USER'S MANUAL DESIGN AND MAINTENANCE MODEL JAPMC-MC2100 JAPMC-MC2140

Transcription

1 YASKAWA Machine Controller MP2100/MP2100M USER'S MANUAL DESIGN AND MAINTENANCE MODEL JAPMC-MC2100 JAPMC-MC2140 YASKAWA MANUAL NO. SIEP C C

2 Copyright 2003 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 constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.

3 Using this Manual Please read this manual to ensure correct usage of the MP2100/MP2100M system. Keep this manual in a safe place for future reference. Basic Terms Unless otherwise specified, the following definitions are used: MP2100: MP2100M: PC: PP: MPE720: Machine Controller MP2100 Machine Controller MP2100M Programmable Logic Controller Programming Panel The Programming Device Software or a Programming Device (i.e., a personal computer) running the Programming Device Software Manual Configuration Read the chapters of this manual as required by the purpose. Chapter Chapter 1 Overview Chapter 2 System Configuration Chapter 3 System Startup Chapter 4 Specifications Chapter 5 Installation and Wiring Chapter 6 Basic System Operation Chapter 7 Motion Parameters Chapter 8 Motion Commands Chapter 9 Control Block Diagrams Chapter 10 Absolute Position Detection Chapter 11 SVR Virtual Motion Module Chapter 12 Maintenance and Inspection Chapter 13 Troubleshooting Chapter 14 Application Precations Selecting Models and Peripheral Devices Studying Specifications and Ratings Designing the System Installation and Wiring Trial Operation Maintenance and Inspection Applicable Applicable Applicable --- Applicable Applicable Applicable Applicable Applicable Applicable Applicable Applicable --- Applicable Applicable --- Applicable Applicable --- Applicable Applicable Applicable --- Applicable Applicable Applicable --- Applicable Applicable Applicable --- Applicable Applicable Applicable Applicable Applicable Applicable --- Applicable --- Applicable Applicable iii

4 Visual Aids The following aids are used to indicate certain types of information for easier reference. IMPORTANT Indicates important information that should be memorized. INFO Indicates supplemental information. EXAMPLE Indicates application examples. TERMS Describes technical terms that are difficult to understand, or appear in the text without an explanation being given. 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: S-ON P-CON = /S-ON = /P-CON Copyrights Microsoft, Windows, Windows NT, and Internet Explorer are registered trademarks of the Microsoft Corporation. Pentium is a registered trademark of the Intel Corporation. Other product names and company names are the trademarks or registered trademarks of the respective company. TM and the mark do not appear with product or company names in this manual. iv

5 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. Manual Name Manual Number Contents Machine Controller MP900 Series User's Manual Ladder Programming Machine Controller MP900 Series User's Manual Motion Programming Machine Controller MP900/MP2000 Series MPE720 Software for Programming Device User s Manual Σ Series SGM/SGMP/SGD- N User s Manual Σ Series SGM /SGDB User s Manual Σ-II Series SGM H/SGDH User s Manual Σ-II Series SGM H/SGDM User s Manual Σ-III Series AC SERVOPACK SGDS Safety Precautions Σ-III Series SGM S/SGDS User s Manual Σ-III Series SGM S/SGDS Digital Operator Instructions Σ-III Series SGM S/SGDS User s Manual For MECHATROLINK-II communications Machine Controller MP900 Series New Ladder Editor Programming Manual Machine Controller MP900 Series New Ladder Editor User s Manual SIEZ-C SIEZ-C SIEPC SIE-S SIE-S SIEPS SIEPS TOBPS SIEPS TOBPS SIEPS SIE-C SIE-C Describes the instructions used in MP900/MP2000 ladder programming. Describes the instructions used in MP900/MP2000 motion programming. Describes how to install and operate the MP900/MP2000 Series programming system (MPE720). Describes the Σ Series SERVOPACK models, specifications and capacity selection methods. Describes the Σ Series SERVOPACK models, specifications and capacity selection methods. Describes the models, capacities, selection methods, ratings, characteristics, diagrams, cables, peripheral devices, wiring, panel installation, trial operation, adjustment, function application methods, maintenance, and inspection of the Σ-II Series SGDH SERVOPACK and Servomotors. Describes the models, capacities, selection methods, ratings, characteristics, diagrams, cables, peripheral devices, wiring, panel installation, trial operation, adjustment, function application methods, maintenance, and inspection of the Σ-II Series SGDM SERVOPACK and Servomotors. Describes Σ-III Series SERVOPACK safety precautions. Describes the models, capacities, selection methods, ratings, characteristics, diagrams, cables, peripheral devices, wiring, panel installation, trial operation, adjustment, function application methods, maintenance, and inspection of the Σ-III Series SERVOPACKs and Servomotors. Describes the operation methods of the JUSP-OP05A Digital Operator. Describes the models, capacities, selection methods, ratings, characteristics, diagrams, cables, peripheral devices, wiring, panel installation, trial operation, adjustment, function application methods, maintenance, inspection, and MECHATROLINK communication of the -III Series SERVOPACKs and Servomotors. Describes the programming instructions of the New Ladder Editor, which assists MP900/MP2000 Series design and maintenance. Describes the operating methods of the New Ladder Editor, which assists MP900/MP2000 Series design and maintenance. v

6 Safety Information The following conventions are used to indicate precautions in this manual. Failure to heed precautions provided in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment and systems. WARNING Indicates precautions that, if not heeded, could possibly result in loss of life or serious injury. CAUTION Indicates precautions that, if not heeded, could result in relatively serious or minor injury, damage to the product, or faulty operation. PROHIBITED MANDATORY Indicates prohibited actions that must not be performed. For example, this symbol would be used to indicate that fire is prohibited as follows: Indicates compulsory actions that must be performed. For example, this symbol would be used as follows to indicate that grounding is compulsory: vi

7 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. 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. 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 cables while power is being supplied. There is a risk of electrical shock or an accident. Do not allow installation, disassembly, or repairs to be performed by anyone other than specified personnel. 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 MP2100. Do not attempt to modify the MP2100 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. Storage and Transportation WARNING CAUTION Do not store or install the MP2100 in the following locations. There is a risk of fire, electrical shock, or device damage. Direct sunlight Ambient temperature exceeds the storage or operating conditions Ambient humidity exceeds the storage or operating conditions Rapid changes in temperature or locations subject to condensation Corrosive or flammable gas Excessive dust, dirt, salt, or metallic powder Water, oil, or chemicals Vibration or shock Do not overload the MP2100 during transportation. There is a risk of injury or an accident. vii

8 Installation CAUTION The MP2100/MP2100M is mounted in the PCI slot of a standard personal computer (IBM PC/AT or compatible). PC/AT or compatible computer PCI bus slot MP2100 board To prevent the MP2100/MP2100M from being damaged by static electricity, discharge any static electricity by touching a grounded metal object. Before installing or removing the MP2100/MP2100M, always turn OFF the host computer's power supply and unplug the computer's power cord. When installing the MP2100/MP2100M, always press the Board firmly until it is fully seated in the PCI slot. If the Board is not fully inserted, the MP2100/MP2100M and/or host computer may be damaged or operate incorrectly. If the MP2100/MP2100M cannot be inserted into the PCI slot with firm pressure, do not try to force it into the slot. Remove the Board, align it properly, and try inserting it again. When handling the MP2100/MP2100M, hold the Board by its edges and never touch the components or soldered connections. Touching the components or leads can cause cuts or damage the MP2100/ MP2100M or host computer. In some computers, it is necessary to secure the MP2100/MP2100M in the PCI slot with a screw or a clip after inserting the Board into the slot. Refer to the host computer's user manual for details on securing PCI Boards. If the MP2100/MP2100M is not secured, it may become loose and the MP2100/MP2100M and/or host computer may be damaged or operate incorrectly. Connect and secure the cables that connect the MP2100/MP2100M to the Servodrive and I/O Module. If the cable connectors are not fully inserted and secured, the MP2100/MP2100M, Servodrive, and/or I/O Module may operate incorrectly. Never use the MP2100/MP2100M 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 subject the MP2100/MP2100M to strong shock. There is a risk of an accident. viii

9 Wiring CAUTION Check the wiring to be sure it has been performed correctly. There is a risk of motor run-away, injury, or an accident. Always use a power supply of the specified voltage. There is a risk of burning. In places with poor power supply conditions, take all steps necessary to ensure that the input power supply is within the specified voltage range. There is a risk of device damage. Install breakers and other safety measure to provide protection against shorts in external wiring. There is a risk of fire. Provide sufficient shielding when using the MP2100/MP2100M in the following locations. There is a risk of device damage. Noise, such as from static electricity Strong electromagnetic or magnetic fields Radiation Near to power lines When connecting the battery, connect the polarity correctly. There is a risk of battery damage or explosion. Selecting, Separating, and Laying External Cables CAUTION Consider the following items when selecting the I/O signal lines (external cables) to connect the MP2100/MP2100M to external devices. Mechanical strength Noise interference Wiring distance Signal voltage, etc. Separate the I/O signal lines from the power lines both inside and outside the control box to reduce the influence of noise from the power lines. If the I/O signal lines and power lines are not separated properly, malfunctioning may result. Example 外部配線の分離例 of Separated External Cables Steel 鉄板製のセパレータ separator Power circuit 動力回路の cables ケーブル General control 一般制御回路 circuit のケーブル Digital I/O ディジタル signal 入出力信号 cables ケーブル ix

10 Maintenance and Inspection Precautions Disposal Precautions CAUTION Do not attempt to disassemble the MP2100/MP2100M. There is a risk of electrical shock or injury. Do not change wiring while power is being supplied. There is a risk of electrical shock or injury. When replacing the MP2100/MP2100M, restart operation only after transferring the programs and parameters from the old MP2100/MP2100M to the new MP2100/MP2100M. There is a risk of device damage. CAUTION Dispose of the MP2100/MP2100M as general industrial waste. x

11 Contents 1 Overview Using this Manual iii Safety Information vi Safety Precautions vii 1.1 MP2100 Overview MP2100 Features MP2100 Appearance MP2100M Overview MP2100M Features Comparing SVB Motion Module and SVB Built into the CPU Module MP2100M Appearance System Configuration 2.1 MP2100 System Configuration MP2100 Basic System Configuration Precautions MP2100M System Configuration MP2100M Basic System Configuration Precautions Devices Connectable to MECHATROLINK SERVOPACKs I/O Modules Cables and Accessories Included Accessories Cables Accessories Software The Programming Device Software Motion API xi

12 3 System Startup 3.1 System Startup System Startup Flowchart System Configuration Equipment Preparation Installing the MP Installing the Drivers Verifying Driver Installation Connecting and Wiring the System Initializing the System Starting the MPE Sample Program 1: Manual Operation Program Outline Operation Program Details Sample Program 2: Positioning Control Program Outline Operation Program Details Sample Program 3: Phase Control with an Electronic Shaft Program Outline Operation Program Details Sample Program 4: Phase Control with an Electronic Cam Program Outline Operation Program Details MP2100M Startup Communication Process Settings Controller Configuration Module Configuration Definition Specifications 4.1 Hardware Specifications General Specifications Hardware Specifications Function Lists PLC Function Specifications Motion Control Function Specifications MECHATROLINK Communication Specifications MP2100 LED Indicators and Switch Settings Layout LED Indicators Switch Settings xii

13 4.4 MP2100M LED Indicators and Switch Settings LED Indicator and Switch Arrangement LED Indicators Switch Settings Mounting and Wiring 5.1 Installing the MP2100/MP2100M Recommended Computer Specifications Installing the MP2100/MP2100M Installing the Drivers Verifying Driver Installation MP2100/MP2100M Connections Connectors MECHATROLINK-I/II Connection I/O Connection Basic System Operation 6.1 Operating Modes Online Operating Mode Offline Stop Mode Startup Sequence and Basic Operation MP2100 Mode Switch Settings MP2100M Mode Switch Settings Indicator Patterns Startup Sequence User Programs Drawings (DWGs) Execution Control of Drawings Motion Program Functions Registers Types of Register Register Designation Methods Data Types Using Subscripts i and j Self-configuration Overview of Self-configuration MP2100/MP2100M Self-configuration Motion API Overview of the Motion API Motion API Software Installed Files List Installing MP2100/MP2100M xiii

14 7 Motion Parameters 7.1 Motion Parameters Register Numbers Motion Parameter Details Motion Fixed Parameter Details Motion Setting Parameter Details Motion Monitoring Parameter Details Example of Setting Motion Parameters for the Machine Reference Unit Electronic Gear Axis Type Selection Position References Speed References Acceleration/Deceleration Settings Acceleration/Deceleration Filter Settings Motion Commands 8.1 Command Table Motion Commands Motion Subcommands Motion Command Support by SERVOPACK Model Positioning (POSING) External Positioning (EX_POSING) Zero Point Return (ZRET) Interpolation (INTERPOLATE) Latch (LATCH) JOG Operation (FEED) STEP Operation (STEP) Zero Point Setting (ZSET) Change Linear Acceleration Time Constant (ACC) Change Linear Deceleration Time Constant (DCC) Change Filter Time Constant (SCC) Change Filter Type (CHG_FILTER) Change Speed Loop Gain (KVS) Change Position Loop Gain (KPS) Change Feed Forward (KFS) Read SERVOPACK Parameter (PRM_RD) Write SERVOPACK Parameter (PRM_WR) Monitor SERVOPACK Alarms (ALM_MON) xiv

15 8.20 Monitor SERVOPACK Alarm History (ALM_HIST) Clear SERVOPACK Alarm History (ALMHIST_CLR) Reset Absolute Encoder (ABS_RST) Speed Reference (VELO) Torque Reference (TRQ) Phase References (PHASE) Change Position Loop Integration Time Constant (KIS) Control Block Diagrams 9.1 Motion Control Block Diagrams Position Control Phase Control Torque Control Speed Control Absolute Position Detection 10.1 Structure of the Absolute Position Detection Function Outline of the Function Basic Terminology Startup the Absolute Position Detection Function System Startup Procedure Setting Related Parameters Initializing the Absolute Encoder Using an Absolute Encoder Finite Length Axis Infinite Length Axis SVR Virtual Motion Module 11.1 SVR Virtual Motion Module Overview System Configuration SVR Operation Motion Parameters Motion Parameter Details Motion Parameter Settings Motion Commands Motion Command Table Motion Command Details Sample Programming xv

16 12 Maintenance and Inspection 12.1 Inspection Items Daily Inspections Regular Inspections Battery for MP2100/MP2100M Battery Installation Battery Life Battery Replacement Troubleshooting 13.1 Overview of Troubleshooting Troubleshooting Methods Basic Troubleshooting Flow Indicator Errors Motion Program Alarms System Errors Overview of System Errors Processing Flow When a System Error Occurs Processing Flow for a Ladder Program Error System Register Configuration Motion Errors Description of Motion Errors Motion Error Details and Corrections Application Precautions 14.1 Controlling a Vertical Axis Overview Connections to SGDH-oooE or SGDS-ooo1oo SERVOPACK Connections to SGDB-ooAN SERVOPACK Connections to SGD-oooN SERVOPACK Overtravel Function Overview Overtravel Input Signal Connections Parameter Settings Software Limit Function Overview Fixed Parameter Settings Processing after an Alarm Occurs Setting and Changing User-defined Files or Data Saving User-defined Files or Data Setting and Changing the Scan Times Setting and Changing the Module Configuration Definition xvi

17 Appendix A Motion API A.1 Motion API A-2 A.1.1 Common APIs A-2 A.1.2 Sequential APIs A-2 A.1.3 System APIs A-4 Appendix B Parameters That are Automatically Updated B.1 Parameters Updated when a Connection is Established (MP2100/MP2100M to SERVOPACK) B-2 B.2 Parameters Updated when a Setting Parameter is Changed (MP2100/MP2100M to SERVOPACK) B-3 B.3 Parameters Updated when a Motion Command is Started (MP2100/MP2100M to SERVOPACK) B-4 B.4 Parameters Updated at Self-configuration (SERVOPACK to MP2100/MP2100M) B-4 B.5 Parameters Updated at Self-configuration (MP2100/MP2100M to SERVOPACK) B-5 Appendix C List of System Registers INDEX C.1 System Service Registers C-2 C.1.1 Registers Common to All Drawings C-2 C.1.2 Registers Specific to High-speed Scan Drawings C-3 C.1.3 Registers Specific to Low-speed Scan Drawings C-4 C.2 Scan Execution Status and Calendar C-5 C.3 Program Software Numbers and Remaining Program Memory Capacity C-5 Revision History xvii

18 1 1 Overview This chapter explains an overview and features of the MP2100/MP2100M Machine Controller. 1.1 MP2100 Overview MP2100 Features MP2100 Appearance MP2100M Overview MP2100M Features Comparing SVB Motion Module and SVB Built into the CPU Module MP2100M Appearance

19 1 Overview MP2100 Features 1.1 MP2100 Overview MP2100 Features The MP2100 is a Machine Controller with complete sequence control and motion control functionality integrated into a half-size PCI board. Just install the MP2100 in a personal computer to provide high-speed communication with the Servodrive, automatic setup, and full system support from design to maintenance. (1) Reduced Size The general purpose personal computer bus connection (PCI bus) and half-size configuration make the MP2100 compatible with almost any personal computer. The MP2100 is just 1/4 the size of the MP910. (2) Powerful Computer Motion Functions The large library of 50 programming commands are provided in the motion API (interface software in languages such as C). This is a valuable resource when creating host computer applications. (3) High Performance Control characteristics have been improved by increasing the CPU and Motion Network (MECHA- TROLINK-II) speed. MECHATROLINK-II baud rate: 2.5 times faster MECHATROLINK-II enables position control, speed control, and torque control and makes precise synchronous control possible. The control mode can also be changed while online, facilitating complicated machine operations. (4) Easy to Use The time of machine development can be greatly reduced by using the self-configuration function that automatically detects devices connected to MECHATROLINK-II and automatically sets the required parameters. The Application Converter can utilize your previous software assets with their accumulated databanks of specific knowledge to improve the system further. (5) Expandability Up to four MP2100 boards can be installed in one host computer. Each MP2100 can control up to 21 stations, including 16 Servo axes and I/O devices. A single host computer with four MP2100 boards can thus control up to 84 stations, including 64 Servo axes and I/O devices. 1-2

20 1.1 MP2100 Overview MP2100 Appearance The following figure shows the external appearance of the MP2100. S2 S1 1 YASKAWA I/O MP BAT BAT TX ON M-I/II 1-3

21 1 Overview MP2100M Features 1.2 MP2100M Overview MP2100M Features The MP2100M is a Machine Controller equivalent to the MP2100 with an SVB Board mounted to the option connector of the CPU Board (Module). The SVB Board (Motion Module) provides one MECHATROLINK-II port, and can be used to control Servos, inverters, and I/O devices. The MP2100M has the following features in addition to those of the MP2100. (1) Controls Up to 32 Servo Axes from a Single MP2100M The two MECHATROLINK ports provided on the SVB built into the CPU Board and the SVB Motion Module can be used to control up to 32 Servo axes from a single MP2100M. Up to 42 stations can be controlled when including I/O devices. The CPU Module and SVB Motion Module can also be synchronized, enabling interpolation and synchronization applications between CPU Modules with built-in SVB and SVB Motion Modules. (2) High-speed Motion Control of 0.5 ms The SVB Motion Module s MECHATROLINK port can be used on its own to control up to four axes using a 0.5-ms motion control cycle. Set whether to use the two MP2100M ports (SVB port built into the CPU Module and SVB Motion Module port) or high-speed processing (SVB Motion Module only) in the MPE720 Module Configuration Definition Comparing SVB Motion Module and SVB Built into the CPU Module The following table shows the differences between the SVB built into the CPU Module and the separate SVB Motion Module. No. Function/Characteristics SVB Built-into CPU SVB Motion Module Module 1 MECHATROLINK-II communication cycle 1 ms, 1.5 ms, or 2 ms 0.5 ms, 1 ms, 1.5 ms, or 2 ms 2 Minimum command delay time: Application to Servo (Scan delay + communication delay) 3 Minimum response time: Servo to Application (Scan delay + communication delay) 2 ms = 1 ms (highspeed scan) + 1 ms (communication) 1 ms = 0 ms (highspeed scan) + 1 ms (communication) 1.5 ms = 1 ms (highspeed scan) ms (communication) 1.5 ms = 1 ms (highspeed scan) ms (communication) 4 Slave functions None Supported (asynchronous only) 1-4

22 1.2 MP2100M Overview MP2100M Appearance The following figure shows the external appearance of the MP2100M. S2 1 MP2100M YASKAWA BAT PORT2 M-I/II BAT TX S1 PORT1 M-I/II I/O 1-5

23 2 System Configuration 2 This chapter explains the product information required for building MP2100/MP2100M systems. 2.1 MP2100 System Configuration MP2100 Basic System Configuration Precautions MP2100M System Configuration MP2100M Basic System Configuration Precautions Devices Connectable to MECHATROLINK SERVOPACKs I/O Modules Cables and Accessories Included Accessories Cables Accessories Software The Programming Device Software Motion API

24 2 System Configuration MP2100 Basic System Configuration 2.1 MP2100 System Configuration MP2100 Basic System Configuration The following diagram shows the basic system configuration for the MP2100. Host computer MPE720 Motion API Max.4 boards MP2100 External I/O Input: 5 points (Interrupt input, etc.) Output: 4 points MECHATROLINK-II NS115 SGDS SGDH Max.16 Servo or Inverter axes IO2310 PL2900 Max.5 I/O stations PL2910 M M Precautions Note 1. Up to 21 devices can be connected to MECHATROLINK-II. (The SERVOPACKs and Inverters can be connected for to up to 16 axes.) 2. Up to 9 digital I/O points (5 inputs and 4 outputs) can be used. The following precautions must be followed when designing a system using the MP2100. 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. If devices compatible with MECHATROLINK-I (4 Mbps) and with MECHATROLINK-II (10 Mbps) are used together, make the all settings for MECHATROLINK-I (4 Mbps). When connecting SERVOPACKs via MECHATROLINK, connect the overtravel, zero point return deceleration limit switch and external latch signals to the SERVOPACKs. 2-2

25 2.2 MP2100M System Configuration 2.2 MP2100M System Configuration MP2100M Basic System Configuration The following diagram shows the basic system configuration of the MP2100M. Host computer MPE720 Motion API 4 boards max. MP2100M Direct I/O Input: 5 points (interrupt inputs, etc.) Output: 4 points 2 SVB built into CPU Module MECHATROLINK-II SVB Module MECHATROLINK-II SGDS SGDS IO2310 SGDS SGDS IO2310 M M M M 9 stations max. (communication cycle: 1 ms) 21 stations max. (communication cycle: 2 ms) Up to 16 SERVOPACK or Inverter axes 4 stations max. (communication cycle: 0.5 ms) 9 stations max. (communication cycle: 1 ms) 15 stations max. (communication cycle: 1.5 ms) 21 stations max. (communication cycle: 2 ms) Up to 16 SERVOPACK or Inverter axes Precautions The following precautions must be followed when designing a system using the MP2100M. Use MPE720 Ver or higher and Motion API Ver (driver: Ver ) or higher. 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. If devices compatible with MECHATROLINK-I (4 Mbps) and with MECHATROLINK-II (10 Mbps) are used together, make the all settings for MECHATROLINK-I (4 Mbps). When connecting SERVOPACKs via MECHATROLINK, connect the overtravel, zero point return deceleration limit switch and external latch signals to the SERVOPACKs. 2-3

26 2 System Configuration SERVOPACKs 2.3 Devices Connectable to MECHATROLINK The devices that are compatible with MECHATROLINK and can be connected to the MP2100/MP2100M are listed below SERVOPACKs The following table shows SERVOPACKs that are compatible with MECHATROLINK and can be connected to the MP2100. Model Number Details MECHATROLINK-I MECHATROLINK-II SGD- N SGDB- AN SGDH- E JUSP-NS100 SGDH- E JUSP-NS115 Σ Series AC SERVOPACK for MECHATROLINK-I Σ-II Series SGDH SERVOPACK Application Module MECHATROLINK-I Interface Unit Σ-II Series SGDH SERVOPACK Application Module MECHATROLINK-II Interface Unit SGDS- 1 Σ-III Series SERVOPACK Yes Yes Yes Yes Yes No No Yes 2-4

27 2.3 Devices Connectable to MECHATROLINK I/O Modules The following table shows the I/O Modules that are compatible with MECHATROLINK and can be connected to the MP2100/MP2100M. Model Number Details MECHATROLINK-I MECHATROLINK-II JEPMC-IO point I/O Module 24 VDC, 64 inputs, 64 outputs Yes No JAMSC-120DDI34330 DC Input Module 12/24 VDC, 16 inputs Yes No JAMSC-120DDO34340 DC Output Module 12/24 VDC, 16 outputs Yes No JAMSC-120DAI53330 AC Input Module 100 VAC, 8 inputs Yes No JAMSC-120DAI73330 AC Input Module 200 VAC, 8 inputs Yes No JAMSC-120DAO83330 AC Output Module 100/200 VAC, 8 outputs Yes No JAMSC-120DRA83030 Relay Module Wide voltage range relay contacts, Yes No 8 contact inputs JAMSC-120AVI02030 A/D Module Analog inputs, 10 to 10 V, 4 channels Yes No JAMSC-120AVO01030 JAMSC-120EHC21140 JAMSC-120MMB20230 JEPMC-IO2310 JEPMC-PL2900 JEPMC-PL2910 JEPMC-AN2900 JEPMC-AN2910 D/A Module Analog outputs, 10 to 10 V, 2 channels Counter Module Reversible counter, 2 channels Pulse Output Module Pulse output, 2 channels 64-point I/O Module 24 VDC, 64 inputs, 64 outputs Counter Module Reversible counter, 2 channels Pulse Output Module Pulse output, 2 channels A/D Module Analog inputs, 10 to 10 V, 4 channels D/A Module Analog outputs, 10 to 10 V, 2 channels Yes Yes Yes Yes Yes Yes Yes Yes No No No Yes Yes Yes Yes Yes 2 2-5

28 2 System Configuration Included Accessories 2.4 Cables and Accessories Included Accessories Name Model Remarks Relay Cable for Battery JEPMC-W2092-B8 This cable is included with the MP2100M. For details on installation, refer to 12.2 Battery for MP2100/MP2100M Cables The following table shows the cables that can be connected to the MP2100/MP2100M. Module MP2100/ MP2100M Connector Name Application Model Specifications I/O External I/O JEPMC-W2062- I/O < > External I/O M-I/II MECHATROLINK-I, JEPMC-W6002- MP2100/MP2100M < > I/O Module MECHATROLINK-II JEPMC-W6003- MP2100/MP2100M < > SGDH- E+NS100 cable MP2100/MP2100M < > SGDH- E+NS115 MP2100/MP2100M < > SGDS- 1 USB connector < > USB connector Note: JEPMC-W6003- has a ferrite core attached. JEPMC-W6010- MP2100/MP2100M < > SGD- N MP2100/MP2100M < > SGDB- AN USB connector Loose wires JEPMC-W6022 Terminator Accessories * Commercially-available USB cables cannot be used. Always use the above mentioned cable. Name Model Remarks Battery ZZK Option Extended Cable for Battery JEPMC-W Option 2.5 Software The Programming Device Software Name Model Remarks MPE720 CPMC-MPE720 (Ver or later) CD-ROM (1 disk) Motion API Name Model Remarks Motion API CPMC-MPA700 CR-ROM (1 disk) 2-6

29 3 System Startup This chapter describes the startup procedure for the MP2100/MP2100M system using the MP2100 as an example. For details on MP2100M systems, refer to 3.6 MP2100M Startup. Also, typical operation and control are described here System Startup System Startup Flowchart System Configuration Equipment Preparation Installing the MP Installing the Drivers Verifying Driver Installation Connecting and Wiring the System Initializing the System Starting the MPE Sample Program 1: Manual Operation Program Outline Operation Program Details Sample Program 2: Positioning Control Program Outline Operation Program Details Sample Program 3: Phase Control with an Electronic Shaft Program Outline Operation Program Details Sample Program 4: Phase Control with an Electronic Cam Program Outline Operation Program Details MP2100M Startup Communication Process Settings Controller Configuration Module Configuration Definition

30 3 System Startup System Startup Flowchart 3.1 System Startup This section explains the system startup procedure using the MP2100 when the sample program on the MPE720 installation disk is used. Details on the machine system design have been omitted here. Differences in the procedure for MP2100M are provided in 3.6 MP2100M Startup 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. Equipment Preparation Prepare the equipment required for testing Equipment Preparation 2. Mounting MP2100 Mount the MP2100 to the host computer Installing the MP Installing the MP2100 Drivers Install the MP2100 drivers to the host computer Installing the Drivers 4. Connecting and Wiring the System Wire the Servomotors and SERVOPACKs Connecting and Wiring the System 5. Initializing the SERVOPACKs Initialize the SERVOPACKs Initializing the System 6. Self-configuration The connected devices are automatically confirmed Initializing the System 7. Starting the MPE720 Install the sample programs Starting the MPE Saving to Flash Memory Save the sample program and configuration definitions to flash memory Starting the MPE Checking Operation Execute the program and check the test operation. 3.2 Sample Program 1: Manual Operation 3.3 Sample Program 2: Positioning Control 3.4 Sample Program 3: Phase Control with an Electronic Shaft 3.5 Sample Program 4: Phase Control with an Electronic Cam 3-2

31 3.1 System Startup System Configuration The following diagram shows the configuration of devices to help describe the MP2100 system startup. Host Computer MP2100 SERVOPACK YASKAWA SERVOPACK 200V SERVOPACK YASKAWA SERVOPACK 200V SGDS-01A12A SGDS-01A12A MPE720 S2 BAT S1 TX BAT 2 1 MP2100 MECHATROLINK-II SW1 CHARGE L1 L2 C N 6 A/B JEPMC-W SW1 CHARGE L1 L2 C N 6 A/B Terminator ON L1C L2C C N 3 L1C L2C C N 3 B1/ B1/ B2 B2 I/O U V C N 1 U V C N 1 W W YASKAWA M-I/II C N 2 C N 4 C N 2 C N VAC Servomotor Servomotor 3-3

32 3 System Startup Equipment Preparation Equipment Preparation Prepare the equipment shown in the following tables. This equipment is required for checking operation using the sample program. (1) Controller-related Equipment Name Model Quantity MP2100 JEPMC-MP MECHATOROLINK Cables (1 m) JEPMC-W Terminator JEPMC-W (2) Host Computer Name Model Quantity Computer Commercially-available product, with 1 PCI half-size slot MPE720 CPMC-MPE720 Version 4.41 or later 1 Motion API CPMC-MPA700 1 MPE

33 3.1 System Startup (3) Servodrive-related Equipment Name Model Quantity Σ-III SERVOPACKs SGDS-01A12A 2 Σ-III Servomotors SGMAS-01ACA21 2 Motor Cables (3 m) JZSP-CSM Encoder Cables (3 m) JZSP-CSP Digital Operator JUSP-OP05A SVON COIN VCMP TGON REF CHARGE 3 YASKAWA ALARM RESET SCROLL MODE/SET JOG SVON DATA READ WRITE SERVO SERVO DIGITAL OPERATOR JUSP-OP05A SERVOPACK Servomotor Digital Operator Installing the MP2100 Install the MP2100 to a PCI slot of the host computer. The MP2100 occupies one half-size PCI slot. PC/AT or compatible computer PCI bus slot MP2100 borad 3-5

34 3 System Startup Installing the Drivers Installing the Drivers Use the following procedure to install the Windows drivers for the MP2100. The driver installation procedure varies with different operating systems (OS), so verify which OS is being used in the host computer. This example explains how to install the drivers for Windows In this case, the CD- ROM drive is drive D. If necessary, replace the D: drive letter with the actual CD-ROM drive letter in your host computer. The MP2100 drivers are included in the Motion API CD-ROM. 1. The Add/Remove Hardware Wizard will start automatically after the MP2100 is installed in the host computer and the computer's power is turned ON. Click the Next Button. 2. The Install Hardware Device Drivers Window will be displayed. Select Search for a suitable driver for my device (recommended) and click the Next Button. 3. The Locate Driver Files Window will be displayed. Select Specify a location and click the Next Button. 3-6

35 3.1 System Startup 4. Specify the path to the directory containing the driver files (D:\Driver\Win2000 in this case) and click the OK Button. 5. The wizard program will search for the files. When the Driver Files Search Results Window is displayed, click the Next Button to proceed The Completing the Found New Hardware Wizard Window will be displayed when the driver files have been installed. Click the Finish Button to close the wizard program. 3-7

