP Group Definition Group List No of Group 01 EEN 02 Group2 03 Group3 r Axis Specification Gro 3 Control Axis No No of Group Set a number for the operation as a group Set it to 1 for the operation as one group Set it to the number of groups for the operation with multiple groups Group Name Define a group name Control Axis No Set the number of axes controlled in the group Circuit Set a line number for the used motion module The line number can be checked in the module configuration definition Line number Ss ioe aoe Een E S cu a ve Sv ne execuTOR e a Vc PO A a TC 5 2 User Programs 5 2 2 Motion Programs Axis No Set an axis number for the used axis The axis number can be checked in the detailed screen of the used motion module Axis number SERVOPACK SGDS
380. le of a ladder program for transmitting messages in the remote device MP2300S side follows E Message transmit function MSG SND Required for transmitting messages Message transmission is carried out by describing and executing this mes sage transmit function in a ladder program MSG SND Communication device Ethernet 218IF Execute DB000200 Busy _ DB000210 eae NI Abort DB000201 Complete DB000211 Ng Dev Typ 00006 Error DB000212 Circuit number 1 E Pro Typ 00001 Communication buffer channel number Cir No 00001 l Ch No 00002 Parameter list start address Param DA00000 DA00000 Communication device 218IF Circuit number 1 Module Details 2181F 01 SLOT O1 Module Type 21a eier 7 Controller Number 01 foo o o CircuitNumber_ 0 on O WOStartRegister ss 777 WOEnd Register Motion Start Register_ Motion End Register _ Details O Status Running Fig 6 5 MPE720 Module Configuration Definition Screen 6 2 Communication with Other MP Series 6 2 2 When the MP2300S Acts as a Slave ladder program which uses a MSG RCV function E input output definitions contents for message transmit functions The input output definition content for the message transmit function is as follows Table 6 6 Input Output Definitions for Message Transmit Functions I O Definition No Name Setting Example Contents Input Item Execute
381. lect Online O Read from Controller A ME MPE720 Yer 6 2300s MP23005 Start 3 it File Edit View Compile Debug Window Help i A mai m By To Disconnection au Cam E ae e AOUE AU ELE st lt O Communications Setting m a s fi CPU RUN Administrator My Do A m CPU STOP q Scanti 3 Bed iJ Write into Controller _ Motion QXD Read from Controller fa Save to Flash Program a l 2300s Mp2300 D Transfer MP23005 E Motion progr E Sequence pr der program igh speed E controller Information bw speed EE Start Online Security Setting 7 Click Individual and only check Module Configuration Transfer Program Read from Controller gt Start Target Project File MP23005 2300s YMW 0 G Batch T Individual Save to flash after transferring to the controller System Configuration C Program a onnu o LI Reaister C Comment omes 5 4 Self configuration 5 4 1 How to Execute Self Configuration 8 Click Start to read the module configuration definition from a controller Transfer Program Read from Controller Target Project File MP23005 2300s MW A 0 Batch Ty Individual Save to flash after transferring to the controller System definition System Configuration Scan time definition progran Ta iModule configuration H O Data trace C Register C Comme
382. lick the 218IF Tab in the Module Details of the module configuration definition jimi Module Configuration _MP2300_ Online Local E PT 3 CPUR 1 ECI r Controller Controller Number Circuit Number VOStart Register fai 8IF 01 The module has Ethernet and RS232 functions m Module Details 2181F 01 SLOT D1 Details 2 Set transmission parameters Transmission Param ters Status m CP 218 Transmission Parameters Station Setti IP Address 4 12 1664 0 255 MEMOBUS Response Time fo a s 0 255 Count of Retry fo a time 0 255 m CP 218 Connection Parameter xi Subnet Mask why Maa psa psa fo os GatewayIPAddes o fp fo a fo 0255 System Port No fio000 DIAG Port No Engineering Port 256 65535 TCP IP Setting TCP Zero Window TimerValue 3 Js 1 255 TCP Retry Time o0 s 50 3200 TCP Close Time jo s 1 255 IP Assemble Time fro s 1 255 MAX Packet Length 1500 byte 64 1500 Cancel E How to set up transmission parameters O Set IP Address 192 168 001 001 for example Click Edit and then click Local Station TCP IP Setting in the Engineering Manager Window o Ethernet Communications 6 10 6 2 Communication with Other MP Series 6 2 1 When the MP2300S Acts as Slave automatic receive function is used Set Subne
383. linear interpolation command interpolation command exceeded LONG_MAX P 1p FMX command not executed in the motion Perform an FMX command The FMX 1Dh FMX undefined program containing an interpolation com command is required in each program con mand taining an interpolation command Designation exceeded the valid range in the Review the setting in the IAC IDC FMX TEN Address Tout ofiange IAC IDC FMX commands command Designati ded the valid in th TE 1Fh Address P out of range Se let eho exceeded the valid range mthe Review the setting in the IFP command IFP command 8 2 Troubleshooting 8 2 5 Motion Program Alarms Alarm aay i Name Description Corrective Actions Code A motion command was instructed simulta 21h PRORK erection erior neously at the second line in the PFORK of Review the source motion program or sub both a source motion program and a subpro program gram Indirect register range Specified register address exceeds the register i 22h 8 8 P 8 8 Review the motion program error size range Morine amount outo Axis moving amount with decimal point for 23h 8 an axis move command exceeded the possible Review the axis moving amount range range Use of logical axis pro Multiple motion commands instructed against 80h E g P P 8 Review the motion program hibited the same axis at the same time Designation exceeded 3 l e Modify a fixed parameter Ma
384. llocating the M EXECUTOR register No irern M EXECUTOR Allocation Direction Allocation Allocation Control register Disable register Contact interlock Program number MPMOO Status IWOCooO H gt oWwooo00 IBOOO20 1 Control signal OWwOoCco lt IWoo00 IB00020 Override OWOCO2 lt IWWwo00 IB00020 Specify any registers for mapping register and IE mapping interlock contact Execution control using a motion management function Program number MPM001 Status Allocation VEL a1 5000 b1 interlock Control signal FMX 710000000 i Override for interpolati IAC 725 External equipment Allocation register contact _ 212de for interpolation T i ee IDC T30 Upper PLC pa External signal l l MOV a1 300 b1 Touch panel T Program number Reference of MVS a1 200 b1 Switch ia Operation startup L M EXECUTOR C Pa i LED etc Pause control register Stop etc Leanne Data is exchanged END at H scan cycle Motion program m An allocation contact interlock is used to interlock the operation of a motion program When setting an alloca tion register be sure to set an allocation contact interlock It is processed as shown below by turning ON OFF an allocation contact interlock e When an allocation contact interlock contact is ON data is exchanged between an allocation register
385. lti turn reset and encoder alarm reset BB Multiturn Clear PGCL1 If the display is not switched and NO_OP is displayed in the status display the Write Prohibited setting Fn010 0001 is set Check the status and reset Then clear the Write Prohibited setting 3 Keep pressing the Key until PGCL1 is changed to PGCL5 BB Multiturn Clear PGCLS 4 Press the Key BB in the status display changes to Done Done Multiturn Clear PGCLS MODESET 5 Press the Key The display returns to the Utility Function Mode main menu This completes setting up the absolute encoder Turn the power supply OFF and then back ON to reset the SERVO PACK Appendices A 15 D 2 X Il SERVOPACK Refer to the following manuals for information on Il SERVOPACKs II Series SGMGH SGDH User s Manual SIEP S8000 000 05 Il Series SGMLVYSGDB SGMGH SGDM User s Manual SIEP S800000 15 1 Initialization Using a Hand held Digital Operator 1 Press the DSPL SET Key to select the Auxiliary Function Mode 2 Select parameter Fn008 by pressing the LEFT lt and RIGHT gt Keys to select the digit to be changed and then using the UP A and DOWN v Keys to change the value of the digit 3 Press the DATA ENTER Key The following display will appear 4 The rightmost digit will be incremented each time the UP Key is pressed Press the UP Key sev e
386. m Errors on page 8 16 User Operation Error Status Details 8 2 4 c Correcting User Program Errors on page 8 15 Alarm Counter and Alarm Clear System I O Error Status Li dpdjly syd 8 2 4 e System Register Configuration and Error Status on page 8 21 Reserved by the system Interrupt Status Module Information 8 2 4 g System Register Configuration and Error Status on page 8 24 Reserved by the system Reserved by the system Motion Program Information 8 2 5 Motion Program Alarms on page 8 25 Reserved by the system 8 2 Troubleshooting 8 2 4 Troubleshooting System Errors 2 Accessing System Registers To access the contents of system registers start the MPE720 Programming Tool and use the Register List or Quick Reference function a Register List Display Procedure Use the following procedure to display the register list 1 Select File Open Tool Register List from the MPE720 Engineering Manager Window to open the Register List Window File View Help File Manager Ctrl F Dafniin Program Too Print Ctrl P v Y Y Exit C Register Cross Reference Define Data Table Disabled Coil List Motion Program b Comment List Sequence Program gt Import Axis Comments 2 Select ViewMode HEX to change the view mode to hexadecimal e Register List File YiewMode View Window Help DEC HEX BIN Loe FLO ASE
387. marks of the Microsoft Corporation e Pentium is a registered trademark of the Intel Corporation Other product names and company names are the trademarks or registered trademarks of the respective company TM and the mark do not appear with product or company names in this manual Safety Information The following conventions are used to indicate precautions in this manual These precautions are provided to ensure the safe operation of the MP2300S and connected devices Information marked as shown below is important for the safety of the user Always read this information and heed the precautions that are provided The conventions are as follows A WARNING Indicates precautions that if not heeded could possibly result in loss of life serious inju ry or property damage Indicates precautions that if not heeded could result in relatively serious or minor injury A CAUTION or property damage If not heeded even precautions classified under A CAUTION can lead to serious results depending on circumstances S PROHIBITED Indicates prohibited actions Specific prohibitions are indicated inside S For example amp indicates prohibition of open flame Q MANDATORY Indicates mandatory actions Specific actions are indicated inside E For example indicates mandatory grounding Safety Precautions The following precautions are for checking products on delivery storage transportation installation wir
388. med Sequence Program Periodical startup run each time a high speed scan is H scan performed Turns ON the program operation start request of the Motion Program Motion program control signal runs when the program operation start request is ON Setting Sets the a program designation The way to designate a program may differ according to the program Designa Motion Sequence R matks tion Method Program Program Direct Enable Enable The way to designate the program number Designation Example MPM001 SPM002 and so on Indirect The way to designate the register for storing the program number Desianti ni Enable Disable Example OWOCOC and so on refers to MPM001 by storing g one in OWOCOC Program Sets a program number Execution Type Remarks Sequence Program startup L scan H scan Enter 1 and press ENT to automatically input SPM001 You can save an unregistered program or exit this screen without setting blank but in these cases the program will not be executed Motion Program Direct designation Enter 1 and press ENT to automatically input MPM001 You can save an unregistered program or exit this screen without setting blank but in these cases the program will not be executed Indirect designation O register of M EXECUTOR Module is automatically set It cannot be set by the user Execution monitor register S Register Whe
389. ming that no axis connected to the motion module installed in a slave side optional slot is moving the slave CPU synchronization can be executed by setting control bit SLVSC OFF For more information refer to 7 3 6 Management to Resume Slave CPU Synchronization Operate the master side Operate the slave side Turn ON the slave power Check the completion of slave startup SLVSC ON eee the completion of preparation for the slave CPU synchronization Control bit b Refer to 7 3 6 Turn ON the master power Control bit SLVSC OFF Refer to 7 3 6 ES R Check the slave status n 732 7 3 Operation 7 3 1 Input Output Register 7 3 Operation 7 3 1 Input Output Register This section describes the details of the input output register configured in the link assignment 1 Master Side Input Output Data Input register Output register 76543210 76543210 IWOOOO 0 Scan counter used OWONOOO 0 Scan counter unused by system Unused wo000 1 Slave status used owoo000 1 a Unused by system wononoo 2 Data1 Low owoo0o00 2 Data1 Low High High IWOOOD 3 Data2 Low owo0o00 3 Data2 Low High High Wwio000 4 Data3 Low owo000 4 Data3 Low High High lwOOOO s Data4 Low OWOOOO S Data4 Low High High Iwonooo 6 Data5 Low owo000 6 Data5 Low
390. mmand for the MSG SND function The executed process contents may differ depending on the command Code Abbreviation Meaning 1 U_SEND General purpose message transmission for non procedural protocol 2 U_REC General purpose message reception for non procedural protocol 3 ABORT Forced termination 8 M_SEND MEMOBUS command transmission Completed when response is received 9 M_REC MEMOBUS command reception Accompanies a response transmission C MR_SEND MEMOBUS response transmission gt Appendices A 43 d PARAMETER parameter When RESULT process result 4 FMT_NG parameter format error an error code in the table below is output Otherwise the connection number is output RESULT process result Code Hex Meaning 00 No error 01 Connection number is out of range 02 Time error for monitoring to receive MEMOBUS response When RESULT 03 Error in setting retransmit count process result 4 04 Enori ii FMT_NG parameter format trof setting cycle atea error 05 CPU number error 06 Data address error 07 Data size error 08 Function code error Others XX Connection number A 44 4 Connection Number PARAMO2 Specify the remote destination When the communication device is Ethernet 218IF 218IFA set the connection number The following table shows the range of settings Communication Device Sonnecton Remarks Number Ethernet
391. mmunication cycle for SVB 01 i 2 mM 2ms When synchronized mode is used the start of the high speed scan and the various communication cycles are syn chronized This means that commands from the high speed scan will be sent at consistent points in communica tion cycle processing and simplifies distribution processing for interpolation commands 2 Conditions Under Which Synchronization Is Possible The following table shows the combinations of high speed scan times and MECHATROLINK communication cycles that allow synchronization between modules in the synchronization mode High speed Scan MECHATROLINK Communication Cycle RTC 0 5 ms 0 5 ms 1 ms 1 5 ms 2ms 1 0 ms Yes Yes Yes 1 5 ms Yes a Yes 2 0 ms Yes Yes Yes 2 5 ms Yes 3 0 ms Yes Yes Yes 3 5 ms Yes 4 0 ms Yes Yes Yes 4 5 ms Yes Yes 5 0 ms Yes Yes 5 5 ms Yes 6 0 ms Yes Yes Yes Yes 2 2 Basic Module 2 2 5 Built in SVB Module 3 Timing At Which Modules Are Synchronized Modules are automatically synchronized when the power supply is turned OFF and ON again 4 Operation when High speed Scan Cycle Is Changed MECHATROLINK communication with SVB Modules will continue even if the high speed scan cycle is changed However the speed waveform at execution of interpolation command will be disordered When chang ing the high speed scan cycle do so eit
392. mmunication Easy Setting Window When automatic receive is used select 2 for the Connect No Set Port No of the MP2300S side 10002 for example Select Extended MEMOBUS for Communication Protocol Type and click the Default Button Select Connect Type TCP for example Select Code BIN for example Local Node IP Address Node Connect Protocol Code Automaticall Node Name Port Type Type Set Node Port IP Address for the other device MP2300 to be connected to 192 168 001 002 for exam ple Set Port No of the other device MP2300 to be connected to 10002 for example Click OK 6 20 6 2 Communication with Other MP Series 6 2 2 When the MP2300S Acts as a Slave ladder program which uses a MSG RCV function m Caution When message functions MSG SND MSG RCV are used with the connection number 01 disable the automatic receive func tion If message functions are used while the automatic receive function is enabled communications will not function properly Note By default the automatic receive function with a connection number 01 is set to Enable 5 Click Yes in the parameter setting confirmation dialog E Caution Note that when a parameter with the same connection number is already set and you click Yes in the parameter setting confirma tion dialog the setting will be overwritten by the parameter configured in the Message Communication Easy Setting Window
393. mode Fig G6 Data Flow when Writing MSG SND function Parameter list PARAMOO PARAM01 PARAMOS PARAMO6 PARAMO7 PARAMO8 PARAMO9 4 Data address B lt q _ _ data size C 4 Offset A PARAM10 PARAM11 PARAM16 communication protocol used Fig G 7 Parameter Setting Valid parameter may differ depending on the function code and gt Appendices A 67 A 68 Example When reading coil state with offset The various setting values and their relationships with the data of the remote device are as follows when transmitting reading coil state with offset in MEMOBUS protocol e Description of the MSG SND function in ladder program MSG SND Communication device 218IFA Execute DB000201 Busy DB000210 Protocol MEMOBUS Abort DB000202 Complete DB000211 Dev Typ 00016 Error DB000212 Circuit number 1 Pro Typ 00001 Cir No 00001 Ch No 00001 Parameter list start address Param DA00000 use DW00000 to DW00016 Communication buffer channel number 1 yA e Parameter list setting of the MSG SND function Table G 19 Parameter List Setting Register Num Setting Parameter Num IN OUT Remarks ber Value ber DW00000 PARAMO0 OUT Process result Dwoo0001 PARAMO01 OUT Status DW00002 00001 PARAM02 IN Connection number 1 DW00003 PARAM03 IN Opt
394. motion program from a host PLC or other device E Describing sequence control in motion language As a new programming method a sequence program has been added to the MP2300S A sequence program is a scan execution type program where a process is completed with one scan It employs a text language similar to a motion program You can use the sequence program as an alternative to the ladder program For information about commands available in the sequence program see Machine Controller MP900 MP 2000 Series Users Manual Motion Programming manual number SIE C887 1 3 2 2 Basic Module 2 2 7 M EXECUTOR Module Motion Program Executor 2 M EXECUTOR Module Specification a Programs Capable of Registration in M EXECUTOR The following table shows programs capable of registration in M EXECUTOR Program Type Number of Registrations Remarks Motion Program 16 Startup 1 Sequence Interrupt Disable Up to 16 programs in total Program H Scan 16 L Scan 16 b Program Control Method The following table shows the program control methods registered in M EXECUTOR Item Motion Program Sequence Program Startup Event driven Execution Method Sequential Execution H Scan Scan execution L Scan Scan execution 1 1 correspondence between the definition number and system work The number of program definitions is set in the MPE720 screen Definition No System Work
395. mpared with Ethernet Ethernet LP transmits and receives larger pack ets at one time resulting in high speed data transfer Available communication ports may differ depending on the module of the connected controller Select the communication port according to the table below Module of the Connected Nam Communication Port to Be Controller Side Selected in MPE720 218IF 01 218IF Ethernet 218IF 02 218IFB Ethernet LP MP2300S Built in Ethernet 218IFA m When there are multiple LAN ports on the personal computer If there are multiple LAN ports on the personal computer multiple IP addresses will be shown in the communication port Select the IP address of the LAN port to which the cable is connected E Controller search function When Ethernet is selected in the communication port the controller search function will be unavailable 9 Click the Search Button Set the communication setting Communication port FARA e Setting IP address Cancel lt lt Detail adik Search Controller Controller I Use the router gt Appendices A 33 A 34 10 A controller search list will appear Select the found controller and click the Connection Button BI Communications Setting x Set the communication setting Communication port 2 Ethernet LP 1P 192 168 1 2 Setting IP address DA mA a A A Cancel Search Controller lt lt Detail P Use the router l Personal
396. mula listed above do not apply when the number of axes is 0 E Differences from SVB Simulation Mode Simulation mode does not have a positioning function so the position data is refreshed in one scan to the final target position The SVR has its own positioning function that performs distribution so like a real module position data is refreshed each scan for the final target position Specifications and Functions 2 49 2 50 2 2 Basic Module 2 2 7 M EXECUTOR Module Motion Program Executor 2 2 7 M EXECUTOR Module Motion Program Executor This section explains the M EXECUTOR Module motion program executor function and its detail screen M EXECUTOR Module Function Overview The M EXECUTOR Module is a software module that executes a motion or sequence program The M EXECUTOR Module enables the following features E Executing a motion program without using a ladder program Conventionally in order to execute a motion program you need to incorporate an MSEE command into a ladder pro gram The M EXECUTOR Module allows you to execute the motion program without incorporating the MSEE com mand into the ladder program Note You can incorporate a MSEE command into the ladder program as ever Controlling a motion program without using a ladder program You can map any register to the control signal of the motion program registered in the M EXECUTOR Module So without a ladder program this allows you to directly control a
397. n E Caution When message functions MSG SND MSG RCV are used with the connection number 01 disable the automatic receive func tion If message functions are used while the automatic receive function is enabled communications will not function properly Note The automatic receive function with a connection number 01 is set to Enable by default 6 6 6 2 Communication with Other MP Series 6 2 1 When the MP2300S Acts as Slave automatic receive function is used 5 Click Yes in the confirmation dialog of the parameter setting m Caution Note that when a parameter with the same connection number is already set and you click Yes in the confirmation dialog of the parameter setting the setting will be overwritten by the parameter configured in the Message Communication Easy Setting Window 6 Check the setting value and click the Detail Button of the Automatically Connection Parameter Message Communication Easy setting It is possible to following parameter setting easily that communicate the message pe pe A 192 168 001 002 I A Extended MEMOIR gt BIN Sete o Ethernet Communications 6 8 6 2 Communication with Other MP Series re ee ne ee ee eee esac ener eee cee ene A aes 6 2 1 When the MP2300S Acts as Slave automatic receive function is used 7 Click Enable in the Automatically Reception Setting Dialog Box and then click the OK Button Automatically Reception Setting 4 x
