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Machine Controller MP2200 USER'S MANUAL

1. Ol O e ly T a 0 O e ly T Two SERVOPACKs 2 Connector and Cable Specifications a Servo Interface Connectors CN1 and CN2 These connectors connect the SVA 01 Module to two SERVOPACKs S They are connected using the following standard cable e JEPMC W2040 O00 For SGDH SGDM and SGDS SERVOPACKs 2 Note The customer must provide cables for the SGDA and SGDB SERVOPACKs 5 17 5 Mounting and Wiring 5 2 3 SVA 01 Module Connections b 24 V Input Connector CN3 This connector connect the SVA 01 Module to 24 VDC as a Servo I O power supply A screw terminal connector is used BL3 5 2F AU manufactured by Weidmuller oof Ol hh VOC inp J c Servo Connector Specifications The following table shows the connector specifications Connector Model Cable Model Num T liga es Name Pins Module side Cable side bers e Connector body 10136 3000VE Servo interface Shell JEPMC W2040 00 connector 1 a6 iaaa a E For the SGDH and connector AiScrew lockingAj SGDM SGDS 2 10336 52F0 008 AiOne touch locking Aj The CN3 connector is included with the SVA 24 V input con CN3 2 BL3 5 2F AU Weidmuller 01 Module but a cable nector is not included The user must connect the cable d Connection Procedure for 24 V Input Cable Use a 0 2 mm to 0 51 mm
2. MP2200 a l a 13 igl lo o lol o lo SERVOPACK 1I Yn Yn Yn YM Si eee mae ee ates ee ae ee a Characters are axis names b Operation with Multiple Groups MP2200 al lelia a ilg li lt SERVOPACK n DO i O no n Motor Woe sestes Poss SssSecnee Sas Characters are axis names 6 12 6 3 User Program 2 Motion Program Execution Processing Method A motion program must be called from DWGH using the MSEE instruction Motion programs can be called from any DWG H i e from parent child and grandchild DWGH A motion program execution example is shown below System program starts when the execution condition is established Parent drawing Child drawing Grandchild drawing Motion main programs DWG H01 DWG H01 01 MPMO01 gt SEE H01 01 gt VEL a1 5000 b1 a FMX T10000000 MSEE IAC T25 MPMO01 IDO T30 MOV a1 300 b1 MVS a1 200 b1 DEND END MPM002 MSEE MPM002 lt 4 DEND END MPMO003 Subprogram ai MPS101 MSEE gt MPS101 lt END RET In each high speed scanning cycle the ladder instructions for DWG H are executed in the following hierarchical order Parent drawing child drawing grandchild draw
3. 3 36 3 2 2 Operation 3 37 3 2 3 Program Details 3 40 3 3 Sample Program 2 Positioning Control 3 47 3 3 1 Description 3 47 3 3 2 Operation 3 48 3 3 3 Program Details 3 50 3 4 Sample Program 3 Phase Control with an Electronic Shaft 3 52 3 4 1 Description 3 52 xii 3 4 2 Operation 3 53 3 4 3 Program Details nnn 3 55 3 5 Sample Program 4 Phase Control with an Electronic Cam 3 57 3 5 1 Description 3 57 3 5 2 Operation 3 58 3 5 3 Program Details eee eee eee eee 3 60 4 Module Specifications 4 1 General Specifications 4 3 4 1 1 Hardware Specifications 4 3 4 1 2 Function List
4. 2 2 2 1 2 System Configuration Precautions 2 4 2 2 List of Modules 2 5 2 2 1 MP2200 Modules 2 5 2 3 Devices Connectable to MECHATROLINK 2 6 2 4 Cables and Accessories 2 7 2 4 1 Cables 2 7 2 4 2 Accessories 2 7 2 5 Software 2 8 2 5 1 Software for Programming Devices 2 8 3 System Startup 3 1 Outline 3 2 3 1 1 System Startup Flowchart 3 2 3 1 2 System Configuration 3 3 3 1 3 Device Preparation 3 4 3 1 4 Connecting and Wiring the System 3 6 3 1 5 Initializing the System 3 8 3 1 6 Starting the MPE720 3 11 3 2 Sample Program 1 Manual Operation 3 36 3 2 1 Description
5. 6 42 6 5 7 218IF 01 Modules 6 43 6 5 8 217IF 01 Modules 6 44 6 5 9 260IF 01 Modules 6 46 6 5 10 261IF 01 Modules 6 47 6 6 Setting and Changing User defined Files or Data 6 48 6 6 1 Saving User defined Files or Data 6 48 6 6 2 Setting and Changing the Scan Times 6 48 6 6 3 Setting and Changing the Module Configuration Definition 6 49 6 1 6 2 6 Basic System Operation 6 1 1 Online Operating Mode 6 1 Operating Mode This section explains the online operating mode and the offline stop mode both of which indicate the MP2200 operating status Online Operating Mode e RDY and RUN indicators are lit e The user program and I O operations are executed Offline Stop Mode e RDY indicator is lit RUN is not lit e The user program is stopped Operating Mode MP2200 Operating Modes 6 1 1 Online Operating Mode When the power for the MP2200 is turned ON the RDY and RUN indicators will light the ERR and ALM indi cators will not light and the MP2200 will enter the online operating mode This means that the user program and T O operations are being executed in the MP
6. 4 56 4 14 1 Outline of Functions 4 56 4 14 2 LED Indicators and Switch Settings 4 56 4 14 3 Hardware Specifications 4 56 4 15 External Appearance 4 57 4 15 1 Basic Unit 4 57 4 15 2 Mounting Optional Module Connectors 4 58 5 Mounting and Wiring 5 1 Handling the MP2200 5 2 5 1 1 Mounting the MP2200 5 2 5 1 2 Replacing and Adding Optional Modules 5 5 5 2 Module Connections 5 8 5 2 1 Connecting Power Supply 5 8 5 2 2 SVB 01 Module Connections 5 11 5 2 3 SVA 01 Module Connections 5 17 5 2 4 LIO Module Connections 5 25 5 2 5 LIO 04 Module Connections 5 37 5 2 6 218IF 01 Module Connections 5 47 5 2 7 217 F 01 Module Connections
7. 5 51 5 2 8 260IF 01 Module Connections 5 55 5 2 9 261IF 01 Module Connections 5 58 5 2 10 EXIOIF Module Connections 5 61 xiii xiv 6 Basic System Operation 6 1 Operating Mode 6 2 6 1 1 Online Operating Mode 6 2 6 1 2 Offline Stop Mode 6 2 6 2 Startup Sequence and Basic Operation 6 3 6 2 1 DIP Switch Settings 6 3 6 2 2 Indicator Patterns 6 4 6 2 3 Startup Sequence 6 5 6 3 User Program 6 7 6 3 1 Drawings DWGs 6 7 6 3 2 Execution Control of Drawings 6 8 6 3 3 Motion Programs 6 11 6 3 4 Functions 6 19 6 4 Registers 6 20 6 4 1 Data Types
8. 3 48 3 3 3 Program Details 3 50 3 4 Sample Program 3 Phase Control with an Electronic Shaft 3 52 3 4 1 Description 3 52 3 4 2 Operation 3 53 3 4 3 Program Details 3 55 3 5 Sample Program 4 Phase Control with an Electronic Cam 3 57 3 5 1 Description 3 57 3 5 2 Operation 3 58 3 5 3 Program Details 3 60 3 1 3 2 3 System Startup 3 1 1 System Startup Flowchart 3 1 Outline This section explains the system startup procedure when the sample program on the MPE720 installation disk is used Details on the machine system design have been omitted here 3 1 1 System Startup Flowchart The system startup procedure is outlined below Refer to the references given in the right hand column for information on each step 1 Prepare the equipment needed for testing 3 1 3 Device Preparation V 2 Mount the 218IF 01 to the MP2200 Chapter 5 Mounting and Wiring V Connect the MPE720 and wire the Servomotors and SERVOPACKs 3 3 1 4 Connecting and Wiring the System V 4 Initialize the SERVOPACKs
9. 4 19 4 5 4 Function Lists 4 20 4 6 LIO 01 Module 4 22 4 6 1 Outline of Functions 4 22 4 6 2 LED Indicators and Switch Settings 4 22 4 6 3 Hardware Specifications 4 24 4 7 LIO 02 Module 4 25 4 7 1 Outline of Functions 4 25 4 7 2 LED Indicators and Switch Settings 4 25 4 7 3 Hardware Specifications 4 27 4 8 LIO 01 and LIO 02 Module Counter Functions 4 28 4 8 1 Outline of Functions 4 28 4 8 2 Counter Function Details 4 30 4 8 3 Electronic Gear Function 4 33 4 8 4 Counter Parameters 4 37 A ONG 04 Nodier este tise le ee ete ee hot eo old oe 4 40 4 9 1 Outline of Functions 4 40 4 9 2 LED Indicators and Switch Settings 4 40 4 9 3 Ha
10. 6 2 online self diagnosis 6 6 operation error drawings 6 7 operation start 6 6 operation stop 6 6 Optional Modules installing 5 7 mounting connectors 4 58 removing 5 5 replacing and adding 5 5 order folders creating 3 18 output circuit LIO 01 Module 5 28 LIO 02 Module 5 34 LIO 04 Module 5 44 output registers 6 23 P parent drawings 6 7 password 3 22 PI latch function 4 32 pin arrangement DeviceNet connector 5 56 Ethernet connector 5 48 LIO 01 Module 5 26 LIO 02 Module 5 32 LIO 04 Module 5 39 PORT connector 5 48 PROFIBUS connector 5 59 RS 232C connector 5 52 5 56 5 59 RS 422 485 connector
11. 4 30 4 8 3 Electronic Gear Function 4 33 4 8 4 Counter Parameters 4 37 4 9 LIO 04 Module 4 40 4 9 1 Outline of Functions 4 40 4 9 2 LED Indicators and Switch Settings 4 40 4 9 3 Hardware Specifications 4 41 4 10 218IF 01 Module 4 42 4 10 1 Outline of Functions 4 42 4 10 2 LED Indicators and Switch Settings 4 42 4 10 3 Hardware Specifications 4 44 4 11 217 IF 01 Module 4 45 4 11 1 Outline of Functions 4 45 4 11 2 LED Indicators and Switch Settings 4 45 4 11 3 Hardware Specifications 4 47 4 12 260IF 01 Module 4 48 4 12 1 Outline of Functions 4 48 4 12 2 LED Indicators and Switch Settings 4 48 4 12 3 Hardware Specifications 4 50 4 13 261IF 01 Module
12. 6 30 serial interfaces 4 45 serial port settings 3 13 servo connector pin arrangement 5 19 servo interface connectors 5 17 SERVOPACK connection cables 5 21 initialization 3 8 software for programming devices 2 8 standard system functions 6 19 startup self diagnosis 6 6 startup sequence 6 5 subscripts i andj 6 27 subslot No 8 17 SVA 01 Module 4 18 connections 5 17 connectors 5 17 motion control functions 4 20 SERVOPACK connection cables 5 20 standard cables 5 20 system connection example 5 17 SVB 01 connectors 5 11 SVB 01 Module 4 13 connections 5 11 error status 8 17 system configuration 5 13 switches 217I
13. 4 4 4 2 Base Unit 4 5 4 2 1 Outline of Functions 4 5 4 2 2 LED Indicators 4 5 4 2 3 Hardware Specifications 4 6 4 3 CPU 01 Module 4 7 4 3 1 Outline of Functions 4 7 4 3 2 LED Indicators and Switch Settings 4 7 4 3 3 Hardware Specifications 4 9 4 3 4 Functions and Specifications 4 10 4 4 SVB 01 Module 4 13 4 4 1 Outline of Functions 4 13 4 4 2 LED Indicators and Switch Settings 4 13 4 4 3 Hardware Specifications 4 15 4 4 4 Function Lists 4 16 4 5 SVA 01 Module 4 18 4 5 1 Outline of Functions 4 18 4 5 2 LED Indicators and Switch Settings 4 18 4 5 3 Hardware Specifications
14. 6 12 indirect designation 6 11 interpolation override 6 15 main programs 6 11 monitoring execution information 6 15 Index 2 status 6 15 subprograms 6 11 system work numbers 6 15 MP2200 accessories FT basic system configuration 2 2 cables 2 7 features S 53 se ine THEA Ane tees a a Dea S 1 2 list of Modules 2 5 mounting 5 2 system configuration precautions 2 4 system startup 3 3 MPE O oas Ae in Aa Mae te Pate EEA ESE 2 8 startup 3 12 startup procedure 3 11 multi drop connections 5 57 multiple group operation 6 12 O offline self diagnostic test 4 43 offline stop mode 6 2 one group operation 6 12 online logon 3 19 online operating mode
15. 8 21 LIO 04 Module 4 40 connection examples 5 45 connector pin arrangement 5 39 connectors 5 37 external I O cables 5 38 logging off 3 35 logging on online 3 19 MBU O1 Unit connectors 5 8 MBU 02 Unit connectors 5 10 MECHATROLINK list of compatible Modules 2 6 MECHATROLINK connector 5 11 MECHATROLINK terminator 5 16 MECHATROLINK compatible SERVOPACKs 2 6 MECHATROLINK Cable 5 12 Module appearance 1 4 Module configuration definitions 6 48 setting changing 6 49 motion control functions list 4 16 motion fixed parameters setting 3 29 motion programs 3 47 6 11 control signals 6 14 direct designation 6 11 execution processing method 6 13 group operation
16. 4 13 4 4 3 Hardware Specifications 4 15 4 4 4 Function Lists 4 16 4 5 SVA 01 Module 4 18 4 5 1 Outline of Functions 4 18 4 5 2 LED Indicators and Switch Settings 4 18 4 5 3 Hardware Specifications 4 19 4 5 4 Function Lists 4 20 4 6 LIO 01 Module 4 22 4 6 1 Outline of Functions 4 22 4 6 2 LED Indicators and Switch Settings 4 22 4 6 3 Hardware Specifications 4 24 4 7 LIO 02 Module 4 25 4 7 1 Outline of Functions 4 25 4 7 2 LED Indicators and Switch Settings 4 25 4 7 3 Hardware Specifications 4 27 4 1 4 2 4 Module Specifications 4 8 LIO 01 and LIO 02 Module Counter Functions 4 28 4 8 1 Outline of Functions 4 28 4 8 2 Counter Function Details
17. 5 27 Index LIO 02 Module 5 33 LIO 04 Module 5 43 input connector 24 V 5 18 input registers 6 23 interrupt status 8 23 L L drawings 3 63 6 7 L06 drawing 3 63 ladder program error processing flow 8 7 LED 217IF 01 Module 4 45 218IF 01 Module 4 43 260IF 01 Module 4 48 26IF 01 Module 4 52 Base Unit 4 5 CPU 01 Module 4 7 LIO 01 Module 4 23 LIO 02 Module 4 26 LIO 04 Module 4 40 SVA 01 Module 4 18 SVB 01 Module 4 13 LIO 01 and LIO 02 Modules counter functions 4 28 LIO 01 Module 4 22 connectors 5 25 5 31 error status 8 20 LIO 02 Module 4 25 error status
18. 4 52 4 13 1 Outline of Functions 4 52 4 13 2 LED Indicators and Switch Settings 4 52 4 13 3 Hardware Specifications 4 54 4 14 EXIOIF Module 4 56 4 14 1 Outline of Functions 4 56 4 14 2 LED Indicators and Switch Settings 4 56 4 14 3 Hardware Specifications 4 56 4 15 External Appearance 4 57 4 15 1 Basic Unit 4 57 4 15 2 Mounting Optional Module Connectors 4 58 4 1 General Specifications 4 1 General Specifications 4 1 1 Hardware Specifications The following table shows the hardware specifications of the MP2200 SpecTications Ambient Operating 0 C to 55 C Temperature Ambient Storage 25 C to 85 C Temperature Ambient Environmental Operating 30 to 95 with no condensation Conditions Humidity seni storage 5 to 95 with no condensation Humidity Pollution Level Pollution level 1 conforming to JIS B 3501 There must be no combustible or corrosive gas Operating 2 000 m above sea level or lower Conforms to JIS B 3502 Vibration amplitude acceleration Vibration 10 lt f lt 57Hz S
19. 5 52 PLC functions and specifications 4 4 power supply cable 100 VAC 5 9 24 VDC 5 10 power supply connections 5 8 5 10 PROFIBUS communications specifications 4 55 PROFIBUS ID 4 55 PROFIBUS interface 4 52 pulse count function 4 30 pulse counting mode 4 29 Index pulse input circuit LIO 01 Module 5 29 LIO 02 Module 5 35 R register designation methods 6 26 register number designation 6 26 symbol designation 6 26 registers 6 20 address 6 20 bit 6 20 double length integer 6 20 integer 6 20 range 6 25 real number 6 20 regular inspections 7 3 RS 232C communication specifications 4 44 4 50 4 54 RS 422 485 communication specifications
20. 4G aap MAU a see 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 components on the Module Put the removed Module into the bag that it was supplied with and store it in this bag 5 1 Handling the MP2200 3 Installing Optional Modules 1 Insert the Optional Module Hold the top and bottom of the Module to be installed Guide rails are visible at the top and bottom of the Option Slot as shown in the above diagram Line up the Module with the guide rail and insert the Module straight The FG bar on the inside bottom of the Unit Case may be damaged if the Module is not inserted straight 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 Module 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 Optional Module panel Place the hole on the bottom of the panel of the Optional Module onto the hook on the bottom of the MP2200 Next hook the hole at the top of the panel of the Optional Module onto the hook at the top of the MP2200 5 7 5 Mounting and Wiring 5 2 1 Connecting Power Supply 5 2 Module Connections 5 2 1 Connecting Power Supply
21. 5 51 5 2 8 260IF 01 Module Connections 5 55 5 2 9 261IF 01 Module Connections 5 58 5 2 10 EXIOIF Module Connections 5 61 5 1 5 2 5 Mounting and Wiring 5 1 1 Mounting the MP2200 5 1 Handling the MP2200 5 1 1 Mounting the MP2200 There are two methods for mounting the MP2200 e Screw mounting e Using DIN rail 1 Screw Mounting Mount the MP2200 using the following method Place the MP2200 against the mounting base and tighten the four mounting screws an aa mP2200 meu o1 POWER O Optional Module i Optional Module Ea zs eee eee lt _ _ gt 7 Mounting screws M4 Phillips head screws Use a screwdriver with a 10 cm or longer shaft Note Mount the MP2200 vertically on a wall as shown in the above diagram 2 Using DIN Rail a Before Mounting to DIN Rail There are two types of DIN rail with different gaps from the mounting base as shown in the following dia gram Gap from the mounting base 7 0 mm 10 0 mm gt Mounting base eae L_ DIN rail Pi 5 1 Handling the MP2200 When mounting the MP2200 to a DIN rail with a 10 mm gap insert spacers behind the MP2200 to protect against vibration
22. Parent drawing Child drawing Grandchild drawing DWG A DWG A01 DWG A01 01 SEE A01 qh SEE A01 01 gt Functions FUNC 001 FUNC 001 gt ____ DEND DWG A01 02 SEE A01 02 a n DEND FUNC 001 DEND L DEND lt DWG A02 SEE AE lt System starts ao Ll Z automatically DWG A00 Operation _ gt error Z N q DEND DEND DEND Note 1 A parent drawing is automatically called by the system The user can execute any child or grand child drawing by programming an instruction that calls the drawing the SEE instruction in a par ent or child drawing 2 Functions can be called from any drawing A function can also be called from a function 3 Ifan operation error occurs the operation error drawing corresponding to the drawing will be called 6 3 User Program 6 3 3 Motion Programs A motion program is a textual program that utilizes motion language A maximum of 256 motion programs can be created separate from the ladder programs Two types of motion program are provided Classification Designation Type Number of Programs MPMOOO 1 to 256 Can be called from DWGH A total of up to 256 main pro rams and subprograms can be Subprograms MPSOOEO 1 to 256 Can be called from the main program ee rae IMPORTANT Each MPMOOL O and MPSOUOO program number must be unique With the MP2200 up to 16 motion programs can be executed at the same time If 17 or more motion programs are executed an
23. cont d item o oO MP2200 MP2300 MP920 Data Trace 128 kW 32 kW x 4 Gr Same as MP2200 Same as MP2200 MF 2290 deen have battery backup Failure Trace None Same as MP2200 Same as MP2200 Eawe Trece Ladder Noe a 120 Same as MP2200 Same as MP2200 Approx 70 Same as MP2200 Same as MP2200 ooo Language C language ae considered for develop Same as MP2200 Not supported Motion API Approx 150 Same as MP2200 Not supported Provided by User Functions Created by 500 Same as MP2200 Same as MP2200 User System Supported Same as MP2200 Same as MP2200 Word Integer Supported Same as MP2200 Same as MP2200 Long Double Supported Same as MP2200 Same as MP2200 length Integer Real Number Supported Same as MP2200 Same as MP2200 i Supported Same as MP2200 Same as MP2200 i Register No s ipported Same as MP2200 Same as MP2200 Designation Symbol SameasMP2200 SameasMP2200 MP2200 Same as P2200 Same as P2200 MP2200 Designation Subscript CP Ladders Supported Same as MP2200 Same as MP2200 a M M Registers 64 64KW SameasMP2200 SameasMP2200 MP2200 32 32kW O S Registers 4096 W Same as MP2200 1024 W w Memory Backup Flash memory M registers SRAM entire SRAM Program Data backed up by battery partes MP2200 backed up by battery 8 DI 1 also used for inter On board I O CPU rupts Not supported 4DO Module 36 Optional Module Data Type No of Prog
24. O O y MIN MIN 80000000H 80000000H Aor B pulse UP Stop UP DOWI UP Stop DOWN Stop DOWN Current count X n1 x n2 y n3 Y n4 x n5 x n6 n7 value Ts Scan setting 1 Current count value Hardware counter LOOO00 4 2 Count preset Count preset data OLOOOO 2 Note NOOO Counter fixed parameter No 1 Leading Register Number 4 8 LIO 01 and LIO 02 Module Counter Functions 2 Coincidence Output and Coincidence Interrupt Functions The Coincidence Output and Coincidence Interrupt Functions output an external output signal coincidence detection signal and output an interrupt signal to the MP2200 when the current counter value and a preset counter setting parameter Coincidence Detection Setting OLOOO0 4 match The Coincidence Output Function is enabled when 1 is set to the counter fixed parameter No 9 Coincidence Detection Function Selection The Coincidence Interrupt Function is enabled when 1 is set to the counter fixed parameter No 10 Coincidence Interrupt Function Selection A COINDATA Counter counting register Coincidence point detection Coincidence detection request Coincidence output signal Interrupt request signal Interrupt reception 1 Coincidence point detection value Coincidence detection setting OLOOOO 4 2 Coincidence detection reque
25. Output 10 20 j utpu D l Output 11 45 K utpu Q 4 46 A 22 24 VDC j 23 Output 129 4 48 Output lS iy L 24 Output 14T l 49 Output 15T 50 k 5 45 5 46 5 Mounting and Wiring 5 2 5 LIO 04 Module Connections b CN2 Connector Connections JAPMC 102303 Connector CN2 Pin No Input 16 p S 2 Input 17 Input 22 Input 23 30 24 VDC Y H wommon g 6 Photocoupler Input 24 7 nN 5V o y gt gt k Input 25 R 10 35 Input 30 X Input 31 gt Photocoupler Internal circuits Fuse 37 _ 0 1 4 13 Output 16D Output 17 38 Output 1 oan 4 Output 1 2D 4 39 15 lt 16 lt 41 Output 20 Q Output 21 17 Output 22 gt 42 D o 43 Output 23 Q l Fuse blown detection circuit lt 44 Output 25 eS 20 Output 24 Qutpu Output 26 45 Output 27 46 GO 22 23 lt lt Output 28 48 24 Output 29 49 Output 30 Q Output 31 OD ao 5 2 Module Connections 5 2 6 218IF 01 Module Connections 1 Connectors The following diagram
26. External input signals Big J DI_06 A20 DI_05 9 Dios B20 LH TH j H 24 VDC g a 7 a o J Digital outputs 3h Ar Xi AOODOKOOODOH OOO External output signals NN N NNN N N N NN NN DN SQN AQ gt 8 OOOO 4 Fuse DO_COM a AS 4 v B5 J DO_COM Fuse blown detection circuit Note Connect a fuse suitable for the load specifications in the output signal circuit in series with the load If an external fuse is not connected load shorts or overloads could result in fire destruction of the load device or damage to the output element 5 30 5 2 Module Connections 2 LIO 02 Module a Connectors The following diagram shows the LIO 02 Module connector Connects external I O signals and pulse input signals External input 16 points External output 16 points Pulse input 1 channel b Connector Specifications The following table shows the connector specifications Connector No of Connector Model Name Pins Module Side Cable Side 1 0 Connector o 48 FeN36spogg ay FCN 360C048 E cover Fujitsu compo FCN 364J048 AU nent c Cables 9 Cable for LIO Modules d External Appearance of Cables for LIO Module JEPMC W2061 00 o 5 31 5 32 5 Mounting and Wiring 5
27. FG b T branch Multi branch and Drop line Connections MP2200 m 260IF 01 J MP2200 meu o1 CPU 01 2181F 01 foo rower Optional Module Optional Module 1 0 130 Q terminator Power supply tap for communications with reverse current prevention for multiple power supplies Communication power supply Trunk line cable Drop line cable External power supply line for I O ee Internal power supply line for I O mms Communication power supply line 130 Q terminator 130 Q terminator Power supply tap for communica tions with reverse current preven tion for multiple power supplies Communication power supply CE at E ey ee Ce ee PS External power supply for I O PS Internal power supply for I O 5 57 5 Mounting and Wiring 5 2 9 261IF 01 Module Connections Slave Mode The following diagram shows the system configuration for slave mode Internal power supply for I O pee pS ae oe Slave Mode 260IF 01 260IF 01 MP2200 MP2200 meu o1 amp RO MP2300 External power i i i i i pg SePPIy forlo i i i Optional Module Optional Module
28. HE D Reference unit Reference unit 1 rotation E Reference unit 5 Set the Encoder Gear Ratio and the Machine Gear Ratio in the counter fixed parameters No 20 and No 21 e No 18 setting range 1 to 231 1 1 1 reference unit lt q EXAMPLE gt Setting Examples Load moving amount per load axis rotation 12 mm e Smallest reference unit 0 001 mm reference unit mm to 3 decimal places Counter fixed parameter No 18 12 mm 0 001 mm 12000 e When the encoder axis has rotated m times and the mechanical configuration allows the load axis to rotate n times set the following values Counter fixed parameter No 20 m rotations Counter fixed parameter No 21 n rotations Setting range 1 to 65 535 rotations e For the configuration shown in the diagram 4 rotations 7 rotations Encoder axis Load axis n rotations m rotations 9 rotations 3 rotations Gear ratio n m 3 7 x 4 9 4 21 Therefore set the following values Counter fixed parameter No 20 21 Counter fixed parameter No 21 4 4 34 4 8 LIO 01 and LIO 02 Module Counter Functions 3 Setting Example The following are parameter setting examples for each kind of load mechanical configuration a Ball Screws 7 rotations 5 rotations Ball screw pitch P 6 mm rotation In the above machine system if the requirement is reference unit output unit 0 001 mm the setting of each parameter will be as follows No
29. Paen r4 3 21 3 System Startup 3 1 6 Starting the MPE720 7 Logging On Online a Right click the 2200SMPL Controller Folder and select Log On Fa En i O O O GK a Gn ET zini pa Use Set oertcbah paneer FS Ue Ce Pori fr ain Lace Orias Ordre et Street Tot nu ft ee or hotest jogos P a 3 22 3 1 Outline 8 Loading the Sample Programs Load the sample programs on the MPE720 system CD ROM using the procedure below Insert MPE720 system CD ROM into the computer CD ROM drive 1 Double click the 2200 SMPL E EXE file in the SAMPLE Folder on the CD ROM Co ee LOE so See Fe C Sait mi tere ia ey ihe Double click Capactky Se E i ie O rr aarm 2 The window for specifying the destination of the file will be displayed Specify the destination of the file and click the Decompress button 3 2200S MPL_IE EXE 3 Right click the 2200SMPL Controller Folder and select File Transfer All File Transfer All Program File Transfer Other Media HD Cemcute af progr wa Vile bonehead hE T 3 23 3 System Startup 3 1 6 Starting the MPE720 4 The Execute Window will be displayed The transfer source path must be changed so click the Change button Click ITLL 5 The Transfer Path Window will be displayed Make the settings given below and click the OK button Drive Select the drive where the sample progr
30. These connectors are use to expand the number of mounting bases to a maximum of four racks They are connected using the following cables e JEPMC W2091 00 The following diagram shows how to connect the external I O connectors Rack 1 EXIOIF 10 cN2 our Rack 2 s cnt IN cn2 our Rack 3 EXIOIF cnt IN cNn2 our Rack 4 EXIOIE cnt IN cn2 our 0 Note Attached the enclosed dust caps to the unused connectors 1 in the above figure 5 61 5 62 5 Mounting and Wiring 5 2 10 EXIOIF Module Connections 2 Cables Length JEPMC W2091 AS Connection Cables with both connectors JEP Me Wate JEPMC W2091 2A5 Note 1 The total cable length when adding expansion racks is 6 0 m Connect the shield to the connector shell 2 Connection method 1 1 3 Cable Specifications Shielded cable equivalent to UL20276 0 08 mm AWG28 two ferrite cores attached 3 Cable Appearance 6 Basic System Operation This chapter explains the basic operation of the MP2200 system 6 1 Operating Mode 6 2 6 1 1 Online Operating Mode 6 2 6 1 2 Offline Stop Mode 6 2 6 2 Startup Sequence and Basic Operation 6 3 6 2 1
31. u B N v flog N v r i v los i w Irom w a MPE720 d GA o 200 VAC Q q Servomotor Servomotor The 24 VDC power supply is not required for a Basic Unit with a 100 VAC power supply input INFON Refer to Chapter 5 Mounting and Wiring for information on mounting Modules 7 3 3 3 System Startup 3 1 3 Device Preparation 3 1 3 Device Preparation Prepare the devices shown in the following tables These devices are required for checking operation using the sample program 1 Controller related Equipment SEPMC BU22T0 or PMC BUA i JAPMC MC23 10 JEPMC W6002 01 JEPMC W6022 JEPMC W6022 JEPMC W6002 01 o0 ool 2 Programming Device related Equipment Vode Guanti MPE720 CPMC MPE720 RS 232C Cable JEPMC W5311 03 or 1 Ethernet Cable Commercially available cross cable Compute Note The MP2200 can be connected via RS 232C or Ethernet connections Computer JEPMC W5311 03 MPE720 3 4 3 1 Outline 3 Servodrive related Equipment Name Quant y YASKAWA SERVOPACK Servomotor Digital Operator 4 Other Required Equipment Specification Quant 24 VDC power supply Current capacity of 2 A or greater 3 5 3 System Startup 3 1 4 Connecting and Wiring the System 3 1 4 Connecting and
32. 1 1 1 H Internal function registers 64 words Constant registers ZB ZW ZL ZFnnnnn i CB CW CL CFnnnnn 1 1 1 1 1 1 Constant data 16 384 words max B W L Fnnnnn Individual data 16 384 words max DB DW DL DFnnnnn Registers common to all drawings can be called from any drawing or function Registers unique to a drawing can be called only from within that drawing Registers unique to a function can be called only from within that function Registers common to all drawings and registers unique to each drawing can be called from functions using external function registers 6 25 6 26 6 Basic System Operation 6 4 3 Register Designation Methods 6 4 3 Register Designation Methods Registers can be designated by direct designation of the register number or by symbolic designation These two types of register designation can be used together in the same ladder program When symbolic designation is used the correspondence between the symbols and the register numbers must be defined The following table shows the register designation methods Designation Description Type Register designation by bit MBO0100AX Register designation by integer MW00100X Direct Register designation by double length integer ML00100X Designation Register designation by real number MF00100X Register designation by address MA00100X X For subscripts add the subscript i or j after th
33. 100 m e Connection Example 2 MP2200 218IF 01 Optional Module Optional Module 10Base T cross cable 100 m max 5 2 Module Connections 5 2 7 217 F 01 Module Connections 1 Connectors The following diagram shows 217IF 01 Module connectors PORT RS422 485 RS 232C RS 422 485 2 Connector Specifications The following table shows the connector specifications Connector No of Connector Model Name f Name Pins Module Side Cable Side Manufacturer 17LE 13090 27 D2BC 17JE 23090 02 D8B RS 232C PORT i DDK Ltd pzc porr oppmot sp Dou aly 14 10114 3000VE RS 422 485 RS ee 10214 52A2JL connector connector10314 52A0 008 Sumitomo 3M port 485 shell Limited 3 Cables Vode TEPMIC W53T1 03 RS 232C Cable JEPMC WSST15 4 External Appearance of Cables for PORT Connector JEPMC W5311 O0 TS J l LA a LJ 5 51 5 Mounting and Wiring 5 2 7 217IF 01 Module Connections 5 Connector Pin Arrangement a PORT Connector The PORT connector is used to connect the MP2200 to computers and HMI devices via an RS 232C connec tion Pin signal Signal je 9 Description Num 9 Description Name Name eT at Ae oa E e SS 3 RO Reeve fe d 4 RS Requestiosead 9 ER Danei es Ceartosmd b RS 422 485 Connector The RS 422 485
34. Bit output YB000000 to YBOOOOOF Function output aes YW00000 to Integer output Baiada to YW00016 registers YW YL YFnnnnn ywon016 Double length integer output Y L00001 to YL00015 Y Register number nnnnn is expressed as a decimal number Internal registers unique to each func tion Can be used in the function for internal processes Register number Registers nnnnn is expressed as a decimal num unique to ber each External registers that use the address function A Internal function ZW00000 to Z registers ZB ZW ZL ZFnnnnn ZW00063 input value as the base address External func AB AW AL AFnnnnn AW00000 to For linking with S M I O and tion registers AW32767 DAnnnnn registers Register number nnnnn is expressed as a decimal num ber Registers that can only be read by a function Can be used only by the corre registers B W L Fnnnnn W00000 to sponding function The actual range Annnnn W16383 used is specified by the user on the MPE720 Register number nnnnn is expressed as a decimal number Internal registers unique to each func tion Can be used only by the corre D registers DB DW DL DFnnnnn DW00000 to sponding function The actual range DAnnnnn DW16383 used is specified by the user on the MPE720 Register number nnnnn is expressed as a decimal number SB SW SL SFnnnnn S System registers SAnnnnn MB MW ML M Data registers MFnnnnn MAnnnnn Same as drawing registers
35. Daim ron Fon E sprang Pra TOTT ime I bann Ficem SF TEP Por Count i pai TEP lop Fwi Ti G00 e UDP Pot Court Th 0 1 udhe Coi ee c The Logical Port Setting Window will be displayed Click the OK button again The screen will return to the Communication Process Window Check that CP 2 8 has been allocated to the Logical PT num ber 2 Re Tool Semid Haa Windies jei ale ef mel ee 3 15 3 System Startup 3 1 6 Starting the MPE720 7 Saving Communication Port Settings Save the communication port settings These settings will be used as the communication port information whenever the communication process is started The procedure for saving the communication port set tings is shown below a Click File Save i imiia t Hon Plane 8 Starting the Communication Process Again The communication process must be started again when settings have been made or changed a Select File Exit to close the Communication Process Window ita il kik Manna Pin Tio Coa Piee Winey F c Double click the Communication Manager icon in the YE_Applications Folder to reopen the Com munication Process Window Comer PRETA Tma VE_Applications T Faraga Cramer Sale ante bo eee Br dee pe man it wet Double click load tiqni Fip ii He Carai 3 16 3 1 Outline 4 Creating Group Folders Create a group folder in the File Manager Window using the procedure below Example
36. oO ale A A 2 2 A2 2 2 E 5 26 5 2 Module Connections f Input Circuit The following table shows the LIO 01 Module input circuit specifications SpecTicaTons Inputs Input Format Isolation Method Input Voltage Input Current ON Voltage Current OFF Voltage Current ON Time OFF Time Number of Commons Other Functions 16 points Sink mode source mode inputs Photocoupler 24 VDC 20 4 1 mA typ 15 V min 2 0 mA min 5 V max 1 0 mA max ON 1 ms max OFF 1 ms max 8 DI COMO DL _00 to DL_07 DL_COM1 DL _08 to DI_15 e DI 00 interrupt input DI 00 is shared with interrupts If DI 00 is turned ON while interrupts are enabled the interrupt processing drawing is executed e DI 01 pulse latch input DI 01 is shared with pulse latch inputs If DI 01 is turned ON while pulse latch inputs are enabled the pulse counter will be latched e Vcc 24 V 22 kQ DICOM gt e Input register TkO esoo 0 01 pF wie 2200 PF Di in 5 6 k9 0 5 W 4 4 024 Digital Input Circuit Sink Mode Input e Vcc 24 V 22 kQ DICOM gt p e Input register i TKO paw Laan aed ELE esoo 0 01 uF Avi pi y 5 6 k 0 5 W ha Soeur 5 4
37. 1 0 130 Q terminator 130 Q terminator Trunk line cable Drop line cable Power supply tap for commu External power supply line for I O nications with reverse cur Soscesees Internal power supply line for I O f rent prevention for multiple power supplies sxs Communication power supply line e PS Communication power supply FG 5 2 9 261IF 01 Module Connections 1 Connectors The following diagram shows 261IF 01 Module connectors PORT PROFIBUS RS 232C PROFIBUS 2 Connector Specifications The following table shows the connector specifications Connector No of Connector Model Name f Name Pins Module Side Cable Side Manufacturer 17LE 13090 27 D2BC 9 17JE 23090 02 D8B RS 232 PORT DDK Ltd wanau 9 pin D sub male PROFIBUS PROFIBUS MLE 13020 ZDN DDK Ltd 9 pin D sub female 3 Cables Name Model Length TEPMCWSSTTOS RS 232C Cable JEPMCWSSII S 4 External Appearance of Cables for PORT Connector JEPMC W5311 00 co LPN Pa 5 58 5 2 Module Connections 5 Connector Pin Arrangement a PORT Connector The PORT connector is used to connect the MP2200 to computers and HMI devices via an RS 232C connec tion ai Signal Signal Num 9 Description 9 Description ber Name Name
38. 4 47 sample programs individual loading 3 26 loading 3 23 manual operation 3 36 phase control with an electronic cam 3 57 phase control with an electronic shaft 3 52 positioning control 3 47 scan times 6 48 setting and changing 6 48 screw mounting 5 2 self configuration 6 6 6 29 217IF 01 Module 6 44 218IF 01 Module 6 43 260IF 01 Module 6 46 261IF 01 Module 6 47 DeviceNet communication 6 46 Ethernet interface 6 43 execution 3 10 T O allocations 6 40 6 41 LIO 01 Module 6 40 LIO 02 Module 6 41 LIO 04 Module 6 42 PROFIBUS interface 6 47 RS 232C interface 6 43 6 45 6 46 6 47 RS 422 485 interface 6 44 SVA 01 Module 6 39 SVB 01 Module
39. Check the CPU error status SW00041 details 1 Operation error SB000418 Refer to 8 2 4 3 Ladder Program User Operation Error Status 2 I O error SB000419 Refer to 8 2 4 5 System I O Error Status location of the error Refer to 2 Indicator Details in 8 1 3 Indicator Errors for details on the meaning of indicators 8 2 System Errors 8 2 3 Processing Flow for a User Program Error 1 Processing Flow for a Ladder Program Error A serious failure has occurred if the ALM and ERR indicators on the front panel of the CPU Module are lit Place the MP2200 in Stop Status turn ON DIP switch pin 6 and investigate the problem Use the following procedures to check the error Check by Type of Serious Failure Check the contents of SW00050 Error Type to determine if the error is a system error or a user program error Check by Type of Error Program Check the contents of SW00055 Program Type to determine if the error occurred in a drawing or in a function Check the contents of SW00054 Error Task and SW00056 Drawing No to find the error drawing gt Check by Error Drawing 4 The error occurred in a function if SW00056 Drawing No reads 0100H Check the contents of SW00057 Error Task and SW00058 Drawing Check by Error Function No to find the error drawing Check SW00059 Function Referencing Drawing Step No for the STEP number where an operation error occurred T
40. Current Counter Value Same as current counter after Conversion ILOOOO 000A 1 1 reference unit value when Electronic Gear PFBG not used PI Latch Data after Con Same as PI latch data when s ILOOOO 0D0C 23 31_ version FREQG onononoc a l reference unit Electronic Gear not used POSMAX Turn Number LOO00 000E 1 1 rotation Feedback Speed 1LO000 0010 231 to 2311 r reference nitis Aen Electronie Gear not 4 used 1 1 pulse s ILOO00 0012 Reserved to ILOOOO 001C Calculation A moving average of the processing results for 32 scans e Without Electronic Gear Feedback Speed pulse s No of incremental pulses x 1000 Ts e With Electronic Gear Feedback Speed reference unit s No of incremental pulses after conversion x 1000 Ts TS Scan time ms for counter synchronized scan The following table shows Status RUNSTS details Data Seting Error E Fixed Parameter Setting Error 1 1 Fixed parameter setting error ON unti niornalwrite completed Court Value Preset Completed 2 i Comval pesa conp OOOO PPrLaich Completed Signa 3 iPro O Oooo Fasea O a iee SS PPulse ASiausDiply 6 mea O ooo o PuseB Satus Display 7 ome o R E a el Writing Fred Parameter 9 Wing parameter online ON only during waiting PhaseAorBDiscomnetAam A OoOO iS Rewa f o SSS POSMAX Turns Preset Completed hComked oo Reewa gt oo o E E a E Module Ready F area processing being