36 3 System Startup Verifying Driver Installation Verifying Driver Installation Use the following procedure to verify that the MP2100 is recognized properly by the system and the drivers are installed properly. 1. Click the Start Button and select Settings/Control Panel from the Start menu. 2. Double-click the System Icon. 3. The System Properties Window will be displayed. Click the Hardware Tab and then click the Device Manager Button. 4. Open the Memory technology driver Folder and double-click the MP2100 Programming Logic Controller Icon. Check the Device status information and verify that it says This device is working properly. 3-8

37 3.1 System Startup 5. Click the Resources Tab. Check the Conflicting device list and verify that it says No conflicts. 3 The MP2100 can be used if everything has been normal up to this point. If a problem has been identified, perform the installation again. 3-9

38 3 System Startup Connecting and Wiring the System Connecting and Wiring the System (1) Connecting the MP2100 and SERVOPACKs Use a MECHATROLINK Cable to connect the MP2100 and SERVOPACKs. Host Computer MP2100 SERVOPACK SERVOPACK YASKAWA SERVOPACK 200V YASKAWA SERVOPACK 200V SGDS-01A12A SGDS-01A12A MPE720 S2 BAT S1 TX BAT 2 1 MP2100 MECHATROLINK-II SW1 CHARGE L1 L2 C N 6 A/B JEPMC-W SW1 CHARGE L1 L2 C N 6 A/B Terminator ON L1C L2C C N 3 L1C L2C C N 3 B1/ B1/ B2 B2 I/O U V C N 1 U V C N 1 YASKAWA M-I/II W C N 2 C N 4 W C N 2 C N 4 Set the SERVOPACK MECHATROLINK station numbers to 1 and 2. The sample program is designed to operate with station numbers 1 and 2. (2) Connecting the SERVOPACKs and Servomotors Use the motor cable and encoder cable to connect the SERVOPACKs and Servomotors. Host Computer MP2100 SERVOPACK YASKAWA SERVOPACK 200V SERVOPACK YASKAWA SERVOPACK 200V SGDS-01A12A SGDS-01A12A MPE720 S2 BAT S1 TX BAT 2 1 MP2100 MECHATROLINK-II SW1 CHARGE L1 L2 C N 6 A/B JEPMC-W SW1 CHARGE L1 L2 C N 6 A/B Terminator ON L1C L2C C N 3 L1C L2C C N 3 B1/ B1/ B2 B2 I/O U V C N 1 U V C N 1 YASKAWA M-I/II W C N 2 C N 4 W C N 2 C N 4 Servomotor Servomotor 3-10

39 3.1 System Startup Initializing the System This section describes the initialization and self-configuration procedures required when first starting a MP2100 system. (1) Initializing Σ-III 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 the SERVOPACK power. Turn ON the control and main power supplies to the SERVOPACKs. 2. Initialize parameter settings. Use Fn005 to return parameter settings to the default settings. 3. Turn OFF the SERVOPACK power. Turn OFF the control and main power supplies to the SERVOPACKs. 3 The method for initializing the parameter settings (step 2, above) from the SERVOPACK Digital 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) Display Example 4. Turn ON the SERVOPACK power again. Turn ON the control and main power supplies to the SERVOPACKs. BB FUNCTION BB Fn004 Fn005 Fn006 Fn007 Parameter lnit Start : [DATA] Return: [SET] (b) Operation Keys Functions (The disabled keys are not included.) Resets the alarm. The alarm cannot be reset unless the cause of alarm is corrected. Returns to the main menu of Utility Function Mode. Executes initialization of parameters. Parameter Init is blinking in the display during initialization, and Done is displayed in the status display after initialization is completed. 3-11

40 3 System Startup Initializing the System (3) Operation Procedure Operation Keys Display Example Description BB - FUNCTION - F n F n F n F n Press the Key to display the Utility Function Mode main menu, then press the Keys and select Fn005. BB P a r a m e t e r I n i t S t a r t : [ D A T A ] R e t u r n : [ S E T ] Press the Key. The display is switched to the execution display of Fn005 (parameter initialization). If the display is not switched and NO-OP is displayed in the status display, the Write Prohibited Setting (Fn010 = 0001) is set. Check the setting and reset. BB P a r a m e t e r I n i t S t a r t : [ D A T A ] R e t u r n : [ S E T ] Press the Key to initialize the parameters. 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 Done A.941 Note: A.941 is a warning that a parameter that needs the power to be cycled has been changed. Press the Key if you do not want to initialize parameters. The display will return to the Utility Function Mode main menu. (4) 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 settings. Always turn the power OFF and then back ON. 3-12

41 3.1 System Startup (5) Executing MP2100 Self-configuration Execute self-configuration to automatically configure the devices connected to the MECHATROLINK. This section explains the method for self-configuration. In the following procedure, it is assumed that the power supply to the -III SERVOPACK is already turned ON. ON S1 2 1 S ON 1. Make mode switch settings. Turn ON the 1 (INIT) of the mode switch 1 (S1) and 3 (CNFG) of the mode switch 2 (S2). 2. Turn ON the reset switch. INIT CONFG 3. Check the indicators. Check that the LED indicators on MP2100 change as shown below. INIT CONFG BAT TX S2 S1 BAT TX S2 S1 BAT TX : Not lit : Lit (green) : Lit (red) : Blinking (green) S2 S1 3 ON S1 2 1 S ON 4. Change the mode switch settings. Turn OFF the 1 (INIT) of the mode switch 1 (S1) and 3 (CNFG) of the mode switch 2 (S2). For mode switches, refer to Switch Settings. For switch location, refer to Layout. IMPORTANT Mode switch INIT RAM data will be cleared if 1 (INIT) of the mode switch 1 on the MP2100 is turned ON and the reset switch is turned ON. Flash memory data is read when pin 1 (INIT) of the mode switch 1 is turned OFF and the reset switch is turned ON. Therefore, always save data to the MP2100 flash memory before turning OFF the power when writing or editing programs. Refer to Starting the MPE720 for information on how to save data to flash memory. Turning OFF Power after Executing Self-configuration Do not turn OFF the power supply of the host computer after executing self-configuration until the definitions data has been saved to flash memory in the MP2100. If the power is turned OFF somehow before the data is saved to flash memory, execute self-configuration again. 3-13

42 3 System Startup Starting the MPE Starting the MPE720 This section describes the preparation for connecting the MPE720 to the MP2100 and the method for installing the sample program for the MP2100. (1) MPE720 Startup Procedure Make sure the MPE720 System Software is installed in advance. Refer to the Machine Controller MP900/ MP2000 Series MPE720 Software for Programming Device User's Manual (manual number: SIEPC ) for the MPE installation method. The startup procedure is shown below. 1. Starting the MPE720 Start the MPE Communication Settings Define the communications with the MP Creating a Group Folder Create a Group Folder. 4. Creating an Order Folder Create an Order Folder. 5. Creating a Controller Folder Create a Controller Folder. 6. Logging on Online Log on to the MP Loading the Sample Program Load the sample program from the MPE720 system CD-ROM to MPE Transferring the Sample Program Transfer the sample program individually from MPE720 to MP Setting Parameters Set the individual parameters to match the sample program. 10. Saving to Flash Memory Save the sample program to flash memory in the MP All Program File Group Dump Backup the MP2100 data to the computer hard disk. 3-14

43 3.1 System Startup (2) Starting the MPE720 Start the MPE720 using the procedure below. 1. Double-click the MPE720 icon in the YE_Applications Folder. Double-click 3 2. The File Manager Window will be displayed. (3) Communication Settings Make communication settings for connecting the MPE720 and the MP2100 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 Communication Process Window. Click 3-15

44 3 System Startup Starting the MPE Double-click Logical PT number 1 in the Communication Process Window to display the Logical Port Setting Window. Double-click 3. Select MP2100 under Port Kind in the Logical Port Setting Window. 4. Setting MP2100 Ports a) Click the Detail Button in the Logical Port Setting Window. 3-16

45 3.1 System Startup b) The MP2100 Window will be displayed. Select MP2100 under kind. Once the settings have been completed and checked, click the OK Button. 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 MP2100 has been allocated to Logical PT number 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 settings is shown below. a) Click File Save. b) A save confirmation window will be displayed. Click the Yes Button. 3-17

46 3 System Startup Starting the MPE 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. b) An confirmation message will be displayed. Click the Yes Button. c) Double-click the Communication Manager Icon in the YE_Applications Folder to reopen the Communication Process Window. Double-click 3-18

47 3.1 System Startup (4) Creating Group Folders Create a group folder in the File Manager Window, using the procedure below. Example: Folder name: MP Right-click the root directory and select New Group folder. 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 The new group folder MP2100 will be created. Double-click the root directory or click the Button to display the MP2100 group folder. (5) Creating an Order Folder Create an order folder using the procedure below. Example: Folder name: YESAMPLE 1. Right-click the MP2100 Group Folder and select New Order Folder. 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. 3-19

48 3 System Startup Starting the MPE The new YESAMPLE Order Folder will be created. Double-click the MP2100 Group Folder or click the Button to display the YESAMPLE order folder. (6) Creating a Controller Folder Register the new controller to be used to create the program using the procedure below. Example: Controller name: 2100SMPL Controller type: MP Right-click the YESAMPLE Order Folder and select Create New Folder Controller Folder. 2. Set the Controller Name and Controller Type shown below, and click the OK Button. Controller name: 2100SMPL Controller type: MP A new controller folder 2100SMPL will be created. Double-click the YESAMPLE Order Folder or click the Button to display the 2100SMPL Controller Folder. 3-20

49 3.1 System Startup (7) Logging On Online Log on online to the MP2100 using the procedure below. 1. Right-click the 2100SMPL Controller Folder and select Online. The mode will change from offline to online Right-click the 2100SMPL 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 given as connected then select Properties. 3-21

50 3 System Startup Starting the MPE 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 communication process. 4. Leave all settings other than Logical Port Number (Device Type) on the default settings. 5. A confirmation message will be displayed. Click the Yes Button. 3-22

51 3.1 System Startup 6. Logging On Online a) Right-click the 2100SMPL Controller Folder and select Log On. 3 b) Input the user name USER-A and the password USER-A and click the OK Button. (8) Loading the Sample Programs Load the sample programs on the MPE720 system CD-ROM using the procedure below. 1. Insert MPE720 system CD-ROM into the computer CD-ROM drive. 2. Double-click the 2100 SMPL-E.EXE file in the Eng Folder on the CD-ROM. Double-click 3-23

52 3 System Startup Starting the MPE The window for specifying the destination of the file will be displayed. Specify the destination of the file and click the Decompress Button. 4. Right-click the 2100SMPL Controller Folder and select File Transfer All File Transfer All Program File Transfer (Other Media > HD). 5. The Execute Window will be displayed. The transfer source path must be changed, so click the Change Button. Click 6. The Transfer Path Window will be displayed. Make the settings given below and click the OK Button. Drive: Select the drive where the sample program was stored. (A drive, in this example.) Transfer path: (2100 smpl, in this example) 3-24

53 3.1 System Startup 7. The Execute Window will be displayed. Click the OK Button. 8. The Execute Status Window will be displayed. Wait until the transfer has been completed A message will appear when the transfer has been completed. Click the OK Button. 10.The All File Transfer Disk to Disk Window will be displayed. Select File Exit. 3-25

54 3 System Startup Starting the MPE720 (9) Individual Loading of Sample Programs Transfer sample programs to the MP2100 individually using the procedure below. 1. Right-click the 2100SMPL Controller Folder and select File Transfer Individual File Transfer Individual Program File Load (HD >CPU). 2. The Individual Load Window will be displayed. Select the following transfer items: DWG, Scan Time, Data Trace, Group Definitions, and Motion Main Program. 3-26

55 3.1 System Startup 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 Click the Details Button to the right of Motion Main Program to display the Motion Main Program Detail Set Window. Select Select All again and click the OK Button. 5. The Individual Load Window will be displayed. Select File Execute. 3-27

56 3 System Startup Starting the MPE 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. 8. A message will appear when the transfer has been completed. Click the OK Button. 9. The Individual Load Window will be displayed. Select File Exit. 3-28

57 3.1 System Startup (10) Setting Motion Fixed Parameters Set the MP2100 motion fixed parameters to match the sample program using the procedure below. 1. Opening the Module Configuration Window. a) Double-click the 2100SMPL Controller Folder in the File Manager Window to display the 5 folders contained within it. b) Double-click the Definition Folder to display the 5 folders inside that folder then double-click the Module Configuration Folder Opening the Motion Fixed Parameter Window. The Engineering Manager Window will open and the Module Configuration Window will be displayed inside that. Double-click 3 in the Module Details section. Double-click 3-29

58 3 System Startup Starting the MPE Setting the fixed parameters for axis 1 Display the SVB Definition Window in the Engineering Manager Window. Check that the Fixed Parameters Tab Page has been selected. a) Select Axis 1 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. a) Axis selection b) Reference unit setting 4. Select File Save in the Engineering Manager Window. 5. Select Axis 2 and make the settings the same way as for axis Select File Exit in the Engineering Manager Window. 3-30

59 3.1 System Startup (11) Saving to Flash Memory Save sample programs that have been transferred individually to the MP2100 to the MP2100 flash memory using the procedure below. 1. Right-click the 2100SMPL Controller Folder and select File Transfer Other Flash Save The Save Flash Memory Content Window will be displayed. Select File Execute. 3. A message appears to confirm that the CPU will be stopped. Click the Yes Button. 4. A confirmation message will be displayed. Click the Yes Button. 5. A message will appear when the save has been completed normally. Click the OK Button. 3-31

60 3 System Startup Starting the MPE The Save Flash Memory Content Window will be displayed. Select File Exit. (12) All Program File Dump Execute an All Program File Dump to back up module configuration definitions self-configured and edited programs by the MP2100 to a computer. 1. Right-click the 2100SMPL Controller Folder and select File Transfer All File Transfer All Program File Dump (CPU >HD). 2. The Execute Window will be displayed. Click the OK Button. 3. An Execute Status Window will be displayed. Wait until the transfer has been completed. 3-32

61 3.1 System Startup 4. A message will appear when the transfer has been completed. Click the OK Button. 5. The All Dump Window will be displayed. Select File Exit. 3 (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 2100SMPL Controller Folder and select CPU Control. 2. The Controller Running Status Window will be displayed. Click RUN Button. 3-33

62 3 System Startup Starting the MPE A confirmation message will be displayed. Click the Yes Button. Check that the RUN LED indicator on the MP2100 is lit. 4. The Controller Running Status Window will be displayed again. Click the Close Button. (14) Logging Off Log off when you have finished with the MPE720 using the procedure below. 1. Right-click the 2100SMPL Controller Folder and select Log Off. 2. A confirmation message will be displayed. Click the Yes Button. 3-34

63 3.2 Sample Program 1: Manual Operation 3.2 Sample Program 1: Manual Operation Program Outline The H01 drawing (ladder program) turns ON the servo, resets alarms, and sets parameters. The H02.01 drawing (ladder program) controls jogging and stepping for axis 1. The H02.02 drawing (ladder program) controls jogging and stepping for axis 2. Refer to Program Details for details on the sample program. Parent Drawing H Drawing Child Drawings H01 Drawing Grandchild Drawings SEE Name H01 Servo ON command Alarm reset command Setting parameters H02.01 Drawing 3 END Axis 1 JOG STEP H02 Drawing SEE Name H02 SEE Name H02.01 END SEE Name H02.02 H02.02 Drawing END END Axis 2 JOG STEP High-speed scan END IMPORTANT This program is solely for the purpose of describing MP2100 system startup. Care must be taken because actual applications will differ. This system for the 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 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 following procedure to display the Tuning Panel Window. 1. Log on online and open the 2100SMPL Controller Folder, then the Programs and High Scan Programs folders in the MPE720 File Manager Window. 3-35

64 3 System Startup Operation 2. Right-click the H02 drawing in the High Scan Programs Folder and select Open Tuning Panel. 3. The Tuning Panel Window for the H02 drawing will be displayed Input position and current value. The details on the Tuning Panel Window display are shown in the following table. No. Data Name S Display Definition Current Value Unit Lower limit Upper Limit REG-NO. DWG 1 Common monitor XXXXX DW00010 L 2 Axis 1 operation ready ON/OFF OFF IB Axis 2 operation ready ON/OFF OFF IB Axis 1 current position XXXXXXXXXX IL Axis 2 current position XXXXXXXXXX IL Common operation XXXXX DW00010 L 7 Servo ON PB S ON/OFF OFF MB Alarm reset PB S ON/OFF OFF MB Manual operation and setting XXXXX DW00010 L 10 Axis 1 forward JOG S ON/OFF OFF DB H Axis 1 reverse JOG S ON/OFF OFF DB H Axis 2 forward JOG S ON/OFF OFF DB H Axis 2 reverse JOG S ON/OFF OFF DB H Axis 1 forward STEP S ON/OFF OFF DB H Axis 1 reverse STEP S ON/OFF OFF DB H Axis 2 forward STEP S ON/OFF OFF DB H Axis 2 reverse STEP S ON/OFF OFF DB H Axis 1 STEP moving amount S XXXXXXXXXX DL00010 H Axis 2 STEP moving amount S XXXXXXXXXX DL00010 H02.02

65 3.2 Sample Program 1: Manual Operation (2) Confirming Operation Use the following procedure to confirm operation. Turn Servo ON. Start jogging or stepping operation. Confirm operation. The following table gives an outline of the operation when the Tuning Panel window is used. Data Name Tuning Panel Operation Operation Outline Servo ON PB Current value OFF ON The Servomotor is turned ON and the Servo clamped. Current value ON OFF Servo turned OFF. Axis 1 Forward JOG Current value OFF ON Axis 1 rotates forward. Current value ON OFF Axis 1 stops. Axis 1 Reverse JOG Current value OFF ON Axis 1 rotates in reverse. Current value ON OFF Axis 1 stops. Axis 2 Forward JOG Current value OFF ON Axis 2 rotates forward. Current value ON OFF Axis 2 stops. Axis 2 Reverse JOG Current value OFF ON Axis 2 rotates in reverse. Current value ON OFF Axis 2 stops. Axis 1 Forward STEP Axis 1 Reverse STEP Axis 2 Forward STEP Axis 2 Reverse STEP Axis 1 STEP Moving Amount Axis 2 STEP Moving Amount Current value OFF ON Axis 1 starts rotating forward for the moving amount set under Axis 1 STEP moving amount. Current value ON OFF Axis 1 stops rotating moving amount. Input OFF after executing STEP operation. Current value OFF ON Axis 1 starts stepping in reverse for the moving amount set under Axis 1 STEP moving amount. Current value ON OFF Axis 1 stops rotating. Input OFF after executing STEP operation. Current value OFF ON Axis 2 starts rotating forward for the moving amount set under Axis 2 STEP moving amount. Current value ON OFF Axis 2 stops rotating. Input OFF after executing stepping. Current value OFF ON Axis 2 starts rotating in reverse for the moving amount set under Axis 2 STEP moving amount. Current value ON OFF Axis 2 stops rotating. Input OFF after executing stepping. Enter any value. Sets the STEP moving amount for axis 1. Enter any value. Sets the STEP moving amount for axis 2. 3 INFO Actual Application Programs 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. 3-37

66 3 System Startup Program Details Program Details (1) H Drawing The H parent drawing controls the overall sample program NL NL NL NL-1 P00101 H Main Program: High-speed Main Program Servo ON and Alarm reset Servo ON, alarm reset SEE Name H01 JOG and STEP JOG, STEP SEE Name H02 Positioning Positioning SEE Name H04 Phase Control Electronic cam SEE Name H06 High-speed main program NL-1 END 3-38

67 3.2 Sample Program 1: Manual Operation (2) H01 Drawing The H01 child drawing turns ON the Servo, resets alarms, and sets common parameters NL-1 P00102 H01 Main Program: Axis Common Settings ########## Action Common Settings ########## ########## Motion Command Detection ########## Axis 1 motion command 0 detection = SourceA IW8008 SourceB Axis 1 motion command 0 MB NL-1 Axis 2 motion command 0 detection = SourceA IW8088 SourceB Axis 2 motion command 0 MB NL-1 ########## Servo ON Command ########## Axis 1 Servo ON Servo ON PB MB Axis 1 SVC_RDY IB80000 Axis 1 SYS_BUSY IB80002 Axis 1 SV_ON OB Axis 2 Servo ON NL-1 Servo ON PB MB Axis 2 SVC_RDY IB80800 Axis 2 SYS_BUSY IB80802 Axis 2 SV_ON OB NL NL-1 ########## Alarm Reset ########## Axis 1 alarm reset Alarm reset PB MB Axis 2 alarm reset Alarm reset PB MB ########## Speed Unit and Acceleration/Deceleration Unit Selection ########## Bits 0 to 3: Speed Unit Selection (0: Reference unit/s; 1: Reference unit/min.; 2: Percentage) Bits 4 to 7: Acceleration/Deceleration Unit Selection (0: Reference unit/s; 1: ms) Axis 1 Function Settings 1 (unit) Axis 1 ALM_RST OB8000F Axis 2 ALM_RST OB8080F Axis 1 Function Settings 1 work 0006 AND 0014 NL-1 SourceA OW8003 SourceB H0F00 Dest DW00010 Axis 1 Function Settings OR 0015 NL-1 SourceA DW00010 SourceB H0011 Dest OW8003 Axis 2 Function Settings 1 (Unit) Axis 2 Function Settings 1 work 0008 AND 0016 NL-1 SourceA OW8083 SourceB H0F00 Dest DW00012 Axis 2 Function Settings OR 0017 NL-1 SourceA DW00012 SourceB H0011 Dest OW

68 3 System Startup Program Details P00103 H01 Main Program: Axis Common Settings ##########Linear Acceleration/Deceleration Setting########## Axis 1 and 2 linear acceleration/deceleration setting NL-1 MPM running MB30020 Linear acceleration/deceleration setting EXPRESSION OL8036= 100; OL8038= 100; OL80B6= 100; OL80B8= 100; NL-1 END (3) H02 Drawing The H02 child drawing controls JOG and STEP operation. P00105 H02 Main Program: Manual Operation Main Processing ##########Manual Operation Main Processing########## NL-1 SEE Name H NL-1 SEE Name H NL-1 END 3-40

69 3.2 Sample Program 1: Manual Operation (4) H02.01 Drawing The H02.01 grandchild drawing controls JOG and STEP operation for axis NL-1 P00107 H02.01 Main Program: Axis 1 Manual operation (JOG and STEP) ##########Axis 1 Manual operation (JOG and STEP)########## ##########JOG########## Axis 1 JOG Axis 1 forward jog DB Axis 1 forward jog DB Axis 1 reverse jog DB Axis 1 reverse jog DB Axis 1 SV_ON IB80001 Axis 1 jog command DB NL-1 Axis 1 jog command DB WORK DB Axis 1 motion command 0 MB Axis 1 jog start DB NL NL-1 Axis 1 jog command DB Axis 1 jog start DB WORK DB Axis 1 speed command setting STORE Source Axis 1 jog stop DB Dest OL NL-1 Axis 1 jog start DB Axis 1 motion command STORE Source Dest OW NL-1 Axis 1 jog stop DB Axis 1 motion command STORE Source Dest OW NL-1 ##########STEP########## Axis 1 STEP Axis 1 forward step DB Axis 1 forward step DB Axis 1 reverse step DB Axis 1 reverse step DB Axis 1 SV_ON IB80001 Axis 1 step command DB NL-1 Axis 1 step command DB WORK DB Axis 1 motion command 0 MB Axis 1 step start DB NL NL-1 Axis 1 step command DB Axis 1 step start DB00009 WORK DB Axis 1 step speed and moving amount EXPRESSION OL8010=1000; OL8044=DL00010; Axis 1 step stop DB00000A Axis 1 step start DB Axis 1 motion command 0010 STORE 0034 Source NL-1 Dest OW

70 3 System Startup Program Details P00108 H Main Program: Axis 1 Manual operation (JOG and STEP) NL-1 Axis 1 step stop DB00000A Axis 1 motion command STORE Source Dest OW NL-1 ##########Reverse Rotation Selection########## Axs 1 jog command Axis 1 reverse jog DB DB Axis 1 jog command Axis 1 reverse step DB DB Axis 1 reverse step OB NL-1 END 3-42

71 3.2 Sample Program 1: Manual Operation (5) H02.02 Drawing The H02.02 grandchild drawing controls JOG and STEP operation for axis 2. P00110 H Main Program: Axis 2 Manual operation (JOG and STEP) NL-1 ##########JOG########## Axis 2 JOG Axis 2 forward jog Axis 2 reverse jog DB DB Axis 2 forward jog DB Axis 2 reverse jog DB ##########Axis 2 Manual operation (JOG and STEP)########## Axis 2 SV_ON IB80801 Axis 2 jog command DB NL-1 Axis 2 jog command DB WORK DB Axis 2 motion command 0 MB Axis 2 jog start DB NL NL-1 Axis 2 jog command DB Axis 2 jog start DB WORK DB Axis 2 speed command setting STORE Source Dest OL8090 Axis 2 jog stop DB NL-1 Axis 2 jog step DB Axis 2 motion command STORE Source Dest OW NL-1 Axis 2 jog step DB Axis 2 motion command STORE Source Dest OW NL-1 ##########STEP########## Axis 2 STEP Axis 2 forward step DB Axis 2 forward step DB Axis 2 reverse step DB Axis 2 reverse step DB Axis 2 SV_ON IB80801 Axis 2 step command DB NL NL NL-1 Axis 2 step command DB Axis 2 step command DB Axis 2 step start DB WORK DB WORK DB Axis 2 step speed and moving amount EXPRESSION OL8090=1000; OL80C4=DL00010; Axis 2 motion command 0 DB Axis 2 step start DB Axis 2 step stop DB00000A NL-1 Axis 2 motion command STORE Source Dest OW

72 3 System Startup Program Details P00111 H Main Program: Axis 2 Manual operation (JOG and STEP) NL-1 Axis 2 step stop DB00000A Axis 2 motion command STORE Source Dest OW NL-1 ##########Reverse Rotation Selection########## Axis 2 jog command Axis 2 reverse jog DB DB Axis 2 step command DB Axis 2 reverse step DB Axis 2 reverse DB NL-1 END 3-44

73 3.3 Sample Program 2: Positioning Control 3.3 Sample Program 2: Positioning Control Program Outline Sample program 2 will use a motion program to operate a hypothetical X-Y plotter, such as the one in the following diagram. Y Servomotor X X-Y plotter 3 The H04 drawing (ladder program) starts a text-format motion program. The motion program executes the commands and operations in the program in order from the beginning. The following sample motion programs have been prepared. Motion program No. 1 (MPM001): Zero point return operation using phase-c pulse Motion program No. 2 (MPM002): 2-axis positioning and interpolation Motion program No. 3 (MPM003): 2-axis positioning and interpolation Refer to Program Details for details on the sample program. Parent Drawing Child Drawing Motion programs H Drawing H04 Drawing Start motion program. MPM003 MPM002 SEE Name H04 MSEE Program No. 001 Data DA00020 MPM001 0W803C=3; 0W80BC=3; VEL[X]100[Y]100; END END ACC[X]100[Y]100; High-speed scan Text-format program IMPORTANT This program is solely for the purpose of describing the MP2100 system startup. Care must be taken because actual applications will differ. This system for the 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. 3-45

74 3 System Startup Operation Operation (1) Display of Tuning Panel Window 1. Use the Tuning Panel Window for the H04 drawing to check operations, just as described in Operation. Right-click the H04 drawing in the High Scan Programs Folder and select Open Tuning Panel. 2. The Tuning Panel Window for the H04 drawing will be displayed. Input position and current value. The details on the Tuning Panel Window display are shown in the following table. No. Data Name S Display Definition Current Value Unit Lower Limit Upper Limit REG-NO. DWG 1 Common monitor XXXXX DL00010 L 2 Axis 1 operation ready ON/OFF ON IB Axis 2 operation ready ON/OFF ON IB Axis 1 current position XXXXXXXXXX IL Axis 2 current position XXXXXXXXXX IL Common operation XXXXX DW00010 L 7 Servo ON PB S ON/OFF OFF MB Alarm reset PB S ON/OFF OFF MB Positioning operation and settings XXXXX DW00010 L 10 Positioning, Start S ON/OFF OFF DB H04 11 Positioning, Hold S ON/OFF OFF DB H04 12 Positioning, Abort S ON/OFF OFF DB H04 13 Motion program No. setting S XXX DW00030 H st target position (X axis) S XXXXXXXXXX DL00010 H st target position (Y axis) S XXXXXXXXXX DL00012 H nd target position (X axis) S XXXXXXXXXX DL00014 H nd target position (Y axis) S XXXXXXXXXX DL00016 H04 18 MPM running ON/OFF OFF MB MPM alarm ON/OFF OFF MB

75 3.3 Sample Program 2: Positioning Control (2) Confirming Operation Use the following procedure to confirm operation. Turn Servo ON. Enter motion program number setting. Enter target position for each axis. Start positioning. Confirm motion program 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 Setting Motion Program Number Change the current value setting for Motion Program No. Setting to a value between 1 and 3 on the Tuning 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 Value for Each Axis Enter any value for the current value for the items listed below. The values entered here will be the positioning target values when motion program numbers 2 and 3 are executed. 1st target value (X axis) 1st target value (Y axis) 2nd target value (X axis) 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. IMPORTANT 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 and then to OFF. INFO Actual Application Programs 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. 3-47

76 3 System Startup Program Details Program Details (1) H04 Drawing The H04 child drawing manages and controls motion programs (MPM programs). P00113 H04 Main Program: メインプログラム Positioning 位置決め動作メイン処理 Main Processing ########## Positioning 位置決め動作メイン処理 Main Processing ########## ########## Motion モーションフ ロク ラム起動シーケンス Program Startup Sequence ########## 動作開始 Start DB WORK DB Axis 1 軸目モーションコマント 1 Motion Command 0 0 MB Axis 2 軸目モーションコマント 2 Motion Command 0 0 MB NL-1 Start 開始要求 Request DB NL NL-1 一時停止 Hold DB 動作解除 Abort DB 一時停止要求 Hold Request DB Abort 解除要求 request DB NL-1 Alarm アラームリセット reset PB PB MB Alarm アラームリセット要求 reset request DB NL-1 MPM 番号 number STORE Source DW00030 Dest DW NL-1 MPM MPM 補間オーハ ライド Interpolation overdrive STORE Source Dest DW NL-1 $ON COIL SB Travel 移動テ ータ設定 data setting EXPRESSION ML30100= DL10; ML30102= DL12; ML30110= DL14; ML30112= DL16; ML30114= ; NL NL NL-1 $ON COIL SB MPM running MPM 運転中 DB MPMアラーム発生中 alarm DB MPM*** execution 実行 MSEE Program DW00025 Dest DA00020 MPM running MPM 運転中 MB MPM アラーム発生中 alarm MB NL-1 END 3-48

77 3.3 Sample Program 2: Positioning Control (2) Motion Program MPM001 Motion program MPM001 is a text-format program that is started by the MSEE instruction (motion program call instruction) in the H04 drawing. EXAMPLE In this example, the motion program MPM001 performs a zero point return using the phase C pulse. YESAMPLE PRG. MPM001 MP text "MPM001"; OW803C=3; X axis zero point return method (3: Phase-C) OW80BC=3; Y axis zero point return method (3: Phase-C) VEL [X]1000 [Y]1000; Travel speed for positioning command ACC[X]100[Y]100; Acceleration time DCC[X]100[Y]100; Deceleration time OW803E=100; X axis approach speed (mm/min) OW8040=50; X axis creep speed (mm/min) OL8042=10000; X axis final travel distance (0.001 mm) OW80BE=100; Y axis approach speed (mm/min) OW80C0=50; Y axis creep speed (mm/min) OL80C2=10000; Y axis final travel distance (0.001 mm) ZRN[X]00[Y]00; Zero point return command END; 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. EXAMPLE 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 continuously. YESAMPLE PRG. MPM002 MP text MPM002 ; **** Data settings***** ; VEL [X]1000 [Y]1000; Travel speed for positioning command FMX T ; Composite speed upper limit for interpolation command IAC T500; Acceleration time for interpolation command IDC T500; Deceleration time for interpolation command PLN [X][Y]; Plane setting for circular interpolation command INC; Incremental mode TIM T100; ***** Repetitive operation***** ; DW10 =0; WHILE DW10 <5; Number of repeats = 5" MOV [X]ML30100 [Y]ML30102; Positioning command TIM T100; MVS [X]ML30110 [Y]ML30112 FML30114; Linear interpolation command TIM T100; ABS; Absolute mode MCC [X]0 [Y]0 R FML30114; Circular interpolation command TIM T100; DW10 =DW10 +1; WEND; **** End of repetitive operation***** ; END; 3-49