398. n equivalent to the MSG RCV function Automatically Reception Setting E xi Automatically Reception Unable to automated reception when the 7 protocol type is no control sequence Disable Enable Transmission Buffer Channel 1 Yi The automatic reception is fixed 1ch Slave I F Register Settings Head REG Readout of Input Relay wooo Readout of Input Register wooo Readout Write in of Coil Mwoo000 Readout Write in of Hold Register Mw00000 Write in width of Coil Hold Register pg M00000 HI Mw65534 Automatic input processing delay time jo ms 0 100 The influence on a low speed scanning can be adjusted according to this parameter Attention It is not in the setting of the communication period of an automatic reception Cancel The following table explains each setting item Item Setting Range Details Default Select whether to enable automatic reception Automatie Recep Enable Disable Enable tion Enable Disable Note When the local port number is not yet set it becomes invalid regardless of the enable disable selection The setting items below can only be set when the Automatic Reception is set to Enable The communication buffer channel is usually used for data exchanged between the MSG SND MSG RCV function and 218IFA The communication buffer channel is associated with the connec Transmission Buffer Cannot be set tion according t
399. n ladder and sequence programs may cause problems 4 12 4 5 Starting Motion Program from an External Signal 4 5 1 Overview 4 5 Starting Motion Program from an External Signal 4 5 1 Overview This section explains how to start a motion program created in 4 3 Programming step 2 from external signals Note that in this section we show an example which substitutes a touch panel for the external signal A MECHATROLINK cable SERVOPACK SERVOPACK MPE300S PaA A As aa PERA Trinia S A real machine uses an 9 e 7 ap a lerminating resistor x ft AG Mie ONS AN s external I O but in this SiP E p ees description we substitute the L amp pe sle dos button and display on the E rik a panel for the external I O EE pace el e Ea em ig op Controller Touch panel Noth manufactured by Digital Electronics Corp PP cable Encoder cable Motor cable HUB Personal computer equipped with MPE720 Servomotor Servomotor 4 5 2 Required Equipment Product Name Model Q ty MP2300S JEPMC MP2300S E 1 MECHATROLINK cable 0 5 m JEPMC W6002 A5 2 Terminator terminating resistor JEPMC W6022 2 IIl SERVOPACK SGDS A5F12A 2 gt III servomotor SGMAS AS5A2A21 2 Motor cable 3 m JZSP CSMO1 03 2 Encoder cable 3 m JZSP CSP05 03 2 Touch panel manufactured by Digital Electronics Cor
400. n of user program components e Easier writing and maintenance of user programs Functions include standard system functions that are already in the system and user functions that are defined by the user a Standard System Functions The transmission and other functions listed below are already created as standard system functions Standard system functions cannot be changed by users Type Name Symbol Contents Counter COUNTER Incremental decremental counter 2 First in first out FINFOUT First in first out g Trace function TRACE Data trace execution control 5 Data trace read DTRC RD Reads data from data trace memory to user memory Inverter trace read function ITRC RD Reads trace data from inverter trace memory to user memory a Message send MSG SND Sends messages to external communication devices Message receive MSG RCV Receives messages from external communication devices b User Functions The functions programs and the function definitions can be changed programmed freely by users The maximum number of user functions that can be defined is 500 drawings Refer to the following manual for information on defining functions e Machine Controller MP900 MP2000 Series User s Manual Ladder Programming manual number SIEZ C887 1 2 Machine Controller MP900 MP2000 Series User s Manual Motion Programming manual number SIEZ C887 1 3 Machine Controller MP900 MP2000 Series New La
401. n the execution type is set to motion program the range of the execution monitor registers S regis ters is shown For more information on the execution monitor register refer to 6 Monitoring the Execu tion Information of Motion Program Using S Register of 5 2 2 Motion Programs on page 5 7 Specifications and Functions 2 55 2 2 Basic Module 2 2 7 M EXECUTOR Module Motion Program Executor E Control Register Mapping Window The control register mapping screen sets a mapping register A white cell can be set by the user and a shaded cell cannot be set by the user oxi PT 2 CPUR 1 PACK OT Slot 00 0C00 0C3F CAL M EXECUTOR List Individual display Program definition number 8 7 Program definition Allocation Control register ae ee ee Control register Disable register Contact interlock Program number owocoo IW0000 IBO1000 Status lwocoo owo001 IBO1000 Control signal OWOCO1 IWOO01 IBO1000 Override OWOCO2 IW0002 1B01000 Program number SPMO03 Status Control signal Override Program number MPMOO4 Status lwocos 1802000 Control signal OWwoCcos 2 IW0033 1B02000 OWOCOA a 1802000 Program number Status Control signal Override The arbitrary register can be allocated to the control register of M EXECU i A 4 M EXECUTOR Control register Displays an I O register mapped to the M EXECUTOR Module Controls the motion program and monitors the state using the M EXECUTOR
402. n the following diagram 2 Communication 4 gt iu process Motion control Q B Q process a 5 ES Ladder DWG H a Q Sequence program Application H scan execution process ol Ladder DWG L Sequence program L scan 5 Output S process Piz R Standard at fixed itervals Specifications and Functions 2 7 2 2 Basic Module 2 2 2 External Appearance LED Indicators and Switch Settings 2 2 2 External Appearance LED Indicators and Switch Settings 1 External Appearance MP2300S ZW Yaskawa O O La GC nO oO BATTERY 2 Indicators The following table shows the indicators that show the operating status of the Basic Module and error information Indicator Color Status RDY Green Lit during normal operation RUN Green Lit during execution of user program RDY C O RUN ALM Red Lit blinking when warning occurs ALM O O ERR ERR Red Lit blinking when malfunction occurs MTX O O BAT MTX Giesi aera e
403. n using S register 3 Refer to 8 2 6 List of Causes for Command Error Completed Status and 8 2 7 Troubleshooting Motion Errors 8 2 3 LED Indicators 1 LED Indicators The status of the LED indicators on the front of the MP2300S can be used to determine the error status and meaning RDY RUN E r P y R The locations in the program that need to be corrected can be determined by using the LED ERR ALM we ogi indicator status to determine the general nature of the error using the contents of system S eee registers to check drawings and function numbers causing the error and knowing the meaning of operation errors 2 LED Indicator Meanings The following table shows how to use the LED indicators to determine the operating status of the MP2300S as well as relevant error information when the LED indicator status indicates an error 8 2 Troubleshooting 8 2 3 LED Indicators LED Indicator Classification Indicator Details Countermeasures RDY RUN ALM ERR BAT Not lit Not lit Lit Lit Not lit Hardware reset status eso CPU Willstatt within 10 seconds If this status continues for more than 10 seconds either a pro Not lit Not lit Not lit Not lit Not lit Initialization gram error or hardware failure has occurred Refer to 8 2 4 Trouble F shooting System Errors on page 8 8 Notlit Lit Not lit Notlit Not lit Drawing A
404. nction need to accord with the MP2300S side settings MSG RCV Communication device Ethernet 218IF Execute DB000200 Busy DB000210 Protocol e OM Abort DB000201 Complete DB000211 Dev Typ 00006 Error DB000212 Circuit number 1 Pro Typ 00001 Cir No 00001 Communication buffer channel numbe gt Chno 00005 Parameter list start address Param DA00000 DA00000 Note Similarly a message receive function with the communication buffer channel number 6 is required Communication device 218IF Circuit number 1 r Module Details 2181F 01 SLOT O1 Slot Number Controler Number 01 E Circuit Number_ 0 0 e 1 0 Stare Register o Motion Start Register Motion End Register j Details E Running Running Status Fig 6 7 MPE720 Module Configuration Definition Window o Ethernet Communications 6 43 6 44 6 2 Communication with Other MP Series 6 2 3 When MP2300S Acts as Master I O message communication function is used E input output definition contents for message receive functions The input output definition content for message receive function is as follows Table 6 9 Input Output Definitions for Message Receive Functions I O Definition No Name Setting Example Content Input Item Execute DB000200 Executes a reception When Execute is ON message reception is carried out Abort DB000201 Forcibly aborts a
405. nction setting when 218IFA is used as a communication device follows Set the protocol type to MEMOBUS when used in MODBUS TCP protocol Set the circuit number in accordance with the circuit number allocated to the target 218IFA Set a unique communication buffer channel number for the same circuit For information on the register number refer to G 2 1 Input Item on page A 36 and G 1 2 2 Output Item on page A 38 Communication device 218IFA Execute DB000201 Busy DB000210 Protocol MEMOBUS Abort DB000202 Complete DB000211 NG Dev Typ 00016 Error DB000212 Ciruit number 1 S Pro Typ 00001 Cir No 00001 Ch No 00001 Param DA00000 Communication buffer channel number 1 Parameter list start address DA00000 use DW00000 to DW00016 b 218IF Setting Example An example of a function setting when 218IF is used as a communication device follows Set the protocol type to MEMOBUS when used in MODBUS TCP protocol Set the circuit number in accordance with the circuit number allocated to the target 21 8IF Set a unique communication buffer channel number for the same circuit For information on the register number refer to G 2 1 Input Item on page A 36 and G 1 2 2 Output Item on page A 38 Communication device 218IF Execute DB000201 Busy DB000210 Protocol MEMOBUS Abort DB000202 Complete DB000211 Dev Typ 00006 Error DB000212 Circuit number 1 Pro Typ 00001 Cir No 00001 Ch No 00001 Param DA00000
406. nded MEMOBUS MELSEC or MODBUS TCP protocol set the communication protocol Pro Typ to MEMOBUS 1 The communication device automatically converts the protocol 2 Non procedure 1 In non procedural communication data is transmitted on a per word basis Non procedure 2 In non procedural communication data is transmitted on a per byte basis gt Ethernet Communications 6 55 6 2 Communication with Other MP Series 6 2 4 When the MP2300S Acts as Master ladder program which uses MSG SND function E Parameter list setting example for the message transmit function An example of a parameter list setting when writing 100 words of data from MW00000 to the destination using the connection with a connection number 1 follows Table 6 13 Parameter List Setting Example parameter list start address Param DA00000 Pesca aan Val ee Num IN OUT Reniarks DW00000 PARAMO0 OUT Process result DW00001 PARAMO1 OUT Status DW00002 00003 PARAM02 IN Connection number 3 DW00003 PARAMO3 IN Option Setting unnecessary DW00004 0009H PARAM04 IN Function code 09H Reads a holding register DW00005 00400 PARAMO05 IN Data address 400 Starting from MW00400 DW00006 00100 PARAM06 IN Data size 100 100 words DW00007 00001 PARAMO7 IN Remote CPU number 1 DW00008 00000 PARAMO08 IN Coil offset 0 word DW00009 00000 PARAMO9 IN Input relay offset 0 word DW00010 00000 PARAM10 IN
407. nded external 24V power supply RTW24 2R2 manufactured by TDK Specifications and Functions 2 11 2 12 2 2 Basic Module 2 2 4 218IFA Module Ethernet 2 2 4 218IFA Module Ethernet 1 Overview of 218IFA Module Functions MP2300S built in 218IFA module is a 10Base T 100Base TX Ethernet interface and a communication interface equipped as standard in MP2300S 100Mbps transmission speed is supported 100Base TX Supports the following various communication protocols Support for MEMOBUS protocol Extended MEMOBUS protocol e Support for MELSEC protocol e Support for MODBUS TCP protocol e Support for non procedure communication An I O message communication function enables you the data exchange in the form of I O image when communicating with upper PLC eliminating you from creating a ladder program An automatic receive function eliminates you from creating a ladder program when connected to the indicator and the like Enables you to use as a standard interface with the engineering tool MPE720 In addition provides a simple function for connecting with the engineering tool allowing you to connect to MPE720 with out the knowledge of MP2300S IP address 2 Specification of 218IFA Module The following table shows the specification of the 218IFA Module 2 2 Basic Module 2 2 4 218IFA Module Ethernet Items MP2300S 218IFA Communication Int
408. ndustrial Ethernet protocol proposed by Modicon Inc Specifications and Functions 2 19 2 2 Basic Module 2 2 4 218IFA Module Ethernet 2 20 Item Setting Range Details Default Select a code type for the message communication data Depending on protocol type available codes are restricted as fol lows Code Newer ere ASCII BIN RTU ASCII Code BIN Patioen V y 2 ASCH RTU MEMOBUS MEMOBUS V V MELSEC v v Non procedure V V MODBUS TCP V y Available Not available Opens the automatic receive setting screen To open the screen Automatically D double click this button oF E Note The automatic receive function is valid only for a connection when the connection number 1 Up to 32 single Any text can be entered as a connection comment Remote byte characters Blank Station Name 16 double byte a characters 2 2 Basic Module 2 2 4 218IFA Module Ethernet E Simple Setting Screen for Message Communication Graphically sets connection parameters for each connection Basically the same content as with message communication items in connection parameter setting can be set When connection parameters are not yet set and this screen is opened the default value for each connection will be automatically stored Message Communication Easy Setting xj Connect No 1 x Specify the connection num
409. ne Param DA00000 Parameter list start address Specify the start address of the parameter list For the Parameter List 17 words are automatically assigned from the configured address Output Item Busy DB000210 In process Busy will be ON while executing a message reception or forced abort process Complete DBO000211 Process completed When a message reception or forced abort process is properly com pleted Complete will turn ON only for one scan Error DB000212 Error occurred When an error occurs Error will turn ON only for one scan 1 When transmitting in MEMOBUS Extended MEMOBUS MELSEC or MODBUS TCP protocol set the communication protocol Pro Typ to MEMOBUS 1 The communication device automatically converts the protocol 2 Non procedure 1 In non procedural communication data is received on a per word basis Non procedure 2 In non procedural communication data is received on a per byte basis gt Ethernet Communications 6 63 6 2 Communication with Other MP Series 6 2 4 When the MP2300S Acts as Master ladder program which uses MSG SND function E Parameter list setting example for message receive function A parameter list setting example is as follows when receiving messages from a transmit source using the connec tion with a connection number 3 Table 6 15 Parameter List Setting Example parameter list start address Param DA00000
410. nect with MPE720 for engineering transmission In order to carry out MEMOBUS message transmission manually use an automatic reception and I O message commu nication separately or MSG SND MSG RCV functions are required o Outline of Motion Control Systems 5 51 5 4 Self configuration 5 4 2 Definition Information Updated with Self Configuration 5 52 c SVB Module Definitions MECHATROLINK transmission definitions are automatically set according to the detected communication method and the number of slaves For more information on self configuration for SVB module refer to Chapter 3 of Machine Controller MP2000 series SVB SVB 01 Motion Module User s Manual manual number SIEPC88070033 E Master Item MECHATROLINK II MECHATROLINK II 32 byte mode 17 byte mode MECHATROLINK I Maximum Slave iagi 9 10t016 17 to 21 4 to 14 15 Station Number 9 S 2 2 Number of Transmit Bytes 31 bytes 16 bytes Communication Cycle lms lms 2ms 2ms lms lms 2ms Number of Retry Stations 1 0 5 21 Maximum sta 1 0 14 tion number Number of Slave Stations 8 9 ae Maximum station i 15 14 number E Slave MECHATROLINK II MECHATROLINK II Item 32 byte mode 17 byte mode MECHATROLINK I Number of Transmit Bytes Communication Cycle Number of Slave Stations lms 30 lms 30 2ms 15 Note To use MP2300S SVB as a Slave before executing the self con
411. nformation Select Motion alarm analyzer from the menu displayed by right clicking on the motion editor Maintenance Inspection and Troubleshooting 8 25 8 2 Troubleshooting 8 2 5 Motion Program Alarms This section explains the error information screen Error information screen m Exeqution program information Op Regiktry number 01 p Regittry program MPMO0O01 Ea Paralle Ea Alarm name Program number Block number oo1gH During Program Stop request MPMOOI a Alarm Contents An axis move command was interrupted by the Program stop request guble click the line to jump to the corngsponding program which alarm occurs Corrective Action Turn OFF the Program stop request bit of the motion program control word then set the Alarm reset request bit Registry number When an alarm occurs in a motion program registered in the M EXECUTOR program execution definition the M EXECUTOR registry number is shown When an alarm occurs in a motion program referenced by an MSEE command from the ladder program is shown Registry program When an alarm occurs in a motion program registered in the M EXECUTOR program execution definition the program name registered in M EXECUTOR is shown When an alarm occurs in a motion program referenced by an MSEE command from the ladder program is shown Parallel Wh
412. ng Moving allowable range Amount The axis is a ABS infinite length and the zero A Zero Point Not Set Positioning point return setting is not completed 1 POSING In servo OFF status A Servo OFF Alarm is occurring Fags A Servo Driver Synchronization Com Asynchronous communication status Seun munication Error The positioning moving amount exceeds the A Excessive Positioning Moving allowable range Amount The axis is a ABS infinite length and the zero A Zero Point Not Set point return setting is not completed In servo OFF status A Servo OFF Alarm is occurring 2 oe Asynchronous communication status A Servo Driver Synchronization Com EX_POSING y munication Error SERVOPACK parameter writing was not com A Servo Driver Command Timeout pleted within the specified time Error Warning A 94 or A 95 occurred in the i SERVOPACK W Servo Driver Error The selected external signal is out of the setting W Setting Parameter Error range In machine lock status E In servo OFF status 1 Servo OFF An alarm is occurring Pot A Servo Driver Synchronization Com Asynchronous communication status be ce munication Error SERVOPACK parameter reading or writing A Servo Driver Command Timeout was not completed within the specified time Error Warning A 94 or A 95 is occurring in the i Zero Point Return SERVOPACK W Servo Driver Error 3 ZRET The selected zero point return method is out of W Setting Parameter Error the settin
413. ng Optional Modules 1 Remove the battery cover Pull the notch on the side of the MP2300S towards you to remove the battery cover 2 Remove the panel of Optional Module Insert the protruding part of the battery cover into the slot on top of the panel of Optional Module to unhook as shown in the diagram Face the front of the battery cover towards you for this operation Remove the front cover optional from the empty slot before mounting an Optional Module in an empty slot Unhook the bottom in the same way Mounting and Wiring 3 9 3 1 Mounting MP2300S 3 1 4 Replacing and Adding Optional Modules 3 Remove the Optional Module from the mounting base Pull the top of the panel of the Optional Module towards you to remove it A notch on the Optional Module will be visible from the gap in the cover Hook the round knob on the battery cover shown in the diagram into the notch in the Optional Module Hold the center of the battery cover as shown in the following diagram Push the battery cover down and out rotating from the round knob to disconnect the Module and mounting base connectors and then pull the Optional Module forward Da Fulcrum 4 Pull out the Optional Module Hold the Module on the top and bottom and pull it out straight Hold the edges of the Module and avoid touching the parts on the Module Put the removed Module into the bag that was supplied with and store the Module in this ba
414. ng commands such as master axis for phase control or multi axis synchronous control then Motion Mod ules on real axes are no longer required The following table lists application examples of the SVR Slot ee orn Number Application Example Application Method 1 Master axis for phase control Electronic cam or shaft operation can be achieved by using the SVR for the virtual master axis E Multi axis synchronous control can be achieved by controlling the SVR from a Multi axis synchronous con i Ti 2 trol motion program and then using the ladder program to copy position commands of the SVR to other axes If the motion program is used to perform circular interpolation with the SVR the axis 3 Sine curve commands i will operate with a sine curve command The software limit function and machine lock function cannot be used with the SVR The position error will always be 0 3 System Configuration Example The following figure shows an example system configuration using SVR MP2300S Virtual motion module SVR High speed scan O High speed scan 4 gt Virtual Servo axes Motion Parameter Ladder program SERVOPACK Motion module Built in SVB High speed scan Motion Parameter MECHATROLINK
415. ng screen for each device 9 Setup the setting screen for each device In the setting screen for each device set up a connected device in this case the MP2300S Set the IP address port number and data code in the same manner as the 218IFA screen of the MP2300S Table 6 20 Each Device Setting IP Address 192 168 001 001 Port Number 10001 Data Code binary 218IFA screen reference Transmission Parameters Status m Transmission Parameters EEI Module Name Definition IP Address hi92 4 fies afp a h 50 255 Ent uae CONTROLLER NAME NAME Subnet Mask 255 25 5 j2 55 fo 0 a 0 255 Gateway IP Address fo 4 fo fo fo 4 0 255 Detail Definition rm Connection Parameter r Message Communication Easy setting It is possible to following parameter setting easily that communicate the message etic Port pe pe ana ooo 952 168 001 002 10001 aa Extended Sar z Cannot the overlap to local station port number used by the communicate the 1 0 message The setting is finished for now Create a screen and transfer the project to an indicator as required E Caution Set up a unique IP address in the network The MP2300S side IP address is set to 192 168 1 1 in self configuration For the IP address check with your network administrator Note Set the GP3000 series IP address in the off line mode of the indicator Contact Digital Electronics Co