41. SG Ce O RD Reie e b PROFIBUS Connector The PROFIBUS connector is used to connect to masters via a PROFIBUS connection Description e Pone 5 Ce po emais i a T A e IRDIRDX Transmission and recepion dia Eoee e e 5 59 5 60 5 Mounting and Wiring 5 2 9 261IF 01 Module Connections 6 Module Connection Examples a PORT Connector Connections Refer to a PORT Connector Connections under 6 Module Connection Examples in 5 2 6 218IF 01 Mod ule Connections for information on PORT connector connections b PROFIBUS Connections The 261IF 01 Module supports only slave mode The slave address can be set between 1 and 64 PROFIBUS DP Master Class 1 Master 2611F 01 gS Q Ol ee a gt Y Optional Module Optional Module ogo oooo O oj 0000 gt Lp 0 P o LITT ETT ETE EP ETT D a A MP2200 SERVOPACK Inverter Machine side I O signals q 5 2 Module Connections 5 2 10 EXIOIF Module Connections 1 Connectors The following diagram shows EXIOIF Module connectors CN1 IN M cNn2 OUT t mS t2
42. There is a risk of an accident Do not subject the MP2200 to strong shock There is a risk of an accident viii m Wiring A 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 MP2200 in the following locations There is a risk of device damage e Noise such as from static electricity e Strong electromagnetic or magnetic fields e Radiation e 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 A CAUTION e Consider the following items when selecting the I O signal lines external cables to connect the MP2200 to external devices e Mechanical strength e Noise interference e Wiring distance e Signal voltage etc e 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
43. i ALLEL b Base Unit with DC input Power Supply a 7 A MP2200 vevo P a en j aa POWERO 4 Ke LY yi 4 i N pi ry Y i I O F I 9 eal o E A m IOZZZZZZZZ 2 Indicator The LED indicator that displays the status of the power supply is detailed in the following table Name POWER a supply is operating nor 4 5 4 6 4 Module Specifications 4 2 3 Hardware Specifications 4 2 3 Hardware Specifications The following table shows the hardware specifications of the Base Unit One Rack Configuration 1 slot for CPU Module Slot Configuration 8 slots for Optional Modules including slots for Expansion Modules Four Rack Configuration 9 slots for Option Modules because a CPU Module is not mounted to Racks 2 3 and 4 Input Voltage 85 to 276 VAC 24 VDC 20 Input Current 1 5 A max at rated I O 3 0 A max at rated I O 10 A max when completely discharged 10 A max when completely discharged Inrush Qurrent 200 VAC input rated output rated output Rated Vorage e Current 2 SEY 0A Rated Curent
44. paa E o o i a Spacer DIN rail 10 mm gap IMPORTANT ans ee for ial the MP2200 to DIN rail are supplied separately Purchase the following product when using rail Product name DIN Rail Mounting Parts Model No JEPMC OP300 b Procedure for Mounting to DIN Rail Use the following procedure to mount the MP2200 to DIN rail 1 Release the mounting clips Pull the DIN rail mounting clips down to release them aes nae F MP2200 meu o1 Ci PRO Optional Module Optional Module 5 3 5 Mounting and Wiring 5 1 1 Mounting the MP2200 2 Mount the MP2200 to the DIN rail a Hook the MP2200 into the top side of the DIN rail b Push the MP2200 towards the mounting base to secure it in place almivavatl qo 3 Lock the mounting clips Push the DIN rail mounting clips to lock them in place Optional Module Optional Module ji af 4 Fix the MP2200 in place Place end plates on either side of the MP2200 to secure it to the DIN rail MP2200 meu o1 CPU 01 218IF 01 svB 01 Power OQ o DIN rail 5 Optional Module Optional Module This completes the installation procedure End plate 5 1 Handling the MP2200 5 1 2 Replacing and Adding Optional Modules Use the following procedures to replace or add O
45. two color LED CSU EEO Module power supply disconnected No T O allocations while connection is bein Creen blinking established i Error a OFF duplicated MAC ID two color LED ee checking for duplicated MAC ID STRX 4 12 260IF 01 Module 3 Switch Settings The following table shows the 260IF 01 Module switch settings Satus Status DA KGA Refer to setting details O 0 O 0 DRO Baud rate setting N DR1 0 x1 x2 D INIT l TEST Master Slave Used in Master Mode x OFF Mode Used in Slave Mode x10 x2 f x1 DeviceNet Does not execute self diagnosis Normally always leave turned OFF For engineering communication Starts up RS 232C PORT using default parameters exclud ing automatic reception function settings Given INIT Initial startup higher priority than CPU Module Flash Startup and Self configuration Startup Set to OFF for CPU Module Flash Startup and Self configuration Startup 4 0 System use TEST TEST ON 5 8 l Normal operation Always leave turned OFF Node Address 10s Digit Setting A Sets the node address Rotary decimal switch Node Address 1s Digit Setting a Sets the node address Rotary decimal switch The following table shows details of baud rate settings RT ORO _ Seting F N FF N FF ON Executes DeviceNet self diagnosis when the Self diagnosis power supply
46. 4 12 4 4 SVB 01 Module 4 4 SVB 01 Module 4 4 1 Outline of Functions The SVB 01 Module is a Motion Module with a MECHATROLINK II compatible interface If the MECHATROLINK is used multiple axis control is possible with less wiring The SVB 01 Module s com patibility with MECHATROLINK II enables position control speed control torque control and phase control and makes precise synchronous control possible The control mode can also be changed while online facilitating complicated machine operations MP2200 CPU User application MECHATROLINK SERVOPACK Position control Ladder or Saeed motion pee programs references Speed control SERVOPACK Torque Torque control references Phase control Phase references 4 4 2 LED Indicators and Switch Settings 1 External Appearance The following figure shows the external appearance of the SVB 01 Module LED indicators Rotary switches station address settings MECHATROLINK connector MECHATROLINK Ng i connector ee 2 Indicators The following table shows the indicators that show the operating status of the SVB 01 Module and error infor mation Name Lights during normal operation of the RUN Green microprocessor used for control RUN ERR O O Not lit during error TX O ERR Lights blinks for failures Not lit during normal operation MECHATROLINK transmission in progress 4 13 4 Module Specificat
47. 6 20 6 4 2 Types of Registers 6 23 6 4 3 Register Designation Methods 6 26 6 4 4 Subscripts i andj 6 27 6 5 Self configuration 6 29 6 5 1 Overview of Self configuration 6 29 6 5 2 SVB 01 Modules 6 30 6 5 3 SVA 01 Modules 6 39 6 5 4 LIO 01 Modules 6 40 6 5 5 LIO 02 Modules 6 41 6 5 6 LIO 04 Modules 6 42 6 5 7 218IF 01 Modules 6 43 6 5 8 217IF 01 Modules 6 44 6 5 9 260IF 01 Modules 6 46 6 5 10 261IF 01 Modules 6 47 6 6 Setting and Changing User defined Files or Data 6 48 6 6 1 Saving User defined Files or Data 6 48 6 6 2 Setting and Changing the Scan Times 6 48 6 6 3 Setting and Changing the Modul
48. As shown below there are six pins on the DIP switch The function of each pin is given in the following table STOP SUP INIT CNFG MON TEST OFF ON Switch Sta F Default F fue Operating Mode Setting Details User program stopped r i STOP prog PR OFF Stops user program execution User program running Enabled only when the power is turned ON Always leave set to OFF F Pete Set to ON to clear the memory SW1 AEE Prj E Z 5 If this switch is set to OFF the program stored in flash memory will be executed Configuration Mode OFF Set to ON to execute self configuration for F Normal operation connected devices System use OFF Always leave set to OFF F Normal operation N Sy OFF Always leave set to OFF FF Normal operation O eI Normal operation ray Z CNFG O OJ O FA ez O 6 3 6 4 6 Basic System Operation 6 2 2 Indicator Patterns 6 2 2 Indicator Patterns The MP2200 makes a number of determinations at startup If an error is detected the ERR indicator will blink and the error content will be indicated by the number of times the indicator blinks When the indicator is blink ing the MPE720 cannot be operated For details on the error content and the action to be taken see Chapter 7 Maintenance and Inspection and Chapter 8 Troubleshooting The following table shows the MP2200 indicators Indicator Name In
49. BA EA T 1 1 1 12 13 6 N 42 43 44 45 46 DO 08 Digital output 8 DO 10 Digital output 10 24V 2 24 V power supply 2 DO 12 Digital output 12 DO 14 Digital output 14 NI N NI N NIN gt gt oj A N 090 o oO 5 40 e CN2 Pin Arrangement 26 mm m ee es D 27 eae ee es 49 1 mre ee ee 25 2 eames 24 Arrangement from Connection Side 1 COM 3 26 2 DI 16 27 DI 17 3 DI 18 28 DI 19 4 DI 20 29 DI 21 5 DI 22 30 DI 23 6 COM 4 31 7 DI 24 32 Dl 25 8 DI 26 33 DI 27 9 ner 34 DI 29 10 DI 30 35 DI 31 11 36 12 DO 16 37 DO 17 13 DI 18 38 DO 19 14 39 ov 3 15 24V 3 40 16 DO 20 41 DO 21 17 Doz 42 DO 23 18 43 ov 3 19 DO 24 44 DO 25 20 DO 26 45 DO 27 21 46 OV 4 22 24V 4 47 23 DO 28 48 DO 29 24 DO 30 49 DO 31 25 50 OV 4 5 2 Module Connections 5 41 5 Mounting and Wiring 5 2 5 LIO 04 Module Connections The following figure shows the pin names and assignments for connector CN2 Digital input 17 DI 17 F also used as interrupt input DI 19 Digital input 19 DI 21 Digital input 21 DI 23 Digital input 23 DI 25 Digital input 25 DI 27 Digital input 27 No Signal Name Details COM 3 Common 3 Digital input 16 also used as in
50. Batch inputs Batch inputs DWG X00 DWG y y Operation error Interrupt process Y drawing drawing Batch outputs Batch outputs x ALH L ik y DWG H DWG L Continue from start Continue from start High speed scan Low speed scan process drawing process drawing X is replaced by A l H or L completed completed 2 Execution Scheduling of Scan Process Drawings The scan process drawings are not executed simultaneously As shown below they are scheduled based on the priority level and are executed according to the schedule Low speed scan time setting High speed scan High speed scan High speed scan High speed scan time setting time setting time setting time setting 4 i it 4 One high i gt speed scan DWG H Unused time Unused time Unused time Unused time Unused time Unused time i One low speed i 4 iscan 1 1 gt 1 1 DWG L Unused time Background Executing Used for internal system processes such as communication The low speed scan process is executed in the unused time of the high speed scan process Therefore as a guide line set a time that is twice the execution time of all the DWGH drawings as the high speed scan time 6 8 6 3 User Program 3 Hierarchical Arrangement of Drawings Drawings are arranged in the following order Parent drawing child drawings grandchild drawings A p
51. Check Whether an Operation Error Oc Check the error count of all drawings at SW00080 to SW00088 Operation curred errors are occurring if the count is going up lt When ERR Indicator Lit 4 1 Check Error Details Check error codes for drawings where the error count is going up DWG A SW00111 DWGH SW00143 Check the Details and Location of Op DWGI SW00127 DWG L SW00175 eration Errors Check the DWG Number Check the error DWG number for the DWG number where an error If an operation error occurs the M00 occurred HOO LOO i00 and A00 drawings will ex DWGA SW00122 DWGH SW00154 ecute These drawings can also be used DWGI SW00138 DWGL SW00186 to correct or confirm operation Check the Function Referencing DWG Number and Function Refer encing STEP Number if an error occurred in a function DWG A SW00123 4 DWGH SW00155 6 DWGI SW00139 40 DWGL SW00187 8 When ALM Indicator Lit Correct the Program Correct the program at the point where the error occurred 8 7 8 Troubleshooting 8 2 4 System Register Configuration 8 2 4 System Register Configuration 1 System Status System status indicates the operating status and error details for the system System status details are used to determine whether hardware or software is the cause of an error Register ae Reserved by SW00030 to the system SW00039 SB000400 READY a 1 Normal
52. Ifj 27 MB000000j will be the same as MBO0001B MBO0000002 I l MB000000i 2 Equivalent Haas l ES a 2 Integer Data with a Subscript When a subscript is attached to integer data the value of i or j is added to the register number For example if i 3 MW00010i will be the same as MW00013 Ifj 30 MW00001j will be the same as MW00031 00030 gt MW00031 Equivalent L MW00001j 3 Double length Integer Data with a Subscript When a subscript is attached to double length integer data the value of i or j is added to the register number For example if i 1 ML00000i will be the same as ML00001 ML00000j when j 0 and ML00000j when j 1 will be as follows Upper place word Lower place word Mwo0001 MW00000 ML00000j when j 0 MLO0000 os Mwo0002 MW00001 ML00000j when j 1 ML00001 7 6 27 6 28 6 Basic System Operation 6 4 4 Subscripts i and j 4 Real Number Data with a Subscript When a subscript is attached to real number data the value of i or j is added to the register number For example if i 1 MF00000i will be the same as MF00001 MF00000 when j 0 and MF00000j when j 1 will be as fol lows Upper place word Lower place word Mwoo001 Mwoo0000 MF00000j when j 0 MFO0000 Mwo0002 Mwoo001 MF00000j when j 1 MF00001 a lt q EXAMPLE gt E Programming Example Using a Subscript The following program sets the sum of 100 registers from MW00100 to MW00199 in MW0020
53. Logging on online Log on online to the MP2200 7 Loading the sample programs Load the sample programs from the MPE720 system CD ROM 8 Transferring individual sample programs Transfer the sample programs individually 9 Setting individual parameters Set the individual parameters to match the sample program 10 Saving to flash memory Save the sample program to the MP2200 flash memory i 11 All program file dump Back up MP2200 data on the computer hard disk 3 11 3 System Startup 3 1 6 Starting the MPE720 2 Starting the MPE720 Start the MPE720 using the procedure below 1 Double click the MPE720 icon in the YE Applications Folder it baria RPETHD Ima Seek mes ei bis eet a Mou Engem deurpion Double click 3 Communication Settings Make communication settings for connecting the MPE720 and the MP2200 using the procedure below These settings are not required if the communication settings have already been made 1 When the MPE720 is started the File Manager and Communication Process Button will be displayed on the Toolbar at the bottom of the screen Click the Communication Process button to open the Communi cation Process Window Click set AMES fn siria Oncas an pire Praw E cmr san Am EAA ni 3 12 3 1 Outline 2 Double click Logical PT number 1 in the Communication Process Window to display the Logical Port Setting Window e araida ri na Lap Double
54. This section explains the connections for the MBU 01 and MBU 02 Units 1 MBU 01 Unit Connections a Connectors Supply a 100 200 VAC power supply to the MP2200 The following diagram shows MBU 01 Unit connectors Symbol Signal Description AC e Name ac ac i e Ac AC AC inpu omk Frame ground Ground to 100 Q max b Connector Specifications Connector No of Connector Model Name Module Side Cable Side Power Supply power 3 721 863 001 000 721 203 026 000 WAGO Connector c Connection Diagram Name MP2200 721 863 721 203 026 A Noise FG POWER FG Note Use a noise filter on the AC power supply line to the MBU 01 Recommended noise filter TDK ZHG2210 11S 5 8 5 2 Module Connections d Connection Procedure for 100 200 VAC Power Supply Cable The power supply terminals have a removable connector Use the following procedure to wire the terminals to the power supply connector Use a 1 5 mm to 2 5 mm AWG16 to AWG13 twisted pair cable Use the following connection procedure 1 Strip approximately 6 5 mm from the end of the wire ee pma 6 5 mm 2 First insert an operation lever or flat blade screwdriver into the opening and press it down as shown by the arrows in the following diagrams to open the clamp in the plug Insert the wire into the opening and then close the opening by releasing the lever o
55. controls the operation e The two axes rotate synchronously according to the entered speed settings The following gear ratio is set in this example Axis 1 No 1 roll Axis 2 No 2 roll 1 1 Refer to 3 4 3 Program Details for details on the sample program iF Parent Drawing Child Drawing Grandchild Drawings H Drawing H06 Drawing H06 01 Drawing pe I Phase control SEE SEE Electronic shaft Name H06 Name H06 01 e Axis 1 e Axis 2 END END END High speed scan IMPORTANT This program is solely for the purpose of describing the MP2200 system startup Care must be taken because actual applications will differ This program has no power OFF circuit for the SERVOPACK in the event of emergency stops or overtravel Include a proper emergency stop circuit in actual applications 3 52 3 4 Sample Program 3 Phase Control with an Electronic Shaft 3 4 2 Operation 1 Tuning Panel 1 Use the Tuning Panel Window for the H06 drawing to check operations just as described in 3 2 2 Opera tion Right click the H06 drawing in the High Scan Programs Folder and select Open Tuning Panel Summ amit i bh ab a ad a ed de E 2 The Tuning Panel Window for the H06 drawing will be displayed se oo mE tid Poh 22 0 wenog s Input position and current value The details on the Tuning Panel Window display a
56. t Start the electronic shaft M Enter speed settings M Confirm operation The process for confirming operation will be explained based on the above procedure 1 Switching between Servo ON and Servo OFF Change the current value setting for Servo ON PB from OFF to ON on the Tuning Panel Window The Servomotor will turn ON and the Servo will be clamped 2 Starting the Electronic Shaft Change the current value for Electronic Shaft Start to ON in the Tuning Panel Window The mode will change to Phase Control Electronic Shaft Mode Change the current value to OFF to exit Phase Control Electronic Shaft Mode 3 Entering Speed Settings Change the current value for the Speed Setting Motor Rated Speed in the Tuning Panel Window to any value between 0 and 30000 The value set will be the synchronous speed for both axes and the axes will start rotating INFON m Actual Application Programs 4 Programs must be created in actual applications to monitor and control registers that correspond to the signals and data listed above The register numbers that correspond to the signals used in this sample program will be the register numbers displayed under REG No next to DWG at the right of the Tuning Panel window 3 54 3 4 Sample Program 3 Phase Control with an Electronic Shaft 3 4 3 Program Details 1 HO6 01 Drawing The H06 01 grandchild drawing controls phase control electronic shaft operation P0
57. 0038 f r NL 1 Axis 1 step Axis 1 Reverse reference Step DB000008 DB000013 0013 0043 END NL 1 3 44 3 2 Sample Program 1 Manual Operation 5 HO2 02 Drawing P00110 H02 02 Main Program 0000 0000 NL 1 0001 0006 NL 1 0006 0019 NL 1 0007 0025 NL 1 0008 0029 NL 1 0009 0032 NL 1 0010 0034 NL 1 The H02 02 grandchild drawing controls jog and step operation for axis 2 Axis 2 Manual Jog and Step Operation Processing HHHH Axis 2 manual jog and step operation processing HHHHHHH HHHH Jog and step operation HHHHHHHH Axis 2 jog operation Axis 2 Forward Jog DB000010 Axis 2 Forward Jog DB000010 Axis 2 jog reference WORK DB000000 Axis 2 Reverse Jog Axis 2 SV_ON DB000011 Axis 2 Reverse Jog DB000011 Axis 2 jog reference WORK DB000000 Axis 2 jog start DB000001 Axis 2 jog start DB000001 Axis 2 jog stop DB000002 DB000051 Axis 2 speed reference setting STORE a Source 0000001000 Dest OL8090 r Axis 2 motion command STORE z Source 00007 Dest OW8088 Axis 2 motion command STORE a Source 00000 Dest OW8088 Axis 2 motion command 0 DB000050 MB300018 YD FHHHHHHHHH Step operation HHHHHHHHE Axis 2 step operation Axis 2 Forward Step DB000012 Axis 2 Forward Step DB000012 Axis 2 Reverse Step Axis 2 SV_ON DB000013 Axis 2 Reverse Step DB000013 Axis 2 step reference WORK DB000008 DB0
58. 1 System Service Registers hie E ka die SE aa ia A 2 A 2 Scan Execution Status and Calendar A 5 A 3 Program Software Numbers and Remaining Program Memory Capacity A 5 INDEX Revision History XV 1 Outline of MP2200 This chapter provides an overview and describes the features of the MP2200 Machine Control ler 1 1 Features nnn nnn nnn e ens 1 2 1 2 Module Appearance 1 3 1 2 1 Basic Unit a a E A E a reer E 1 3 1 2 2 Modules sts tersiteketadpnn ir ecreie sdsta ee eisi sels aeee l ieii 1 4 1 1 1 2 1 Outline of MP2200 1 1 Features The MP2200 is a high performance multi axis Machine Controller for flexible system construction In addition to I O and Communication Modules it has a wide range of Optional Modules including various Motion Mod ules that support a variety of motor drives It provides ideal motion control for a range of machines from stand alone machines to FA systems 1 Flexibility e With an option slot configuration that enables expansion to 35 slots Optional Modules can be selected freely and the optimum system can be built for your machine 2 High Performance e Control characteristics have been improved by increasing the CPU and Motion Network MECHATROLINK I speed e Completely synchronous operation can be achieved fo
59. 17 8 Troubleshooting 8 2 4 System Register Configuration e 260IF 01 Module Error Status Example Rack 1 Slot 1 F 8 7 0 Bit No swo0224 Subsbt unoton No F 2 1 0 Bit No swoo225 STS ee sm sm STO E D swoo226 S ooe er STB swoo227 s e O o STR swoo228 STS ooe O O o ere SW00229 Not used SW00230 Not used SW00231 Not used Table 8 7 Error Status Details Item Code Remarks 2 2 2601F DeviceNet Subslot No DeviceNet Note 1 217IF RS 232C Co Poa O Status L0 Communications CS ST n 1 Communication error at n station When set to slave n is the local station number 8 18 8 2 System Errors e 261IF 01 Module Error Status Example Rack 1 Slot 1 F 8 7 0 Bit No swo0224 Subst funcion No F 2 1 0 Bit No swoo225 STHE een sm s STH F E D swoo226 SHR ee er STB swoo227 STHT eee o STR swoo228 sm ooe O o STB SW00229 Not used SW00230 Not used SW00231 Not used Table 8 8 Error Status Details Item Code Remarks 7 Subslot No 2 261IF Profibus slave Note 1 217IF RS 232C PO Noma Status 0 Communication noma CCS ST n 1 Communication error at n station When set to slave n is the local station number 8 19 8 Troubleshooting 8 2 4 System Register Configuration e LIO 01 Module Error Status Example Rack 1 Slot 1 F 8 7 O Bit No SW00224 Status Subslot function No SW00225 No
60. 18 6 mm 0 001 mm 6000 e Gear ratio n m 5 7 e No 20 7 e No 21 5 b Rotating Loads m E 30 rotations 10 rotations n Rotating load 360 rotation In the above machine system if the requirement is reference unit output unit 0 1 the setting of each parameter will be as follows e No 18 360 0 1 3600 e Gear ratio n m 10 30 1 3 e No 20 3 e No 21 1 4 35 4 36 4 Module Specifications 4 8 3 Electronic Gear Function 4 Axis Type Selection There are two types of axis An infinite length axis that resets the current value with a specified value and a finite length axis that does not reset the current value The finite length axis is used for rotation in one direction only where the current value data is not reset after rotation and for return and other operations that are performed only within a specified range The infinite length axis is used for applications such as resetting the current value data for a conveyor belt or other device to 0 after one rotation If the infinite length axis is selected the counter current value after conversion ILOMIO10 0x0A and the PI latch data after conversion IL OOOO 0x0C are reported within the range 0 to infinite axis reset position 1 The axis type selection sets which type of position control is to be used The axis type selection is set in the counter fixed parameter No 14 Axis Type Selection Axis Type Selection Withi
61. 24 i O 36 PB SG 295 0 I 1 i O 28 TGON BRK AI GND 26 O i i O 27 TGON BRK AO GND 27 O i i i O 1 SG OV For 24 V 28 l i O 30 S RDY OV For 24 V 29 O l DO_1 ALMRST 30 O i 1 i T O 44 ALM RST DO_0 svon 31 O l O 40 S ON DO_5 SEN for vs866 32 O 1 i i DI_4 n oT 33 O i T gt O 43 N OT 24V 34 0 i l DI_1 SRDY 35 7 O 29 S RDY DI_5 EXT DEC 36 OFF sf oS eE SS 22 BAT if i O 21 BAT Hood FG FG Hood EXT DEC input Analog monitor cable JZSP CASO1 SGDM SGDH SGDS ZERO HOME LS input P OT input N OT input ABS encoder battery 3 6 V ABS encoder battery 0 V Brake interlock output Brake interlock output 5 2 Module Connections 5 2 4 LIO Module Connections This section explains the connections for the LIO 01 and LIO 02 Modules 1 LIO 01 Module Connections a Connectors The following diagram shows the LIO 01 Module connector Connects external I O signals and pulse input signals External input 16 points External output 16 points Pulse input 1 channel b Connector Specifications The following table shows the connector specifications Connector No of Connector Model Name f Name Pins Modu
62. 3 1 5 Initializing the System 5 ian devices are automatically con 3 1 5 Initializing the System Install the sample programs and start the MPE720 7 Save the sample program and configuration defi 3 1 6 Starting the MPE720 nitions to flash memory V 6 3 1 6 Starting the MPE720 3 2 Sample Program 1 Manual Operation 3 3 Sample Program 2 Positioning Control Execute the program and check the test opera 3 4 Sample Program 3 Phase Control with an tion Electronic Shaft 3 5 Sample Program 4 Phase Control with an Electronic Cam 3 1 Outline 3 1 2 System Configuration The following diagram shows the configuration of devices to help describe the MP2200 system startup The following description uses a Basic Unit with a 24 VDC power supply input as an example 218IF 01 SVB 01 MP2200 i CPU 01 2181F 01 LIO 01 24 VDC M2200 _ Mau ca o0 66 o ee power 8 83 33 supply D R 2 o fe fe o fo z 2 2 2 2 g g g g g AS 2 s 2 T a a a a a fe oj o 0j amp e ra G7 YASKAWA 2 m MECHATROLINK II SERVOPACK SERVOPACK 7 enn servoa Zan SGDS 01A12A SGDS 01A12A Terminator QANE sePpmc weo02 01 amp MN L1 Li E D L2 L2 B 2 Lic G cjo 5 j L2c B 0 a L2CHO B B 3 B1 B rs B1 B B2 alfe e2 llo s e losis le log
63. 4 7 LIO 02 Module 4 7 3 Hardware Specifications 1 Module Specifications The following table shows the hardware specifications of the LIO 02 Module Specifications TAPMCTO2301 Digital Inputs Digital Outputs Pulse Input Indicators 16 inputs 24 VDC 4 1 mA combined sink mode source mode inputs DI 00 also used for interrupts DI 01 also used for pulse latch inputs 16 outputs 24 VDC transistor open collector outputs source mode outputs DO 00 also used for coincidence outputs Phase A B Z inputs Phase AB 5 V differential input not isolated max frequency 4 MHz Phase Z 5 V 12 V photocoupler input max frequency 500 kHz Latch input Pulse latch on phase Z or DI 01 LD1 green LD2 green 4 LD3 green LD4 green LD5 green LD6 green LD7 green LD8 green Rotary switch SWD 2595 XD 4 27 4 Module Specifications 4 8 1 Outline of Functions 4 8 LIO 01 and LIO 02 Module Counter Functions 4 8 1 Outline of Functions For the counter function the command is selected in the counter fixed parameters and counter setting parameters and status and the counter value are stored in counter monitor parameters The following diagram shows the data flow for the counter function MP2200 LIO 01 or LIO 02 Module VO Counter Monitor Information from LIO 01 or connector Parameters 32 words 7 L 0 02 Module t
64. AWG24 to AWG20 twisted pair cable Use the following connection procedure 1 Strip the wire for approximately 6 5 mm Strip approximately 6 5 mm from the end of the wire Core 6 5 mm x Sheath 5 18 5 2 Module Connections 2 Tighten the wires with the screws Insert the wire into the opening and then tighten the screws to a tightening torque of approximately 0 3 to 04 N m a Ns side pin number 1 Pin No Signal Name z i e Connector Pin Arrangement CN1 and CN2 The following figure shows the 36 pin arrangement of CN1 and CN2 o E z 1 SSR Reese oc a a a oz co a a ag Arrangement from Connector Wiring Side on Cable Side 5 19 5 Mounting and Wiring 5 2 3 SVA 01 Module Connections The following figure shows the pin names and assignments for connectors CN1 and CN2 1 sG Ground 19 sG Ground l Gensrakpurpose analog For SEN signal z 200 analog output 0 20 SEN SEN Signal NREF speed reference output sv Serve General purpose 3 PA 5 V differential phase a1 Al 4 analog input 1 A pulse input Torque reference monitor 4 PAL 5 V differential phase 22 Not connected input A pulse input 5 Pc 5 V differential phase 23 pg 5 V differential phase C pulse input B pulse input 6 peL 5 V di
65. DIP Switch Settings 6 3 6 2 2 Indicator Patterns 6 4 6 2 3 Startup Sequence 6 5 6 3 User Program 6 7 6 3 1 Drawings DWGs 6 7 6 3 2 Execution Control of Drawings 6 8 6 3 3 Motion Programs 6 11 6 3 4 Functions 6 19 6 4 Registers 6 20 6 4 1 Data Types 6 20 6 4 2 Types of Registers 6 23 6 4 3 Register Designation Methods 6 26 6 4 4 Subscripts i and j 6 27 6 5 Self configuration 6 29 6 5 1 Overview of Self configuration 6 29 6 5 2 SVB 01 Modules 6 30 6 5 3 SVA 01 Modules 6 39 6 5 4 LIO 01 Modules 6 40 6 5 5 LIO 02 Modules 6 41 6 5 6 LIO 04 Modules
66. DW00001 second word of MSEE work registers as motion program control signals using the ladder program shown above motion program operations such as run stop and pause can be performed by the system motion management functions lt q EXAMPLE gt The following table shows an example of external input signals required to create the minimum ladder program for running motion programs on the MP2200 External Signal External Signal Name Motion Program Control Signal Address 800000 Co Proms B0000 Program pause Foe IB00002 Program stop Program stop request 1800006 6 18 6 3 User Program 6 3 4 Functions Functions are executed by being called from a parent child or grandchild drawing using the FSTART instruc tion Unlike child and grandchild drawings functions can be called from any drawing The same function can also be called simultaneously from drawings of different types and different hierarchies Moreover a function that was previously created can also be called from another function The following advantages can be obtained by using functions e User programs can be easily divided into parts e User programs can be easily prepared and maintained Functions are divided into standard system functions which are provided by the system and user functions which are defined by the user 1 Standard System Functions The functions given in the following table which include transfer functions are provide
67. H02 drawing 3 42 H02 01 drawing 3 43 H02 02 drawing 3 45 H06 01 drawing 3 55 H06 02 drawing 3 60 handling MP2200 5 2 hardware specifications 217IF 01 Module 4 47 218IF 01 Module 4 44 260IF 01 Module 4 50 261IF 01 Module 4 54 Base Unit 4 6 CPU 01 Module 4 9 EXIOIF Module 4 56 LIO 01 Module 4 24 LIO 02 Module 4 27 LIO 04 Module 4 41 MP22002 2222222 2eSs coi asco tide seid ede 4 3 SVA 01 Module 4 19 SVB 01 Module 4 15 l I drawings 6 7 1 O error status application modules 8 17 indicator patterns 8 4 initialization SERVOPACK 3 8 system 3 8 user settings 3 8 input circuit LIO 01 Module
68. Interrupt drawings DWG I 64 drawings max Up to three hierarchical drawing levels User Drawings Func High speed scan process drawings 200 drawings max Up to three hierarchical draw tions and Motion Pro DWGAH ing levels grams Low speed scan process drawings 500 drawings max Up to three hierarchical draw DWGL ing levels Number of steps 1000 steps drawing max User functions Up to 500 Motion programs Up to 256 Revision history of drawings and motion programs Security function for drawings and motion programs Common data M registers 64 Kwords System S registers 8 Kwords Drawing local D registers 16 Kwords drawing max Data Memory Drawing constant registers 16 Kwords drawing max Input I registers 5 Kwords including internal input registers Output O registers 5 Kwords including internal output registers Constant C registers 16 Kwords Data trace 128 Kwords 4 groups with 32 Kwords each Up to 16 points can be defined Program memory Flash memory 8 MBytes User area 5 5 MBytes definition files ladder Memory Backup programs motion programs etc Data other than battery Backup data Data memory Battery backup 256 Kbytes M registers S registers alarm history trace data Bit relay ON OFF Integer 32768 to 32767 Data Type Double length integer 2147483648 to 2147483647 Real number 1 175E 38 to 3 402E 38 L Register number Direct designation of regi
69. LIO 01 Module 2 LED Indicators and Switch Settings The LIO 01 Module status display LED indicators LD1 to LD8 change based on the SW1 rotary switch setting The following table shows the ON OFF indicator display for DI and DO SW1 Status when Lit Indi cator 1 Pulse A B input Lit when phase A B is turned ON Normal operation Lit Error Not lit DI 08 to DI 15 status Lit when any DI is turned ON DO 08 to DO 15 status Lit when any DO is turned ON Pulse Z input Lit when phase Z is turned ON DI input indicators When DI00 to DIO7 turn ON corresponding indicators LD1 to LD8 are lit DI input indicators When D108 to DI15 turn ON corresponding indicators LD1 to LD8 are lit DO output indicators When DO00 to DOO7 turn ON corresponding indicators LD1 to LD8 are lit DO output indicators When DO08 to DO15 turn ON corresponding indicators LD1 to LD8 are lit PI Input Indicators Pulse A input Coincidence detection Pulse B input Phase Z latch Pulse Z input DI latch LD1O O LD5 LD2 O O LD6 LD3 O O LD7 LD4 O O LD8 Indicators SWw1 4 23 4 24 4 Module Specifications 4 6 3 Hardware Specifications 4 6 3 Hardware Specifications 1 Module Specifications The following table shows the hardware specifications of the LIO 01 Module SpecTicatons Digital Inputs Digital Outputs Pulse Input Indicators 16 inputs 24 VDC 4 1 mA combined sink mode source mode inputs DI 00 a
70. MPMO001 Zero point return operation using phase C pulse e Motion program No 2 MPMO002 2 axis positioning and interpolation e Motion program No 3 MPMO003 2 axis positioning and interpolation Refer to 3 3 3 Program Details for details on the sample program J Parent drawing Child drawing Motion program H drawing H04 drawing MPM003 Motion program MPM002 startup MSEE p MPM001 Program No 001 OW803C 3 Data DA00020 OW80BC 3 VEL X 100 Y 100 END ACC X 100 Y 100 Text format High speed scan program This program is solely for the purpose of describing the MP2200 system startup Care must be taken because actual applications will differ This program has no power OFF circuit for the SERVOPACK in the event of emergency stops or overtravel Include a proper emergency stop circuit in actual applications IMPORTANT 3 47 3 System Startup 3 3 2 Operation 3 3 2 Operation 1 Tuning Panel 1 Use the Tuning Panel Window for the H04 drawing to check operations just as described in 3 2 2 Opera tion Right click the H04 drawing in the High Scan Programs Folder and select Open Tuning Panel aE i 4 F Liu 2 The Tuning Panel Window for the H04 drawing will be displayed eee me eee ane ee ow H E PF ABs iCTF a T Input position and current value The details on the Tuning Panel W
71. MPO208 Bit 15 to MPO193 Bit 0 MPO224 Bit 15 to MPO209 Bit 0 MPO240 Bit 15 to MPO225 Bit 0 MPO256 Bit 15 to MPO241 Bit 0 6 3 User Program The configuration of Work n Program Information is shown below Work n Program Information Program status Program control signal Parallel 0 information Parallel 1 information Parallel 2 information Parallel 3 information Parallel 4 information Parallel 5 information Parallel 6 information Parallel 7 information Current position for logical axis 1 program Current position Current position Current position Current position Current posi Current posi Current posi Current posi Current posi Current posi ion ion ion ion ion ion Current position Current posi Current posi Current posi ion ion ion Current position for logical axis 2 program for logical axis 3 program for logical axis 4 program for logical axis 5 program for logical axis 6 program for logical axis 7 program for logical axis 8 program for logical axis 9 program for logical axis 10 program for logical axis 11 program for logical axis 12 program for logical axis 13 program for logical axis 14 program for logical axis 15 program for logical axis 16 program 2W 2W 2W 2W 2W 2W 2W 2W 2W 2W 2W 2W 2W 2W 2W 2W Executing program number Executing block number Refer to 10 1 Motion Errors in MP2200
72. Maximum Number of Absolute 38 Encoder Turns Note 1 The above processing is not performed if the axis is set a a a Pt 2 All other parameters are on the default settings 2 SVB 01 Module gt SERVOPACK SERVOPACK SGDN seon lt 5 No SGDB N NS100 NS115 oo Mee Note 1 The default is written if the axis is not set 2 The above parameters are written to the SERVOPACK RAM b Motion Setting Parameters Motion setting parameters and SERVOPACK parameters are set automatically as shown below 1 SVB 01 Module gt SERVOPACK SVB 01 Module Setting Parameters OWOZE Position Loop Gain OWOD2F Speed Loop Gain SERVOPACK SGD N SGDH SGDH SGDB N NS100 NS115 Ra OWOD30 Speed Feed Forward Gain ow0032 Position Loop Integration Time Constant owo034 Speed Loop Integration Time Constant OWDDSA Filter Time Constant Note 1 The above processing is not performed if the axis is set Cn 001D Pn109 Cn 0005 Pn101 Cn 0026 Pn812 2 All other parameters are on the default settings 6 36 6 5 Self configuration 2 SVB 01 Module gt SERVOPACK SVB 01 Module Setting Parameters Address SERVOPACK SGD N SGDH SGDH SGDB N NS100 NS115 Ree Cn 0020 Pn80B Note 1 The default is written if the axis is not set 2 If the axis is set the parameters are written only when bit 10 of fixed parameter 1 User Constants Self Writing Function is enabled 3 The positioning co
73. Module with analog outputs Servo drives or inverters for up to 2 axes can be controlled with a single Module The Module provides two connectors CN1 and CN2 to connect SERVOPACKs and external I O Each connec tor provides analog outputs for a speed reference and torque reference analog inputs for feedback speed monitor ing and torque monitoring pulse input phases A B C 5 V differential and general purpose digital I O The control cycle is fixed at 500 us to enable high precision control regardless of the high speed scan cycle Two analog outputs Speed reference Servo Controls gep Tk p f CN1 e Speed reference OIGUe TSTerence e Position control Two analog inputs Speed monitor 5 e Torque reference Torque reference monitor 3 e Phase control e Zero point return Pulse inputs Phases A B and C 5 V differential Q Monitor Functions Six general purpose digital inputs 2 latch inputs g Z Six general purpose digital outputs D e 3 Sensor ON output 5 V 24 V 2 c Q CN2 5 System bus 2 g Interfaces Same as above Bes Ko Servo parameters L OW CN3 IW 4 5 2 LED Indicators and Switch Settings 1 External Appearance The following figure shows the external appearance of the SVA 01 Module LED indicators i SVA 01 run OER pm Servo connectors 24 V input connector I