78 3 System Startup Program Outline 3.4 Sample Program 3: Phase Control with an Electronic Shaft Program 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. Controller Driver Old method Line shaft drive motor Line shaft Gear Clutch New method MP2100 Phase sync device Differential gear SERVOPACK Motor Servomotor Working part No.1 roll No.2 roll The H06.01 drawing (ladder program) controls the operation. 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 Program Details for details on the sample program. Parent Drawing H Drawing Child Drawing H06 Drawing Grandchild Drawing H06.01 Drawing SEE Name H06 SEE Name H06.01 Phase control Electronic shaft Axis 1 Axis 2 END END END High-speed scan IMPORTANT This program is solely for the purpose of describing the MP2100 system startup. Care must be taken because actual applications will differ. This system for the 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. 3-50

79 3.4 Sample Program 3: Phase Control with an Electronic Shaft Operation (1) Display of Tuning Panel Window 1. Use the Tuning Panel Window for the H06 drawing to check operations, just as described in Operation. Right-click the H06 drawing in the High Scan Programs Folder and select Open Tuning Panel The Tuning Panel Window for the H06 drawing will be displayed. Input position and current value. The details on the Tuning Panel Window display are shown in the following table. No. Data Name S Display Definition Current Value Unit Lower Limit Upper Limit REG-NO. DWG 1 Common monitor XXXXX DW00010 L 2 Axis 1 operation ready ON/OFF ON IB Axis 2 operation ready ON/OFF ON IB Axis 1 current position XXXXXXXXXX IL Axis 2 current position XXXXXXXXXX IL Common operation XXXXX DW00010 L 7 Servo ON PB S ON/OFF OFF MB Alarm reset PB S ON/OFF OFF MB Phase control (Electronic shaft) XXXXX DW00010 L 10 Electronic shaft start S ON/OFF OFF DB H Speed setting (motor rated speed: mm/min) S XXXXXX mm/min DL00010 H Phase control (Electronic cam) XXXXX DW00010 L 13 Electronic cam start S ON/OFF OFF DB H Main axis speed setting S XXXXXX mm/min DL00010 H06.01 (motor rated speed: mm/min) 15 Cam axis: amplitude setting (double amplitude) S XXX.XXX mm ML Cam axis: main axis moving amount per cycle S XXXXX.XXX mm ML

80 3 System Startup Operation (2) Confirming Operation Use the following procedure to confirm operation. Turn Servo ON. Start electronic shaft. Enter 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 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 The value set will be the synchronous speed for both axes and the axes will start rotating. INFO Actual Application Programs 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. 3-52

81 3.4 Sample Program 3: Phase Control with an Electronic Shaft Program Details (1) H06.01 Drawing The H06.01 grandchild drawing controls phase control (electronic shaft) operation. P00118 H06.01 Main メインプログラム Program 位置制御 Phase 1( Control 電子シャフト 1 ) 処理 (Electronic Shaft) Phase ########## Control 位置制御 1 (Electronic 1( 電子シャフト Shaft) ) 処理 ########## ##########Electronic 電子シャフト運転指令 Shaft Operation Command########## Electronic 電子シャフト起動 shaft startup PB PB DB Axis 軸 SV_ON 1 SV_ON 中 IB80001 Axis 2 軸 SV_ON 2 SV_ON 中 IB NL-1 Electronic shaft operation command 電子シャフト運転指令 WORK Axis 11 motion 軸目モーションコマント command 0 0 Axis 1 軸目モーションコマント 1 motion command 0 0 DB DB DB DB NL NL NL-1 Electronic shaft operation command 電子シャフト運転指令 DB Zero ゼロ速 speed DB ########## Motion モーションコマント 発行 Command Issued ########## モーションコマント Motion command :25 位相制御 設定 (phase control) setting Electronic 電子シャフト開始 shaft start DB 軸モーションコマント Axis 1 motion command STORE Source Dest OW8008 WORK DB Electronic shaft 電子シャフト運転指令 operation command DB Electronic 電子シャフト開始 shaft start DB Electronic 電子シャフト停止 shaft stop DB NL-1 Electronic 電子シャフト開始 shaft start DB 軸モーションコマント Axis 2 motion command STORE Source Dest OW NL-1 モーションコマント Motion command :0 NOP 設定 0 (NOP) setting Electronic 電子シャフト停止 shaft stop DB 軸モーションコマント Axis 1 motion command STORE Source Dest OW NL-1 Electronic 電子シャフト停止 shaft stop DB 軸モーションコマント Axis 2 motion command STORE Source Dest OW NL NL-1 ########## S-curve Acceleration/deceleration S 字加減ハ ラメータ設定 ########## Setting S-curve acceleration/deceleration setting S 字加減ハ ラメータ設定 EXPRESSION DB =true; DB =true; DF00022 DB00022 = ; DF00024 DB00024 =0.1; =0.1; DF00026 DB00026 =0.1; =0.1; DF00030 DB00030 =0.01; =0.01; DF00032 =0.01; DB00032 =0.01; ########## Electronic Shaft 電子シャフト運転速度設定切替シーケンス Operation Speed Setting Switching ########## Sequence A 速度指令単位に倍長整数型レシ スタを使用する この為 直線加減速指令 double-length integer register is used for speed reference unit. Therefore, a real number 2(SLAU:S is used 字加減速器 for the linear ) 命令の実数型を適用する accelerator/decelerator 2 (SLAU: S-curve accelerator/decelerator) instruction. 電子シャフト速度設定 Electronic shaft speed setting Electronic shaft operation command 電子シャフト運転指令 S-curve accelerator/decelerator input DB S 字加減速器入力 STORE Source DL00010 Dest DF NL-1 Electronic shaft operation 電子シャフト運転指令 command DB S-curve accelerator/decelerator input S 字加減速器入力 STORE Source E+000 Dest DF

82 3 System Startup Program Details P00119 H06.01 Main Program Phase Control 1 (Electronic Shaft) S-curve accelerator/decelerator gear output NL NL-1 SLAU Input DF00012 Parameter DA00020 Output DF00040 Axis 1 and Axis 2 Speed Command Settings Electronic Shaft Operation Command DB Zero speed DB Axis 1 and axis 2 speed command settings EXPRESION OL8010 = DF00040; OL8090 = DF00040*-1; NL-1 Zero speed DB00020A Zero speed DB ##########Monitor for Deviation between Axes########## NL-1 ADD SourceA IL8016 SourceB IL8096 Dest DL NL-1 END 3-54

83 3.5 Sample Program 4: Phase Control with an Electronic Cam 3.5 Sample Program 4: Phase Control with an Electronic Cam Program Outline The same operation for the mechanical cam synchronized to the roller connected to the line shaft will be performed using a Servomotor. Phase synchronization, however, has not been used. Old Method New Method Controller Driver Phase sync device Motor Line shaft drive motor Line shaft Gear Clutch Differential gear Gearbox Cam MP2100 SERVOPACK Servomotor 3 Working parts Ball screw 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 Axis 2: Cam axis = Slave axis. Performs cosine cam pattern operation in reference to the master axis. Cam pattern data is generated by the L06 drawing (ladder program). Refer to Program Details for details on the sample program. Parent Drawing H Drawing Child Drawing H06 Drawing Grandchild Drawing H06.02 Drawing SEE Name H06 SEE Name H06.02 Phase control Electronic shaft Axis 1 Electronic cam Axis 2 END END END High-speed scan IMPORTANT This program is solely for the purpose of describing the MP2100 system startup. Care must be taken because actual applications will differ. This system for the 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. 3-55

84 3 System Startup Operation Operation (1) Displays of Tuning Panel Window 1. Use the Tuning Panel Window for the H06 drawing to check operations, just as described in Operation. Right-click the H06 drawing in the High Scan Programs Folder and select Open Tuning Panel. 2. The drawing Tuning Panel Window for the H06 drawing will be displayed. Input position and current value. The details on the Tuning Panel Window display are shown in the following table. No. Data Name S Display Definition Current Value Unit Lower Limit Upper Limit REG-NO. DWG 1 Common monitor XXXXX DW00010 L 2 Axis 1 operation ready ON/OFF ON IB Axis 2 operation ready ON/OFF ON IB Axis 1 current position XXXXXXXXXX IL Axis 2 current position XXXXXXXXXX IL Common operation XXXXX DW00010 L 7 Servo ON PB S ON/OFF OFF MB Alarm reset PB S ON/OFF OFF MB Phase control (Electronic shaft)) XXXXX DW00010 L 10 Electronic shaft start S ON/OFF OFF DB H Speed setting (motor rated speed: 30000mm/min) S XXXXXX mm/min DL00010 H Phase control (Electronic cam) XXXXX DW00010 L 13 Electronic cam start S ON/OFF OFF DB H Main axis speed setting S XXXXXX mm/min DL00010 H06.01 (motor rated speed: mm/min) 15 Cam axis: amplitude setting (double amplitude) S XXX.XXX mm ML Cam axis: main axis moving amount per cycle S XXXXX.XXX mm ML

85 3.5 Sample Program 4: Phase Control with an Electronic Cam (2) Confirming Operation Use the following procedure to confirm operation. Turn Servo ON. Enter 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 Servomotor will turn ON and the Servo will be clamped 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. Cam axis amplitude setting (double amplitude) Setting range: 0 to Cam axis main axis moving amount for one cycle Setting range: 0 to 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 Control (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 to The value set will be the master axis speed and the axis operation will start. INFO Actual Application Programs 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. 3-57

86 3 System Startup Program Details Program Details (1) H06.02 Drawing The H06.02 grandchild drawing controls phase control (electronic cam) operation NL-1 P00121 H06.02 Main Program: Phase Control 2 (Electronic Cam) ########## Phase Control 2 (Electronic Cam) ########## ########## Description ########## Axis 1: Master axis = Phase control (electronic shaft) Axis 2: Slave axis = Phase control (electronic cam) ########## Phase Control Operation Command ########## Startup PB DB Axis 1 SV_ON IB80001 Axis 2 SV_ON IB80801 Operation command DB NL-1 Operation command DB WORK DB Axis 1 motion command 0 MB Axis 1 motion command 0 MB Electronic cam start DB NL-1 Operation command DB Zero speed DB WORK DB Electronic cam stop DB NL-1 ########## Motion Command Issue ########## Motion command 25 (phase control) setting Electronic cam start DB Axis 1 motion command STORE Source Dest OW NL-1 Electronic cam start DB Axis 2 motion command STORE Source Dest OW NL-1 Motion command 0 (NOP) setting Electronic cam stop DB Axis 1 motion command STORE Source Dest OW NL-1 Electronic cam stop DB Axis 2 motion command STORE Source Dest OW NL-1 ########## Slave Axis Phase Generation Operation Disabled (Electronic Cam Mode) ########## Operation command DB Zero speed DB Axis 2 phase generation disabled OB80851 Cam operation command MB NL-1 ########## Master Axis Speed Command Generation ########## Master axis linear acceleration/deceleration parameter setting Linear acceleration/deceleration parameter setting EXPRESSION DB =true; DB =true; DF00022 = ; DF00024 =10.0; DF00026 =10.0; NL-1 Master axis speed setting Operation command DB Linear accelerator/decelerator input STORE Source DL00010 Dest DF

87 3.5 Sample Program 4: Phase Control with an Electronic Cam NL-1 P00122 H06.02 Main Program: Phase Control 2 (Electronic Cam) Operation command DB Linear accelerator/decelerator input STORE Source E+000 Dest DF00012 Linear accelerator/decelerator input NL NL-1 LAU Input DF00012 Parameter DA00020 Output DF00040 Operation command DB Zero speed DB Axis 1 speed command setting STORE Source DF00040 Dest OL NL-1 Zero speed DB00020A Zero speed DB ########## Slave Axis Control Circuit ########## ########## Electronic Cam Phase Generated ########## NL-1 Cam operation command MB Electronic cam phase STORE Source Dest DL00066 Master axis position FB (this scan) NL-1 STORE Source IL8016 Dest DL00060 Incremental value for master axis per scan NL-1 SUBX SourceA DL00060 SourceB DL00062 Dest DL00064 Master axis position FB (previous scan) NL-1 STORE Source DL00060 Dest DL00062 Addition of master axis increment NL-1 Electronic cam phase ADDX SourceA DL00064 SourceB DL00066 Dest DL NL-1 Cycle detection EXPRESSION DB = DL00066>=ML30202; DB = DL00066<0; 3-59

88 3 System Startup Program Details P00123 H06.02 Main メインプログラム Program Phase 位置制御 Control 2( 電子カム 2 (Electronic ) 処理 Shaft) NL-1 Detection in forward direction 正方向検出 DB 電子カム位相 Electronic cam phase SUBX SourceA DL00066 SourceB ML30202 Dest DL NL-1 Detection in negative 負方向検出 direction DB 電子カム位相 Electronic cam phase ADDX SourceA DL00066 SourceB ML30202 Dest DL NL-1 電子カム位相 Electronic cam phase 電子カム位相 Electronic cam phase STORE Source DL00066 Dest DL NL-1 スレーフ 軸 Slave axis カム変位生成 cam displacement generation $ON COIL SB スレーフ 軸 Slave axis カム変位 cam displacement FGN Input DL00068 Parameter MA31000 Output DL NL-1 Cam カム運転指令中 operation command MB Axis 2 軸 2 位相補正設定 phase compensation setting STORE Source DL00070 Dest OL80A NL-1 Cam カム運転指令中 operation command MB Axis 2 軸 2 位相補正設定 phase compensation setting STORE Source DL Dest OL80A8 ##########Slave スレーフ 軸 Axis Command 指令速度発生 Speed Generation########## Incremental Value for Slave Axis per Scan スレーフ 軸 1スキャン増分値 0026 SUBX 0054 NL-1 SourceA DL00070 SourceB DL00072 Dest DL00074 Slave スレーフ 軸カム変位 axis cam displacement ( 前回 )(previous scan) 0027 STORE 0055 NL-1 Source DL00070 Dest DL NL-1 Cam カム運転指令中 operation command MB カム速度演算 Cam & 設定 speed calculation and setting EXPRESSION DL00076 =DL00074*10000/SW0004 DL00078 = DL00076*60/1000; OL8090 =DL00078*10000/10000; 0029 END 0058 NL

89 3.5 Sample Program 4: Phase Control with an Electronic Cam (2) L Drawing The L parent drawing is a low-speed scan that controls the overall sample program. P00125 L メインプログラム Main Program: Low-speed 低速メインフ ロク ラムMain Program ########## Low-speed 低速メインフ ロク ラム Main Program########## ##########Electronic 電子カムテーフ ルテ ータ生成 Cam Table Data Generation########## NL-1 Name SEE L NL-1 END (3) L06 Drawing The L06 child drawing generates cam pattern data for phase control (electronic cam) operation. P00126 L06 Main Program: Electronic Cam Table Data Generation ##########Electronic Cam Table Data Generation########## ##########Cam Table Data Generation (Leading Data)########## Cam operation command MB Cam table (leading data) EXPRESSION NL-1 DL00010 =ML30200; DL00012 =ML30202; ML30210 =DL00010; ML30212 =DL00012; MW31000 =361; MW31001 =0; DF00030 =0; 3 ##########Cam Table Generation (following data)########## Cam displacement calculation 0001 FOR 0002 NL-1 Variable I Init Max Step NL-1 Phase (deg.) STORE Source I Dest DF00030 Displacement calculation work 0003 COS 0004 NL-1 Source DF00030 Dest DF00032 Cam displacement calculation and table setting 0004 EXPRESSION 0005 NL-1 J =I*4; ML31002j =DF00030*DL00012/360. DF00034 =DL00010/2*(1-DF00032) ML31004j =DF00034; 0005 END_FOR 0006 NL END 0007 NL

90 3 System Startup Communication Process Settings 3.6 MP2100M Startup This section describes the MPE720 setting method using the MP2100M Communication Process Settings 1. Select MP2100 under Port Kind in the Logical Port Setting Window. 2. Click the Detail Button in the Logical Port Setting Window to display the MP2100 Window. Set the type of MP2100 being used Controller Configuration 1. Set the Controller Name to MP2100M in the Information Tab of the Controller Configuration Window. 3-62

91 3.6 MP2100M Startup 2. Select the Network Tab in the Controller Configuration Window, and set the Logical Port Number (Device Type) with the same Logical PT number that was set for the communication process Module Configuration Definition 1. Select Controller No.00 MP2100M to display the MECHATROLINK Window for Module No. 3 SVB, and then set the devices connected to the MECHATROLINK Connector on the CPU Module. Open the MECHATROLINK Window by selecting MECHATROLINK from the Detail field. 3-63

92 3 System Startup Module Configuration Definition 2. Click Controller No.01 SVB-01 to display the MECHATROLINK Window for Module No. 1 SVB01, and then set the devices connected to the MECHATROLINK Connector of the SVB Motion Module. Open the MECHATROLINK Window by selecting MECHATROLINK from the Detail field. 3-64

93 4 Specifications This chapter explains detailed specifications for the MP2100/MP2100M. 4.1 Hardware Specifications General Specifications Hardware Specifications Function Lists PLC Function Specifications Motion Control Function Specifications MECHATROLINK Communication Specifications MP2100 LED Indicators and Switch Settings Layout LED Indicators Switch Settings MP2100M LED Indicators and Switch Settings LED Indicator and Switch Arrangement LED Indicators Switch Settings

94 4 Specifications General Specifications 4.1 Hardware Specifications General Specifications The following table lists the general hardware specifications of the MP2100/MP2100M. Item Specifications Ambient Temperature Operating Temperature 0 to 55 C Storage Temperature 25 to 85 C Humidity 30% to 95% (with no condensation) Power Supply Voltage 5 V ±5% Vibration Resistance Depends on the personal computer. Shock Resistance Depends on the personal computer. Noise Resistance Power supply noise (FT noise) Radiation noise (FT noise) Ground noise (impulse noise) Electrostatic noise (air discharge method) Depends on the personal computer V min., for one minute Depends on the personal computer V min., 10 times Ground Operating Altitude Conformity Standard Other Reliability Number of fits Life Conforming to the ground standard for the personal computer 2,000 m above sea level or lower EN55011 (Class A), EN There must be no corrosive gas. 500 fits 10 years max., at 40 C 4-2

95 4.1 Hardware Specifications Hardware Specifications The following table shows the hardware specifications of the MP2100/MP2100M. Item Specifications Name MP2100 MP2100M Model Number JAPMC-MC2100 JAPMC-MC2140 Power Supply +5VDC: Supplied from PCI bus, 510 ma Flash Memory 8 MBytes (User area 5.5 MBytes) SDRAM 16 MBytes SRAM 256 kbytes: M registers, S registers, trace memory, alarm history (battery backup) Motion Network MECHATROLINK I/O Signal Indicators Switches Dimensions (mm) Motion network 1 channel SERVOPACK and I/O for up to 21 stations connectable (SERVOPACK for up to 16 axes) Baud rate: 4 Mbps (MECHATROLINK-I) or 10 Mbps (MECHATROLINK-II) 5 digital inputs (1 input also used as an interrupt input) 24 VDC, 4.1 ma (TYP) source mode/sink mode inputs 4 digital outputs 24 VDC, 100 ma (TYP) open-collector sink mode outputs Bi-level, Bi-color type LED S1: Green (RDY), Red (ERR) S2: Green (RUN), Red (ALM) Bi-level type LED TX: green BAT: red Mode Switch 1: S1 1: INT 2: STOP Mode Switch 2: S2 1: TEST 2: MON 3: CONFIG 4: SUP 5: SLOT0 6: SLOT1 Reset Switch (W D) (PCI half-size) Motion network 2 channels SERVOPACK and I/O for up to 42 stations connectable (SERVOPACK for up to 32 axes) Baud rate: 4 Mbps (MECHATROLINK-I) or 10 Mbps (MECHATROLINK-II) CPU Module Bi-level, Bi-color type LED S1: Green (RDY), Red (ERR) S2: Green (RUN), Red (ALM) Bi-level type LED TX: green BAT: red SVB Module Bi-level, Bi-color type LED D3: Green (RUN), Red (ERR) D4: Green (TX), Red (Not used) CPU Module Mode Switch: S1 1: TEST 2: MON 3: CONFIG 4: INIT 5: SUP 6: STOP 7: SLOT0 8: SLOT1 Reset Switch 4 Approx. Mass 140 g 210 g 4-3

96 4 Specifications PLC Function Specifications 4.2 Function Lists PLC Function Specifications The following table lists the PLC function specifications for MP2100/MP2100M. Item Control Method Programming Language Scanning User Drawings, Functions and Motion Programs Data Memory Specifications Sequence: High-speed and low-speed scan methods Ladder diagram: Relay circuit Text-type language:numeric operations, logic operations, etc. Two scan levels: High-speed scan and low-speed scan MP2100 High-speed scan time setting: 1 to 32 ms (Integral multiple of MECHATROLINK communication cycle) Low-speed scan time setting: 2 to 300 ms (Integral multiple of MECHATROLINK communication cycle) MP2100M High-speed scan time setting: 0.5 to 32 ms (unit: 0.5 ms) Low-speed scan time setting: 2 to 300 ms (unit: 0.5 ms) Startup drawings (DWG.A): Interrupt processing drawings (DWG.I): High-speed scan process drawings (DWG.H): Low-speed scan process drawings (DWG.L): Number of steps: User functions: Motion programs: Revision history of drawings and motion programs Security function for drawings and motion programs Common data (M) registers: System (S) registers: Drawing local (D) registers: Drawing constant (#) registers: Input (I) registers: Output (O) registers: Constant (C) registers: 64 drawings max. Up to three hierarchical drawing levels 64 drawings max. Up to three hierarchical drawing levels 200 drawings max. Up to three hierarchical drawing levels 500 drawings max. Up to three hierarchical drawing levels Up to 1,000 steps per drawing Up to 500 functions Up to Kwords 8 Kwords Up to 16 Kwords per drawing Up to 16 Kwords per drawing 5 Kwords (including internal input registers) 5 Kwords (including internal output registers) 16 Kwords Trace Memory Data trace: 128 Kwords (32 Kwords 4 groups), 16 points defined Memory Backup Program memory: Flash memory: 8 MBytes (User area: 5.5 MBytes) definition files, ladder programs, motion programs, etc. Data other than battery backup data Data memory: Battery backup: 256 Kbytes, M registers, S registers, alarm history, trace data Data Types Bit (relay): ON/OFF Integer: to Double-length integer: to Real number: ± (1.175E-38 to 3.402E+38) Register Designation Method Register number: Symbolic designation: Direct designation of register number Up to 8 alphanumeric characters (up to 200 symbols per drawing) With automatic number or symbol assignment 4-4

97 4.2 Function Lists (cont d) Item Specifications Instructions 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 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 Motion Control Function Specifications The following table lists the motion control function specifications for the MP2100/MP2100M. Item Interface Number of Controlled Axes/Module Specifications MECHATROLINK-I, MECHATROLINK-II MP2100: Up to 16 axes MP2100M: Up to 32 axes Control PTP Control Linear, rotary, and infinite-length Specifications Interpolation MP2100: Up to 16 linear axes, 2 circular axes, and 3 helical axes MP2100M: Up to 16 linear axes, 2 circular axes, and 3 helical axes Speed Reference Output Yes (Only with MECHATROLINK-II) Torque Reference Output Yes (Only with MECHATROLINK-II) Phase Control Yes (Only with MECHATROLINK-II) Position Positioning Yes Control External positioning Yes Zero point return Yes Interpolation Yes Interpolation with position Yes detection func- tion JOG operation Yes STEP operation Yes Parameter changes during motion command Yes (Only with MECHATROLINK-II in 32-byte mode) execution Reference Unit mm, inch, deg, or pulse Reference Unit Minimum Setting 1, 0.1, 0.01, 0.001, , Maximum Programmable Value to (signed 32-bit value) Speed Reference Unit Reference unit/s specification: mm/s, inch/s, deg/s, pulse/s Reference unit/min. designation: mm/min, inch/ min, deg/min, pulse/min Percentage designation: Percentage of rated speed Acceleration/Deceleration Type Linear, asymmetric, S-curve, exponent Acceleration/Deceleration Reference Unit Reference unit/s 2 specification: mm/s 2, inch/s 2, deg/s 2, pulse/s 2 Override Function Coordinate System Acceleration/deceleration time constant: Time from 0 to rated speed (ms) Positioning: 0.01% to % by axis Rectangular coordinates 4 4-5

98 4 Specifications MECHATROLINK Communication Specifications Zero DEC1+ Phase-C pulse Point Return ZERO signal DEC1+ ZERO signal Phase-C pulse Only Phase-C pulse POT and Phase-C pulse POT Home limit switch and Phase-C pulse HOME NOT and Phase-C pulse NOT INPUT and Phase-C pulse INPUT Applicable SERVOPACKs Encoders Item MECHATROLINK-I SERVOPACKs SGD- N SGDB- AN SGDH- E + NS100 SGDH- E + NS115 SGDS- 1 MECHATROLINK-II SERVOPACKs SGDH- E + NS115 SGDS- 1 Incremental Encoder Absolute Encoder Specifications Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes (cont d) MECHATROLINK Communication Specifications The following table shows the MECHATROLINK communication specifications for the MP2100/MP2100M. Item MECHATROLINK-I Specifications Topology Bus Bus * 1. With MP2100M. * 2. With SigmaWin. MECHATROLINK-II Specifications Transmission Path Electric bus Electric bus Transmission Distance 50 m 50 m Baud Rate 4 Mbps 10 Mbps Communication Cycle 2 ms 0.5 ms* 1, 1 ms, 1.5 ms* 1, 2 ms Maximum Number of Connectable Stations Communication Control Method Cyclic Cyclic Media Access Control Method 1:N 2:N 2 Communication Mode Control communication Control communication Error Detection Control CRC check CRC check 4-6

99 MP2100 LED Indicators and Switch Settings 4.3 MP2100 LED Indicators and Switch Settings Layout The following diagram shows the layout of the LED indicators and switches for the Mode switch 2 Reset switch LED indicators S2 BAT S2 BAT S1 ON TX 2 1 MP2100 Mode switch 1 S1 ON 1 2 System LED MECHATROLINK /battery alarm LED I/O YASKAWA M-I/II LED Indicators S2 S1 BAT TX The following table shows the operating status and error status of the LED indicators of the MP2100. Indicator Display Status S1 Green Normal operation (RDY) Red lit/blinking Error (ERR) S2 Green Normal operation (RUN) Red lit/blinking Alarm (ALM) Not lit User program stopped TX Green Transmitting data to M-I/II BAT Red Battery alarm 4-7

100 Specifications Switch Settings Switch Settings The following table shows the switch settings of the MP2100. Mode Switch 1 Mode Switch 2 Reset Switch ON 1 2 (1) Mode Switch 1 (S1) No. Name Status Function Factory Details Setting 1 INIT ON Memory Clear OFF Set to ON to clear memory. If this switch is set OFF Normal operation to OFF, the program stored in flash memory will be executed. 2 STOP ON User program stopped OFF Stops the user program execution. Enabled only OFF User program running when the power is turned ON. (2) Mode Switch 2 (S2) No. Name Status Function Factory Details Setting 1 TEST ON System use OFF Always leave set to OFF. OFF Normal operation 2 MON ON System use OFF Always leave set to OFF. OFF Normal operation 3 CNFG ON Configuration mode OFF Set to ON to execute self-configuration for OFF Normal operation connect devices. 4 SUP ON System use OFF Always leave set to OFF. OFF Normal operation 5 SLOT0 SLOT - SLOT0 OFF 1 - ON CP4 Use to set CP number. 6 SLOT1 ON - OFF CP3 ON - ON CP2 OFF OFF - OFF CP1 OFF * Set the CP number allocated to the communication process logic port. When using two or more MP2100s, set different CP number. (3) Reset Switch This switch resets the MP2100. This switch can be used to turn ON and OFF the MP2100 power without turning the host computer ON and OFF. 4-8

101 4.4 MP2100M LED Indicators and Switch Settings 4.4 MP2100M LED Indicators and Switch Settings LED Indicator and Switch Arrangement The following figure shows the names and locations of LED indicators on the MP2100M. Reset switch Mode switch (S1) BAT S2 TX S1 MP2100M Indicators SVB Module indicators CN3 PORT2 M-I/II CN5 PORT1 M-I/II BAT I/O CN2 4 YASKAWA LED Indicators (1) CPU Module Status Indicators The following table shows the operating status and error status of the LED indicators of the MP2100M.. S2 BAT S1 TX Indicator Display Meaning When Lit S1 Green Normal operation (RDY) Red lit/blinking Error (ERR) S2 Not lit User program stopped Red lit /blinking Alarm (ALM) Green Normal operation (RUN) TX Green Transmitting data to M-I/II BAT Red Battery alarm (2) SVB Module Status Indicators RUN ERR TX Indicator Display Meaning When Lit RUN Green Normal operation Not lit Error ERR Red lit/blinking Error Not lit Normal operation TX Green Transmitting data to M-I/II 4-9

102 Specifications Switch Settings Switch Settings Use these switches to set the operating conditions for the MP2100M when the power is turned ON. Mode switch 1 (S1) Reset switch (1) Mode Switch 1 (S1) No. Name Status Function Factory Details Setting 1 TEST ON System use OFF Always leave set to OFF. OFF Normal operation 2 MON ON System use OFF Always leave set to OFF. OFF Normal operation 3 CNFG ON Configuration mode OFF Set to ON to execute self-configuration for the OFF Normal operation connected devices. 4 INIT ON Memory clear OFF Set to ON to clear memory. If this switch is set OFF Normal operation to OFF, the program stored in flash memory will be executed. The S registers and M registers are cleared to 0. 5 SUP ON System use OFF Always leave set to OFF. OFF Normal operation 6 STOP ON User program stopped OFF Set to ON to stop the user program executing OFF User program running and perform program debugging. 7 SLOT0 SLOT - SLOT0 OFF 1 - ON CP4 Use to set CP number. 8 SLOT1 ON - OFF CP3 ON - ON CP2 OFF OFF - OFF CP1 OFF * Set the CP number allocated to the communication process logic port. When using two or more MP2100M, set a different CP number for each MP2100M. (2) Reset Switch This switch resets the MP2100M. This switch can be used to turn ON and OFF the MP2100M power without turning the host computer ON and OFF. 4-10

103 5 Mounting and Wiring This chapter explains how to handle MP2100/MP2100M and the connection methods. 5.1 Installing the MP2100/MP2100M Recommended Computer Specifications Installing the MP2100/MP2100M Installing the Drivers Verifying Driver Installation MP2100/MP2100M Connections Connectors MECHATROLINK-I/II Connection I/O Connection

104 5 Mounting and Wiring Recommended Computer Specifications 5.1 Installing the MP2100/MP2100M Recommended Computer Specifications The following tables show the specifications for the host computer in which the MP2100/MP2100M is installed. (1) Hardware Specifications The MP2100/MP2100M occupies one of the host computer's PCI slots. Up to four MP2100/MP2100M Boards can be installed in one personal computer. Item Specification Notes Model IBM PC/AT or compatible NEC 9800 series computers are not compatible. CPU Pentium 200 MHz min. Recommended: Pentium 400 MHz or faster Memory 64 MB min. Recommended: 128 MB or more Hard Disk 500 MB free space min. Capacity Display resolution min. Recommended: or higher Expansion Slot One half-size PCI slot Interrupt Uses 1 level IRQ sharing is possible. I/O Memory Uses 32 KB of shared memory. * These are the specifications when one MP2100/MP2100M board is being used. When two or more MP2100/MP2100M boards are installed in a computer, multiply the resources listed above by the number of boards. (2) Software Specifications The following table shows the host computer software specifications. Item Specification Notes OS WindowsNT4.0 Workstation SP5 or higher Windows 2000 Professional SP1 or higher Windows XP Browser Microsoft IE 5.5 SP2 or higher Development Language Microsoft Visual C/C++6.0 SP5 or higher IMPORTANT When the driver (ver for MP2100) is being used with Windows 2000, proper operation can be expected only when the computer is set as a Standard PC with the Start/Settings/Control Panel/System/ Hardware Tab/Device Manager/System devices/computer setting. When the driver (ver for MP2100) is being used with Windows 2000 or Windows XP, ACP PC and ACP UniprocessorPC also can be operated. Contact the manufacturer for more details on this setting. 5-2