416. ngth and the zero point return setting is not completed A Zero Point Not Set In servo OFF status A Servo OFF An alarm is occurring The selected latch signal is out of the setting range W Setting Parameter Error JOG Operation FEED In machine lock status In servo OFF status A Servo OFF An alarm is occurring Asynchronous communication status A Servo Driver Synchronization Com munication Error STEP operation STEP Positioning moving amount exceeds the allow able value A Excessive Positioning Moving Amount In servo OFF status A Servo OFF An alarm is occurring Asynchronous communication status A Servo Driver Synchronization Com munication Error Zero Point setting ZSET An alarm is occurring Asynchronized communication status A Servo Driver Synchronization Com munication Error 10 11 Change Acceleration Time ACC Change Deceleration Time DCC An alarm is occurring Asynchronous communication status A Servo Driver Synchronization Com munication Error Executed while the distribution has not been completed DEN OFF SERVOPACK parameter writing was not com pleted within the specified time A Servo Command Timeout Error Warning A 94 or A 95 occurred in the SERVOPACK W Servo Driver Error 12 Change Filter Time Con stant SCC An alarm is occurring Asynchron
417. nication Set Cycle That Can be 0 5 ms ms 1 5 ms or 2 ms 0 5 ms or 1 ms Communication Cycle can only be set for Master The communication cycle for MECHATROLINK I is fixed to 2 ms 2 2 Basic Module 2 2 5 Built in SVB Module 2 Link Assignment Tab Page The data of the slave devices MECHATROLINK connected devices such as SERVOPACK inverter and distrib uted I O are displayed on the Link Assignment Tab E MECHATROLINK MP2300S Online Local Papel x PT 2 CPUR 1 RACK O1 Siot 00 cIR 01 oo00 03FF MEMA Transmission Parameters Link Assignment 1 0 Map Status Se a ec ree ere ee ee Gl Beet High SGDS 9r qr oj __o2 Jermc i02310 30 102310 os o4 os os 1 WO00O zi z ii a fe gi The items shown on the Link Assignment Tab are as follows You can change the settings or delete the data station by station on this tab Always save the settings to the flash memory after changing them Item Description Options and Precautions on Settings The station number set here must be the same as the ST Station number 3 number set using rotary switches TYPE Slave device connected at the station Select the device type from the pull down list yo register s enable disable status D 1 Enabled Click the button to switch the status WY Disabled When setting be careful not to overlap the register range among stations
418. nication section error nication device Check the equipment connection In addition confirm communication with the remote device Unavailable device is set SIOUN Devicgiselect error Check Dev Typ communication device type of the MSG SND function 3 Status PARAMOO Outputs status of the communication section communication device The following figure shows the bit assignment and the bit assignment details is listed in the table a and after Fo E DAGS BoA 19 gt 8 T Be o 4 30 2s A Bits 0 to 7 A A DD yY ia a p Bits 8 to B c COMMAND Bits C to E b RESULT 5 Bit F a REQUEST a REQUEST request Outputs whether the MSG SND function is requesting processing Bit State Description 1 0 Requesting processing The acceptance of the process request is complete b RESULT result Outputs the execution result of the MSG SND function P d PARAMETER Code Abbreviation Meaning 0 CONN_NG In Ethernet communication transmit error or connection error is complete 1 SEND_OK Normal transmission complete 2 REC_OK Normal reception complete 3 ABORT_OK Forced abort complete 4 FMT_NG Parameter format error 5 SEQ _NG Command sequence error 6 RESET_NG Reset state 7 REC_NG Data reception error error detected in the lower layer program c COMMAND command Outputs a process co
419. nnected Continues to work in slave CPU asynchronous state An input error may occur but other scan operations are not affected MP2300S assignment is deleted in the master assignment Continues to work in slave CPU asynchronous state An input error may occur but other scan operations are not affected MECHATROLINK definition is saved in the master side Enters slave CPU asynchronous state once When a control bit SLVSC OFF the master side will recover and communication will be resumed and then enters slave CPU synchronous state again A transmission error occurs If only a received data error occurs it may not affect slave CPU synchronization However as the input data is not updated when you are checking the state using a user application a scan counter error may be detected according to the scan cycle and communication cycle settings When an error transmission cycle disturbance of the MECHATROLINK communi cation itself occurs it may affect slave CPU synchronization In some cases the MP2300S H scan process may be disturbed RUN STOP of the master side CPU CPU RUN STOP does not affect slave CPU synchronization RUN STOP of the slave side CPU CPU RUN STOP does not affect slave CPU synchronization Master side H scan setting is changed Enters into slave CPU asynchronous state once When the changed H scan setting meets the execution requirement of slave CPU synchronization and control bit SLVSC
420. nnnnn Program i 4 i i 4000 steps max Function external i P registers i j 3 AB AW AL AFnnnnn l ee 1 i i Function individual registers gt A Output registers j o eee Org eG M OB OW OL OFnnnnn _ Function input registers 17 words i i l XB XW XL XFnnnnn i i 1 Function output registers 17 words YB YW YL YFnnnnn i 1 _ Function internal registers 64 words Constants regist EN L gisters i ZB ZW ZL ZENON i CB CW CL CFnnnnn l Constant data 16384 words max 1 i B W L Fnnnnn i i _ Individual data 16384 words max Oe eee Se ee ee DB DW DL DFnnnnn 1 Registers that are common to all drawings can be called from any drawing or function 2 Registers that are unique to each drawing can be called only from within the drawing 3 Registers that are unique to each function can be called only from within the function 4 Registers that are common to all drawings and registers that are unique to each drawing can be called from functions using the external function registers 5 38 5 3 2 Data Types There are five kinds of data Bit integer double length integer real number and address data Each is used differently 5 3 Registers 5 3 2 Data Types depending on the application Address data however is used only inside functions when specifying pointers The following table shows the types of data
421. not need to create a ladder program eee he aaa aes automatic receive When other MP series gt Refer to 6 2 1 When the MP2300S Acts as Slave automatic mune Hon equipment reads writes receive function is used the coil state or register Uses the Extended MEMOBUS communication protocol content of MP2300S The remote equipment master side creates a ladder program using a MSG SND function c icati ith The MP2300S slave side creates a ladder program using a MSG ESF n ve RCV function multiple masters is possible gt Refer to 6 2 2 When the MP2300S Acts as a Slave ladder pro Other MP gram which uses a MSG RCV function Series Uses the Extended MEMOBUS communication protocol Only the holding reg The MP2300S master side uses an I O message communication ister M register is function You do not need to create a ladder program capable of reading The remote equipment slave side creates a ladder program using a writing using an I O MSG RCV function message communica tion function When MP2300S reads gt Refer to 6 2 3 When MP2300S Acts as Master I O message It can communicate writes the coil state or communication function is used with only one slave register content of other Uses the Extended MEMOBUS communication protocol Risse other hear MP series equipment The MP2300S master side uses an I O message communication eos the holding register function You do not need to create a ladder program ble of reading
422. nous process MP2300S slave Output register 76543210 OWXxxxx 0 Scan counter unused OWXxxxx 1 P EN Seain Control bit A wee eee 7 OWxxxx 2 Data1 Low 4 bit7 bit6 bit5 bit4 bit3 bit2 bit1 bitO Unused SLVSC bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 Unused Name Definition Description 0 Re sumeenable When out of slave CPU synchronization the slave CPU synchroniza tion is automatically resumed SLVSC Even when out of slave CPU synchronization the operation continues 1 Resume disable in an asynchronous state 7 3 Operation 7 3 6 Management to Resume Slave CPU Synchronization The example below shows how the slave side application controls the slave CPU synchronous resumption In this example the status is divided into three parts and resumption is considered in a state transition diagram Turn ON the power y Waiting for completion of slave CPU synchronization Preparation for slave CPU Operation Control bit SLVSC OFF synchronous resumption completed Preparation state for the slave Slave Status CPU synchronous resumption SYNC ON f Operation Motion stops etc Slave Status SYNC OFF Slave CPU synchronous state Operation Control bit SLVSC ON In each state the following processes are carried out State Process Description Where the power was turned ON
423. nsmission parameters The setting details are as follows Fenaneering Manager 218IFA MP23005 Online Local zox T Fie Edit view Window 8 xj D uge e e e e R R A l PT 2 CPUR 1 RACK O1 Slot 00 CIR 01 0000 07FF E Transmission Parameters Status r Transmission Parameters Module Name Definition IP Address i i Equipment name CONTROLLER NAME Subnet Mask Gateway IP Address 0 0 0 ar 0 255 Detail Definition Connection Parameter r Message Communication Easy setting It is possible to following parameter setting easily that communicate the message Cannot the overlap to local station port number used by the communicate the 1 0 message 1 0 Message Communication Disable C Enable Easy setting Itis possible to set easily that communicate the 1 0 message Data update timing Low vj Scan Haad ranistar mimhar dats sisa For Help press F1 2 2 Basic Module 2 2 4 218IFA Module Ethernet E Transmission Parameter Setting Items Sets local transmission parameters for 218IFA Transmission Parameters Status Transmission Parameters IP Address ee 192 168 Module Name Definition fi oaf a 0255 Equipment name CONTROLLER NAME Subnet Mask x E 3 joss ps fo a 0 255 Gateway IP Address fo a fo a l fo fo 0 255 Detail Definition The following table shows each setting item Item Setting Range Details De
424. nt 9 Click the Save amp FLASH Save Button to flash save the definition information Fie View Order Window OFDM ELEERI fl Module Configuration MP2300S Online Local PTH 2 CPU 1 10 Check that the definition is successfully created in the Module Configuration Window a Outline of Motion Control Systems 5 47 5 4 Self configuration 5 4 1 How to Execute Self Configuration b Self Configuration of Each Module If modules or devices are added self configuration can be executed separately for the Module port that has been changed By performing the following operation self configuration will be executed for the selected slot Before performing the operation turn ON the power supply of devices such as SERVOPACK 1 Double click System Module Configuration Axis configuration The Engineering Manager Window will start and the Module Configuration Window will appear 2 Right click the Module for which devices have been added and select Module Self Configuration from the pop menu to execute self configuration Engineering Manager File View Order Window D E amp W s SBS BRE Ae A PT 2 CPU 1 m Controller _ Controller Number Circuit Number _ 10 StareRegister 1 0 End Register __ Disable Inpur_ vl Motion End Register Details uta Aillo Line Number 4
425. number for each program number e Motion program MPMOOL Program number of MPSOOO e Sequence program SPMOOL Program number of SPSODO 1 How to Run a Sequence Program A sequence program is executed by registering it in the M EXECUTOR program execution definition Sequence programs are executed in ascending numeric order The following figure shows an execution example M EXECUTOR program execution definition No fo Executiontype Setting I Sequence program Start D Sequence program H scan x Direct Y Direct H Sequence program H scan Direct SPMOO1 SPMO03 y SPMO02 gt Sequence program SPM001 IF MW000 lt 32767 MW000 MW000 1 ELSE MW000 IEND END SPM002 END SPM003 Subroutine SPS101 SSEE spsio1 4 END RET When the execution type is set to Sequence Program H scan or Sequence Program L scan the program is executed at the time the definition is saved When the execution type is set to Sequence Program Start the program is executed when the power supply is turned ON again next time 5 28 5 2 User Programs 5 2 3 Sequence Program 2 How to Designate a Sequence Program You can only designate a sequence program directly Indirect designation is unavailable Use the program number SPMOOD when designating a sequence program to execute Sequence program M EXECUTOR program execution definition SPMO001 _No ID
426. nused Yes Yes 0 Selection of Operation Modes 2 Simulation Mode Yes 3 Servo Driver Transmission Reference Mode Yes 4 and 5 Reserved Bit 0 Axis Selection 0 Finite length axis 1 Infinite length axis Yes Yes e Set to 0 for linear type Bit 1 Soft Limit Positive Direction Enable Disable Yes Bit 2 Soft Limit Negative Direction Enable Disable Yes Bit 3 Overtravel Positive Direction Enable Disable Yes Bit 4 Overtravel Negative Direction Enable Disable Yes 1 Function Selection Flag 1 Bits 5 to 7 Reserved Bit 8 Interpolation Segment Distribution Processing Yes Bit 9 Simple ABS Rotary Pos Mode Simple Absolute Infinite Axis Position Control 0 Disabled 1 Enabled Yes e Set to 0 for linear type Bit A User Constants Self writing Function Yes Bits B to F Reserved Bit 0 Communication Abnormality Detection Mask Yes 2 Function Selection Flag 2 Bit 1 WDT Abnormality Detection Mask Yes Bits 2 to F Reserved for system use 3 T Reserved 7 0 pulse 1 mm 2 deg 3 inch 4 um 4 Reference Unit Selection e For linear type only valid for 0 pulse 1 mm 4 um Yes Yes When 2 deg 3 inch is set converted into 1 mm Number of Digits below Decimal 5 g 1 1 digit Yes Yes Places Travel Distance per Machine Rotation 1 1 reference unit Yes Yes 6 Rotary Motor Linear Scale Pitch i i 1 1 reference unit Yes Yes Linear Type 8 Servo Motor Gear Ratio 1 1 rotation This setting is ignored if a linear motor is
427. nverter settings Single send communication cycle transmission cycle asynchronous communication g Communication Method Transmission communication error detection hardware provided S Synchronous communication error detection not provided O Automatic recovery function provided Q Input output using I O registers and synchronized on the high speed scan or low speed scan selectable Self configuration Function Module and slave devices can be automatically allocated Synchronization between Modules Synchronization supported enabled when power is cycled when high speed scan cycle communication cycle times n Only with MECHATROLINK II Specifications and Functions 2 35 2 36 2 2 Basic Module 2 2 5 Built in SVB Module b MECHATROLINK Communication Specifications Item MECHATROLINK MECHATROLINK II Topology Bus Bus Transmission Media Twisted pair cable Twisted pair cable Transmission Distance 50 m max can be extended to 100 m by connecting repeaters 50 m max can be extended to 100 m by connecting repeaters Minimum Distance between Stations oo oom Baud Rate 4 Mbps 10 Mbps Communication Cycle 2 ms 0 5 ms ms 1 5 ms or 2 ms Number of Connectable Up to 14 stations Up to 21 stations s SERVOPACK for up to 16 Stations axes Communication Control Method Cyclic Cyclic Media Access Control ON gt Method
428. o the input item CH NO for the MSG SND 1 Channel fixed at one MSG RCYV function and node connection number PARAM02 setting for the parameter list PARAM When automatic reception is running the function equivalent to the MSG RCV function is realized by using the communication buffer channel number 1 Readout of Input IW0000 to Set a start register of the input relay used for the automatic recep i TW0000 Relay IWFFFF tion Readout of Input TW0000 to Set a start register of the input register used for the automatic i TW0000 Register IWFFFF reception Readout Write in of MW00000 to Set a start read write register of the coil used for the automatic MW00000 Coil MW65534 reception Readout Write in of MW00000 to Set a start read write register of the holding register used for auto i l MW00000 Hold Register MW65534 matic reception Write in Width of Coil Hold Register MW00000 to Set a write range LO of the coil holding registers used for auto MW00000 MW65534 matic reception LO Write in Width of Coil Hold Register MW00000 to Set a write range HI of the coil holding registers used for the MW65534 HI MW65534 automatic reception 2 22 2 2 Basic Module 2 2 4 218IFA The following table provides the valid setting items for each communication protocol type Module Ethernet Communication Protocol Type Setting Item eee MEMOBUS MELSEC oe Hae Readout of
429. ocess Result PARAMOO Process result is output to the upper byte Lower byte is used for system analysis Value of Process Meaning Result 00O0H In process Busy 1000H Process completed Complete 8yOOH Error occurred Error When an error occurs take corrective action by referring to the following error contents Value of Process Result Error Contents Description 8000H Reserved Unused function code was transmitted or received ae HuCHOMe ese Check PARAM04 function code The following setting is out of the setting range Check the setting PARAMOS data address PARAMOS coil offset 8200H Error in setting address PARAMO9 input relay offset PARAM10 input register offset PARAM11 holding register offset The transmit or receive data size is out of the setting range SSEL Data sizererror Check PARAM04 data size or The circuit number is out of the setting range ben Error m setting Circuit n mber Check Cir No circuit number of the MSG SND function The communication buffer channel number is out of the setting range 8500H Error in setting channel number Check Ch No communication buffer channel number of the MSG SND function The connection number is out of the setting range SSELERI Connection number error Check PARAMO02 connection number 8700H Reserved An error response was returned from the communication section commu 8800H Commu
430. odule side connector 260IF 01 DeviceNet a Peo eee MSTB2 5 5 GF 5 08AM ore manufactured by Phoenix Contact K K Uu Module side connector 261IF 01 PRoFiBus P ae TEES Communication 17LE 13090 27 D33C manufactured SRI by DDK Ltd 1 5 Cables and Accessories 1 5 2 Accessories and Options 1 5 2 Accessories and Options Name Accessory Optional Model Remarks ER3VC exclusive use connector Battery Accessory JZSP BAO1 BA000517 Power Supply Connector Accessory 721 203 026 Cable side RLY OUT Connector Accessory 734 YE102 Cable side DIN Rail Mounting Parts Accessory JEPMC OP300 1 pair Terminator PAA Terminating Resistor Accessory JEPMC W6022 Q ty 1 Metal Fittings for Attachment Optional JEPMC OP2300S E 1 5 3 Software Programming Tool The MPE720 programming tool for MP2300S is available Name Model Remarks MPE720 CPMC MPE720 Ver 5 38 or later CD ROM 1 disk MPE720 Version 6 CPMC MPE720 Ver 6 04 or later CD ROM 1 disk Overview 1 9 MEMO 2 Specifications and Functions This chapter explains detailed specifications for the Basic Module and Optional Modules of the MP2300S 2 1 Specifications 2 2 2 1 1 General Specifications 2 2 2 1 2 Product Specifications
431. ogram executed by a MSEE command from a ladder program Use a MSEE command of a ladder program to designate the work register M or D register The work register constitution is as follows 4 Work register VAUUUUU designate M or D register Status flag of a motion program Control signal of a motion program Third word Override for interpolation Fourth word System work number For more information on the work register refer to the subsequent pages a Status Flag of a Motion Program The motion program status flag shows the execution status of the motion program The following table shows details of status flag Status Flag Bit No Status 0 Program running Program paused Program stopped by stop request used by system Reserved Single program block operation stopped Reserved Reserved Reserved Program alarm Stopped by brake point Reserved In debug mode EWS debugging operation Program type 0 Motion program Start request signal history TT mM UO O DW YS Of olini om om A ow me No system work error Main program number exceeded error 5 2 User Programs 5 2 2 Motion Programs When program alarm has occurred the error details of the motion program are stored in the error information screen and S registers Outline of Motion Control Systems 5 15 5 2 Us
432. ol lowing figure MP2300S Rear Side DIN rail mounting bracket DIN rail mounting bracket inserted position The following figure shows the front and back of a mounting clip Insert each clip so that its front faces outward Back Mounting and Wiring 3 3 3 1 Mounting MP2300S 3 1 1 Method E Fixing a DIN Rail Make sure to fix a DIN rail at 300mm or less pitch as shown in the figure below i e 300 mm or less Gs eee 300 mm or less 3 Hook the MP2300S to the top of the DIN rail a and then push the MP2300S towards the mounting base to secure it in place b DIN rail Kes End plate This completes the installation procedure 3 1 Mounting MP2300S 3 1 1 Method 2 Screwed Method Use a panel mounting clamp optional by the following procedure to mount MP2300S on the panel 1 Release DIN fixing locks two at the center of the panel mounting clamp Two convex clamps Two DIN fixing lock positions
433. ommunication area of the connection parameter set ting Connection Parameter r Message Communication C Easy setting D tis possible to following parameter setting easily that communicate the message Port Port Type Type Cannot the overlap to local station port number used by the communicate the 1 0 message o Ethernet Communications 6 2 Communication with Other MP Series 6 2 1 When the MP2300S Acts as Slave automatic receive function is used 4 Seta communication setting in the Message Communication Easy Setting Window Message Communication Easy Setting Connect No 1 Y Specify the connection number y MP Series Local Port IP Address 192 168 001 001 Other Device Node Port IP Addyess 0 255 fis2 4 fies po foo2 4 Connect Type TCP Code BIN Cancel E How to set up in the Message Communication Easy Setting Window When automatic receive is used select 1 for the Connect No Set Port No of the MP23008S side 10001 for example Select Extended MEMOBUS for the Communication Protocol Type and click Default Button Select Connect Type TCP for example Select Code BIN for example Set Node Port IP Address for the other device MP2300 to be connected to 192 168 001 002 for exam ple Set Port No of the other device MP2300 to be connected to 10001 X for example Click OK Butto
434. ommunication with Other MP Series 6 3 6 2 1 When the MP2300S Acts as Slave automatic receive function is used 6 3 6 2 2 When the MP2300S Acts as a Slave ladder program which uses a MSG RCV function 6 17 6 2 3 When MP2300S Acts as Master I O message communication function is used 6 36 6 2 4 When the MP2300S Acts as Master ladder program which uses MSG SND function 6 49 6 3 Communication with Touch Panel 6 65 6 3 1 When MP2300S Acts as Slave 6 65 6 4 Communication with PLC Manufactured by Mitsubishi Electric Corporation MELSEC protocol 6 75 6 4 1 When the MP2300S Acts as Slave automatic receive function is used 6 75 6 4 2 When the MP2300S Acts as Master I O message communication function is used 6 83 gt Ethernet Communications 6 1 6 1 Communication Methods 6 1 Communication Methods The following table provides the appropriate mode of communication for each remote device and purpose Remote Purpose Communication Method Remarks Equipment Uses the Extended MEMOBUS communication protocol The remote equipment master side creates a ladder program using MP2300S can com a MSG SND function cate withonl The MP2300S slave side uses an automatic receive function You eee g Mie nee do