74. Mon to Sat A 3 Program Software Numbers and Remaining Program Memory Capacity Name Register Remarks Number System Program Software Number SOOOO OOOO is stored as BCD SW00021 to System Number SW00025 Not used Remaining Program Memory Capacity SW00026 In bytes Total Module Memory Capacity SW00028 In bytes A 5 Index INDEX Symbols registers 6 23 Numerics 217IF 01 Module 4 45 connectors 5 51 offline self diagnostic test 4 46 218IF 01 Module 4 42 connectors 5 47 24 V input connector 5 18 260IF 01 Module 4 48 connectors 5 55 error status 8 18 261IF 01 Module 4 52 connectors 5 58 error status 8 19 offline self diagnostic test 4 53 A A drawings 6 7 all program file dump 3 33 all program file transfer 3 23 B Base Unit 4 5 Basic M
75. O signal lines and power lines are not separated properly malfunctioning may result Example of Separated External Cables Steel separator Power General Digital 1 0 circuit control cir signal cables cuit cables cables OOOO OOOO OOOO E Maintenance and Inspection Precautions A CAUTION Do not attempt to disassemble the MP2200 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 e When replacing the MP2200 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 A CAUTION e Dispose of the MP2200 as general industrial waste CONTENTS Using this Manual iii Safety Information vi Safety Precautions vii 1 Outline of MP2200 1 1 Features lt lt 9 22 nee rt re mmmn 1 2 1 2 Module Appearance 1 3 121 Basic Units rss teses ihe eene ai Gnana eni enni dasni eii E Seii i 1 3 1 2 2 Modules smen a icine nie Sic tiie sine iin i 1 4 2 System Configuration 2 1 System Configuration 2 2 2 1 1 Basic System Configuration
76. OTF OTR EXT ZEROL e Cable Specifications FSumitomo3M FSumitomo3M ooo HP SB 20276SR Cabl Tai 1 hield wi sot Sumitomo Electric Heat shrinking tube F2 Z Industries Ltd Or equivalent OTF Brown OTR Orange EXT Black ZERO BAT Blue BATO Purple BRK Gray BRK White AL 1 White AI 2 Red GND Black Marking tubes 2 mm dia white 11 Printing color Black emcee Ld Pee O Ltd Wires UL1061 AWG28 5 23 5 24 5 Mounting and Wiring 5 2 3 SVA 01 Module Connections e Cable Connections Diagram Analog input ground Black CNS OQ 1 GND General purpose Black 2 GND analog input i White O 3 Analog monitor 1 Red Torque reference monitor O 4 Analog monitor 2 General purpose Speed monitor analog input 0 A SVA 01 SGDM SGDH SGDS CN1 CN2 a he i b CNI SG 1 0 7 i i O 2 SG AOQ_0 NREF 2 0 O 5 V REF PA 3 O i i O 33 PA PAL 4 0 T l T O 34 PA PC 5 O i O 19 PC PCL 6e ee Ht s e e ow CR SG T i i O 6 SG AI_O vTG 8 O i i AO_1 TREF 9 O i i O 9 TREF OV For 24 V 10 O i O 32 ALM OV For 24 V 11 O l l i DO_2 Pcon 12 0 l l oat IC SEL Kam O DO 4 13 O i O 45 P CL User set DO_3 14 O 46 N CL User set DI_3 P oT 15 O O 42 P OT 24V 16 O i O 47 24V IN DI_O svaLM 17 O T t T O 31 ALM DI_2 ZERO HOMELS 18 O SG 19 O O 10 SG SEN 5v 20 Op ft 15 4 SEN Al_1 Ton 21 0 i 22 0 l i PB 23 O i T i T O 35 PB PBL
77. PORT connector connections b RS 422 485 Connections e RS 422 Wiring 2171F 01 Optional Module Optional Module To controller or other terminal RS 422 485 Remote Station Connector shell The wiring when connecting to another 2171F 01 is shown NY in the following diagram RS 422 485 RS 422 485 Connector Connector shell shell 5 53 5 Mounting and Wiring 5 2 7 217IF 01 Module Connections 5 54 e RS 485 Wiring MP2200 J 217IF 01 Optional Module Optional Module 130 Q terminator RS 422 485 The wiring when a 217IF 01 Module is connected between other nodes is shown in the following diagram Connector Connector shell JS shell Note The terminator is enabled by connecting terminals 2 11 and 4 7 for RS 422 485 ports 5 2 Module Connections 5 2 8 260IF 01 Module Connections 1 Connectors The following diagram shows 260IF 01 Module connectors PORT DeviceNet RS 232C DeviceNet 2 Connector Specifications The following table shows the connector specifications Connector No of Connector Model Name Pins Module Side Cable Side 17LE 13090 27 D2BC 17JE 23090 02 D8B RS 2320 FORT ia 9 pin D sub female 9 pin D sub male ee 3 Cables Name Model JEPMC W5311 03 JEPMC W5311 15 RS 232C Cable 4 External Appearance of Cables for PORT Co
78. Pulse B UP DOWN logic Pulse B Fixed on LOW or HIGH Pulse B t T Positive Pulse A Pulse A A A LDO logic Pulse B Pulse B Pulse A Negative logic Pulse B Positive Pulse A Pulse A logic Pulse B Pulse B Pulse A Pulse A Negative logic Pulse B Pulse B Positive Pulse A Pulse A logic Pulse B Pulse B Pulse A Pulse A Negative 4 ai vf logic Pulse B Pulse B Positive Pulse A v Pulse A Fixed on LOW or HIGH logic g Pulse B Fixed on LOW or HIGH Pulse B v x2 Pulse A Pulse A Fixed on LOW or HIGH Negative A 4 29 4 30 4 Module Specifications 4 8 2 Counter Function Details 4 8 2 Counter Function Details 1 Pulse Count Function The count is incremented and decremented based on the pulse A and pulse B inputs The following functions are supported when specified in the counter setting parameter e Count prohibit Prohibits counting e Count preset Forces the counter value to change e PI latch detection Saves the counter value when an external signal is input e Coincidence detection Outputs an external output signal when the counter setting parameter Coincidence Detection setting and the counter current value match MAX 7FFFFFFFH MAX 7FFFFFFFH Count preset 2 i i A S E Count preset 2 p 1 D amp 0 Q S 3
79. Set to ON to clear the memory If this switch is set to OFF the program stored in flash memory will be executed OFF Set to ON to execute self configuration for connected devices Always leave set to OFF Always leave set to OFF 4 3 CPU 01 Module 4 3 3 Hardware Specifications The following table shows the hardware specifications of the CPU 01 Module 512 Kbytes M registers S registers trace memory alarm history SRAM battery backup Seconds to year timer battery backup Self diagnostic Mode factory test switch Watchdog timer Software SH4 internal WDT Hardware 0 to 510 ms register setting Reset Circuit Reset output for power failure detection signal POKH after NMI generation Protective Functions RDY green RUN green ALM red ERR red TX green BAT red Indicators Switches 4 9 4 10 4 Module Specifications 4 3 4 Functions and Specifications 4 3 4 Functions and Specifications The differences between the functions and specifications of the MP2200 MP920 and MP2300 are shown in the following table CPU CPU SH4 SH7750R SH4 SH7750 486DX4 Performance 240 MHz 167 MHz 96 MHz Ratio 2 0 1 3 1 0 Operation Performance 1 0 to 1 1 Ratio No of C Motion functions Motion functions cision dined o of Con otion function trolled Axes MOV function 6 axes ms MOV function 4 axes ms MOV 12 axes 2 ms 18 axes 2 ms 12 axes 2 ms Max No of cont
80. The following table shows the LIO 02 Module input circuit specifications SpecTicaTons Inputs Input Format Isolation Method Input Voltage Input Current ON Voltage Current OFF Voltage Current ON Time OFF Time Number of Commons Other Functions 24 V 22 KQ DICOM Input register 16 points Sink mode source mode inputs Photocoupler 24 VDC 20 4 1 mA typ 15 V min 2 0 mA min 5 V max 1 0 mA max ON 1 ms max OFF 1 ms max 8 DI COMO DL _00 to DL_07 DI COM1 DL _08 to DI_15 e DI 00 interrupt input DI 00 is shared with interrupts If DI 00 is turned ON while interrupts are enabled the interrupt processing drawing is executed e DI 01 pulse latch input DI 01 is shared with pulse latch inputs If DI 01 is turned ON while pulse latch inputs are enabled the pulse counter will be latched e Vcc l am 1kQ k l 4 680 Q 0 01 pF AVI i a 2200 PF DI iy 5 6 K9 0 5 W ion gt 4 024 Vv Digital Input Circuit Sink Mode Input e Vcc 24 V 22 kQ DI _COM 7 f Input register l a TKQ i 6802 0 01 uF AVI aa Di in 56 k 0 5 W a ms BAORE Zay e b lee UINN V 004 SZ Digital Input Circuit Source Mode Input 5 33 5 Mounting and Wirin
81. Ths Daa e Peh 2 Opening the Motion Fixed Parameter Window The Engineering Manager Window will open and the Module Configuration Window will be displayed inside that a Point to 02 in the Controller section of the Module Configuration Window b Double click 1 in the Module Details section ey Sere Pi Yee Onne ee Hie jie bE Aaa BHRRER i eo Ft toroid 2 3 29 3 30 3 System Startup 3 1 6 Starting the MPE720 3 Setting the Fixed Parameters for Axis 1 Display the SVB Definition Window in the Engineering Manager Window Check that the Fixed Parame ters Tab Page has been selected a Select Axis I from the list of axes at the top left of the SVB Definition Window b Select mm as the Reference Unit for parameter 4 on the Fixed Parameters Tab Page Ta DE bsa Weipa Hao DAE EE A BELOW ERENG i a eal RACMO POIT ERAI BMOO o7F Ai 1 e A Yanm barn ippa Poly ip Sern Fecorenters SEAN OFAC Mawson E2203 S220 Glee Local b Set reference unit selection out O at J E Horra ha a Toan T trad Ura 1 pee hee 32700 Crt Unt larza GF Crd Unt 4 Saving Fixed Parameter Settings Select File Save in the Engineering Manager Window 5 Setting and Saving Axis 2 Fixed Parameters Referring to steps 3 and 4 in this procedure select Axis 2 and make the settings the same way as for axis 1 3 1 Outline 6 Closing the Engineering Manager
82. Wiring the System 1 Connecting the MPE720 and MP2200 The following figure shows how to connect the MPE720 and the 218IF 01 Module using a PP Cable 218IF 01 MP2200 Optional Module Optional Module Optional Module Optional Module Optional Module Optional Module JEPMC W5311 03 2 Connecting the MP2200 and SERVOPACKs Use a MECHATROLINK Cable to connect the MP2200 and SERVOPACKs MP2200 er F MP2200 wpu o2 CPU 01 2181F 01 sve o1 POWER o oo oo oo oo H C Optional Module Optional Module Optional Module Optional Module Optional Module Optional Module an SERVOPACK SERVOPACK T Venn servarar Aas SGDS 02A12A SGDS 02A12A Terminator MECHATROLINK II Q JEPMC W6002 01 000 ooo 2 lt co BHI Set the SERVOPACK MECHATROLINK station numbers to 1 and 2 The sample program is designed to operate with station numbers and 2 3 6 3 1 Outline 3 Connecting SERVOPACKs and Servomotors Use the motor cable and encoder cable to connect SERVOPACKs and Servomotors SVB 01 MP2200 Z MP2200 meu o2 CPU 01 2181F 01 svB 01 F Power O oo oo oo oo oo o o oo E ORT 2 2 2 2 2 5 z 5 4 3 3 3 3 3 3 o o o o o o ey T T T A A E E A E o Ss 2 2 2 2 a a a 3 a rs
83. a Flash Checksum A flash memory ee error has been ore Error detected twice Eog SRAM Error A SRAM hardware error has been detected G3 Eog Not lit Not lit Not lit Eeg 5 Eeg Fog 4 Fog sate CPU Interface Error A CPU data transmission error has been detected Communication Error A communication A communication error has been detected A communication error has been detected been detected Depends on status on status Watchdog Error A watchdog timeout error has been detected Indicates the number of blinking 4 43 4 Module Specifications 4 10 3 Hardware Specifications 4 10 3 Hardware Specifications 1 Module Specifications The following table shows the hardware specifications of the 218IF 01 Module Specifications JAPMC CM2500 z RS 232C 1 port PORT Communication Ports Ethernet 1 port 10Base T Module status LED indicators Indicators RUN green ERR red STRX green COL red TX green RX green 3 INIT 2595 xD 2 Communication Specifications a RS 232C communication Specifications The following table shows the RS 232C communication specifications Speccatons Spin Dab Gama Transmission s 15 m max Distance Baud Rate 9600 or 19200 bps Asynchronous start stop synchronization Communication Mode Message communication engineering communication Communication MEMOBUS MELSEC Non procedure Protocols Media Access Control Ll Method i Tran
84. alarm no system work error will occur e No system work error Bit E in the first word of the MSEE work registers There are two methods of designating a motion program Direct designation of the program number and indirect designation of the register number in which the program number is stored MPM001 ABS Motion program call instruction MOVIXI _ IY MSEE _MPM001 DA00000 MVSIX _ Y _ F IOW MB0001 MPM number MOVIX _ Y _ Ladder Program Motion Program Calling a Motion Program by Direct Designation MPM003 ABS Motion program call instruction MOV X _ Y _ 013 MVS X _ Y _F MSEE MW00200 DA00000 A IOW MB0001 enews Register number MOVIX _ Y Using the SRS MPM number contents of MW00200 MW00200 3 Ladder Program Motion Program Calling a Motion Program by Indirect Designation 6 11 6 Basic System Operation 6 3 3 Motion Programs 1 Groups With the MP2200 the axes can be grouped by operation so that multiple machines can be independently con trolled by one Machine Controller This enables programming to be done for each axis group The axes to be included in a group are defined in the group definitions Refer to MP900 MP2000 Series Programming Device Software MPE720 User s Manual Manual No SIJPC88070005 for information on group definitions a Operation as One Group
85. connector is used to connect the MP2200 to computers and HMI devices via an RS 422 485 connection ne Signal Description es Signal Description Name Name ber B RX RX Reception data Reception data RX Receptiondata Reception data Transmission data ter minator A aa Ce R Reception te 18 V60 Powersu ESV _ nator Note A terminator has been included as shown in the following diagram If you need to add a terminator connect RXR to RX and TXR to TX Leave RXR and TXR open if not adding a terminator Terminator IMPORTANT e Always keep the communication cable separate from the drive control power supply and other transmis sion systems The maximum length of RS 422 485 cable is 300 m Keep all cables as short as possible The 217IF 01 Module RS 422 485 interface is not an isolated system Noise from connected terminals may cause malfunctions If malfunctions occur use a shielded cable modem or other measure to reduce noise e For RS 422 connections add a terminator to the reception terminal if required For RS 485 connections add a terminator to the nodes at both ends of the transmission line 5 52 5 2 Module Connections 6 Module Connection Examples a PORT Connector Connections Refer to a PORT Connector Connections under 6 Module Connection Examples in 5 2 6 218IF 01 Mod ule Connections for information on
86. e Master e Slave The local station address for the master is 0 fixed Own station num ber local station number The local station address for a slave is 1 to the number of slaves The number of slaves can be changed using commu nication Note 1 The hardware switch has priority for the master slave setting Definitions for the MPE720 must match the hardware switch settings 2 Slaves function as intelligent I O b Settings and Display Items by Communication Method e MECHATROLINK I e Master Default Value Fixed value display only 4 Mbps Fixed value display only cycle Message reliability 0 Lor2 level Number of slave Fixed value display only e Slaves Default Value Fixed value display only Baud rate 4 Mbps 4 Mbps Communication Fixed value display only cycle 2 ms Message reliability Setting not required level Number of slave Fixed value display only 15 stations 15 6 32 e MECHATROLINK II 17 byte Mode Master 6 5 Self configuration Default Val Fixed value display only 10 Mbps No send bytes Fixed value display only 16 bytes Communication 0 5 ms or ms 1 ms cycle Set whether or not there is a Sigma Win connection SigmaWin g None Selections Yes No No of retry Sets the number of retry stations stations Setting range 0 to 7 messages Automatically determined by the SigmaWin setting and the number of retry stations setting The res
87. for the RS 232C interface of 261IF 01 Modules tem Communication Protocols Device Address Serial interface Communication Mode Data Length Pariy Stop is Baud Rate Transmission Delay Automatic Reception Leading Register No of Words Reading input relays TW0000 5120 Reading input registers TW0000 5120 Interface Register Settings at the Reading writing coils MW00000 32768 Slave Reading writing holding registers MW00000 32768 Writing range for coil holding MW00000 registers LO MW00000 HI MW32767 IN FON An engineering communication connection with the MPE720 is possible using self configuration Also depending on the 4 settings of connected devices MEMOBUS message communication may be possible using the automatic reception func tion 6 47 6 Basic System Operation 6 6 1 Saving User defined Files or Data 6 6 Setting and Changing User defined Files or Data This section explains precautions when changing the scan times Module configuration definition or other set tings e Scan times The cycles used to refresh all I O execute the ladder programs etc e Module configuration definition Settings for the Modules comprising the MP2200 and functions 6 6 1 Saving User defined Files or Data User defined files and data must be saved in flash memory Whenever setting or changing user defined files use the MPE720 to save them to flash memory If the files or data is not saved the settings and changes will be los
88. i IB IW IL IFhhhh These registers are common to drawings and functions so care must Input registers IAhhhh be taken with how they are used when calling the same function RA from drawings with different priority levels OB OW OL OF Output registers OAhhhh c Constant CB CW CL CFnnnnn registers CAnnnnn Note 1 Register number nnnnn is expressed as a decimal number Register number hhhh is expressed as a hexadecimal number 2 SA MA IA OA DA A and CA can also be used in the program 6 24 6 4 Registers 3 Register Ranges in Programs The programs and register ranges are shown below H03 drawing Program Registers common to all drawings System registers SB SW SL SFnnnnn 1 000 steps max Data registers Registers unique to each MB MW ML MFnnnnn drawing B W L Fnnnnn Individual data 16 384 words max FUNC 000 Function Input registers i i 1 i 1 i i i i i i i i i i i i i i i i i i i i i i i i i i IB IW IL IFhhhh i i 1 i i i i i i i i i i i i i i i i i i i i i i i i i i i i i 1 Program 1 000 steps max External function registers AB AW AL AFnnnnn Registers unique to each D Output registers function OB OW OL OFhhhh Function input registers 17 words XB XW XL XFnnnnn Function output registers 17 words YB YW YL YFnnnnn 1 1
89. is turned ON FF N FF N F 500 kbps 4 49 4 Module Specifications 4 12 3 Hardware Specifications 4 12 3 Hardware Specifications 1 Module Specifications The following table shows the hardware specifications of the 260IF 01 Module oer RS 232C 1 port PORT Communication Ports DeviceNet 1 port DeviceNet Module status LED indicators Indicators MS green red NS green red Setting Switches xl 25x95 XD 2 Communication Specifications a RS 232C communication Specifications The following table shows the RS 232C communication specifications Communication Protocols MEMOBUS MELSEC non procedure Media Access Control Ll Method Data length 7 or 8 bits Stop bits 1 or 2 bits Parity Odd even or none Transmission Format Can be set 4 50 4 12 260IF 01 Module b DeviceNet communication Specifications The following table shows DeviceNet communication specifications Spectators Number of Lines Tat vo ication functi Polled Bit Strobed Supported Communication Methods cea tee tunictons i cu Bit Strobed Explicit messages Master function only Max Number of 63 nodes VO Communi iaasa 8208s cation eat aT StVO 2 048 bytes 256 bytes node for max number of T O bytes Max Number of 63 nodes max number of nodes for simultaneous commu Message Nodes for Message nication 8 communication Max Message Master only Length 236 bytes Execution Functions F
90. occurs during system I O the error status is reported in the system register as shown below a System I O Error Status Register Number Not used SW00208 to SW00215 Not used because the CPU 01 Module does not have a built in I O Module or Communication Module Reserved by the system SWOURTO To SWOO2D3 Rack 1 Slot 1 Information SW00224 to Sw00231 ee on the Module mountedandthe Rack 4 Slot 9 Information Same as above 8 16 8 2 System Errors b I O Error Status Applicable Modules Classification Abbreviation Applicable CPU Module CPU 01 No No external I O interface Y Yi Yi Yi Yi Y Refer to the monitor parameters for error Motion Modules information 2171F 01 No No es No Communication Modules es es es es No 2611F 01 LIO 01 I O Modules zeor o1 Ye Expansion TO Modes xor w SSCS e SVB 01 Module Error Status Example Rack 1 Slot 1 F 8 7 0 Bit No F 2 1 0 Bit No used F E D SW00226 ST 30 ST 29 a o ST 17 ST 16 SW00227 Not used Sw00228 swo0229 SW00230 Not used SW00231 Table 8 6 Error Status Details Item Remarks Subslot No 1 SVB 01 MECHATROLINK communications Status Station error Communication normal Wot Communication error at n station When set to slave n is the local station number TERWS Subslot No The number displayed in the Module Details section in the Module Definition Window 8
91. of Pulses Per Encoder Rotation 1 to 23 1 1 1 pulse rev 2 words before Multiplication 4 37 4 Module Specifications 4 8 4 Counter Parameters 2 Counter Setting Parameters The following table shows the counter setting parameters details Nam Register Number Setting Range Command eager trae WOOOO 0000 Function a Latch Detection Signal Selec Set Function A I OWOOO0O 0001 Bit setting 0000H DI latch Set Function 0002H Z latch 0000H DI latch 0002H Z latch pan ne ormoomono aozii tretseneeunt seting CONDAT gt OLODODO oo 15t eeferenooonit OLOO00 0008 Reserved to OLOOOO 001C System Monitor OLOOOO 0x1E o i f System use The following table shows the Command Settings RUNMOD details Countpronibted if 0 icomp Y Coincidence detection request 1 Coincidence detection request POSMAX tums preset request Reserved OFT 4 38 4 8 LIO 01 and LIO 02 Module Counter Functions 3 Counter Monitor Parameters The following table shows counter monitor parameters details Register Number Status RUNSTS __ WOGHDWON0O Sieis PS wooo S Number of Incremental o R a Pulses PDV ILOOOO 0002 2 to 27 1 1 1 pulse PI Latch Data FREQ ILOOO0 0006 23 to 231 1 1 1 pulse ee td Number of Incremental Same as number of incre Pulses after Conversion ILOOOO 1 reference unit mental pulses when Elec PDVG tronic Gear not used
92. or none Transmission Format Can be set 4 54 4 13 261IF 01 Module b PROFIBUS communication Specifications The following table shows the PROFIBUS communication specifications Specifications s DP slave function Mounted Functions E A e Cyclic communication DP standard function 12 M 6 M 4 M 3 M 1 5 M 750 k 500 k 187 5 k 93 75 k 19 2 k or Baud Rate 9 6 kbps Auto detect Configuration Implemented by the PROFIBUS Master 1O Processing e Total I O register area 64 words max e T O allocations 64 words each max Diagnostic Functions e Status and Slave status display using MPE720 e T O error display using system register 1 The PROFIBUS ID is 05C1 The GSD file YASKO05C1 GSD is provided for master configuration GSD file Defines slave information 2 The PROFIBUS ID can be set between 0 and 125 but the 261IF 01 Module can be set only between 1 and 64 4 55 4 Module Specifications 4 14 1 Outline of Functions 4 14 EXIOIF Module 4 14 1 Outline of Functions The EXIOIF Module is an expansion rack interface for the MP2200 This Module can be used to configure an MP2200 system with up to four racks 4 14 2 LED Indicators and Switch Settings 1 External Appearance The following figure shows the external appearance of the EXIOIF Module External input connector External output connector 4 14 3 Hardware Specificatio
93. table depending on the highest station number in the detected slave stations Highest Slave Communication p e o e ed O E E C ee 10 to 16 5 Determined by the following equation 17 to 21 2 on p e m Devices Unable To Be Recognized in Self configuration The following Slave devices I O Modules do not have model codes and are therefore recognized as wild card I O O Assign a model code in the MPE720 Module Configuration Screen e JEPMC 10350 e JAMSC 120DAI53330 e JAMSC 120DAI73330 e JAMSC 120DA083330 e JAMSC 120DRA83030 SERVOPACKs with special specifications or that cannot be automatically configured are recognized as wild card SERVOPACKs SERVO Allocate these SERVOPACKs in the MPE720 Module Configuration Screen 6 35 6 Basic System Operation 6 5 2 SVB 01 Modules 3 Motion Parameters The motion parameters for each axis are set as described below when self configuration is executed Refer to Chapter 4 Motion Parameters in MP2200 MP2300 Machine Controller Motion Module User s Manual Manual No SIEPC88070016 for information on motion parameters a Motion Fixed Parameters Motion fixed parameters and SERVOPACK parameters are set automatically as shown below 1 SVB 01 Module gt SERVOPACK SERVOPACK SGD N SGDH SGDH SGDB N NS100 NS115 Sone Conforms to the connected Servomotor specifica tions Encoder Type Rated Motor Speed Number of Pulses per Motor Rotation
94. 0 using subscript j L 00000 MW00200 FOR j 00000 to 00099 by 00001 MW00200 MW00100j Mwo0200 FEND Programming Example Using a Subscript 6 5 Self configuration 6 5 Self configuration 6 5 1 Overview of Self configuration Self configuration eliminates the need to make settings for Module definitions making it possible to perform startup work easily and quickly for the MP2200 system Optional Modules are recognized and definition files are generated automatically Input registers and output registers are automatically allocated to I O Allocation is performed in ascending order from the Module with the lowest option slot number In networks such as MECHATROLINK and DeviceNet information about the station configuration is collected and definition files are generated automatically Self configuration can be executed by either turning the power ON with the CNFG and INIT switches ON or it can be executed from the MPE720 The procedure for executing self configuration using the CNFG and INIT switches is given below The allocated I O register numbers will change when self configuration is executed e Executing Self configuration for the Whole Configuration CNFG switch ON INIT switch ON Self configuration will be executed for all Modules All definition files will be created or recreated The contents of ladder drawings functions and registers will all be cleared e Executing Self configuration for Additions
95. 00 mP2200 meu o2 CPU01 2181F 01 sve o1 POWER Q 10Base T MECHATROLINK I MECHATROLINK I Terminator Terminator SGDH 04AE ker SERVOPACK SERVOPACK SERVOPACK Repeater Inverter L v SERVOPACKs Inverters for up to 16 stations vV Up to 21 stations including I O Note Insert a JEPMC W6022 Terminator into the unused MECHATROLINK port 5 2 Module Connections 6 Connections between Devices a Cable Connections between the SVB 01 and I O Units and the MP2200 and SERVOPACKs Cable model number JEPMC W6002 00 JEPMC W6003 00 Pin No Name Name NC 1 NC DATA 2 IDATA DATA f3 DATA SH 4 SH Shield Shell Shield Note The JEPMC W6003 O10 Cable has a ferrite core b Cable Connections between the SVB 01 and SGD OOON and SGDB OOAN SERVOPACKs Cable model number JEPMC W6011 00 SVB 01 SERVOPACK SERVOPACK SERVOPACK terminating PP ge ae a T ait hata wate We Set Og
96. 00 b1 MVS a1 200 b1 END Motion program 6 3 User Program 4 Motion Program Status The first word of the MSEE work registers consists of motion program status which indicate the status of motion program execution The following table shows the status a 8 Program alarm has been gereed iE o Soma SSCS e Debugging mode EWS te SS o Sarremestsimathisoy SS Note When alarms occur the details are reflected in the system registers 5 Interpolation Override The override for execution of interpolation commands in the motion program is written to the third word of MSEE work registers Unit 1 0 01 The interpolation override is enabled only if bit E in the motion program control signals Interpolation Override Setting is set to ON 6 System Work Number System work numbers used for executing motion programs are set in the fourth word of MSEE work registers e Range to 16 System work numbers are enabled only if bit D in the motion program control signals System Work Number Setting is set to ON If a set work number is out of range or if the specified work number is being used bit E in the motion control status No System Work Error turns ON 7 Monitoring Motion Program Execution Information with System Registers Execution information for motion programs can be monitored using the system registers SW03200 to SW04191 The monitor method depends on the setting of bit D in the m
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98. 00058 MB300018 Axis 2 step reference WORK DB000008 Axis 2 step start DB00009 Axis 2 step start DB000009 DB000059 Axis 2 step speed and moving amount EXPRESS ION z 0L8090 1000 OL80C4 DL00010 Axis 2 motion command STORE a Source 00008 Dest 0W8088 Axis 2 jog reference DB000000 Axis 2 jog start DB000001 Axis 2 jog stop DB000002 Axis 2 step reference DB000008 Axis 2 step start DB000009 Axis 2 step stop DB00000A 3 45 3 System Startup 3 2 3 Program Details P00111 H02 02 Main Program Axis 2 Manual Jog and Step Operation Processing Axis 2 step stop DB00000A 00011 STORE a oase Source 00000 Dest OW8088 HHH Reverse rotation selection HHHHHHHH Axis 2 jog reference Axis 2 Reverse Jog Axis 2 Reverse DB000000 DB000011 0B80892 0012 0038 NL 1 Axis 2 step Axis 2 Reverse reference Step DB000008 DB000013 0013 0043 NL 1 3 46 3 3 Sample Program 2 Positioning Control 3 3 Sample Program 2 Positioning Control 3 3 1 Description 1 Machine Outline Sample program 2 will use a motion program to operate a hypothetical X Y plotter such as the one in the follow ing diagram 2 Program Outline The H04 drawing ladder program starts a text format motion program e The motion program executes the commands and operations in the program in order from the beginning The following sample motion programs have been prepared e Motion program No 1
99. 00070 SourceB DLO0072 Dest DLOOO74 STORE a NL 1 Source DL00070 Dest DLO0072 Cam operation reference MB300008 Cam speed calculation and settings 0028 EXPRESSION Z TR DL00076 DL00074 10000 SW0004 DL00078 DLOO076 60 1000 08090 DLO0078 10000 10000 0029 END 0058 NL 1 3 62 2 L Drawing 3 5 Sample Program 4 Phase Control with an Electronic Cam The L parent drawing is in the low speed scan and controls the overall sample program P00125 L Main Program Low speed Main Program HHHH Low speed main program H HHHHHHE HHHH Electronic cam table data generation HHHHHHHH 0000 0000 NL 1 0001 NL 1 3 LO6 Drawing The L06 child drawing generates cam pattern data for phase control electronic cam operation P00126 L06 Main Program Electronic Cam Table Data Generation HHHH Electronic cam table data generation HHHHHHHH HHHHHHHHH Cam table generation head data HHHHHHHHHE Cam operation reference MB300008 Cam table head data 0000 EXPRESS ION a 0000 NL 1 DLO0010 ML30200 DL00012 ML30202 ML30210 DL00010 ML30212 DLOOO12 MW31000 361 MW31001 0 DF00030 0 HHHH Cam table generation later data HHHHHHHHH Cam displacement calculation 0001 FOR a 0002 s NL 1 Variable Init 00000 Max 00360 Step 00001 0002 STORE a 0003 NL 1 Source Dest DF00030 Displacement calculation workpiece 0003 COs a NL 1 Source DF00030 Dest DF00032 Cam displacement calculati
100. 004 VY Digital Input Circuit Source Mode Input 5 27 5 Mounting and Wiring 5 2 4 LIO Module Connections g Output Circuit The following table shows the LIO 01 Module output circuit specifications ten Outputs Output Format isolation Method aves SOS Output Voltage 24 VDC 20 Output Current 100 mA max Leakage Current when OFF 0 1 mA max ON Time OFF Time ON 1 ms max OFF 1 ms max Number of Commons 16 points Fuse Protection Circuit The fuse is not however for circuit protection It is for protecting against fire at out put shorts Attach a fuse externally to each output if circuit protection is required Error Detection Fuse blown detection Other Functions DONS DO 00 is shared with counter position detection 24 V 4709 Dinini Output DO_24V register f gt I 4 A j DO_OUT I if Vv 33 KQ 1 DO_COM lt S 33 KQ sasi zZ 024 Digital Output Circuit Sink Mode Output 5 28 5 2 Module Connections h Pulse Input Circuit The following table shows the LIO 01 Module pulse input circuit specifications Item Specifications Number of Points 1 Phase A B Z input Phase A B 5 V differential input not isolated max frequency 4 MHz Input Circuit Phase Z 5 V 12 V photocoupler input max frequency 500 kHz Input Mode Phase A B signed incremental decreme
101. 0118 H06 01 Main Program Phase Control 1 Electronic Shaft Processing HHHH Phase control 1 electronic shaft processing HHHHHHHH HHH Electronic shaft operation reference HHHHHHH Electronic shaft startup PB Axis 1 SV_ON Axis 2 SV_ON DB000010 1B80001 1B80801 0000 0000 NL 1 Electronic shaft operation reference WORK Axis 1 motion command 0 Axis 1 motion command 0 DB000000 DB000050 DB000010 DB000018 0001 0004 NL 1 Electronic shaft operation reference Zero speed WORK DB000000 DB000003 DB000050 0002 0009 NL 1 HHHH Motion command execution HHHHHHHE Motion command 25 phase control setting Electronic shaft start DB000001 Axis 1 motion command 0003 STORE t ree Source 00025 Dest OW8008 Electronic shaft start DB000001 Axis 2 motion command 0004 STORE i tea Source 00025 Dest OW8088 Motion command 0 NOP setting Electronic shaft stop DB000002 0005 STORE Source 00000 Dest 0W8008 Electronic shaft stop DB000002 Axis 2 motion command 0006 STORE ooe Source 00000 Dest 0W8088 HHHH S shaped acceleration deceleration parameter settings HHHHHHHT parameter settings EXPRESS ON i NL 1 DB000200 true DB000201 true DF00022 30000 0 DF00024 0 1 DF00026 DF00030 DF00032 HHHH Electronic shaft operation speed switching sequence HHHHHHT Electronic shaft operation reference DB000000 Electronic shaft start DB000001 Electronic shaft stop DB000002 A double in
102. 0154 SW00186 Function Calling SW00123 Sw00139 sw00155 SW00187 l l DWG Number Function Calling DWG Step Number Function Calling Step number of the drawing that calls SW00124 SW00140 SW00156 SW00188 DWG Step Number swo0124 swoordo swoorse swooiss the function in which an error occurred patel by the swo00125 swoo0141 swoo1s7 sw00189 0 when there is an error in the drawing 8 12 8 2 System Errors Table 8 3 Ladder Program User Operation Error Status 3 ib Error Contents User System Default Code 0001H Integer operation underflow 32768 32768 0002H Integer operation overflow 32767 32767 0003H Integer operation division error Yes The A register remains the same 0009H Double length integer operation 2147483648 2147483648 underflow 000AH Double length integer operation 2147483647 2147483647 overflow 000BH poe ee integet opetanon The A register remains the same division error 0100H Op ee cee drawing No Default indicated above integer operation error O to B Real number storage overflow 0023H Real number operation division by Y Operation not executed The F zero error Integer Operation register remains the same Operation not executed 0030H Real number operation invalid opera 5 tion non numeric 0031H Real number operation exponent underflow 0032H Real number operation exponent over flow 0033H Real number operation divis
103. 1 Dest 0W8083 3 41 3 System Startup 3 2 3 Program Details P00103 H01 Main Program Processing of Common Axis Setting HHHH H Linear acceleration deceleration setting HHHHHHH Axis 1 and 2 linear acceleration deceleration setting MPM running W020 0010 EXPRESSION a 0018 NL 1 OL8036 100 OL8038 100 OL80B6 100 OL80B8 100 0011 0020 NL 1 3 H02 Drawing The H02 child drawing controls jog and step operation P00105 H02 Main Program Manual Operation Main Processin HHHH Manual operation main processing 4HHHHHHH 0000 NL 1 0000 7 Name H02 01 SEE a 0001 9 zZ 0001 NL 1 Name H02 02 0002 3 42 3 2 Sample Program 1 Manual Operation 4 H02 01 Drawing The H02 01 grandchild drawing controls jog and step operation for axis 1 P00107 H02 01 0000 0000 NL 1 0006 NL 1 0002 0010 NL 1 0004 0015 NL 1 0007 0025 NL 1 0008 0029 NL 1 0009 0032 NL 1 0010 0034 NL 1 Main Program Axis 1 Manual Jog and Step Operation Processing HHHH Axis 1 manual jog and step operation processing 4HHHHHHHT HHHH Jog and step operation HHHHHHHE Axis 1 jog operation Axis 1 Forward Jog DB000010 Axis 1 Reverse Jog Axis 1 SV_ON DB000011 1B80001 Axis 1 Forward Jog DB000010 Axis 1 jog reference DB000000 Axis 1 jog reference DB000000 Axis 1 jog start DB000001 Axis 1 jog start DB000001 Axis 1 jog stop DB000002 Axis 1 Reverse Jog D
104. 1 10 Input terminal CN1 11 Input terminal CN1 12 Input terminal Use T REF as external torque limit Use V REF as external speed limit input DEC Signal Mapping EXT1 Signal Mapping EXT2 Signal Mapping EXT3 Signal Mapping Speed Reference Command Option Torque Reference Command Option 6 38 SVB 01 Module SERVOPACK Parameters Name Excessive Position Error Area Overtravel Level Excessive Position Error Alarm Detection Level Excessive Position Error Warn ing Detection Level Area where Negative Latch Is Possible Set Value 65535 32767 230_4 100 Pn820 value SERVOPACK SGDH SGDH NS100 NS115 Pn505 SGD N SGDB N Cn 001E SGDS Pn51E Note The above parameters are written to the SERVOPACK RAM except for Area where negative latch possible which is written to EEPROM 6 5 Self configuration 6 5 3 SVA 01 Modules Details on definition information when self configuration is executed are shown below 1 Module Configuration Definition The following illustration shows a Module configuration definition example when SVA 01 and 218IF 01 Mod ules have been mounted to the MP2200 Option Slot and self configuration has been executed The line number is automatically set to 01 in the details section for the SVA 01 Module and motion registers are allocated as shown below e Motion Leading Register Number 8000 e Motion Ending Register Number 87FF Ele ee Greer window t
105. 1 Overview of Troubleshooting 8 2 8 1 1 Troubleshooting Methods 8 2 8 1 2 Basic Troubleshooting Flow 8 3 8 1 3 Indicator Errors 8 3 8 2 System Errors 8 5 8 2 1 Overview of System Errors 8 5 8 2 2 Processing Flow When a System Error Occurs 8 6 8 2 3 Processing Flow for a User Program Error 8 7 8 2 4 System Register Configuration 8 8 8 1 8 2 8 Troubleshooting 8 1 1 Troubleshooting Methods 8 1 Overview of Troubleshooting This section shows the basic troubleshooting flow and provides a list of errors 8 1 1 Troubleshooting Methods There are three checks available for checking the system when an errors occurs They are checks by symptoms error codes and monitor functions of peripheral devices Checking procedures are categorized by status condi tions to help determine the cause quickly 1 Checking by Symptoms Factors like indicators on the front of the Module and the control status of all devices are visually checked to determine a cause and implement corrections 2 Checking by Error Codes Error codes generated when errors occur are monitored to determin