105 5.1 Installing the MP2100/MP2100M Installing the MP2100/MP2100M Install the MP2100/MP2100M to a PCI slot of the host computer. The MP2100/MP2100M occupies one half-size PCI slot. PC/AT or compatible computer PCI bus slot MP2100 borad 5 CAUTION Before installing or removing the MP2100/MP2100M, always turn OFF the host computer's power supply and unplug the computer's power cord. When installing the MP2100/MP2100M, always press the Board firmly until it is fully seated in the PCI slot. If the Board is not fully inserted, the MP2100/MP2100M and/or host computer may be damaged or operate incorrectly. If the MP2100/MP2100M cannot be inserted into the PCI slot with firm pressure, do not try to force it into the slot. Remove the Board, align it properly, and try inserting it again. When handling the MP2100/MP2100M, hold the Board by its edges and never touch the components or soldered connections. Touching the components or leads can cause cuts or damage the MP2100/ MP2100M or host computer. In some computers, it is necessary to secure the MP2100/MP2100M in the PCI slot with a screw or a clip after inserting the Board into the slot. Refer to the host computer's user manual for details on securing PCI boards. If the MP2100/MP2100M is not secured, it may become loose and the MP2100/MP2100M and/or host computer may be damaged or operate incorrectly. 5-3

106 5 Mounting and Wiring Installing the Drivers Installing the Drivers Use the following procedure to install the Windows drivers for the MP2100/MP2100M. The driver installation procedure varies with different operating systems (OS), so verify which OS is being used in the host computer. This example explains how to install the drivers for Windows In this case, the CD- ROM drive is drive D. If necessary, replace the D: drive letter with the actual CD-ROM drive letter in your host computer. The MP2100/MP2100M drivers are included in the Motion API CD-ROM. 1. The Add/Remove Hardware Wizard will start automatically after the MP2100/MP2100M is installed in the host computer and the computer's power is turned ON. Click the Next Button. Note: Use the driver with Ver or later for the MP2100M. 2. The Install Hardware Device Drivers Window will be displayed. Select Search for a suitable driver for my device (recommended) and click the Next Button. 3. The Locate Driver Files Window will be displayed. Select Specify a location and click the Next Button. 5-4

107 5.1 Installing the MP2100/MP2100M 4. Specify the path to the directory containing the driver files (D:\Driver\Win2000 in this case) and click the OK Button. 5. The wizard program will search for the files. When the Driver Files Search Results Window is displayed, click the Next Button to proceed The Completing the Found New Hardware Wizard Window will be displayed when the driver files have been installed. Click the Finish Button to close the wizard program. 5-5

108 5 Mounting and Wiring Verifying Driver Installation Verifying Driver Installation Use the following procedure to verify that the MP2100/MP2100M is recognized properly by the system and the drivers are installed properly. 1. Click the Start Button and select Settings/Control Panel from the Start menu. 2. Double-click the System Icon. 3. The System Properties Window will be displayed. Click the Hardware Tab and then click the Device Manager Button. 4. Open the Memory technology driver Folder and double-click the MP2100 Programming Logic Controller Icon. Check the Device status information and verify that it says This device is working properly. 5-6

109 5.1 Installing the MP2100/MP2100M 5. Click the Resources Tab. Check the Conflicting device list and verify that it says No conflicts. The MP2100/MP2100M can be used if everything has been normal up to this point. If a problem has been identified, perform the installation again

110 5 Mounting and Wiring Connectors 5.2 MP2100/MP2100M Connections Connectors The following diagram shows the connectors for the MP2100/MP2100M. S2 S1 BAT BAT TX 2 1 MP2100 Battery connector BAT TX S2 PORT2 M-I/II S1 MP2100M SVB Module MECHATROLINK connector ON I/O connector I/O connector I/O YASKAWA M-I/II MECHATROLINK connector I/O PORT1 M-I/II BAT CPU Module MECHATROLINK connector Battery hole YASKAWA MP2100 MP2100M MECHATROLINK-I/II Connection (1) MECHATROLINK-I/II Connector (M-I / II) MECHATROLINK-I/II connector is used to connect the MP2100/MP2100M and the SERVOPACKs and distributed I/O Module. Pin Number (2) Connector Specifications Signal Name Description 1 (NC) Not used. 2 /DATA Signal side 3 DATA Signal + side 4 SH Not used. Shell Shield Connects the shield wire. Name MECHATROLINK Connector Connector Name No. of Pins Connector Model Module Cable Manufacturer M-I/II 4 USB-AR41-T11 DUSB-APA41B1-C50 Daiichi Denshi Kogyo K.K. 5-8

111 5.2 MP2100/MP2100M Connections (3) Cables Name and Specification Model Number Length MECHATROLINK Cable JEPMC-W6002-A5 0.5 m USB Connector USB Connector JEPMC-W m JEPMC-W m JEPMC-W m JEPMC-W m JEPMC-W m JEPMC-W m MECHATROLINKCable JEPMC-W6003-A5 0.5 m USB Connector USB Connector (with Core) JEPMC-W m JEPMC-W m JEPMC-W m JEPMC-W m JEPMC-W m JEPMC-W m JEPMC-W m JEPMC-W m MECHATROLINK Cable JEPMC-W m USB Connector Loose Wire JEPMC-W m JEPMC-W m JEPMC-W m JEPMC-W m JEPMC-W m JEPMC-W m Terminator JEPMC-W (4) External Appearance of MECHATROLINK-I/II Cables JEPMC-W6002- JEPMC-W6003- JEPMC-W6010- JEPMC-W

112 5 Mounting and Wiring MECHATROLINK-I/II Connection (5) Cable Connections between the MP2100/MP2100M and I/O Units and the MP2100/ MP2100M and SERVOPACKs JEPMC-W6002- JEPMC-W6003- Signal Name Pin number Signal Name (NC) 1 1 (NC) DATA 2 2 /DATA DATA 3 3 DATA SH 4 4 SH Shield Shell Shell Shield Note: The JEPMC-W6003- cable has a ferrite core. (6) Cable Connections between the MP2100/MP2100M and SGD- N and SGDB- AN SERVOPACKs USB Connector JEPMC-W6010- SERVOPACK SERVOPACK SERVOPACK (terminating) MR Connector MR Connector MR Connector Signal Name Signal Name Signal Name Signal Name (NC) 1 1 /DATA 1 /DATA 1 /DATA /DATA 2 2 DATA 2 DATA 2 DATA DATA SH 4 4 TERM 4 TERM 4 TERM Shield Shell 5 FG 5 FG 5 FG 6 /DATA 6 /DATA 6 /DATA 7 DATA 7 DATA 7 DATA Note: 1. The JEPMC 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. Red lead: DATA Black lead: /DATA (7) Terminator Connections Name (NC) /DATA DATA SH Shield Shell Pin number 130 Ω 5-10

113 5.2 MP2100/MP2100M Connections (8) Connection Example between MP2100/MP2100M, SERVOPACK, and IO2310 MP2100 MP2100 BAT S2 TX S1 IO2310 YASKAWA JEPMC-IO2310 CN1 IN1 OUT1 IN2 OUT2 M-4/10 I/O B1 A1 A1 A1 A1 B1 B1 B1 L1 L2 Ln YASKAWA SERVOPACK SGDH- SGDH- NS100 YASKAWA SERVOPACK SGDH- NS100 YASKAWA SERVOPACK NS100 5 Terminator Note: 1. Use standard cables between units. 2. Use under the conditions that L1 + L2 + L Lu 50 m IMPORTANT The MP2100/MP2100M has a built-in terminator. Insert a JEPMC-W6022 terminator into in the above diagram. 5-11

114 5 Mounting and Wiring I/O Connection I/O Connection (1) I/O Connector I/O connector is used to connect the MP2100/MP2100M and external I/O signals. External input: 5 points; External output: 4 points (2) Connector Specifications (3) Cables Name Connector No. of Connector Model Name Pins Module Cable Manufacturer I/O Connector I/O A2JL VE Connector A0-008 or F0-008 shell Sumitomo 3M Limited. Name Model Number Length I/O Cable (loose wires) JEPMC-W2062-A5 0.5 m JEPMC-W m JEPMC-W m (4) External Appearance of I/O Cable JEPMC-W2062- (5) Connector Pin Arrangement The following table shows the connector pin arrangement. Pin Number Signal Name I/O Remarks Note: P: Power input; I: Input signal; O: Open-collector output Pin Number Signal Name I/O Remarks 1 DI_24 V P Input common 8 DI_24V P Input common 2 DI_00 I Input 00 9 DI_02 I Input 02 3 DI_01 I Input DI_03 I Input 03 4 DI_04 I Input DO_24V P +24V input 5 DO_COM P Output common 12 DO_COM P Output common 6 DO_00 O Output DO_02 O Output 02 7 DO_01 O Output DO_03 O Output

115 5.2 MP2100/MP2100M Connections (6) Input Circuits The following table shows the I/O Connector input circuit specifications. Item Specifications Inputs 5 points DI-00 General-purpose input (shared with interrupts) DI-01 to DI-04 General-purpose input Input Format Sink mode/source mode input Isolation Method Photocoupler Input Voltage ±24 VDC, ±20% Input Current 4.1 ma (typ.) ON Voltage/Current 15 VDC min./2.0 ma min. OFF Voltage/Current 5 VDC max./1.0 ma max. ON Time/OFF Time ON: 1 ms max. OFF: 1 ms max. Number of Commons 5 points Other Functions DI-00 is shared with an interrupt input. If DI-00 is turned ON while interrupts are enabled, the interrupt processing drawing is executed. +24 V +5 V DI_COM 680 Ω 0.01µF 5 DI_IN 5.6 kω/0.5 W Input register 22 kω µF Figure 5.1 Digital Input Circuit (Sink mode Input) +24 V +5 V DI_COM 680 Ω 0.01µF DI_IN 5.6 kω/0.5 W Input register 22 kω µF Figure 5.2 Digital Input Circuit (Source mode Input) 5-13

116 5 Mounting and Wiring I/O Connection (7) Output Circuit The following table shows the I/O Connector output circuit specifications. Item Specifications Outputs 4 points Output Format Transistor, open-collector, sink mode output Isolation Method Photocoupler 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 4 points Protection Circuit Fuse The fuse is not, however, for circuit protection. It is for protecting against fire during output shorts. Attach a fuse externally to each output if circuit protection is required. +24 V Output register 470 Ω DO_24V DO_OUT 33 kω 0.01 µf DO_COM 0 24 Figure 5.3 Digital Output Circuit (Sink Mode Output) 5-14

117 5.2 MP2100/MP2100M Connections (8) I/O Connector Connections The following diagram shows the connections for the I/O connector. 1 DI_COM Digital input 8 2 DC24V (DI) DI_00 24 VDC DI_01 DI_02 DI_03 External input signals 4 DI_04 11 DC24V (DO) 24 VDC Digital output 6 DO_00 L Fuse Fuse DO_01 DO_02 DO_03 DO_COM L L L External ouput signals 5 12 DO_COM 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 may result in fire, destruction of the load device, or damage to the output element. 5-15

118 6 Basic System Operation This chapter explains the basic operation of the MP2100/MP2100M system. 6.1 Operating Modes Online Operating Mode Offline Stop Mode Startup Sequence and Basic Operation MP2100 Mode Switch Settings MP2100M Mode Switch Settings Indicator Patterns Startup Sequence User Programs Drawings (DWGs) Execution Control of Drawings Motion Program Functions Registers Types of Register Register Designation Methods Data Types Using Subscripts i and j Self-configuration Overview of Self-configuration MP2100/MP2100M Self-configuration Motion API Overview of the Motion API Motion API Software Installed Files List Installing MP2100/MP2100M

119 6 Basic System Operation Online Operating Mode 6.1 Operating Modes This section explains the online operating mode and the offline stop mode, both of which indicate the MP2100/MP2100M operating status. Operating 動作モード mode Online オンライン運転モード operating mode S1 RDY and, S2 RUN indicators LED 点灯 lit User program and I/O operation executing ユーザープログラム, 入出力動作実行中 Online Operating Mode Figure 6.1 MP2100/MP2100M Operating Modes When the power for the MP2100/MP2100M is turned ON, the S1 and S2 indicators will light green (the RDY and RUN status) and the MP2100/MP2100M will enter the online operating mode. This means that the user program and I/O operations are being executed in the MP2100/MP2100M 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 S2 indicator lights red to indicate the occurrence of the error. For details on the error content and the action to be taken, see Chapter 13 Troubleshooting Offline Stop Mode Offline オフライン停止モード stop mode S1 RDY indicator LEDが点灯 lit and, S2 RUN indicator LEDが消灯 not lit User program stopped ユーザープログラム停止中 The execution of the user program is stopped, and all outputs are reset (i.e., 0 is output for all digital outputs). The S1 indicator will light green and the S2 indicator will go OFF to indicate the status. The MP2100/MP2100M will be in the offline stop mode in the following cases: When a serious failure, such as watchdog timeout error, has occurred. When a STOP operation has been performed from the MPE720. When the 2 of the mode switch 1 (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 MP2100/MP2100M. For details on the error content and the action to be taken, see Chapter 13 Troubleshooting. 6-2

120 Startup Sequence and Basic Operation 6.2 Startup Sequence and Basic Operation This section explains the startup sequence and basic operation of the MP2100/MP2100M. The methods for setting the mode switch, the types of self-diagnosis, and the indicator patterns are also explained MP2100 Mode Switch Settings The mode switch is used to control the startup sequence for the MP2100. The following table shows the function of each switch. Mode Switch 1 (S1) Mode Switch 2 (S2) ON 1 2 (1) Mode Switch 1 (S1) No. Name Status Function Factory Details Setting 1 INIT ON Memory Clear OFF Set to ON to clear memory. If this switch is set OFF Normal operation to OFF, the program stored in flash memory will be executed. 2 STOP ON User program stopped OFF Stops the user program execution. Enabled only OFF User program running when the power is turned ON. (2) Mode Switch 2 (S2) No. Name Status Function Factory Details Setting 1 TEST ON System use OFF Always leave set to OFF. OFF Normal operation 2 MON ON System use OFF Always leave set to OFF. OFF Normal operation 3 CNFG ON Configuration mode OFF Set to ON to execute self-configuration for OFF Normal operation connect devices. 4 SUP ON System use OFF Always leave set to OFF. OFF Normal operation 5 SLOT0 SLOT1 ON ON - SLOT0 - ON - OFF CP4 CP3 6 SLOT1 OFF - ON CP2 OFF OFF - OFF CP1 * Set the CP number allocated to the communication process logic port. When using two or more MP2100s, set different CP number. OFF Use to set CP number

121 Basic System Operation MP2100M Mode Switch Settings MP2100M Mode Switch Settings The mode switch pins are used to control the startup sequence for the MP2100M. The following table shows the function of each pin on the switch. Mode Switch 1 (S1) No. Name Status Function Factory Details Setting 1 TEST ON System use OFF Always leave set to OFF. OFF Normal operation 2 MON ON System use OFF Always leave set to OFF. OFF Normal operation 3 CNFG ON Configuration mode OFF Set to ON to execute self-configuration for OFF Normal operation connect devices. 4 INIT ON Memory clear OFF Set to ON to clear memory. If this switch is set OFF Normal operation to OFF, the program stored in flash memory will be executed. The S registers and M registers are cleared to 0. 5 SUP ON System use OFF Always leave set to OFF. OFF Normal operation 6 STOP ON User program stopped OFF Set to ON to stop the user program executing OFF User program running and perform program debugging. 7 SLOT0 SLOT1 ON ON - SLOT0 - ON - OFF CP4 CP3 8 SLOT1 OFF - ON CP2 OFF OFF - OFF CP1 * Set the CP number allocated to the communication process logic port. When using two or more MP2100M, set a different CP number. OFF Use to set CP number. 6-4

122 6.2 Startup Sequence and Basic Operation Indicator Patterns The MP2100/MP2100M makes a number of determinations at startup. If an error is detected, the S1 indicator will blink red and the error content will be indicated by the number of times the indicator blinks. When the indicator is blinking, the MPE720 cannot be operated. For details on the error content and the action to be taken, see Chapter 12 Maintenance and Inspection and Chapter 13 Troubleshooting. The following table shows the MP2100/MP2100M indicators. Type S1 (Green) S2 (Green) Indicator S2 (Red) S1 (Red) BAT Meaning Remarks Normal Not lit Not lit Lit Lit Not lit Hardware reset status If this status continues for Not lit Not lit Not lit Not lit Not lit Initial execution 10 s or longer after turning Not lit Lit Not lit Not lit Not lit ON the power, the hardware is faulty. Execute of drawing A Lit Not lit Not lit Not lit Not lit The user program is stopped (offline stop mode). This status is entered when STOP operation is performed from a switch or the MPE720. Lit Lit Not lit Not lit Not lit The user program is executing normally. Error Not lit Not lit Not lit Lit Not lit A serious error has occurred. The S1 indicator lights (Red) when there is a failure in the CPU. Not lit Not lit Not lit Blinking Not lit Not lit Blinking Blinking Not lit Not lit Number of blinks when software error occurs: 3: Address read error 4: Address write error 5: FPU error 6: General illegal command error 7: Slot illegal command error 8: General FPU suppression error 9: Slot FPU suppression 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: First page write error Number of blinks when hardware error occurs: 2: RAM diagnosis error 3: ROM diagnosis error 4: CPU function diagnosis error 5: FPU function diagnosis error The S1 indicator blinks (Red) when there is an error. The S1 and S2 indicators blink (Red) when there is a self-diagnosis failure. Alarm Lit Battery alarm The BAT indicator lights when the battery voltage drops. Lit Not lit Lit Not lit Not lit Calculation error I/O error The S2 indicator lights (Red) when a calculation or I/O error is detected

123 6 Basic System Operation Startup Sequence Startup Sequence A basic outline of the startup sequence and basic operation of the MP2100/MP2100M is shown below. Power ON Startup selfdiagnosis *1. MP2100: Mode switch 1-1 MP2100M: Mode switch 1-4 *2. MP2100: Mode switch 2-3 MP2100M: Mode switch 1-3 *3. MP2100: Mode switch 1-2 MP2100M: Mode switch 1-6 Check mode switch (INIT)* 1 FLASH Copy from flash memory to RAM Check mode switch (CNFG)* 2 Memory clear Normal operation Configuration mode Execute selfconfiguration Start watchdog timer Check mode switch (STOP)* 3 ON OFF S2 indicator lights green Stop user program execution Execute DWG.A (ladder program) S1 indicator lights green S1 indicator lights green Background Ladder program Interrupt signal Highspeed scan Low-speed scan Online selfdiagnosis Execute DWG.I Input Input End after one execution Output Output Execute DWG.H Execute DWG.L High Order of priority 6-6

124 6.2 Startup Sequence and Basic Operation (1) Startup Self-diagnosis The following operations are provided for startup self-diagnosis: Memory (RAM) read/write diagnosis System program (ROM) diagnosis Main processor (CPU) function diagnosis Floating point unit (FPU) function diagnosis If an error occurs in the diagnostic result, the S1 and S2 indicators will blink (red) the specified number of times. (2) Online Self-diagnosis The following operations are provided for online self-diagnosis: System program (ROM) diagnosis Main processor (CPU) function diagnosis Floating point unit (FPU) function diagnosis If an error occurs in the diagnostic result, the S1 and S2 indicators will blink (red) the specified number of times. (3) Self-Configuration This function makes Module-defined setting work unnecessary, and makes it possible to perform startup work easily and in a short time. Optional Modules are recognized and definition files are generated automatically. For details, refer to 6.5 Self-configuration. The S2 indicator blinks (green) during execution of self-configuration. (4) Operation Start If the Mode Switch (STOP) is OFF (RUN) or if it turns OFF (RUN) from ON (STOP), the CPU starts the watchdog timer and then executes DWG.A. The initial scan is executed only after the time for the high-speed or low-speed scan has elapsed following the completion of DWG.A. System inputs and outputs are executed from the first scan. 6 (5) Operation Stop The MP2100/MP2100M stops operating in the following cases: Cause The power supply is interrupted. A power failure has occurred. A fatal error has occurred. A STOP operation has been performed from the MPE720. Countermeasure Turn ON the power again. Determines the error by the indicator status and turn the power OFF and ON. Perform a RUN operation from the MPE

125 6 Basic System Operation Drawings (DWGs) 6.3 User Programs This section explains the basic operation of the user program. The MP2100/MP2100M s user programs include ladder program and motion program. For details, refer to the following manuals. Machine Controller MP900 Series User s Manual Ladder Programming (Manual No.: SIEZ-C ) Machine Controller MP User s Manual Motion Programming (Manual No.: SIEZ-C ) Machine Controller MP900 Series New Ladder Editor Programming Manual (Manual No.: SIE-C ) Machine Controller MP900 Series New Ladder Editor User s Manual (Manual No.: SIE-C ) 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. Parent Drawings Parent drawings are executed automatically by the system program when the execution condition is established. See the following table for execution conditions. Child Drawings Child drawings are executed by being called from a parent drawing using the SEE instruction. Grandchild Drawings Grandchild drawings are executed by being called from a child drawing using the SEE instruction. Operation Error Drawings Operation error drawings are executed automatically by the system program when an operation error occurs. Functions Functions are executed by being called from a parent, child, or grandchild drawing using the FSTART instruction. Types and Priority Levels of Drawings Drawings are classified by the first character of the drawing number (A, I, H, L) according to the purpose of the process. The priority levels and execution conditions are as shown in the following table. Type of Parent Drawing DWG.A (drawing A) DWG.I (drawing I) DWG.H (drawing H) DWG.L (drawing L) Role of Drawing Priority Level Execution Condition Startup process 1 Started when power is turned ON (executed once only when the power is turned ON). Interrupt process 2 Executed by external interrupts, such as Optional Module DI interrupts or counter interrupts. High-speed scan process Low-speed scan process 3 Started at a fixed interval (executed during each high-speed scan). 4 Started at a fixed interval (executed during each low-speed scan). Number of Drawings

126 6.3 User Programs The following table gives details of the number of drawings for each type of drawing. Drawing Number of Drawings DWG.A DWG.I DWG.H DWG.L Parent Drawing 1 (A) 1 (I) 1 (H) 1 (L) Operation Error 1 (A00) 1 (I00) 1 (H00) 1 (L00) Drawing Child Drawings Maximum total of Maximum total of Maximum total of Maximum total of Grandchild Drawings 62 drawings 62 drawings 198 drawings 498 drawings Execution Control of Drawings (1) Execution Control of Drawings Each drawing is executed based on its priority level, as shown in the diagram below. Power ON DWG.A Startup drawings During each high-speed scan During each low-speed scan Operation error Interrupt signal All inputs All outputs DWG.H High-speed scan process drawings All inputs All outputs DWG.L Low-speed scan process drawings DWG. X00 Operation error drawings X:A,I,H,L Continue with original process DWG. I Interrupt drawings Continue with original process 6 (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 High-speed scan High-speed scan High-speed scan High-speed scan DWG.H DWG.L Background : Executed * 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 guideline, set a time that is twice the execution time of all the DWG.H drawings as the high-speed scan time. 6-9

127 6 Basic System Operation Execution Control of Drawings (3) Hierarchical Arrangement of Drawings Drawings are arranged in the following order: Parent drawing, child drawings, grandchild drawings. A parent 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 Drawings Grandchild Drawings User functions DWG.X DWG.X01 DWG.X01.01 DWG.X01.02 FUNC-001 DWG.X01.99 FUNC-006 DWG.Xnn FUNC-032 FUNC-064 Note: Substitute A, I, H, or L for X. Drawing specifications: DWG.X YY. ZZ Grandchild drawing No. (01 to 99) Child drawing No. (01 to 99) Type of parent drawing (A, I, H, L) DWG.X 00 Operation error drawing (A, I, H, L) 6-10

128 6.3 User Programs (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. Starts according to the system program execution condition Parent Drawing Child Drawings Grandchild Drawings DWG.A DWG.A01 DWG.A01.01 SEE A01 SEE A01.01 Functions FUNC-001 FUNC-001 DEND DWG.A01.02 SEE A01.02 FUNC-001 DEND DEND DEND SEE A02 DWG.A02 Operation error Started automatically by the system. DWG.A00 6 DEND DEND DEND Note 1. A parent drawing is automatically called by the system. The user can execute any child or grandchild drawing by programming an instruction that calls a drawing (the SEE instruction) in a parent or child drawing. 2. Functions can be called from any drawing. A function can also be called from a function. 3. If an operation error occurs, the operation error drawing corresponding to the drawing will be called. 6-11

129 6 Basic System Operation Motion Program Motion Program Motion program is a textual program utilized motion language. Maximum 256 motion program can be created, separated from the ladder programs. Two types of motion program are provided. Classification Designation Method Feature Number of Programs Main Programs MPM 1 to 256 Can be called from DWG.H drawings. A total of up to 256 main programs and subprograms can be Subprograms MPS 1 to 256 Can be called from the main programs. created. IMPORTANT Each MPM and MPS program number must be unique. With the MP2100, up to 16 motion programs can be executed at the same time. If 17 or more motion programs are executed, an alarm (no system work error) will occur. * 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 number of the register in which the program number is stored. MPM001 MOTION PROGRAM CALL command MSEE MPM001 DA00000 MPM No. ABS; MOV[X] _ [Y] _ MVS[X] _ [Y] _ F IOW MB0001 MOV[X] _ [Y] _.. Ladder Program Motion Program Figure 6.2 Calling a Motion Program by Direct Designation MPM Setting device MOTION PROGRAM CALL command MSEE MW00200 DA00000 Register No. Depends on MPM No. the contents of MW MW00200 = 3 ABS; MOV[X] _ [Y] _ MVS[X] _ [Y] _ F IOW MB0001 MOV[X] _ [Y] _.. Ladder Program Figure 6.3 Calling a Motion Program by Indirect Designation Motion Program 6-12

130 6.3 User Programs (1) Groups With the MP2100/MP2100M, the axes can be grouped by operation so that multiple machines can be independently controlled by one MP2100/MP2100M 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. Operation is possible either as one group or with multiple groups. For details on group definitions, refer to the MPE720 Programming Device Software User's Manual for MP900/MP2000-series Programming Devices (Manual No.: SIEPC ). (a) Operation as One Group MP2100/MP2100M SGDS SGDS SGDS SGDS SGDS X1 Y1 Z1 A1 B1 (b) Operation with Multiple Groups MP2100/MP2100M SGDS SGDS SGDS SGDS SGDS 6 X1 Y1 Z1 A1 B1 6-13

131 6 Basic System Operation Motion Program (2) Motion Program Execution Processing Method A motion program must be called from DWG.H using the MSEE instruction. Motion programs can be called from any DWG.H, i.e., from parent, child, and grandchild DWG.H. A motion program execution example is shown below. The system program is started according to the execution condition. Parent Drawing Child Drawing Grandchild Drawing Motion Main Programs DWG.H SEE H01 DWG.H01 SEE H01.01 DWG.H01.01 MSEE MPM001 DEND MPM001 VEL [a1]5000 [b1].. FMX T ; IAC T25; IDC T30; MOV [a1]300. [b1].. MVS [a1]200. [b1]..... END MSEE MPM002 MPM002 DEND END MSEE MPM003 MPM003 MSEE MPS101 Motion Subprogram MPS101 END RET DEND In each high-speed scanning cycle, the ladder instructions for DWG.H are executed in the following hierarchical order: Parent drawing - child drawing - grandchild drawing. 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. INFO The following points apply to calling motion programs. Call motion program with care. More than one motion program with the same number cannot be called using the MSEE instruction. Subprograms (MPS ) cannot be called from the ladder program MSEE instruction. They can be called only from within motion programs (MPM and MPS ). The same subprogram cannot be called from two different locations at the same time. 6-14

132 6.3 User 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. Bit No. Signal Name Signal Type 0 Program start request Differential or NO contact input 1 Program pause request NO contact 2 Program stop request NO contact 3 Program single block mode selection NO contact 4 Program single block start request Differential or NO contact input 5 Alarm reset request NO contact 6 Program continuous operation start request Differential or NO contact input 8 Skip 1 information NO contact 9 Skip 2 information NO contact D System work number setting *1 NO contact E Interpolation override setting *2 NO contact * 1. System Work Number Setting OFF: The system work number is automatically defined by the system. The system work number may be different each time. ON: The system work number can be set with the fourth word of MSEE work register. * 2. Interpolation Override Setting OFF: Interpolation override fixed at 100%. ON: The interpolation override set with third word of MSEE work register is used. For the ladder program inputs, make sure the signals are in accordance with the signal type. 6 IMPORTANT The program will be executed if the program start request signal has been turned ON when the power is turned ON. The following illustration shows the method of executing a motion program. External control signals Operation start Pause Stop DWG.H Motion management functions Program start Program pause Program stop Program control signals MSEE work register DW Status DW +1 Control signals DW +2 Interpolation override DW +3 System work number Motion program number Ladder program for motion program control MSEE MPM001 DA DEND MSEE work register address MPM001 VEL [a1] 5000 [b1].. FMX T ; IAC T25; IDC T30; MOV [a1] 300. [b1].. MVS [a1] 200. [b1] END Ladder program Motion program 6-15

133 6 Basic System Operation Motion 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. Bit No. Status 0 Program is running. 1 Program is pausing. 2 Program stopped with program stop request (reserved by the system) 3 (Reserved by the system) 4 Program stopped under single block mode. 8 Program alarm has been generated. 9 Stopped at break point. B Debugging mode (EWS debugging) D Start request signal history E No system work error F Main program number limit error 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 Numbers System work numbers used for executing motion programs are set in the fourth word of MSEE work registers. Range: 1 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 motion 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 specified 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 number that is being used can be confirmed by referring to the Executing Program Number in SW03200 to SW For example, if the motion program to be monitored is MPM001 and SW03202 is 001, then the work number being used is 3 and so the execution information of motion program MPM001 can be monitored with Work 3 Program Information in SW03380 to SW

134 6.3 User Programs The registers for motion program execution information are shown below. SW03200 SW03216 SW03232 SW03248 SW03264 SW03222 SW03380 SW03438 SW03496 SW03554 SW03612 SW03670 SW03728 SW03786 SW03844 SW03902 SW03960 SW04018 SW04076 SW04134 SW04192 Motion Program Execution Information Executing Program Numbers (Numbers of main programs being executed) 16 words Reserved by the system 16 words Executing Program Bits (Corresponding bits ON during execution) 16 words Reserved by the system 16 words Work 1 Program Information Work 2 Program Information Work 3 Program Information Work 4 Program Information Work 5 Program Information Work 6 Program Information Work 7 Program Information Work 8 Program Information Work 9 Program Information Work 10 Program Information Work 11 Program Information Work 12 Program Information Work 13 Program Information Work 14 Program Information Work 15 Program Information Work 16 Program Information Reserved by the system 58 words 58 words 58 words 58 words 58 words 58 words 58 words 58 words 58 words 58 words 58 words 58 words 58 words 58 words 58 words 58 words 928 words SW03200 SW03201 SW03202 SW03203 SW03204 SW03205 SW03206 SW03207 SW03208 SW03209 SW03210 SW03211 SW03212 SW03213 SW03214 SW03215 SW03232 SW03233 SW03234 SW03235 SW03236 SW03237 SW03238 SW03239 SW03240 SW03241 SW03242 SW03243 SW03244 SW03245 SW03246 SW03247 Executing Program Numbers Work 1 Program Number Work 2 Program Number Work 3 Program Number Work 4 Program Number Work 5 Program Number Work 6 Program Number Work 7 Program Number Work 8 Program Number Work 9 Program Number Work 10 Program Number Work 11 Program Number Work 12 Program Number Work 13 Program Number Work 14 Program Number Work 15 Program Number Work 16 Program Number Executing Program Bits MP 016 (Bit 15) to MP 001 (Bit 0) MP 032 (Bit 15) to MP 017 (Bit 0) MP 048 (Bit 15) to MP 033 (Bit 0) MP 054 (Bit 15) to MP 049 (Bit 0) MP 080 (Bit 15) to MP 055 (Bit 0) MP 096 (Bit 15) to MP 081 (Bit 0) MP 112 (Bit 15) to MP 097 (Bit 0) MP 128 (Bit 15) to MP 113 (Bit 0) MP 144 (Bit 15) to MP 129 (Bit 0) MP 160 (Bit 15) to MP 145 (Bit 0) MP 176 (Bit 15) to MP 161 (Bit 0) MP 192 (Bit 15) to MP 177 (Bit 0) MP 208 (Bit 15) to MP 193 (Bit 0) MP 224 (Bit 15) to MP 209 (Bit 0) MP 240 (Bit 15) to MP 225 (Bit 0) MP 256 (Bit 15) to MP 241 (Bit 0) 6 SW05120 Reserved by the system 64 words 6-17