435. on When the Abort bit turns ON message transmission is forcibly stopped Dev Typ 00016 Communication device type Specify the type of the communication device used in transmission When Ethernet 218IF is used specify 16 Pro Typ 00001 Communication protocol Specify the type of the communication protocol MEMOBUS 1 1 non procedure 1 2 2 non procedure 2 2 3 Cir No 00001 Circuit number Specify a circuit number of the communication device Specify it in accordance with the circuit number displayed in the MPE720 module configuration definition screen Ch No 00003 Communication buffer channel number Specify the channel number of a communication buffer When Ethernet 218IF is used specify it in the range between 1 and 4 Set up a unique channel number in the line Param Busy DA00000 DB000210 Parameter list start address Specify the start address of the parameter list For the Parameter List 17 words are automatically assigned from the configured address In process Busy is ON while executing a message transmission or forced abort process Complete DBO000211 Process completed When a message transmission or abort process is properly completed Complete will turn ON only for one scan Error DB000212 Error occurred When an error occurs Error will turn ON only for one scan 1 When transmitting in MEMOBUS Exte
436. on Example The following are examples of Ethernet network connections via 10Base T cable E Connection Example 1 When using a repeater HUB MP2300S Station Station 10Base T Straight cable Up to 100m Up to 100m Up to 100m Up to 100m Up to 100m Up to 100m When connecting to a HUB without using the auto negotiation function set the HUB side to half duplex mode Station Station Specification Item When Connecting to a Re When Connecting toa peater HUB Switching HUB Cable Length between Node HUB 100 m or less 100 m or less Cable Length between HUBs 100 m or less 100 m or less Number of HUBs between Nodes Up to four Unlimited E Connection Example 2 MP2300S 10Base T cross cable up to 100m 3 20 3 2 Basic Module Connections 3 2 4 Ethernet Connector Details The following are examples of Ethernet network connections via 100Base Tx cable E Connection Example 1 When using a repeater HUB MP2300S MP2300S y mmn O im zorl L z T a Option Station Station 100Base Tx straight cable Up to 100 m Up to 100 m Up to 100 m HUB UptoSm HUB Ol When connec
437. on Setting example Setting Item Setting Details Communication Data Code Setting Binary mode communication Initial Timing Setting Always waiting OPEN IP Address 192 168 1 2 Transmit Frame Setting Ethernet V2 0 TCP Alive Check Setting Any Permit Writing during RUN Permitted 5 Set the open setting Table 6 27 Open Setting example Setting Details Setting Details Setting Item connection number 1 connection number 2 Protocol TCP TCP Open System Fullpassive Fullpassive Fixed Buffer Any Any Procedure to Communicate with Fixed Buff ae Any Any Pairing Open Any Any Check Alive Any Any Local Port Number 2715H 10005 2716H 10006 Remote IP Address for Communication 192 168 1 1 192 168 1 1 Remote Port Number for Update 2715H 10005 2716H 10006 E Caution Set up a unique IP address in the network For the IP address check with your network administrator The setting is finished for now If necessary transfer the settings to the PLC after setting all parameters Complement Initial setting Set up an initial setting and a router relay parameter below if needed Set a timer relevant configuration when TCP is selected as a protocol In most cases accept the default Set up if changes such as a shortened TCP retransmit timer are required Router relay parameter Set up when you use a subnet mask pattern or default gateway 3 How to Sta
438. on procedural Protocol on page A 61 Example When DA00000 is specified as a parameter list start address Parameter list Register Fe 0 DWo00000 PRAMOO DW00001 PRAM01 Dwo0002 PRAM02 DW00003 PRAM03 DW00004 PRAM04 DW00005 PRAM05 DW00006 PRAMO6 DW00007 PRAMO7 DW00008 PRAM08 DW00009 PRAMO9 DW00010 PRAM10 DW00011 PRAM11 DW00012 PRAM12 DW00013 PRAM13 DW00014 PRAM14 DW00015 PRAM15 DW00016 PRAM16 2 Output Item The following table shows the registers available for each output item Input Item 1 0 Option Available Register Busy Every bit type register Complete B VAL except C registers Error Same as above with subscript 1 Busy in process Specify a bit that reports a message is transmitting The Busy bit is ON while executing a message transmission or forced abort process Keep Execute or Abort ON while Busy is ON 2 Complete process completed Specify a bit that reports that message transmission has ended When a message transmission or forced abort process is completed properly the Complete bit will turn ON only for one scan 3 Error error occurred Specify a bit that reports that an error has occurred in the message transmission When an error occurs the Error bit will turn ON only for one scan Note For more information about the error cause refer to G 1 4 2 Process Result PARAMOO on page A 42 and G 1 4 3
439. on screen are executed in ascending numeric order The execution example is shown in the figure below Motion program MPMO01 VEL a1 5000 b1 FMX T10000000 IAC T25 IDC T30 MOV a1 300 b1 MVS a1 200 b1 M EXECUTOR program execution definition END No JD Execution type Setting Program MPM002 Sequence program tart Direct E Motion program Direct MPMOOI S R Lo Motion program v Direct z MPMOo2 lt _ J Motion program Direct MPMOO3 END MPMO003 Subroutine MPS101 MSEE Mesto 4 T END RET The above method is a preparation for running a motion program When registered in the M EXECUTOR program execution definition a motion program does not start up To start up the motion program after the motion program reg istration use a control signal to turn ON the request for the program operation startup The motion program registered in M EXECUTOR is executed at a scan cycle but similar to a ladder the whole pro gram cannot be executed at a single scan In case of the motion program a motion management function in the system carries out an execution control exclusive for the motion programs E Caution When registering a motion program to M EXECUTOR pay attention to the followings e Multiple motion programs with the same number cannot be registered e Multiple motion programs with the same number cannot be referenced using an indirect
440. on the MP2300S Basic Module to OFF a Outline of Motion Control Systems 5 43 5 4 Self configuration 5 4 1 How to Execute Self Configuration b Self configuration after Adding Devices Such as SERVOPACKs By performing the following operation a definition for an axis newly detected in the MECHATROLINK transmission is created The definitions for already mapped axes are not updated Before performing the operation turn ON the power supply of devices such as SERVOPACK 1 Turn OFF the power supply Turn OFF the MP2300S s 24 VDC power supply STOP EL SUP INIT gt CNFG 2 DIP switch setting MON Turn ON CNFG of MP2300S s DIP switch SW1 TEST HE 3 Turn ON the power supply Turn ON the MP2300S s 24 VDC power supply LL 4 Check the display Check that LED display of the MP2300S main unit is changed as follows RIYO RUN RDY gt RUN RYO RUN AMO ERR ALM O ERR ALM C Q ERR MXQ BAT MTX BAT MTX BAT TXO IP TXO IP TXO IP Lit Unlit X Blinking STOP SUP tt INIT CNFG 5 DIP switch resetting VON Turn OFF CNFG of MP2300S s DIP switch SW1 TEST Note Since a register mapping was manually changed after the self configuration was last executed last time input output addresses may be changed by executing subsequent self configurations Also wh
441. on with PLC Manufactured by Mitsubishi Electric Corporation MELSEC protocol 6 4 1 When the MP2300S Acts as Slave automatic receive function is used 7 Click Enable in the Automatically Reception Setting Window and then click the OK Button Automatically Reception Setting x Automatically Reception Unable to automated reception when the protocol type is no control sequence Disable Transmission Buffer Channel 1 y The automatic reception is fixed 1ch Slave F Register Settings Head REG Readout of Input Relay ivoo00 Readout of Input Register iwoo00 Readout write in of Coil Mwo0000 Readout Write in of Hold Register Mw 00000 Write in width of Coil Hold Register g MW 00000 HI MWw65534 Automatic input processing delay time fo ms 0 100 The influence on a low speed scanning can be adjusted according to this parameter Attention It is not in the setting of the communication period of an automatic reception Note For more information on Slave Side I F Register Setting and Automatic Receive Process Delay Time refer to 2 2 4 4 b Automatic Receive Setting Screen for Message Communication on page 2 22 The automatic receive function is now set up when MP2300S acts as a slave m Caution When any transmission or connection parameter is changed the change will be reflected after FLASH has been saved and the power supply is turned ON again 6 80 6 4 Communication with PLC M
442. ong electromagnetic or magnetic fields Radiation Near to power lines When connecting the battery connect the polarity correctly There is a risk of battery damage or explosion E Selecting Separating and Laying External Cables N CAUTION Consider the following items when selecting the I O signal lines external cables to connect the MP2300S to external devices Mechanical strength Noise interference Wiring distance Signal voltage etc Separate the I O signal lines from the power lines both inside and outside the control box to reduce the influence of noise from the power lines If the I O signal lines and power lines are not separated properly malfunctioning may result Example of Separated External Cables Steel separator Digital I O signal cables OOOO General control cir cuit cables OOOO E Maintenance and Inspection Precautions Z CAUTION Do not attempt to disassemble the MP2300S There is a risk of electrical shock or injury Do not change wiring while power is being supplied There is a risk of electrical shock or injury When replacing the MP2300S restart operation only after transferring the programs and parameters from the old Module to the new Module There is a risk of device damage E Disposal Precautions N CAUTION Dispose of the MP2300S as general industrial waste Contents Using th
443. ontrol and interpolation across Modules e An SVB 01 Module used as a slave can be connected to a host controller equipped with MECHATROLINK communication functions Self configuration enables automatic allocation of setting data for the slave device that is connected to MECHATROLINK e SERVOPACK parameters can be managed over networks e When using MECHATROLINK IL MP2300S built in SVB is available as a slave 2 2 Basic Module 2 2 5 Built in SVB Module d System Configuration Example The following diagram shows a system configuration example MP2300S p s 24 VDC power supply MPE720 Ethernet MECHATROLINK II MECHATROLINK II PL2910 PL2900 102310 SGDH NS115 SGDS M M MECHATROLINK support Servo MECHATROLINK support Servo input output modules input output modules Use the specified cables and connectors Refer to 1 1 5 3 Cables in the Machine Controller MP2000 series SVB SVB 01 Motion Module User s Manual manual no SIEPC88070033 to select appropriate cables and connectors to connect each device The SERVOPACK models that can be connected through MECHATROLINK I differ from those connected through MECHATROLINK II Refer to 1 4 MECHATROLINK compatible Devices on page 1 7 to select appropriate SERVO PACK models for the MECHATROLINK interface to be used If both MECHATROLINK I 4 Mbps compatible devices and MECHATROLINK II 10 Mbps com
444. or errors or omissions Neither is any liability assumed for damages result ing from the use of the information contained in this publication Using this Manual The MP23008S is a compact Machine Controller that contains the power supply the CPU I O and the communication functions in one single unit Please read this manual to ensure correct usage of the MP2300S system and apply to your manufacturing system for control Keep this manual in a safe place for future reference E Basic Terms Unless otherwise specified the following definitions are used e MP2300S MP2300S Machine Controller e MPE720 The Programming Device Software or a Programming Device i e a personal computer running the Programming Device Software e PLC Programmable Logic Controller E Manual Configuration Read the chapters of this manual as required by the purpose Selecting Models and Peripheral Devices Studying TERR Maintenance Specifications Designing Installation Trial Oper and Inspec Chapter a and Ratings the System and Wiring ation tion Chapter 1 N Overview Chapter 2 Specifications and Func V y y NI Z tions Chapter 3 Mounting and Wiring y V V Chapter 4 System Start Up and Easy V J Programming Chapter 5 Outline of Motion Control 7 y a Ni 7 Systems Chapter 6 F Ethernet Communications Chapter 7 Slave CPU Synchronous 4 N gt Function Chapter 8 Maintenance Ins
445. ordance with the model in use Here we explain the setting when AGP 3600T is used Table 6 16 Indicator Type Setting example GP3000 series Series AGP33 series Model AGP 3600T Installation i Method Horizontal model 4 Setup connected equipment Table 6 17 Connected Equipment Manufacturer YASKAWA Electric Corporation Series MEMOBUS Ethernet 5 Set up the way to connect Table 6 18 Connection Method Port Ethernet TCP 6 Select the Connected Equipment Setting from the System Tab to display the connected equipment setting screen 7 Set the communication setting Table 6 19 Communication Setting Port Number 10001 Timeout 3 sec Retry 0 Transmit Weight O ms For more information on the port number refer to the following 6 3 Communication with Touch Panel Ga a 6 3 1 When MP2300S Acts as Slave E Port Number e Ifyou don t check Automatic Assignment of the port number in the communication setting screen the automatic assignment will be disabled and the GP3000 series port number will be fixed at the setting value e Ifyou check Automatic Assignment of the port number in the communication setting screen automatic assignment will be enabled and the GP3000 series port number will be assigned in each case When you use Automatic Assignment set Unpassive open mode in the 218IFA screen of MPE720 For more information about
446. ous communication status A Servo Driver Synchronization Com munication Error Executed while the distribution has not been completed DEN OFF A Filter Time Constant Change Error SERVOPACK parameter writing was not com pleted within the specified time A Servo Driver Command Timeout Error Warning A 94 or A 95 occurred in the SERVOPACK W Servo Driver Error 13 Change Filter Type CHG_FILTER An alarm is occurring Asynchronous communication status A Servo Driver Synchronization Com munication Error Executed while the distribution has not been completed DEN OFF A Filter Time Constant Change Error The selected filter type is out of the setting range W Setting Parameter Error Change Speed Loop Gain KVS Change Position Loop Gain KPS Change Speed Feed Forward KFS An alarm is occurring Asynchronous communication status A Servo Driver Synchronization Com munication Error SERVOPACK parameter writing was not com pleted within the specified time A Servo Driver Command Timeout Error Warning A 94 or A 95 occurred in the SERVOPACK W Servo Driver Error Maintenance Inspection and Troubleshooting 8 31 8 2 Troubleshooting 8 2 6 List of Causes for Command Error Completed Status Motion Command Code Cause of Command Error Occurrence Warning W and Alarm A That Occur at Command Error Occurr
447. p AGP3300 T1 D24 1 HUB commercial product LSW TX 8EP 1 MPE720 Ver 6 CPMC MPE770 1 LAN cable for Ethernet connection Commercial straight cable 3 Personal computer main unit Commercial product 1 24 VDC power supply Current capacity of power supply 2 A or more 1 gt System Start Up and Easy Programming 4 13 4 5 Starting Motion Program from an External Signal 4 14 4 5 2 Required Equipment Mapping of the panel manufactured by Digital Electronics Corp No Name Mapping Category Description Bec Start MBS5000 Control signal Starts up a motion program Stop MBS5002 Control signal Displays the running of a motion program Clear Alarm MBS5005 Control signal Stops a motion program Sets in M Running Program MBS5010 Status Clears an alarm of a motion program EXECUTOR Alarm MB5018 Status Indicates an alarm is occurring in a motion program Axs 1 4 IL8016 Monitor parameter Displays current axis 1 position current position Automatic Axis 2 r an receive function current position IL8096 Monitor parameter Displays current axis 2 position Servo ON OFF MB5020 External signal Axis 1 axis 2 servo ON signal Sequence pro Reset Axis Alarm MBS5021 External signal Axis 1 axis 2 alarm reset signal gram is needed Note 1 You do not need to create a program for signals and data in to 2 You need to create a sequence
448. parameters OFORE Transmission Parameters Status r Transmistion Faranjeters IP Address Module Name Definition a m Equipment name CONTROLLER NAME fo z 0 255 fo z 0 255 Detail Definition Subnet Mask Gateway IP Address W How to set up transmission parameters O Set IP Address 192 168 001 001 for example Set Subnet Mask 255 255 255 000 for example Set Gateway IP Address 000 000 000 000 for example E Caution Set up a unique IP address in the network For the IP address check with your network administrator o Ethernet Communications 6 2 Communication with Other MP Series 6 2 2 When the MP2300S Acts as a Slave ladder program which uses a MSG RCV function 3 Click the Easy Setting Button in the Message Communication area of the connection parameter set ting m atti Pome Cannot the overlap to local station port number used by the communicate the 1 0 message 4 Seta communication setting in the Message Communication Easy Setting Window Message Communication Easy Setting e xj Connect No 2 Y Specify the connection numbe y MP Series Local Port IP Address 192 168 001 001 Node Port IP iddress 0 255 Communication prp Extended MEMOBUS Default Port No 256 65535 fi 0002 TCP Code BIN Connect Type Cancel E How to set up in the Message Co
449. patible devices are connected in a system make the settings in accordance with MECHATROLINK I specifications When connecting a servo to an SVB Module via MECHATROLINK connect signals such as overtravel zero point return deceleration limit switch and external latch to the servo Refer to the relevant SERVOPACK manual for details on the connections When connecting gt Il series SERVOPACKs SGDH NS100 or SGDH NS115 do not connect a hand held type digital operator and SigmaWin If connected alarms A 95 command warning and A ED execution not completed will occur for the commands sent from the SVB Module and normal operation will be interrupted If a digital operator or SigmaWin must be connected to a I series SERVOPACK disconnect the SERVOPACK from the SVB Mod ule Specifications and Functions 2 31 2 32 2 2 Basic Module 2 2 5 Built in SVB Module e Synchronization between Modules 1 Overview MP2200 and MP2300 Machine Controllers have a function that can synchronize hardware between the CPU and an optional module This function enables MECHATROLINK communications in synchronization with high speed scans As a result synchronization between a built in SVB Module and an SVB 01 Module or among multiple SVB 01 Modules can be enabled f High speed scan Z Communication 4 ms cycle for SVB built 4 into the CPU l 2 ms Communication cycle for SVB 01 H 1 1 ms Co
450. pection a 4 N and Troubleshooting Appendices A to G y J For information on motion parameters and motion commands refer to Machine Controller MP2000 series SVB SVB 01 Motion Module User s Manual Manual no SIEPC88070033 E indication of Reverse Signals In this manual the names of reverse signals ones that are valid when low are written with a forward slash before the signal name as shown in the following example Notation Examples S ON S ON P CON P CON E Related Manuals The following table lists the manuals relating to the MP2300S Refer to these manuals as required Manual Name Manual Number Contents Machine Controller MP2000 series SVB SVB 01 Motion Module User s Manual SIEPC88070033 Describes the functions specifications and applica tion methods of the MP2000 series Motion Module that is built into the SVB SVB 01 and SVR Module Machine Controller MP2300 Basic Module Us er s Manual SIEPC88070003 Describes the application methods and modules to be connected Machine Controller MP2000 Communication Module User s Manual SIEP C880700 04 Describes the functions specifications and applica tion methods of the MP2000 Communication Mod ules 217IF 218IF 260IF 2611F Machine Controller MP900 MP2000 Series Describes the instructions used in MP900 MP2000 User s Manual Ladder Programming Se a ladder p
451. plays a subnet mask set in the Transmission Parameter Tab 000 000 000 000 Gateway IP Displays a default gateway IP address set in the Transmission Parameter Tab 000 000 000 000 Engineering Port Displays a port number set in the detailed definition of the Transmission Parame 9999 ter Tab E Message Communication and I O Message Communication Items Item Displayed Content Default Trans Status Displays the transmission status for each connection Error Status If an error is indicated in the transmission status the error details are shown Send Count Displays the number of packets transmitted to the remote station Receive Count Displays the number of packets received from the remote station Error Count Displays the number of errors that occurred in each connection Response Time ms Displays the time taken to receive a response after issuing a command in the MSG SND function of the message communication and the I O message communica tion Connection Displays the connection type set in the Transmission Parameter Tab Protocol Type Displays the protocol of the connection parameter set in the Transmission Param eter Tab Code Displays the code type of the data set in the Transmission Parameter Tab Node Station Name Displays the remote station name set in the Transmission Parameter Tab 2 2 Basic Module 2 2 4 218IFA Module Ethernet Note 1 Transmis
452. pulse input phase A B and C 5V differen tial and a general purpose digital input output The control cycle is fixed at 500us so precise control is enabled regard less of high speed scan cycles E Features e Two axes servo module with analogue output e Each axis can independently perform position control speed com mand output torque command output and phase control functions Self configuration function allows you to automatically map modules Machine Controller MP2000 Series Motion Module SVA 01 User 5 Manual manual number SIEPC88070032 PO 01 Module The PO 01 Module is a motion module with pulse output and a four axes interface Applicable to connection to a stepping motor or SERVO PACK Machine Controller MP2000 Series Pulse Output Motion Mod ule PO 01 User s Manual manual number SIEPC88070028 Specifications and Functions 2 61 2 62 2 3 Option Module 2 3 1 Option Module Overview List Classification Option Module Name Module Overview Reference Manual Digital I O and pulse counter functions As a digital I O function equipped with 16 digital inputs DI 16 digital LIO 01 outputs DO LIO 01 sink output LIO 02 source output As a pulse LIO 02 counter function one pulse input PI As for when to input output for Module digital I O and pulse counter functions input output for each MP2300S Machine Controller MP2300S high
453. r Ethernet connector Power supply connector 3 2 Basic Module Connections 3 2 2 Power Supply Connector 3 2 2 Power Supply Connector 1 Specifications Pin Arrangement and Connection Procedure Supply a 24 VDC to the MP2300S Connect the power supply connector as shown in the diagram below Connector No of Connector Model Name Name Pins Module Cable Manufacturer Power Supply Connector POWER 3 721 863 721 203 026 WAGO Symbol Signal Description DC Name 20M 24VDC 24V 24 VDC input IBE l ov 0 VDC OV 0 V input O Frame ground FG POWER Q Ground to 100 Q or less MP2300S 721 863 721 203 026 24 VDC O 24 VDC oae l 24 VDC AC input ov iol Io POWER FG A Use an insulated 24 VDC power supply Attach the power supply switch on the AC side If the switch is attached on the 24 VDC side there will be an inrush current of approximately 40 A when the power is turned ON Mounting and Wiring 3 13 3 2 Basic Module Connections 3 2 3 MECHATROLINK Connectors 2 Connection Procedure The power supply terminal has a removable connector Use the following procedure to wire t