106. 19 DI_07 lt B19 DI_06 External input signals A20 DI_05 B20 DI_04 A21 J DI_03 B21 J DI_02 DI_01 gt N N Fuse blown detection circuit Digital outputs l oo A ge DO_24V i H 24 VDC oH Fuse As DO_24Vv 3 wW N N 9 lo 3S a i N o gt N ay ie hed a D N N N N N N Ng di 2 AY at Oo AY AY D 2 AY O S D GN ZN iz he External output signals D N R o NN SS iv e OT D O N NN NAN NN AN gt fs Ts S D je WwW rae g R Note Connect a fuse suitable for the load specifications in the output signal circuit in series with the load If an external fuse is not connected load shorts or overloads could result in fire destruction of the load device or damage to the output element 5 36 5 2 Module Connections 5 2 5 LIO 04 Module Connections This section explains the connections for the LIO 04 Module 1 Connection Cables a Connectors The following diagram shows the LIO 04 Module connector The connectors connect the LIO 04 Module to I O signals They are connected using the following standard cable e JEPMC W6060 00 Number of inputs 32 8 common Input mode Source sink mod
107. 2 4 LIO Module Connections e Connector Pin Arrangement The following table shows the connector pin arrangement for the LIO 02 Module P Num ber Remarks I TS gaer s Signal Name Phase A pulse G Phase B pulse C N Pulse input ground DO_COM Output common 24 V input Output 15 Output 13 Output 11 Output 9 Output 7 Output 5 Output 3 Output 1 Input 15 EA EE poe o CAA pom o Do 0 ES EJ EZ EA EN in A1 A2 A3 A4 A5 A6 A7 A8 A9 A10 A11 A12 A13 A14 A15 A16 A17 i Input 13 Input 11 eee Se Deom e Input 9 A19 Input 7 a oo oO A Input 5 A21 Input 3 Input 1 E A A 3 Input common 0 2 2 A2 2 2 E Frame ground Pin Num ber B1 B2 Phase A pulse Phase B pulse I Phase Z pulse 5 V input Phase Z pulse 12 V input PL output common DP aaVinpor E o foma o om o om o oms o ome o oma o om o fomo CP conmo C Fame around PAL PBL B3 PCLS B4 PCL12 ol DO_COM DO_24V DO 14 DO 12 DO 10 DO_08 DO_06 DO_04 DO_02 DO_00 DI_14 DI_12 DI_10 DI_08 Co NX B10 B11 B12 B13 1 W A W ius oa O o W _ N W Ww akj oa DI_04 DI_02 E N oO w W N N N _COM1 es se N T Note P Power input I Input signal O Open collector output f Input Circuit 5 2 Module Connections
108. 2 Mounting Optional Module Connectors 4 15 2 Mounting Optional Module Connectors The Optional Modules have the following dimensions Height 125 mm Depth 95 mm The following figure shows the Optional Module connector mounting dimensions 48 2 ip LIO 01 218IF 01 45 260IF 01 Unit mm __ 48 B LIO 02 2171F 01 2611F 01 4 15 External Appearance 36 ea 4 EXIOIF SVB 01 4 59 5 Mounting and Wiring This chapter explains how to handle the MP2200 and the connection methods for each Module 5 1 Handling the MP2200 5 2 5 1 1 Mounting the MP2200 5 2 5 1 2 Replacing and Adding Optional Modules 5 5 5 2 Module Connections 5 8 5 2 1 Connecting Power Supply 5 8 5 2 2 SVB 01 Module Connections 5 11 5 2 3 SVA 01 Module Connections 5 17 5 2 4 LIO Module Connections 5 25 5 2 5 LIO 04 Module Connections 5 37 5 2 6 218IF 01 Module Connections 5 47 5 2 7 217 F 01 Module Connections
109. 2200 without any errors or failures If an alarm does occur such as for an I O conversion error or a user calculation error the execution of the user program will not stop and the online operating mode will be maintained The ALM indicator lights to indicate the occurrence of the error For details on the error content and the action to be taken see Chapter 8 Troubleshooting 6 1 2 Offline Stop Mode The execution of the user program is stopped and all outputs are reset i e 0 is output for all digital outputs The RDY indicator will light and the RUN indicator will go OFF The MP2200 will be in the offline stop mode in the following cases e When a serious failure such as a watchdog timeout error has occurred e When a STOP operation has been performed from the MPE720 e When the STOP switch has been set to ON user program stopped and the power has been turned ON The above case applies when a user program error occurs or when there is a hardware fault in the MP2200 For details on the error content and the action to be taken see Chapter 8 Troubleshooting 6 2 Startup Sequence and Basic Operation 6 2 Startup Sequence and Basic Operation This section explains the startup sequence and basic operation of the MP2200 The methods for setting the DIP switch the types of self diagnosis and the indicator patterns are also explained 6 2 1 DIP Switch Settings The DIP switch on the CPU 01 Module is used to control the startup sequence
110. 232C Ethernet connector 10Base T 4 10 218IF 01 Module 2 Indicators The following table shows the status of 218IF 01 Module LED indicators RUN Green Lit during Toral operation Not lit during errors ERR Red Lit blinking during malfunctions Not lit during normal operation RUNG O ERR STRX Gren Lit during RS 232C data transmission or reception Not lit when data not being transmitted or received sTRXC Ocor Ethernet collision status TX O O RX Lit Collision Not lit No collision Ethernet transmission status Lit during transmission Not lit if data not being transmitted Ethernet reception status Lit during reception Not lit if data not being received 3 Switch Settings The following table shows the 218IF 01 Module switch settings For engineering communication Starts up using default parameters excluding automatic reception Module Flash Startup and Self configuration Star p OFF Set to OFF for CPU Module Flash Startup and Self configuration Startup ON Syst TEST TEST ON aie OFF OFF Normal operation Always leave turned OFF 4 Offline Self diagnostic Test The following table shows the LED indicator display if a malfunction is detected by the 218IF 01 Module during an offline self diagnostic test Offline diagnostic tests are executed if the TEST switch is set to ON the INIT switch is set to OFF and the power is turned ON aR a Item a
111. 36 Source 00000 Dest DL00066 Master axis position FB previous value 0015 STORE a oop Source 1L8016 Dest DL00060 0016 SUBX z 0039 SourceA DL00060 SourceB DLO0062 Dest DLO0064 Master axis position FB previous value m STORE goo Source DL00060 Dest DL00062 Master axis increment calculation Electronic cam phase 0018 ADDX tee SourceA DLO0064 SourceB DLO0066 Dest DLO0066 Cycle detection 001 9 EXPRESSION a 0042 NL 1 DB000008 DLO0066 gt ML30202 DB000009 DL00066 lt 0 3 61 3 System Startup 3 5 3 Program Details P00123 H06 02 Main Program Phase Control 2 Electronic Cam Processing Forward detection DB000008 Electronic cam phase T SUBX a Mee Source A DLOO066 Source B ML30202 Dest DL00066 Reverse detection DB000009 Electronic cam phase 0021 ADDX a 0045 NL 1 Source A DL00066 Source B ML30202 Dest DL00066 Electronic cam phase 0022 STORE a 0047 Source DL00066 Dest DL00068 Slave axis cam displacement generation ON COIL B000004 0023 FGN a 0048 NL 1 Input DL00068 Parameter MA31000 Output DL00070 Cam operation reference MB300008 Axis 2 phase compensation 0024 STORE a Noe Source DL00070 Dest OL80A8 Cam operation reference MB300008 Axis 2 phase compensation 0025 STORE a 0032 Source DL0000000000 Dest OL80A8 HHHH Slave axis reference speed generation HHHHHHHE Increment for one scan by slave axis 0026 SUBX a poet SourceA DL
112. 4V it O DO_2 Pcon 12 l O 15 P CON DO a Ss Te Bs O T i T O DI_3 p or 15 O r i O 16 P OT 24V 16 O i O 13 24V IN DI_0 svaLM 17 O 34 ALM DI_2 ZERO HOoME LS 18 l SG 19 O 6 OSEN SEN sv 20 O O 5 SEN Al_1 TREFMON 21 0 i 22 0 l i PB 23 oH a 22 PB PBL 24 0 i O 23 PB ae ol o EE E a z I I f I AO GND 27 O 19 SG OV for 24V 28 O 29 BATO OV for 24V 29 OF mO 28 BAT DO_1 ALMRST 30 l O 18 ALMRST DO_0 svon 31 O l O 14 S ON DO_5 SEN for vs866 32 O i f l f DI_4 N OT 33 O i O 17 N OT 24V 34 0 Sooo or DI_1 SRDY 35 TO ee DI_5 ExT DEC 36 O Hood FG e FG Hood EXT DEC input ABS encoder battery 3 6 V ZERO HOME LS input ABS encoder battery 0 V P OT input Brake interlock output N OT input Brake interlock output 5 21 5 22 5 Mounting and Wiring 5 2 3 SVA 01 Module Connections h SERVOPACK Connection Cables for SGDB O0 e Model No standard cable is available e Cable Connections Diagram SVA 01 SGDB a a ON SG 1 0 l i i i O 2 SG AO_O NREF 2 0 O 5 V REF PA 3 i r 7 O 33 PA aa i i PCL 6 o i O 20 IPC O4 t ri gt o poe ul i i 9 SG Speed monitor AI_O vc 8 O l i O 17 VTG M Sie AO_1 TREF 9 i t A t O 9 T REF OV For 24 V 10 O r O 32 ALM OV For 24 V 11 O l
113. 5 C and 24 VDC 10 points 5 inputs common At ambient temperature of 55 C and 28 8 VDC Refer to the following characteristics graph for details Digital Outputs 32 outputs g p 24 VDC transistor open collector outputs sink mode outputs RUN Indicators UN green ERR red Dimensions Dimensions mm 125 x 95 H x D p 4 Number of ON Inputs vs Ambient Temperature Characteristic Points 32 inputs 28 C 32 inputs 41 C Input voltage 24 VDC Input voltage 28 8 VDC 16 inputs 55 C No of ON inputs 10 inputs 55 C 0 10 20 30 40 50 60 C Ambient temperature 4 41 4 42 4 Module Specifications 4 10 1 Outline of Functions 4 10 218IF 01 Module 4 10 1 Outline of Functions The 218IF 01 Module has an RS 232C serial interface and an Ethernet interface mounted in it Personal comput ers HMI devices and controllers manufactured by other companies can be connected to the 218IF 01 Module via the PORT or 10Base T connectors Communication modes include message communication and engineering communication and MEMOBUS MELSEC and non procedure protocols are supported Refer to the MP2300 Machine Controller Communication Module Users Manual Manual No SIEPC88070004 for details 4 10 2 LED Indicators and Switch Settings 1 External Appearance The following figure shows the external appearance of the 218IF 01 Module LED indicators DIP switch Serial connector RS
114. 852 2803 2385 Fax 852 2547 5773 BEIJING OFFICE Room No 301 Office Building of Beijing International Club 21 Jianguomenwai Avenue Beijing 100020 China Phone 86 10 6532 1850 Fax 86 10 6532 1851 TAIPEI OFFICE QF 16 Nanking E Rd Sec 3 Taipei Taiwan Phone 886 2 2502 5003 Fax 886 2 2505 1280 SHANGHAI YASKAWA TONGUJI M amp E CO LTD 27 Hui He Road Shanghai China 200437 Phone 86 21 6553 6060 Fax 86 21 5588 1190 BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO LTD 30 Xue Yuan Road Haidian Beijing P R China Post Code 100083 Phone 86 10 6233 2782 Fax 86 10 6232 1536 SHOUGANG MOTOMAN ROBOT CO LTD 7 Yongchang North Street Beijing Economic Technological Investment amp Development Area Beijing 100076 P R China Phone 86 10 6788 0551 Fax 86 10 6788 2878 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 MANUAL NO SIEP C880700 14A for ongoing product modifications and improvements Printed in Japan September 2004 04 9 2004 YASKAWA ELECTRIC CORP
115. AWG20 twisted pair cable Refer to d Connection Procedure for 100 200 VAC Power Supply Cable in 1 MBU 01 Unit Connections for the cable connection procedure 5 10 5 2 Module Connections 5 2 2 SVB 01 Module Connections This section explains the connections for the SVB 01 Module 1 Connectors MECHATROLINK I MECHATROLINK II connectors are used to connect the SVB 01 Module and the SERVOPACKs and distributed I O MECHATROLINK I MECHATROLINK II connectors are shown in the following diagram c M I Il 5 CN1 SEY Shell Shield Connects the shield wire 5 INFO There are two connectors on the MECHATROLINK I MECHATROLINK II but the communication line supports only 7 one channel Ifthe SVB 01 Module is connected at the end of a network connect a JEPMC W6022 Terminator to the other connec tor Both connectors perform the same function so connections can be made to either 2 Connector Specifications Connector No of Connector Model Name i Name Pins Module Side Cable Side Manufacturer MECHATROCIMNIK M I II USB AR41 T11 DUSB APA41B1 C50 DDK Ltd connector 5 11 5 Mounting and Wiring 5 2 2 SVB 01 Module Connections 3 Cables MECHATROLINK Cable USB Connector USB Connector JEPMC W6002 10 10m JEPMC W6002 20 MECHATROLINK Cable JEPMC W6003 05 5m USB Connector USB Connector with ferrite JEPMC W6003 10 core JEPMC W6003 20 JEPMC W6003 30
116. B000011 WORK Axis 1 motion command 0 DB000050 MB300010 WORK DB000051 Axis 1 speed reference setting STORE a Source 0000001000 Dest 0L8010 Axis 1 motion command STORE a Source 00007 Dest OW8008 Axis 1 motion command STORE a Source 00000 Dest 0W8008 FHHHHAHHHH Step operation HHHHHHHHE Axis 1 step operation Axis 1 Forward Step DB000012 Axis 1 Reverse Step Axis 1 SV_ON DB000013 1B80001 Axis 1 Forward Step Axis 1 Reverse Step DB000012 Axis 1 step reference DB000008 Axis 1 step reference DB000008 Axis 1step start DB00009 Axis 1 step start DB000009 DB000013 WORK Axis 1 motion command 0 DB000058 MB300010 WORK DB000059 Axis 1 step speed and moving amount EXPRESS ON a 0L8010 1000 0L8044 DL00010 S Axis 1 motion command STORE a Source 00008 Dest 0W8008 Axis 1 jog reference DB000000 Axis 1 jog start DB000001 Axis 1 jog stop DB000002 Axis 1 step reference DB000008 Axis 1 step start DB000009 Axis 1 step stop DB00000A 3 43 3 System Startup 3 2 3 Program Details P00108 02 01 Main Program Axis 1 Manual Jog and Step Operation Processing Axis 1 step stop DBOOOOOA 00011 STORE EA 0036 NL 1 Source 00000 Dest OW8008 ARES Reverse rotation selection HHHHHHHHE Axis 1 jog reference Axis 1 Reverse Jog Axis 1 Reverse DB000000 DB000011 0B80092 0012 _ A
117. DO gt processing Gaure mode gt 4 7 2 LED Indicators and Switch Settings 1 External Appearance The following figure shows the external appearance of the LIO 02 Module LED indicators Switch 1 O connector 4 25 4 Module Specifications 4 7 2 LED Indicators and Switch Settings 2 LED Indicators and Switch Settings The LIO 02 Module status display LED indicators LD1 to LD8 change based on the SW1 rotary switch set tings The following table shows the ON OFF indicator display for DI and DO cator LD5 Normal operation Lit Error Not lit LD6 DI 08 to DI 15 status Lit when any DI is turned ON LD7 DO 08 to DO 15 status Lit when any DO is turned ON LD8 Pulse Z input Lit when phase Z is turned ON LD1 I input indicators When DI00 to D107 turn ON corresponding indicators LD1 to LD8 are to Green it LD8 I input indicators When DIO8 to DI15 turn ON corresponding indicators LD1 to LD8 are it gJ DO output indicators When DO00 to DO07 turn ON corresponding indicators LD1 to LD8 are lit DO output indicators When DO08 to DO15 turn ON corresponding indicators LD1 to LD8 are lit PI input Indicators D L Pulse A input Coincidence detection 5 LD2 Pulse B input Phase Z latch LD3 Pulse Z input DI latch LD4 LD1 O O LD5 LD2 O O LD6 LD3 O O LD7 LD4 O O LD8 Indicators sw1 4 26
118. ES Pitas CER en a of Communication 1 line Lines Number of Communication PERA Ports Connectors po Terminating Resistance JEPMC W6022 Terminator must be JEPMC W6022 Terminator must be purchased separately separately MECHATROLINK II EPE eo Teia mas be pe r Network length of 50 m minimum distance between stations of 0 5 m MECHATROLINK I Total Network length of 50 m minimum distance between stations of 0 3 m MECHATROLINK II MECHATROLINK I Communication Interface CP 216 2 N synchronous 1 N synchronous Baud Rate Rate 10 Mbps 4 Mbps 2 Mbps or 4 Mbps Number of Link Commu nication Bytes 17 bytes or 32 bytes 17 bytes 17 bytes Up to 21 stations SERVOPACK forupto 16 Up to 14 stations p to 14 stations axes C1 Messaging Master ee Ga vies Supported selectable Not supported Not supported Retry Function Supported selectable Not supported Not supported Supported Slave Devices Slave Devices For details refer to 2 3 Devices Connectable to MECHATROLINK MECHATROLINK II MECHATROLINK I Communication Interface 2 N asynchronous 1 N asynchronous Baud Rate Rate 10 Mbps 4 Mbps 2 ms Number of Link Commu nication Bytes 17 bytes or 32 bytes 17 bytes o Transmission Distance MECHATROLINK il Master Functions Number of Connectable Stations Slave Functions 4 4 SVB 01 Module cont d Single transmission communication cycle transmission cycle synchronous com munication C
119. F 01 Module 4 46 218IF 01 Module 4 43 260IF 01 Module 4 49 261IF 01 Module 4 53 CPU 01 Module 4 8 LIO 01 Module 4 23 LIO 02 Module 4 26 SVB 01 Module 4 14 system errors 8 5 I O error status 8 15 Module information 8 24 processing flow 8 6 service execution status 8 14 status 8 10 transmission errors 8 16 user operation error status 8 12 system functions 6 19 system initialization 3 8 system registers 6 23 system startup equipment 24 VDC power supply 3 5 connecting the MPE720 and MP2200 3 6 controller related equipment 3 4 MECHATROLINK Cable connection 3 6 programming device related equipment 3 4 servodrive related equipment 3 5 SERVOPACK and Servomoto
120. Folder name MP2200 Create a group folder using the procedure below 1 Right click the root directory and select New Group folder Te pi Ree Teel Hep oO ee he Se EE oe eA T 2 Enter the group folder name in the Make New Folder Window and click the OK button The group folder name must be 8 characters or less x Caleg Haves pra Cx 3 The new group folder MP2200 will be created Double click the root directory or click the button to display the MP2200 Group Folder Oon igi xj Re te See T he cee ny te eam er Dj RFI 3 17 3 System Startup 3 1 6 Starting the MPE720 5 Creating an Order Folder Create an order folder using the procedure below Example Folder name YESAMPLE 1 Right click the MP2200 Group Folder and select New Order Folder aliaj Fe fe Ses J H eo eS ty te e gop rom 2 Enter the order folder name in the Make New Folder Window and click the OK button The order folder name must be 8 characters or less Sur Sey Pijer giye PES ARLE Cam e 3 The new YESAMPLE Order Folder will be created Double click the MP2200 Group Folder or click the H button to display the YESAMPLE order folder Pyles Pumi 6 Creating a Controller Folder Register the new controller to be used to create the program using the procedure below Controller name 2200SMPL Controller type MP2200 Create a controller folder
121. I O End Register Number Depends on switch settings 2 RS 232C Interface When self configuration is executed the following parameter settings will be made for the RS 232C interface of 260IF 01 Modules Transmission Delay Automatic Reception Leading Register No of Words Reading input relays TW0000 5120 Reading input registers TW0000 5120 Interface Register Settings at the Reading writing coils MwW00000 32768 Slave Reading writing holding registers MW00000 32768 Writing range for coil holding regis _MW00000 ters LO MW00000 HI MW32767 INFON An engineering communication connection with the MPE720 is possible using self configuration Also depending on the 4 settings of connected devices MEMOBUS message communication may be possible using the automatic reception func tion 6 46 6 5 Self configuration 6 5 10 261IF 01 Modules 1 PROFIBUS Interface When self configuration is executed the following parameter settings will be made for the PROFIBUS interface of 261IF 01 Modules Allocations SYNC SCAN Own Station Number Local Sta P Depends on switch settings tion Number I O Allocations Depend on switch settings Communication Speed Automatically detected from the masters transmission data I O Leading Register Number Depends on switch settings I O End Register Number Depends on switch settings 2 RS 232C Interface When self configuration is executed the following parameter settings will be made
122. I niii e 28 m 3 2 Indicators The following table shows the indicators that show the operating status of the SVA 01 Module and error informa tion Significance When Ti Lights when control microprocessor is operating normally RUN Green Not lit d RUN O O ERR ot lit during error Lights blinks for failures Not lit during normal operation 4 18 4 5 SVA 01 Module 4 5 3 Hardware Specifications The following table shows the hardware specifications of the SVA 01 Module 6 inputs x 2 channels source mode sink mode inputs 24 V 4 3 mA DI_0 General purpose input ALM DI_1 General purpose input RDY Digital inputs DI_2 General purpose input ZERO External latch signal input DI_3 General purpose input DI_4 General purpose input DI_5 General purpose input EXT External latch signal input 6 outputs x 2 channels sink mode outputs 24 V 100 mA DO_0 General purpose output SV_ON Servo inter DO_1 General purpose output ALM_RST face DO_2 General purpose output PCON Used as the C SEL Digital outputs control mode select signal DO_3 General purpose output DO_4 General purpose output DO_5 General purpose output SEN signal 5 V and 24 V outputs Pulse inputs 1 input x 2 channels phases A B C 5 V differential input pulse rate P 4 Mpps 16 Mpps for x 4 Analog outputs 2 outputs x 2 channels 10 to 10 V D A 16 bits Analog inputs 2 input
123. JE MC W6003 40 JEPMC W6003 50 JEPMC W6011 A5 JEPMC W6011 01 JEPMC W6011 03 JEPMC W6011 05 5m MECHATROLINK Cable JEPMC Wo0ll 05 5m JEPMC W6011 10 USB Connector Loose Wire JEPMC W6011 20 JEPMC W6011 30 30m JEPMC W6011 40 JEPMC W6011 50 Terminator JEPMC W6022 4 External Appearance of MECHATROLINK I II Cables JEPMC W6002 00 ASS E i ul E Say JEPMC W6003 00 e Jii MRE CaS SS JEPMC W6010 00 fo hu JEPMC W6022 S im oo 5 12 5 2 Module Connections 5 SVB 01 Module System Configuration a Connecting the SVB 01 Module to the End of the MECHATROLINK Network The following diagram shows a system configuration example MP2200 J mP2200 meu 02 POWER O Terminator MECHATROLINK I Terminator SGDH O4AE is s SERVOPACKs Inverters for up to 16 stations 2 Up to 21 stations including I O Note Insert a JEPMC W6022 Terminator into the unused MECHATROLINK port 5 13 5 14 5 Mounting and Wiring 5 2 2 SVB 01 Module Connections b Connecting the SVB 01 Module in the Middle of the MECHATROLINK Network The following diagram shows a system configuration example MP22
124. MP2300 Machine Controller Motion Module User s Manual Manual No SIJPC88070016 for information on motion program alarms 6 Basic System Operation 6 3 3 Motion Programs 8 Example of a Ladder Program for Motion Program Control The minimum ladder program required to control a motion program is shown in the following illustration 1 0000 1B00100 OB80000 O Servo ON 1 0002 1B00000 DB000300 DB000010 O Program start 1 0005 1B00001 DB000011 O Program pause 1 0007 1B00002 DB000012 O Program stop 1 0009 1B00005 DB000015 O Alarm reset 1 0011 MSEE MPM001 DA00000 1B00005 OB8000F 1 0013 O Alarm reset The contents of this ladder program are shown in the following table Step No Program Content a Sets motion setting parameter OB80000 Servo ON using external input signal IB00100 and turns ON the servo The signals connected to the MP2200 external input signals are stored as the motion program control sig nals TW0000 external input signal A DW00001 second word of MSEE register e Program start e Program pause e Program stop e Alarm reset Calls motion program MPM001 MSEE MPM001 DA00000 11 12 Motion program number MSEE work register address 13 14 Sets the operating mode and alarm clear OBOOOOF in the setting parameters using the alarm reset signal IB00005 and clears the alarm When the external input signals B00000 to IB00005 connected to the MP2200 are input to
125. N The system work register set in the fourth word of the MSEE work registers is used 2 Interpolation Override Setting OFF Interpolation override fixed at 100 ON Conforms to set interpolation override Motion program start stop and pause operations can be controlled using the ladder program to input these sig nals to the work register one higher than the one specified in the MSEE instruction For the ladder program inputs make sure the signals are in accordance with the signal type IMPORTANT The program will be executed if the program start request signal has been turned ON when the power is turned ON Take appropriate precautions the equipment may start moving depending on the application The following illustration shows the method of executing a motion program H ee Motion program number External control signal eStart Pause Stop etc e Program start e Program pause Program stop etc MSEE MPM001 DA00000 DEND Ladder program Program control signa N Motion program control gd ladder program aaa MSEE work register address Motion management functions MSEE work register DWxxxxx Status DWxxxxx 1 Control signal DWxxxxx 2 Interpolation override DWxxxxx 3 System work number Note In this example xxxxx is 00000 MPMO01 VEL a1 5000 b1 FMX 110000000 IAC T25 IDC T30 MOV a1 3
126. Number Name Register Remarks Number Data Trace Group Sworo n Q 5 oe 2 O L D Q E J zZ T D aa Integer Operation Integer Data Trace Group 2 SWOOTOI Data Trace Group 3 Sworo Data Trace Group 4 SWOOTOS 8 14 8 2 System Errors 5 System I O Error Status Name Register Remarks Number Current Alarm SW00190 Cleared when power is turned ON Number of Alarm History Records SW00191 The number of alarms in the alarm history Clear Alarm SW00192 1 Clear alarms 2 Clear current alarm and alarm history 1 0 Error Count SW00200 Number of I O errors Input Error Count SWwo00201 Number of input errors Latest input error address SW00202 PEP Ces swoon OW0O0000 register number Output Error Count SW00203 Output Error Count Latest output error address SW00204 Number of Output Errors woos OWODOOLO register number SW00205 Reserved by the system SW00206 Not used SW00207 SW00208 to Sinha Swo00215 ot 0 error status SW00216 t ene Reserved by the system SW00224 to sii SW00231 ot 1 error status SW00232 to ER ms o error status I O Error Status Sw00239 SW00240 to Sinks SW00247 ot 3 error status SW00248 t Swo0025 k Reserved by system Slot 4 error status SW00456 to i SW00463 Reserved by system Slot 30 error status 8 15 8 Troubleshooting 8 2 4 System Register Configuration 6 Actions to be Taken when a Transmission Error Occurs When a transmission error
127. O Modules External output External input A distributed I O function is provided by the SVB 01 Modules through MECHATROLINK communication 2 1 2 System Configuration Precautions The following precautions must be followed when designing a system using the MP2200 e Use the connecting cables and connectors recommended by Yaskawa Yaskawa has a range of cables Always check the device to be used and select the correct cable for the device Different SERVOPACKs are connected to MECHATROLINK I and MECHATROLINK II Refer to the list and select the appropriate SERVOPACKs The user must supply the 24 VDC power supply The battery backs up M registers system registers and trace memory Always save the program to flash memory whenever it is input or changed 2 4 2 2 List of Modules 2 2 List of Modules 2 2 1 MP2200 Modules The following table shows the Modules that make up MP2200 systems EEE y AC MBU 01 JEPMC BU2200 a ota with 85 to 276 VAC power supply Boe UM i U iG DC Basic Unit with 24 VDC 420 ase Unit for MBU 02 JEPMC BU2210 asic Unit wit 420 power sup power supply ply 9 slots Mog CPU Module CPU 01 TAPMC CP2200 CP2200 1 mezo system CPU MECHATROLINK MO ete and Motion Interface Servo SVB 01 APMC MC2310 MECHATROLINK II compatible Modules Module SERVOPACKs 16 axes max Analog
128. O O O O O O u F SERVOPACK SERVOPACK ren 7 Yeon no SGDS 02A12A SGDS 02A12A oi oi 5 N e Terminator MECHATROLINK II 23 ll NE SMN L1 B L1 amp L2 E 2 af 2 Lic 5 D i Licl 5 D c LC B 3 Lec B 3 cal i B1 z Ea B1 all gt ia Bre e2 lo alps le le OB c e u i N u B Nj v e 3 qi a 1 w a w Sig a e JZSP CSM01 03 JZSP CSP01 03 Servomotor Servomotor 3 7 3 8 3 System Startup 3 1 5 Initializing the System 3 1 5 Initializing the System This section describes the X III SERVOPACK initialization and self configuration procedures required when first starting a MP2200 system 1 Initializing amp IIl SERVOPACKs This section explains the procedure for initializing the SERVOPACKs Always initialize SERVOPACKs that have been brought from other systems This initialization procedure is not required for SERVOPACKs that have not been used before 1 Turn ON SERVOPACK Turn ON the control power supply and main power supply for the SERVOPACK Z 2 Initialize parameter settings Return the parameter settings to the standard default settings using Fn005 Z 3 Disconnect SERVOPACK power Turn OFF the control and main power supplies 4 4 Turn ON SERVOPACK Turn ON the control power supply and main power supply for the SERVOPACK The method for initializing the parameter settings step 2 above from the SERVOPACK D
129. ON and the power is turned ON Flash memory data is read when the INIT switch is turned OFF and the power is turned ON Therefore always save data to the MP2200 flash memory before turning OFF the power when writing or editing programs Refer to 3 1 6 Starting the MPE720 for information on saving data to flash memory Turning OFF Power after Executing Self configuration Do not turn OFF the 24 V power supply to the MP2200 after executing self configuration until the defini tions data has been saved to flash memory in the MP2200 If the power is turned OFF somehow before the data is saved to flash memory execute self configuration again 3 10 3 1 Outline 3 1 6 Starting the MPE720 This section describes the preparations for connecting the MPE720 to the MP2200 and the method for installing the sample program for the MP2200 1 MPE720 Startup Procedure Make sure the MPE720 System Software is installed in advance Refer to the Machine Controller MP900 MP2000 Series Programming Device Software MPE720 User s Manual Ref No SIEPC88070005 for informa tion on installing the MPE720 The startup procedure is shown in the following flow chart 1 Starting the MPE720 Start the MPE720 2 Communication settings Define communications with the MP2200 3 Creating group folders Create a group folder 4 Creating an order folder Create an order folder 5 Creating a controller folder Create a controller folder 6
130. ORATION All rights reserved 04 8
131. Program File Dump CPU gt HD frye Seer erodes Tye MPZDOD 2 The Execute Window will be displayed Click the OK button Pre tiss foe PEO TRET eee E Charge anaia COUPE PENEI rad AP PLE Charge Thnratee Mgt ar jar EITZITT AEE e F Pome Fore Torte ate Deus FF epee PP late Co e 3 An Execute Status Window will be displayed Wait until the transfer has been completed sare PHUNT EAA lUUlC S a Tune Fete SPE drew Covabeied EES 4 A message will appear when the transfer has been completed Click the OK button 3 33 3 System Startup 3 1 6 Starting the MPE720 5 The All Dump Window will be displayed Select File Exit 13 CPU RUN Settings The procedure for starting the CPU which was set to STOP during the flash save process is explained below 1 Right click the 2200SMPL Controller Folder and select CPU Control 2 The Controller Running Status Window will be displayed Click the RUN button gfeeller cee Halle 3 34 3 1 Outline 3 A confirmation message will be displayed Click the Yes button Check that the RUN LED indicator on the CPU Module is lit 14 Logging Off 3 Log off when you have finished with the MPE720 using the procedure below 1 Right click the 2200SMPL Controller Folder and select Log Off Syrie mamar R Ma bi View Tol Hai mk el oe ETE z iyne 2M PL Fie T
132. ROLINK I Interface Unit SGDH OOOE X II Series SGDH Servodrives NS115 JUSP NS115 MECHATROLINK II Interface Unit SGDS 0O0100 III Series AC Servodrives 2 O Modules The following table shows Modules that are compatible with MECHATROLINK and can be connected to the SVB 01 Module Model MECHATROLINK I MECHATROLINK II 64 point I O Module JERMC 10350 24 VDC 64 inputs 64 outputs ee JAMSC 120DDI34330 eee ie ee oi ee l JAMSC 120DD034340 ere i ei oe JAMSC 120DAI53330 Wera i ee JAMSC 120DAI73330 eee Oe oa JAMSC 120DA083330 ee he JAMSC 120DRA83030 Li a i oe JAMSC 120AVI02030 ee ete Os a Reece 10 to 10 V 2 channels a a a amsc eocncartao korenprocoumer zetans Reversible counter 2 channels asczommezozao ours eames J permcr ze00 Rewnitecomm 2eaames pever asmone Ervoan As owo vaene e ae ae eo eee a a as ee a a aa D A Module ERMC ANZ910 Analog outputs 10 to 10 V 2 channels JEVSA YV250 MYVIS YV250 Machine Vision System 2 4 Cables and Accessories 2 4 Cables and Accessories 2 4 1 Cables The following table shows the cables that can be connected to the MP2200 Specicatons Between SVB 01 and I O Unit Between SVB 01 and SGDH OOE NS100 Between SVB 01 and SGDH JEPMC W6002 O00 OOE NS115 JEPMC W6003 00 Between SVB 01 and SGDS MECHATROLINK I oooiog0 d SVB 01 M I II an With USB connector on both ends ME AROLE Note The JEPMC W6003 O0 has
133. RVOPACKs and the 102310 Optional Module 10Base T Optional Module Do QO Note 1 Use standard cables between Units 2 The total connection length L1 L2 L3 Lu must be no longer than 50 m IMPORTANT The MP2200 has a built in terminator Insert a JEPMC W6022 Terminator into 1 in the above diagram 5 16 i O Terminator Ln aa g GOGO a 0 E lik 2 i Terminator LJ 5 2 Module Connections 5 2 3 SVA 01 Module Connections This section explains the connections for the SVA 01 Module 1 System Connection Example MP2200 2 analog outputs axis 2 analog inputs axis 1 pulse input axis SGDH 04EA aa A JCA in SGDH 04EA asd dd
134. SB000401 P 0 Stopped 1 Running SB000402 ALARM 0 Normal 1 Alarm SB000403 ERROR 0 0 Normal 1 Error o 1 Error SB000406 FLASH 1 Flash operation SB000407 0 Write disabled 1 Write enabled CPU Status SW00040 SB000408 eas by the sys SB00040B Reserved by the sys CPU Error Status SB00040C tem SB00040D SB00040E OPeration Stop 0 RUN 1 STOP Request SB00040F Run Switch Status at 0 STOP Power ON 1 RUN 1 WDGE undefined command SB000410 fail ad coll See SW00050 for more details SB000413 lt lt lt SB000414 SB000415 15 SB000415 Reserved by the sys SW00041 SB000416 16 tem 17 Error fad 1 0 error S SB00041C to nas by the sys SB00041F 8 8 8 2 System Errors cont d Register es a j B E tem SB000471 Reserved by the sys SB000472 tem SW00047 abi a A e tem o em i al Se tem em i r B Poo O tem SB000476 to Reserved by the sys SB00047F tem SB000480 TEST eee SB000482 CNFG l SB000483 DIP switch status 0 ON 1 OFF Harg odid araware Status SW00048 SB000485 STOP Configuration SB000486 SB000488 to Reserved by the sys SBOO048E tem tem Reserved by SW000490 to Reserved by the sys SWw00049 Reserved by the system 8 9 8 10 8 Troubleshooting 8 2 4 System Register Configuration 2 System Error Status The following table lists data when a system error occurs Register a SW00050 For system
135. Servo Inter SVA 01 TAPMC MC2300 MC2300 Analog servo interface 2 axes face Module IO Module LIO 01 APMC 102300 16 inputs and 16 outputs sink mode outputs 1 pulse input Basic Unit I O Modules 16 inputs and 16 outputs source mode out T O Module LIO 02 JAPMC IO2301 1 puts 1 pulse input T O Modules LIO 04 APMC I02303 poao o 32 inputs and 32 outputs sink mode outputs Pihema Commun 2181F 01 01 JAPMC CM2300 cation Module General purpose Communi Serial Communica 217IF 01 JAPMC CM2310 cation Mod tion Module ES RS 232C Ethernet communication ules DeviceNet Commu 2601F 01 JAPMC 102320 RS 232C and DeviceNet communication nication Module RS 232C RS 422 and RS 485 communica tion Optional Modules PROFIBUS Com 9611F 01 JAPMC 102330 RS 232C and PROFIBUS communication munication Module Expansion Interf c e Pa Inter EXIOIF APMC EX2200 System bus expansion maximum 4 Rack con Modules a figuration 2 5 2 6 2 System Configuration 2 3 Devices Connectable to MECHATROLINK The devices that are compatible with MECHATROLINK and can be connected to the SVB 01 Module are listed below 1 SERVOPACKs The following table shows SERVOPACKs that are compatible with MECHATROLINK and can be connected to the SVB 01 Module Model MECHATROLINK I MECHATROLINK II SGD OOON MECHATROLINK I compatible AC x SGDB OOAN SERVOPACKs SGDH OOOE X II Series SGDH Servodrives NS100 x JUSP NS100 MECHAT
136. Window Select File Exit in the Engineering Manager Window Pi Ei asa Wadpa He ha MA ik 11 Saving to Flash Memory Save sample programs that have been transferred individually to the MP2200 to the MP2200 flash memory using the procedure below 1 Right click the 2200SMPL Controller Folder and select File Transfer Other Flash Save LA 8 imi Fe fill e Tit ote fea ie ee g To Mow 8 Fee rape DEHE PL Cirer Type MPI oop at Tasgia Mash riea 2 The Save Flash Memory Content Window will be displayed Select File Execute Fie Veer Pep 3 31 3 System Startup 3 1 6 Starting the MPE720 3 A message appears to confirm that the CPU will be stopped Click the Yes Button z Required ios the CPU babra srra bo Aash a boeing Hea PF _ Ce 4 A confirmation message will be displayed Click the Yes button Flash Memory Save in Flash Memory OK z 5 A message will appear when the save has been completed normally Click the OK button Flash Memory EG Completed normaly 6 The Save Flash Memory Content Window will be displayed Select File Exit Pie Yee Pep mU Pree 3 32 3 1 Outline 12 All Program File Dump Execute an All Program File Dump to back up to the computer module configuration definitions self configured by and programs edited by the MP2200 1 Right click the 2200SMPL Controller Folder and select File Transfer All File Transfer All
137. YASKAWA Machine Controller MP2200 USER S MANUAL YASKAWA MANUAL NO SIEP C880700 14A Copyright 2004 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 otherwise 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 con stantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless Yaskawa assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained in this publication Using this Manual Please read this manual to ensure correct usage of the MP2200 system Keep this manual in a safe place for future reference E Basic Terms Unless otherwise specified the following definitions are used e MP2200 Machine Controller MP2200 The Programming Device Software or a Programming Device i e a personal computer running the Pro pret gramming Device Software PC Programmable Logic Controller Manual Configuration Read the chapters of this manual as required by the purpose Selecting Models and Peri
138. _ Current 0 0 to 8 0 A Range Coordination ror e E SSCS Constant Voltage 2 max including input voltage fluctuation and output load fluctuation Accuracy Power 4 3 CPU 01 Module 4 3 CPU 01 Module 4 3 1 Outline of Functions The CPU 01 is the MP2200 Control Module that controls the Motion Communication I O and other Optional Modules 4 3 2 LED Indicators and Switch Settings 1 External Appearance The following figure shows the external appearance of the CPU 01 Module LED indicators DIP switch 2 Indicators The LED indicators that display the operating status and error details for the Base Unit are detailed in the follow ing table Name RDY O Q RUN ALM O ERR Lights blinks for warning O BAT Lights blinks for failures Baten alarm occured Note Refer to 2 Indicator Details in 8 1 3 Indicator Errors for details on the meaning of indicators 4 7 4 8 4 Module Specifications 4 3 2 LED Indicators and Switch Settings 3 Switch Settings The DIP switch sets the operating conditions for the CPU 01 Module when the power is turned ON STOP SUP INIT CNFG MON TEST OFF ON SW1 Pin Switch Default STOP C a Normal operation 7i lgs rrj O Z Z GE lgs Le s OJo Stops the user program execution Enabled only when the power is turned ON Always leave set to OFF