135 6 Basic System Operation Motion Program The configuration of Work n Program Information is shown below. Work n Program Information Program Status Program Control Signal Parallel 0 Information 3 words Executing Program Number Executing Block Number +5 Alarm Code Parallel 1 Information 3 words +8 Parallel 2 Information 3 words +11 Parallel 3 Information 3 words +14 Parallel 4 Information 3 words +17 Parallel 5 Information 3 words +20 Parallel 6 Information 3 words +23 Parallel 7 Information 3 words Logical Axis 1 Program Current Position Logical Axis 2 Program Current Position Logical Axis 3 Program Current Position Logical Axis 4 Program Current Position Logical Axis 5 Program Current Position Logical Axis 6 Program Current Position Logical Axis 7 Program Current Position Logical Axis 8 Program Current Position Logical Axis 9 Program Current Position Logical Axis 10 Program Current Position Logical Axis 11 Program Current Position Logical Axis 12 Program Current Position Logical Axis 13 Program Current Position Logical Axis 14 Program Current Position Logical Axis 15 Program Current Position Logical Axis 16 Program Current Position 2 words 2 words 2 words 2 words 2 words 2 words 2 words 2 words 2 words 2 words 2 words 2 words 2 words 2 words 2 words 2 words For details on the motion program alarm, refer to Motion Program Alarms. 6-18

136 6.3 User 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 IB00100 OB80000 Servo ON IB00000 DB DB Program start IB00001 DB Program pause IB00002 DB Program stop IB00005 DB Alarm reset MSEE MPM001 DA IB00005 OB8000F Alarm clear The contents of this ladder program are shown in the following table. Step Program Content Number 1 Sets servo ON (OB80000) using the servo ON signal (IB00100), and turns the servo ON. 2 to 10 The signals connected to the MP2100/MP2100M external input signals are stored as the motion program control signals. IW0000 (external input signals) DW00001 (second word of MSEE work registers) Program start Program pause Program stop Alarm reset 11, 12 Calls motion program MPM001 MSEE MPM001 DA Motion program number 2 MSEE work register address 13, 14 Sets the alarm clear (OB8000F) using the alarm reset signal (IB00005), and clears the alarm. When the external input signals (IB00000 to IB00005) connected to the MP2100/MP2100M are input to 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. 6 EXAMPLE The following table shows an example of external input signals required to create the minimum ladder program for running motion programs on the MP2100/MP2100M. External Signal External Signal Name Bit No. Motion Program Control Signal Address IB00000 Program start 0 Program start request IB00001 Program pause 1 Program pause request IB00002 Program stop 2 Program stop request IB00005 Alarm reset 5 Alarm reset request 6-19

137 6 Basic System Operation Functions Functions Functions are executed by being called from a parent, child, or grandchild drawing using the FSTART instruction.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: User programs can be easily divided into parts. 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 provided by the system as standard functions. The user cannot change the standard system functions. Type Name Symbol Description System Counter COUNTER Up/down counter Functions First-in first-out FINFOUT First-in or first-out stack Trace function TRACE Data trace execution control Data trace read DTRC-RD Reading data from data trace memory to user memory Inverter trace read ITRC-RD Reading data from inverter trace memory to user memory Send message function MSG-SND Sending a message to an external communication device. Receive message function MSG-RCV Receiving a message from an external communication device. (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. For details on MPE720 operating methods and details on instructions, refer to the relevant manuals. 6-20

138 6.4 Registers 6.4 Registers This section explains the types of register used by MP2100/MP2100M user programs (mainly ladder programs) and how these registers are used Types of Register (1) Registers in Drawings The registers shown in the following table can be used in all drawings. Type Name Designation Method Range Description S System registers SB, SW, SL, SFnnnnn (SAnnnnn) M Data registers MB, MW, ML, MFnnnnn (MAnnnnn) I Input registers IB, IW, IL, IFhhhh (IAhhhh) O C Output registers Constant registers OB, OW, OL, OFhhhh (OAhhhh) CB, CW, CL, CFnnnnn (CAnnnnn) # # registers #B, #W, #L, #Fnnnnn (#Annnnn) D D registers DB, DW, DL, DFnnnnn (DAnnnnn) SW00000 to SW08191 MW00000 to MW65534 IW0000 to IW13FF OW0000 to OW13FF CW00000 to CW16383 #W00000 to #W16383 DW00000 to DW16383 System registers provided by the system. Register number nnnnn is expressed as a decimal number. When the system is started, SW00000 to SW00049 are cleared to 0. Data registers are shared by all drawings. Used as interfaces between drawings. Register number nnnnn is expressed as a decimal number. Registers used for input data. Register number hhhh is expressed as a hexadecimal number. Registers used for output data. Register number hhhh is expressed as a hexadecimal number. Constant registers can be read only in the program. Register number nnnnn is expressed as a decimal number. # registers can be read only in the corresponding drawing. The actual range used is specified by the user on the MPE720. Register number nnnnn is expressed as a decimal number. D registers are unique to each drawing and can be used only in the corresponding drawing. The actual range used is specified by the user on the MPE720. Register number nnnnn is expressed as a decimal number. Characteristic Common to all drawings Unique to each drawing

139 6 Basic System Operation Types of Register (2) Registers in Functions The types of register shown in the following table can be used in functions. Type Name Designation Method Range Description X Y Z A Function input registers Function output registers Internal function registers External function registers XB, XW, XL, XFnnnnn YB, YW, YL, YFnnnnn ZB, ZW, ZL, ZFnnnnn AB, AW, AL, AFnnnnn # # registers #B, #W, #L, #Fnnnnn (#Annnnn) D D registers DB, DW, DL, DFnnnnn (DAnnnnn) S System registers SB, SW,SL, SFnnnnn (SAnnnnn) M Data registers MB, MW, ML, MFnnnnn (MAnnnnn) I Input registers IB, IW, IL, IFhhhh (IAhhhh) O Output registers OB, OW, OL, OFhhhh (OAhhhh) C Constant registers CB, CW, CL, CFnnnnn (CAnnnnn) XW00000 to XW00016 YW00000 to YW00016 ZW00000 to ZW00063 AW00000 to AW32767 #W00000 to #W16383 DW00000 to DW16383 Note: SA, MA, IA, OA, DA, #A, and CA can also be used in the program. Input to a function. Bit input: XB to XB00000F Integer input: XW00001 to XW00016 Double-length integer input: XL00001 to XL00015 Register number nnnnn is expressed as a decimal number. Output from a function. Bit output: YB to YB00000F Integer output: YW00001 to YW00016 Double-length integer output: YL00001 to YL00015 Register number nnnnn is expressed as a decimal number. Internal registers unique to each function. Can be used in the function for internal processes. Register number nnnnn is expressed as a decimal number. External registers that use the address input value as the base address. For linking with S, M, I, O, #, and DAnnnnn registers. Register number nnnnn is expressed as a decimal number. Registers that can only be read by a function. Can be used only by the corresponding function. The actual range used is specified by the user on the MPE720. Register number nnnnn is expressed as a decimal number. Internal registers unique to each function. Can be used only by the corresponding function. The actual range used is specified by the user on the MPE720. Register number nnnnn is expressed as a decimal number. Characteristic Unique to each function Same as the registers for drawings. These registers can be called from any drawings or function. Use them carefully when the same function is called from drawings with different priority levels. 6-22

140 6.4 Registers (3) Register Ranges in Programs The programs and register ranges are shown below. Registers DWG 共通レジスタ common to all drawings DWG H03( (Drawing) 図面 ) Program プログラム System システムレジスタ registers (SB,SW,SL,SFnnnnn) 1,000 Max steps ステップ max. 1 2 Registers for individual drawings DWG 個別レジスタ データレジスタ Data registers (MB,MW,ML,MFnnnnn) Constant 定数データ data. Max ,384 ワード words max. (#B,#W,#L,#Fnnnnn) #W, #L, #Fnnnnn) Individual 個別データ data. Max ,384 words ワード max. (DB, DW, DL, DFnnnnn) (DB,DW,DL,DFnnnnn) FUNC-000( 関数 (Function) ) Input 入力レジスタ registers (IB,IW,IL,IFhhhh) (IB,IW,IL,IFnnnnn) 3 Program プログラム 1,000 Max steps ステップ max. Registers for individual functions 関数個別レジスタ Function 関数入力レジスタ Input registers 17ワード words (XB, XW, XL, XFnnnnn) (XB,XW,XL,XFnnnnn) Function 関数出力レジスタ output registers 17ワード words (YB, (YB,YW,YL,YFnnnnn) YW, YL, YFnnnnn) Internal 関数内部レジスタ function registers 64ワード words (ZB,ZW,ZL,ZFnnnnn) ZW, ZL, ZFnnnnn) Constant 定数データ data. Max ,384 words ワードmax. (#B, (#B,#W,#L,#Fnnnnn) #W, #L, #Fnnnnn) Individual 個別データ data. Max ,384 words ワード max. (DB,DW,DL,DFnnnnn) DW, DL, DFnnnnn) 4 External function registers (AB, AW, AL, AFnnnnn) 1 Output 出力レジスタ registers (OB,OW,OL,OFhhhh) (OB,OW,OL,OFnnnnn) Constant 定数レジスタ registers (CB,CW,CL,CFnnnnn) 6 1:DWG Registers 共通レジスタは that are, common どの図面 to, 関数からも参照できます all drawings can be called from any drawing or function. 2:DWG Registers 個別レジスタはその図面内でのみ参照できます that are unique to each drawing can be called only from within that drawing. 3: Registers 関数個別レジスタはその関数内でのみ参照できます that are unique to each function can be called only from within that function. 4: Registers 関数からは関数外部レジスタを用いて that are common to all drawings,dwg 共通レジスタ及び and registers DWG that 個別レジスタを参照できます are unique to each drawing can be called from a function using the external function registers. 6-23

141 6 Basic System Operation Register Designation Methods 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 Type Direct Register Number Designation Symbol Designation Description Bit registers: MB00100AX Integer registers: MW00100X Double-length integer registers: ML00100X Real number registers: MF00100X Address registers: MA00100X X: For subscripts, add the subscript i or j after the register number. Bit registers: RESET1-A.X Integer registers: STIME-H.X Double-length integer registers: POS-REF.X Real number registers: IN-DEF.X Address registers: PID-DATA.X Up to 8 characters X: For subscripts, add a period (.) and then the subscript i or j after the symbol. Direct Register Number Designation Register number: V T No. [Bit No.] [Subscript] Can designate the subscript i or j. When T = B (bit) (hexadecimal, 0 to F) Register No. for V (decimal or hexadecimal) Data type of V (T: B, W, L, F, A) Type of register Drawing: (V: S, M, I, O, C, #, D) Function: (V: S, M, I, O, C, #, D, X, Y, Z, A) Symbol Designation Symbol: [Symbol Name] [.] [Subscript] Can designate the subscript i or j. Required if a subscript is to be used (symbol name and subscript delimiter) Name given to the register, 8 characters or less X X X X X X X X Alphanumeric characters or symbols Alphabetic characters or symbol (A numeral cannot be designated at the beginning of a symbol name.) 6-24

142 6.4 Registers Data Types There are five data types: Bit, integer, double-length integer, real number, and address. Use them as required. Address data is used only for pointer designations inside functions. The following table shows the data types. Type Data Type Numeric Range Remarks B Bit ON, OFF Used in relay circuits. W Integer to (8000H)(7FFFH) Used in numeric operations. The values in parentheses ( ) are used in logic operations. L Double-length integer to ( H)(7FFFFFFFH) Used in numeric operations. The values in parentheses ( ) are used in logic operations. F Real number ±(1.175E-38 to 3.402E+38), 0 Used in numeric operations. A Address 0 to Used only for pointer designations. Register Designations and Data Types [ MB ] Bit Integar [ MW00100 ] [ MW00101 ] F E D C B A [ ML00100 ] [ MF00100 ] [ MW00102 ] [ ML00102 ] [ MF00102 ] 6 [ MW00103 ] [ MB00103A ] Bit Double-length integar, Real number Pointer Designations メモリ上のア Memory address ドレス Register area [ MA00100 MA00100 ] ] [ MB ] [ MW00100 ] [ MW00101 ] [ MW00102 ] [ MW00103 ] [ ML00100 ] [ MF00100 ] 6-25

143 6 Basic System Operation Data Types (a) Examples of Use by Data Type 1. Bits Bits are used for relay circuit ON/OFF. IB00010 MB IFON IB Words Words are used for numeric operations and logic operations. MW00100 V H00FF MW00101 MW MW00103 MW00104 INV MW Double-length Integers Double-length integers are used for numeric operations and logic operations. ML ML00102 ML00106 ML ML00104 ML00110 ML00112 BIN ML Real Numbers Real numbers are used for floating-point numeric operations DF00100 ( ) DF00102 SIN DF00104 (30.0) (0.5) DF00200 TAN DF00202 (45.0) (1.0) 6-26

144 6.4 Registers 5. Addresses Addresses are used only for pointer designations. MF00200 to MF00228 are used as the parameter table in the following example. MF00200~MF00228をパラメータテーブルとして使用します Error input value MF00200 偏差入力値 PID MA00200 MF00022 Parameter パラメータテーブル table leading address 先頭アドレス PID output value PID 出力値 MW00200 to MW00204 are used as the parameter table in the following example. MF00200~MF00204をパラメータテーブルとして使用します MW00200 LAG MA00200 Parameter table leading address パラメータテーブル先頭アドレス Input 入力値 value MW00022 LAG output value LAG 出力値 Using 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) Subscripts Attached to Bit Data 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 MB If j = 27, MB000000j will be the same as MB00001B. 6 2 I MB000000i Equivalent 等価 MB (2) Subscripts Attached to Integer Data 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 MW If j = 30, MW00001j will be the same as MW MW00001j J Equivalent 等価 MW00031 (3) Subscripts Attached to Double-length Integer Data 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 ML ML00000j when j = 0, and ML00000j when j = 1 will be as follows: ML00000j J=0のときwhen ML00000J: j = 0: ML00000 ML00000 ML00000j J=1のときwhen ML00000J: j = 1: ML00001 ML00001 Upper-place word 上位ワード MW00001 MW00002 Lower-place word 下位ワード MW00000 MW

145 6 Basic System Operation Using Subscripts i and j (4) Subscripts Attached to Real Number Data When a subscript is attached to real number integer data, the value of i or j is added to the register number. For example, if i = 1, MF00000i will be the same as MF MF00000j when j = 0, and MF00000j when j = 1 will be as follows: MF00000j J=0のときMF00000J: when j = 0: MF00000 MF00000 MF00000j J=1のときMF00000J: when j = 1: MF00001 MF00001 Upper-place word 上位ワード MW00001 MW00002 Lower-place word 下位ワード MW00000 MW00001 EXAMPLE Programming Example Using Subscripts The program shown in Figure 6.4 sets the sum of 100 registers from MW00100 to MW00199 in MW00200 using subscript j MW00200 FOR J = to by MW MW00100j FEND MW00200 Figure 6.4 Programming Example Using a Subscript 6-28

146 6.5 Self-configuration 6.5 Self-configuration 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 MP2100/MP2100M system. MECHATROLINK 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 INIT and CNFG of the mode switch ON, or it can be executed from the MPE720. The procedure for executing self-configuration using the INIT and CNFG of the mode switch is given below. The allocated I/O register numbers will change when self-configuration is executed. Executing Self-configuration for the Whole Configuration MP2100 Mode switch 1: Set 1 (INIT) to ON Mode switch 2: Set 3 (CNFG) to ON MP2100M Mode switch 1: Set 4 (INIT) to ON Mode switch 1: Set 3 (CNFG) to 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. Executing Self-configuration for Additions and Changes MP2100 Mode switch 1: Set 1 (INIT) to OFF Mode switch 2: Set 3 (CNFG) to ON MP2100M Mode switch 1: Set 4 (INIT) to OFF Mode switch 1: Set 3 (CNFG) to ON Self-configuration is executed for network devices that have been added or changed. Make sure that devices with existing definition files are connected when self-configuration is executed. Only definition data for devices that have been added or changed will be overwritten. The following example is for MP (CNFG) of the Mode Switch 2 ON 1 (INIT) of the Mode Switch 1 ON No Power ON CNFG ON INIT ON Yes The S1 indicator blinks (green) during self-configuration. If an error occurs during self-configuration, the S1 indicator will light (red). Self-configuration processing Definition files checked and changed using the MPE720 3 (CNFG) of the Mode Switch 2 OFF 1 (INIT) of the Mode Switch OFF (Flash memory startup) Data written to flash memory using the MPE720 Power OFF ON 6-29

147 6 Basic System Operation MP2100/MP2100M Self-configuration MP2100/MP2100M Self-configuration Details on definition information when self-configuration is executed are shown below. (1) I/O Allocation Item Digital inputs (5 points) Digital output (4 points) MECHATROLINK IW0000 OW0001 Allocation I/O leading registers: IW/OW0010 I/O end registers: IW/OW040F IW0010 to IW040F OW0010 to OW040F (2) MECHATROLINK Station Information When self-configuration is executed, discrimination for devices connected to MECHATROLINK will be performed automatically. An overview of self-configuration processing for MECHATROLINK is given below. Start of self-configuration MECHATROLINK-II search for connected devices No connected devices detected Connected devices detected In searches for devices connected with MECHATROLINK-II, the communication cycle is 1 ms and detection is possible for up to 9 axes. If there is no response or there is a communication error due to, for example, duplicated station numbers or a cable disconnection, no device is detected for the corresponding station. No connected devices detected End of self-configuration MECHATROLINK-I search for connected devices (1) Station information settings (2) Fixed parameter settings (3) Setting parameter settings Connected devices detected In searches for devices connected with MECHATROLINK-I, the communication cycle is 2 ms and detection is possible for up to 14 axes. If there is no response or there is a communication error due to, for example, duplicated station numbers or a cable disconnection, no device is detected for the corresponding station. End of self-configuration 6-30

148 6.5 Self-configuration (a) Devices Recognized in Self-configuration The devices that are recognized in self-configuration are listed below. Type Model Number Details SERVO- PACK Distributed I/O Module SGD- N SGDB- AN SGDH- E JUSP-NS100 SGDH- E JUSP-NS115 SGDS- 1 JAMSC-120DDI34330 JAMSC-120DDO34340 JAMSC-120AVI02030 JAMSC-120AVO01030 JAMSC-120EHC21140 JAMSC-120MMB20230 JEPMC-IO2310 JEPMC-PL2900 JEPMC-PL2910 JEPMC-AN2900 JEPMC-AN2910 Σ Series AC Servodrives Σ-II Series SGDH Servodrives Application Module MECHATROLINK-I Interface Unit Σ-II Series SGDH Servodrives Application Module MECHATROLINK-II Interface Unit Σ-III Series AC Servodrives DC Input Module 12/24 VDC, 16 inputs DC Output Module 12/24 VDC, 16 outputs A/D Module Analog inputs, 10 to 10 V, 4 channels D/A Module Analog outputs, 10 to 10 V, 2 channels Counter Module Reversible counters, 2 channels Pulse Output Module Pulse output, 2 channels 64-point I/O Module 24 VDC, 64 inputs, 64 outputs Counter Module Reversible counter, 2 channels Pulse Output Module Pulse output, 2 channels A/D Module Analog inputs, 10 to 10 V, 4 channels D/A Module Analog outputs, 10 to 10 V, 2 channels 6 (b) Devices Not Recognized in Self-configuration The devices that are not recognized in self-configuration are listed below. Type Model Number Details Distributed I/O Module JEPMC-IO350 JAMSC-120DAI53330 JAMSC-120DAI73330 JAMSC-120DAO83330 JAMSC-120DRA point I/O Module 24 VDC, 64 inputs, 64 outputs AC Input Module 100 VAC, 8 inputs AC Input Module 200 VAC, 8 inputs AC Output Module 100/200 VAC, 8 outputs Relay Module Wide voltage range relay contacts, 8 contact inputs Modules are detected as I/O. Reallocate as necessary. 6-31

149 6 Basic System Operation MP2100/MP2100M Self-configuration (c) Motion Fixed Parameters When self-configuration is executed, all motion fixed parameters, except the ones listed below, will return to their default settings. For details on motion fixed parameters, refer to Chapter 7 Motion Parameters. No. Name Set Value 30 Encoder Type Value read from SERVOPACK s parameters 34 Rated Speed Value read from SERVOPACK s parameters 36 Encoder Resolution Value read from SERVOPACK s parameters 38 Max. Revolution of Absolute Value read from SERVOPACK s parameters Encoder (d) Motion Setting Parameters When self-configuration is executed, all motion setting parameters, except the ones listed below, will return to their default settings. For details on motion setting parameters, refer to Chapter 7 Motion Parameters. MP2100 SERVOPACK Setting Parameter SGD-N, SGDH+ SGDH+ SGDB-N NS100 NS115 Position Loop Gain OW 2E Cn-001A Pn102 Speed Loop Gain OW 2F Cn-0004 Pn100 Speed Feed Forward OW 30 Cn-001D Pn109 Compensation Position Integration Time OW 32 - Pn11F Constant Speed Integration Time OW 34 Cn-0005 Pn101 Constant S-Curve Acceleration Time OW 3A Cn-0026 Pn812 SGDS * The above processing is not performed for axes that already have parameter settings. (e) SERVOPACK Parameters When self-configuration is executed, the SERVOPACK parameters listed below will be rewritten. All other parameters, however, will take the values read from the SERVOPACK s parameters. Table 6.1 SGD-N and SGDB Parameters Parameter Meaning Default Set Value Cn-0001 Bits 2 and 3 Memory Switches 1 P-OT and N-OT Masks 0 1 Cn-0004 Speed Loop Gain Cn-0005 Speed Loop Integration Time Constant Cn-0014 Bits 2 and 3 Memory Switches 4 P-SOT and N-SOT Masks 0 1 Cn-001A Position Loop Gain Cn-001B Positioning Completed Width Cn-001D Feed Forward Gain 0 0 Cn-001E Following Error Overflow Range Cn-0024 Electronic Gear Ratio B (Numerator) 4 1 Cn-0025 Electronic Gear Ratio A (Denominator)

150 6.5 Self-configuration Table 6.2 SGDH+NS100 and SGDH+NS115 Parameters Parameters Meaning Default Set Value Pn100 Speed Loop Gain Pn101 Speed Loop Integration Time Constant Pn102 Position Loop Gain Pn109 Feed Forward 0 0 Pn11F Position Loop Integration Time Constant Pn202 Electronic Gear Ratio B (Numerator) 4 1 Pn203 Electronic Gear Ratio A (Denominator) 1 1 Pn500 Positioning Completed Width Pn505 Overflow Level Pn50A.3 Input Signal Selections 1 P-OT Signal Mapping 2 8 Pn50B.0 Input Signal Selections 2 N-OT Signal Mapping 3 8 Pn511 Input Signal Selections Pn801.0 Communication Function Application Table 6.3 SGDS Parameters Parameters Meaning Default Set Value Pn100 Speed Loop Gain Pn101 Speed Loop Integration Time Constant Pn102 Position Loop Gain Pn109 Feed Forward 0 0 Pn11F Position Loop Integration Time Constant Pn20E Electronic Gear Ratio B (Numerator) 4 1 Pn210 Electronic Gear Ratio A (Denominator) 1 1 Pn500 Positioning Completed Width Pn505 Overflow Level Pn50A.3 Input Signal Selections 1 P-OT Signal Mapping 2 8 Pn50B.0 Input Signal Selections 2 N-OT Signal Mapping 3 8 Pn511 Input Signal Selections Pn801.0 Communication Function Application

151 6 Basic System Operation Overview of the Motion API 6.6 Motion API Overview of the Motion API The Motion API is a group of C-language service functions that send commands to the MP2100/MP2100M from a user application running in the host computer. Commands such as motion commands can be sent easily from the host computer based on the mechanical characteristics of the system. Personal computer ymc Move Circular Center (...) ymc Move Circular Radius (...) Motion API PCI bus MP2100/MP2100M The controller s internal S, M, I, and O registers can be accessed from the computer program. Registers Motion registers OW8XXX IW8XXX Ladder program Motion control system MECHATROLINK-II (1) Main Motion API Functions The main motion API functions are listed below. Refer to Appendix A Motion API for more details. (a) Common APIs Device Unit conversion function Parameter operations (b) Sequential APIs Positioning function Interpolation function Torque reference function Synchronization function Compensation function Motion operations Driver operations (c) System APIs Data operations System information System operations Calendar operations 6-34

152 6.6 Motion API Motion API Software The following diagram shows the software configuration of the MP2100/MP2100M's Motion API. Host computer User application *.EXE General-purpose C-language development environment (such as Visual C++) Include Link Header file (ymcapi*.h Motion API DLL ymcpcapi.dll Library file ymcpcapi.lib MP2100 device drivers Mp2100.SYS Windows NT Windows 2000 Shared memory System area 32KB Registers S/M/I/O/C User application (such as DWG) The following table describes the files used in the diagram above. MP2100/MP2100M 6 File Name Mp2100.sys ymcpcapi.lib ymcapi.h ymcpcapi.dll Description This device driver transfers data to the MP2100/MP2100M. The driver is registered in the Windows system when the MP2100/MP2100M package is installed in the computer. This library file is needed to develop applications that use the Motion API. This header file is needed to execute applications that use the Motion API. This DLL is needed to execute the Motion API Installed Files List The following table lists the files that are copied to the host computer when the MP2100/MP2100M's Motion API is installed. File Name Description Destination Directory Mp2100.sys This device driver transfers data to the MP2100/MP2100M. \WINNT\system32\drivers ymcpcapi.lib This library file is needed to develop application programs that use the Motion API. Link this file when linking the application program. \YeTools\PCAPI\Lib ymcapi.h This header file is needed to execute applications that use the Motion API. \YeTools\PCAPI\Include ymcpcapi.dll This DLL is needed to execute the Motion API. When executing an application that uses the Motion API, either copy this file directly to the directory containing the application or copy it through a system directory with a path such as \WINNT\system32. \YeTools\PCAPI\Dll 6-35

153 6 Basic System Operation Installing MP2100/MP2100M Installing MP2100/MP2100M (1) Overview of the Software Package The following table shows an overview of the MP2100/MP2100M's Motion API package. Name Model Specifications Package Overview Motion API for the MP2100/MP2100M CPMC-MPA700 Note: Use Motion API Ver or later for the MP2100M. Motion API for the MP2100/MP2100M (1 CD-ROM) (2) MP2100/MP2100M Motion API Installation Procedure The following files are copied by the Installer program. Dynamic link library (.dll) Library (.lib) Header file (.h) Driver Communication process Help file Sample program Use the following procedure to install the Motion API for the MP2100/MP2100M. 1. Insert the CD-ROM containing the Motion API for the MP2100/MP2100M into the host computer's CD- ROM drive and start the Setup program by double-clicking the Setup.exe Icon in Windows Explorer. 2. The following windows will be displayed. Click the Next Button. 6-36

154 6.6 Motion API 3. Specify the destination directory where the Motion API will be installed and click the Next Button The following driver installation prompt will be displayed. Click the OK Button. 5. The host computer must be restarted to enable the environment variable path. 6-37

155 6 Basic System Operation Installing MP2100/MP2100M (3) Verifying the Installation After restarting the host computer, open Windows Explorer and verify that the folders were created as shown below. Refer to the MP2100 API reference file (PCAPI.chm) for details on the Motion API. 6-38

156 7 Motion Parameters This chapter provides information on the motion parameters. 7.1 Motion Parameters Register Numbers Motion Parameter Details Motion Fixed Parameter Details Motion Setting Parameter Details Motion Monitoring Parameter Details Example of Setting Motion Parameters for the Machine Reference Unit Electronic Gear Axis Type Selection Position References Speed References Acceleration/Deceleration Settings Acceleration/Deceleration Filter Settings

157 7 Motion Parameters 7.1 Motion Parameters Register Numbers The motion parameters register numbers are determined by the circuit number and axis number. The following tables lists the motion parameters register numbers. INFO The register numbers for the motion parameters for each axis can be obtained using the following equation. Motion parameters register number = O (I) W (Circuit number 1) 800 hex + (Axis number 1) 80 hex Circuit No. Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis to 807F 8080 to 80FF 8100 to 817F 8180 to 81FF 8200 to 827F 8280 to 82FF 8300 to 837F 8380 to 83FF to 887F 8880 to 88FF 8900 to 897F 8980 to 89FF 8A00 to 8A7F 8A80 to 8AFF 8B00 to 8B7F 8B80 to 8BFF to 907F 9080 to 90FF 9100 to 917F 9180 to 91FF 9200 to 927F 9280 to 92FF 9300 to 937F 9380 to 93FF to 987F 9880 to 98FF 9900 to 997F 9980 to 99FF 9A00 to 9A7F 9A80 to 9AFF 9B00 to 9B7F 9B80 to 9BFF 5 A000 to A07F A080 to A0FF A100 to A17F A180 to A1FF A200 to A27F A280 to A2FF A300 to A37F A380 to A3FF 6 A800 to A87F A880 to A8FF A900 to A97F A980 to A9FF AA00 to AA7F AA80 to AAFF AB00 to AB7F AB80 to ABFF 7 B000 to B07F B080 to B0FF B100 to B17F B180 to B1FF B200 to B27F B280 to B2FF B300 to B37F B380 to B3FF 8 B800 to B87F B880 to B8FF B900 to B97F B980 to B9FF BA00 to BA7F BA80 to BAFF BB00 to BB7F BB80 to BBFF 9 C000 to C07F C080 to C0FF C100 to C17F C180 to C1FF C200 to C27F C280 to C2FF C300 to C37F C380 to C3FF 10 C800 to C87F C880 to C8FF C900 to C97F C980 to C9FF CA00 to CA7F CA80 to CAFF CB00 to CB7F CB80 to CBFF 11 D000 to D07F D080 to D0FF D100 to D17F D180 to D1FF D200 to D27F D280 to D2FF D300 to D37F D380 to D3FF 12 D800 to D87F D880 to D8FF D900 to D97F D980 to D9FF DA00 to DA7F DA80 to DAFF DB00 to DB7F DB80 to DBFF 13 E000 to E07F E080 to E0FF E100 to E17F E180 to E1FF E200 to E27F E280 to E2FF E300 to E37F E380 to E3FF 14 E800 to E87F E880 to E8FF E900 to E97F E980 to E9FF EA00 to EA7F EA80 to EAFF EB00 to EB7F EB80 to EBFF 15 F000 to F07F F080 to F0FF F100 to F17F F180 to F1FF F200 to F27F F280 to F2FF F300 to F37F F380 to F3FF 16 F800 to F87F F880 to F8FF F900 to F97F F980 to F9FF FA00 to FA7F FA80 to FAFF FB00 to FB7F FB80 to FBFF Circuit No. Axis 9 Axis 10 Axis 11 Axis 12 Axis 13 Axis 14 Axis 15 Axis to 847F 8480 to 84FF 8500 to 857F 8580 to 85FF 8600 to 867F 8680 to 86FF 8700 to 877F 8780 to 87FF 2 8C00 to 8C7F 8C80 to 8CFF 8D00 to 8D7F 8D80 to 8DFF 8E00 to 8E7F 8E80 to 8EFF 8F00 to 8F7F 8F80 to 8FFF to 947F 9480 to 94FF 9500 to 957F 9580 to 95FF 9600 to 967F 9680 to 96FF 9700 to 977F 9780 to 97FF 4 9C00 to 9C7F 9C80 to 9CFF 9D00 to 9D7F 9D80 to 9DFF 9E00 to 9E7F 9E80 to 9EFF 9F00 to 9F7F 9F80 to 9FFF 5 A400 to A47F A480 to A4FF A500 to A57F A580 to A5FF A600 to A67F A680 to A6FF A700 to A77F A780 to A7FF 6 AC00 to AC7F AC80 to ACFF AD00 to AD7F AD80 to ADFF AE00 to AE7F AE80 to AEFF AF00 to AF7F AF80 to AFFF 7 B400 to B47F B480 to B4FF B500 to B57F B580 to B5FF B600 to B67F B680 to B6FF B700 to B77F B780 to B7FF 8 BC00 to BC7F BC80 to BCFF BD00 to BD7F BD80 to BDFF BE00 to BE7F BE80 to BEFF BF00 to BF7F BF80 to BFFF 9 C400 to C47F C480 to C4FF C500 to C57F C580 to C5FF C600 to C67F C680 to C6FF C700 to C77F C780 to C7FF 10 CC00 to CC7F CC80 to CCFF CD00 to CD7F CD80 to CDFF CE00 to CE7F CE80 to CEFF CF00 to CF7F CF80 to CFFF 11 D400 to D47F D480 to D4FF D500 to D57F D580 to D5FF D600 to D67F D680 to D6FF D700 to D77F D780 to D7FF 12 DC00 to DC7F DC80 to DCFF DD00 to DD7F DD80 to DDFF DE00 to DE7F DE80 to DEFF DF00 to DF7F DF80 to DFFF 13 E400 to E47F E480 to E4FF E500 to E57F E580 to E5FF E600 to E67F E680 to E6FF E700 to E77F E780 to E7FF 14 EC00 to EC7F EC80 to ECFF ED00 to ED7F ED80 to EDFF EE00 to EE7F EE80 to EEFF EF00 to EF7F EF80 to EFFF 15 F400 to F47F F480 to F4FF F500 to F57F F580 to F5FF F600 to F67F F680 to F6FF F700 to F77F F780 to F7FF 16 FC00 to FC7F FC80 to FCFF FD00 to FD7F FD80 to FDFF FE00 to FE7F FE80 to FEFF FF00 to FF7F FF80 to FFFF 7-2