454. r MSG SND Function on page A 66 2 The offset cannot be a negative value The offset parameter is prepared for each target data type The following table lists the offset parameters Table G 4 Offset Parameter List Parameter Content Description PARAM08 Coil offset Sets the coil s offset word address PARAMO9 Input relay offset Sets the offset word address of an input relay PARAM10 Input register offset Sets the offset word address of an input register PARAM11 Holding register offset Sets the offset word address of a holding register The valid offset parameter may differ depending on the function code The following table provides the valid parameters for each function code Table G 5 Valid Parameter List for Offset of Each Function Code Function Valid Offset Protocol Type Code Fungtion Parameter haa MEMOBUS 01H Reads coil state PARAMO8 V V 02H Reads input relay state PARAMO09 V y 03H Reads holding register content PARAMI1 V V 04H Reads input register content PARAM10 V V 05H Changes single coil state PARAMOS V y 06H Writes to single holding register PARAMI1 V V 09H Reads holding register content extended PARAMI1 V OAH Reads input register content extended PARAM10 V OBH Writes to holding register extended PARAMI1 V ODH ae reads holding register PARAMII y OEH ene writes to holding register PARAMII z OFH Changes multiple
455. r M RCV Connection error when passively open in TCP An error occurred while receiving the con nection from the MSG RCV function System Error System error A socket polling select specification error occurred while receiving data Data Transmit Error TCP Data transmit error in TCP either there is no node station or a node station did not startup A response transmit error occurred in the MSG RCV function An error also occurred in the MSG SND function An error occurred only in TCP when there was no node station to transmit or a node sta tion was rebooted Data Transmit Error UDP Data transmit error in UDP A transmit request was issued to a nonexist ent socket Data Receive Error TCP Data receive error in TCP a request to disconnect the connection is received from the node station An error occurred when disconnecting the connection from the node station It also may occur even when close is processed properly Data Receive Error UDP Data receive error in UDP A data receive command was issued to a nonexistent socket Socket Option Change Error System error Error when changing a socket option Data Change Error Data change error Protocol change error Specifications and Functions 2 29 2 30 2 2 Basic Module 2 2 5 Built in SVB Module 2 2 5 Built in SVB Module 1 a b c Overview About SV
456. r in Param parameter list CNO Connection number Maximum number of connections 4 Fig G15 Schematic Diagram for Communication Buffer Channel MP2300S Remote device 1 Remote device 2 Ethernet Ethernet Ethernet Local IP Address Remote IP Address Remote IP Address 192 168 1 x 192 168 1 y 192 168 1 z Ethernet Network block diagram The connection is set in the 218IFA Parameter Setting screen of the MPE720 Module Configuration Definition Window MP2300S Remote device 1 Ethernet 218IFA et Local IP Address oes Connection setting Ethernet 192 168 1 x TCP Remote IP Address ae MELSEC 192 168 1 y peas ieee Os ASCII Automatic Communication CNO 01 Receive paan channel 7 x Port number 1 e e 10010 MSG SND 2 g Function 0 fe eee a a Ae wed cee com aa a Fee ete A e seme aea e aA EARRA lt 3 gt Pan 4 rt number Connection setting MSG SND 10020 Remote device 2 Function J UDP 02 Extended Ethernet MSG RCV aieas MEMOBUS BIN Remote IP Address Function 192 168 1 z gt Appendices A 103 Index INDEX Symbols registers 5 36 aia O See Sie ais b Sele Seis ae eee eS yee Se 2 43 SERVO eee eee eee 2 43 Numerics 100Base TX 3 19 10Base T 3 19 17 byte mode
457. r Execution control using a motion program control motion management function gt Reference of MSEE gt MPM001 work registers VEL a1 5000 b1 Program No 00001 Motion IAC T25 Data DA00000 program No IDC T30 Start address of an MOS en sie DE MSEE work register x DEND END Ladder program Motion program For information about the meaning and estimation of the register number refer to 5 3 Registers on page 5 36 Each example which uses a sequence program and ladder program respectively as a program for controlling the motion program is shown as follows 1 Example using a sequence program OB80000 IBO0000 axis 1 servo on MB00010 PON IB00001 DB000000 program start MBO00011 IB00002 hold MB00012 IBO0003 program stop MBO00015 IBO0004 alarm reset OBS8000F IB00005 alarm reset for axis 1 IF NON MBO00000 DB000001 1 motion program stop Process when program operation is stopped IEND END Outline of Motion Control Systems Note An MSEE command cannot be incorporated into a sequence program Incorporate an MSEE command separately into a ladder H drawing 5 23 5 2 User Programs 5 2 2 Motion Programs 2 Example using a ladder program axis 1 servo on IBOoooO 0B80000 0000 NL 1 program start IbB00001 DB000O0O MB000010 0002 NL 1 hold BOOZ MBOO0014 0005 NL 1 program stop Ib00003 M
458. r F 8 T 0 W00208 Error code Subslot number 2 station error 1 Bit number F 8 T 0 SW00213 Error cod Subslot number 3 station error 1 Bit number F 3 2 1 0 SW00214 ST 15 ST 3 ST 2 ST 1 Unused SW00215 Unused ST 30 ST 17 ST 16 SW00216 Unused Unused SW00217 Unused Unused 8 22 8 2 Troubleshooting 8 2 4 Troubleshooting System Errors E LIO 01 LIO 02 Module Error Status Example Slot 1 Bit No F 8 T 0 SW00224 Error Code I O error 2 Sub slot No 1 SW00225 Error Code I O error 2 Sub slot No 2 SW00226 Not used Not used SW00227 Not used Not used SW00228 Not used Not used SW00229 Not used
459. r 6 MP23008 Start iF File Edit view Online Compile Debug Window Help PILETI Boo MRA e SSBB bo gt mG ome IMU BG BUS A enoo MRiuwFto gt amp lt s 42 gt 5 8 REBiKXSE Setup Programm waysds 5 Operation Check Turn ON MP2300S power again and press Servo and Start on the panel screen Then check that the motion program starts and the two axes motor begins to operate to change the current posi tion of the axis Motion Program wo EF je Star stop Alarm C a System Start Up and Easy Programming 4 17 MEMO 5 Outline of Motion Control Systems This chapter describes the basic operation of MP2300S Motion Control Systems and provides an outline of user programs and registers 5 1 Startup Sequence and Basic Operation 5 2 5 1 1 DIP Switch Settings 5 2 5 1 2 Startup Sequence 5 3 5 1 3 Startup Sequence Operation Details 5 4 5 1 4 LED Indicator Details 5 5 5 2 User Programs 5 6 5 2 1 Types and Execution Timing of User Program 5 6 5 2 2 Motion Programs 5 7 5 2 3 Sequence Program
460. r Not possible Module Type Module detected in the slot Possible Controller Number Fixed to 01 Not possible Circuit Number Module circuit number Possible 1 O start register number of the I O Module to be connected to MECHA I O Start Register TROLINK Possible Setting range 0000 to 7FFFh max 400h words per SVB Module T O last register number of the I O Module to be connected to MECHA I O End Register TROLINK Possible Setting range 0000 to 7FFFh max 400h words per SVB Module Possible Disable Input Input enabled Enable disabled Disable Not possible if the cell is blank Possible Disable Output Output enabled Enable disabled Disable Not possible p if the cell is blank Start register number of the motion parameters Motion Start Register g Automatically sets according to the circuit number N t possible i Last register number of the motion parameters Motion End Register g Automatically sets according to the circuit number Not possible Details Opens the MECHATROLINK Transmission Definition Window Double click the MECHATROLINK cell to open the window Status Status of each module in online mode Not possible Possible in the Modification line in the above table means that it is possible to change the setting of the item Always save the setting to the flash memory after having changed the setting When changing the setting be careful not to set the register numbers overlapped with another module 1 O
461. ral times until PGCL5 is displayed If a mistake is made in the key operation nO _OP will blink on the display for 1 second and then the display will return to the Auxiliary Function Mode If this happens return to step 3 above and repeat the operation Mistake in Key Operation 4 UP Key PED CEEP 1e y UP Key I l Returns to the Auxiliary Function Mode 5 Press the DSPL SET Key The display will change as shown below and the clear operation will be performed for multiturn data for the absolute encoder lojaE J PICIE This completes initializing the absolute encoder Reset the SERVOPACK to turn the power supply OFF and then back ON A 16 2 Initialization Using the Built in Panel Operator 1 Press the MODE SET Key to select the Auxiliary Function Mode 2 Press the UP 4 and DOWN wW Keys to select parameter Fn008 3 Press the DATA ENTER Key for more than one second The following display will appear 4 The rightmost digit will be incremented each time the UP 4 Key is pressed Press the UP A Key several time until PGCL5 is displayed If a mistake is made in the key operation nO OP will blink on the display for 1 second and then the display will return to the Auxiliary Function Mode If this happens return to step 3 above and repeat the operation Mistake in Key Operation t UP Key E ri Blinks for 1 s l II y UP Key t v Returns to the Auxiliary P
462. rawings and grandchild drawings Parent drawings cannot call child drawings from a different type of drawing and child drawings cannot call grandchild drawings from a different type of drawing Also parent drawings cannot directly call grandchild drawings Child drawings are always called from parent drawings and grandchild drawings are always called from child drawings This is the hierarchical structure of drawings As shown in the following figure each processing program is created from a hierarchy of parent child and grandchild drawings Parent Child Grandchild User Functions Drawings Drawings Drawings DWG X DWG X01 DWG X01 01 DWG X01 02 FUNC 001 FUNC 006 DWG Xnn DWG X01 03 FUNC 032 FUNC 064 Note X means A I H or L DWG Description DWG X YY ZZ ed Grandchild drawing number 01 to 99 DWG X 00 Child drawing number 01 to 99 Parent drawing type 01 to 99 Operation error drawing 01 to 99 Outline of Motion Control Systems 5 33 5 2 User Programs 5 2 4 Ladder Drawings DWG d Drawing Execution Processing Method The execution processing of hierarchical drawings are performed by calling lower level drawings from higher level drawings The following figure shows the execution processing for drawings using DWG A as an example System programs are started accor
463. rdinate System Rectangular coordinates DEC1 Phase C pulse Yes ZERO signal Yes DEC1 ZERO signal Yes Phase C pulse Yes Only Phase C pulse Yes POT and Phase C pulse Yes ae POT Yes Return Home limit switch and Phase C Yes pulse HOME Yes NOT and Phase C pulse Yes NOT Yes INPUT and Phase C pulse Yes INPUT Yes Specifications and Functions 2 5 2 6 2 1 Specifications 2 1 3 Function Lists Item Specifications Applicable SERVOPACKs m MECHATROLINK I e SERVOPACKs SGD OOON SGDB OOAN SGDH OOOE NS100 SGDs OH0100 scpv 000100 MECHATROLINK II e SERVOPACKs SGDH OODOE NS115 sGDs OO0100 sGDv 000100 Encoders e Incremental Encoder e Yaskawa Absolute Encoder 2 2 Basic Module 2 2 1 Outline of Functions 2 2 Basic Module 2 2 1 This section describes the functions the external appearance the LED indicators the setting switches and the hard ware specifications of the MP2300S Basic Module and also describes the virtual motion module SVR Outline of Functions The Basic Module is an all in one compact module that combines power supply CPU and 218IFA in one module The Basic Module has both motion control and sequence control functions With a slot option slot configuration Optional Modules can be selected freely and the optimum system can be built for your machine An outline of the Basic Module functions is shown i
464. recautions When Saving SERVOPACK Parameters Before executing a saving operation in the SERVOPACK Tab Page except during SERVOPACK replacement always select Edit Current Value Setting Value to copy the values in Current Value to Input Data gt Appendices Appendix C Initializing SERVOPACKs This section describes the procedure for initializing 2 II SERVOPACKs using the Digital Operator Always initialize SERVOPACKs that have been transferred from other systems SERVOPACKs that are being used for the first time do not need to be initialized 1 Check that the SERVOPACK power is OFF and then insert the Digital Operation connection plug into the CN3 connector on the SERVOPACK 2 Turn ON the SERVOPACK control power and main power 3 Turn ON the Digital Operator power MODESET 4 Press the Key on the Digital Operator to display the Auxiliary Function Mode main menu and use the or V keys to select Fn005 BB FUNCT ION Fn004 FnOO5 Fn0O00O6 Fn0O0O7 5 Press the Key to switch to the Fn005 parameter initialization execution display If the display does not change and NO OP is displayed on the status display a Write Prohibited password has been set using Fn010 and the user settings cannot be initialized Clear the write protection and execute the operation again 6 Press the Key again and execute Fn005 Parameter Init will flash during initialization BB Parameter Init
465. reference SVA 01 and SGDM SGDH SVA 01 JEPMC W2040 00 CN 2 input SERVOPACK SVA 01 and SGDS OOOH010 SVA 01 and SGDS OOO020 LIO 01 o LV O cabl JEPMC W2061 00 Used between LIO 02 Erena NADE Loose wires on oneend LIO 01 02 and external I O device LIO 04 JEPMC W6060 00 Used between LIO 05 ie ee External T O cable Loose wires on one end LIO 04 05 and external I O device JEPMC W6060 00 Used between DO 01 CN 1 CN 2 i i External output cable Loose wires on one end DO 01 and external I O device JEPMC W6080 00 Used between Al 01 CN 1 CN 2 i i Analog inp t cable Loose wires on one end AI 01 and analog external input device JEPMC W6090 00 Used between AO 01 CN 1 Snape output cable Loose wires on one end AO 01 and analog external output device JEPMC W2063E O00 Used between CNTR 01 CN 1 Cable for CNTR 01 Module 1 oose wires on one end CNTR 01 and external I O device PORT Used between ae JEPMC W5310 00 RS 232C port and 25 pin male D sub Communica Common to all RS 232C communication k i connector tion Module communica cable tion modules JEPMC W5311 00 Upedibetwert RS 232C port and DOS V 2181F 01 10Base T a ee Cross cable Category 3 min Module side connector 1010214 52A2JL manufactured by Sumitomo 3M RS422 485 communication Cable side connector 217 F 01 RS422 485 cable 10114 3000VE manufactured by Sumit Use a commercially avail omo 3M able cable Shell 10314 52A0 008 manufactured by Sumitomo 3M DeviceNet icat M
466. res and monitors the motion program The following figure shows a setting example in this method M EXECUTOR program execution definition M EXECUTOR Allocation F Allocation Allocation No Item a 7 Direction 5 Control register Disable register Contact interlock Program number MPMOOT Status hMvocoo i gt 1 Control signal OWOCOT z Override oWwoCO2 Ei lt Save the mapping register and the mapping Ml Je interlock contact as a blank Execution control using a motion management function Status MPM001 Program for controlling a motion program Control signal Override for interpolation VEL a1 5000 b1 DWG H z FMX T10000000 IAC T25 p External signal Ladder for controlling e ell Operation startup a motion program Reference of S E130 b1 f aa M EXECUTOR MON A 7 x r a1 200 b1 st control register Stop etc DEND END Ladder program Motion program Each example which uses a sequence program and ladder program respectively as a program for controlling the motion program is shown as follows 1 Example using a sequence program OB80000 IB00000 axis 1 servo on OB0C010 PON IB00001 DB000000 program start OB0C011 IB00002 hold OB0C012 IB00003 program stop OB0C015 IB00004 alarm reset OB8000F IB00005 Turn ON a single axis servo Is the program operation
467. rformed Low speed Scan Process Periodical startup runs each time a low speed scan is performed For more information on the user program refer to the next page and after 5 2 2 Motion Programs 5 2 User Programs 5 2 2 Motion Programs Motion programs are programs written in a text based language called motion language The following table shows the two types of motion programs Specification Sub program Can be called from main programs Type Method Features No of Programs Main Program vee Accessed from DWG H 000 1 to 256 Up to 256 programs including main and mMPpsooo sub programs can be created OOO 1 to 256 E The program numbers of motion programs are managed in the same manner as the sequence program num bers Assign a unique number for each program number e Program number of Motion program MPM O00 MPs 000 e Program number of Sequence program SPM OOO sPs 000 m The MP2300S can execute up to 16 motion programs simultaneously An alarm no system work error will occur if 17 or more programs are executed simultaneously e No system work error Bit E of the leading word in the MSEE work registers 1 Groups A group of axes with related operations can be treated as one group by motion programs and programs can be executed for each group This allows one MP2300S to independently control multiple machines using group operation Group operation can be sing
468. ribing and executing this mes sage transmit function in a ladder program MSG SND Communication ae Execute DB000200 Busy DB000210 pees Abort DB000201 Complete DB000211 a NG Dev Typ 00016 Error DB000212 Circuit number 1 S Pro Typ 00001 Communication buffer channel number Cir No 00001 Ch No 00003 Parameter list start address DA00000 Param DA00000 Communication device Circuit number 1 m Module Details MP23005 SLOT 00 Module Type CPUS lisra BZ SVR M EXECUTOR Controller Number My oo F CircuitNumber_ Qoo fo a f 1 0 Start Register 0000 Josoo i BE Disable npu Disable Oupu 7 Motion Start Register_ Motion End Register Details o Status Rumning fai SIFA 100M Ethernet in functions Fig 6 9 MPE720 Module Configuration Definition Window 6 2 Communication with Other MP Series 6 2 4 When the MP2300S Acts as Master ladder program which uses MSG SND function E input output definition contents for message transmit functions The input output definition content for the message transmit function is as follows Table 6 12 Input Output Definitions for Message Transmit Functions I O Definition No Name Setting Example Contents Input Item Output Item Execute DB000200 Executes a transmission When Execute turns ON the message transmission is carried out Abort DB000201 Aborts a transmissi
469. rn ON only for one scan Error DB000212 Error When an error occurs Error will turn ON only for one scan 1 When transmitting in MEMOBUS Extended MEMOBUS MELSEC or MODBUS TCP protocol set the communication protocol Pro Typ to MEMOBUS 1 The communication device automatically converts the protocol 2 Non procedure 1 In non procedural communication data is transmitted on a per word basis Non procedure 2 In non procedural communication data is transmitted on a per byte basis gt Ethernet Communications 6 31 6 2 Communication with Other MP Series 6 2 2 When the MP2300S Acts as a Slave ladder program which uses a MSG RCV function E Parameter list setting for the message transmit function An example of a parameter list setting when reading 100 words of data from MW00100 from the destination using the connection with a connection number 2 follows Table 6 7 Parameter List Setting Example parameter list start address Param DA00000 Number vawe Numper NOUT Romans DW00000 PARAMOO OUT Process result DW00001 PARAMO01 OUT Status DW00002 00002 PARAM02 IN Connection number 2 DW00003 PARAM03 IN Option Setting unnecessary DW00004 0009H PARAM04 IN Function code 09H Reads a holding register DW00005 00100 PARAMO05 IN Data address 100 Starting from MW00100 DW00006 00100 PARAM06 IN Data size 100 100 words DW000
470. rocess is completed lt IN gt Execute executes a reception D Sete lt IN gt Abort forcibly ends a reception lt OUT gt Busy in process _ lt OUT gt Complete process completed 1 One scan lt gt lt OUT gt Error error occurred i When Error Occurred To continuously command the receive execution keep Execute ON after the process is completed lt IN gt Execute executes a reception ers lt IN gt Abort forcibly ends a reception lt OUT gt Busy in process lt OUT gt Complete process completed lt OUT gt Error error occurred One scan are It A 74 G 2 3 Message Receive Function Parameter List Param Overview Param of the MSG RCV function has a parameter list structure composed of 17 words The value of Param itself is the start address MA DA of the parameter list In the parameter list enter the function code and its relevant parameter data Process result and status are also output When MEMOBUS and non procedure are used as a transmission protocol the parameter list is as follows Note Parameter details are explained in the parameter details for each protocol type Refer to the following items G2 4 Function Setting and Parameter Details for MEMOBUS and Extended MEMOBUS Protocols on page A 77 G2 5 Function Setting and Parameter Details for MELSEC Protocol on page A 85 G2 6 Function Setting and Parameter D
471. rogram IOW MBOO01 MOV X _ Y _ Motion program Fig 5 1 Calling a Motion Program Using a Direct Designation 1 E A motion program referenced by a MSEE command from a ladder program Set a program number to Program No 00000 in the MSEE command MPM001 Motion program reference command ABS MOV X _ Y _ Program No 00001 IOW MB0001 Data DAOOOOO MOV X _ Y __ MPM number Ladder program Motion program Fig 5 2 Calling a Motion Program Using a Direct Designation 2 5 12 5 2 User Programs 5 2 2 Motion Programs b Using an Indirect Designation to Call a Motion Program An indirect designation method designates a motion program to call using a register In this method a program MPM OOD coinciding with value stored in the register is called E A motion program registered in the M EXECUTOR program execution definition Select Indirect for the Setting A register for the indirect designation is automatically mapped MPMO003 ABS Program definition Allocation Control register No fo Executiontype Sering es I Sequence program Start Direct ndirect_ zy Owocoo e IOW MB0001 MOV X _ Y _ MOV X _ Y _ 3 Setter v Register Stored in OW0C00 OWOCO00 3 Program MVS X _ Y _F E Motion program Motion program Fig 5 3 Calling a Motion Program Using an Indirect Designation 1 E A motion program referenced by a MSEE command from a lad
472. rogramming Machine Controller MP900 MP2000 Series z User s Manual SIEZ C887 1 3 Describes the instructions used in MP900 MP2000 Motion Programming motion programming Engineering Tool for MP2000 series Machine Controller MPE720 Version 6 User s Manual SIEPC88070030 Describes the installation and operation of the engi neering tools for MP2000 series Machine Controller MPE720 Version 6 Machine Controller MP900 MP2000 Series MPE720 Software for Programming Device User s Manual SIEP C880700 05 Describes how to install and operate the MP900 MP2000 series programming system MPE720 x Series SGMO SGD User s Manual High speed Field Network MECHATROLINK compatible AC Servo Drivers SIEZ S800 26 4 Describes the 2 Series SERVOPACK models speci fications and capacity selection methods x Il Series SGMOIH SGDM User s Manual SIEP S800000 15 Describes the installation wiring trial operation function applications methods maintenance and inspection of the II Series SERVOPACKs x IIl Series SGMOH SGDS User s Manual D Ill Series S6MOS SGDS Digital Operator Operating Instructions SIEP S800000 00 TOBEP S800000 01 Describes the models specifications wiring trial operation adjustment function application methods maintenance and inspection of the X I Series SER VOPACKs and Servomotors Describes the operating methods of the JUSP OPOSA Digital Operator x Ill