139. a fer Cables rite core e Between SVB 01 and SGD OOON JEPMC W6010 00 e Between SVB 01 and SGDB OOAN Between USB connector and loose wires MEWAA JEP Between SVA 01 and SGDS SVA 01 CH1 CH2 SGDS Cable JEPMC W2040 00 O00010 EP oe External I O Cable JEPMC w2061 00 an LIO 01 or LIO 02 and external LIO 04 CN1 CN2 External I O Cable JEPMC W6060 O00_ Between LIO 04 and external I O Communi JEPMC Ws310 0O0 Between RS 232C port and 25 pin D sub cation PORT RS 232C Cable connector male Modules JEPMC W5311 O10_ Between RS 232C port and DOS 218IF 01 10Base T Ethernet Cable Ps Cross cable Category 3 min 1010214 52A2JL wo connector manufactured by 217IF 01 RS 422 485 RS 422 and RS 485 Cable 10114 3000 VE aS connector manufactured by 10314 52A0 008 Shell manufactured by 3M n MSTB2 5 5 GF Module side connector manufactured by 260IF 01 DeviceNet Cable 5 08AM Phoenix Contact 17LE 13090 Module side connector manufactured by 261IF 01 PROFIBUS PROFIBUS Cable 27 D33C Daiichi Denshi Kogyo EXIOIF ae ae EXIOIF Cable JEPMC W2091 00_ Between EXIOIF and EXIOIF Commercially available USB cables cannot be used Always use Yaskawa cables 2 4 2 Accessories DINRal Mounting Cips Emco SSCS Battery ZZK000064 ER3VC Special Connector BA000517 721 863 001 034 MBU 01 Unit Cable side manufactured by WAGO black Power Supply Connector f 721 863 001 000 MBU 02 Unit Cable side manufactured b
140. al outputs will be allocated in the following way LIO 01 Module mounted in slot 1 OW0411 LIO 01 Module mounted in slot 2 OW0441 Out of the 48 words allocated to one Module the last 32 words are automatically allocated to the input and output registers 16 points Example If LIO 01 Modules are mounted in slots 1 and 2 counters will be allocated in the following way LIO 01 Module mounted in slot 1 1W0420 OW0420 LIO 01 Module mounted in slot 2 1W0450 OW0450 Counters Note The above allocations are simply an example The leading register number will change for manual allocations 2 Counter Fixed Parameters When self configuration is executed all of the counter fixed parameters will take their default settings For details on fixed parameters refer to 4 8 4 Counter Parameters 6 40 6 5 Self configuration 6 5 5 LIO 02 Modules Details on definition information when self configuration is executed are shown below 1 I O Allocations Modules mounted in option slots are detected and input registers and output registers are allocated automatically Allocation is performed in ascending order from the Module with the lowest option slot number With LIO 02 Modules 48 words are allocated to both input registers and output registers Aooatons Digital inputs 16 points Digital output 16 points Counters Out of the 48 words allocated to one Module the first word is automatically allocated to inpu
141. alarm MPM alarm DB000208 MB300028 0009 J 0019 NL 1 0010 END 0021 NL 1 3 3 Sample Program 2 Positioning Control 2 Motion Program MPMO01 Motion program MPMO001 is a text format program that is started by the MSEE instruction motion program call instruction in the H04 drawing lt q EXAMPLE gt In this example the motion program MPMO001 performs a zero point return using the phase C pulse YESAMPLE PRG MPMO01 MP text meulit E dads Jaro pont retum method pha g WHE 3 Y Age Zero pant retumi method ld phs Er YEL 000 AN Travel saad for poshoning command ACC O0f 100 Acederalion time Doon Ooh od Deceleration time WHOSE 100 TK Ame approach spesdimmminy Mania Sik E A aep speadimnernini aede 10000 E Aie final trawel deetance lL imm wHlkeE 100 Y ads approach speadime mn meniti Y Aa creep speed mewn OLC gt iEn Y Asis final trowel deface liD iment FRM Iero pant rehim comaand ENG 3 3 Motion Programs MPM002 and MPM003 Motion programs MPM002 and MPM003 are text format programs that are started by the MSEE instruction motion program call instruction in the H04 drawing lt EXAMPLE gt In this example motion programs MPM002 and MPM003 perform 2 axis positioning and interpolation MPM002 has timer commands in between each travel command to provide clear delimits for each operation MPM003 is MPM002 without the timer commands so that the travel commands are executed c
142. allocated automatically Allocation is performed in ascending order from the Module with the lowest option slot number With LIO 04 Modules 2 words are allocated to both input registers and output registers Alocatons Out of the 2 words allocated to one Module the first word is automatically allocated to input registers Example If LIO 04 Modules are mounted in slots 1 and 2 digital inputs will be allocated in the following way LIO 04 Module mounted in slot 1 W0410 and W0411 LIO 04 Module mounted in slot 2 W0420 and W0421 Two words per Module are automatically allocated to output registers Digital inputs 16 points Example If LIO 04 Modules are mounted in slots 1 and 2 digital outputs will be allocated in the following way LIO 04 Module mounted in slot 1 OW0410 and OW0411 LIO 04 Module mounted in slot 2 OW0420 and OW0421 Digital output 16 points Note The above allocations are simply an example The leading register number will change for manual alloca tions 6 5 Self configuration 6 5 7 218IF 01 Modules 1 Ethernet Interface When self configuration is executed the following parameter settings will be made for the Ethernet interface of 218IF 01 Modules Item Allocations cations NFON An engineering communication connection with the MPE720 is possible using self configuration To perform MEMOBUS Y message communication the MSG SND MSG RCV function is required 2 RS 232C Inter
143. am was stored The A drive in this example Transfer path 2200SMPL ITLL 7 The Execute Status Window will be displayed Wait until the transfer has been completed 8 A message will appear when the transfer has been completed Click the OK button am 3 24 3 1 Outline 9 The All File Transfer Disk to Disk Window will be displayed Select File Exit 3 25 3 System Startup 3 1 6 Starting the MPE720 9 Individual Loading of Sample Programs Transfer sample programs to the MP2200 individually using the procedure below 1 Right click the 2200SMPL Controller Folder and select File Transfer Individual File Transfer Indi vidual Program File Load HD CPU 4 TRga Foia E ee ahari i fends Appian Core b pects mE Sa TEE Sian dhr z Prge Mile Onpa OU Bepi He hida HE Pipam Par fies Peder Progra Fh Cureeare Media gt HRE Pie Tye That Camia rete aa pa coe are te kf 2 The Individual Load Window will be displayed Select the following transfer items DWG Scan Time Data Trace e Motion Main Program 1 irikia n bnat Dinamm PRUE a7 upi NE pnas aj PC lepaa T anit Diaa V Clog rte eis 3 26 3 1 Outline 3 Click the Details button to the right of DWG to display the DWG Detail Data Set Window Select Select All and click the OK button figh spead Man Program common selfing fee aes man program i
144. and Changes CNFG switch ON INIT switch OFF Self configuration is executed for Optional Modules and network devices that have been added or changed Make sure that Modules with existing definition files are connected when self configuration is executed Only definition data for Modules that have been added or changed will be overwritten CNFG switch ON gt Tur ON the power INIT switch ON The RUN indicator blinks during No execution of self configuration The ERR indicator lights if an error occurs during self configuration Self configuration processing m 2s Use the MPE720 to check and change definition files Writes to flash memory using the MPE720 Saves to flash memory CNFG switch OFF INIT switch OFF flash memory startup _ Turn ON power supply again 6 29 6 30 6 Basic System Operation 6 5 2 SVB 01 Modules 6 5 2 SVB 01 Modules Details on definition information when self configuration is executed are shown below 1 Module Configuration Definition The following illustration shows a Module configuration definition example when SVB 01 and 218IF 01 Mod ules have been mounted to the MP2200 Option Slot and self configuration has been executed Ping neer mg Manager Disable Rack S Disable 6 5 Self configuration 2 MECHATROLINK Transmission Definitions MECHATROLINK transmission definitions and slave information is
145. ardware error has been detected 7 Eg Not lit Not lit m For engineering communication Starts up RS 232C PORT using default parameters excluding auto matic reception function settings The RS 422 485 o port is disabled Given higher priority than CPU Initial startup Module Flash Startup and Self configuration Star tup Depends on sta tus Blinki DPRAM Error A DPRAM hardware error has been detected z Eeg 3 edn Communication Error A communication error has been detected E J 4 E J Eg 5 Eg laste 15 laste RS 232C Error An RS 232C loopback error has been detected Watchdog Error A watchdog timeout error has been detected Indicates the number of blinking 4 46 4 11 217IF 01 Module 4 11 3 Hardware Specifications 1 Module Specifications The following table shows the hardware specifications of the 217IF 01 Module Specifications JAPMC CMEST0 on RS 232C 1 port PORT Communication Ports RS 422 485 1 port RS422 485 Module status Indicators LED indicators RUN green ERR red STRX green TRX green 485 INIT TEST 2595 XD 2 Communication Specifications a RS 232C communication Specifications 4 The following table shows the RS 232C communication specifications intrace Setting Switches Asynchronous start stop synchronization Communication Mode Message communication engineering communication Communication Protocols MEMOBUS MELSEC OMRON a
146. arent drawing cannot call a child drawing of a different type and a child drawing cannot call a grandchild drawing of a different type A parent drawing also cannot directly call a grandchild drawing A child drawing is called from a parent drawing and a grandchild drawing is called from that child drawing This is called the hierarchical arrangement of drawings Each processing program is prepared with the parent drawing child drawing grandchild drawing hierarchy as shown below Parent drawing Child drawing Grandchild drawing User functions DWG X DWG X01 Dwe xo1 01 DWG X01 02 FUNC 001 DWG X01 99 FUNC 006 DWG Xnn FUNC 032 FUNC 064 Note Replace X with A I H or L DWG notation DWG X YY ZZ C Grandchild drawing number 01 to 99 Child drawing number 01 to 99 6 Type of parent drawing A I H or L DWG X 00 Operation error processing drawing A H or L 6 9 6 10 6 Basic System Operation 6 3 2 Execution Control of Drawings 4 Execution Processing Method of Drawings Drawings in the hierarchy are executed by the lower level drawings being called from upper level drawings The execution method is shown below using DWG A as an example System program starts when the execution condition is established v
147. arms and sets common parameters P00102 H01 Main Program Processing of Common Axis Setting HHHHHHHHH Processing of common axis settings HHHHHHHHE FHHHHHHHHH Motion command detection HHHHHHHH Axis 1 motion command 0 detection Axis 1 motion command 0 MB300010 Source A 1W8008 Source B 00000 Axis 2 motion command 0 detection F Axis 2 motion command 0 MB300018 Source A 1W8088 Source B 00000 L HEHH Servo ON HHHHHHHHT Axis 1 Servo ON Servo ON PB Axis 1 SVC_RDY Axis 1 SV_ON 3 MB300000 1B80000 0B80000 Axis 2 Servo ON Servo ON PB Axis 2 SVC_RDY Axis 2 SV_ON MB300000 1B80800 0B80800 HHHH Alarm reset HAHHHHHHE Axis 1 alarm reset Alarm reset PB Axis 1 ALM_RST MB300001 OB8000F o Axis 2 alarm reset Alarm reset PB Axis 2 ALM_RST MB300001 OB8080F o HHHHHHHHHH Speed unit and acceleration speed unit selection HHHHHHHH Bits 0 to 3 Speed unit selection 0 Reference unit s 1 Reference unit min 2 Bits 4 to 7 Acceleration speed unit selection 0 Reference unit s 1 ms Axis 1 function setting 1 units Axis 1 function setting 1 workpiece Source A OW8003 Source B HOFOO Dest DW00010 Axis 1 function setting 1 Source A DW00010 Source B H0011 Dest 0W8003 is 2 function setting 1 units Axis 2 function setting 1 workpiece Source A 0W8083 Source B HOFOO Dest DW00012 Axis 2 function setting 1 Source A DW00012 Source B H001
148. ay 5 0 s After Start of Scan Relay A 3 Appendices A 1 System Service Registers 3 Registers Specific to Low speed Scan Drawings These registers are set when low speed scan starts Name Register Remarks Number 1 scan Flicker Relay 0 5 s Flicker Relay 1 0 s Flicker Relay 2 0 s Flicker Relay 0 5 s Sampling Relay 1 0 s Sampling Relay 2 0 s Sampling Relay 60 0 s Sampling Relay 1 0 s After Start of Scan Relay 2 0 s After Start of Scan Relay 5 0 s After Start of Scan Relay A List of System Registers A 2 Scan Execution Status and Calendar Name Register Remarks Number 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 to Reserved by the system SW00009 Not used Low speed Scan Set Value SW00010 Low speed Scan Set Value 0 1 ms Low speed Scan Current Value Swo0011 Low speed Scan Current Value 0 1 ms Low speed Scan Maximum Value Low speed Scan Maximum Value 0 1 ms Reserved by the system Not used Executing Scan Current Value Executing Scan Current Value 0 1 ms Calendar Year 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 SW00018 59 s 59 BCD Calendar Day of Week SW00019 0 to 6 Sun
149. ber Change the current value setting for Motion Program No Setting to a value between 1 and 3 on the Tun ing Panel Window This sets the motion program number that will be executed No programs have been created for numbers 4 onwards so an MPM alarm will occur if a number other than 1 to 3 is entered 3 Entering Target Values for Each Axis Enter any value for the current value for the items listed below The values entered here will be the posi tioning target values when motion program numbers 2 and 3 are executed e Ist target value X axis e Ist target value Y axis e 2nd target value X axis e 2nd target value Y axis 4 Starting Positioning Set the current value for Start Positioning to ON on the Tuning Panel Window Positioning will start based on the motion program number set earlier MPM No After positioning has been executed change the current value to OFF 5 Confirming Motion Program Operation When a motion program is started the current value for MPM Running on the Tuning Panel Window will change to ON And when the Servo axis rotates the values for the current position on the Tuning Panel Window change If an error occurs during execution of a motion program the current value for MPM Alarm on the Tuning Panel Window will change to ON Use the following procedure to clear the alarm 1 Change the current value for Abort of Positioning to ON and then to OFF 2 Change the current value for Alarm Reset PB to ON a
150. ceNet interface 4 48 DI interrupts 8 23 DIN rail 5 2 DIN rail mounting clips 5 3 drawings 6 7 execution control 6 8 execution processing method 6 10 execution scheduling 6 8 hierarchical arrangement 6 9 types 6 7 DWG registers 6 23 electronic gear function 4 33 Ethernet communications specifications 4 44 Ethernet interface 4 42 Ethernet settings 3 15 EXIOIF Module connectors 5 61 flash memory saving to 3 31 function registers 6 24 functions 6 7 6 19 functions and specifications CPU 01 Module 4 10 G grandchild drawings 6 7 group folders creating 3 17 H H drawings 3 40 6 7 HO1 drawing 3 41
151. click 4 Setting Serial Communication Ports a Click the Detail button in the Logical Port Setting Window Lagan af Poet Sethe Laja Pest 1 un E Tinea mm Ll Feil E r 3 13 3 14 3 System Startup 3 1 6 Starting the MPE720 b The Serial Port Setting Window will be displayed Match the settings under Physical Port to the com puter s serial communication port Leave the other items on the default settings Once the settings have been completed and checked click the OK button sera ert scitery Freed Pot st He fi 4 oes Bachas fam c The Logical Port Setting Window will be displayed Click the OK button again The screen will return to the Communication Process Window Check that Serial has been allocated to the Logical PT number 1 ne ati Lape 5 Ethernet Connections Double click Logical PT number 2 in the Communication Process Window to display the Logical Port Setting Window 3 1 Outline 6 Ethernet Settings a Select Port Kind CP 218 in the Logical Port Setting Window and click the Detail button Logn ai Poet Sethe E xj a ruts E i o Casal om ool a TT LLA b The CP 218 Port Setting Window will be displayed Select OFF for Default and enter the computer IP address in the P Address First field Leave the other items on the default settings Once the settings have been completed and checked click the OK button fh 20h Geitin ee maisi Padkar
152. collected in the order shown below when self configuration is executed The communication method is determined when the slave is detected after which communication method switching and slave detection are not performed If no Slave stations are detected communication are connected in MECHATROLINK I mode Connected device found Searches for connected devices using MECHATROLINK II 32 byte mode No connected devices Connected device found Searches for connected devices using MECHATROLINK II 17 byte mode No connected devices No connected devices Searches for connected devices using MECHATROLINK I Connected device found e Sets station information e Sets fixed parameters e Sets setting parameters Self configuration completed Note 1 Detects slaves using each format communication in the following order SERVOPACK I O inverter 2 Stations with a communication error or no response due to a duplicated station number or discon nected cable are recognized as having no connected devices 6 31 6 Basic System Operation 6 5 2 SVB 01 Modules a Common Setting Items Setting Contents Default Value Sets the communication method Selections Communication e MECHATROLINK I MECHATROLINK II thod ERE MECHATROLINK II 17 byte mode Serene mee e MECHATROLINK II 32 byte mode Sets the Module to a master or a slave lections Master Slave Se eens
153. correspond to the signals and data listed above The register numbers that correspond to the signals used in this sample program will be the register numbers displayed under REG No next to DWG at the right of the Tuning Panel window 3 59 3 60 3 System Startup 3 5 3 Program Details 3 5 3 Program Details 1 HO6 02 Drawing The H06 02 grandchild drawing controls phase control electronic cam operation P00121 H06 02 Main Program Phase Control 2 Electronic Cam Processing HHHHHHHHH Phase control 2 electronic cam processing HHHHHHH HHHH Explanation HHHHHHHHE Axis 1 Master axis phase control electronic shaft Axis 2 Slave axis phase control electronic cam FHHHHHHHHH Phase control operation reference HHHHHHHT Startup PB Axis 1 SV_ON Axis 2 SV_ON Operation reference DB000010 1B80001 1B80801 DB000000 0000 m m A 0000 NL 1 Operation reference WORK Axis 1 motion command 0 Axis 1 motion command 0 Electronic cam start DB000000 DB000050 MB300010 MB300018 DB000001 0004 NL 1 Operation reference Zero speed WORK Electronic cam stop DB000000 DB000003 DB000051 DB000002 0002 e 0009 NL 1 HHHH Motion command execution HHHHHHHHE Motion command 25 phase control setting Electronic cam start DB000001 Axis 1 motion command 0003 STORE a oe Source 00025 Dest OW8008 Electronic cam start DB000001 Axis 2 motion command 0004 STORE z 0019 Source 00025 Dest 0W8088 Motion command 0 NOP setting Electron
154. ction position monitor PI latch data TLOOOOD 6 4 32 4 8 LIO 01 and LIO 02 Module Counter Functions 4 8 3 Electronic Gear Function The Electronic Gear Function can be used when counter fixed parameter No 15 Reference Unit Selection is set to any value except 0 1 Outline The Electronic Gear Function is used to set the workpiece travel distance per pulse input to the LIO Module counter to any value Workpiece Reference unit 1 um A TIITII errr Encoder pulse 2048 Ball screw pith 6 mm Workpiece A LIII PLIIT The machine conditions and reference unit are Encoder pulse 2048 Ball screw pitch 6 mm defined beforehand by the Electronic Gear To move the workpiece 10 mm To move the workpiece 10 mm with a 6 mm per rotation therefore reference unit of 1 um 10 6 1 6666 rotations 2 048 x 4 pulses per rotation therefore 10mm _ 1 6666 x 2 048 x 4 13 653 pulses a 13 653 pulses are input as the reference This conversion must be made on the host device Without Electronic Gear With Electronic Gear 2 Settings Use steps 1 to 5 in the following procedure to make the settings 1 Confirm the machine specifications Elements relating to the Electronic Gear e Gear ratio e Ball screw pitch Ball screw pitch e Pulley diameter etc H ee ear ratio 2 Confir
155. ction when self configuration is executed 6 44 6 5 Self configuration 2 RS 232C Interface When self configuration is executed the following parameter settings will be made for the RS 232C interface of 217IF 01 Modules fem Communication Protocol Master Slave Device Address Serial Interlace Communication Mode Data Length Party Sip Bis Baud Rate Transmission Delay Disable Leading Register No of Words Reading input relays TW0000 5120 Reading input registers TW0000 5120 Interface Register Settings at the Reading writing coils MW00000 32768 Slave Reading writing holding registers MW00000 32768 Writing range for coil holding MW00000 registers LO MW00000 HI MW32767 NFON An engineering communication connection with the MPE720 is possible using self configuration Also depending on the 4 settings of connected devices MEMOBUS message communication may be possible using the automatic reception func tion 6 45 6 Basic System Operation 6 5 9 260IF 01 Modules 6 5 9 260IF 01 Modules 1 DeviceNet communication When self configuration is executed the following parameter settings will be made for the DeviceNet interface of 260IF 01 Modules Alocations Master Slave Specification Depends on switch settings MAC ID Depends on switch settings icati Master 300 Communication Cycle Time aster ms Slave 0 ms I O Allocations Depend on switch settings I O Leading Register Number Depends on switch settings
156. d by the system as stan dard functions The user cannot change the standard system functions First infFrs out Sack 2 User Functions The body of the function program and the function definitions can be set by the user The maximum number of user functions is 500 lt Q Z 2 o 2 D gt N For details on MPE720 operating methods and details on instructions refer to the relevant manuals 6 19 6 20 6 Basic System Operation 6 4 1 Data Types 6 4 Registers This section explains the types of register used by MP2200 user programs mainly ladder programs and how these registers are used nrof E Registers e Registers are memory locations for storing data and each register consists of 16 bits e The data in a register can be a position speed or other numeric value or it can be an ON OFF signal i e bit information e There are three types of numeric values that can be stored e 16 bit integers 32768 to 32767 e 32 bit integers double length integers e Real numbers floating point numbers 6 4 1 Data Types There are five data types each used for different applications Bit integer double length integer real number and address data Address data is used only for pointer designations inside functions The following table shows the data types Data Type Integer data Nor a aao to 32767 Used in numeric operations The values in parenthe B 8000H 7FFFH ses are used in lo
157. dicator Details Remarks RDY RUN ALM ERR BAT Hardware reset status Initializing Drawing A executing Classification This status is entered when User program stopped offline stop STOP operation is per formed from a switch or the MPE720 User program executing normally i sss The ERR indicator lights Serious failure when there is a failure in the CPU Number of blinks for software errors 3 Address read error 4 Address write error 5 FPU error 6 Illegal general command error 7 Illegal slot command error 8 General FPU inhibited error The ERR indicator blinks 9 Slot FPU inhibited error when there is an error 10 TLB multi bit error 11 LTB read error 12 LTB write error 13 LTB protection violation read 14 LTB protection violation write 15 Initial page write error Number of blinks for hardware errors 2 RAM diagnosis error The ALM and ERR indica 3 ROM diagnosis error tors blink when there is a 4 CPU function diagnosis error self diagnosis failure 5 FPU function diagnosis error The BAT indicator lights when the battery voltage drops The ALM indicator lights when a calculation or I O error is detected Operation error T O error Note The symbols under Indicator Name have the following meanings Not lit O Lit X Blinking Undefined 6 2 3 Startup Sequence 6 2 Startup Sequence and Basic Operation A basic outline of the startup sequence and basic
158. e Optional Module RS 232C 15 m max 5 48 5 2 Module Connections The following tables show the PORT connector connections based on the device to be connected Table 5 2 For 25 pin D sub Remote Stations MP2200 Cable Connection and Signal Remote Station PORT Connector Direction 25 pin D sub Signal Pin No Pin No Signal CAN Name e ee e fom Ce oeo CS CTS PE r e ose om SEEN See E Ee a a nom o Table 5 3 For 9 pin D sub Remote Station Meeting Yaskawa Specifications Remote Station 9 pin D sub Yaskawa Specifications MP2200 Cable Connection and Signal PORT Connector Direction E E A EEEE o oe Ce o mow e e Ro Table 5 4 For DOS Computer Remote Stations MP2200 Cable Connection and Signal DOS Computer PORT Connector Direction 9 pin D sub Male Signal Pin No Pin No Signal CANN Name SD D Sor RD RXD RD RXD SD TXD a saa e ROR 8 eses p 5 49 5 50 5 Mounting and Wiring 5 2 6 218IF 01 Module Connections b Ethernet Connections This section explains connections to the Ethernet using 10Base T The maximum length between the end nodes is 500 m with 10Base T connections e Connection Example 1 MP2200 i 218IF 01 MP2200 wpu o1 CPU 01 2181F 01 svB o1 PRO Optional Module Optional Module 10Base T Other station Other station
159. e Configuration Definition 6 49 7 Maintenance and Inspection 7 1 Inspection Items 7 2 7 1 1 Daily Inspections 7 2 7 1 2 Regular Inspections 7 3 7 2 MBU 01 MBU 02 Unit Batteries 7 4 7 2 1 Battery Life 7 4 7 2 2 Replacing the Battery 7 4 8 Troubleshooting 8 1 Overview of Troubleshooting 2 err eer e ec eeee 8 2 8 1 1 Troubleshooting Methods 8 2 8 1 2 Basic Troubleshooting Flow 8 3 8 1 3 Indicator Errors 2 2 5 eo eee 8 3 8 2 System Errors 2c ere ccc errr cr rete terete rece cceee 8 5 8 2 1 Overview of System Errors 8 5 8 2 2 Processing Flow When a System Error Occurs 8 6 8 2 3 Processing Flow for a User Program Error 8 7 8 2 4 System Register Configuration 8 8 Appendices A List of System Registers 0 00 0 ec cece recess reece eee A 2 A
160. e a panel treat the temperature inside the panel as the ambient tempera ture Change the power supply as nec essary Retighten screws Retighten Retighten the connector set screws If the BAT indicator is lit replace the battery 7 3 7 Maintenance and Inspection 7 2 1 Battery Life 7 2 MBU 01 MBU 02 Unit Batteries MBU 01 and MBU 02 Units have a built in replaceable battery This battery is used to back up data to prevent the data stored in the CPU Module memory from being lost when power is interrupted e g when the power sup ply to the MBU 01 or MBU 02 Unit is turned OFF 7 2 1 Battery Life 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 differ according to the operating conditions including the ambient temperature Always replace the battery with a replacement battery ZZK000064 within two weeks after the CPU Module BAT indicator first lights Any delay in battery replacement will result in the data stored in the memory being lost 7 2 2 Replacing the Battery This section explains how to replace the battery 1 Preparations a Saving the Memory Contents Before replacing the battery save the programs and data from the memory of the CPU Module to floppy disks or a hard disk The saved programs and data will be used if the program
161. e a cause and implement corrections Errors are classified as follows Classification Type of Error Code Sequence Control Error System S registers Code SW00040 onwards Motion Control Error Code Error in SERVOPACK 3 Checking by Monitor Functions of Peripheral Devices The monitor functions of peripheral devices are used to determine the control status and to find the cause of errors The status of the following functions can be checked e Program monitoring e Position monitoring Error monitoring e Tracing 8 1 Overview of Troubleshooting 8 1 2 Basic Troubleshooting Flow When a problem occurs it is important to determine the cause and treat the problem fast to get the system up and running as quickly as possible The following table shows the basic troubleshooting flow Basic Details Examined Equipment operation status while stopped e Power ON OFF e I O equipment status Visual Check e Wiring status e Status of indicators indicators on all Modules Status of all switches DIP switches and other switches e Parameters and program content check Observe whether the following alters the error in any way Stopping the MP2200 e Resetting the alarm Turning the power OFF and ON Consider possible failure locations based on the results of 1 and 2 above e Is the problem in the MP2200 or external e Is the problem in sequence control or motion control Error Check Narrowing the Range Is th
162. e inputs Number of outputs 32 8 common Output mode Sink mode outputs CNI and CN2 each connect to 16 inputs and 16 outputs b Connector Specifications The following table shows the connector specifications c t N Connector Model Model onnector 0 0 Name Pins mee Cable Models Module side Cable side facturer CN1 e Connector body 10150 3000VE Shell External I O 10250 52A3IL 10350 52A0 008 connector 1 Screw locking 10350 52F0 008 One touch locking CN2 50 e Connector body 10150 3000VE e Shell External I O 10250 52A3IL 10350 52A0 008 connector 2 Screw locking 10350 52F0 008 One touch locking E JEPMC W6060 00 3M JEPMC W6060 00 5 37 5 38 5 Mounting and Wiring 5 2 5 LIO 04 Module Connections c External I O Cables e Cables JEPMC W6060 05 Cable for LIO 04 Modules JEPMC W6060 10 JEPMC W6060 30 3m e Cable Appearance NP JEPMC W6060 05 H FT gt eee a J J Z P Z T 50 cores l loose wires amp Ney rs i 150 eJ S S k gt e Cable Connections Diagram Connector rR Label No 1 e y G 2 lt r 2 3 lt i 3 l i 1 1 I 1 i 1 I I 1 48 lt i 48 49 lt i 49 50 lt 50 5 2 Module Connections d Connector Pin Arrangement The following table shows the connector pin arrangement for LIO 04 Modules e CN1 Pin Arrangement es 2 mae 4 26 mm
163. e per formed using a Servomotor Phase synchronization however has not been used New method Previous method ihc gs Vengo a ome acne aa capa tape roe eae eae eae aoa Controller Clutch Differential gear Moving section gt 2 Program Outline The H06 02 drawing ladder program controls the operation The two axes rotate synchronously according to the entered speed settings The following configuration is used in this example Axis 1 Roller axis Master axis 2 Cam axis Slave axis Performs cosine cam pattern operation in refer ence to the master axis e Cam pattern data is generated by the L06 drawing ladder program Refer to 3 5 3 Program Details for details on the sample program Parent Drawing Child Drawing Grandchild Drawing H drawing H06 Drawing H0602 Drawing Phase control SEE SEE Electronic shaft Name H06 Name H0602 e Axis 1 Electronic cam e Axis 2 END High speed scan IMPORTANT This program is solely for the purpose of describing the MP2200 system startup Care must be taken because actual applications will differ This program has no power OFF circuit for the SERVOPACK in the event of emergency stops or overtravel Include a proper emergency stop circuit in actual applications 3 57 3 System Startup 3 5 2 Operation 3 5 2 Operation 1 Tuning Panel 1 Use the Tuning Panel Window for the H06 drawing to ch
164. e problem software or hardware 8 1 3 Indicator Errors Error details can be checked by the status of indicators on the front of the MP2200 Module In the process we narrow down the repair location in a program by getting an overview of the error from indica tors checking the contents of the system S registers examining the drawing or function number that caused the error and then getting an overview of operation error details 1 Indicators The LED indicators that display the operating status and error details for the MP2200 are detailed in the follow ing table Indicators Indicator Indicator Significance when Lit Name Color Ror O O WN User program running ERR ALM Lights blinks for warning O pat Lights blinks for failures 8 3 8 Troubleshooting 8 1 3 Indicator Errors 2 Indicator Details The following table describes details for indicators showing operating status and errors in the MP2200 and rem edies for those errors Classi fication Normally the CPU activates within 10 seconds from power ON If this status Initializing continues for longer than this the prob lem is a user program error or hardware Drawing A executing failure Troubleshoot system errors This status will occur for either of the following User program stopped oe Offline Stop Mode The program was stopped from the MPE720 The RUN switch was turned OFF This status will occur during normal User p
165. e register number Register designation by bit RESET1 A X Register designation by integer STIME H X Register designation by double length integer POS REF X Symbol Register designation by real number IN DEF X Designation Register designation by address PID DATA X Up to 8 characters X For subscripts add a period and the subscript i or j after the symbol which must be 8 characters or less Direct Designation Register number V T No Bit No Subscript Register type Drawing V S M Function V S M I O i or j subscript can be designated Hex 0 to F when T B bit Register No given by V decimal hexadecimal Data type given by V T B W L F A 1 O C Symbol Designation Symbol Symbolname Subscript pim i or j subscript can be designated Required when using subscripts Delimiter between symbol name and subscript Register name Up to 8 characters X XXXXXXX Alphanumeric character or symbol Character or symbol Numbers cannot be specified at the beginning of a symbol name 6 4 Registers 6 4 4 Subscripts i and j Two subscripts i and j are used for modifying relay numbers and register numbers i and j have exactly the same function An example of each register data type is explained below 1 Bit Data with a Subscript When a subscript is attached to bit data the value of i or j is added to the relay number For example if i 2 MB000000i will be the same as MB000002
166. e status of 217IF 01 Module LED indicators Green Lit during normal operation Not lit during errors T Lit blinking during malfunctions Not lit during normal operation RUN QERR S sTRXC Orrx Lit during RS 232C PORT data transmission and STRX Green reception Not lit when data not being transmitted or received Lit during RS 422 485 RS 422 485 data transmis TRX Green sion and reception Not lit when data not being transmitted or received 4 45 4 Module Specifications 4 11 2 LED Indicators and Switch Settings 3 Switch Settings The following table shows the 217IF 01 Module switch settings Label Name ne Function Factory Setting ea Always leave set to OFF ae Uses the RS422 485 port as an RS 485 OFF Uses the RS422 485 port as an RS 422 Set to OFF for CPU Module Flash Startup and Self configuration Startup ON Syst TEST TEST ra SS OFF Normal operation Always leave turned OFF 4 Offline Self diagnostic Test The following table shows the LED indicator display if a malfunction is detected by the 217IF 01 Module during an offline self diagnostic test Offline diagnostic tests are executed if the TEST switch is set to ON the INIT switch is set to OFF and the power is turned ON lEDIindicators e Indicators Item Details O r e STRX2 Flash Checksum A flash memory checksum error has been Blinking Error detected once Eg SRAM Error A SRAM h
167. eck operations just as described in 3 4 2 Opera tion Right click the H06 drawing in the High Scan Programs Folder and select Open Tuning Panel al E f 1 cada da te a de E 2 The Tuning Panel Window for the H06 drawing will be displayed f Ee Se oes ae itn BANA ed se Input position and current value The details on the Tuning Panel Window display are shown in the following table Data Name Display Current Units Lower Limit Upper Limit REG No DWG Definition Value 4 Axis 1 current position XXXXXXXXXX 0000000000 2147483648 2147483647 IL8016 5 Axis 2 current position EE XXXXXXXXXX 0000000000 P zal 2147483648 2147483647 IL8096 9 Phase control electronic shafe xxxxx 00000 __ 00000 32767 DW00010 Speed setting motor rated speed 30000 mm min XXXXXX 000000 030000 030000 DL00010 H06 02 seee Dhase control electronic cam XXXXX 0000 OOo 0000 32767 DW00010 44 Main axis speed setting motor rated speed s XXXXXX 00000 mm min 00000 030000 DL00010 Ho6 01 30000 mm min Cam axis amplitude setting double amplitude 010 000 000 000 999 999 ML30200 Cam axis main axis moving amount per cycle XXXXX XXX 00500 000 00000 000 50000 000 ML30202 3 58 3 5 Sample Program 4 Phase Control with an Electronic Cam 2 Confirming Operation Use the following procedure to confirm operation Turn ON the Servo Ent
168. ee R USB Connector MR Connector MR Connector MR Connector l l Name i Name Name Name j I 1 NC 1 l 1 DATA 1 VDATA 1 DATA i i 1 1 IDATA 2 2 DATA ft 2 DATA 42 DATA 1 A rT 1 DATA 3 3 i i it l SH TERM 4 TERM g TERM i i A 1 Shield FG 5 FG 5 FG 1 1 I 1 4 e DATA e DATA g PATA _ Connect a terminator between i a nee i i pins 6 and 7 ae oe 1 Resistance 130 Q 5 1 2 W 1 DATA DATA DATA 1 7 H 7 H 7 t I l 1 i 8 8 8 i i 1 J Note 1 The JEPMC 6010 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 2 The terminating resistance for SGD OOON SGDB OOOAN must be provided by the user 3 Prepare the cables according to following MECHATROLINK I specifications Connections that do not meet the specifications will prevent normal communication due to the influence of reflected waves or other factors Total network length 50 m max Maximum number of slave stations 14 stations max Minimum distance between stations 0 3 m min 5 15 5 Mounting and Wiring 5 2 2 SVB 01 Module Connections c Terminator Connections Name Terminator model number JEPMC W6022 Pin No NC IDATA DATA SH Shield x 1 3 130 Q 4 d Connection Example between the SVB 01 SE
169. egisters OAhhhh OW7FFF program Register number nnnnn is expressed as a decimal number registers are read only registers can be B W L Fnnnnn W00000 to read only in the corresponding drawing The registers HA EW 16383 actual range used is specified by the user on Annnnn the MPE720 Register number nnnnn is Registers expressed as a decimal number unique to Internal registers unique to each drawing D each DB DWDL registers can be read only in the correspond drawing D registers DFnnnnn DW00000 to ing drawing The actual range used is speci DAnnnnn DW16383 fied by the user on the MPE720 Register number nnnnn is expressed as a decimal registers CAnnnnn CW16383 number Constant CB CW CL CFnnnnn CW00000 to Constant registers can be read only in the The ranges of integer data is given as typical examples Note Register number nnnnn is expressed as a decimal number Register number hhhh is expressed as a hexadecimal number 6 23 6 Basic System Operation 6 4 2 Types of Registers 2 Registers in Functions The types of register shown in the following table can be used in functions F S e Charac Input to a function Bit input XB000000 to XB00000F Function input XW00000 to Integer input XW00001 to XW00016 registers XB XW XL XFnnnnn XW00016 Double length integer input XL00001 to XLO0015 X Register number nnnnn is expressed as a decimal number Output from a function