158 7.2 Motion Parameter Details 7.2 Motion Parameter Details Motion Fixed Parameter Details (1) Run Mode Run Mode No. 0 Setting Range Setting Unit Default Value 0 to 3 0 Specify the application method of the axis. 0: Normal Running (default) Use this setting when actually using an axis. 1: Axis Unused No control will be performed for an axis set to this mode, and monitoring parameters will not be updated. If an axis is changed from any other run mode to this mode, the monitoring parameters will be held at the current status except for the Drive Status (monitoring parameter IW 00), which will be cleared to zeros. Set any axis that is not being used to this mode to reduce the processing time. 2: Simulation Mode In Simulation Mode, position information will be stored in the monitoring parameters even if a Servodrive is not connected. This mode is used to virtually check the operation of the applications program. 3: Servo Driver Command (SERVOPACK Transparent Command Mode) Servo Driver Command Mode is used to directly control the command-response communication with the MECHA- TROLINK SERVOPACK from the application. No processing other than communication processing with the SERVOPACK will be performed in this mode. Position control and other processing must be performed in the application. Commands to the SERVOPACK are set in the area starting with setting parameter OW 70 and responses are stored in the area starting with monitoring parameter IW 70. (2) Function Selection 1 No. 1 Function Selection 1 Setting Range Setting Unit Default Value 0000H No. 1 Bit 0 Axis Type Set whether or not there is a limit on controlled axis travel. 0: Linear (finite length axis) (default) The axis will have limited movement. The software limit function is enabled. 1: Rotary (infinite length axis) The axis will have unlimited movement. The software limit function is disabled. If an infinite length axis is set, the position information will be reset each time the position is exceeded the value set for the Maximum Value of Rotary Counter (fixed parameter 10). Bit 1 Forward Soft Limit Enabled (Forward Software Limit Enabled) Set whether or not to use the software limit function in the positive direction. Set the software limit as the Forward Software Limit (fixed parameter 12). This setting is disabled if the axis is set to an infinite length axis. The software limit function is enabled after Zero Point Return or Zero Point Setting (IB 0C5 is ON) has been completed. For details, refer to 14.3 Software Limit Function. 0: Disabled (default) 1: Enabled Bit 2 Reverse Soft Limit Enabled (Reverse Software Limit Enabled) Set whether or not to use the software limit function in the negative direction. Set the software limit as the Reverse Software Limit (fixed parameter 14). This setting is disabled if the axis is set to an infinite length axis. The software limit function is enabled after Zero Point Return or Zero Point Setting (IB 0C5 is ON) has been completed. For details, refer to 14.3 Software Limit Function. 0: Disabled (default) 1: Enabled 7 7-3

159 7 Motion Parameters Motion Fixed Parameter Details No. 1 No. 1 (cont.) Bit 3 Positive Over Travel Set whether or not to use the overtravel detection function in the positive direction. A setting must also be made in the SERVOPACK. If this function is disabled and the positive OT signal is input, an alarm will not occur, but a warning will occur. For details, refer to 14.2 Overtravel Function. 0: Disabled (default) 1: Enabled Bit 4 Bit 8 Bit 9 Bit A (3) Function Selection 2 Function Selection 1 Setting Range Setting Unit Default Value 0000H Negative Over Travel Set whether or not to use the overtravel detection function in the negative direction. A setting must also be made in the SERVOPACK. If this function is disabled and the negative OT signal is input, an alarm will not occur, but a warning will occur. For details, refer to 14.2 Overtravel Function. 0: Disabled (default) 1: Enabled Segment Distribution Processing When executing an interpolation command (INTERPOLATE, LATCH, or PHASE), converts reference value that is generated with high-speed scan to reference value for MECHATROLINK communication cycle. Set to 0 when using an interpolation command. 0: Enabled (default) 1: Disabled Simple ABS Infinite Axis Controls infinite length position on the condition that the number of turns that the encoder can count is a multiple of the number of turns corresponding to the reference unit reset frequency. With this function, it is not necessary to save and load absolute infinite axis information, eliminating the need for ladder program and simplifying handling. 0: Disabled (default) 1: Enabled Refer to Infinite Length Axis for details. User Constants Self-Writing Function Automatically writes MP2100/MP2100M setting parameters to the SERVOPACK parameters when a MECHATROLINK communication connection is established. Also, the automatic writing is triggered by changing the setting parameters or starting execution of a motion command. 0: Enabled (default) 1: Disabled Refer to Appendix B Parameters That are Automatically Updated for details. No. 2 Function Selection 2 Setting Range Setting Unit Default Value 0000H No. 2 Bit 0 Communication Error Mask Masks MECHATROLINK communication errors detected at the MP2100/MP2100M. 0: Disabled (default) 1: Enabled Bit 1 WDT Error Mask Masks MECHATROLINK watchdog timeout errors detected at the MP2100/ MP2100M. 0: Disabled (default) 1: Enabled 7-4

160 7.2 Motion Parameter Details (4) Command Unit Command Unit No. 4 Setting Range Setting Unit Default Value 0 to 3 0 Set the unit for the reference that is input. The minimum reference unit is determined by this parameter and, the Number of Decimal Places (fixed parameter 5). If pulse is selected, the Electronic Gear Ratio (fixed parameters 8 and 9) will be disabled. Refer to Reference Unit in 7.3 Example of Setting Motion Parameters for the Machine for details. 0: pulse (electronic gear disabled) 1: mm 2: deg 3: inch Number of Decimal Places No. 5 Setting Range Setting Unit Default Value 0 to 5 3 Set the number of places to the right of the decimal point in input references. The minimum reference unit is determined by this parameter and the Command Unit (fixed parameter 4). Example If Command Unit = mm and Number of Digits Below the Decimal Place = 3 Then, a reference unit of 1 = mm The setting of this parameter is disabled if the Command Unit is set to pulse in fixed parameter 4. Refer to Reference Unit in 7.3 Example of Setting Motion Parameters for the Machine for details. No. 6 Command Unit per Revolution Setting Range Setting Unit Default Value 1 to Reference unit Specify the amount of travel in the load as the number of reference units for each turn of the load shaft. Refer to Reference Unit in 7.3 Example of Setting Motion Parameters for the Machine for details. Gear Ratio [MOTOR] No. 8 Setting Range Setting Unit Default Value 1 to rev (revolutions) 1 Set the gear ratio between the motor and the load. The following two values are set for a configuration in which the load shaft will turn n times in response to m turns of the motor shaft. Gear ratio at Servomotor: m Gear ratio at load: n The setting of this parameter is disabled if the Command Unit (Reference Unit) is set to pulse in fixed parameter 4. Refer to Electronic Gear in 7.3 Example of Setting Motion Parameters for the Machine for details. No. 9 Same as for No. 8. Gear Ratio [LOAD] Setting Range Setting Unit Default Value 1 to rev (revolutions)

161 7 Motion Parameters Motion Fixed Parameter Details (5) Maximum Value of Rotary Counter (POSMAX) Maximum Value of Rotary Counter (POSMAX) No. 10 Setting Range Setting Unit Default Value 1 to Reference unit Set the reset position when an infinite length axis is set. Enabled when bit 0 of Function Selection 1 (fixed parameter) is set to an infinite axis. Position Forward rotation POSMAX Reverse rotation 0 The position data for the infinite axes is controlled in the range from 0 to POSMAX. (6) Software Limit No. 12 Forward Software Limit Setting Range Setting Unit Default Value 2 31 to Reference unit Set the position to be detected for the software limit in the positive direction at the MP2100/MP2100M. If an axis attempts to move in the positive direction past the position set here, a positive software limit alarm (IB 043) will occur. No. 14 Reverse Software Limit Setting Range Setting Unit Default Value 2 31 to Reference unit 2 31 Set the position to be detected for the software limit in the negative direction at the MP2100/MP2100M. If an axis attempts to move in the negative direction past the position set here, a negative software limit alarm (IB 044) will occur. Negative software limit Range of machine movement Positive software limit No. 1: Function Selection 1 Bit 2: 0 = Disabled 1 = Enabled No. 1: Function Selection 1 Bit 1: 0 = Disabled 1 = Enabled The software limit function is enabled after completing a Zero Point Return or Zero Point Setting operation (i.e., when IB 0C5 is ON). For details, refer to 14.3 Software Limit Function. 7-6

162 7.2 Motion Parameter Details (7) Backlash Compensation No. 16 Backlash Compensation Setting Range Setting Unit Default Value 2 31 to Reference unit 0 Set the backlash compensation in reference units. Backlash compensation can be disabled by setting this parameter to 0. Perform backlash compensation using the functions at the SERVOPACK. The setting is enabled when communication is established with the SERVOPACK (NS115: Pn81B, SGDS: Pn214). Backlash compensation cannot be used for the SGD-N, SGDB-N, or SGDH+NS100 SERVOPACKs because they do not have a parameter to set the backlash compensation. Using Backlash Compensation in Forward Direction Machine Motor axis Machine Compensation Forward direction Motor axis Compensation Using Backlash Compensation in Reverse Direction Machine Motor axis Compensation Reverse direction Machine Compensation Motor axis 7 (8) SERVOPACK Settings No. 29 Motor Type Setting Range Setting Unit Default Value 0 or 1 0 Set the type of motor that is used. An alarm (IL 04, bit 30) will occur if this setting does not match with the type of motor actually used. 0: Rotary motor 1: Linear motor No. 30 Encoder Type Setting Range Setting Unit Default Value 0 to 3 0 Set the type of encoder that is used. When using a linear motor, this setting is ignored and incremental processing is performed. 0: Incremental encoder 1: Absolute encoder 2: Absolute encoder used as an incremental encoder. 3: Reserved 7-7

163 7 Motion Parameters Motion Fixed Parameter Details (9) Encoder Settings No. 34 Rated Speed Setting Range Setting Unit Default Value 1 to min Set the rated motor speed in 1 min 1 units. Set this parameter based on the specifications of the motor that is used. No. 36 Encoder Resolution Setting Range Setting Unit Default Value 1 to pulse Set the number of feedback pulses per motor rotation. Set the value after multiplication to match the specifications of the motor to be used. For example, if a 16-bit encoder is used, set 2 16 = Max. Revolution of Absolute Encoder No. 38 Setting Range Setting Unit Default Value 1 to rev Set the maximum number of rotations for the absolute encoder when an absolute encoder is used. Set it according to the setting of the encoder to be used. Σ Series: Always set to Σ-II or Σ-III Series: Set to the same value as the multiturn limit in the SERVOPACK. For axes set as infinite axes (Function Selection 1 (fixed parameter 1), bit 0 set to 1), set to max. (same value as Pn205). Fixed Parameter 38, Pn205 = Fixed Parameter 38, Pn Multiturn data Forward rotation Reverse rotation Revolutions Multiturn data Pn205 value Forward rotation Reverse rotation Revolutions This parameter is used to manage position data when an absolute encoder is used and an infinite length axis has been set. Feedback Speed Moving Average Time Constant No. 42 Setting Range Setting Unit Default Value 0 to 32 ms 10 The Feedback Speed (monitoring parameter IL 40) is the value obtained by calculating the moving average for the time constant from the feedback position for every scan. 7-8

164 7.2 Motion Parameter Details Motion Setting Parameter Details The motion setting parameters are listed in the following tables. Note: Position: The labels shown in reverse type indicate that the parameter is enabled during the corresponding control modes. (1) RUN Commands RUN Commands Position Phase Speed Torque OW 00 Setting Range Setting Unit Default Value 0000H OW 00 Bit 0 Servo ON Set whether or not to turn ON (excite) the SERVOPACK. 0: Servo OFF (default) 1: Servo ON Bit 1 Machine Lock During the machine lock mode, the Target Position (CPOS) (monitoring parameter IL 10) will be updated but no movement will occur on the axis. Changes to the machine lock mode are valid after all pulses have been distributed. The machine lock mode cannot be changed during speed or torque control. 0: Machine lock mode released (default) 1: Machine lock mode Bit 4 Latch Request Store the current position when the latch signal turns ON in the Machine Coordinate Latch Position (monitoring parameter IL 18). When latch detection is completed, the Latch Completed bit will turn ON in the Position Management Status (monitoring parameter IW 0C, bit 2). To perform latch detection again, change this bit from 0 to 1. Set the latch signal to be used in the Latch Input Signal Type of Function 2 (setting parameter OW 04, bits 0 to 3). This function is achieved using the Servo command expansion area and can be executed only with the MECHATROLINK-II, 32-byte Mode communication method. Do not change this bit to 1 during execution of the motion commands for zero point return, external positioning, or latching. Doing so may result in a warning at the SERVOPACK. 7 OB 004 Latch signal IB 0C2 Conditions for Latch Request ON Latch Completion Signal (IB 0C2) is OFF The time prior to the latch signal turning ON is more than the required latch processing time. Note: Turn ON the Latch Request according to the required latch processing time obtained from the following equation. Latch processing time = Two scans + MECHATROLINK communication cycle + SERVOPACK processing time (4 ms max.) 0: Latch request OFF (default) 1: Latch request ON 7-9

165 7 Motion Parameters Motion Setting Parameter Details OW 00 (cont.) OW 00 Bit 6 Bit 7 Bit 8 Bit 9 Bit B Bit F RUN Commands Position Phase Speed Torque Setting Range Setting Unit Default Value 0000H POSMAX Preset Presets the POSMAX Number of Turns (monitoring parameter IL 1E) to the value set for the Preset Data of POSMAX Turn (setting parameter OL 4C). 0: POSMAX Preset OFF (default) 1: POSMAX Preset ON Infinite Length Axis Position Information LOAD When an infinite length axis is used with an absolute encoder, reset the position information with the encoder position that existed when the power was OFF and the data set for the pulse position when the power was OFF. When processing has been completed for this bit, the ABS System Infinite Length Position Control Information LOAD Completed bit will be turned ON in the Position Management Status (monitoring parameter IW 0C, bit 8). 0: Infinite Length Axis Position Information LOAD OFF (default) 1: Infinite Length Axis Position Information LOAD ON Forward External Torque Limit Input Limit the torque by the value set in the SERVOPACK parameters. The setting is enabled when the move command or the SERVO ON command is sent. There is no torque limit switch parameter in the Servo command option area in the SGD- N, SGDB-N, or SGDH+NS100/NS115 SERVOPACKs, so the torque limit input cannot be used. 0: Forward External Torque Limit Input OFF (default) 1: Forward External Torque Limit Input ON Reverse External Torque Limit Input Limit the torque by the value set in the SERVOPACK parameters. The setting is enabled when the move command or the SERVO ON command is sent. There is no torque limit switch parameter in the Servo command option area in the SGD- N, SGDB-N, or SGDH+NS100/NS115 SERVOPACKs, so the torque limit input cannot be used. 0: Reverse External Torque Limit Input OFF (default) 1: Reverse External Torque Limit Input ON Integration Reset Reset the position loop integral items for the SERVOPACK. The setting is enabled when the move command or the SERVO ON command is sent. The Integration Reset (Position Loop Integration Reset) is supported only by the SGDS SERVOPACK and cannot be used for other SERVOPACKs. 0: Integration Reset OFF (default) 1: Integration reset ON Clear Alarm Clear alarms. If a communication error occurs, communication can be reestablished by clearing the alarm. 0: Clear alarm OFF (default) 1: Clear alarm ON 7-10

166 7.2 Motion Parameter Details (2) Mode 1 Mode 1 Position Phase Speed Torque OW 01 Setting Range Setting Unit Default Value 0000H OW 01 Bit 0 Deviation Abnormal Detection Error Level Set whether excessively following errors are treated as warnings or as alarms. 0: Warning (default): Axis continues to operate even if an excessively following error is detected. 1: Alarm: Axis stops operating when an excessive following error is detected. Related Parameters OL 22 Deviation Abnormal Detection Value IB 020 Warning (Excessively Following Error) IB 049 Error (Excessively Following Error) Bit 3 Speed Loop P/PI Switch Switch the SERVOPACK s speed loop between PI control and P control. The setting is enabled when the move command or the SERVO ON command is sent. 0: PI control (default) 1: P control Bit 4 Gain Switch Switch the gain to the Second Gain set in the SERVOPACK parameters. The setting is enabled when the move command or the SERVO ON command is sent. There is no gain switch parameter in the Servo command option area in the SGD-N, SGDB-N, or SGDH+NS100/NS115 SERVOPACKs, so the Gain Switch cannot be used. 0: Gain Switch OFF (default) 1: Gain Switch ON (3) Mode 2 Mode 2 Position Phase Speed Torque OW 02 Setting Range Setting Unit Default Value 0000H OW 02 Bit 0 Monitor 2 Enabled Disable/enable Monitor 2 in the Servo User Monitor (setting parameter OW 4E, bits 4 to 7) 0: Disabled (default) 1: Enabled This bit is valid only when the communication mode is MECHATROLINK-I or MECHATROLINK-II 17-byte Mode. This bit is ignored for MECHATROLINK-II 32-byte Mode

167 7 Motion Parameters Motion Setting Parameter Details (4) Function 1 Function 1 Position Phase Speed Torque OW 03 Setting Range Setting Unit Default Value 0011H OW 03 Bit 0 to Bit 3 Speed Units Set the unit for speed references. 0: Reference unit/s 1: 10 n reference unit/min. (default) 2: 0.01% 3: % Bit 4 to Bit 7 Acceleration/Deceleration Units Set whether to specify acceleration/deceleration rates or acceleration/deceleration time constants for acceleration/deceleration commands. 0: Reference unit/s 2 1: ms (default) Bit 8 to Bit B Filter Type Set the acceleration/deceleration filter type. The filter type changes when the motion command Change Filter Type is executed. When a filter is used, set the type in this parameter and execute the motion command Change Filter Type. For details, refer to 8.13 Change Filter Type (CHG_FILTER). 0: No filter (default) 1: Exponential acceleration/deceleration filter 2: Moving average filter Bit C to Bit F Torque Unit Set the unit for torque references. 0: 0.01% (default) 1: % (5) Function 2 Function 2 Position Phase Speed Torque OW 04 Setting Range Setting Unit Default Value 0033H OW 04 Bit 0 to Bit 3 Latch Input Signal Type Set the latch detection signal. 0: 1: 2: Phase-C pulse input signal 3: /EXT1 (default) 4: /EXT2 5: /EXT3 Note: The signal is input to the SERVOPACK. The SGD-N and SGDB-N SERVOPACKs support only the /EXT1 latch signal, so the /EXT2 and /EXT3 latch signals cannot be used. If a signal that is not supported is selected, the following warning will occur: Setting Parameter Error Bit 4 to Bit 7 External Positioning Signal Set the external signal for external positioning. 0: 1: 2: Phase-C pulse input signal 3: /EXT1 (default) 4: /EXT2 5: /EXT3 Note: The signal is input to the SERVOPACK. The SGD-N and SGDB-N SERVOPACKs support only the /EXT1 latch signal, so the /EXT2 and /EXT3 latch signals cannot be used. If a signal that is not supported is selected, the following warning will occur: Setting Parameter Error 7-12

168 7.2 Motion Parameter Details (6) Function 3 Function 3 Position Phase Speed Torque OW 05 Setting Range Setting Unit Default Value 0000H OW 05 Bit 1 Close Position Loop Using OL 16 Disables/enables phase reference generation processing when executing phase reference commands. Enable this processing when an electronic shaft is being used, and disable it when a electronic cam is being used. 0: Enabled (default) 1: Disabled Speed feed forward control cannot be used for the SGD-N or SGDB-N SERVOPACK, so Close Position Loop Using OL 16 cannot be used. Bit B INPUT Signal for Zero Point Return Use this bit as an input signal for the INPUT & C pulse or INPUT Only method. 0: INPUT signal OFF (default) 1: INPUT signal ON (7) Motion Command Motion Command Position Phase Speed Torque OW 08 Setting Range Setting Unit Default Value 0 to 26 0 Set motion commands. 0: NOP No command 1: POSING Positioning 2: EX_POSING External Positioning 3: ZRET Zero Point Return 4: INTERPOLATE Interpolation 5: ENDOF_INTERPOLATE Reserved by system. 6: LATCH Latch 7: FEED JOG Operation 8: STEP STEP Operation 9: ZSET Zero Point Setting 10: ACC Change One-step Linear Acceleration Time Constant 11: DCC Change One-step Linear Deceleration Time Constant 12: SCC Change Filter Time Constant 13: CHG_FILTER Change Filter Type 14: KVS Change Speed Loop Gain 15: KPS Change Position Loop Gain 16: KFS Change Feed Forward 17: PRM_RD Read SERVOPACK Parameter 18: PRM_WR Write SERVOPACK Parameter 19: ALM_MON Monitor SERVOPACK Alarms 20: ALM_HIST Monitor SERVOPACK Alarm History 21: ALMHIST_CLR Clear SERVOPACK Alarm History 22: ABS_RST Reset Absolute Encoder 23: VELO Speed Reference 24: TRQ Torque Reference 25: PHASE Phase Reference 26: KIS Change Position Loop Integration Time Constant Refer to Chapter 8 Motion Commands for details

169 7 Motion Parameters Motion Setting Parameter Details (8) Motion Command Options Motion Command Options Position Phase Speed Torque OW 09 Setting Range Setting Unit Default Value 0000H OW 09 Bit 0 Command Pause The axis will decelerate to a stop if this bit is changed to 1 while an axis is moving during positioning, external positioning, STEP operation, or speed reference. While this bit is 1, the command is held. When this bit is changed to 0, the hold is canceled and positioning restarts. After the axis has been stopped, the Command Hold Completed bit will turn ON in the Servo Module Command Status (monitoring parameter IW 09, bit 1). 0: Command Pause OFF (default) 1: Command Pause ON Bit 1 Command Abort The axis will decelerate to a stop if this bit is changed to 1 while an axis is moving during positioning, external positioning, zero point return, JOG operation, STEP operation, speed reference, or torque reference, and the remaining movement will be canceled. 0: Command Abort OFF (default) 1: Command Abort ON Bit 2 JOG/STEP Direction Set the movement direction for JOG or STEP. 0: Forward (default) 1: Reverse Bit 3 Home Direction Set the direction to move for a zero point return. This setting is valid for zero point returns using DEC1 + C, ZERO, DEC1 + ZERO, or phase-c. 0: Reverse (default) 1: Forward Bit 4 Latch Zone Enabled Disable/enable the area where the external signal is valid for external positioning (called the latch zone). This parameter writes the set values for OL 2A/OL 2C in the SERVOPACK parameters (Pn820, Pn822) when it is enabled. This setting is valid each time a new external positioning command is executed. When this parameter is disabled, sets the SERVOPACK parameters Pn820 and Pn822 to the same value (zero). 0: Disabled (default) 1: Enabled Always disable this parameter when sending latch commands (LATCH or ZRET) other than those for external positioning. Related Parameters Latch Zone Lower Limit (setting parameter OL 2A) and Latch Zone Upper Limit (setting parameter OL 2C) Bit 5 Position Reference Type Specify the value set for the Position Reference Value (setting parameter OL 1C). Always set this parameter to Incremental Addition Mode when using motion programs or infinite axes. Refer to Position References for details. 0: Incremental addition mode (default) 1: Absolute mode 7-14

170 7.2 Motion Parameter Details (9) Motion Subcommands Motion Subcommand Position Phase Speed Torque OW 0A Setting Range Setting Unit Default Value 0 to 5 0 Set the motion subcommand to be used with the motion command. 0: NOP No command 1: PRM_RD Read SERVOPACK Parameter 2: PRM_WR Write SERVOPACK Parameter 3: Reserved Reserved 4: SMON Monitor Status 5: FIXPRM_RD Read Fixed Parameters These commands can be used only with MECHATROLINK-II in 32-byte mode, except for Read Fixed Parameters. (10) Torque Reference/Torque Feed Forward Compensation OW 0C Torque Reference/Torque Feed Forward Compensation Position Phase Speed Torque Setting Range Setting Unit Default Value 2 31 to Depends on the torque unit set in Function 1 (setting parameter OW 03, bits C to F). The meaning will depend on the command. Set the torque reference for torque reference commands. Refer to 8.24 Torque Reference (TRQ) for details. Set the torque feed forward gain* for interpolation commands. * Torque Feed Forward Gain Function Torque feed forward gain can be used when interpolation commands (INTERPOLATE, LATCH) are sent using SGDS SERVOPACKs. Torque feed forward gain is set in Torque Reference (setting parameter OL 0C). Conditions of Use: SERVOPACK parameter Pn002.0 = 2 MP2100/MP2100M software version 2.02 or later SGDS communication interface version 8 or later

171 7 Motion Parameters Motion Setting Parameter Details (11) Speed Limit at Torque Reference Speed Limit at Torque Reference Position Phase Speed Torque OW 0E Setting Range Setting Unit Default Value to % Set the speed limit for torque references as a percentage of the rated speed. Torque control is used to control the Servomotor to output the specified torque, so it does not control the motor speed. Therefore, when an excessive reference torque is set relative to the load torque of the machine, the machine s torque is overpowered by the torque reference and the motor speed rapidly increases. The Speed Limit at Torque Reference functions to limit the Servomotor speed during torque control to protect the machine. No speed limit Speed limit used Speed Maximum speed The high rate of acceleration may damage the machine. Speed Maximum speed Limited speed The speed limit prevents damage. 0 t Either the Speed Limit at Torque Reference (OW 0E) or SERVOPACK s Torque Control Speed Limit (Pn407) is effective, whichever is lower. Related Parameters SGDS, SGDH+NS115, SGDH+NS110 SGD-N, SGDB-N Pn002.1 Cn-02, bit 2 Pn407 Cn-14 Pn408.1 Pn300 Cn-03 0 t (12) Speed Reference OL 10 Speed Reference Position Phase Speed Torque Setting Range Setting Unit Default Value 2 31 to Set the speed reference. This parameter is used by the following commands. 1: POSING Positioning 2: EX_POSING External Positioning 3: ZRET Zero Point Return 7: FEED JOG operation 8: STEP STEP operation 23: VELO Speed Reference 25: PHASE Phase Reference Refer to Chapter 8 Motion Commands for details. Depends on the Speed Units set in Function 1 (setting parameter OW 03, bits 0 to 3)

172 7.2 Motion Parameter Details (13) Positive Side Limiting Torque Setting at the Speed Reference Positive Side Limiting Torque OL 14 Setting at the Speed Reference Position Phase Speed Torque Setting Range Setting Unit Default Value 2 31 to % Set the torque limit for the speed references. The same value is used for both the positive and negative directions. This parameter is used when a torque limit is required at specific timing during operation of the machine, such as applications for pushing a load to stop it or holding a workpiece. (14) Secondly Speed Compensation (15) Speed Override Secondly Speed Compensation Position Phase Speed Torque OL 16 Setting Range Setting Unit Default Value 2 31 to Depends on Speed Units. 0 Set the speed feed forward amount for the Phase Reference command (PHASE). The setting unit for Speed Amends (setting parameter OW 31) is 0.01% (fixed). The unit for this parameter, however, can be selected by the user. When used at the same time as OW 31, speed compensation can be applied twice. Speed Override Position Phase Speed Torque OW 18 Setting Range Setting Unit Default Value 0 to % Set the percentage of the Speed Reference (OL 10) to output in units of 0.01%. The override value is always enabled. Set to (fixed) when not using the override function. Speed reference Speed override = Output speed (OL 10) (OL 18) This parameter can be changed at any time to any value during execution of speed reference, and acceleration/deceleration is performed immediately according to the set value. Speed 100% 7 75% 50% Override set value When the Speed Override is set to 0, the output speed is 0 and the motor will not operate. 7-17

173 7 Motion Parameters Motion Setting Parameter Details (16) Position Reference Type Position Reference Type Position Phase Speed Torque OL 1C Setting Range Setting Unit Default Value 2 31 to Reference unit 0 Set the position reference. This parameter is used by the following commands. 1: POSING Positioning 2: EX_POSING External Positioning 4: INTERPOLATE Interpolation 6: LATCH Latch Related Parameters OW 09, bit 5: Position Reference Type (17) Positioning Completed Width Positioning Completed Width Position Phase Speed Torque OL 1E Setting Range Setting Unit Default Value 0 to Reference unit 100 This bit shows the set value of a SERVOPACK parameter. Refer to Appendix B.1 Parameters Updated when a Connection is Established (MP2100/MP2100M to SERVOPACK) for details. When the Positioning Completed Signal (IB 2C7) turns ON after position reference distribution has completed for position control, the Positioning Completed Signal (IB 0C1) turns ON. Set values that are suitable for all machines in the system. If the value is too small, a long time will be required for positioning to complete. Reference Motor speed Speed Position Error (IL 1A) Positioning Completed Signal (IB 0C1) Related Parameters Fixed Parameter 4: Command Unit Fixed Parameter 5: Number of Decimal Places Fixed Parameter 6: Command Units per Revolution Fixed Parameter 8: Gear Ratio [MOTOR] Fixed Parameter 9: Gear Ratio [LOAD] OW 2E: Position Loop Gain IB 0C0: Distribution Completed (DEN) IB 0C1: Positioning Completed (POSCOMP) OL 1E Distribution completed 7-18

174 7.2 Motion Parameter Details (18) Positioning Completed Width 2 Positioning Completed Width 2 Position Phase Speed Torque OL 20 Setting Range Setting Unit Default Value 0 to Reference unit 0 The Position Proximity (IB 0C3) will be turned ON when the absolute value of the difference between the command position and the feedback position is less than the value set here. If the Positioning Completed Width 2 is set to 0, the Position Proximity bit (monitoring parameter IB 0C3) will be turned ON when the reference pulses have been distributed. (monitoring parameter IB 0C0) If the Positioning Completed Width 2 is set to a value other than 0, this bit will be turned ON when the result of subtracting the Machine Coordinate Feedback Position (monitoring parameter IL 16) from the Machine Coordinate System Position (monitoring parameter IL 12) is less than the Position Completed Width 2, even if the reference pulses have not been distributed. This parameter has no relation to the SERVOPACK parameter Position Proximity (NEAR) Signal Width. Speed Position Error Positioning Completed Width 2 Distribution completed Positioning Completed Width 2 = 0 Positioning Completed Width 2 0 Related Parameters IB 0C3: Position Proximity (19) Deviation Abnormal Detection Value 7 Deviation Abnormal Detection Value Position Phase Speed Torque OL 22 Setting Range Setting Unit Default Value 0 to Reference unit Set the value to detect an excessively following error during position control. The Excessively Following Error bit (IB 049) will turn ON if the result from subtracting the Machine Coordinate Feedback Position (monitoring parameter IL 16) from the Machine Coordinate System Position (monitoring parameter IL 12) exceeds the value set here. An excessive following error will not be detected if this value is set to 0. Related Parameters An excessively following error can be set to be treated either as a warning or as an alarm in the Deviation Abnormal Detection Error Level in Mode 1 (setting parameter OB 010). OB 010 = OFF: Warning (continues axis operation) OB 010 = ON: Alarm (stops axis operation) 7-19

175 7 Motion Parameters Motion Setting Parameter Details (20) Position Complete Timeout Position Complete Timeout Position Phase Speed Torque OW 26 Setting Range Setting Unit Default Value 0 to ms 0 Set the time to detect a Positioning Time Over. If the Positioning Completed bit does not turn ON within the time set here after reference pulses have been distributed during position control, a Positioning Time Over alarm (monitoring parameter IB 046) will occur. The completion of positioning will not be checked if this parameter is set to 0. Speed Position Error Positioning Completed Width Distribution completed Positioning Time Over When this time is longer than the Position Complete Timeout, a Positioning Time Over alarm will occur. (21) Phase Compensation Phase Compensation Position Phase Speed Torque OL 28 Setting Range Setting Unit Default Value 2 31 to Reference unit 0 Set the phase compensation in reference units for phase reference commands. Use this parameter to compensate for reference pulses in control systems with lower rigidity or gain. Refer to 8.25 Phase References (PHASE) for details on phase reference commands. (22) Latch OL 2A Latch Zone Lower Limit Position Phase Speed Torque Setting Range Setting Unit Default Value 2 31 to Reference unit 2 31 Set the range in which the latch signal is valid (position from the zero position) for external positioning. The set value here is written to the SERVOPACK parameters each time an external positioning command is executed as long as the latch zone is enabled in the Latch Zone Enabled bit in Motion Command Options (setting parameter OW 09, bit 4). The latch zone setting is supported for SGDS SERVOPACKs for MECHATROLINK-II communication only. Latching area upper limit: Pn820 Latching area lower limit: Pn822 OL 2C Same as for OL 2A. Latch Zone Upper Limit Position Phase Speed Torque Setting Range Setting Unit Default Value 2 31 to Reference unit