473. rp for more information 6 72 6 3 Communication with Touch Panel 6 3 1 When MP2300S Acts as Slave b Screen Creation Example 1 Create a base screen 2 Select Data Indicator from the toolbar to paste it on the screen GP Pro EX Screen Paste 12345 lt 4 3 Double click the Data Indicator pasted on the screen GP Pro EX Screen Double click 12345 lt 4 4 Set as follows in the detailed setting screen of Data Indicator and click OK Table 6 21 Data Indicator Detailed Setting Display Data Numeric display Monitor Word Address GMW00100 m Relationship between GP Pro EX address display and MP2300S register Device GP Pro EX Address Display MP2300S Register Coil bit GMBOOOoOoOO MBOOOOOO Coil word GMWOOOO00 mwoo0000 Input Relay bit GIBOOOOO IBOOOoOoO Input Relay word GiwOoooo0 IwOooooO o Ethernet Communications 6 73 6 3 Communication with Touch Panel 6 3 1 When MP2300S Acts as Slave 3 How to Start Communication 1 The MP2300S side starts to receive the messages When the automatic receive function is used the message receive operation starts automatically and you are not required to do anything 2 Start up the touch panel GP3000 series to display the main screen After the system startup of the touch panel communication with MP2300S will start Note Contact Digital Electronics Corp
474. rporation other than MP2100 series and is comprised of multiple CPU modules the remote CPU number is output Otherwise 0 is output A 82 10 Offset PARAM08 PARAM09 PARAM10 PARAM11 Specify an offset address for the reception side data address The address for the reception side will be displaced by the number of words designated by the offset Note 1 For more information refer to G2 8 Relationship between Data Address Data Size and Offset for MSG RCV Function on page A 98 2 The offset cannot be a negative value The offset parameter is prepared for each target data type The following table lists the offset parameters Table G 21 Offset Parameter List Parameter Contents Description PARAM08 Coil offset Sets the coil s offset word address PARAMO9 Input relay offset Sets the offset word address of an input relay PARAM10 Input register offset Sets the offset word address of an input register PARAM11 Holding register offset Sets the offset word address of a holding register The valid offset parameter may differ according to the function code The following table lists the valid parameters for each function code Table G 22 Valid Parameter List for Offset of Each Function Code F Protocol Type Function Function Valid Offset SETA Code Parameter MEMOBUS MEMOBUS 01H Reads coil state PARAMO8 V V 02H Reads input relay state P
475. rror DBO00212 Circuit number 1 g Pro Typ 00001 Communication buffer channel number 1 _ ero 00001 Ch No 00001 Parameter list start address DA00000 Param DA00000 use DW00000 to DW00016 b 218IF Setting Example An example of a function setting when 218IF is used as a communication device follows When non procedure 2 per byte is used set the Pro Typ field to 00003 non procedure 1 per word Set the circuit number in accordance with the circuit number allocated to the target 218IF Set a unique communication buffer channel number for the same circuit For information on the register number refer to G 2 2 1 Input Item on page A 71 and G 2 2 2 Output Item on page A 73 Communication device 218IF Execute DB000201 Busy DB000210 Protocol non procedure 1 Abort DB000202 Complete DBO000211 NG Dev Typ 00006 Error DB000212 Circuit number 1 Se Pro Typ 00001 Communication buffer channel number 1 __ iS pooni Ch No 00001 Parameter list start address DA00000 Param DA00000 use DW00000 to DW00016 gt Appendices A 93 A 94 2 Process Result PARAMOO The process result is output to the upper byte The lower byte is used for system analysis Value of Process Meaning Result ooOOH In process Busy 1000H Process completed Complete 8yQOOH Error occurred Error When an error occurs investigate it by referring to the following
476. rrors E Il Series Name Ara Code Meaning 99 Normal 90 Excessive Position Deviation Warning 91 Overload Warning 92 Regeneration Overload Warning 93 Absolute Encoder Battery Error 94 Data Setting Warning 95 Command Warning 96 Communication Warning 02 Parameter Corrupted 03 Main Circuit Detector Error 04 Parameter Setting Error 05 Combination Error 09 Divider Setting Error 0A Encoder Type Mismatch 10 Overcurrent or Heat Sink Overheat 30 Regeneration Error 32 Regeneration Overload 33 Main Circuit Wiring Error 40 Overvoltage 41 Undervoltage 51 Overspeed 71 Overload Instantaneous Maximum Load 72 Overload Continuous Maximum Load f 73 DB Overload R a IwOO2D 74 Inrush Resistance Overload 7A Heat Sink Overheat 81 Encoder Backup Alarm 82 Encoder Checksum Alarm 83 Encoder Battery Alarm 84 Encoder Data Alarm 85 Encoder Overspeed 86 Encoder Overheat B1 Speed Reference A D Error B2 Torque Reference A D Error B3 Current Sensor Error B6 Gate Array Error BF System Alarm Cl Servo Run away C6 Fully closed Loop Phase A or B Broken C7 Fully closed Loop Phase C Broken C8 Encoder Clear Error Multiturn Limit Setting Error C9 Encoder Communication Error CA Encoder Parameter Error CB Encoder Echoback Error CC Multiturn Limit Mismatch DO Excessive Position Error D1 Excessive Error between Motor Load and
477. rs that can only be called from programs B W L Fnnnnn W00000 to Call only registers Can be called only by corre registers sponding drawing The usage range is set by the Annnnn W 16383 user using MPE720 int reci ndra ant Unique to each DB DW DL nternal registers unique oe eac rawing an be drawing DW00000 to used only by corresponding drawing D D registers DFnnnnn t DA DW16383 The usage range is set by the user using istics MPE720 Note 1 n Decimal number h Hexadecimal number 2 B W L F and A Data type B Bit W Integer L Double length integer F Real number A Address Refer to 5 3 2 Data Types on page 5 39 3 Up to 32 D registers 32 words DW0000 to DW0031 can be used when creating drawings but this can be changed in the MPE720 Drawings Properties Window Refer to the Machine Controller MP900 MP2000 Series User s Manual MPE720 Software for Programming Device SIEPC88070005L or refer to MP2000 Series Engineering Tool for Controller MPE720 Ver 6 0 User s Manual manual num ber SIEPC88070030 for details 4 S and M register data has a battery backup to ensure the data is held even if the MP2300S power is turned OFF and ON Other register data is saved to flash memory so when the MP2300S power is turned OFF to ON data saved to flash memory is read and data not saved to flash memory is lost It is recommended therefore that data to be held regardless of whether or not the power i
478. rt Communication 1 The MELSEC Q series starts to receive messages The message receive operation starts automatically so you are not required to do anything The MP2300S side transmits messages When an I O message communication function is used the message transmit operation starts automatically so you are not required to do anything o Ethernet Communications 6 89 MEMO 7 Slave CPU Synchronous Function This chapter explains the slave CPU synchronous function details and the precautions for using it 7 1 Function 7 2 7 1 1 Overview 7 2 7 2 Requirements and Setting of Execution 7 3 7 2 1 Supported Version 7 3 7 2 2 Requirements to Execute Slave CPU Synchronous Function 7 3 7 2 3 How to Set up Slave CPU Synchronous Function 7 4 7 2 4 How to Execute Slave CPU Synchronous Function 7 7 7 3 Operation 7 9 7 3 1 Input Output Register 7 9 7 3 2 How to Determine Slave CPU Synchronous State 7 15 7 3 3 Calculation of Slave CPU Synchronous Delay Time 7 16 7 3 4 How to Use Scan
479. s etc Data other than battery backup data Data memory Battery backup 512 kbytes M registers S registers alarm history trace data Program memory Data Types Bit relay ON OFF Integer 32768 to 32767 Double length integer 2147483648 to 2147483647 Real number 1 175E 38 to 3 402E 38 Register Designation Direct designation of register number Up to 8 alphanumeric characters up to 200 symbols per drawing Register number Symbolic designation Method y With automatic number or symbol assignment Program control instructions 14 instructions Direct I O instructions 2 instructions Relay circuit instructions 14 instructions including set and reset coils Logic operation instructions 3 instructions Numeric operation instructions 16 instructions Instructions Numeric conversion instructions 9 instructions 7 instructions 14 instructions 10 instructions 11 instructions 13 instructions 9 instructions Numeric comparison instructions Data manipulation instructions Basic function instructions Table data manipulation instructions DDC instructions System functions 2 1 Specifications 2 1 3 Function Lists 2 Motion Control Function Specifications The following table lists the motion control function specifications for the MP2300S Item Specifications Interface MECHATROLINK I MECHATROLINK II Number of Controlled Axes Module Up to 16 axes up
480. s 1 and axis 2 servo ON of the built in SVB MPZAG0S Online Local se auz 7 an alal x gt s E js be mS panel lt gt MP2000 data recele d tronsimision obs0000 mbS020 servo an mds I ob80800 mb5020 servo on axis 2 obsoodt mb5021 alarm reset exis 1 ob8000f mb5021 alarm reset axis 2 END Output the information of the Axis Alarm Reset Button on the touch panel to the motion setting parameter Axis 1 and axis 2 alarm reset of the built in SVB Click the Execution Registration Icon a System Start Up and Easy Programming 4 5 Starting Motion Program from an External Signal 4 5 3 Creation Procedure 2 Registering Program Execution e A Program Execution Registry Screen Dialog Box will appear e Click the List Button to set a program definition in the M EXECUTOR Window Then register the MPM001 SPM001 executions For more information on how to set the M EXECUTOR Window refer to 2 2 7 M EXECUTOR Module Motion Program Executor on page 2 50 x M EXECUTOR individual Program execution registry number Program number 2 B fsPmooz gt Execution type Specification Sequence program L scanning Y Direct z Allocation register Allocation DISABLE Program number el Status Vv as Control signal gj r Override 1 0 01 Vv gt Delete OK Cancel 2101 x re 2 CPUR 1 JRACK O1 Slot 00 0C00 0
481. s Result PARAMOO Refer to G2 4 2 Process Result PARAMOO0 on page A 78 3 Status PARAMO1 Refer to G2 4 3 Status PARAMO1 on page A 79 4 Connection Number PARAMO2 Refer to G2 4 4 Connection Number PARAMO2 on page A 80 gt Appendices A 85 A 86 5 Option PARAMO3 A unique value is output for each communication device Not used for the MELSEC protocol 6 Function Code PARAM04 Received function code is output The following table lists the function codes available when using the MELSEC protocol Table G 24 Function Code List MELSEC MELSEC ACPU Target Data Function Code Function Common Command Type 01H 02H 00H B Reads bit device in units 03H 04H 09H 0AH 01H W Reads word device in units O5H OFH 02H B Writes to bit device in units 06H OBH 10H 03H W Writes to word device in units 08H 16H Loopback test OEH 05H B Specifies a device number for each word device at random and sets resets each word device 31H 60H W Writes to the fixed buffer in words 32H 61H Ww Reads from the random access buffer in words unable to receive for MP2000 series 33H 62H W Writes to the random access buffer in words Note 1 B Bit type W Integer type 2 AnCPU dedicated commands are not supported Commands for extended file register are not sup ported 7 Data Address PARAMO5 A data address requested from the transmission side is output 8 Data Size PARAM
482. s turned OFF to ON should be written to M registers if possible 2 Function Registers 5 3 Registers 5 3 1 Types of Registers The following table shows the registers that can be used with each function Type Name Specification Method Range Details Characteristics Input to functions ee Bit input XB000000 to XB00000F Function input regis X ters g XB XW XL XFnnnnn aie 2 Integer input XW00001 to XW00016 Double length integer input XL00001 to XL00015 Output from functions Bit output YB000000 to YB00000F Function output reg Y isters p g YB YW YL YFnnnnn y to Integer output YW00001 to YW00016 Double length integer output YLO0001 to YL00015 Internal function pa Baie ZW0000 to Mei cee ae to ee registers 2W ZL ZFnnnnn 24700063 e used for function internal process fiqi teach function External registers with the address input External function AW0000 to value as the base address A registers AB AWAL AFhhhh AW32767 For linking with S M I O and DAnnnnn Call only registers registers B W L Fnnnnn W00000 to Can be called only from the relevant func Annnnn W 16383 tion The usage range is set by the user using MPE720 Internal registers unique to each function D D registers DB DW DL DFnnnnn DW00000 to Can be called only the relevant function DAnnnnn DW16383 The usage range is set by the user using MPE720 S System registers SB S
483. sage receive function MSG RCYV at the MP2300S end You can use the message receive function MSG RCV as well as the automatic receive function by keeping connections separate from each other This section explains how to communicate with an MP2300 message transmit function MSG SND using the MP2300S message receive function MSG RCV Slave MP2300S Local station Master MP2300 Remote station adado 218IF 01 gy askama aovo OR mO Ome AMO eral sO Oco KOOT xO Ore Communication Protocol Type Extended MEMOBUS protocol Connection Type Data Code Type TCP UDP BIN ASCII cpu vo Ethernet MP2300S MSG RCV function ladder application 218IFA Extended MEMOBUS protocol k ce hen ces oF Ethernet MP2300 MSG SND function ladder application A Option Module 218IF 01 Fig 6 3 Message Flow with MP2300 when Message Receive Function MSG RCV Is Used o Ethernet Communications 6 17 6 18 6 2 Communication with Other MP Series 6 2 2 When the MP2300S Acts as a Slave ladder program which uses a MSG RCV function E Setting Example The following figure illustrates one example of writing the contents of the MP2300 master holding register MW00100 to MW00199 into the MP2300S slave holding re
484. selected Yes Yes Machine Gear Ratio 1 1 rotation This setting is ignored if a linear motor is selected Yes Yes 10 Infinite Length Axis Reset 1 1 reference units Yes Yes Position POSMAX e Invalid for linear type 12 Positive Software Limit Value 1 1 reference unit Yes 14 Negative Software Limit Value 1 1 reference unit Yes Backlash Compensation 16 P i 1 1 reference unit Yes Amount 18 to 29 Reserved 0 Incremental Encoder 3 1 Absolute Encoder Encoder Selection Y 39 2 Absolute Encoder Incremental encoder is used i 3 Reserved 31 to 33 Reserved cont d Slot Name Contents SVB SVR Number Rated Motor Speed A S Rotary Motor t pm Yes Yes Rated Speed 1 0 1 m s 0 1 mm s Yes Yes Linear Type Number of Pulses per Motor 1 1 pulse rev Yes Yes ae Rotation Rotary Motor Set the value after multiplication Number of Pulses per Linear E Scale Pitch Linear Type nad p lsescale rie eal 38 Maximum Number of Absolute 1 1 rotation Yes Encoder Turns Rotation e Set to 0 when a direct drive motor is being used 40 to 41 Reserved 42 Feedback Speed Movement Av Eii Yes Yes eraging Time Constant gt Appendices A 21 E 2 Setting Parameter List The following table provides a list of SVB and SVR motion setting parameters Refer to the pages listed in the Details column for details of each setting parameter Refer to 2 2 6 SV
485. single coil state 0 to 65535 0 to FFFFH 06H Ww Writes to single holding register 0 to 65534 0 to FFFEH 07H Unused Disable 08H Loopback test Disable 09H W Reads holding register content extended 0 to 65534 0 to FFFEH Ww f PA 0 to 32767 0 to 65535 OAH Reads input register content extended 0 to 7FFFH 0 to FFFFH OBH W Writes to holding register extended 0 to 65534 0 to FFFEH OCH Unused Disable ODH W Discontinuously reads holding register extended 0 to 65534 0 to FFFEH Di ti I ites to holdi ist OEH w iscontinuously writes to holding register 0 to 65534 0 to FFFEH extended 3 OFH B Changes multiple coil states 0 to 65535 0 to FFFFH 10H W Writes to multiple holding registers 0 to 65534 0 to FFFEH 41 Request for reading writing coil or input relay Specifies the start bit address of data 2 Request for continuously reading writing register Specifies the start word address of data 3 Request for discontinuously reading writing register Specifies the start M register number of the address table Note Address Table An address table is used for specifying addresses indirectly in order to indicate discontinuous data The PARAMO6 data size sizes of addresses at the beginning of the M register set by PARAM05 data address are used as an address table When reading specify the remote station s address to read for the data addresses 1 n Read values are stored locally accor
486. sion status In online mode displays the transmission status for each connection Transmission Status State IDLE IDLE WAIT WAIT waiting for connection CONNECT CONNECT capable of transmitting and receiving data Unused connection 2 Error status If an error is indicated in the transmission status the error details are shown Error Status State Remarks No Error Normal Socket Generation Error System error Socket generation failed Local Port Number Error Error in setting the local port num ber the same address is bound while disconnecting the TCP connection Bind error duplicated port number A bind error occurred while aborting using the MSG function and ending the connec tion The error occurs if Execute is turned ON within one minute after an Abort is com pleted Before the connection was completed another function issued a command to the same remote station Socket Attribute Change Error System error in TCP An error occurred while setting a socket attribute Connection Error M SND Connection error when actively open in TCP a connection is rejected by the node station Tried to connect using the MSG SND func tion but the connection was rejected by the remote station and the command was reset When disconnecting the cable retried con necting for one minute default value with out a response Connection Erro
487. sk data 2 Address table An address table used for the read write request to the multiple holding registers is used for specifying addresses indirectly in order to indicate read write data The four words of addresses at the beginning of the M register set by PARAMO5 data address are used as an address table For the address table specify a data address and data size for reading and a data address and data size for writing Read behaves same as Reads holding register content function code 03H Write behaves same as Writes to multiple holding registers function code 10H The address table used when reading writing multiple holding registers is as follows Address table for reading writing multiple holding registers PARAMO5 gt MwooOoooo Data address For reading Mwooooo 1 Data size MwOoooo 2 Data address mwo0000 3 Data size For writing 8 Data Size PARAMO6 Set the data size number of bits or words for the read write request Be sure that the last data address determined based on the offset data address and data size does not go beyond the scope of the data addresses The range of data sizes may differ depending on the function code The following table gives the valid ranges of data sizes when using MODBUS TCP as a protocol Table G 14 Valid Range of Data Sizes MODBUS TCP Function Code ae Function Vali
488. smission When the Execute bit is ON the message is transmitted 2 Abort DB000201 Aborts a transmission When the Abort bit is ON the message transmission is forcibly stopped 3 Dev Typ 00006 Communication device type Specify the type of the communication device used in transmission When Ethernet 218IF is used specify 6 4 Pro Typ 00001 Communication protocol Specify the type of the communication protocol MEMOBUS 1 1 non procedure 1 2 2 non procedure 2 2 3 Input Item 5 Cir No 00001 Circuit number Specify the circuit number of the communication device Specify it in accordance with the circuit number displayed in the MPE720 module configuration definition screen 6 Ch No 00001 Communication buffer channel number Specify the channel number of the communication buffer When Ethernet 218IF is used specify it in the range between 1 and 10 Set up a unique channel number in the circuit 7 Param DA00000 Parameter list start address Specify the start address of the parameter list For the Parameter List 17 words are automatically assigned from the configured address 1 Busy DB000210 In process Busy is turned ON while executing a message transmission or forced abort process Output Item 2 Complete DB000211 Process completed When a message transmission or abort process is properly completed properly Complete will turn ON only for one scan
489. ssage Receive Function MSG RCV This section explains how the message receive function MSG RCV is used in a ladder program when receiving mes sages G 2 1 Specification Overview of the Message Receive Function Function Name MSG RCV Receives messages from the remote station on the circuit specified by the communication device type Supports Function multiple protocol types Keep the execution command Execute until Complete or Error turns ON MSG RCV Execute Busy Abort Complete Function Defi Dev Typ Error nition Pro Typ Cir No Ch No Param I O Definition No Name I O Option Contents 1 Execute B VAL Executes a reception 2 Abort B VAL Forcibly ends a reception Communication device type 2 eee EREG Ethernet 218IF 6 Ethernet 218IFA 16 Communication protocol 4 Pro Typ I REG MEMOBUS 1 non procedure 1 2 Input Item non procedure 2 3 3 Line number 29 SANG DREG Ethernet 2181F 1 8 Ethernet 218IFA 1 to 8 Communication buffer channel number Bo ENS PREG Ethernet 218IF 1 10 Ethernet 218IFA 1 to 4 i Parameter list start address 7 Param Address input MA DA 1 Busy B VAL In process Output Item 2 Complete B VAL Process completed 3 Error B VAL Error occurred 41 The meanings of I O options are as follows B VAL Specify I O by bit type data I REG Specify I O by integer type data When specifying set an integer type register numb
490. ssage communication function is used 4 Seta communication setting in the I O Message Communication Easy Setting Window 09 1 0 Message Communication Easy Setting Y MP Series Local Port IP Address 192 168 001 001 Input Regllw sxx 1w 0000 E How to set up in the I O Message Communication Easy Setting Window Set Port No of the MP23008S side 10005 10006 X for example Select Extended MEMOBUS for Communication Protocol Type and click the Default Button m Caution When the communication protocol is Extended MEMOBUS the register type that can select both read and write is fixed at the Holding Register MW Select Connect Type TCP for example Select Code BIN for example Set Remote IP Address for the other device MP2300 to be connected 192 168 001 002 for example Set Port No of the other device MP2300 to be connected 10005 10006 for example m Caution In I O message communication as a message is transmitted from each port number for register read write a connected remote device needs the message receive functions to receive two messages o Ethernet Communications 6 39 6 40 6 2 Communication with Other MP Series 6 2 3 When MP2300S Acts as Master I O message communication function is used Set a storage area Input Reg of data read by MP2300S IW0000 for example Set the Read Size of data to be the read by the MP2300S
491. status A Servo Driver Synchronization Com munication Error 24 Torque Reference TRQ Commanded when having been connected to MECHATROLINK I An alarm is occurring Asynchronous communication status A Servo Driver Synchronization Com munication Error 25 Phase Reference PHASE The axis is ABS infinite length and the zero point return setting is not completed A Zero Point Not Set In servo OFF status A Servo OFF An alarm is occurring Asynchronous communication status A Servo Driver Synchronization Com munication Error 26 Change Position Loop Integration Time Constant KIS An alarm is occurring Asynchronous communication status A Servo Driver Synchronization Com munication Error SERVOPACK parameter writing was not com pleted within the specified time A Servo Driver Command Timeout Error Warning A 94 or A 95 occurred in the SERVOPACK W Servo Driver Error Others Parameter Automatic Updating when Execution of Move Command Starts An alarm is occurring Asynchronous communication status A Servo Driver Synchronization Com munication Error SERVOPACK parameter writing was not com pleted within the specified time A Servo Driver Command Timeout Error Warning A 94 or A 95 occurred in the SERVOPACK W Servo Driver Error The distribution was not completed DEN OFF 8