170. em Errors 7 Interrupt Status a Interrupt Status Reiser Number Interrupt Detection Counter SW00698 Fe Ci Module Generating Interrupt SW00699 Number of Interrupt Modules for one time SW00700 SW00701 Interrupt Module 1 SW00702 SW00703 SW00704 Interrupt Module 2 Interrupt Module SW00705 SW00787 SW00788 Interrupt Module 30 SW00789 b Interrupt Module Details Bt No SWOOXXK o mms SWOOXXX 1 SWOOXXX 2 1 Rack mm 01 to 04 The rack number where the Module that was the interrupt factor is mounted 2 Slot ss 01 to 09 The slot number where the Module that was the interrupt factor is mounted 3 Interrupt Type 1 Reserved by the system 2 LIO 01 LIO 02 LIO 04 DI interrupts 3 LIO 01 LIO 02 counter interrupts 4 Hardware Interrupt Factor Register Values e Interrupt Type 2 LIO 01 LIO 02 and LIO 04 DI Interrupts LIO 01 and LIO 02 interrupt inputs 1 Interrupt input 0 No interrupt input LIO 04 interrupt input 1 1 Interrupt input 0 No interrupt input LIO 04 interrupt input 2 1 Interrupt input 0 No interrupt input LIO 04 interrupt input 3 1 Interrupt input 0 No interrupt input LIO 04 interrupt input 4 1 Interrupt input 0 No interrupt input 13 to 15 Reserved by the system Interrupt Type 3 LIO 01 and LIO 02 Counter Interrupts Reserved by the system Counter Agreement Status 1 Counter agreement 0 No counter agreement 5 to 15 Reserved b
171. er electronic cam settings data Turn ON electronic cam start Enter main axis speed settings Confirm operation The process for confirming operation will be explained based on the above procedure 1 Switching between Servo ON and Servo OFF Change the current value setting for Servo ON PB from OFF to ON on the Tuning Panel Window The 3 Servomotor will turn ON and the Servo will be clamped 2 Entering Cam Data Enter any value within the setting range for the Tuning Panel Window items listed below The cam pattern is generated from these settings Cam pattern data is not changed however if the Electronic Cam Start described next is set to ON e Cam axis amplitude setting double amplitude Setting range 0 to 999 999 e Cam axis main axis moving amount for one cycle Setting range 0 to 50000 000 3 Starting Electronic Cam Operation Change the current value for Electronic Cam Start to ON in the Tuning Panel Window The second axis will enter Phase Control Electronic Cam Mode Change the current value to OFF to exit the Phase Con trol Electronic Cam Mode 4 Entering Main Axis Speed Settings Change the current value for the Main Axis Speed Setting in the Tuning Panel Window to any value between 30000 to 30000 The value set will be the master axis speed and the axis operation will start nr of m Actual Application Programs 4 Programs must be created in actual applications to monitor and control registers that
172. error analysis Generating Error Ladder Program Error 0003H DWG H W00054 Task 3 0005H DWG L 32 bit Error Code 0005H DWG L Ladder Program Type SW00055 0008H Function Ladder program parent drawing FFFFH Ladder program function 0100H Ladder Program Error Ladder program child drawing OO00H HOD Child drawing No SW00056 Drawing No Ladder program grandchild drawing OOyyH Hyy Grandchild drawing No Type of drawing that calls the ladder program function in which an error occurred Ladder Program Function Calling DWG SW00057 Saat w 0008H Ladder program function Type 0010H Reserved by the system 0003H DWG H 0005H DWGL 0011H Reserved by the system Number of drawing that calls the ladder program function in which an error occurred Parent Drawings FFFFH Functions 0100H Child drawing OO00H HOU Child drawing No Grandchild drawing OOyyH Hyy Grandchild drawing No Ladder Program STEP number of drawing that calls the ladder program function in Function Calling DWG SW00059 which an error occurred No 0 when there is an error in the drawing Ladder Program Function Calling DWG SW00058 No 8 2 System Errors cont d Register fe Error Data SW00076 to swo0079 Reserved by the system 8 11 8 Troubleshooting 8 2 4 System Register Configuration 3 Ladder Program User Operation Error Status The following tables list data available when a user opera
173. exe lo 4 39 4 40 4 Module Specifications 4 9 1 Outline of Functions 4 9 LIO 04 Module 4 9 1 Outline of Functions The LIO 04 Module is an Optional Board for the MP2200 MP2300 that provides a digital I O function There are 32 digital inputs DI and 32 digital outputs DO sink mode outputs for the digital I O function T O is refreshed on a fixed cycle for the digital I O function occurring every MP2200 MP2300 high speed and low speed scan 4 9 2 LED Indicators and Switch Settings 1 External Appearance The following figure shows the external appearance of the LIO 04 Module LED indicators I O connectors 2 Indicators The following table shows the status of LIO 04 Module LED indicators Indicator Indicator Status Name Color ait Green Lit Module normal RUNC Oru Not lit Module error FU Red Lit One of the output protection fuses is blown Not lit All of the output protection fuses are normal Note The burnout detection circuit will not function when there is no external 24 V power supply 4 9 LIO 04 Module 4 9 3 Hardware Specifications 1 Module Specifications The following table shows the hardware specifications of the LIO 04 Module Specications TAPMCTO25 32 inputs 24 VDC 4 1 mA combined sink mode source mode inputs DI 00 01 16 and 17 also used for interrupts Digital Inputs Simultaneously ON Inputs 16 points 8 inputs common At ambient temperature of 5
174. face When self configuration is executed the following parameter settings will be made for the RS 232C interface of 218IF 01 Modules Transmission Delay Automatic Reception Leading Register No of Words Reading input relays TW0000 5120 Reading input registers TW0000 5120 Interface Register Settings at the Reading writing coils MW00000 32768 Slave Reading writing holding registers MW00000 32768 Writing range for coil holding MW00000 registers LO MW00000 HI MW32767 INFON An engineering communication connection with the MPE720 is possible using self configuration Also depending on the 4 settings of connected devices MEMOBUS message communication may be possible using the automatic reception func tion 6 43 6 Basic System Operation 6 5 8 217IF 01 Modules 6 5 8 217IF 01 Modules 1 RS 422 485 Interface When self configuration is executed the following parameter settings will be made for the RS 422 485 interface of 217IF 01 Modules Transmission Delay Automatic Reception Leading Register No of Words Reading input relays TW0000 5120 Reading input registers TW0000 5120 Interface Register Settings at the Reading writing coils MW00000 32768 Slave Reading writing holding registers MW00000 32768 Writing range for coil holding MW00000 registers LO MW00000 HI MW32767 INFON Also depending on the settings of connected devices MEMOBUS message communication may be possible using the 4 automatic reception fun
175. fferential phase 24 PBL 5 V differential phase C pulse input B pulse input 7 SG Ground 25 SG Ground General purpose analog input 0 8 AlO 26 AI GND Analog input ground Feedback speed General purpose monitor input 9 AO_1 analog output 1 27 AO GND Analog output TREF torque reference output ground OV OV 10 0 V for 24 V output 28 EAN outp EAD 0 V for 24 V output n OV 0 V for 24 V output 29 2 0 V for 24 V utpu tput General purpose For 24 V Genoe For 24 V for outpu e output DO_2 l DO 1 output DO_1 PCON f ALMRST T P action reference output General purpose Alarm reset ouput DO 0 General purpose EI DO 4 output DO_4 re 31 svon Output DO_O General purpose DO 5 General purpose Servo ON output DO tput DO_3 SEN output DO_5 ane General purpose VS866 24 V SEN signal 15 DI_3 input DI_3 z DI_4 General purpose P oT positive overtravel input n or input DI_4 Negative overtravel input 16 24V 24 V output 34 24V 24 output General purpose xr ee ee 47 DIO input Dio oy Ot out bl F p DI 2 N General purpose SVALM Servo alarm input General purpose SRDY Servo delay input 18 zero input DI_2 Popo ael DLS input DI_5 HOME Ls ZERO HOME LS input EXT DEC EXTIDEC signal input Note 1 QW Inputs signals with a latch function 2 X Signals that can be used as general purpose I O signals only in general purpose I O m
176. forward and reverse directions Home Return Types Latch Function Phase C latch external signal input latch Self configuration Function Automatic allocation by Module is supported 4 21 4 Module Specifications 4 6 1 Outline of Functions 4 6 LIO 01 Module 4 6 1 Outline of Functions The LIO 01 Module provides digital I O and pulse counter functions There are 16 digital inputs DI and 16 dig ital outputs DO sink mode outputs for the digital I O function There is also 1 pulse input PI channel for the pulse counter function I O is refreshed on a fixed cycle for the digital I O and pulse counter functions occurring every MP2200 high speed and low speed scan The following diagram gives an outline of the LIO 01 Module functions L Interrupt input 16 points DI 00 Input Input port BI processing isolated DI DI 01 y Latch 5 V 12 V 5 2 i Z input 2 Pulse input input pu je 2 E m processing 5 V differential 5 g AIB input O S fe a Coinci dence in terrupt DO 00 16 points Output port Output isolated DI gt processing oe gt 4 6 2 LED Indicators and Switch Settings 1 External Appearance The following figure shows the external appearance of the LIO 01 Module LED indicators Switch I O connector 4 22 4 6
177. g 5 2 4 LIO Module Connections g Output Circuit The following table shows the LIO 02 Module output circuit specifications tem Ouipts Output Format isolation Method pavpcw0 OOO Output Voltage 24 VDC 20 Output Current 100 mA max Leakage Current ON Time OFF Time ON 1 ms max OFF 1 ms max Number of Commons 16 points Fuse Protection Circuit The fuse is not however for circuit protection It is for protecting against fire at out put shorts Attach a fuse externally to each output if circuit protection is required Error Detection Fuse blown detection DO 00 Other Functions gt i DO 00 is shared with counter position detection 24 V 33 kQ TTT po 24V DO i 33 kQ i 4709 Output register l DO_OUT Digital Output Circuit Source Mode Output 5 34 5 2 Module Connections h Pulse Input Circuit The following table shows the LIO 02 Module pulse input circuit specifications Item Specifications Number of Points 1 Phase A B Z input Phase A B 5 V differential input not isolated max frequency 4 MHz Input Circuit P Phase Z 5 V 12 V photocoupler input max frequency 500 kHz Input Mode Phase A B signed incremental decremental Pulse latch on phase Z or DI 01 Response time 5 us max for phase Z input 60 us max for DI 01 input Latch In
178. gic operations Double length 2147483648 to 2147483647 Used in numeric operations The values in parenthe integer data 80000000H 7FFFFFFFH ses are used in logic operations Address data 0 to 32767 sed only for pointer designations Register Designation and Data Types MB001006 FEDCBA9876543210 ML00100 MF00100 MW00100 MW00102 ML00102 i MF00102 w001 03 MB00103A 6 4 Registers Pointer Designation Register area Memory address nn gt MB001003 MW00100 ML00100 MW00101 4 MF00100 MW00102 MW00103 MW00100 gt MW00101 gt MW00102 gt MW00103 lt q EXAMPLE gt e Examples of Use by Data Type 1 Bits Bits are used for relay circuit ON OFF status IB00010 MBO000101 IB00001 mH 6 2 Words Words are used for numeric operations and logic operations mwoo100 V HOOFF gt Mwo0101 L mwoo102 12345 MWw00103 mwoo104 INV gt MW00105 3 Double length Integers Double length integers are used for numeric operations and logic operations ML00100 MLO0102 ML00104 ML00106 x ML00108 18000 gt ML00110 L ML00112 BIN gt ML00114 6 21 6 22 6 Basic System Operation 6 4 1 Data Types 4 Real Numbers Real numbers are used for floating point number operations 1 23456 DF00100 1 23456 DFo
179. guration eliminates the need to make settings for Module definitions making it possible to per form startup work easily and quickly for the MP2200 system Optional Modules are recognized and defi nition files are generated automatically For details refer to 6 5 Self configuration 2 The RUN indicator blinks during execution of self configuration 4 Operation Start If the Stop Switch is OFF RUN or if it is turned OFF RUN from ON STOP the CPU starts the watchdog timer and then executes DWGA The initial scan is executed only after the time for the high speed or low speed scan has ended following the completion of DWG A System inputs and outputs are executed from the first scan 5 Operation Stop The MP2200 stops operating in the following cases The power supply is interrupted PRY p Turn power OFF and ON A power failure has occurred A fatal error has occurred Determine the error by the indicator status and turn the power OFF and ON A STOP operation has been performed from the MPE720 Perform a RUN operation from the MPE720 6 3 User Program 6 3 User Program The MP2200 user program includes ladder and motion programs This section explains the basic operation of the user program Refer to the following manuals for details on programming MP900 MP2000 Series Machine Controller User s Manual Ladder Programs Manual No SIEZ C887 1 2 MP900 MP2000 Series Machine Controller User s Manual M
180. he MP2200 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 machine may start operation suddenly Provide suitable safety measures to protect people when operation restarts There is a risk of injury vii Storage and Transportation A CAUTION e Do not store or install the MP2200 in the following locations There is a risk of fire electrical shock or device damage e Direct sunlight e Ambient temperature exceeds the storage or operating conditions e Ambient humidity exceeds the storage or operating conditions e Rapid changes in temperature or locations subject to condensation e Corrosive or flammable gas e Excessive dust dirt salt or metallic powder e Water oil or chemicals e Vibration or shock Do not overload the MP2200 during transportation There is a risk of injury or an accident E Installation A CAUTION Never use the MP2200 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 MP2200 or place heavy objects on the MP2200 There is a risk of injury Do not block the air exhaust port or allow foreign objects to enter the MP2200 There is a risk of element deterioration inside an accident or fire Always mount the MP2200 in the specified orientation
181. he moving amount set under Axis 2 Step Moving Amount Current value ON gt OFF Axis 2 stops rotating Input OFF after executing stepping Pe 1 Step Moving Enter any value Sets the Step moving amount for axis 1 Amount Axis 2 Step Moving Enter any value Sets the Step moving amount for axis 2 Amount NFON E Actual Application Programs 4 Programs must be created in actual applications to monitor and control registers that correspond to the signals and data Axis 2 Reverse Current value OFF gt ON Step listed above The register numbers that correspond to the signals used in this sample program will be the register numbers displayed under REG No next to DWG at the right of the Tuning Panel window 3 39 3 System Startup 3 2 3 Program Details 3 2 3 Program Details 1 H Drawing The H parent drawing controls the overall sample program P00101 H Main Program High speed Main Progra HHHH High speed main program HHHHHHHE HHHH Servo ON and alarm reset HHHHHHH Servo ON and alarm reset 0000 0000 NL 1 Name H01 FH HHH Jog and step operation HHHHHHHT a S T Jog and step operation 0001 0001 NL 1 Name H02 HHHH Positioning operation HHHHHHHH Positioning operation 0002 0002 NL 1 Name H04 HHHH Phase control Electronic cam 3 40 3 2 Sample Program 1 Manual Operation 2 H01 Drawing The H01 child drawing turns ON the Servo resets al
182. i l i 1 l 1 Control DO_2 Pcon 12 T i O 41 P CON mode switch DO_4 13 0 T T 7 O 45 P CL User set DO 3 14 0 i I O 46 N CL User set DI_3 P oT 15 0 o i i i i O 42 P OT 24V 16 O L i LO 47 24V IN DI_O SvALM 17 O 7 i i O 31 ALM DI_2 ZERO HOME LS 18 O l i l SG 19 O O 10 SG SEN 5v 20 r r 4 SEN Al_1 TMoN 21 O 16 TRQ M permeno outpu 22 0 PB 23 O 35 PB PBL 24 O 36 PB SG 25 O i O 28 TGON BRK Al GND 26 oT i i moO 27 TGON BRK AO GND 27 O 1 SG OV For 24 V 28 O 30 S RDY OV For 24 V 29 O DO_1 aLmrst 300 i LO 44 ALM RST DO_0 svon 31 O O 40 S ON DO_5 SEN for vs866 32 O f i f i DI_4 N oT 33 l i 1 43 N OT 24V 34 0 i A l DI_1 SRDY 35 L O 29 S RDY DI_5 EXT DEC 36 a O 22 BAT 1 Di O 21 BAT Hood FG e FG Hood EXT DEC input ZERO HOME LS input P OT input N OT input ABS encoder battery 3 6 V ABS encoder battery 0 V Brake interlock output Brake interlock output 5 2 Module Connections i SERVOPACK Connection Cables for SGDM SGDH SGDS 000010 000020 e Model JEPMC W2040 05 0 5 m JEPMC W2040 10 1 0 m JEPMC W2040 30 3 0 m e Appearance Al1 AL2 NP SVA rex lt Ky
183. ic cam stop DB000002 Axis 1 motion command 005 STORE 0o17 Source 00000 Dest 0W8008 Electronic cam stop DB000002 0006 STORE a Wie Source 00000 Dest OW8088 HHHHHHHHHH Slave axis phase generation calculation disabled Electronic Cam Mode HHHHHHT Axis 2 phase Operation reference generation disabled DB000000 0B80851 0007 pozi Cam operation Zero speed reference DB000003 MB300008 HHHH Master axis speed reference generation HHHH Master axis linear acceleration deceleration parameter settings parameter settings 0008 EXPRESSION a 0025 NL 1 DB000200 true DB000201 true DF00022 30000 0 DF00024 10 0 DF00026 10 0 Master axis speed settings Operation reference DB000000 Linear accelerator decelerator input 0o05 STORE E 0026 NL 1 Source DL00010 Dest DF00012 3 5 Sample Program 4 Phase Control with an Electronic Cam P00122 H06 02 Main Program Phase Control 2 Electronic Cam Processing Operation reference DB000000 0010 STORE a 0028 NL 1 Source 0 000000E 000 Dest DF00012 0011 LAU z ma Input DF00012 Parameter DA00020 Output DF00040 Operation reference DB000000 Axis 1 speed reference setting 0012 LORE CCS STORE My Zero speed Source DF00040 DB000003 Dest 0L8010 Zero speed Zero speed DB00020A DB000003 0013 0034 NL 1 HHHH Slave axis control circuit HHHHHHAHE HHHH Electronic cam phase generation HHHHHHHH Cam operation reference NB300008 0014 STORE 00
184. igital Operator is shown below 2 Initializing Parameter Settings Fn005 Initialize the parameters to return them to the default settings Note The settings cannot be initialized if writing is prohibited using Fn010 or if the Servo ON signal is ON a Operation Procedure Operation Keys Display Example FUNCT ION BB Start Retur Parameter Init DATA n SET BB Parameter Init Start Retur DATA n SET 3 Turning ON the Power Supply Again Parameter settings will be initialized but some of the parameters need the power to be cycled to enable the set tings Always turn OFF the power and then turn it ON again 3 1 Outline MODEISET Press the C Key to display the Utility Function Mode main menu Press the Keys to select Fn005 Press the Key The display is switched to the Fn005 Parameter Initialization Screen If the display is not switched and NO OP is displayed in the status display the Write Pro hibited Setting Fn010 0001 is set Check the setting and reset Press the Key to initialize the parame ters Parameter Init will blink during initialization When initialization has been completed Parameter Init will stop blinking and the status display will change as shown below BB gt Done gt A 941 Note A 941 is a warning to indicate that the power must be cycled for a parameter that has been changed Cycle the power after
185. igure out the fail ure location and implement corrections The following sections describes the system register in more detail 1 System Register Allocation The following illustration shows the configuration of the system registers swo0000 swo000 swo00s0 swo00e0 swo0090 Swo0110 swo0190 swo0200 swo0s00 swo06s8 swo08o0 Swo1312 swo204s swo3200 swos200 SW05264 to swogi91 Reserved by the system 2 Viewing System Registers Use the Quick Reference function or the Register List function from the MPE720 8 5 8 Troubleshooting 8 2 2 Processing Flow When a System Error Occurs 8 2 2 Processing Flow When a System Error Occurs The following illustration shows the processing flow when a system error occurs START Use indicator status to determine error details Battery alarm BAT indicator lit Replace the battery YES Warning Classification alarm ALM indicator lit or blinking NO YES Fatal error Classification fatal error ERR indicator blinking NO Hardware malfunction watchdog timeout N NO error Only ERR indicator lit Turn the STOP switch DIP switch 6 to OFF and turn ON the power again Online Stop Mode Only RDY indicator lit Hardware malfunction User program error Check SW00050 contents Watchdog timeout error YES User program error Refer to 8 2 3 User Program Error Processing Flow and check the
186. indow display are shown in the following table Data Name Display Current Value Units Lower Limit Upper Limit REG No DWG Definition Axis 1 current position i i XXXXXXXXXX 0000000000 2147483648 2147483647 IL8016 Axis 2 current position XXXXXXXXXX 0000000000 2147483648 2147483647 IL8096 Pe conmaneeaaiar A E E ooooo sarer bacon 4 Positioning operation and settings P XXXXX 00000 00000 32767 DW00010 L fos DB000010 H04 Fs DB000011 H04 pB000010 H04 DW00030 H04 H04 H04 KEE A A C A m frons fs ooe oe LC A a A A E E fer a 2nd target position X axis XXXXXXXXXX 0000040000 2147483648 2147483647 DL00014 H04 2nd target position Y axis s XXXXXXXXXX 0000060000 mz 2147483648 2147483647 DL00016 H04 3 48 3 3 Sample Program 2 Positioning Control 2 Confirming Operation Use the following procedure to confirm operation Turn ON the Servo v Input motion program number setting v Enter target value for each axis v Positioning starts v Confirm motion program operation The process for confirming operation will be explained based on the above flowchart 1 Switching between Servo ON and Servo OFF Change the current value setting for Servo ON PB from OFF to ON on the Tuning Panel Window The 3 Servomotor will turn ON and the Servo will be clamped 2 Setting Motion Program Num
187. ing Motion programs are called in the scanning cycle but as with ladder programs all programs cannot necessarily be executed in one scan Motion programs are executed and controlled by special system motion management functions INFON The following points apply to calling motion programs Call motion programs with care 7 e More than one motion program with the same number cannot be called using the MSEE instruction e Subprograms MPSOOID cannot be called using the ladder program MSEE instruction They can be called only from within motion programs MPMOOO and MPSOOD The same subprogram cannot be called from two different locations at the same time 6 13 6 14 6 Basic System Operation 6 3 3 Motion Programs 3 Motion Program Control Signals To execute a motion program called from a DWG H by the MSEE instruction program control signals such as program start requests and program stop requests must be input The second word in the MSEE work registers contains the control signals The signals used to control motion programs are shown in the following table o Programstartrequest Dieta or NO conci e Program continuous operation sian request Diferenial or NO coacti e Ske Tinformation O oom o o Skomm oom E D Systemworknumberseting Poeme 1 System Work Number Setting OFF The system work register is automatically defined by the system The system work number may be differ ent each time O
188. ingle amplitude 0 075 mm Mechanical Resistance 57 lt lt 150Hz Acceleration 9 8 m s Operating X Y and Z directions Conditions 1 octave min sweep x 10 sweeps Conforms to JIS B 3502 Shock ate 2 x 5 R sistance Peak acceleration 147 m s Usage time 11 ms Twice each in X Y and Z directions EN 61000 6 2 Conforms to EN 55011 Group 1 Class A Electrical Power supply noise FT noise 2 Kv min for one minute Operating Noise Resistance a Radiation noise FT noise 1 Kv min for one minute Conditions Ground noise impulse noise 1 Kv min for 10 minutes Electrostatic noise contact discharge method 4 Kv min 10 times Installation Ground to 100 Q max Requirements Cooling Method Natural cooling 4 3 4 Module Specifications 4 1 2 Function List 4 1 2 Function List 1 PLC Functions and Specifications The following table shows the PLC functions and specifications Functions and Specifications Control Method Sequence High speed and low speed scans Programming Ladder diagram Relay circuits Language Text type language Numeric operations logic operations etc Two scan levels High speed scan and low speed scan High speed scan time 0 5 to 32 ms Integral multiple of MECHATROLINK communica Scanning tion cycle Low speed scan time 2 to 300 ms Integral multiple of MECHATROLINK communica tion cycle Startup drawings DWG A 64 drawings max Up to three hierarchical drawing levels
189. initializing the parameters MODESET e Press the lt Key if you do not want to initialize parameters The display will return to the Utility Function Mode main menu 3 9 3 System Startup 3 1 5 Initializing the System 4 Executing MP2200 Self configuration Execute self configuration to automatically configure the Optional Modules mounted to the Basic Unit and the devices connected to the MECHATROLINK This section explains the method for executing self configuration The power to X IIT SERVOPACKs has already been turned ON prior in this procedure 1 Turn OFF the power Turn OFF the Basic Unit 24 VDC power supply STOP SUP a INIT 2 Set DIP switches ON Turn ON the INIT and CNFG pins on the DIP switch SW1 on the TEST Basic Unit swi OFF ON SZ 3 Turn ON the power Turn ON the Basic Unit 24 VDC power supply 4 Check the display Check that the LED indicators on the Basic Unit change as shown below RDY O RUN RDY O RUN RDY RUN ALM ERR ALM O O ERR ALM O OERR TX O O BAT TX O BAT TX OBAT ONotlit Lit x Flashing STOP Jb SUP INIT 5 Reset DIP switch ca Turn OFF the INIT and CNFG pins on the DIP switch SW1 on the TEST Basic Unit sw OFF ON IMPORTANT INIT Switch RAM data will be cleared if the INIT pin on the DIP switch on the CPU Module is turned
190. ins the product information required to build MP2200 systems 2 1 System Configuration 2 2 2 1 1 Basic System Configuration 2 2 2 1 2 System Configuration Precautions 2 4 2 2 List of Modules 2 5 2 2 1 MP2200 Modules 2 5 2 3 Devices Connectable to MECHATROLINK 2 6 2 4 Cables and Accessories 2 7 2 4 1 Cables 2 7 2 4 2 Accessories 2 7 2 5 Software 2 8 2 5 1 Software for Programming Devices 2 8 2 1 2 System Configuration 2 1 1 Basic System Configuration 2 1 System Configuration 2 1 1 Basic System Configuration The following diagram shows the basic system configuration 1 One Rack Configuration Slot 0 is always the CPU Module MP2200 MP2200 mBu 02 CPU 01 SVB 01 LIO 01 9 Modules max Optional Modules MECHATROLINK II Motion Modules SVB 01 MECHATROLINK SVA 01 Analog outputs I O Modules External I O MECHATROLINK Servodrives compatible I O Modules External I O External I O Communicati
191. ion error Operation not executed non numeric 0 0 No Standard System Functions Interrupt operation and output Real number operation errors 0 0 0040H SQRT 0041H SIN 0042H COS 0043H TAN es es N No No No No Real Number Operation osese osser sid SSS 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 8 13 8 Troubleshooting 8 2 4 System Register Configuration Table 8 4 Ladder Program User Operation Error Status 4 Error Code Error Contents System Default 1000H Index error within drawing No Execute again with ij 0 2000H Index error within function Execute again with ij 0 Integer system functions 9p erakon SIOPp d and oup na No input The A register remains x060H to Index error the same pas x06DH PI x06DH PD x06FH PID x070H LAG l XOTIH LLAG x072H FGN x073H IFGN x074H LAU x075H SLAU x076H FGN x077H IFGN 4 System Service Execution Status Number Reserved by the system Reserved by the system Reserved by the system Reserved by the system SW00094 to Reserved by the system SW00097 Existence Of Data Trace Bit 0 to 3 Group 1 to 4 W00098 Definition Definition exists 1 No definition 0 Data Trace Execution Status SW00099 Beto Group 1 04 Trace stopped 1 Trace executing 0 Table 8 5 Latest Data Trace Record
192. ions 4 4 2 LED Indicators and Switch Settings 3 Switch Settings The DIP switch sets the operating conditions for the SVB 01 Module Use the default settings when using the Module in Master Mode a DIP Switch SIZE and SPD are valid only in Slave Mode They will be ignored in Master Mode M S SIZE SPD Status ON F Default Operating Mode Setting Details Reserved Not used Reserved 17 bytes 32 bytes 4 Mbps Select the number of transfer bytes Select the baud rate Slave Mode OFF Select Master or Slave Mode Setting joes siietonago T ite IES Mode 10s digit address Mode 1s digit address 4 14 4 4 SVB 01 Module 4 4 3 Hardware Specifications The following table shows the hardware specifications of the SVB 01 Module tem Motion network 1 channel communication ports 2 ports SERVOPACK and I O for up to 21 stations connectable SERVOPACKs for up to 16 axes Baud rate 4 Mbps MECHATROLINK 1 or 10 Mbps MECHATROLINK ID RUN green Indicators ERR red TX green M S master slave SIZE No of send bytes SPD baud rate x 1 slave address Motion Network MECHATROLINK Switches x 10 slave address 4 15 4 Module Specifications 4 4 4 Function Lists 4 16 4 4 4 Function Lists The following table shows the list of motion control functions for the SVB 01 Module item O
193. ip O Gad am cee R am RS ove ee Ss 2 me Module Conliqgeation MPP TRAMP 2200S Sz Onine Local c JUTE 1 CRU 1 Select Rack Enable Disatle Rak Enable Baig Disable Rack Disable Eras Conticle Fisck 1 Finck 2 Flack 3 Fleck 4 ilt Number oo o Oa Module Type EP001 21 0 bvs 01 UNDERNED bihi Date S440 FADED SLOTHDO aret Paad O E a m oro ratepa er 6 39 6 Basic System Operation 6 5 4 LIO 01 Modules 6 5 4 LIO 01 Modules Details on definition information when self configuration is executed are shown below 1 I O Allocations Modules mounted in option slots are detected and input registers and output registers are allocated automatically Allocation is performed in ascending order from the Module with the lowest option slot number With LIO 01 Modules 48 words are allocated for both input registers and output registers Aooatons Out of the 48 words allocated to one Module the first word is automatically allocated to input registers Digital inputs Example 16 points If LIO 01 Modules are mounted in slots 1 and 2 digital inputs will be allocated in the following way LIO 01 Module mounted in slot 1 1W0410 LIO 01 Module mounted in slot 2 1W0440 Out of the 48 words allocated to one Module the second word is automatically allocated to output reg isters Digital output Ce Example If LIO 01 Modules are mounted in slots 1 and 2 digit
194. ipment is relocated or modified or when the wiring is changed O PROHIBITED Do not replace the built in fuse If the customer replaces the built in fuse the MP2200 may malfunction or break down Contact your Yaskawa representative inspection Nem Inspection Deal Ambient temperature Ambient humidity Atmosphere Check the tempera ture and humidity with a thermometer and hygrometer respectively Check for corrosive gases Operating Environment Measure the voltage between 100 200 VAC terminals Measure the voltage MBU 01 Unit between 24 VDC MBU 02 Unit terminals Loose excessive Attempt to move the play Module Dust and other foreign matter Power supply voltage check Visually check Installation Conditions Check for termi nal screw loose ness Check by retighten ing the screws Gap between crimp terminals Check for connec Visually check tor looseness Check the BAT indi cator on the front panel of the CPU Module Visually check Connection Conditions 0 to 55 C 30 to 95 There must be no corro sive gases 85 to 276 VAC 19 2 to 28 8 VDC The Module must be secured properly The Module must be free from dust and other for eign matter The screws must not be loose There must be an appropri ate gap between the termi nals The screws must not be loose The BAT indicator must be not lit If the MP2200 is used insid
195. le Side Cable Side 48 FCN 360C048 E cover is I O C t l FCN 365P048 A Fujit t Yo comecior vo ew s6spos aur FCN 364J048 AU 5 c Cables JEPMC W2061 A5 Cable for LIO Modules JEPMC W2061 01 JEPMC W2061 03 3m d External Appearance of Cables for LIO Module JEPMC w2061 00 o 5 25 5 Mounting and Wiring 5 2 4 LIO Module Connections e Connector Pin Arrangement The following table shows the connector pin arrangement of the LIO 01 Module Signal gn Signal 9 I O Remarks Num 9 1 0 Remarks Name Name ber ber T Prase A puke Phase pC Phase B pulse I Phase B pulse 4 input Phase Z pulse f I e fil sag Ra EF 12 V input zZ Cc He CP Oupa 85 DO_CoM P Ouparcommon TP avi 88 pow P avi o fowm e7 pon 0 ouma pons o omus 88 bon 0 fom pon o omun e pono o fomo mo Doo o omus f e boo 0 oum ES EA EA Fen E in A1 A2 A3 A4 A5 A6 A7 A8 A9 A om en boo 0 oume Riz omms B12 booa O oum NE B13 D002 0 oum na Foust B14 D000 O Oud ATS B15 Ate B76 At C Tt iors oe Lips Mia oor 1 mar B18 LoS 1 Pre o A A27 B21 a ooo i Ppa 3 DLCOMo P imurcommon0 B23 DICONT P Inpatcommont Fe Framezromd 824 FG Framesromd Note P Power input I Input signal O Open collector output Ee ie A5 pes EAr CA ZAS Aor EA EAE AIS exa EATE ees AT EAR EZE
196. llowing procedure to display the Tuning Panel Window 1 Log on online and open the 2200SMPL Controller Folder then the Programs and High Scan Programs folders in the MPE720 File Manager Window 2 Right click the H02 drawing in the High Scan Programs Folder and select Open Tuning Panel Wks Humai fe ft Ges Te he iB eee ye EE ie A oa T E Soc a H D eget Poir i G Sai Bowe E D eimir Fakes S E Praga Jj Eann B cT 1j Function Pegs teen eae H Waid ation Prog ara j Dip Taran Ar 3 37 3 System Startup 3 2 2 Operation ina Pin Fase EEGEE E T OoOO moO ee rere Input position and current value The details on the Tuning Panel Window display are shown in the following table m eem e o O o aa O A A C A E A a C A avs curentpesion S o00000000 eeoo000000 orare aare s rezano 000000000 eaoo000000 varavecas aare e a eonmon apart Promo feoooo _ ooo0o fea e pm a e venan a oo o foo REG No DW00010 1B80000 80000 1L8016 eae IL8096 xi DW00010 eo MB300000 Ooo mB300001 DW00010 DB000010 DB000011 DB000010 DB000011 DB000012 DB000013 DB000012 32767 Axis 2 Forward Jog ON OF KAC A Lon ore F F F F F F F F Ol F F F F F F F F DB000013 H02 02 DL00010 H02 01 DL00010 H02 02 0214783648 2147483647 2147483647 Q 0214783648 3 38 3 2 Sample Program 1 Manual O
197. lso used for interrupts DI 01 also used for pulse latch inputs 16 outputs 24 VDC transistor open collector outputs sink mode outputs DO 00 also used for coincidence outputs Phase A B Z inputs Phase A B 5 V differential input not isolated max frequency 4 MHz Phase Z 5 V 12 V photocoupler input max frequency 500 kHz Latch input Pulse latch on phase Z or DI 01 LD1 green LD2 green LD3 green LD4 green LD5 green LD6 green LD7 green LD8 green Rotary switch SWD 2595 XD 4 7 LIO 02 Module 4 7 LIO 02 Module 4 7 1 Outline of Functions The LIO 02 Module provides digital I O and pulse counter functions There are 16 digital inputs DI and 16 dig ital outputs DO source mode outputs for the digital I O function There is also 1 pulse input PI channel for the pulse counter function I O is refreshed on a fixed cycle for the digital I O and pulse counter functions occur ring every MP2200 high speed and low speed scan The following diagram gives an outline of the LIO 02 Mod ule functions Interrupt input ADi 00 16 points Input Input port Q processing isolated DI yoo Latch 5 V 12 V i se 2 z input 8 3 le Z input a Pulse input input p z E processing 5 V differential g L A B input O PA S N Coinci dence in terrupt DO 00 16 points Output isolated
198. lsory actions that must be performed For example this symbol would be used as follows to indicate that grounding is compulsory Safety Precautions The following precautions are for checking products on delivery storage transportation installation wiring operation maintenance inspection and disposal These precautions are important and must be observed A WARNING Before starting operation in combination with the machine 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 MP2200 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 can cause damage to the machine or even accidents resulting in injury or death Do not remove the front cover cables connector or options while power is being supplied There is a risk of electrical shock Do not allow installation disassembly or repairs to be performed by anyone other than specified per sonnel There is a risk of electrical shock or injury 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 MP2200 Do not attempt to modify t
199. m the number of encoder pulses input to the counter and set this value to the counter fixed parame ter No 24 Number of Pulses Per Encoder Rotation 3 Decide the reference unit The reference unit is the smallest unit for the position data that moves the load The smallest reference unit used by the host device Moving a table in 0 001 mm increments Reference unit 0 001 mm Se l Take the machine specifications positioning accuracy and other factors into account when deciding the reference unit lt q EXAMPLE gt e When reference unit is 0 01 mm 0 001 mm 0 1 or 0 01 inches The workpiece is moved 1 reference unit per pulse reference input e When reference unit is 1 um When 50 000 reference pulses are input the workpiece will be moved by 50 000 x 1 um 50 mm 4 33 4 Module Specifications et 4 8 3 Electronic Gear Function 4 Find the load travel distance for each rotation of the load axis using the reference unit Travel distance when load axis rotated once Travel distance when load axis rotated once reference unit Reference unit lt EXAMPLE gt e For a ball screw pitch of 5 mm and a reference unit of 0 001 mm 5 0 001 gt 5000 Reference unit Round table Belt pulley Load axis 4 gt P Load axis 1D Sot VD O P pitch Load axis A D Pulley diameter 1 rotation a 4 rotation 360
200. mm m ee D 27 m m m m m a a a a 4 Arrangement from Connection Side 1 com 1 29 2 DI 00 27 DI 01 3 DI 02 28 DI 03 4 DI 04 29 DI 05 5 D o 30 DI 07 6 COM 2 31 5 7 DI 08 32 DI 09 8 DI 10 33 DI 11 9 D2 34 DI 13 10 DI 14 35 DI 15 11 3j 12 DO 00 37 DO 01 13 DI 02 38 DO 03 14 39 OVv 1 15 24v 1 40 16 DO 04 41 DO 05 17 DO 06 42 DO 07 18 43 OVv 1 19 DO 08 44 DO 09 20 DO 10 45 DO 11 21 _ 46 OV 2 22 24V 2 47 23 DO 12 48 DO 13 24 DO 14 49 DO 15 25 50 OV 2 5 39 5 Mounting and Wiring 5 2 5 LIO 04 Module Connections The following figure shows the pin names and assignments for connector CN1 Details No Signal Name os ere Digital output 13 Digital output 15 Common ground 2 No Signal Name COM 1 Common 1 DL00 Digital input 0 l also used as interrupt input DI 02 Digital input 2 N N foe oy BR BR AR BY BR Ww wl wl o w fj N N oj N o o o NIO oj O Digital input 4 Digital input 6 Common 2 7 Digital input 8 Digital input 10 Digital input 12 DI 14 Digital input 14 EE Digital output 0 Digital output 2 5 24V 1 24 V power supply 1 DO 04 Digital output 4 DO 06 Digital output 6 32 33 34 35 oO KS Ea ES gS Ea ow