176 7.2 Motion Parameter Details (23) Gain and Bias Settings Position Loop Gain Position Phase Speed Torque OW 2E Setting Range Setting Unit Default Value 0 to /s 300 Determine the responsiveness for the SERVOPACK s position loop. If the position loop gain is set high, the responsiveness is high and the positioning time is short. Set the optimum value for the machine rigidity, inertia, and type of Servomotor. The actual machine operation depends on the settings in the SERVOPACK parameters. Refer to Appendix B.1 Parameters Updated when a Connection is Established (MP2100/MP2100M to SERVOPACK) for details on making parameters automatically effective. If this parameter changes, the corresponding SERVOPACK parameter will change automatically. This function is achieved using the Servo command expansion area and can be executed when using the MECHA- TROLINK-II (32-byte Mode) communication method. The motion command KPS must be used to make changes to this parameter. Speed Loop Gain OW 2F Setting Range Setting Unit Default Value 1 to 2000 Hz 40 Determine the responsiveness for the SERVOPACK s speed loop. The Servo system will be more stable the higher this parameter is set, as long as the value is within the range in which the mechanical system does not oscillate. The actual machine operation depends on the settings in the SERVOPACK parameters. Refer to Appendix B.1 Parameters Updated when a Connection is Established (MP2100/MP2100M to SERVOPACK) for details on making parameters automatically effective. If this parameter changes, the corresponding SERVOPACK parameter will change automatically. This function is achieved using the Servo command expansion area and can be executed when using the MECHA- TROLINK-II (32-byte Mode) communication method. The motion command KVS must be used to make changes to this parameter. Speed Feed Forward Compensation OW 30 Setting Range Setting Unit Default Value 0 to % 0 Reduces positioning time by applying feed forward compensation. This setting is effective for position control commands. Always set this parameter to 0 for phase control. If this parameter changes, the corresponding SERVOPACK parameter will change automatically. This function is achieved using the Servo command expansion area and can be executed when using the MECHA- TROLINK-II (32-byte Mode) communication method. The motion command KFS must be used to make changes to this parameter. OW 31 Speed Amends Setting Range Setting Unit Default Value to % 0 Set the speed feed forward gain as a percentage of the rated speed for the phase reference command (PHASE). The setting unit for this parameter is 0.01% (fixed). The unit for Secondly Speed Compensation (OL 16), however, can be selected by the user. When used at the same time as OW 16, speed compensation can be applied twice. Position Integration Time Constant OW 32 Setting Range Setting Unit Default Value 0 to ms 0 Set the position loop integration time constant. Use this parameter to improve the following precision in applications such as electronic cams or shafts. The actual machine operation depends on the settings in the SERVOPACK parameters. Refer to Appendix B.1 Parameters Updated when a Connection is Established (MP2100/MP2100M to SERVOPACK) for details on making parameters automatically effective. If this parameter changes, the corresponding SERVOPACK parameter will change automatically. This function is achieved using the Servo command expansion area and can be executed when using the MECHA- TROLINK-II (32-byte Mode) communication method. The motion command KIS must be used to make changes to this parameter. There is no parameter to set the integration time constant in the SGD-N or SGDB-N SERVOPACK, so the Position Integration Time Constant cannot be used

177 7 Motion Parameters Motion Setting Parameter Details OW 34 Speed Integration Time Constant Setting Range Setting Unit Default Value 15 to ms 2000 The speed loop has an integral element to enable responding to minute inputs. This element, however, causes a delay in the Servo system, adversely affecting the response if the time constant is set too large. The actual machine operation depends on the settings in the SERVOPACK parameters. Refer to Appendix B.1 Parameters Updated when a Connection is Established (MP2100/MP2100M to SERVOPACK) for details on making parameters automatically effective. NS100/NS115 SERVOPACK Acceleration/ deceleration processing Acceleration: OL 36 Deceleration: OL 38 Followup Filter OW 3A S Differential Pn109 (OW 30) B A Pn10A Kp B A Pn102 (OW 2E) FB Ti Pn11F A B (Not supported.) (OW 32) Kv Vref Pn100 (OW 2F) NTi Pn101 (OW 34) Current loop M PG Speed compensation (OW 31) Set in a 1:1 ratio. 7-22

178 7.2 Motion Parameter Details (24) Acceleration/Deceleration Settings OL 36 Linear Acceleration Time Position Phase Speed Torque Setting Range Setting Unit Default Value 0 to Depends on the Acceleration/Deceleration Units 0 (OW 03, bits 4 to 7). Set the rate or the time constant for linear acceleration. The actual machine operation depends on the settings in the SERVOPACK parameters. Refer to Appendix B.1 Parameters Updated when a Connection is Established (MP2100/MP2100M to SERVOPACK) for details on making parameters automatically effective. Linear Deceleration Time Setting Range Setting Unit Default Value OL 38 Depends on the Acceleration/Deceleration 0 to Units 0 (OW 03, bits 4 to 7). Set the rate or the time constant for linear deceleration. The actual machine operation depends on the settings in the SERVOPACK parameters. Refer to Appendix B.1 Parameters Updated when a Connection is Established (MP2100/MP2100M to SERVOPACK) for details on making parameters automatically effective. The following two methods can be used to specify the acceleration/deceleration speed. Setting the acceleration/deceleration speed. Setting the time to reach the rated speed from zero speed. For this method, the setting range is 0 to ms. A setting parameter error will occur if the value exceeds = reference unit/s 2 Acceleration/Deceleration Units (OW 03, bits 4 to 7) 0 100% Speed (%) Reference speed Linear Linear Acceleration Deceleration Time OL 36 Time OL 38 Time (t) 7 1 = ms 100% 1 Speed Reference speed (%) Linear Acceleration Time OL 36 Time (t) Linear Deceleration Time OL

179 7 Motion Parameters Motion Setting Parameter Details (25) S-Curve Acceleration Time S-Curve Acceleration Time Position Phase Speed Torque OW 3A Setting Range Setting Unit Default Value 0 to ms 0 Set the acceleration/deceleration filter time constant. Always make sure that pulse distribution has been completed (i.e., that monitoring parameter IB 0C0 is ON) before changing the time constant. The actual machine operation depends on the settings in the SERVOPACK parameters. Refer to Appendix B.1 Parameters Updated when a Connection is Established (MP2100/MP2100M to SERVOPACK) for details on making parameters automatically effective. Change the time constant for the filter set using the motion command Change Filter Type. After setting the filter type to be used, change the time constant. The overall flow for setting the filter time constant is as follows: 1. Select the filter type in Function 1 (setting parameter OW 03, bits 8 to B). 2. Execute the motion command Change Filter Type (CHG_FILTER). 3. Set the S-curve Acceleration Time (setting parameter OW 3A). 4. Execute the motion command Change Filter Time Constant. Once the filter type is set using the motion command, the setting is held until the power is turned OFF or the filter type is changed. There are two types of acceleration/deceleration filter: An exponential acceleration/deceleration filter and a moving average filter. The following table shows the relationship with related parameters. No Filter OW 38, Bits 8 to B = 0 Exponential Acceleration/Deceleration Filter OW 38, bits 8 to B = 1 Moving Average Filter OW 38, bits 8 to B = 2 Step input OW 3A OW 3A OW 3A OW 36 OW 38 Acceleration/deceleration used OW 36 OW 3A OW

180 7.2 Motion Parameter Details (26) Zero Point Return Home Return Type Position Phase Speed Torque OW 3C Setting Range Setting Unit Default Value 0 to 19 0 Set the operation method when the Zero Point Return (ZRET) motion command is executed. With an incremental encoder, there are 13 different methods that can be used for the zero point return operation. With an absolute encoder, the axis is returned to the zero point of the machine coordinate system regardless of which method is being used. OW 3D Home Window Setting Range Setting Unit Default Value 0 to Reference unit 100 Set the width to turn ON the Zero Point Position bit in the Position Management Status (monitoring parameter IB 0C4.) OW 3E Approach Speed Setting Range Setting Unit Default Value 2 31 to Depends on Speed Units Set the approach speed for a zero point return operation after the deceleration LS is passed. OW 40 Creep Speed Setting Range Setting Unit Default Value 2 31 to Depends on Speed Units. 500 Set the creep speed for a zero point return operation after the ZERO signal is detected. OW 42 Home Offset Setting Range Setting Unit Default Value 2 31 to Reference unit 0 Set the distance from where the signal is detected to the zero point position. A typical example of a zero point return operation is shown below. Refer to 8.4 Zero Point Return (ZRET) for details on zero point return. Speed Reference (OL 10) 7 Home Window (OW 3D) Home Offset (OL 42) Creep Speed (OL 40) Approach Speed (OL 3E) Speed Start DEC signal Phase-C pulse 7-25

181 7 Motion Parameters Motion Setting Parameter Details (27) Step Distance Step Distance Position Phase Speed Torque OL 44 Setting Range Setting Unit Default Value 0 to Reference unit 1000 Set the moving amount for STEP commands. Refer to 8.8 STEP Operation (STEP) for details on STEP commands. 100% Rated speed Speed Speed Reference OL 10 Step Distance OL 44 Linear Acceleration Time OL 36 Linear Deceleration Time OL 38 (28) External Positioning Move Distance External Positioning Move Distance Position Phase Speed Torque OL 46 Setting Range Setting Unit Default Value 2 31 to Reference unit 0 Set the distance from the time the external signal is input for external positioning commands (EX_POSING). Refer to 8.3 External Positioning (EX_POSING) for details. Speed Rated speed Speed Reference OL 10 External Positioning Move Distance OL 46 External positioning signal Linear Acceleration Time OL 36 Linear Deceleration Time OL 38 (29) Coordinate System Settings Zero Point Offset Position Phase Speed Torque OL 48 Setting Range Setting Unit Default Value 2 31 to Reference unit 0 Set the offset to shift the machine coordinate system. Note: This parameter is always enabled, so make sure that the setting is correct. OL 4A Work Coordinate System Offset Setting Range Setting Unit Default Value 2 31 to Reference unit 0 Set the offset to shift the work coordinate system. Note: This parameter is always effective, so make sure that the setting is correct. 7-26

182 7.2 Motion Parameter Details OL 4C Preset Data of POSMAX Turn Setting Range Setting Unit Default Value 2 31 to Rev 0 When the POSMAX Preset bit (setting parameter OW 00, bit 6) is set to 1, the value set here will be preset as the POS- MAX Number of Turns (monitoring parameter IL 1E). (30) Servo User Monitor Servo User Monitor Position Phase Speed Torque OW 4E Setting Range Setting Unit Default Value 0E00H OW 4E Bit 4 to Bit 7 Monitor 2 Monitor 2 is used with the MECHATROLINK-I and the MECHATROLINK-II in 17- byte Mode and when bit 0 of OW 02 is 1. 0: Reference position in command coordinate system (pulse) 1: Reference position in machine coordinate system (pulse) 2: Following error (pulse) 3:Feedback position in machine coordinate system (pulse) 4: Counter latch position in machine coordinate system (pulse) 5: Reference position in command coordinate system (pulse) 6: Target position in command coordinate system (pulse) 7: Reserved 8: Feedback speed (pulse/s) 9: Command speed (pulse/s) A: Final target speed (pulse/s) B: Torque reference (%) C: Reserved D: Reserved E: Option Monitor 1 (default) F: Option Monitor 2 Bit C to Bit F Monitor 4 Monitor 4 is used only with the MECHATROLINK-II in 32-byte Mode. 0 to F: Same as for Monitor 2. 7 (31) Servo Driver Commands Servo Alarm Monitor Number Position Phase Speed Torque OW 4F Setting Range Setting Unit Default Value 0 to 10 0 Set the number of the alarm to monitor. Set the number of the alarm to monitor for the ALM_MON or ALM_HIST motion command. The result of monitoring will be stored as the Servo Alarm Code (monitoring parameter IW 2D). Refer to Chapter 8 Motion Commands for details. OW 50 Servo Constant Number Setting Range Setting Unit Default Value 0 to Set the number of the SERVOPACK parameter. Set the number of the SERVOPACK parameter to be processed for the PRM_RD or PRM_WR motion command. Refer to Chapter 8 Motion Commands for details. OW 51 Servo Constant Number Size Setting Range Setting Unit Default Value 1 to 2 1 Set the number of words in the SERVOPACK parameter. Set the number of words in the SERVOPACK parameter to be processed for the PRM_RD or PRM_WR motion command. Refer to Chapter 8 Motion Commands for details. 7-27

183 7 Motion Parameters Motion Setting Parameter Details OW 52 Servo User Constant Setting Range Setting Unit Default Value 2 31 to Set the setting for the SERVOPACK parameter. Set the setting value to be written to the SERVOPACK parameter with the PRM_WR motion command. Refer to Chapter 8 Motion Commands for details. Auxiliary Servo User Constant Number OW 54 Setting Range Setting Unit Default Value 0 to Set the number of a SERVOPACK parameter. Set the number of the SERVOPACK parameter to be processed for the PRM_RD or PRM_WR motion subcommand. Refer to Chapter 8 Motion Commands for details. Auxiliary Servo Constant Number Size OW 55 Setting Range Setting Unit Default Value 1 to 2 1 Set the number of words in the SERVOPACK parameter. Set the number of words in the SERVOPACK parameter to be processed for the PRM_RD or PRM_WR motion subcommand. Refer to Chapter 8 Motion Commands for details. OW 56 Auxiliary Servo User Constant Setting Range Setting Unit Default Value 2 31 to Set the setting for the SERVOPACK parameter. Set the setting value to be written to the SERVOPACK parameter with the PRM_WR motion subcommand. Refer to Chapter 8 Motion Commands for details. (32) Supplemental Settings Fixed Parameter Number Position Phase Speed Torque OW 5C Setting Range Setting Unit Default Value 0 to Set the number of the fixed parameter to read with the FIXPRM_RD motion subcommand. The results of reading the fixed parameter will be stored 1 in the Fixed Parameter Monitor (monitoring parameter IL 56). TERMS 1 Store The use of "store" here refers to information that is automatically transferred by the CPU system without any action by the user. This term is mainly used with this meaning when explaining motion monitoring parameters. 7-28

184 7.2 Motion Parameter Details (33) Absolute Infinite Length Axis Position Control Information Absolute Position at Power OFF (Low Value) Position Phase Speed Torque OL 5E Setting Range Setting Unit Default Value 2 31 to pulse 0 This information is for infinite length axis position control when an absolute encoder is used. The encoder position is stored in 4 words. If the Infinite Length Axis Position Information LOAD bit is set to 1 in the RUN Commands (setting parameter OW 00, bit 7), the position information will be recalculated with the values set here and the Modularized Position at Power OFF (OL 62 and OL 64). OL 60 Same as for OL 5E. (34) Transparent Command Mode Absolute Position at Power OFF (High Value) Setting Range Setting Unit Default Value 2 31 to pulse 0 Modularized Position at Power OFF (Low Value) OL 62 Setting Range Setting Unit Default Value 2 31 to pulse 0 This information is for infinite length axis position control when an absolute encoder is used. The axis position in pulses managed internally by the controller is stored in 4 words. If the Infinite Length Axis Position Information LOAD bit is set to 1 in the RUN Commands (setting parameter OW 00, bit 7), the position information will be recalculated with the values set here and the Absolute Position at Power OFF (OL 5E and OL 60). OL 64 Same as for OL 62. Modularized Position at Power OFF (High Value) Setting Range Setting Unit Default Value 2 31 to pulse 0 7 Command Buffer for Transparent Command Mode Position Phase Speed Torque OW 70 to OW 7E Setting Range Setting Unit Default Value 0 This area is used for command data when MECHATROLINK servo commands are specified directly. MECHATROLINK-I and MECHATROLINK-II, 17-byte Mode Data area = OW 70 to OW 77 MECHATROLINK-II, 32-byte Mode Data area = OW 70 to OW 7E 7-29

185 7 Motion Parameters Motion Monitoring Parameter Details Motion Monitoring Parameter Details The motion monitoring parameters are listed in the following table. (1) Drive Status IW 00 Drive Status Range Unit IW 00 Bit 0 Motion Controller Operation Ready This bit turns ON when RUN preparations for the MP2100 have been completed. This bit will be OFF for the following conditions: Major damage has occurred. Axis that is not used was selected Motion fixed parameter setting error. Motion fixed parameters are being changed. Communication is not synchronized. SERVOPACK parameters are being accessed by a command from an MPE720. The Motion Parameter Window (SVB Definitions Window) is being opened using the MPE720. OFF: Operation not ready ON: Operation ready Bit 1 Bit 2 Bit 3 Note: Configure an OR circuit with IB 002 when using as a Servo ON interlock. Running (Servo ON) This bit is ON during the Servo ON condition for the axis. OFF: Stopped ON: Running (Servo ON) System Busy This bit is ON when the system is processing and cannot execute a motion command. This bit is ON for the following conditions. Fixed parameters are being changed. SERVOPACK parameters are being read by a command from an MPE720. SERVOPACK parameters are being written by a command from an MPE720. OFF: System not busy ON: System busy Servo Ready This bit is ON when all of the following conditions are satisfied. Communication are synchronized. The main power supply for the SERVOPACK is ON. There are no alarms in the SERVOPACK. OFF: Servo not ready ON: Servo ready (2) Over Range Parameter Number IW 01 Over Range Parameter Number Range Unit 0 to Stores the number of a parameter set outside the setting range. This parameter stores the number of the setting or fixed parameter that exceeds the setting range either individually or in combination with the settings of other parameters. When motion fixed parameters are used, the parameter stores the parameter number plus Setting parameters: 0 to 999 Fixed parameters: 1000 or higher 7-30

186 7.2 Motion Parameter Details (3) Warning Warning IL 02 Range Unit IL 02 Bit 0 Excessively Following Error This bit turns ON if the following error exceeds the value set for Deviation Abnormal Detection Value (setting parameter OL 22) when excessively following error is set to be treated as warnings by setting the Deviation Abnormal Detection Error Level to 1 in Mode 1 (setting parameter OW 01, bit 0). OFF: In normal deviation range ON: Abnormal deviation detected Bit 1 Setting Parameter Error This bit turns ON when one or more of the motion setting parameter values is set outside the setting range. The number of the parameter for which the value is out of range is stored as the Over Range Parameter Number (monitoring parameter IW 01). OFF: In setting range ON: Outside setting range Bit 2 Fixed Parameter Error This bit turns ON when one or more of the motion fixed parameter values is set outside the setting range. The number of the parameter for which the value is out of range is stored as the Over Range Parameter Number (monitoring parameter IW 01). OFF: In setting range ON: Outside setting range Bit 3 Servo Driver Error This bit turns ON when there is a warning in the SERVOPACK for MECHATROLINK communication. The content of the warning can be confirmed using the Servo Alarm Code (monitoring parameter IW 2D). OFF: No warning ON: Warning Bit 4 Motion Command Setting Error This bit turns ON when a motion command that cannot be used is set. OFF: Command setting normal ON: Command setting error Bit 6 Positive Overtravel This bit turns ON when positive overtravel is disabled in the fixed parameter settings and the positive overtravel signal is input. OFF: No positive overtravel ON: Positive overtravel Bit 7 Negative Overtravel This bit turns ON when negative overtravel is disabled in the fixed parameter settings and the negative overtravel signal is input. OFF: No negative overtravel ON: Negative overtravel Bit 8 Servo Not ON This bit turns ON when the Servo ON bit in the RUN Commands (setting parameter OW 00, bit 0) set to 1 but the SERVOPACK is not in the Servo ON condition. OFF: Servo ON ON: Servo not ON Bit 9 Servo Driver Communication Warning This bit turns ON if a communication error is detected in communication with the SERVOPACK for MECHATROLINK communication. This bit is cleared automatically when communication is performed normally. OFF: Communication normal ON: Communication error detected

187 7 Motion Parameters Motion Monitoring Parameter Details (4) Alarm Alarm IL 04 Range Unit IL 04 Bit 0 Servo Driver Error This bit turns ON when there is an alarm in the SERVOPACK for MECHATROLINK communication. The content of the alarm can be confirmed using the Servo Alarm Code (monitoring parameter IW 2D). OFF: No Servo Driver alarm ON: Servo Driver alarm occurred Bit 1 Positive Overtravel This bit turns ON when the positive overtravel signal is input and a move command is executed in the positive direction. For details, refer to 14.2 Overtravel Function. OFF: No positive overtravel ON: Positive overtravel occurred Bit 2 Negative Overtravel This bit turns ON when the negative overtravel signal is input and a move command is executed in the negative direction. For details, refer to 14.2 Overtravel Function. OFF: No negative overtravel ON: Negative overtravel occurred Bit 3 Positive Soft Limit (Positive Software Limit) This bit turns ON if a move command that exceeds the positive software limit is executed with the following conditions: Zero point return has been completed The positive software limit function is enabled A finite length axis is selected. For details, refer to 14.3 Software Limit Function. OFF: In positive software limit range ON: Outside positive software limit range Bit 4 Negative Soft Limit (Negative Software Limit) This bit turns ON if a move command that exceeds the negative software limit is executed with the following conditions: Zero point return has been completed The negative software limit function is enabled A finite length axis is selected. For details, refer to 14.3 Software Limit Function. OFF: In negative software limit range ON: Outside negative software limit range Bit 5 Servo OFF This bit turns ON when a move command is executed during Servo OFF status. OFF: Servo ON ON: Servo OFF Bit 6 Positioning Time Over This bit turns ON when positioning is not completed within the specified time after the end of pulse distribution. The time is set for the Position Complete Timeout (setting parameter OW 26). OFF: No timeout ON: Timeout occurred Bit 7 Excessive Positioning Moving Amount This bit turns ON when a moving amount is specified that exceeds the setting range for the positioning moving amount. OFF: Moving amount normal ON: Excessive moving amount 7-32

188 7.2 Motion Parameter Details IL 04 (cont.) IL 04 Bit 8 Bit 9 Bit 10 Bit 11 Bit 13 Bit 14 Bit 15 Bit 16 Bit 17 Bit 18 Bit 19 Bit 30 Bit 31 Alarm Range Excessive Speed This bit turns ON when a speed is set that exceeds the setting range for the speed reference. OFF: Speed normal ON: Excessive speed Excessively Following Error This bit turns ON if the following error exceeds the value set for the Deviation Abnormal Detection Value (setting parameter OL 22) when an Excessively Following Error is set to be treated as an alarm by setting the Deviation Abnormal Detection Error Level to 0 in Mode 1 (setting parameter OW 01, bit 0). OFF: In normal deviation range ON: Abnormal deviation detected Filter Type Change Error This bit turns ON if the filter type is changed when the pulses are still distributing. OFF: No change error ON: Change error occurred Filter Time Constant Change Error This bit turns ON if the filter time constant is changed while the pulses are still distributing. OFF: No change error ON: Change error occurred Zero Point Not Set This bit turns ON if a move command (except for JOG or STEP) is performed when an infinite length axis is set and the zero point has not been set. OFF: Zero point set ON: Zero point not set error Reserved by system. Reserved by system. Servo Driver Synchronization Communication Error This bit turns ON if a synchronization communication error is detected with the SER- VOPACK for MECHATROLINK communication. OFF: No synchronization communication error ON: Synchronization communication error Servo Driver Communication Error This bit turns ON if two communication errors are detected consecutively in communication with the SERVOPACK for MECHATROLINK communication. OFF: No consecutive synchronization communication error ON: Consecutive synchronization communication errors Servo Driver Command Timeout Error This bit turns ON if a command sent to the SERVOPACK for MECHATROLINK communication is not completed within a specific amount of time. ABS Encoder Count Exceeded This bit turns ON if the number of turns from the absolute encoder exceeds the range that the MP2100 Module can handle. This parameter is valid when using an absolute encoder and a finite-length axis. This bit also turns ON if the result of the operation converting the current position to reference units when the power is turned ON exceeds 32 bits. OFF: In count range ON: Outside count range SERVOPACK Motor Type Mismatch OFF: Motor type matches ON: Motor type does not match SERVOPACK Encoder Type Mismatch OFF: Encoder type matches ON: Encoder type does not match Unit

189 7 Motion Parameters Motion Monitoring Parameter Details (5) Motion Command Response Codes Servo Command Type Response IW 08 Range Unit 0 to Stores the motion command code for the command that is being executed. This is the motion command code that is currently being executed and is not necessarily the same as the Motion Command (setting parameter OW 08). Response codes are also stored when the following processing is executed. Servo ON: 29 Servo OFF: 30 Clear alarms: 31 (6) Motion Command Status IW 09 Servo Module Command Status Range Unit IW 09 Bit 0 Command Executing (BUSY) This bit indicates the motion command status. Refer to Chapter 8 Motion Commands for details on command timing charts. OFF: READY (completed) ON: BUSY (processing) This bit turns ON during execution of commands that have completions or during abort processing. Bit 1 Command Hold Completed (HOLDL) This bit turns ON when command hold processing has been completed. Refer to Chapter 8 Motion Commands for details on command timing charts. OFF: Command hold processing not completed ON: Command hold completed Bit 3 Command Error Occurrence (FAIL) This bit turns ON if motion command processing does not complete normally. If motion command execution ends in an error, the axis will stop any motion. Refer to Chapter 8 Motion Commands for details on command timing charts. OFF: Normal completion ON: Abnormal completion Bit 7 Reset Absolute Encoder Completed This bit turns ON when the Reset Absolute Encoder command (ABS_RST) is executed and initialization is completed. Refer to Chapter 8 Motion Commands for details on command timing charts. OFF: Reset not completed ON: Reset completed Bit 8 Command Execution Completed (COMPLETE) This bit turns ON when motion command processing completes normally. Refer to Chapter 8 Motion Commands for details on command timing charts. OFF: Normal execution not completed ON: Normal execution completed (7) Motion Subcommand Response Code IW 0A Motion Subcommand Response Code Range Unit 0 to Stores the motion subcommand code that is being executed. This is the motion subcommand code that is currently being executed and is not necessarily the same as the Motion Subcommand (setting parameter OW 0A). Subcommands are used by the system for latch commands and reading/writing parameters. 7-34

190 7.2 Motion Parameter Details (8) Motion Subcommand Status IW 0B Motion Subcommand Status Range Unit IW 0B Bit 0 Command Executing (BUSY) This bit indicates the motion subcommand status. OFF: READY (completed) ON: BUSY (processing) This bit turns ON during execution of commands that have completions or during abort processing. Bit 3 Command Error Occurrence (FAIL) This bit turns ON if motion subcommand processing does not complete normally. OFF: Normal completion ON: Abnormal completion Bit 8 Command Execution Completed (COMPLETE) This bit turns ON when motion subcommand processing completes normally. OFF: Normal execution not completed ON: Normal execution completed

191 7 Motion Parameters Motion Monitoring Parameter Details (9) Position Management Status IW 0C Position Management Status Range Unit IW 0C Bit 0 Distribution Completed (DEN) This bit turns ON when pulse distribution has been completed for a move command. This bit turns ON when the SERVOPACK parameter Distribution Completed (monitoring parameter IB 2C8) turns ON and the SVB-01 Module s internal distribution processing is completed. OFF: Distributing pulses ON: Distribution completed Bit 1 Positioning Completed (POSCOMP) This bit turns ON when pulse distribution has been completed and the current position is within the Positioning Completed Width (i.e., after SERVOPACK Positioning Completed (IB 2C7) turns ON). OFF: Outside Positioning Completed Width ON: In Positioning Completed Width Bit 2 Latch Completed (LCOMP) This bit turns OFF when a new latch command is executed and turns ON when the latch has been completed. The latched position is stored as the Machine Coordinate Latch Position (monitoring parameter IL 18). OFF: Latch not completed ON: Latch completed Bit 3 Position Proximity (NEAR) The operation of this bit depends on the setting of the Positioning Completed Width 2 (setting parameter OL 20). OL 20 = 0: This bit turns ON when pulse distribution has been completed (monitoring parameter IB 0C0). OL 20 0: This bit turns ON when the result of subtracting the Machine Coordinate Feedback Position (IL 16) from the Machine Coordinate System Position (IL 12) is less than the Position Completed Width 2, even if pulse distribution has not been completed. OFF: Outside position proximity range ON: In position proximity range Bit 4 Zero Point Position (ZERO) This bit turns ON when the Machine Coordinate System Position (monitoring parameter IL 12) is within the Home Window (setting parameter OW 3D) after a zero point return (setting) has been completed. OFF: Outside zero point position range ON: In zero point position range Bit 5 Zero Point Return (Setting) Completed (ZRNC) This bit turns ON when a zero point return (setting) has been completed. This bit turns OFF when a new zero point return (setting) operation is started, when communication with the SERVOPACK stop, or when a Servo alarm related to the encoder occurs. OFF: Zero point return (setting) not completed ON: Zero point return (setting) completed 7-36

192 7.2 Motion Parameter Details IW 0C (cont.) IW 0C Bit 6 Bit 8 Bit 9 Position Management Status Range Unit Machine Lock ON (MLKL) This bit turns ON when the Machine Lock bit is set to 1 in the RUN Commands (setting parameter OW 00, bit 1) and the axis has actually entered machine lock mode. OFF: Machine lock mode released ON: Machine lock mode ABS System Infinite Length Position Control Information LOAD Completed (ABSLDE) This bit turns ON when the Infinite Length Axis Position Information Load bit is set to 1 in the RUN Commands (setting parameter OW 00, bit 7) and loading of the information has been completed. OFF: Load not completed ON: Load completed POSMAX Turn Number Presetting Completed (TPRSE) This bit turns ON when the POSMAX Preset bit in the RUN Commands (setting parameter OW 00, bit 6) is set to 1 and the POSMAX Number of Turns has been preset with the Preset Data of POSMAX Turn (setting parameter OL 4C). OFF: Preset not completed ON: Preset completed (10) Position Information Machine Coordinate Target Position (TPOS) IL 0E Range Unit 2 31 to Reference unit Stores the target position in the machine coordinate system 1 managed by the MP2100/MP2100M. This is the target position per scan for INTERPOLATE or LATCH commands. This parameter will be set to 0 when the power supply is turned ON. The data is refreshed even when the machine lock mode is enabled. This parameter will not be reset even when an infinite length axis type is set. IL 10 Target Position (CPOS) Range Unit 2 31 to Reference unit Stores the calculated position in the machine coordinate system managed by the MP2100/MP2100M. The position data stored in this parameter is the target position for each scan. This parameter will be set to 0 when the power supply is turned ON. The data is refreshed even when the machine lock mode is enabled. When an infinite length axis type is selected, a range of 0 to (Maximum Value of Rotary Counter (POSMAX) (fixed parameter 10) 1) is stored. Machine Coordinate System Position (MPOS) IL 12 Range Unit 2 31 to Reference unit Stores the reference position in the machine coordinate system managed by the MP2100/MP2100M. This parameter will be set to 0 when the power supply is turned ON. This parameter is not updated while the machine is in lock mode. (When the machine lock mode is enabled, the position reference data is not output externally.) When the machine lock mode function is not used, this position is the same as that in IL

193 7 Motion Parameters Motion Monitoring Parameter Details Machine Coordinate Feedback Position (APOS) IL 16 Range Unit 2 31 to Reference unit Stores the feedback position in the machine coordinate system managed by the MP2100/MP2100M. This parameter will be set to 0 when a Zero Point Return (ZRET) is executed. When an infinite length axis type is selected, a range of 0 to (Maximum Value of Rotary Counter (POSMAX) (fixed parameter 10) 1) is stored. Machine Coordinate Latch Position (LPOS) IL 18 Range Unit 2 31 to Reference unit Stores the latch position when the latch has been completed. IL 1A Position Error (PERR) Range Unit 2 31 to Reference unit Stores the following error (Machine Coordinate System Position (IL 12) Machine Coordinate Feedback Position (IL 16)) managed by the MP2100/MP2100M. IL 1E POSMAX Number of Turns Range Unit 2 31 to rev This parameter is valid for an infinite length axis. The count stored in this parameter goes up and down every time the current position exceeds the Maximum Value of Rotary Counter (POSMAX) (fixed parameter 10). (11) Reference Monitor Speed Reference Output Monitor Range Unit IL to ( 2 31 to 2 31 pulse/s 1) Stores the speed reference that is being output. This parameter monitors the speed being output to the MECHATROLINK. This parameter will be 0 for interpolation or phase control. TERMS 1 Machine Coordinate System The basic coordinate system that is set according to Zero Point Return (ZRET) command execution or Zero Point Setting (ZSET) command execution. The MP2100/MP2100M manages the positions using this machine coordinate system. 7-38