492. stem 0002H DWG I 0005H DWG L Program Error Task SW00054 0001H nek 0003H DWGH 0005H DWG L Program Type swoooss coor pwaa 00034 DWGH OOF Motion progran sequence program Ladder program parent drawing FFFFH Program Error Ladder program function 8000H Drawing Number SW00056 Ladder program child drawing 0000H AOD Child drawing number Ladder program grandchild drawing OOyyH Hyy Grandchild drawing number Motion program sequence program FOxxH Hxx program number Type of drawing that calls the ladder program function in which an error occurred x 0005H DWG L alling Drawing 0001H DWG A 0008H Ladder program Type SW00057 0002H DWGI function i ate Pauley z a 0003H DWG H 000FH Motion program sequence program Number of drawing that calls the ladder program function in which an error occurred Ladder Program ae mee Function Calling SW00058 Parent drawing FFFFH Child drawing Bee HOD Child drawing number Drawing Number Function 0100H Grandchild drawing OOyyH Hyy Grandchild drawing number Ladder Program STEP number of the drawing that calls the ladder program function in which an error Function Calling SW00059 occurred 0 when there is an error in the drawing SW00060 and Reserved by the system Error Data SWwo00061 SW00062 to SW00065 Name of Task Generating Error SW00066 and SW00067 Reserved by the system SW00068 Year Generated SWw00069 Month Generated S
493. t Mask 255 255 255 000 for example Set Gateway IP Address 000 000 000 000 for example E Caution Set up a unique IP address in the network For the IP address check with your network administrator 3 Set connection parameters CP 218 Connection Parameter 192 168 001 001 192 168 001 001 192 168 001 001 OE HA 4 10002 TCP 10003 TCP Y Extended MEMOBUS BIN Extended MEMOBUS 10005 TCP 10006 TCP 192 168 001 001 192 168 001 001 Extended MEMOBUS Extended MEMOBUS E How to set up with a connection number 01 in the connection parameter setting screen O Set Local Port to the port number used in the MP2300 side 10001 for example Set Node IP Address to the IP address configured in the MP2300S side Set Node Port to the port number configured in the MP23008S side 10001 for example Select Connect Type TCP for example Select Extended MEMOBUS for Protocol Type Select Code BIN for example E Caution When any transmission or connection parameter is changed the change will be reflected after FLASH has been saved and the power turned ON again 6 2 Communication with Other MP Series 6 2 1 When the MP2300S Acts as Slave automatic receive function is used 4 Create a ladder program with a message transmit function MSG SND A ladder program for transmitting messages to from the remote equipment MP23
494. t in Ethernet Low scan for exam ple m Data Update Timing Data update timing indicates when to give and receive data between the CPU and built in Ethernet Communication with the remote device is carried out asynchronously so note that a message is not necessarily transmitted to the remote device at each data update timing Set the register type and start address Read Reg of the remote device MELSEC Q series read by the MP2300S D00000 for example Set the register type and start address Write Reg of the remote device MELSEC Q series written by the MP2300S D00100 for example Click OK 5 Click Yes in the parameter setting confirmation dialog box E Caution Note that when a parameter with the same connection number is already set and you click Yes in the parameter setting confirma tion dialog the setting will be overwritten by the parameter configured in the Message Communication Easy Setting Window o Ethernet Communications 6 87 6 88 6 4 Communication with PLC Manufactured by Mitsubishi Electric Corporation MELSEC protocol 6 4 2 When the MP2300S Acts as Master I O message communication function is used 6 Check the setting values 140 Message Communication Disable Enable It is possible to set easily that communicate the 1 0 message Data update timing Low v Scan Write Port Port Type Typs Read 10005 192 168 001 002 10005 TCP gt MELSEC yiBIN
495. t size is determined by MTU maximum transfer unit as a TCP data transfer unit The valid range of data sizes mentioned above is for MTU 1500 bytes 9 Remote CPU Number PARAMO7 Refer to G1 4 9 Remote CPU Number PARAMO07 on page A 49 10 Offset PARAM08 PARAM09 PARAM10 PARAM11 Specify the offset addresses of the read data storage area and the write data source of the transmission side The address for the transmission side will be displaced by the number of words designated by the offset Note 1 For more information refer to G1 8 Relationship between Data Address Data Size and Offset for MSG SND Function on page A 66 2 The offset cannot be a negative value The offset parameter is prepared for each target data type The following table provides the offset parameters Table G 10 Offset Parameter List Parameter Contents Description PARAM08 Coil offset Sets the coil s offset word address PARAMO9 Input relay offset Sets the offset word address of an input relay PARAM10 Input register offset Sets the offset word address of an input register PARAM11 Holding register offset Sets the offset word address of a holding register The valid offset parameter may differ according to function code The following table provides the valid parameters for each function code Table G 11 Valid Parameter List for Offset of Each Function Code Function
496. tate V V 06H W Writes to single holding register V V 07H Unused OEH OFH B Changes multiple coil states V V 10H W Writes to multiple holding registers V V 11H Unused 15H 16H W Mask writes to holding register z V 17H W Reads Writes multiple holding registers V Note 1 B Bit type W Integer type 2 Available Not available 3 Transmit and receive registers in the master operation mode are MW MB only 4 In the slave operation mode coil holding register input relay and input register are MB MW IB IW respectively gt Appendices A 57 A 58 7 Data Address PARAMOS Specify the start address of the data The address must be a decimal or hexadecimal number Example When the start address is MW01000 specify 1000 decimal or 3E8H hexadecimal The range of data addresses may differ according to the function code The following table gives the valid ranges of data addresses when using MODBUS TCP as a protocol Table G 13 Valid Range of Data Addresses MODBUS TCP Function Code suerte Function Valid Range of Data Addresses 00H Unused Disable 01H B Reads coil state 0 to 65535 0 to FFFFH 02H B Reads input relay state 0 to 65535 0 to FFFFH 03H W Reads holding register content 0 to 65534 0 to FFFEH 04H W Reads input register content 0 to 32767 0 to 7FFFH 05H B Changes single coil state 0 to 65535 0 to FF
497. ted below 1 4 1 SERVOPACKs Model Number Details MECHATROLINK I MECHATROLINK II SGDV O0H0100 SGDV SERVOPACK Yes Yes SGDS OOO100 SGDS SERVOPACK Yes Yes SGDH OOOE SGDH SERVOPACK Yes Yes JUSP NS115 NS115 MECHATROLINK II Interface Unit SGDH OOOE SGDH SERVOPACK Yes No JUSP NS100 NS110 MECHATROLINK I Interface Units scD O00N MECHATROLINK compatible AC SERVO Yes No SGDB OOAN PACKs 1 4 2 Modules Model Number Details MECHATROLINK I MECHATROLINK II 64 point I O Module JEPMC 102310 24 VDC 64 inputs 64 outputs sink mode Yes Yes output 64 point I O Module JEPMC 102330 24 VDC 64 inputs 64 outputs source Yes Yes mode output JEPMC PL2900 Counter Moue Yes Yes Reversible counter 2 channels JEPMC PL2910 purse Output Module Yes Yes Pulse output 2 channels A D Module JEPMG AN2900 Analog inputs 10 to 10 V 4 channels Yes ves D A Module JERMCANZI19 Analog outputs 10 to 10 V 2 channels Yes aes 64 point I O Module JEPMC10350 24 VDC 64 inputs 64 outputs Tes Ng DC Input Module JAMSC 120DD134330 12 24 VDC 16 inputs Yes No DC Output Module JAMSC 120DD034340 12 24 VDC 16 outputs Yes No AC Input Module JAMSC 120DAI53330 100 VAC 8 inputs Yes No AC Input Module JAMSC 120DAI73330 200 VAC 8 inputs Yes No AC Output Module JAMSC 120DA083330 100 200 VAC 8 outputs Yes No Relay Module JAMSC 120DRA83030 Wide voltage range relay contacts Yes No
498. ted to MECHATROLINK I 4 Mbps and MECHATROLINK II 10 Mbps Refer to 1 4 1 SERVOPACKs on page 1 7 and select the appropriate SERVOPACKs If devices compatible with MECHATROLINK I and with MECHATROLINK II are used together make the set tings for MECHATROLINK I The user must supply the 24 VDC power supply When connecting SERVOPACKs via MECHATROLINK connect the overtravel zero point return deceleration limit switch and external latch signals to the SERVOPACKs For connection refer to the SERVOPACK s man ual 1 3 2 Example of Distributed Synchronizing System If some MP2300S are connected as slaves and other MP2000 series Machine Controllers are connected via MECHA TROLINK IL slaves can operate synchronously Distribution of the load realizes the high speed synchronization of multiple axes Master MP2100 MP2200 MP2300 eee MP2300S Synchronization MP2400 Bae pg en a i ee ee eee ee eee ene TN MP2500 MECHATROLINK I N Slave Slave MP2300S MP2300S SVB 01 SVB 01 Module Module Synchronization Pig aaa a aa a aa ar aa a Aaaa a aaa Ee a aaa ar aa a a Se a a o s H MECHATROLINK I N ae 1 6 1 4 MECHATROLINK compatible Devices 1 4 1 SERVOPACKs 1 4 MECHATROLINK compatible Devices The devices that are compatible with MECHATROLINK and can be connected to the MP2300S and the SVB 01 Module are lis
499. ter as a storage area Example When specifying MW01000 for the start address of the M register for storing received data PARAM12 1000 7 Write Range HI PARAM13 Sets an available address range for the write request from the transmission side A write request which is out of this available address range will cause an error Specify the write range PARAM13 as a word address Note The write range parameter enables you to specify the range of the M register which permits writing mes sages Specify the write range so that the expression below is met 0 lt Write range HI lt Maximum address of M register Example When setting the last address of the M register which permits writing to 1999 PARAM13 1999 The reception side will return an error against a write request to an address other than MW00000 to MW01999 and will not write it Reserved by System 1 PARAM14 Used by system the channel number of the communication buffer in use is stored Note At the first scan during power up make sure to set this to 0 by user program After that the register is used by system so do not change the value with the user program Reserved by System 2 PARAM15 PARAM16 Used by system Do not change the value with the user program etc gt Appendices A 97 A 98 Function G 2 8 Relationship between Data Address Data Size and Offset for MSG RCV The relationships between data address data size and offset
500. ter the deceleration stop d Bit 3 Positive Direction Software Limit and Bit 4 Negative Direction Software Limit Detection Timing Enabled when using a motion command and detected by the position management section The software limits are valid after a ZRET or ZSET command has been completed Processing when Alarm Occurs e The axis decelerates to a stop at the software limit The Command Error Completed Status in the Motion Command Status WO009 bit 3 will turn ON Error and Cause e A move command that exceeded a software limit of the machine was executed as follows A user program command exceeded the software limit The software limit was exceeded in manual operation Correction e Check the program or manual operation Then after clearing the motion command code and resetting the alarm use a return operation to eliminate the software limit status Commands in the direction of the software limit will be disabled and an alarm will occur again if one is executed e Bit 5 Servo OFF Detection Timing Servo OFF status is detected when a move command is executed Processing when Alarm Occurs The specified movement command will not be executed The Command Error Completed Status in the Motion Command Status IWO009 bit 3 will turn ON Error and Cause A move command commands for positioning external positioning STEP operation JOG operation etc was exe
501. th Other MP Series 6 2 4 When the MP2300S Acts as Master ladder program which uses MSG SND function 5 Click Yes in the parameter setting confirmation dialog box E Caution Note that when a parameter with the same connection number is already set and you click Yes in the parameter setting confirma tion dialog the setting will be overwritten by the parameter configured in the Message Communication Easy Setting Window 6 Check the setting values Connection Parameter r Message Communication Easy setting It is possible to following parameter setting easily that communicate the message CNO Local Moda ib Address Node Connect Code Automaticall iE Port Port Type Type ee 7 g T Derail__ 3 Q Cannot the overlap to local station port number used by the communicate the 1 0 message m Caution When any transmission or connection parameter is changed the change will be reflected after FLASH has been saved and the power supply is turned ON again o Ethernet Communications 6 53 6 54 6 2 Communication with Other MP Series 6 2 4 When the MP2300S Acts as Master ladder program which uses MSG SND function 7 Create a ladder program containing a message transmit function MSG SND An example of a ladder program example for transmitting messages from the MP2300S side follows E Message transmit function MSG SND Required for transmitting messages A message transmission is carried out by desc
502. the command turns ON the message reception is carried out To continuously command the receive execution make sure to turn Execute executes a reception OFF for one scan or more Abort forcibly ends a reception Specify a bit to command a forced abort of a message reception When Abort turns ON the message reception is forcibly terminated Abort takes precedence over Execute In order to execute the forced abort a ladder program or the like needs to be used to switch the bit ON OFF Dev Typ communication device type Specify the type of communication device refer to the table below Device Type Code Ethernet 218IF 6 Ethernet 218IFA 16 Pro Typ communication protocol Specify the communication protocol refer to the table below Type Code Communication Protocol Remarks Set the type code to 1 when also transmitting using Extended 1 MEMOBUS MEMOBUS MELSEC or MODBUS TCP protocol The commu nication device will automatically convert the protocol Data is received on a per word basis in non procedural communi 2 Non procedure 1 per word i P P cation No response is transmitted to the remote Data is received on a per byte basis in non procedural communi 3 Non procedure 2 per byte i i P per byte cation No response is transmitted to the remote gt Appendices A 71 A 72 5 Cir No circuit number Specify a circuit number for the
503. thernet Ethernet MP2300S MP2300 MSG SND function MSG RCV function ladder application ladder application A ho i 218IFA Option Module 218IF 01 Extended MEMOBUS protocol Fig 6 8 Message Flow with MP2300 when Message Transmit Function MSG SND Is Used o Ethernet Communications 6 49 6 50 6 2 Communication with Other MP Series 6 2 4 When the MP2300S Acts as Master ladder program which uses MSG SND function E Setting Example The following figure illustrates one example of reading the content of the MP2300 slave holding register MW00400 to MW00499 into the MP2300S master holding register MW00400 to MW00499 Slave Master MP2300S MP2300 Local station Remote station IP address 192 168 001 001 IP address 192 168 001 002 Communication Protocol Extended MEMOBUS Type protocol Connection Type TCP Data Code Type BIN Port number 10003 Ethernet Port number 10003 MP2300S MP2300 Local station Remote station Holding register M register Holding register M register Read g MW00400 MW00400 MW00401 a MW00401 Data size Data size MW00498 a MW00498 Mw00499 MW00499 J The particular setup procedure is explained in the subsequent pages
504. time setting 0 5 to 32 ms Integral multiple of MECHATROLINK communi Scan cation cycle 2 to 300 ms Integral multiple of MECHATROLINK communi cation cycle Low speed scan time setting User Drawings Functions and Motion Programs Startup drawings DWG A 64 drawings max Up to three hierarchical drawing levels Interrupt processing drawings 64 drawings max Up to three hierarchical drawing DWG levels High speed scan process drawings 200 drawings max Up to three hierarchical drawing DWG H levels Low speed scan process drawings 500 drawings max Up to three hierarchical drawing DWGL levels Number of steps Up to 1 000 steps per drawing User functions Up to 500 functions Motion programs and sequence programs A total of up to 256 Revision history of drawings and motion programs Security function for drawings and motion programs Data Memory 64 kwords 8 kwords Up to 16 kwords per drawing Up to 16 kwords per drawing 32 kwords including internal input registers Output O registers 32 kwords including internal output registers Constant C registers 16 kwords Common data M registers System S registers Drawing local D registers Drawing constant registers Input I registers Trace Memory Data trace 128 kwords 32 kwords x 4 groups 16 points defined Memory Backup Flash memory 8 MBytes User area 5 5 MBytes definition files ladder programs motion program
505. ting Example The following figure illustrates one example of reading the contents of the holding register MW00200 to MW00299 of MP2300 slave into an input register IW0000 to IW0063 of MP2300S master and writing the contents of an out put register OW0064 to OW00C7 of MP2300S master into a holding register MW00300 to MW00399 of MP2300 slave Data size 100W Data size 100W Master MP2300S Local station IP address 192 168 001 001 MP2300S YASKANA O GE Slave MP2300 Remote station IP address 192 168 001 002 MP2300 218IF 01 d Communication Protocol Extended MEMOBUS 7 Type protocol ff w Connection Type TCP col ol PAE Data Code Type BIN op Ethernet Ethernet Port number 10005 Port number 10005 Port number 10006 Port number 10006 MP2300S MP2300 Local station Remote station Input register I register Read Holding register M register IW0000 et MW00200 D D f ata size j gt 100w IW0063 at MW00299 J Output register O register Write OWO0064 h MWw00300 A D ata size nd gt 100W OWO00C7 gt MW00399 J The particular setup procedure is explained in the subsequent pages o Ethernet Communications 6 37 6 2 Communication with Other MP Series 6 2 3 When MP2300S Acts as Master I
506. ting Motion Errors 8 33 Maintenance Inspection and Troubleshooting 8 1 8 2 8 1 Inspection Items 8 1 1 Daily Inspections 8 1 Inspection Items This section summarizes daily and regular inspection items that must be performed by the customer 8 1 1 Daily Inspections The following table lists the daily inspection items No Inspection Item Inspection Details Criteria Action ii Check the mounting screws for Installation conditions of The screws and covers must be 1 looseness Check whether the Retighten the screws Module etc secured correctly covers are all in place C heck st rma scree The screws must be tight Retighten the screws looseness 2 Connection conditions orig tpe connectors for 100867 liiir connectors must be tight Retighten the connector set screws Check the gap between crimp There must be an appropriate Correct asnecessary terminals gap between the terminals Sean The indicator must be lit It is RDY a wetnes tue maigatoiis abnormal if the indicator is not i lit Check whether the indicator is lit The indicator must be lit It is RUN while the system is in RUN abnormal if the indicator is not state lit Check whether the indicator is The indicator oe pe 2o lit Mr Refer to 8 2 Troubleshooting on ERR iotlit is abnormal if the indicator is age 8 5 3 LED i lit pag Indicators ee The indicator must be not lit It ALM C
507. ting interpolation travel commands setting unit 1 0 01 is set This interpolation override is enabled only when the motion program control signal bit E interpolation override set ting is ON a Outline of Motion Control Systems 5 18 5 2 User Programs 5 2 2 Motion Programs d System Work Number The system work number n setting range 1 to 16 used when executing motion programs is set by the MSEE work registers This system work number is enabled only when the motion program control signal bit D system work number setting is ON The status bit bit E No system work error will turn ON if the work number setting is outside the setting range or the specified system work is in use m The total number of system works of a motion program is 16 for both M EXECUTOR and ladder The number configured in the number of program definitions of the M EXECUTOR detailed screen is set for the system work for M EXECUTOR System work for M EXECUTOR Number of program definitions System work Total number of system works 16 System work for ladder 1 A work not occupied by M EXECUTOR can execute a motion program using a MSEE command from a ladder program 2 When the number of a system work occupied by M EXECUTOR is specified by a ladder program an alarm Error without a system work occurs Therefore when the number of program definitions is set to 16 in the M EXECUTOR detailed screen a motion program cannot be execut
508. ting to a HUB without using Up to 100 m Up to 100 m the auto negotiation function set the HUB side to half duplex mode MPE720 Station Specification in When Connecting to a When Connecting to a Repeater HUB Switching HUB Cable Length between Node HUB 100 m or less 100 m or less Cable Length between HUBs 5 m or less 100 m or less Number of HUBs between Nodes Up to two Unlimited E Connection Example 2 MP2300S P2308 Oo 100Base Tx cross cable Up to 100 m MPE720 Mounting and Wiring 3 21 3 22 3 2 Basic Module Connections Eea ee ee eee EE S 3 2 4 Ethernet Connector Details E Caution High frequency wave noise from other devices in the installation environment may cause error in communications using 100 BASE Tx or MECHATROLINK connections When constructing a system use MP2300S protective measures to avoid the influence of high frequency wave noise as follows 1 Wiring Wire Ethernet or MECHATROLINK cables so that they are well separated from other cable systems such as the main circuit or power lines 2 Communication system 100BASE TX e Communicate data to a remote device through TCP IP communication Ifnecessary increase the number of communication retries 3 Attach a ferrite core Attach
509. tion Write range LO M register Mwoo000 A Offset 1000 words y MW01000 Data address Z2r7 2000 words MW03000 Z a Data size 100 words y Data Remote device transmission Data address 2000 words Dat Data size a 100 words MW03100 Write range HI Fig G 12 Writing Example to Multiple Holding Registers gt Appendices A 101 G 3 Communication Buffer Channel A communication buffer channel is used for giving and receiving data between the MSG SND MSG RCV function and communication device This data buffer is composed of single or multiple channels and each channel is distin guished by a communication buffer channel number The communication buffer channel is associated with a connection by setting the input item Ch No communication buffer channel number of the MSG SND MSG RCV function and PARAMO02 connection number in Param param eter list A connection is configuration information for communication between local and remote stations and is set in the 218IF 218IFA Parameter Setting Window of the MPE720 module configuration definition Transmission Parameters Status r Transmission Parameters IP Address gt 192 168 1 po Sy 0 255 Subnet Mask 255 4 J255 4 J255 4 J0 0 255 Gateway IP Address J0 5 f0 0 J0 Sy 0 255 F Connection Parameter Module Name Definition Equipment name CONTROLLER