201. mmon DI COM2 DI_16 to DI 23 DI COM3 DI 24 to DI 31 e DI 00 DI 01 DI 16 and DI 17 interrupt inputs Other Functions DI 00 DI 01 DI 16 and DI 17 can also be used as interrupt inputs When interrupts are enabled the interrupt drawings will be started when the input signal turns ON For details on the number of simultaneously ON points refer to 4 9 3 Hardware Specifications e Vcc 24V 22 kQ DICOM A 4 Input register om 22 KQ peat PERS i 7509 A pC se ja 1000 PF DIIN 1 5 6 kQ 0 5 W gt h l Digital Input Circuit Sink Mode Input a e Vcc 22 kQ DI_COM 77T gt gt Input register l am 1kQ Pres SE 750 Q aw pi in 5 6 kQ 0 5 W t ead gt V 004 Vv Digital Input Circuit Source Mode Input 5 43 5 Mounting and Wiring 5 2 5 LIO 04 Module Connections c Output Circuits The following table shows the LIO 04 Module output circuit specifications tem Outputs Output Mode isolation Method Output Voltage Output Current 100 mA max Leakage Current ON Time OFF Time ON 0 5 ms max OFF 0 5 ms max 8 points per Common There is a fuse in the common line rating 1 A Protection Circuit The fuse is not however for circuit protecti
202. mpleted width is written only for MECHATROLINK II 32 byte mode 4 The above parameters are written to the SERVOPACK RAM OLOO1E Positioning Completed Width OLOO36 Linear Acceleration Time OLOO38 Linear Deceleration Time bb 6 37 6 Basic System Operation 6 5 2 SVB 01 Modules c SERVOPACK Parameters SERVOPACK parameters are set automatically as shown below However parameters are not written to the SERVOPACK parameter settings saved in the SVB 01 Module The MPE720 must be used to save SERVOPACK parameters to the SVB 01 Module Refer to 3 3 5 SVB Def initions in MP2200 MP2300 Machine Controller Motion Module User s Manual Manual No SIEPC88070016 for details SVB 01 Module SERVOPACK Parameters Set Value SERVOPACK SGD N SGDH SGDH SGDB N NS100 NS115 SSpS Cn 0001 Cn 0001 Bit 3 Pn50B 0 Cn 0014 Bit 2 Cn 0014 Bit 3 Cn 0024 Pn202 Pn20E Cn 0025 Pn203 Pn210 en en ee ee Note 1 The above processing is not performed if the axis is set 2 The above parameters are written to the SERVOPACK EEPROM Name P OT Signal Mapping ot valid N OT Signal Mapping ot valid Software Limit Function Positive in SERVOPACK Software Limit Function Negative on SERVOPACK side Electronic Gear Ratio Numerator on SERVOPACK side ot valid Pn801 0 ot valid Electronic Gear Ratio Denomi nator on SERVOPACK side Autotuning Application Switch Not valid CN1 9 Input terminal CN
203. ms High speed scan setting 1 ms 2 ms 3 ms etc an integral multiple of 1 ms or higher For communication cycle 1 ms possible only when MECHATROLINK II is used and max execution time is lt 1 4 ms High speed scan setting 1 25 x 1 4 1 75 ms High speed scan setting 2 ms 3 ms etc an integral multiple of 2 ms or higher For communication cycle 2 ms when MECHATROLINK I or MECHATROLINK II is used and max execution time is lt 0 8 ms High speed scan setting 1 25 x 0 8 1 ms High speed scan setting 1 ms 2 ms 4 ms etc 1 ms and 2 ms or an integral multiple of 2 ms or higher For communication cycle 2 ms when MECHATROLINK I or MECHATROLINK II is used and max execution time is lt 1 4 ms High speed scan setting 1 25 x 1 4 1 75 ms High speed scan setting 2 ms 4 ms etc an integral multiple of 2 ms e Never change the scan time settings when the Servo is ON particularly when an axis is moving i e when the motor is running Doing so may cause errors in motor rotation operations such as high speed rota tion e Always save any data that has been set or changed to flash memory 6 48 6 6 Setting and Changing User defined Files or Data 6 6 3 Setting and Changing the Module Configuration Definition Observe the following precautions when setting and changing the Module configuration definition e Always confirm that the mounted Modules is the same as with the defined Module e Always save any da
204. n a set range Finite length axis 0 No reset after 1 rotation Finite length axis 0 Reset after 1 rotation Infinite length axis 1 The reset position is set in the counter fixed parameter No 22 Infinite Length Axis Reset Position POSMAX O POSMAX 4 8 LIO 01 and LIO 02 Module Counter Functions 4 8 4 Counter Parameters 1 Counter Fixed Parameters The following table lists the counter fixed parameters Channel Selection Used 1 Not used 0 1 word 1 Leading Register Specifies the first I O register to use 1 word Number mosea oSA Pulse A B Signal Polarity Positive logic 0 Negative logic Selection Notwsed ooo S Specifies the pulse count mode Sign mode x1 Sign mode x2 Pulse Count Mode Up Down mode x1 Selection Up Down mode x2 Pulse A B mode x1 Pulse A B mode x2 4 Pulse A B mode x4 7 mows ooo a o Coincidence Detection i Valid only when Coincidence Interrupt the Coincidence 1 Function Selection Not used Op Used CT mord Detection Func tion is enabled a L Notused o oo oo ooo o ia CE word 0 Finite length axis 0 Infinite 1 14 Axis Type Selection length axis 1 word n w e aL Number of Decimal 0 to 5 1 1 digit 1 word Places Moving Amount Per R Encoder Gear Rato 110 65535 E Machine Gear Ratio 110 65535 CE o o Maximum Value of Rotary Counter 1 to 23 1 1 1 reference unit 2 words 360000 POSMAX Number
205. nd non procedure Media Access Control T Method Data length 7 or 8 bits Stop bits 1 or 2 bits Parity Odd even or none Transmission Format Can be set Note The baud rate depends on the connected devices b RS 422 485 Communication Specifications The following table shows RS 422 485 communication specifications Method 1 N RS 485 Data length 7 or 8 bits Stop bits 1 or 2 bits Parity Odd even or none Transmission Format Can be set 4 47 4 48 4 Module Specifications 4 12 1 Outline of Functions 4 12 260IF 01 Module 4 12 1 Outline of Functions The 260IF 01 Module has an RS 232C serial interface and a DeviceNet interface mounted in it Personal com puters HMI devices and controllers manufactured by other companies can be connected to the 260IF 01 Module via the PORT or DeviceNet connectors Communication modes include message communication and engineer ing communication and MEMOBUS MELSEC and non procedure protocols are supported Refer to the MP2300 Machine Controller Communication Module Users Manual Manual No SIEPC88070004 for details 4 12 2 LED Indicators and Switch Settings 1 External Appearance The following figure shows the external appearance of the 260IF 01 Module LED indicators Switches Serial connector RS 232C DeviceNet connector 2 Indicators The following table shows the status of 260IF 01 Module LED indicators FA Red
206. nd then to OFF INFON Actual Application Programs 4 Programs must be created in actual applications to monitor and control registers that correspond to the signals and data listed above The register numbers that correspond to the signals used in this sample program will be the register numbers displayed under REG No next to DWG at the right of the Tuning Panel window 3 49 3 50 3 System Startup 3 3 3 Program Details 3 3 3 Program Details 1 H04 drawing The H04 child drawing manages and controls motion programs MPM programs P00113 H04 Main Program Positioning Operation Main Processing HHHH Positioning operation main processing HHHHHHH HHHH Main program startup sequence HHHHHHHt Operation start WORK Axis 1 motion command O Axis 2 motion command 0 Start request DB000010 DB000050 MB300010 MB300018 DB000210 0000 E S A 0000 NL 1 Holding Hold request DB000011 DB000211 0001 0005 NL 1 Operation reset Reset request DB000012 DB000212 wy 0007 NL 1 Alarm reset PB Alarm reset request MB300001 DB000215 0003 e 0009 NL 1 0004 STORE a Pani Source DW00030 Dest DW00025 0005 STORE a tele Source 10000 Dest DW00022 ON COIL B000004 0006 EXPRESS ON a 0013 NL 1 ML30100 DL10 ML30102 DL12 ML30110 DL14 ML30112 DL16 ML30114 3000000 ON COIL B000004 MPM execution NL 1 Program No DW00025 Data DA00020 MPM running MPM running DB000200 MB300020 0008 J 0017 NL 1 MPM
207. nnector JEPMC W5311 O00 Ll S P L A 5 55 5 56 5 Mounting and Wiring 5 2 8 260IF 01 Module Connections 5 Connector Pin Arrangement a PORT Connector The PORT connector is used to connect the MP2200 to computers and HMI devices via an RS 232C connec tion Description oe Signal Description her Name SG Signal ground 0 V F e Sedan r e E b DeviceNet Connector The DeviceNet connector is used to connect the MP2200 to computers and peripheral devices via a DeviceNet connection Oloooo00lO CAN bus line dominant H 24 V external power supply for communication 6 Module Connection Examples a PORT Connector Connections 5 2 Module Connections Refer to a PORT Connector Connections under 6 Module Connection Examples in 5 2 6 218IF 01 Mod ule Connections for information on PORT connector connections b DeviceNet Connections e Master Mode There are two connection methods for master mode a Multi drop Connections MP2200 260IF 01 Internal power supply for I O silp LO Te Oe i i i i ps L External power supply for I O 5 amp je L IO I O 121 Q terminator Trunk line cable Drop line cable External power supply line for I O Internal power supply line for I O ss Communication power supply line
208. ns 1 Module Specifications The following table shows the hardware specifications of the EXIOIF Module Expansion Bus COon HDRA EC68LFDT SL HONDA nector Expansion Bus ier 488 GPIB Equivalent to SN75160 TD Interface The CPU Module automatically recognizes rack 1 from the expansion cable connection Rack No recogni tion When nothing is connected to the IN connector a one rack configuration is used Racks 2 to 4 are in the order that racks are connected to rack 1 MP2200 Optional Module The EXIOIF Module is recognized as an Optional Module It can be mounted in any slot 2595 TxD Module Type 4 56 4 15 External Appearance 4 15 External Appearance 4 15 1 Basic Unit The following figure shows the external appearance of the Basic Unit Unit mm M4 mounting screws 4 ies et 108 i 121 130 Cable Connector 3P 721 203 026 000 Note 1 A 721 203 026 000 Cable Connector is mounted to the POWER connector 2 Different Optional Modules are inserted into the slots for each product model 4 57 4 58 4 Module Specifications 4 15
209. ntal Pulse latch on phase Z or DI 01 Response time 5 us max for phase Z input 60 us max for DI 01 input Latch Input Other Functions Coincidence detection counter preset and counter clear SRST SSCS SERRE a Pulse generator 5 V A1 J PA Phase A lt 5 220 Q B1 PAL A2 PB Phase B lt 5 220 Q B2 PBL A4 GND 5V L i i 330 Q a3 PC F Oo lt Latch input or 4 e F i B3 J PCL5 phase Z pulse s Teso Q B4 p PCL12 Pulse Input Circuit 5 29 5 Mounting and Wiring 5 2 4 LIO Module Connections i Module Connections The following diagram shows a connection example for LIO 01 Module connectors Pulse generator 15V Phase A ea E J vov Pulse input Phase B y PB lt f 220 ag B2 PBL vA KH GND i a 7 Vaz V 5V t B24 ASL PC Latch input or f i i 5 J cus Z Latch input or phase Z pulse phase Z pulse 1 1 fi 1 1 1 1 1 1 1 1 L 1 1 1 tt C j th 24 VDC Digital inputs Je f 1 i uel DI_15 lt w a NaN Gg R R o D NA N Gg D c w a A z D i gt 3 DSE Q e w N Ny g otetetetete b o z a g amp a8
210. o MP2200 Ss gestae e J e Operation status NI e Incremental pulse 5 V e Current counter value differential e Latch data etc D interface m 7 3 o Q Q Pulse input a A sl Counter Setting Taga z Commands from MP2200 to Parameters 32 words g LIO 01 or LIO 02 Module m gt 5 Phase Z ee ers N e Operation mode 5 or 12 V DEE at Preset count data voltage 7 Coincidence detection interface setting eto i Latch input DI 01 Coincidence detection output DO 00 gt DI 00 interrupt input Counter Fixed Parameters Conditions settings for counter function e Pulse A B signal polarity selection aS gt Pulse counting modes T e Other function selection 4 28 4 8 LIO 01 and LIO 02 Module Counter Functions e Pulse Counting Modes The following pulse counting modes can be selected using the setting of the Pulse Counting Mode counter fixed parameter Pulse Counting Mode Polarity Up Count Forward Down Count Reverse Positive Pulse A Pulse A logic Pulse B Pulse B Pulse A Pulse A Negative logic Pulse B Pulse B Positive Pulse A Pulse A logic Pulse B Pulse B Pulse A Negative Pulse A logic Pulse B Pulse B Positive Pulse A PulseA Fixed on LOW or HIGH 4 logic Pulse B Fixed on LOW or HIGH Pulse B Pulse A PulseA Fixed on LOW or HIGH Negative logic Pulse B Fixed on LOW or HIGH
211. o102 s n DF00104 30 0 0 5 DFoo200 TAN DF00202 45 0 1 0 Note Numbers in parentheses are the data stored in the registers current value displays 5 Addresses Addresses are used only for pointer designations MF00200 to MF00228 Used as a Parameter Table Error input MF00200 PID MA00200 MEF00022 Parameter table PID output start address MW00200 to MW00204 Used as a Parameter Table Input value mwo0200 LAG MA00200 MW00022 Parameter table LAG output start address 6 4 Registers 6 4 2 Types of Registers 1 Registers in Drawings The registers shown in the following table can be used in all drawings aa Charac System registers are provided by the system System SB SW SL SFnnnnn SW00000 to Register number nnnnn is expressed as a registers SAnnnnn SW08191 decimal number When the system is started SW00000 to SW00049 are cleared to 0 Data registers are shared by all drawings MW00000 to Used as interfaces between drawings Regis MW65534 ter number nnnnn is expressed as a decimal number MB MW ML Data registers MFnnnnn MAnnnnn Registers common to all drawings Registers used for input data Register num ber hhhh is expressed as a hexadecimal number Input IB IW IL IFhhhh TW0000 to registers IAhhhh IW7FFF Registers used for output data Register number hhhh is expressed as a hexadecimal number Output OB OW OL OFhhhh OW0000 to r
212. ode In normal operation mode the SVA 01 uses these as system I O X Either 5 V or 24 V can be selected for the SEN signal Connect pin 20 or pin 32 according to the application Pin 20 5 V INFO C7 is connected in the standard cable f Cables The following standard cables are available for use with the SVA 01 Module These cables are used to con nect the SVA 01 Module to SERVOPACKs overtravel limit switches and other machine connections Table 5 1 Cables Applicable SERVOPACKs Length SGDA OOOS SGDB OO No standard cable is available aa scps 000010 JEPMC W2040 01 Refer to the following pages for details on these cables 5 20 g SERVOPACK Connection Cables for SGDA OOHOS e Model No standard cable is available Prepare a cable referring to the following cable connections diagram e Cable Connections Diagram Analog input ground 5 2 Module Connections General purpose analog input General purpose analog input SVA 01 SGDA CNTCN2 a CNT SG 1 0 i O 2 SG AO_O NREF 2 t 3 V REF PA 3 HHO 20 PA PAL 40 i O 21 IPA PC 5 l i t O 24 PC PCL 6 l 25 IPC SG 7 O O 4 SG ALLO vMoN 8 o i i AO_1 TREF 9 O r i 7 i O 1 T REF OV for 24v 10 O 35 ALM SG OV for 2
213. odule appearance 1 3 4 57 indicator patterns 6 4 battery battery life 7 4 replacing 7 4 Cc child drawings 6 7 coincidence output and coincidence interrupt functions 4 31 communication settings 319 constant registers 6 23 controller folders creating 3 18 counter function axis type selection 4 36 command settings 4 38 counter monitor parameters 4 39 counter setting parameters 4 38 fixed parameters 4 37 status 4 39 counter interrupts 8 23 CPU functions and specifications comparison 4 10 CPU RUN settings 3 34 CPU 01 Module 4 7 D D registers 6 23 daily inspections 7 2 data registers 6 23 data types 6 20 DeviceNet communications specifications 4 51 Devi
214. ommunication Method Transmission communication error detection hardware provided Synchronous communication error detection software provided Servo Control Automatic recovery function not provided recovery when alarm cleared Positioning External Positioning Zero Point Return Interpolation Interpolation Motion Commands with Position Detection Fixed Speed Feed Fixed Length Feed Speed Reference Torque Reference Phase Control etc Acceleration Deceleration One step asymmetric trapezoidal acceleration deceleration exponential accelera Method tion deceleration filter moving average filter Position Unit pulse mm inch degree 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 Supported Finite length position control infinite length position control absolute system infi Position Control Method nite length position control and simple absolute system infinite length position con trol Software limit Positive negative direction for each point Zero Point Return Method 13 types Parameters can be managed in the MPE720 s SERVOPACK Parameter Window Management Single transmission communication cycle transmission cycle asynchronous com munication Communication Method Transmission communication error detection hardware provided Synch
215. on It is for protecting against fire at output shorts Attach a fuse externally to each output if circuit protection if required Error Detection Fuse blown detection 24V 470Q eee i Output x DO_24V register i gt DO_OUT Vv 33 kQ 1 1 DO_COM lt 33 kQ beaa Vv 024 Digital Output Circuit Sink Mode Output 5 44 5 2 Module Connections 3 LIO 04 Module Connection Examples a CN1 Connector Connections JAPMC 102303 tea Connector CN1 ios presse Pin No Y si os 1 Input 0 2 4 Input 1 27 at Input 6 5 Input 7 30 5 V 24 VDC eles y i i 2 7 Y zyjt de 6 AREA gt Photocoupler 5 o a Ed z 5 6 kQ 4 Input 8 X 7 5 Input 9 32 Fuse bd gt i 12 q Output 0 D 37 Output 1 S Ss l Input 14 10 Input 15 35 Output 2 D 38 Output 3 D 4 39 A Photocoupler 24 VDC n 15 amp eHe y gt a 16 Output 4 q l ean J 41 oul Gy l 17 Output D i 42 Output T l 43 K Fuse blown detection circuit 19 Output 8 utpu RLS D 44 Output 9
216. on Modules 218IF 01 Ethernet RS485 422 PROFIBUS RS 232C 2 1 System Configuration lt q EXAMPLE gt The following diagram shows an example system configuration SVB 01 218IF 01 MP2200 yp LIO 01 MP2200 mBu 02 CPU 01 SvB 01 2181F External I O Control panel MECHATROLINK II RS 232C Ethernet MECHATROLINK Servodrives compatible I O Modules Note 1 Up to 21 devices can be connected to MECHATROLINK IL The SERVOPACKs can be connected to up to 16 axes 2 Up to 32 I O can be used 16 inputs and 16 outputs with the LIO 01 3 Communication Modules can be used to connect to Ethernet DeviceNet PROFIBUS RS 232C and RS 422 485 open networks 4 In the above example a 218IF 01 Module is used The MPE720 is connected to Ethernet and a Human Machine Interface HMI is connected to RS 232C 2 3 2 System Configuration 2 1 2 System Configuration Precautions 2 Maximum Four Rack Configuration Slot 0 always CPU Module Slot 8 Optional Modules 24 VDC a000 g j i External I O Modules wae pal it External I O External I O Communication Modules Motion Modules SERVOPACK Distributed I
217. on Programming Machine Controller MP900 MP2000 Series User s Manual SIEPC88070005 MPE720 Software for Programming Device Machine Controller MP900 Series Describes the programming instructions of the New New Ladder Editor SIE C887 13 1 Ladder Editor which assists MP900 MP2000 Series Programming Manual design and maintenance Machine Controller MP900 Series Describes the operating methods of the New Ladder New Ladder Editor SIE C887 13 2 Editor which assists MP900 MP2000 Series design User s Manual and maintenance Describes how to install and operate the MP900 MP2000 Series programming system MPE720 lt Safety Information The following conventions are used to indicate precautions in this manual Failure to heed precautions pro vided in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment and systems Indicates precautions that if not heeded could possibly result in loss of life or serious Z WARNING ry eens injury Indicates precautions that if not heeded could result in relatively serious or minor A CAUTION y injury damage to the product or faulty operation In some situations the precautions indicated could have serious consequences if not heeded PROHIBITED Indicates prohibited actions that must not be performed For example this symbol would be used as follows to indicate that fire is prohibited K Q MANDATORY Indicates compu
218. on and table settings 0004 EXPRESS ION z NL 1 J bd ML31002j DF00030 DL00012 360 DF00034 DL00010 2 gt 1 DF00032 ML31004j DF00034 0005 END_FOR 3 63 4 Module Specifications This chapter explains detailed specifications for the Basic Unit and Optional Modules of the MP2200 4 1 General Specifications 4 3 4 1 1 Hardware Specifications 4 3 4 1 2 Function List 4 4 4 2 Base Unit 4 5 4 2 1 Outline of Functions 4 5 4 2 2 LED Indicators 4 5 4 2 3 Hardware Specifications 4 6 4 3 CPU 01 Module 4 7 4 3 1 Outline of Functions 4 7 4 3 2 LED Indicators and Switch Settings 4 7 4 3 3 Hardware Specifications 4 9 4 3 4 Functions and Specifications 4 10 4 4 SVB 01 Module 4 13 4 4 1 Outline of Functions 4 13 4 4 2 LED Indicators and Switch Settings
219. on is detected by the 261IF 01 Module during an offline self diagnostic test Offline diagnostic tests are executed if the TEST switch is set to ON the INIT switch is set to OFF and the power is turned ON LED Indicators Item Details STRX1 Flash Checksum A flash memory checksum error has been Blinking Error detected once Blinking SRAM Error A SRAM hardware error has been detected ee twice Not lit Not lit An RS 232C loopback error has been Blinkin 6 times 15 times Depends on sta tus Station Number Error A PROFIBUS station number error has been detected Watchdog Error A watchdog timeout error has been detected Indicates the number of blinking 4 53 4 Module Specifications 4 13 3 Hardware Specifications 4 13 3 Hardware Specifications 1 Module Specifications The following table shows the hardware specifications of the 261IF 01 Module Specifications TAPMC CM2330 ae RS 232C 1 port PORT Communication Ports PROFIBUS 1 port PROFIBUS Module status Indicators LED indicators RUN green ERR red STRX green TRX green Setting Switches x1 CELLED 2 Communication Specifications a RS 232C Communication Specifications The following table shows the RS 232C communication specifications Communication Protocols MEMOBUS MELSEC non procedure Media Access Control B Method i Data length 7 or 8 bits Stop bits 1 or 2 bits Parity Odd even
220. ontinuously YESAMPLE PRG MPM002 MP text MAPLE zti Data seting iita VEL P1000 i1000 Tree speed for pasthoning command fek mimoni Compal speed upar lint tor interpolation Command 46 Tii acceleration time tor interpolation ie T00 Detalerashon hime for nhenpalsion PLM HITE Plane eating tor couar interpolation Wis ncaamental mode TIM TIO Etita pepeg operahan Ttika f Dl D WHILE Dell e Wear af repegls 5 MC BML MIMLSTIZ Posion command TIM TIID MS BIMLS EO PML FES id Linear Gvlerpolation TM THD ABS Abeolubs moda M S MD mi 000 0 LIT Cercul inferpolahon TM THID aD W 1 WEHE FFE rapeat Cpe ation and EEEE EML 3 51 3 System Startup 3 4 1 Description 3 4 Sample Program 3 Phase Control with an Electronic Shaft 3 4 1 Description 1 Machine Outline The same operation for the No 1 and No 2 rolls connected to the line shaft is performed using a Servomotor Phase synchronization however has not been used Previous New method method Controller i L jine shaft drive motor aos i Line shaft x MP2200 i Gear Driver Clutch Differential gear SERVO Phase synchronization gt PACK mechanism 1 Servo i motor Motor gt i PE EEE E e EEEE E Nee EE E ee ee ed 2 Program Outline The H06 01 drawing ladder program
221. operation of the MP2200 is shown below Interrupt signal DWG I execution Completed once High Ladder Program High speed Low speed DWG H execution Turn ON the power Startup self diagnosis Memory clear switch check Memory clear Copied from FLASH to RAM Normal operation Configuration Mode switch setting Configuration Mode Self configuration executing STOP switch check OFF ON Watchdog timer start User program stopped RUN indicator lit DWG A execution ladder program RDY indicator lit Background Online self diagnosis scan DWG L execution 7 Priority 6 5 6 6 6 Basic System Operation 6 2 3 Startup Sequence 1 Startup Self diagnosis The following operations are provided for startup self diagnosis e Memory RAM read write diagnosis e System program ROM diagnosis e Main processor CPU function diagnosis e Floating point unit FPU function diagnosis If an error occurs in the diagnosis the ALM and ERR indicators will blink the specified number of times 2 Online Self diagnosis The following operations are provided for online self diagnosis e System program ROM diagnosis e Main processor CPU function diagnosis e Floating point unit FPU function diagnosis If an error occurs in the diagnostic result the ALM and ERR indicators will blink the specified number of times 3 Self configuration 1 Self confi
222. or manua operahon mi my ooeration AOGAS Fi ie 2 mania oper ationlJOGESTE man program tor positioning phase contol man program phase control leteetrone shan phase control leiscinonic cam los Good mar program sacii can tabe cate generalon 4 Click the Details button to the right of Motion Main Program to display the Motion Main Program Detail Set Window Select Select All and click the OK button 5 The Individual Load Window will be displayed Select File Execute 3 27 3 System Startup 3 1 6 Starting the MPE720 6 A confirmation message will be displayed Click the Yes button 7 The Execute Status Window will be displayed Wait until the transfer has been completed ce ee a Danin PUTT cre e Tifton TTT 8 A message will appear when the transfer has been completed Click the OK button 3 28 3 1 Outline 10 Setting Motion Fixed Parameters Set the MP2200 motion fixed parameters to match the sample program using the procedure below 1 Opening the Module Configuration Window a Double click the 2200SMPL Controller Folder in the File Manager Window to display the 5 folders contained within it b Double click the Definition Folder to display the 6 folders inside that folder then double click the Module Configuration Folder fa Snes E D CAageie Poker il E Cei Bowe E Sele Fades Feppiioation niomat Gathra Dai Thao Tor Tire Seat hong 3 _ Settee Cirian e P D
223. otion Programs Manual No SIEZ C887 1 3 e MP900 MP2000 Series Machine Controller New Ladder Editor User s Manual Programming Instruc tions Manual No SIEZ C887 13 1 MP900 MP2000 Series Machine Controller New Ladder Editor User s Manual Operation Manual No SIEZ C887 13 2 6 3 1 Drawings DWGs User programs are managed in units of programming called drawings Each drawing is identified by a drawing number DWG No These drawings serve as the basis of user programs The drawings include parent drawings child drawings grandchild drawings and operation error drawings Besides the drawings there are functions that can be freely called from each drawing e Parent Drawings Parent drawings are executed automatically by the system program when the execution condition is estab lished e Child Drawings Child drawings are executed by being called from a parent drawing using the SEE instruction e Grandchild Drawings Grandchild drawings are executed by being called from a child drawing using the SEE instruction e Operation Error Drawings Operation error drawings are executed automatically by the system program when an operation error occurs e Functions Functions are executed by being called from a parent child or grandchild drawing using the FSTART instruction 1 Types and Priority Levels of Drawings Drawings are classified by the first character of the drawing number A I H L according to the purpo
224. otion program control signals System Work Number Setting a Bit D in the Motion Program Control Signals System Work Number Setting ON Execution information is stored in Work n Program Information where n is the System Work Number speci fied in the fourth word of the MSEE registers For example if the System Work Number is 1 motion program execution information can be monitored in SW03264 to SW03321 Work 1 Program Information b Bit D in the Motion Program Control Signals System Work Number Setting OFF The system work number that is used is automatically decided by the system For this reason the work num ber that is being used can be confirmed by referring to the Executing Program Number in SW03200 to SW03215 For example if the motion program to be monitored is MPM001 and SW03202 is 001 then the work num ber being used is 3 and so the execution information of motion program MPMO001 can be monitored with Work 3 Program Information in SW03380 to SW03437 6 15 6 16 SW04192 SW05120 6 Basic System Operation 6 3 3 Motion Programs The registers for motion program execution information are shown below SW03200 Executing program number number of main program being executed 16W SW03216 Reserved by the system SW03232 Executing program bit executing when corresponding bit ON 16W SW03248 Reserved by the system D SW03264 Work 1 program information 58w SW03322 Work 2
225. owing table shows the status of 261IF 01 Module LED indicators Indicator Color Status RUN Green Lit during ai operation Not lit during errors or during reset Te Orne ERR Red Lit blinking during maltuncnons l Not lit during normal operation Lit during reset sTRXC Orrx STRX Green Lit during RS 232C data a or reception Not lit when data not being transmitted or received TRX Green Lit during PROFIBUS data na or reception Not lit when data not being transmitted or received 4 52 4 13 261IF 01 Module 3 Switch Settings The following table shows the 261IF 01 Module switch settings Label Name ae Function Factory tus Setting Ri d eS SH mee miei INIT eserves TEST For engineering communication OFF Starts up serial section using default parameters eo excluding automatic reception function settings x10 Initial startup Given higher priority than the CPU Module Flash OFF Startup and Self configuration Startup x1 9 OFF Set to OFF for CPU Module Flash Startup and Self configuration Startup ON Syst TEST TEST ON System use OFF Normal operation Always leave turned OFF Node Address 10s Digit Setting g Sets the node address Rotary decimal switch Node Address xl Is Digit Setting Sets the node address Rotary decimal switch 4 Offline Self diagnostic Test The following table shows the LED indicator display if a malfuncti
226. peration 2 Confirming Operation Use the following procedure to confirm operation Turn ON the Servo y Start jog or step operation 4 Confirm operation The following table gives an outline of the operation when the Tuning Panel window is used Tuning Panel Operation Operation Outline Current value OFF gt ON The Servomotor will turn ON and the Servo will be clamped Servo ON PB Current value ON gt OF Servo turned OFF Current value OFF gt ON Axis 1 rotates forward Axis 1 Forward Jog N 3 F F i Current value OFF gt ON Axis 2 rotates forward Axis 2 Forward Jog F F F F Axis 1 Reverse Current value OFF gt O Jog F Jog Current value ON OF Axis 1 starts rotating forward for the moving amount set under Axis 1 Ae 1 Forward Current val s OFE gt ON Step Moving Amount ep F Current value ON gt OF Axis stops rotating Input OFF after executing stepping F Axis starts rotating in reverse for the moving amount set under Axis Axis 1 Reverse Current value OFF ON 8 8 St Step Moving Amount ep Current value ON gt OF Axis stops rotating Input OFF after executing stepping Axis 2 Forward Current value OFF ON Axis 2 starts rotating forward for the moving amount set under Axis 2 Step Step Moving Amount Current value ON gt OFF Axis 2 stops rotating Input OFF after executing stepping Axis 2 starts rotating in reverse for t
227. pheral Devices ghapter 1 Applicable Overview of the MP2200 Cheplend Applicable System Configuration Chapter 3 Applicable System Startup Studying T F i Maintenance Specifications Designing Installation Trial and Chapter a and Ratings the System and Wiring Operation Inspection Chapter 4 f 7 Applicable Applicable Applicable Applicable Module Specifications Shapier 5 a Applicable Applicable Applicable Mounting and Wiring Chapter S Applicable Applicable Basic System Operation Chapter 7 Maintenance and Applicable Inspection Chapter 8 Applicable Applicable Troubleshooting E Visual Aids The following aids are used to indicate certain types of information for easier reference IMPORTANT Indicates important information that should be memorized Indicates supplemental information A Q 7 lt q EXAMPLE gt Indicates application examples Describes technical terms that are difficult to understand or appear in the text without an explana TERMS i tion being given E 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 e S ON S ON P CON P CON 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 e Ethe
228. program information 58W SW03380 Work 3 program information 58W SW03438 Work 4 program information 58W SW03496 Work 5 program information 58W SW03554 Work 6 program information 58W SW03612 Work 7 program information 58W SW03670 Work 8 program information 58W SW03728 Work 9 program information 58W SW03786 Work 10 program information 58W SW03844 Work 11 program information 58W SW03902 Work 12 program information 58W SW03960 Work 13 program information 58W Sw04018 Work 14 program information 58W SW04076 Work 15 program information 58W SW04134 Work 16 program information 58W Reserved by the system 928W Reserved by the system 64W 16w F SW03203 1 ry ry k SW03202 SW03204 SW03205 SW03206 ON SW03207 i 1 1 SW03208 SW03209 SW03210 x swo3212 SW03213 Executing Program Numbers Work 5 program number Work 6 program number Work 7 program number Work 13 program number 4 S Executing Program Bits 3 SW03232 MPO016 Bit 15 to MPOO001 Bit 0 i SW03233 MPO032 Bit15 to MPO017 Bit 0 i SW03235 MPO054 Bit 15 to MPO049 Bit 0 i SW03236 MPO1080 Bit 15 to MPL1055 Bit 0 swo3237 MPO096 Bit 15 to MPO081 Bit 0 swos240 MPO1144 Bit 15 to MPO129 Bit 0 SW03241 MPD1160 Bit 15 to MPO145 Bit 0 SW03243 MPO192 Bit 15 to MPO177 Bit 0 swo244 SW03245 SW03246 SW03247
229. ptional Modules 1 Preparations 1 Create a backup data file Use the MPE720 to save the MP2200 program on a computer 2 Remove the MP2200 Turn OFF the power supply and disconnect all cables from the MP2200 Then remove the MP2200 from the panel or rack and place it on a workbench or other area with sufficient space 2 Removing Optional Modules 1 Remove the battery cover Pull the notch on the side of the MP2200 towards you to remove the battery cover ce i n A inet Te gt one 3 uae ALITTI T a pee e P 2 Remove the Optional Module panel Insert the protruding part of the battery cover into the slot on top of the panel of Optional Module to unhook it as shown in the diagram Face the front of the battery cover towards you for this operation Remove the cover on the bottom in the same way 5 5 5 6 5 Mounting and Wiring 5 1 2 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 Mod ule will be visible from the gap in the cover Hook the round knob on the battery cover shown in the dia gram 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
230. put Other Functions Coincidence detection counter preset and clear Pulse generator 5 V AIPA ON Phase A 220 Q i B1 PAL i PB x Phase B hd Pex 220 Q B2 PBL i i x4 A A 5 V AA END i 330 2 a3 PC is E O Latch input or F s T i B3J PCLS i hase Z pulse p p Teso 2 pa PCLI2 Pulse Input Circuit 5 35 5 Mounting and Wiring 5 2 4 LIO Module Connections i Module Connections The following diagram shows a connection example for LIO 02 Module connectors Pulse generator ies 45V A1 PA Phase A F 220 9 Bi PAL vov x Pulse input Phase B GN lt E 2209 i B2 v wW e 1 1 1 1 1 D 1 T 1 1 1 1 1 1 1 1 1 L 1 1 1 1 D 1 1 1 1 1 1 OAA TET in lt lt H D gt N N A e Q rA o y v Latch input or phase Z pulse Latch input or phase Z pulse AN t lt ere tf ama j L w gt wo wo ANAS 3 lS v B4 PCL12 A23 l DI COMO b 24 VDC N DI_COM1 AN Digital inputs JE f T i M5 AY Na ae a a g R a sa o fi N g j2 a R N a gt EI Na g 2 bitet itetit 2 Z be fe li 2 n ol o B18
231. r Om nO Or A wO Ou wO Om wO Qw ie S wO Que wO Qw INT Ra B ES LI vO YW YASKAWA 1 Outline of MP2200 1 2 2 Modules 1 2 2 Modules The following figures show the external appearance of the Modules LED indicators DIP switch LED indicators Switch I O connector LED indicators I O connector LIO 04 LED indicators DIP switch Switches station address setting MECHATROLINK connector MECHATROLINK connector LED indicators Switch 1 O connector LED indicators Servo connector 24 V input connector LED indicators Serial connector RS 232C Ethernet connector 10Base T LED indicators Switches Serial connector RS 232C DeviceNet connector External input connector External output connector EXIOIF LED indicators Switch Serial connector RS 232C Serial connector RS 422 485 LED indicators 1 2 Module Appearance Switches Serial connector RS 232C PROFIBUS connector 2611F 01 1 5 2 System Configuration This chapter expla
232. r connection 3 7 system startup procedure 3 2 system status 8 8 CPU error status 8 8 CPU statug s 4255 23 seu re eee eee ee See sees 8 8 hardware status configuration 8 9 T T branch multi branch and drop line connections 5 57 troubleshooting 8 2 basic flow 8 3 tuning panel 3 37 3 48 3 53 3 58 U user functions 6 19 user name 3 22 user program 6 7 user settings initialization 3 8 Index 3 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover MANUAL NO SIEP C880700 14A Printed in Japan September 2004 04 09 Date of Date of original printing publication ae Revision i Printing date Section Number Revised Contents September First edition 2004 Machine Controller MP2200 USER S MANUAL IRUMA BUSINESS 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 7
233. r removing the screwdriver Press down I fj Press down with a screwdriver I Operation lever or Insert wire to back of plug Insert wire to back of plug Note Method not using the operation lever INFO Always separate the primary and secondary wiring when using a noise filter 5 9 5 Mounting and Wiring 5 2 1 Connecting Power Supply 2 MBU 02 Unit Connections a Connectors Supply a 24 VDC to the MP2200 The following diagram shows MBU 02 Unit connectors 24 VDC 24 VDC input ovog Frame ground Ground to 100 Q max b Connector Specifications Connector No of Connector Model Name f Name Pins Module Side Cable Side Power Supply POWER 3 721 863 001 034 721 203 026 304 WAGO Connector c Connection Diagram MP2200 721 863 721 203 026 24 VDC AC input 24 VDC power OV A supply ov POWER FG FG Note 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 d Connection Procedure for 24 VDC Power Supply Cable The power supply terminals have a removable connector Use the following procedure to wire the terminals to the power supply connector Use a 0 2 mm to 0 51 mm AWG24 to