510. tion accept the default Turn Execute ON for the message transmit function in the MP2300 side to transmit messages Messages are transmitted by turning on the register DB000200 configured in Execute of the message transmit function for example starting communication with MP2300S Table 6 8 Input Output Definition for Message Transmit Function I O Definition No Name Setting Contents Example Executes a t issi Input Item 1 Execute DB000200 ee ye eae SEEE When Execute is ON the message transmission is carried out The sample ladder program is created to transmit a message every one second when five seconds have elapsed after the low speed scan or high speed scan startup To change the message transmission interval change the timer value sending message every 1 second after 5 seconds of scan started use SBO00003 for low sean SBOO0001 for high scan After 5 0s Scan Star tup Relay 5s0N SB000OZA be00020D TE NLA 5 ON treating end error waiting sending command DB00020D 06000211 D6000212 DBODOZDS D8000200 G O 71 If 1 0027 NLA fw Set 00100 fajCount DWw00030 o Ethernet Communications 6 35 6 2 Communication with Other MP Series 6 2 3 When MP2300S Acts as Master I O message communication function is used 6 2 3 When MP2300S Acts as Master I O message communication function is used This section explains how to communic
511. tion step 1 4 2 3 Test Operation 3 Jog Operation Click the Speed reference icon and set a speed reference value and check that the axis rotates normally while the Forward Button or Reverse Button is pressed Speed reference DE Speed reference x Test Run x pa Ezg 23 Fd Click set button to write the speed reference into OL8010 5 o a R ii j LE Speed referee BBB roca min i cireo1 Axis 01 SGDS 1 Sc Servo On Alarm n 2 E CE LE Ei Enable Disable Monitor 769 Speed reference 3000 1000pulse min The axis operates only while hold down forward button or reverse button The operation check of the first axis is complete Press the Axis Button to change to Axis 02 in the axis select screen and perform the steps 1 to 3 above 4 3 Programming step 2 4 3 1 Programming Procedure 4 3 Programming step 2 This section describes the procedure from creating to saving a motion program 4 3 1 Programming Procedure 1 Click the Motion Tag in the subwindow EE MPE720 er 6 MP2300S Start E ioj x Sl af File Edit View Online Compile Debug Window Help anx mI 436 Boe Tr ee eTe a A a Be ATE RUR Zeroo Abimfto gt a lt s 42 gt 8 BR NER KOR 2 Ethernet LP IP192 168 1 1 CPU RUN gt Ed Monitor Transfer Utility program Variable MP23005 aE Motion program E Sequence program 2 Ethernet LP IP192
512. tion of each motion commands e Detected by the MECHATROLINK communication control section when the Servo command responses are checked for each process Processing when Alarm Occurs The current command will be aborted Error and Cause The MECHATROLINK Servo command did not complete within the specified time 5 s Correction e Check for alarms in the SERVOPACK for MECHATROLINK communication The above error occurs when Module allocations of SERVOPACK for MECHATROLINK communication have been completed and the power is not being supplied to the SERVOPACK p Bit 13 Excessive ABS Encoder Rotations q Detection Timing Enabled only when an absolute encoder is used for a finite length axis and the electronic gear used Detected by the position management section when power is turned ON Processing when Alarm Occurs e The absolute position information read from the absolute encoder when the SEN signal turned ON is ignored Error and Cause e An operation error occurred when the absolute position information read from the absolute encoder is con verted from pulses to reference units at power ON Correction e Check the gear ratio number of encoder pulses for other motion fixed parameters Bit 1E Set Error Motor Type Detection Timing Detected when the communication with the SERVOPACK is established Processing when Alarm Occurs e None
513. tom of the back cover MANUAL NO SIEP C880732 00A Published in Japan November 2007 07 11 Date of E Date of original publication publication Date of Publication Rev WEB Section Revised Contents No Rev No November 2007 First edition Machine Controller MP2300S Basic Module USER S MANUAL IRUMA BUSINESS CENTER SOLUTION CENTER 480 Kamifujisawa Iruma Saitama 358 8555 Japan Phone 81 4 2962 5696 Fax 81 4 2962 6138 YASKAWA ELECTRIC AMERICA INC 2121 Norman Drive South Waukegan IL 60085 U S A Phone 1 847 887 7000 Fax 1 847 887 7370 YASKAWA ELETRICO DO BRASIL LTDA Avenida Fagundes Filho 620 Sao Paulo SP CEP 04304 000 Brazil Phone 55 11 3585 1100 Fax 55 11 5581 8795 YASKAWA ELECTRIC EUROPE GmbH Am Kronberger Hang 2 65824 Schwalbach Germany Phone 49 6196 569 300 Fax 49 6196 569 312 YASKAWA ELECTRIC UK LTD 1 Hunt Hill Orchardton Woods Cumbernauld G68 9LF United Kingdom Phone 44 1236 735000 Fax 44 1236 458182 YASKAWA ELECTRIC KOREA CORPORATION 7F Doore Bldg 24 Yeoido dong Youngdungpo Ku Seoul 150 877 Korea Phone 82 2 784 7844 Fax 82 2 784 8495 YASKAWA ELECTRIC SINGAPORE PTE LTD 151 Lorong Chuan 04 01 New Tech Park 556741 Singapore Phone 65 6282 3003 Fax 65 6289 3003 YASKAWA ELECTRIC SHANGHAI CO LTD No 18 Xizang Zhong Road Room 1702 1707 Harbour Ring Plaza Shanghai 200001 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 YASKAWA ELECTRIC
514. trol Protocol Connection oriented transport layer protocol UDP User Datagram Protocol Connectionless transport layer protocol IP Internet Protocol Protocol for establishing a communication link between computers ICMP Internet Control Message Protocol Error control protocol for IP protocol ARP Address Resolution Protocol Address resolving protocol Protocol for converting IP address into MAC address Specifications and Functions 2 13 2 14 2 2 Basic Module 2 2 4 218IFA Module Ethernet 3 Module Configuration Definition a Module Configuration Definition Screen Details Click MP2300S in the Controller area to display the details of the Basic Modules functions in the Module Details area The cell No 2 provides a detailed definition of 218IFA a Engineering Manager Module Configuration MP2300S Online Local SIET x TI Fie View Order Window 5 x 0 B amp W e ee g R E ke wm PT 2 CPUR 1 xm Controller Module Type m2300 UNDEFINED gt EA Te ee aor to stare Resister aa __Disable Input__ Input Disable Output o Hl Motion Start Register ees a _ Details L staus Runnings MP2300S Controller module with network servo control ethernet virtual axes program control function m Module Details MP2300S SLOT O0 i 3 4 5 Module Type CPU 2 181FA SVR v M EXECUTOR Controller Number __ 01 01
515. tting Scan Time Setting E3 Ladder E3 C language E3 Variable E3 Monitor writable Y PCI Reset Signal Disable y D Register Clear when Start Disable x Keep Latest Yalue Number of scan of keep latest value when abnormal input High speed Input 2 a Scan 1 255 Calender Setting Date and Time Dec 30 1899 00 00 Cancel Apply e Scan Time Setting Environment Setting ya xj High speed Scan Setting Value fi 0 0 ms 0 5ms 32 Oms Current Value fo ms Maximum Value o s ms Low speed Scan Setting Value 200 0 ms 2 0ms 300 0ms Current Value jo 0 ms Maximum Value fo 2 ms A i 1 The operation of the application which depends at the scan time changes _ when change the setting value 2 Please do not set setting value smaller than current value The watchdog efor occurs Cancel Apply 5 5 Precaution on Using MP2300S 5 5 2 Setting or Changing Module Configuration Definition Files e Module Configuration Definition il Module Configuration MP2300S Online Local d lol x PTE 2 CPU 1 r Controller Controller Number b o Circuit Number Eo YOStareRegister 1 0 End Register _Disableinpue A Disable Output Ao o Motion StareRegister Motion End Register Staus Running MP23005 Controller module with network servo control ethemet virtual axes program control fun
516. tting value igh speed scan setting value High speed scan setting value High speed scan setting value High speed scan setting value High speed scan Low speed scan 8 2 Troubleshooting 8 2 4 Troubleshooting System Errors 5 System Register Configuration and Error Status a System Status System operating status and error status is stored in registers SW00040 to SW00048 Checking of system status details are used to determine whether hardware or software is the cause of an error Name Register No Description Reserved by aot the system SW00039 SB000400 READY 9 Failure 1 Normal SB000401 RUN 0 Stopped 1 Running SB000402 ALARM 0 Normal 1 Alarm SB000403 ERROR 0 Normal 1 Error SB000404 Reserved by the system SB000405 Reserved by the system CPU Status SW00040 SB000406 FLASH 1 Flash operation SB000407 WEN 0 Write disabled 1 Write enabled SB000408 to Reserved by the system SB00040D SB00040E Operation Stop Request 0 RUN selection 1 STOP selection 0 STOP SB00040F Run Switch Status at Power ON 1 RUN 1 WDGE undefined command B000410 i i Serious aay See SW00050 for details SB000411 Reserved by the system SB000412 Reserved by the system SB000413 Exception Error CPU Error op Status SW00041 to Reserved by the system SB000417 SB000418 User operation error 1
517. tup Parameters SERVOPACK Monitor o Name o peaa ne Current Value Function Selection Basic Switch 0 0001 Function Selection Application Switch 1 0002 Function Selection Application Switch 2 Function Selection Application Switch 4 Function Selection Application Switch 6 Function Selection Application Switch 7 Function Selection Application Switch 8 peed Loop Gain peed Loop Integral Time Constant Position Loop Gain Moment of Inertia Ratio Mass ratio 10104 2nd Speed Loop Gain 01051 2nd Speed Loop Intearal Time Constant 20 00 ms 20 00 After copying EE S B Definition MP2300S Online Local lol x PT 2 CPUR 1 JRACK O1 Slot 00 cIR 01 s000 87FF M axis 1 z SERVOPACK SqDps 1 version 0020 zj Servo Type Rotary z Fixed Parameters Setup Parameters SERVOPACK Monitor No Name Input Data Current Value Function Selection Basic Switch O 0001 Function Selection Application Switch 1 0002 Function Selection Application Switch 2 Function Selection Application Switch 4 Function Selection Application Switch 6 Function Selection Application Switch 7 Function Selection Application Switch 8 10100 Speed Loop Gain 0101 Speed Loop Integral Time Constant 0102 Position Loop Gain 0103 Moment of Inertia Ratio Mass ratio 0104 2nd Speed Loop Gain AIAC IInd Tnaad laan Intanral Tima Canetant IA AM me PA AN A 10 6 Changing
518. tus m owon Control signal 2 E woon Overide 1 0 01 i a woo Cancel Program execution registry number Selects a program execution registration No Program number Sets a program number Execution type Sets the program execution type Specification Sets the method of designating a program Allocation register Sets a mapping register Status Control signal Displays the status and the signal sequence of the control register Allocation DISABLE Enables disables the allocation register Uncheck to enable the definition List Displays the M EXECUTOR list display screen Delete Deletes a definition 2 58 5 Execution Scheduling 2 2 Basic Module 2 2 7 M EXECUTOR Module Motion Program Executor Programs registered in M EXECUTOR are executed on the basis of their priorities execution type Programs registered in M EXECUTOR are executed just before the ladder process Sequence program startup Drawing A startup process drawing Per high speed scan interval Batch output Batch input Sequence program H scan Motion program The execution order is determined by the M EXECUTOR definition Drawing H high speed scan process drawing Per low speed scan interval Batch output Batch input Sequence program L scan The execution order is determined by the M EXECUTOR definition Drawing L low speed scan process drawing Specifications
519. ule Error 8A2 Fully closed Serial Encoder Sensor Error Incremental Value 8A3 Fully closed Serial Encoder Position Error Absolute Value B31 Current Detection Error 1 B32 Current Detection Error 2 B33 Current Detection Error 3 BoA MECHATROLINK Communication ASIC Error 1 B6B MECHATROLINK Communication ASIC Error 2 BFO System Alarm 0 BF1 System Alarm 1 BF2 System Alarm 2 BF3 System Alarm 3 BF4 System Alarm 4 C10 Servo Run away C80 Encoder Clear Error Multiturn Limit Setting Error C90 Encoder Communication Error C91 Encoder Communication Position Data Acceleration Error C92 Encoder Communication Timer Error CAO Encoder Parameter Error CBO Encoder Echoback Error CCo Multiturn Limit Mismatch CF1 Fully closed Serial Conversion Unit Communication Error Reception Failure Maintenance Inspection and Troubleshooting 8 43 8 2 Troubleshooting ee 8 2 7 Troubleshooting Motion Errors Name cl a Code Meaning CF2 Fully closed Serial Conversion Unit Communication Error Timer Stopped D00 Excessive Position Error D01 Excessive Position Error Alarm at Servo ON D02 Excessive Position Error Alarm for Speed Limit at Servo ON D10 Excessive Error between Motor Load and Position E00 COM Alarm 0 E01 COM Alarm 1 E02 COM Alarm 2 a o WWO02D E07 COM Alarm 7 cont d cont d E08 COM Alarm 8 E09 COM Alarm 9 E40 MECHATROLINK II Transmission Cycle Setting Error E50 MECHATROLINK II Sync Error E51 MECH
520. unt 0 User units Axis corresponds to ST station number in the Link Assignment Tab of the MECHATROLINK Transmission Definition Window 2 45 2 46 2 2 Basic Module 2 2 5 Built in SVB Module 3 Click the Fixed Parameters Setup Parameters or Monitor Tab to display the desired page If the setting in Servo Type is switched from Rotary to Linear or vice versa some of the displayed parameters will change Refer to 4 2 2 Motor Type and Related Alarms in the Machine Controller MP2000 series SVB SVB 01 Motion Module User s manual manual no SIEPC88070033 for details o xj PT 2 CPUR 1 JRACK O1 Slot 00 cIR 01 e000 87FF ME SERVOPACK SGDS 1 Nersion 0020 R Setup Parameters SERVOPACK Monitor Mo Name O Input Data E on Selection of operation modes Normal operation mode Function selection flag 1 0000 0000 0000 0000 0000 H Function selection flag 2 0000 0000 0000 0000 0000 H Reference unit selection pulse 7 Fig 2 1 Fixed Parameters Tab injxi PT 2 CPUR 1 RACK 01 Slot 00 CIR 01 7 vr Loo fave i gt SERVOPACK saDs 1 Version 0020 z Servo Type Fota Fixed Parameters Setup Paramete SERVOPACK Monitor Name REG Input Data Unit 0 Run command setting OWSO000 0000 0000 0000 O00070000 H 1_ Mode setting 1 OWBO01 0000 0000 0000 0000 0000 H 2_ Mode setting 2 OWBO02 0000 0000 0
521. upply as PS Module Voltage 24 VDC terminals Pee ONDE necessary Check Looseness and Attempt to move the Module The Module iust be secured Retighten the screws i Excess Play properly 3 Installation Conditions Dust and Other For EE a o ae oe a eign Matter isually check rom dust and other foreign ean matter Check the Terminal Check by retightening the Screws for Looseness screws The screws must be tight Retighten Connection Gap between Crimp There must be an appropriate 4 Conditions Terminals Visually cheek gap between the terminals Corect Looseness of i Retighten the connector set Connectors Visually check The screws must be tight A Check the BAT indicator on E aor eee 5 Battery the front panel of the Basic The BAT indicator must be If the BAT indicator is lit replace the battery Maintenance Inspection and Troubleshooting 8 3 8 4 8 1 Inspection Items 8 1 3 Replacing the Basic Module Battery 8 1 3 Replacing the Basic Module Battery The Basic Module has one replaceable built in battery This battery is used to back up data to prevent the data stored in the memory from being lost when power is interrupted e g when the power supply to the Basic Module is turned OFF The built in battery can retain the contents of the memory until the total time of power interruptions reaches one year The warranty period of the battery is five years from the date of purchase These values however
522. ut of range 02 Time error while monitoring to receive MEMOBUS response When RESULT for MEMOBUS protocol process result 4 03 Error in setting retransmit count FMT_NG parameter format 04 Error in setting cyclic area error 05 CPU number error 06 Data address error 07 Data size error 08 Function code error for MEMOBUS protocol Others XX Connection number 4 Connection Number PARAMO2 Refer to G1 4 4 Connection Number PARAMO2 on page A 45 5 Data Address PARAM05 Specify the start address of the data The address must be input in a decimal or hexadecimal number Example When the start address is MW01000 specify 1000 decimal or 3E8H hexadecimal The following table provides the valid ranges of the data addresses Table G 17 Valid Range of Data Addresses non procedure Non procedural Target Data eee aes Valid Range of Data Addresses Type Type Ethernet 218IF Ethernet 218IFA Non procedure 1 W Transmits data in words 0 to 65534 0 to FFFEH Non procedure 2 B Transmits data in bytes 0 to 65534 0 to FFFEH 41 The unit for address setting is word address 6 Data Size PARAMO6 Set the data size number of bits or words for the write request Be sure that the last data address determined based on the offset data address and data size does not go beyond the scope of the data addresses The valid range of data sizes may dif
523. ut of this available address range will cause an error Specify the address range PARAM12 PARAM13 as a word address gt Appendices A 91 A 92 Note 1 In MP9O0 MP2000 series the data storage area for the write request from the transmission side is the M register 2 The write range parameter enables you to specify the range of the M register which permits writing messages The following table indicates the write range parameters Table G 31 Write Range Parameter List Parameter Contents Description PARAM12 Write range LO Start address of the write range PARAM13 Write range HI Last address of the write range Specify the write range so that the expression below is met 0 lt Write range LO lt Write range HI lt Maximum address of M register This write range is effective for the following function codes 05H changes single coil state 06H writes to single holding register OBH writes to holding register write OFH changes multiple coil states 10H writes to multiple holding registers 16H mask writes to holding register 17H reads writes multiple holding registers Example When setting the address of the M register which permits writing to 1000 to 1999 PARAM12 1000 PARAM12 1000 PARAM13 1999 The reception side will return an error against a write request to an address other than MW01000 to MW01999 and will not write it 12 Reserved by System 1 PARAM14 Used by system th
524. word device write to word device etc registered in the function codes are made available by specifying the code The following table lists function codes used with the MELSEC protocol Table G 6 Function Code List Function Code MELSEC ACPU Target Data Function Common Command Type 01H 02H 00H B Reads bit device in units 03H 04H O9H OAH 01H W Reads word device in units O5H OFH 02H B Writes to bit device in units 06H OBH 10H 03H W Writes to word device in units 08H 16H Loopback test OEH 05H B Specifies a device number for each word device at random and sets resets each device 31H 60H W Writes to the fixed buffer in words 32H 61H W Reads from the random access buffer in words 33H 62H W Writes to the random access buffer in words Note 1 B Bit type W Integer type 2 AnCPU dedicated commands are not supported When accessing AnCPU also use the ACPU com mon commands You cannot access the AnCPU extended file register A 52 7 Data Address PARAMOS Specify the start address of the data The address must be input in decimal or hexadecimal numbers Example When the start address is MW01000 specify 1000 decimal or 3E8H hexadecimal The valid range of usable function codes and data addresses may differ depending on the device type and device range of the MELSEC side The following table gives the valid ranges of data addresses when using MELSEC as a protocol Table
525. ximum infi 8 Moving distance designation exceeded POS os y P w 81h POSMAX in the infinite A ag tee nite length axis counter MAX in the infinite length axis length axis e Review the motion program Axis moving distance Axis moving distance designation exceeded d 82h Review the motion program exceeded LONG_MAX the valid range prog i Check whether another program gave a Duplicated motion com Multiple commands ware executed against a prog 8 i 84h i command to the same axis at the same time mand single axis _ If so review the program e Remove the alarm cause from the destina tion axis A motion command response different from If the servo is not turned ON turn ON the Motion command 85h that instructed by the motion command is servo response error reported from a motion module e Check whether another program gave a command to the same axis at the same time If so review the program VEL setting data out of An instruction in the VEL command exceeded i 87h 8 Review the VEL command range the valid range INP setting data outof An instruction in the INP d ded 88h setting data out o n instruction in the command exceeded p view the INP command range the valid range ACC SCC DCC setting An instruction in the ACC SCC DCC com 89h 8 Review the ACC SCC DCC command data out of range mand exceeded the valid range No time specified in the ear 8Ah p T designation in the MVT command w
526. y differs depending on the BitD setting system work number setting of the motion program control signal as follows Em The motion program control signal BitD System Work Number Setting ON The execution information is reported to Program Information Using Work n register SW03264 SW04191 For example when System Work Number 1 the motion program execution information can be monitored in SW03264 SW03321 Program Information Using Work 1 m The motion program control signal BitD System Work Number Setting OFF The used system work is automatically decided by system Thus to check which work is used refer to Running Program Num ber SW03200 to SW03215 For example when you want to monitor the motion program MPM001 and SW03202 001 as used the work number 3 the execution information for the motion program MPM001 can be monitored in Program Information Using Work 3 SW03380 to SW03437 For more information on the register area of the motion program execution information refer to the subsequent pages a Outline of Motion Control Systems 5 25 5 2 User Programs 5 2 2 Motion Programs E Register Areas for Motion Program Execution Information Motion program execution information Executing program number W03200 Executing program number SW03200 Program number used by work 1 No of main program currently W03201 Program number used by work 2 execut
527. ype Read 10005 192 168 001 002 10005 TCP v Extended MEMOBUS BIN Write 10006 192 168 001 002 10006 TCP Extended MEMOBUS BIN Head register number data size Head register number data size J input disable iwoooo 100 Hold register MW v 0200 fi 00 fi MP2300S W ori all Node equipment output disable Jowo0e4 100 W Hold reaister MW Y 0300 jo NA The I O message communication is now set up when MP2300S acts as a master E Caution When any transmission or connection parameter is changed the change will be not reflected after FLASH has been saved and the power supply is turned ON again 6 2 Communication with Other MP Series 6 2 3 When MP2300S Acts as Master I O message communication function is used 2 How to Set up the Remote Device MP2300 to Be Connected When the setting of transmission parameters IP address subnet mask is already completed start from step 3 1 Double click the 218IF Tab in the Module Details of the module configuration definition 5 PT 3 CPUR 1 arrr r Controller Module Type MP2300 2181F 01 UNDEFINED 7 UNDEFINED _7 Controtler Number f Ee E E CircvieNumber A Details fai SIF 01 The module has Ethernet and RS232 functions m Module Details 2181F 01 SLOT HO1 Module Type 2 Controller Number 1 0 Start Register 2 Set transmission parameters Transmission Parameters Status m CP 2

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