234. r up to 256 axes e MECHATROLINK II baud rate 2 5 times faster than MP920 e CPU processing speed 2 0 times faster than MP920 e Larger user memory area e High speed 0 5 ms motion control is now possible e MECHATROLINK II enables position control speed control torque control and phase control and makes precise synchronous control possible The control mode can also be changed online facilitating complicated machine operations The range of possible motion control applications is increased even further with the Virtual Motion Module SVR The following open networks are supported when optional Communication Modules are used Ethernet e DeviceNet e PROFIBUS 3 Easy to Use e Machine startup times can be greatly reduced by using the self configuration function that automatically detects devices connected to MECHATROLINK and sets the required parameters The application program converter can utilize your previous software assets with their accumulated data banks of specific knowledge to improve the system further 4 Compact The mounting area has been reduced to half that of the MP920 1 2 Module Appearance 1 2 Module Appearance 1 2 1 Basic Unit The following figure shows the external appearance of a Basic Unit er o ee LZ MP2200 MBU 01 CPU 01 218IF 01 LIO 01 LIO 01 LIO 02 2601F 01 217IF 01 O wO Oral wO Om wO Ous w O Ou w Qusl wO Qm wO wO Om mO Oca O Que 2O Ouse O Ouel om 7 S
235. ram Language Instructions Suppored ne re poy S D gt Cc 2 Cc a N Q 2 a gt v N on D 2 2 D g Not supported 35 Optional Module slots Optional Module i PROFI DeviceNet EXIF AFMP CSIF Engineering Port RS 232C Optional Module LIO SVA SVB 218 217 3 Optional Module slots LIO SVA SVB 218 217 PROFI DeviceNet AFMP CSIF slots max M I Ethernet serial LIO SVA etc sup ported AFMP and CSIF 1 port on CPU ports Same as MP2200 can be added with Optional Module being developed 4 Module Specifications 4 3 4 Functions and Specifications cont d P2200 P2300 POZO Servo tuning must be Program considered together leader Supported Same as MP2200 Same as MP2200 with M II message transmissions Variable Set tings Monitor Supported Same as MP2200 Same as MP2200 ing Supported Same as MP2200 Same as MP2200 i Not supported Not supported Not supported pares Supported Same as MP2200 Not supported Remote API Supported Same as MP2200 Not supported Supported Same as MP2200 Same as MP2200 Optional Modules must be able to load S ted Special tool r the OS but this must OS Load ete ee Same as MP2200 Same as MP2200 be considered communication together with M II message transmis sions Note M I MECHATROLINK I M II MECHATROLINK II Engineering Functions o ta 2 5 fa 5 LL L S O
236. rdware Specifications 4 41 4 10 218IF 01 Module 4 42 4 10 1 Outline of Functions 4 42 4 10 2 LED Indicators and Switch Settings 4 42 4 10 3 Hardware Specifications 4 44 Ai 2i 7IF OT Mod le sees nre e e e E eee oe ee eee E a 4 45 4 11 1 Outline of Functions 4 45 4 11 2 LED Indicators and Switch Settings 4 45 4 11 3 Hardware Specifications 4 47 4 12 260IF 01 Module 4 48 4 12 1 Outline of Functions 4 48 4 12 2 LED Indicators and Switch Settings 4 48 4 12 3 Hardware Specifications 4 50 4 13 261IF 01 Module 4 52 4 13 1 Outline of Functions 4 52 4 13 2 LED Indicators and Switch Settings 4 52 4 13 3 Hardware Specifications 4 54 4 14 EXIOIF Module
237. re shown in the following table Display Current rae at j iii me ce bis 00000 00000 32767 DW00010 e XXXXXXXX 0000000000 2147483648 2147483647 IL8016 XXXXXXXX 0000000000 2147483648 2147483647 IL8096 00000 00000 32767 DW00010 je ol MB300001 OOO 00000 32767 DW00010 N OFF O DB000010 H06 01 x 000000 030000 DL00010 H06 02 0000 32767 Dw00010 L N OFF OFF DB000010 H06 02 030000 DL00010 H06 01 999 999 ML30200 50000 000 ML30202 Data Name EKE s COMON monitor Axis 1 operation ready Axis 2 operation ready Axis 1 current position 3 Axis 2 current position EEEE KEE x 2X 2 lt ena Common operation Servo ON PB N OFF N OFF A gi A mul mul Alarm reset PB seems Phase control Electronic shaft 00000 Q 1 919 Electronic shaft start x 030000 0000 Speed setting motor rated speed 30000 mm min mm min se Phase control Electronic cam wo Electronic cam start 21 ie Main axis speed setting motor rated speed 30000 mm min Cam axis amplitude setting double amplitude x 8 X 00000 mm min 00000 ee ey ee ele eh 010 000 XXX 00500 000 000 000 00000 000 mm mm EN E KE EA EE E 7A Cam axis main axis moving amount per cycle 3 53 3 System Startup 3 4 2 Operation 2 Confirming Operation Use the following procedure to confirm operation Turn ON the Servo
238. rnet is a registered trademark of the Xerox Corporation e Microsoft Windows Windows NT and Internet Explorer are registered trademarks of the Microsoft Corporation e Pentium is a registered trademark of the Intel Corporation e 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 E Related Manuals Refer to the following related manuals as required Thoroughly check the specifications restrictions and other conditions of the product before attempting to use it Machine Controller MP2200 MP2300 Motion Describes functions specifications and how to use Module SIEPC88070016 the MP2200 MP2300 Motion Modules SVB 01 SVA User s Manual 01 SVR Machine Controller MP2200 Communication Describes the functions specifications and Module SIEPC88070004 application methods of the MP2200 Communication User s Manual Modules 2171F 218IF 260IF 2611F Machine Controller MP900 Series ee the Sad daa kieo fth i specifications and application methods of the Users Manual EZ ORS MECHATORLINK Modules for MP900 Machine MECHATROLINK System Controllers Machine Controller MP900 Series f User s Manual SIEZ C887 1 2 aia e used in MP900 MP2000 Ladder Programming prog 9 Machine Controller MPOO jee ee Siez cas7 1 3 Describes the instructions used in MP900 MP2000 3 motion programming Moti
239. rogram executing normally operation Serious failure Refer to 8 2 3 Processing Flow for a User Program Error No of blinks for hardware errors 2 RAM diagnosis error A hardware error has occurred Replace 3 ROM diagnosis error the Module 4 CPU function diagnosis error 5 FPU function diagnosis error Replace the battery Battery alarm Refer to Chapter 7 Maintenance and Inspection Refer to 3 Ladder Program User Oper Operation error ation Error Status in 8 2 4 System Regis ter Configuration V O error Refer to 5 System I O Error Status in E 8 2 4 System Register Configuration Note The symbols under Indicator Name have the following meanings Not lit O Lit Blinking Undefined on Number of blinks for software error Address error read Address error write FPU error Illegal general command Illegal slot command General FPU inhibited error Slot FPU inhibited error 10 TLB serious error bit 11 LTB mistake read 12 LTB mistake write 13 LTB protection violation read 14 LTB protection violation write 15 Initial page write 8 2 System Errors 8 2 System Errors This section explains system error details and remedies 8 2 1 Overview of System Errors Indicators on the front panel of the CPU Module indicate the operating and error status of the MP2200 Use the system S registers to get for more details on errors Carefully check system register details to f
240. rol 4 port M II 0 5 ms 9 port M II 1 ms axesds the value for Por MEI Tis 16 port M IT 2 ms the SVB Module Max No Con 15 port M II 1 5 ms 15 port M II 1 5 ms trol Axes 16 port M II 2 ms 15 port M II 17 bytes 1 15 port M II 17 bytes 1 ms ms 14 port M I 14 port M I Max No of Con o E 14 port M I Control Performance Operations Performance 1 0 to 32 ms High speed 0 4 to 300 ms Integral multiple of 0 5 to 32 0 0 5 t Scan o 32 0 ms in 0 5 ms units TE CHATROLINK commu 0 1 ms units nication cycle 2 0 to 300 ms Low speed 2 0 to 300 0 ms in 0 5 ms Integral multiple of 1 0 to 300 ms Scan units MECHATROLINK commu 0 1 ms units nication cycle TRON uITRON CFOS wandaionsy 32 MB 16 MB used 32 MB SDRAM RAM Size Sek See x n SDRAM 2 4 MB ackup 512 Kb SRAM backup Flash Memory 12 MB 4 MB firmware 8 MB 8 MB 2 4 MB Size user area Shared Memo ry Computer None None None Interface Average 50 bytes Average 50 bytes step step 5 yt Average capacity CP Language Source 30 bytes Same as MP2200 used when each lan Obiect 306 Source 30 bytes guage isuse ect ytes Object bytes Morti Average 240 bytes line R 2A0 bytes oon Source 50 bytes Same as MP2200 Language Object 285 b Source 50 bytes is ytes Object 190 bytes C Language ig considered for develop Same as MP2200 Memory Capacity Language Memory Load Capacity 4 3 CPU 01 Module
241. ronous communication error detection not provided Automatic recovery function provided Inverter Control Ve Reaisters Input output using motion registers synchronized on high speed scan g CP 216 communication Input Output using I O registers Command Mode Motion Command Mode MECHATROLINK Transparent Command Mode Speed control only V F vector control and other control methods use inverter set Control Type tings Motion Commands Inverter I O control etc Speed Unit The speed unit depends on the inverter settings Inverter Farameter Parameters can be managed in the MPE720 s Inverter Parameter Window Management Single transmission communication cycle transmission cycle asynchronous com munication Communication Method Transmission communication error detection hardware provided I O Control Synchronous communication error detection not provided Automatic recovery function provided I O Registers 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 Synchronizatigh supported enabled when power is cycled when high speed scan cycle communication cycle times n Only with MECHATROLINK II 4 17 4 Module Specifications 4 5 1 Outline of Functions 4 5 SVA 01 Module 4 5 1 Outline of Functions The SVA 01 Module is a Motion Control
242. s and data are accidentally deleted during battery replacement b Preparing a Replacement Battery Prepare a replacement battery ZZK000064 This battery is not commercially available and must be ordered from your nearest Yaskawa sales representative The appearance of the battery is illustrated below LITHIUM Red lead Black lead O ZZK000064 Battery with Cable 2 Replacing the Battery Use the following procedure to replace the battery 1 Check that the MBU 01 MBU 02 Unit POWER indicator is lit 2 Open the battery cover on the front of the MBU 01 MBU 02 Unit 3 Disconnect the battery cable from the connector on the MBU 01 MBU 02 Unit then remove the built in battery from the battery holder 4 Firmly connect the replacement battery cable to the connector on the MBU 01 MBU 02 Unit Then place the replacement battery into the battery holder 5 Make sure that the BAT indicator on the CPU Module is not lit 6 Close the cover This completes the battery replacement procedure IMPORTANT Be sure to replace the battery with the power supply to the MBU 01 MBU 02 Unit turned ON Replacing the battery with the power supply to the MBU 01 MBU 02 Unit turned OFF will result in the pro grams and data stored in the CPU Module memory being lost 7 4 8 Troubleshooting This chapter describes the errors that can occur when using the MP2200 system their probable causes and the appropriate countermeasures 8
243. s x 2 channels 10 to 10 V applicable 9 9 V to 9 9 V A D 16 bits CN1 Servo connector Connectors CN2 Servo connector CN3 24 V input RUN Indicators nee ERR Red Conforms to EN 61000 6 2 and EN 55011 Group ClassA Electrical op F Power supply noise FT noise 2 Kv min for one minute A Noise Resis erating condi tance tions Ground noise impulse noise 1 Kv min for 10 minutes Radiation noise FT noise 1 Kv min for one minute Electrostatic noise air discharge method 8 Kv min 10 times 4 19 4 Module Specifications 4 5 4 Function Lists 4 5 4 Function Lists The following table shows the SVA 01 Module motion control functions Deis According to the torque unit selection parame Torque Reference Torque Reference Open Loop ter Speed Limit at Torque Reference Rated speed percentage designation 0 01 parameter parameter Speed Reference Open Loop Moving Average Filter Time Con Positive Speed Limit Rated speed percentage designation 0 01 Negative Speed Limit Rated speed percentage designation 0 01 According to the speed unit selection parame ed Reference Acceler ton According to the acceleration unit selection parameter Deceieati n According to the acceleration unit selection parameter Filter Type Moving average or exponential acceleration 7 deceleration Position Control Position Compensation mm inch deg pulse According to the speed unit
244. se of the process The priority levels and execution conditions are as shown in the following table Type of Par Number of Role of Drawing i Execution Conditions ent Drawing Drawings Turn ON the power A Drawings Startup process executed once only when the power is DWG A turned ON Executed by external interrupts Drawings DWG 1 Interrupt process such as Optional Module DI interrupts or i counter interrupts DWG H process executed during each high speed scan Low speed scan Started at a fixed interval 500 DWG L process executed during each low speed scan 6 7 6 Basic System Operation 6 3 2 Execution Control of Drawings The following table gives details of the number of drawings for each type of drawing Drawing Operation Error 1 Gaw Drawing Child Drawing Grandchild Grandchild Drawing 6 3 2 Execution Control of Drawings 1 Execution Control of Drawings Number of Drawings DWG A DWG DWG H DWG L Maximum a of Maximum total of Maximum total of Maximum of 62 drawings 62 drawings 198 drawings 498 drawings Each drawing is executed based on its priority level as shown in the diagram below Turn ON the power One high speed scan Yy One low speed scan Yy DWG A Startup drawing y Each high speed scan Each low speed scan Operation error Interrupt signal Yy 4 Yy
245. selection parame Speed Compensation aF 8 P p ms Constant Speed Feed Forward Compensation Position derivative percentage designation Rated torque percentage designation 0 01 Positive Speed Limit Rated speed percentage designation 0 01 Negative Speed Limit Rated speed percentage designation 0 01 According to the speed unit selection parame ter According to the speed unit selection parame ter Phase Compensation mm inch deg pulse Phase Control Control functions Phase Control Proportional Gain Same as position loop gain parameter Phase Control Integral Time Con Same as position loop integral time constant stant parameter Rated torque percentage designation 0 01 Positive Speed Limit Rated speed percentage designation 0 01 Negative Speed Limit Rated speed percentage designation 0 01 4 20 4 5 SVA 01 Module cont d Positioning external positioning zero point return interpolation interpolation with Motion Commands position detection function JOG operation STEP operation speed references torque references phase control etc Method deceleration filter moving average filter Motion Functions Torque Units Rated torque percentage designation Elecronie Gea ba Finite length position control infinite length position control absolute infinite length Position Control Method eee appa iv z position control simple absolute infinite length position control Software Limits 1 each in
246. shows 218IF 01 Module connectors PORT 10Base T RS 232C Ethernet 2 Connector Specifications The following table shows the connector specifications Connector Model Connector No of Name 3 Name Pins Module Side Cable Side Manufacturer DDK Ltd 17LE 13090 27 D2BC 17JE 23090 02 D8B a PARI 9 pin D sub female 9 pin D sub male 555153 1 10Base T Tyco Electronics Ethernet 10Baseni Ethernet connector modular AMP K K jack 3 Cables Model Length Name TEPME W53 T103 RS 232C Cable 4 External Appearance of Cables for PORT Connector JEPMC W5311 00 T pA g L PN Pi 5 47 5 Mounting and Wiring 5 2 6 218IF 01 Module Connections 5 Connector Pin Arrangement a PORT Connector The PORT connector is used to connect the MP2200 to computers and HMI devices via an RS 232C connec tion nu Signal Description nee ediel Description Name Name ber ber a e feo e e e e elem DE L a a PRequestiosead 0 ER Dara terminal ready CO b Ethernet Connector 10Base T The Ethernet connector is used to connect the MP2200 to computers and HMI devices via an Ethernet 10Base T connection Pin Signal Num 9 Description Name ber ee es e e ROS Reon 6 Module Connection Examples a PORT Connector Connections MP2200 T 218IF 01 MP2200 Meut CPU 01 218IF 01 svB 01 RO Optional Modul
247. smission Format Data length 7 or 8 bits Stop bits 1 or 2 bits Parity Odd Can be set even or none b Ethernet communication Specifications The following table shows the Ethernet communication specifications Spectators Interface 10Base T RJ 45 Isolation Method Transformer coupled Distance connected Max Numberot 10Base T 2 Units segment Nodes C Message communication engineering communication Max Number of a Ta G ki Communication MEMOBUS Slave Extended MEMOBUS MELSEC Protocols MODBUS TCP non procedure 5 Segments 4 44 4 11 217IF 01 Module 4 11 217IF 01 Module 4 11 1 Outline of Functions The 217IF 01 Module has RS 232C and RS 422 485 serial interfaces mounted in it Personal computers HMI devices and controllers manufactured by other companies can be connected to the 217IF 01 Module via the PORT or RS 232C and RS 422 485 connectors Communication modes include message communication and engineering communication and MEMOBUS MELSEC and non procedure protocols are supported Refer to the MP2300 Machine Controller Communication Module Users Manual Manual No SIEPC88070004 for details 4 11 2 LED Indicators and Switch Settings 1 External Appearance The following figure shows the external appearance of the 217IF 01 Module LED indicators DIP switch Serial connector RS 232C Serial connector RS 422 485 2 Indicators The following table shows th
248. st Command setting OWOOOO 0 Bit 3 3 TO Max time from when interrupt request signal received by MP2200 until interrupt processing starts 70 to 120 ms 4 TI Time from when interrupt request signal is received until DWG I interrupt process drawing execu tion starts Normal program execution Approx 90 to 170 ms T O command executed directly Approx 90 to 1 460 40 N ms N No of direct I O words Max 8 IMPORTANT e Coincidence output signal uses DO 00 Therefore DO 00 will be masked when 1 is set to fixed parameter No 9 Coincidence Detection Function Selection Actual signal outputs are not affected even if the register allocated to DO 00 is turned ON or OFF from the ladder program e Use counter status TIWOOOO 0 Bit5 to monitor coincidence detection signal outputs 4 31 4 Module Specifications 4 8 2 Counter Function Details 3 PI Latch Function The PI latch function saves latches the current value to a memory register on the rising edge of an external sig nal Select either phase Z or a discrete input as the external signal A 4 __ Hardware latch Counter counting register v PI latch detection request 1 us min External signal PA or phase Z i PI latch completed signal PI detection position PINT monitor 2 1 PI latch detection request Command setting OWOOOOD 0 Bit 2 2 PI dete
249. ster number Register Designation Method Symbol designation Up to 8 alphanumeric characters 200 symbols drawing max Automatic number assignment and automatic symbols 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 Numeric conversion instructions 9 instructions Instructions MA i Numeric comparison instructions 7 instructions Data manipulation instructions 14 instructions Basic function instructions 10 instructions Table data manipulation instructions 11 instructions DDC instructions 13 instructions System functions 9 instructions 4 2 Base Unit 4 2 Base Unit 4 2 1 Outline of Functions The Base Unit combines the power supply mounting base board and frame in one unit Both AC input and DC input power supply Base Units are available The Base Unit has a 9 slot Optional Slot configuration which allows any Optional Modules to be used to create the perfect system for the machinery 4 2 2 LED Indicators 1 External Appearance The following figure shows the external appearance of the Base Unit a Base Unit with AC input Power Supply MP2200 meuo POWERQ rR BATEY Q
250. t the next time the power supply to the MP2200 is turned OFF 6 6 2 Setting and Changing the Scan Times Observe the following precautions when setting and changing the scan times e When setting the high speed and low speed scans set them so that they are larger than the maximum exe cution times Use the following equation as a guideline Scan setting Max execution time gt 0 2 x Scan setting 20 or more of the setting IMPORTANT e Ifa scan setting is close to the maximum execution time refreshing the displays on the MPE720 will be extremely slow and communication timeouts will occur If the maximum execution time exceeds the scan setting a watchdog time out error will occur and the MP2200 system will stop e Set the high speed and low speed scans to integral multiples of the MECHATROLINK communication cycle of the SVB 01 Module If you change the MECHATROLINK communication cycle be sure to check the scan time settings nroty e High speed and Low speed Scan Setting Example for the SVB 01 Module 4 e Set the high speed and low speed scans to integral multiples of the MECHATROLINK communication cycle If you change the MECHATROLINK communication cycle be sure to check the scan time settings e Setting Example The calculations are the same for low speed scans e For communication cycle 1 ms possible only when MECHATROLINK II is used and max execution time is lt 0 8 ms High speed scan setting 2 1 25 x 0 8 1
251. t regis ters Example If LIO 02 Modules are mounted in slots 1 and 2 digital inputs will be allocated in the following way LIO 02 Module mounted in slot 1 1W0410 LIO 02 Module mounted in slot 2 IW0440 Out of the 48 words allocated to one Module the second word is automatically allocated to output registers Example If LIO 02 Modules are mounted in slots 1 and 2 digital outputs will be allocated in the following way LIO 02 Module mounted in slot 1 OW0411 LIO 02 Module mounted in slot 2 OW0441 Out of the 48 words allocated to one Module the last 32 words are automatically allocated to the input and output registers Example If LIO 02 Modules are mounted in slots 1 and 2 counters will be allocated in the following way LIO 02 Module mounted in slot 1 IW0420 0W0420 LIO 02 Module mounted in slot 2 IW0450 OW0450 Note The above allocations are simply an example The leading register number will change for manual alloca tions 2 Counter Fixed Parameters When self configuration is executed all of the counter fixed parameters will take their default settings For details on fixed parameters refer to 4 8 4 Counter Parameters 6 41 6 42 6 Basic System Operation 6 5 6 LIO 04 Modules 6 5 6 LIO 04 Modules Details on definition information when self configuration is executed are shown below 1 I O Allocations Modules mounted in option slots are detected and input registers and output registers are
252. t used SW00226 Not used SW00227 Not used SW00228 Not used SW00229 Not used SW00230 Not used Sw00231 Not used Table 8 9 Error Status Details 1 1 LIO DI 16 points DO 16 points sink mode Subslot No i Note 2 CNTR counter ae PO Norma T O error Output fuse burnout CNTR error information PG burnout is reflected in the input registers 8 20 8 2 System Errors e LIO 02 Module Error Status Example Rack 1 Slot 1 F 87 0 Bit No swo0224 Subslot unoton No SW00225 Not used SW00226 Not used SW00227 Not used SW00228 Not used SW00229 Not used SW00230 Not used Sw00231 Not used Table 8 10 Error Status Details 1 1 LIO DI 16 points DO 16 points source mode Subslot No p Note 2 CNTR counter mem PO Normal 1 O error Output fuse burnout CNTR error information PG burnout is reflected in the input registers 8 21 8 Troubleshooting 8 2 4 System Register Configuration e LIO 04 Module Error Status Example Rack 1 Slot 1 F 8 7 O Bit No SW00224 Status Subslot function No SW00225 Not used SW00226 Not used SW00227 Not used SW00228 Not used SW00229 Not used SW00230 Not used Sw00231 Not used Table 8 11 Error Status Details Item Remarks Subslot No 1 LIO DI 32 points DO 32 points sink mode Status sas 2 T O error Output fuse burnout 8 22 8 2 Syst
253. ta that has been set or changed to flash memory e Once the settings or changes have been made cycle the MP2200 power supply 6 49 7 Maintenance and Inspection This chapter explains daily and regular inspection items to ensure that the MP2200 can always be used in its best condition 7 1 Inspection Items 7 2 7 1 1 Daily Inspections 7 2 7 1 2 Regular Inspections 7 3 7 2 MBU 01 MBU 02 Unit Batteries 7 4 7 2 1 Battery Life 7 4 7 2 2 Replacing the Battery 7 4 7 1 7 2 7 Maintenance and Inspection 7 1 1 Daily Inspections 7 1 Inspection Items This section summarizes daily and regular inspection items that must be performed by the customer 7 1 1 Daily Inspections The following table lists the daily inspection items Inspection Nem Inspection Deals Installation conditions of Module etc Check that the mounting screws are not loose and that the cover has not come off The Module must be secured properly Retighten screws Check for terminal The screws must not Retighten terminal screws screw looseness be loose Connection conditions Indicators Check the gap between crimp ter minals Check whe
254. teger register is used for the speed reference unit Therefore a real number linear acceleration deceleration reference 2 SLAU S shaped accelerator decelerator instruction is applied Electronic shaft speed setting Electronic shaft operation reference DB000000 S shaped accelerator decelerator input 0008 TORE IA Source DLOOOTO Dest DF00012 Electronic shaft operation reference DB000000 S shaped accelerator decelerator input STORE E NL 1 Source 0 000000E 000 Dest DF00012 3 55 3 56 3 System Startup 3 4 3 Program Details P00119 H06 01 Main Program Phase Control 1 Electronic Shaft Processing 0010 0026 NL 1 0011 0027 NL 1 0012 0030 NL 1 0013 0032 NL 1 0014 0033 NL 1 S shaped accelerator decelerator output SLAU Input DF00012 Parameter DA00020 Output DFO0040 HHHH Axis 1 and 2 speed reference settings HHHHHHHT Electronic shaft operation reference DB000000 Axis 1 and 2 speed reference settings EXPRES ON a Zero speed 0L8010 DF00040 DB000003 0L8090 DF00040 1 Zero speed DB00020A FHHHHAHHHH Inter axial error monitor HHHHAHHHE SourceA 1L8016 SourceB 1L8096 Dest DL00090 Zero speed DB000003 3 5 Sample Program 4 Phase Control with an Electronic Cam 3 5 Sample Program 4 Phase Control with an Electronic Cam 3 5 1 Description 1 Machine Outline The same operation for the mechanical cam synchronized to the roller connected to the line shaft will b
255. terrupt input J T an a iS N oo afl A BR BR BR RY BR RP BR BR BR BY WY WY WY WT WY WT W WY WI N N N ofj Slona any AT Bl SPP NYT RK Sojlo lo nana ans mT AJ wp Nyy oy wo rom Digital input 18 Digital input 20 nN Digital input 22 Common 4 N Digital input 24 Digital input 26 Digital input 28 DI 29 Digital input 29 DI 31 Digital input 31 DO 17 Digital output 17 DO 19 Digital output 19 Digital input 30 Digital output 16 Digital output 18 24 V power supply 3 DO 21 Digital output 21 DO 23 Digital output 23 Digital output 20 Digital output 22 DO 29 Digital output 29 DO 31 Digital output 31 Common ground 4 Digital output 24 Digital output 26 Common ground 3 N 24 V power supply 4 Digital output 28 Digital output 30 me Ea EF EA Ea Ea EA N N 5 42 5 2 Module Connections 2 I O Circuit Details a Interrupts The interrupt outputs from the LIO 04 to the MP2200 MP2300 CPU are DI 00 DI 01 DI 16 and DI 17 DINT These are input to the MP2200 MP2300 CPU Unit as optional interrupts b Input Circuits The following table shows the LIO 04 Module input circuit specifications fer E input Mode isolation Method input Voltage input Current ON Vottage Curent OFF Voltage Current 5 V max 1 0 mA max ON Time OFF Time ON 0 5 ms max OFF 0 5 ms max Number of Points 8 points DI_COMO DI_00 to DI_07 DI COM1 DI_08 to DI 15 per Co
256. the following equation SigmaWin Yes 1 No 0 Number of slave e Communication cycle 0 5 ms stations Number of slave stations 4 No of retry stations SigmaWin e Communication cycle 1 ms Number of slave stations 9 No of retry stations SigmaWin e Communication cycle 1 ms Number of slave stations 15 No of retry stations SigmaWin e Communication cycle 1 ms Number of slave stations 21 No of retry stations SigmaWin Ifthe communication cycle is 0 5 ms the maximum number of retry stations is 3 e Slaves Default Value Fixed value display only Fixed value display only No send bytes 31 bytes 31 bytes Communication Setting not required 1 ms cycle No of retry sta tions Setting not required messages Number of slave Fixed value display only 30 stations 30 6 34 6 5 Self configuration INFO m MECHATROLINK Transmission Definitions for SVB Built into the MP2300 CPU The MECHATROLINK transmission definitions are set automatically according to the detected communication method and number of slaves Communication MECHATROLINK II MECHATROLINK II Method 32 bytes 17 bytes MECHATROLCINKA Communication Speed No of Send Byies Communication Cycle Stations No ofRetySations 1 o SigmaWin No 2 The communication cycle and number of retry stations when using MECHATROLINK II 32 byte mode will change as shown in the following
257. ther the indicator is lit Check whether the indicator is lit Check whether the indicator is lit while the system is in RUN state Check that the indi cator is not lit Check that the indi cator is not lit Check whether the indicator lights dur ing communication Check that the indi cator is not lit There must be an appropriate gap between the termi nals The indicator must be lit It is abnormal if the indicator is not lit The indicator must be lit It is abnormal if the indicator is not lit The indicator must be lit It is abnormal if the indicator is not lit The indicator must be not lit It is abnormal if the indicator is lit The indicator must be not lit Itis abnormal if the indicator is lit The indicator must be lit It is abnormal if the indicator is not lit The indicator must be not lit The battery voltage is too low if the indicator is lit Check the connec The connectors must Retighten the connector set screws tors for looseness not be loose Correct See Chapter 8 Troubleshooting See Chapter 8 Troubleshooting See Chapter 8 Troubleshooting See Chapter 8 Troubleshooting See Chapter 8 Troubleshooting Replacing the Battery 7 1 2 Regular Inspections 7 1 Inspection Items 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 equ
258. tion error occurs in a ladder program Table 8 1 Ladder Program User Operation Error Status 1 Register sat DWG A Error Count SW00080 Count Error Code SW00081 DWG I Error Count SW00082 Count Error Code SW00083 Operation error code DWG H Error Count SW00084 See Table 8 3 Count Error Code SW00085 R Ibe t SW00086 Error code when an index error occurs sl la VENO SYS SW00087 SeeTable 8 4 DWG L Error Count SW00088 Count Error Code SW00089 Table 8 2 Ladder Program User Operation Error Status 2 Name Register Number Remarks DWG A DWG I DWGH DWG L Swo00110 Swo0126 Swo0142 SW00174 SW00111 Swo00127 Sw00143 SW00175 Error DWG number Seer caer SW00112 SW00128 Sw00144 SW00176 Parent Drawings FFFFH MERA eee SW00113 SW00129 SW00145 Swool77 Child drawing OOOOH HOD Child ees drawing No Modification A SW00114 SW00130 SW00146 Sw00178 i SOOT SSW O0IED SOO Es SCO ait ee aS Register SW00115 SW00131 Swo00147 Sw00179 Child drawing No 1 rawin SW00116 SW00132 SW00148 SW00180 l oS Error F Register Functions 0100H SW00117 SW00133 SW00149 SW00181 Modification F SW00118 SW00134 SW00150 SW00182 Register SW00119 SW00135 SW00151 SW00183 punction Calling DWG Number Address Generating SW00120 SW00136 SW00152 SW00184 Number of the drawing that calls the Error SW00121 SW00137 SW00153 SW00185 function in which an error occurred Error DWG Number SW00122 SW00138 SW0
259. ults is displayed and cannot be changed Setting range 0 to 15 Number of slave stations SigmaWin Yes 1 No 0 e Communication cycle 0 5 ms Number of slave stations 6 No of retry stations SigmaWin e Communication cycle 1 ms Number of slave stations 15 No of retry stations SigmaWin Ifthe communication cycle is 0 5 ms the maximum number of retry stations is 5 Slaves The number of slave stations is calculated using the following equation Default Value Fixed value display only Fixed value display only No send bytes 16 bytes 16 bytes Communication Setting not required 1 ms cycle No of retry stations Setting not required messages Number of slave Fixed value display only stations 30 6 33 6 Basic System Operation 6 5 2 SVB 01 Modules e MECHATROLINK II 32 byte Mode e Master fem Default Value Baud rate Fixed value display only 10 Mbps No send bytes Fixed value display only 31 bytes Communication 0 5 ms 1 ms 1 5 ms or 2 ms 1 ms cycle Set whether or not there is a SigmaWin connection SigmaWin i None Selections Yes No No of retry sta Sets the number of retry stations ue Setti 0to7 messages etting range 0 to Automatically determined by the SigmaWin setting and the number of retry stations setting The results is displayed and cannot be changed Setting range 0 to 15 The number of slave stations is calculated using
260. unctions MSG SND MSG SND function 0 2 2 rotary switches on front panel Node address YSG SNP Anio a aas on front 2 rotary switches on front panel Node address Node address Settings DIP switch on front panel Baud rate Master Slave selec tion ee Supply Voltage for Communi 24 VDC 10 supplied by special cable 4 Communication power supply 45 mA max supplied from communication connector Current Consumption ets Internal circuit power supply supplied from MBU 01 Unit 4 51 4 Module Specifications 4 13 1 Outline of Functions 4 13 261IF 01 Module 4 13 1 Outline of Functions The 261IF 01 Module has an RS 232C serial interface and a PROFIBUS interface mounted in it Personal com puters HMI devices and controllers manufactured by other companies can be connected to the 2611IF 01 Module via the PORT or PROFIBUS connectors Communication modes include message communication engineering communication and MEMOBUS MELSEC and non procedure protocols are supported Refer to the MP2300 Machine Controller Communication Module Users Manual Manual No SIEPC88070004 for details 4 13 2 LED Indicators and Switch Settings 1 External Appearance The following figure shows the external appearance of the 2611F 01 Module LED indicators Switches Bs Serial connector RS 232C S M g z3 g amp PROFIBUS connector 2 Indicators The foll
261. using the procedure below 1 Right click the YESAMPLE Order Folder and select Create New Folder Controller Folder LS E Be pk See To Hee 3 18 3 1 Outline 2 Set the Controller Name and Controller Type shown below and click the OK button Controller name 2200SMPL Controller type MP2200 EE hl 3 Anew controller folder 2200SMPL will be created Double click the YESAMPLE Order Folder or click the button to display the 2200SMPL Controller Folder fe pi See To Ae 7 Logging On Online Log on online to the MP2200 using the procedure outlined below 1 Right click the 2200SMPL Controller Folder and select Online The mode will change from offline to online Te Tweet Sania let Poker 3 19 3 System Startup 3 1 6 Starting the MPE720 2 Right click the 2200SMPL Controller Folder and check that there is a check mark next to Online Also check that Online at the bottom right of the screen is listed as Connected then select Properties i aoina e 3 The Controller Configuration Window will be opened Select the Network Tab Online should be set to Yes Under Logical Port Number Device Type select the same Logical PT that was set for the communica tion process arier Laiaera in ep Note CP 217 RS 232C connection CP 218 Ethernet connection 3 20 3 1 Outline 4 For RS 232C connections leave all settings other than Logical Port Number Device Type on the default settings
262. y WAGO white 2 7 2 8 2 System Configuration 2 5 1 Software for Programming Devices 2 5 Software 2 5 1 Software for Programming Devices MPE720 CPMC MPE720 Ver 5 10 or later CD ROM 1 disk Older versions cannot be used Always use Ver 5 10 or later 3 System Startup This chapter describes the startup procedure for the MP2200 system and provides sample pro grams for typical operation and control 3 1 Outline 3 2 3 1 1 System Startup Flowchart 3 2 3 1 2 System Configuration 3 3 3 1 3 Device Preparation 3 4 3 1 4 Connecting and Wiring the System 3 6 3 1 5 Initializing the System 3 8 3 1 6 Starting the MPE720 3 11 3 2 Sample Program 1 Manual Operation 3 36 3 2 1 Description 3 36 3 2 2 Operation 3 37 3 2 3 Program Details 3 40 3 3 Sample Program 2 Positioning Control 3 47 3 3 1 Description 3 47 3 3 2 Operation
263. y the system 8 23 8 Troubleshooting 8 2 4 System Register Configuration 8 Module Information CPU Information Se seine ania sed is Sas ea PEPEE TEE 8 24 8 2 System Errors cont d ee eer 8 25 Appendices A List of System Registers A 2 A 1 System Service Registers A 2 A 2 Scan Execution Status and Calendar A 5 A 3 Program Software Numbers and Remaining Program Memory Capacity A 5 A 1 A 2 Appendices A 1 System Service Registers A List of System Registers A 1 System Service Registers 1 Registers Common to All Drawings Name Register Remarks Number Reserved by the system SB000000 High speed scan SB000001 ON for only the first scan after high speed scan is started SB000003 ON for only the first scan after low speed scan is started Always ON SB000004 Always ON 1 SB000005 to A List of System Registers 2 Registers Specific to High speed Scan Drawings These registers are set when high speed scan starts Name Register Remarks Number 1 scan Flicker Relay SB000010 0 5s _0 5s 0 5 s Flicker Relay SB000011 i rie gt 2 0 s Flicker Relay SB000013 0 5 s Sampling Relay 1 0 s Sampling Relay 2 0 s Sampling Relay 60 0 s Sampling Relay 1 0 s After Start of Scan Relay 2 0 s After Start of Scan Rel
264. ype Conn iier Foke poroke Type MPI Ie 3 35 3 36 IMPORTANT 3 System Startup 3 2 1 Description 3 2 Sample Program 1 Manual Operation 3 2 1 Description 1 Program Outline The H01 drawing ladder program turns ON the servo resets alarms and sets parameters The H02 01 drawing ladder program controls jog and step operation for axis 1 The H02 02 drawing ladder program controls jog and step operation for axis 2 e Refer to 3 2 3 Program Details for details on the sample program af Parent Drawings H Drawing Child Drawings SEE Name H01 SEE Name H02 END H01 Drawing e SERVO ON e Alarm reset e Parameter settings END Grandchild Drawings H02 Drawing SEE Name H02 01 H02 01 Drawing Axis 1 e Jog operation e Step operation END SEE Name H02 02 END High speed scan H02 02 Drawing Axis 2 e Jog operation e Step operation END This sample program has no power OFF circuit for the SERVOPACK in the event of emergency stops or overtravel Include a proper emergency stop circuit in actual applications 3 2 Sample Program 1 Manual Operation 3 2 2 Operation 1 Display of Tuning Panel Window In this sample program run stop and other operations can be checked from a Tuning Panel Window Use the fo

Machine Controller MP2200 USER'S MANUAL

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