194 7.2 Motion Parameter Details (12) SERVOPACK Status IW 2C Network Servo Status Range Unit IW 2C Bit 0 Alarm Occurred (ALM) OFF: No alarm occurred. ON: Alarm occurred. Bit 1 Warning Occurred (WARNING) OFF: No warning occurred. ON: Warning occurred. Bit 2 Command Ready (CMDRDY) OFF: Command cannot be received. ON: Command can be received. Bit 3 Servo ON (SVON) OFF: Servo OFF. ON: Servo ON. Bit 4 Main Power ON (PON) OFF: Main power OFF. ON: Main power ON. Bit 5 Machine Lock (MLOCK) OFF: Machine lock mode released. ON: Machine lock mode. Bit 6 Zero Point Position (ZPOINT) OFF: Outside Zero Point Position Range. ON: In Zero Point Position Range. Bit 7 Positioning Completed (PSET) OFF: Outside Positioning Completed Width. ON: In Positioning Completed Width (for position control). Speed Coincidence (V-CMP) OFF: Speed does not agree. ON: Speed agrees (for speed control). Bit 8 Distribution Completed (DEN) OFF: Distributing pulses. ON: Distribution completed (for position control). Zero Speed (ZSPD) OFF: Zero speed not detected. ON: Zero speed detected (for speed control). Bit 9 Torque Being Limited (T_LIM) OFF: Torque not being limited. ON: Torque being limited. Bit A Latch Completed (L_CMP) OFF: Latch not completed. ON: Latch completed. Bit B Position Proximity (NEAR) OFF: Outside Position Proximity Range. ON: In Position Proximity Range. Speed Limit (V_LIM) OFF: Speed limit not detected. ON: Speed limit detected. Bit C Positive Soft Limit (Positive Software Limit) (P_SOT) OFF: In Positive Software Limit Range. ON: Outside Positive Software Limit Range. Bit D Negative Soft Limit (Negative Software Limit) (N_SOT) OFF: In Negative Software Limit Range. ON: Outside Negative Software Limit Range

195 7 Motion Parameters Motion Monitoring Parameter Details (13) SERVOPACK Information IW 2D Servo Alarm Code Range Unit to Stores the alarm code (leftmost 2 digits) from the SERVOPACK. Example: The code for a communication error that occurs in an SGDS SERVOPACK is E6. Refer to the manual for the SERVOPACK for details on alarms. 7-40

196 7.2 Motion Parameter Details (14) SERVOPACK I/O Monitor Stores I/O information of the SERVOPACK. IW 2E Network Servo I/O Monitor Range Unit IW 2E Bit 0 Positive Drive Prohibited Input (P_OT) OFF: OFF ON: ON Bit 1 Negative Drive Prohibited Input (N_OT) OFF: OFF ON: ON Bit 2 Zero Point Return Deceleration Limit Switch Input (DEC) OFF: OFF ON: ON Bit 3 Encoder Phase-A Input (PA) OFF: OFF ON: ON Bit 4 Encoder Phase-B Input (PB) OFF: OFF ON: ON Bit 5 Encoder Phase-C Input (PC) OFF: OFF ON: ON Bit 6 First External Latch Input (EXT1) OFF: OFF ON: ON Bit 7 Second External Latch Input (EXT2) OFF: OFF ON: ON Bit 8 Third External Latch Input (EXT3) OFF: OFF ON: ON Bit 9 Brake Output (BRK) OFF: OFF ON: ON Bit C CN1 Input Signal (IO12) selected in parameter Pn81E.0 OFF: OFF ON: ON Bit D CN1 Input Signal (IO13) selected in parameter Pn81E.1 OFF: OFF ON: ON Bit E CN1 Input Signal (IO14) selected in parameter Pn81E.2 OFF: OFF ON: ON Bit F CN1 Input Signal (IO15) selected in parameter Pn81E.3 OFF: OFF ON: ON

197 7 Motion Parameters Motion Monitoring Parameter Details (15) SERVOPACK User Monitor Information The Monitor Selection made by the user when using a SERVOPACK for MECHATROLINK communication is stored in this parameter. Network Servo User Monitor Information IW 2F Range Unit IW 2F Bit 0 to Bit 3 Monitor 1 Bit 4 to Bit 7 Monitor 2 Bit 8 to Bit B Monitor 3 Bit C to Bit F Monitor 4 (16) SERVOPACK Information 2 IL 30 Servo User Monitor 2 Range Unit 2 31 to Stores the result of the selected monitor. This parameter stores the result of the monitor selected for Monitor 2 in the Servo User Monitor (setting parameter OW 4E, bits 4 to 7). Note: This parameter can be used when the communication method is MECHATROLINK-I or MECHATROLINK-II, 17- byte Mode and bit 0 of OW 02 is set to 1 (1: Enabled). Reserved IL 32 Servo User Monitor 3 Range 2 31 to IL 34 Servo User Monitor 4 Range Unit 2 31 to Stores the result of the selected monitor. This parameter stores the result of the monitor selected for Monitor 4 of the Servo User Monitor (setting parameter OW 4E, bits C to F). IW 36 Servo Constant Number Range Unit 0 to Stores the number of the parameter being processed. This parameter stores the number of the SERVOPACK parameter being read or written using the MECHATROLINK command area. Refer to Chapter 8 Motion Commands for details. Auxiliary Servo User Constant Number IW 37 Range Unit 0 to Stores the number of the parameter being processed. This parameter stores the number of the SERVOPACK parameter being read or written using the MECHATROLINK subcommand area. Refer to Chapter 8 Motion Commands for details. IL 38 Servo User Constant Range Unit 2 31 to Stores the data of the parameter being read. This parameter stores the data of the SERVOPACK parameter read using the MECHATROLINK command area. Refer to Chapter 8 Motion Commands for details. Unit 7-42

198 7.2 Motion Parameter Details IL 3A Auxiliary Servo User Constant Range Unit 2 31 to Stores the data of the parameter being read. This parameter stores the data of the SERVOPACK parameter read using the MECHATROLINK subcommand area. Refer to Chapter 8 Motion Commands for details. IW 3F Motor Type Range Unit 0, 1 Stores the type of motor that is actually connected. 0: Rotary motor 1: Linear motor IL 40 (17) Supplemental Information Feedback Speed Range 2 31 to 2 31 Depends on the Speed 1 Unit. Stores the feedback speed. The unit for this parameter is set in the Speed Units in Function 1 (setting parameter OW 03, bits 0 to 3). The value is determined by the moving average time constant and unit set from the difference with the Machine Coordinate Feedback Position (monitoring parameter IL 16) in each scan. Torque (Thrust) Reference Monitor Range Unit IL 42 Depends on the Torque 2 31 to Unit (OW 03, bits C to F). Stores the value of the torque reference. The Torque (Thrust) Reference Monitor is achieved using the Servo command expansion area and can be executed only with the MECHATROLINK-II, 32-byte Mode communication method. Unit 7 IL 56 Fixed Parameter Monitor Range Unit 2 31 to Stores the data of the specified fixed parameter number. This parameter stores the data of the fixed parameter when the Read Fixed Parameter (FIXPRM-RD) is selected in the Motion Subcommand (setting parameter OW 0A). 7-43

199 7 Motion Parameters Motion Monitoring Parameter Details (18) Absolute Infinite Length Axis Position Control Information Absolute Position at Power OFF (Low Value) IL 5E Range Unit 2 31 to pulse Stores information used for infinite length axis position control when an absolute encoder is used. These parameters store the encoder position in 4 words. IL 60 Same as for IL 5E. (19) Transparent Command Mode Absolute Position at Power OFF (High Value) Range Unit 2 31 to pulse Modularized Position at Power OFF (Low Value) IL 62 Range Unit 2 31 to pulse Stores information used for infinite length axis position control when an absolute encoder is used. These parameters store the axis position managed by the MP2100/MP2100M in pulses in 4 words. IL 64 Same as for IL 62. Modularized Position at Power OFF (High Value) Range Unit 2 31 to pulse Command Buffer for Transparent Command Mode IW 70 to IW 7E Range Unit 2 31 to This area is used for response data when MECHATROLINK Servo commands are specified directly. MECHATROLINK-I and MECHATROLINK-II, 17-byte Mode: Data area = IW 70 to IW 77 MECHATROLINK-II, 32-byte Mode: Data area = IW 70 to IW 7E 7-44

200 7.3 Example of Setting Motion Parameters for the Machine 7.3 Example of Setting Motion Parameters for the Machine Set the following seven motion parameters to enable motion control that suits the machine s specifications. Reference Unit Electronic Gear Axis Type Position Reference Speed Reference Acceleration/Deceleration Settings Acceleration/Deceleration Filter Settings Reference Unit Pulses, millimeters, degrees, or inches can be used as the reference unit for motion control. The reference unit is specified in Command Unit (motion fixed parameter 4). The minimum reference unit that can be specified is determined by the above unit selection and the setting of Number of Decimal Places (motion fixed parameter 5). Motion Fixed Parameter 5: Number of Decimal Places Motion Fixed Parameter 4: Command Unit 0: pulse 1: mm 2: deg 3: inch 0:0 digits 1 pulse 1 mm 1 deg 1 inch 1:1 digit 1 pulse 0.1 mm 0.1 deg 0.1 inch 2:2 digits 1 pulse 0.01 mm 0.01 deg 0.01 inch 3:3 digits 1 pulse mm deg inch 4:4 digits 1 pulse mm deg inch 5:5 digits 1 pulse mm deg inch Electronic Gear In contrast to the reference unit input to the MP2100/MP2100M, the moving unit in the mechanical system is called the output unit. The electronic gear converts position or speed units from reference units to output units for the mechanical system without going through an actual mechanism, such as a gear. When the axis at the motor has rotated m times and the mechanical configuration allows the axis at the load to rotate n times, this electronic gear function can be used to make the reference unit equal to the output unit. The electronic gear function is set using the motion fixed parameters shown in the following table. The electronic gear is disabled when pulse is specified as the reference unit

201 7 Motion Parameters Electronic Gear Parameter Motion Fixed Parameters Parameter No. (Register No.) No. 6 Name Command Unit per Revolution Description This parameter shows the load moving amount for each rotation of the load axis. Sets the load moving amount value divided by the reference unit. Default Value No.6 = Load travel distance per load axis rotation Reference unit Some examples of the load moving amount are shown below. Reference Units Load Configuration Examples per Revolution P [mm] Ball screw One rotation P = Ball screw pitch 360 [ ] D [mm] Rotating table Belt 360 One rotation π D D One rotation Setting range: 1 to [1 = 1 reference unit] Setting Examples Load moving amount per load axis rotation = 12 mm Reference unit = mm 12 mm No.6 = = mm No. 8 No. 9 Gear Ratio [MOTOR] Gear Ratio [LOAD] These parameters are used to set the gear ratio between the motor and the load. When the motor axis has rotated m times and the mechanical configuration allows the load axis to rotate n times, set the following values: No. 8 = m rotations No. 9 = n rotations Setting range: 1 to 65,535 [rotations] Setting Examples rotations 7 rotations Load axis n rotations Motor axis m rotations 3 rotations 9 rotations n Gear ratio = = m = Therefore, set the following values: No. 8 = 21 No. 9 =

202 7.3 Example of Setting Motion Parameters for the Machine EXAMPLE (a) Parameter Setting Example Using Ball Screw Motor 7 rotations m n Ball screw pitch P = 6 mm/rotation 5 rotations In the above machine system, if the requirement is reference unit = output unit = mm, the setting of each parameter will be as follows: 6 mm No.6 = = mm Gear ratio = m n No.8 = 7 No.9 = 5 EXAMPLE (b) Parameter Setting Example Using Rotating Load Rotating load 360 /rotation 7 n 30 rotations 10 rotations m Motor In the above machine system, if the requirement is reference unit = output unit = 0.1, the setting of each parameter will be as follows: 360 No.6 = = n 10 Gear ratio = = = m No.8 = 3 No.9 =

203 7 Motion Parameters Axis Type Selection Axis Type Selection There are two types of position control: Finite length position control: Return and other operations are performed only within a specified range, i.e., within a prescribed positioning interval. Infinite length position control: Used for moving in one direction only. Resets the position to 0 after one rotation. Moves in one direction only, without resetting position after one rotation. The axis type selection sets which of these types of position control is to be used. The settings for the Axis Type Selection are listed in the following table. Parameter Type Motion Fixed Parameters Parameter No. (Register No.) Name Description Default Value No.1, bit 0 Function Selection 1, Axis Type Specify the position control method for the controlled axis. 0: Finite Length Axis: Set a finite length axis if control is performed within a limited length or for an axis that uses infinite length control in one moving direction only without resetting the position every rotation. 1: Infinite Length Axis: Set an infinite length axis for an axis that uses infinite length control while resetting the position every rotation. 0 No.10 Maximum Value of Rotary Counter (POS- MAX) Set the reset position of the position data when an infinite length axis has been set for the axis type Position References The target position value for position control is set for the Position Reference Setting (motion setting parameter OL 1C). There are two methods that can be set for using the Position Reference Setting: Directly setting the coordinate of the target position value as an absolute value or adding the moving amount from the previous command position as a incremental value. The following table lists the parameters relating to position references. Parameter Type Motion Setting Parameters Parameter No. (Register No.) Name Description Default Value OB 095 Position Reference Type Specify the type of position data. 0: Incremental Addition Mode Adds the present moving amount value to the previous value of OL 1C and sets the result in OL 1C 1: Absolute Mode Sets the coordinate of the target position in OL 1C. Note: Always set to 0 when using a motion program. Always set to 0 when using an infinite length axis. Set the position data. Incremental Addition Mode (OB 095 = 0) The moving amount (incremental distance) specified this time will be added to the previous value of OL 1C. OL 1C Previous OL 1C + Incremental distance Example: If a travel distance of 500 is specified and the previous value of OL 1C is 1000, the following will occur: OL 1C = 1500 Absolute Mode (OB 095 = 1) The coordinate value of the target position is set. Example: Set to move to a coordinate value of OL 1C OL 1C Position Reference Setting

204 7.3 Example of Setting Motion Parameters for the Machine INFO Use incremental addition mode for an infinite length axis. In other words, the new moving amount (an incremental moving amount) is added to the previous position reference in OL 1C and set as the new position reference in OL 1C. It is important to note that the position reference is not necessarily set between 0 and one less than the Maximum Value of Rotary Counter (POSMAX). Position Reference Type Incremental addition mode Absolute mode Merits It is not necessary to consider the relationship between OL 1C and the current position when canceling a move. Incremental addition mode can be used for finite or infinite length axis type. The coordinate of the target position is specified directly, making it easy to understand intuitively. Demerits OL 1C does not necessarily equal the coordinate value of the target position, so the position reference can be difficult to understand intuitively. The current position must be set in OL 1C whenever the power supply is turned ON or a move is canceled. If this is not done, the axis may move suddenly when a move command is started. Absolute mode cannot be used for an infinite length axis type

205 7 Motion Parameters Speed References Speed References There are two methods of setting the speed reference for the feed speed or other speeds. One method involves using reference units and the other method involves setting the percentage (%) of the rated speed. The following table shows the parameters relating to speed references. Parameter Type Motion Fixed Parameters Motion Setting Parameters Parameter No. (Register No.) No. 5 Name Number of Decimal Places Description Set the number of digits below the decimal point in the input reference unit. The minimum reference unit is determined by this parameter and the Command Unit (fixed parameter 4) Example: Command Unit = mm,number of Decimal Places = 3 1 reference unit = mm No. 34 Rated Speed Set the number of rotations when the motor is rotated at the rated speed (100% speed). Confirm the motor specifications before setting this parameter. No. 36 OW 03, bit 0 to 3 Encoder Resolution Speed Units Set the number of pulses (the value after multiplication) per motor rotation. Example: For a 16-bit encoder, set 2 16 = Set the unit for reference speeds. 0: Reference unit/s 1: 10 n reference unit/min (n: Number of Decimal Places) 2: 0.01% OL 10 Speed Reference Set the feed speed. The unit for this parameter is set in OW 03, bits 0 to 3. When the Number of Decimal Places is set to 3, units are as follows for the setting of the Command Unit: Speed Unit Set to 0: Reference units/s Pulse unit: 1 = 1 pulse/s mm unit: 1 = mm/s deg unit: 1 = deg/s Inch unit: 1 = inch/s Speed Unit Set to 1: 10 n reference units/min Pulse unit: 1 = 1000 pulses/min mm unit: 1 = 1 mm/min deg unit: 1 = 1 deg/min Inch unit: 1 = 1 inch/min Speed Unit Set to 2: 0.01% Set as a percentage of the rated speed (1 = 0.01%) unrelated to the reference unit setting. OW 18 Speed Override This parameter allows the positioning speed to be changed without changing the Speed Reference setting. Set the speed as a percentage of the Speed Reference setting. Setting unit: 1 = 0.01% Default Value

206 7.3 Example of Setting Motion Parameters for the Machine (a) Speed Reference Parameter Setting Examples EXAMPLE No. 5 = 3 digits No. 34 = 3,000 min -1 No. 36 = 65,536 pulses/rotation Therefore, rated speed = 3,000 min -1 = 3,000 65,536 = 196,608,000 ppm 1. Speed Unit Set to 0 (reference units/s) a) Command Unit = Pulses For a feed speed of 1,500 min -1 with the above settings: OL 10 = 1,500 [min -1 ] 65,536 [pulses] 60 = [pulses/s] OW 18 = (100%) b) Command Unit = mm (1 reference unit = mm) For a feed speed of 900 mm/s with a machine that travels 10 mm for each rotation with the above settings: OL 10 = (reference units/s) OW 18 = (100%) 2. Speed Unit set to 1 (10 n reference units/min) a) Command Unit = Pulses For a feed speed of 1500 min -1 with the above settings: OL 10 = 1,500 [min -1 ] 65,536 [pulses] 1,000 = [1,000 pulses/min] OW 18 = (100%) b) Command Unit = mm For a feed speed of 900 mm/s with a machine that travels 10 mm for each rotation with the above settings: OL 10 = 900 OW 18 = (100%) 7 3. Speed Unit set to 2 (percentage) For a feed speed of 1,500 min -1 with the above settings: 1,500 [min OLxx10 = -1 ] 10,000 3,000 [min -1 ] = 5,000 OW 18 = (100%). 4. To leave the setting of Speed Reference (OL 10) unchanged and reduce the operating speed to half (50%): OW 18 = 5000 (50.00%) 7-51

207 7 Motion Parameters Speed References (b) Speed Reference Parameter Setting Examples (2) EXAMPLE 1. When the Speed Unit (OW 03, bits 0 to 3) is set as follows: 0: Reference units/s 1: 10 n reference units/min Speed Speed Reference OL 10 0 Time t 2. When the Speed Unit (OW 03, bits 0 to 3) is set as follows: 2: Percentage Rated speed Speed 100% Speed Reference OL 10 0 Time t 7-52

208 7.3 Example of Setting Motion Parameters for the Machine Acceleration/Deceleration Settings The acceleration/deceleration can be set to either the rate of acceleration/deceleration or the time required to reach the rated speed from 0. The parameters related to acceleration/deceleration settings are listed in the following table. Parameter Type Parameter No. (Register No.) Name Description Default Value Motion Fixed Parameters No. 5 Number of Decimal Places Set the number of digits below the decimal point in the input reference unit. The minimum reference unit is determined by this parameter and the Command Unit (fixed parameter 4) Example: Command Unit = mm,number of Decimal Places = reference unit = mm No. 34 Rated Speed Set the number of rotations when the motor is rotated at the rated speed (100% speed). Confirm the motor specifications before setting this parameter Motion Setting Parameters No. 36 OW 03, bits 4 to 7 OL 36 Encoder Resolution Acceleration/ Deceleration Units Linear Acceleration Time Set the number of pulses (the value after multiplication) per motor rotation. Example: For a 16-bit encoder, set 216 = Set the unit for acceleration/deceleration. 0: Reference units/s 2 1: ms Set the rate of acceleration or acceleration time constant according to the setting of OW 03, bits 4 to 7. When Acceleration/Deceleration Units is set to (Reference units/s 2 ), set the rate of acceleration. Pulse unit: 1 = 1 pulse/s 2 mm unit: 1 = 1 reference unit/s 2 deg unit: 1 = 1 reference unit/s 2 7 Inch unit: 1 = 1 reference unit/s 2 Example: Number of Decimal Places = 3 mm unit: 1 = mm/s 2 deg unit: 1 = deg/s 2 Inch unit: 1 = inch/s 2 When Acceleration/Deceleration Units is set to 1 (ms), set the time constant to go from 0 to the rated speed without relation to the reference unit. OL 38 Linear Deceleration Time Set the rate of deceleration or deceleration time constant according to the setting of OW 03, bits 4 to 7. When Acceleration/Deceleration Units is 0 (Reference 0 units/s 2 ), set the rate of deceleration. Pulse unit: 1 = 1 pulse/s 2 mm unit: 1 = 1 reference unit/s 2 deg unit: 1 = 1 reference unit/s 2 Inch unit: 1 = 1 reference unit/s 2 When Acceleration/Deceleration Units is 1 (ms), set the time constant to go from the rated speed to 0 without relation to the reference unit. 7-53

209 7 Motion Parameters Acceleration/Deceleration Filter Settings (a) Acceleration/Deceleration Unit (OW 03, bits 4 to 7) set to 0: Reference units/s 2 EXAMPLE Speed (%) (100%) Specified speed Linear Acceleration Time OL 36 Linear Deceleration Time OL 38 0 Time (t) (b) Acceleration/Deceleration Units (OW 03, bits 4 to 7) set to 1: ms EXAMPLE Speed (%) (100%) Specified speed 0 Linear Acceleration Time (OL 36) Linear Deceleration Time (OL 38) Time (t) Acceleration/Deceleration Filter Settings There are two types of acceleration/deceleration filter: The exponential acceleration/deceleration filter and the moving average filter. The parameters related to the acceleration/deceleration filter settings are listed in the following table. When using an acceleration/deceleration filter, always execute the Change Filter Type command (OW 08 = 13) in advance to enable the filter type selection. Parameter Type Parameter No. (Register No.) Name Description Default Value Motion Setting Parameters OW 03 Bit 8 to B OW 3A Filter Type S-curve Acceleration Time Set the acceleration/deceleration filter type. 0: No filter 1: Exponential acceleration/deceleration filter 2: Moving average filter Note: The Change Filter Type command (OW 08 = 13) must be executed in advance to enable the Filter Type. Set the acceleration/deceleration filter time constant. Always make sure that pulse distribution has been completed (IW 0C, bit 0 is ON) before changing the time constant

210 8 This chapter describes motion commands. Motion Commands 8.1 Command Table Motion Commands Motion Subcommands Motion Command Support by SERVOPACK Model Positioning (POSING) External Positioning (EX_POSING) Zero Point Return (ZRET) Interpolation (INTERPOLATE) Latch (LATCH) JOG Operation (FEED) STEP Operation (STEP) Zero Point Setting (ZSET) Change Linear Acceleration Time Constant (ACC) Change Linear Deceleration Time Constant (DCC) Change Filter Time Constant (SCC) Change Filter Type (CHG_FILTER) Change Speed Loop Gain (KVS) Change Position Loop Gain (KPS) Change Feed Forward (KFS) Read SERVOPACK Parameter (PRM_RD) Write SERVOPACK Parameter (PRM_WR) Monitor SERVOPACK Alarms (ALM_MON) Monitor SERVOPACK Alarm History (ALM_HIST) Clear SERVOPACK Alarm History (ALMHIST_CLR) Reset Absolute Encoder (ABS_RST) Speed Reference (VELO) Torque Reference (TRQ) Phase References (PHASE) Change Position Loop Integration Time Constant (KIS)

211 8 Motion Commands Motion Commands 8.1 Command Table Motion Commands Command Code Command Name Description 0 NOP No command 1 POSING Positioning Positions to the specified position using the specified acceleration/deceleration times and the specified speed. 2 EX_POSING External Positioning Positions by moving the external positioning travel distance from the point an external positioning signal was input when already performing a positioning operation. 3 ZRET Zero Point Return Returns to the zero point in the machine coordinate system. When using an incremental encoder, there are 13 different zero point return methods that can be used. 4 INTERPOLATE Interpolation Performs interpolation feeding using positioning data distributed consecutively from the Basic Module. 5 Reserved. 6 LATCH Latch Memorizes the current position when the latch signal is input during an interpolation feed operation. 7 FEED JOG Operation Moves the axis at the specified speed in the specified direction until the command is cancelled. 8 STEP STEP Operation Positions the specified travel distance in the specified direction at the specified speed. 9 ZSET Zero Point Setting Sets the zero point in the machine coordinate system and enables the soft limit function. 10 ACC Change One-step Linear Acceleration Time Constant 11 DCC Change One-step Linear Deceleration Time Constant Changes the acceleration time for linear acceleration/ deceleration. Changes the deceleration time for linear acceleration/ deceleration. 12 SCC Change Filter Time Constant Changes the time constant for a moving average filter for acceleration/deceleration. 13 CHG_FILTER Change Filter Type Changes the acceleration/deceleration filter type. 14 KVS Change Speed Loop Gain Changes the speed loop gain. 15 KPS Change Position Loop Gain Changes the position loop gain. 16 KFS Change Feed Forward Changes the feed forward control gain. 17 PRM_RD Read SERVOPACK Reads a SERVOPACK parameter. Parameter 18 PRM_WR Write SERVOPACK Write a SERVOPACK parameter. Parameter 19 ALM_MON Monitor SERVOPACK Alarms Monitors SERVOPACK alarms. 20 ALM_HIST Monitor SERVOPACK Alarm Monitors SERVOPACK alarm history. History 21 ALMHIST_CLR Clear SERVOPACK Alarm Clears SERVOPACK alarm history data. History 22 ABS_RST Reset Absolute Encoder Resets the absolute encoder. 23 VELO Speed Reference Operates with speed control mode. 24 TRQ Torque Reference Operates with torque control mode. 25 PHASE Phase References Operates with phase control mode. 26 KIS Change Position Loop Integration Time Constant Changes the integration time constant for the position loop. 8-2

212 8.1 Command Table Motion Subcommands Command Code Command Name Description 0 NOP No command 1 PRM_RD Read SERVOPACK parameter Reads a SERVOPACK parameter. 2 PRM_WR Write SERVOPACK parameter Writes a SERVOPACK parameter. 3 Reserved. 4 SMON Monitor Status Monitors the data selected in the Servodriver user monitor settings. 5 FIXPRM_RD Read Fixed Parameter Monitors the fixed parameters for the number specified

213 8 Motion Commands Motion Command Support by SERVOPACK Model Motion Command Support by SERVOPACK Model The following tables shows the motion commands supported by each model of SERVOPACK. A Motion Command Setting Error warning will occur if a command that is not supported is specified. Main Command (OW 08) Subcommand (OW 0A) Motion command SGD- N, SGDB- AN SGD- E + NS100 SERVOPACK Note: OK: Supported, : Not supported 32-byte: Supported only for 32-byte Mode of MECHATROLINK-II. SGDH- E SGDS- 1 +NS115 M-I M-II M-I M-II NOP OK OK OK OK OK OK POSING OK OK OK OK OK OK EX_POSING OK OK OK OK OK OK ZRET OK OK OK OK OK OK INTERPOLATE OK OK OK OK OK OK ENDOF_INTERP OK OK OK OK OK OK OLATE LATCH OK OK OK OK OK OK FEED OK OK OK OK OK OK STEP OK OK OK OK OK OK ZSET OK OK OK OK OK OK ACC OK OK OK OK OK OK DCC OK OK OK OK OK SCC OK OK OK OK OK OK CHG_FILTER OK OK OK OK OK OK KVS OK OK OK OK OK OK KPS OK OK OK OK OK OK KFS OK OK OK OK OK OK PRM_RD OK OK OK OK OK OK PRM_WR OK OK OK OK OK OK ALM_MON OK OK OK OK OK OK ALM_HIST OK OK OK OK OK OK ALMHIST_CLR OK OK OK OK OK OK ABS_RST OK OK OK OK OK VELO OK OK TRQ OK OK PHASE OK OK OK OK OK KIS OK OK OK OK OK NOP OK OK OK OK OK OK PRM_RD 32-byte 32-byte PRM_WR 32-byte 32-byte SMON 32-byte 32-byte FIXPRM_RD OK OK OK OK OK OK 8-4

214 8.2 Positioning (POSING) 8.2 Positioning (POSING) The POSING command positions the axis to the target position using the specified target position and speed. Parameters related to acceleration and deceleration are set in advance. The speed and target position can be changed during operation. When the target position is changed so that there is not sufficient deceleration distance or after the new target position has already been passed, the system will first decelerate to a stop and then reposition according to the new target position. (1) Operating Procedure No. Execution Conditions Confirmation Method 1 There are no alarms. Both IL 02 and IL 04 are 0. 2 The Servo ON condition. IB 001 is ON. 3 Motion command execution has been completed. IW 08 is 0 and IB 090 is OFF. Set the motion setting parameters. Positioning Speed: OL 10 Acceleration/Deceleration Filter Type: OW 03 Speed Loop P/PI Switch: OW 01 Speed % 100% Rated speed Positioning speed Execute the positioning (POSING) motion command. Set OW 08 to 1. Set the target position. Target Position Setting: OL 1C Positioning starts. IW 08 will be 1 during positioning. Position proximity reached. IB 0C3 will turn ON. 0 Linear acceleration time Position reference Linear deceleration time Time t The target position can be changed while the axis is moving. The positioning speed can be changed while the axis is moving. An override of between 0% to % can be set for the positioning speed. Set OB 090 to 1 to hold the command. Set OB 091 to 1 or execute the NOP motion command to abort the command. 8 Positioning completed. IB 0C1 will turn ON. Executed NOP motion command. Set OW 08 to 0. * If the Position Reference Type (OB 095) is set for an absolute mode, the target position can be set before executing the command. (2) Holding Axis travel can be stopped during command execution and then the remaining travel can be restarted. A command is held by setting the Command Pause bit (OB 090) to Set the Command Pause bit (OB 090) to 1. The axis will decelerate to a stop. When the axis has stopped, the Hold Completed bit (IB 091) will turn ON. 2. Reset the Command Pause bit (OB 090) to 0. The command hold status will be cleared and the remaining portion of the positioning will be restarted. 8-5

215 8 Motion Commands (3) Aborting Axis travel can be stopped during command execution and the remaining travel cancelled by aborting execution of a command. A command is aborted by setting the Command Abort bit (OB 091) to Set the Command Abort bit (OB 091) to 1. The axis will decelerate to a stop. When the axis has stopped, the remain travel will be canceled and the Positioning Completed bit (IB 01C) will turn ON. 2. The positioning will restart if the Command Abort bit (OB 091) is reset to 0 during abort processing. This type of operation will also be performed if the motion command is changed during axis movement. (4) Related Parameters (a) Setting Parameters Parameter Name Setting OB 000 Servo ON Turn the power to the Servomotor ON and OFF. 1: Power ON to Servomotor, 0: Power OFF to Servomotor Turn ON the power before setting the Motion Command (OW 08) to 1. OB 013 Speed Loop P/PI Switch Switch the speed control loop between PI control and P control. 0: PI control, 1: P control OW 03 Function 1 Set the speed unit, acceleration/deceleration unit, and filter type. OW 08 Motion Command The positioning starts when this parameter is set to 1. The operation will be canceled if this parameter is set to 0 during POSING command execution. OB 090 Command Pause The axis will decelerate to a stop if this bit is set to 1 during POSING command execution. The positioning will restart if this bit is reset to 0 when a command is being held. OB 091 Command Abort The axis will decelerate to a stop if this bit is set to 1 during POSING command execution. When this bit is reset to 0 after stopping, the operation depends on the setting of the Position Reference Type (OB 095). OB 095 Position Reference Type Switch the type of position reference. 0: Incremental addition mode, 1: Absolute mode Set this bit before setting the Motion Command (OW 08) to 1. OL 10 Speed Reference Specify the speed for the positioning. This setting can be changed during operation. The unit depends on the setting of OW 03. OL 18 Speed Override This parameter allows the positioning speed to be changed without changing the Speed Reference (OL 10). Set the speed as a percentage of the Speed Reference Setting. This setting can be changed during operation. Setting range: 0 to (0% to %) Setting unit: 1 = 0.01% Example: Setting for 50%: 5000 OL 1C OL 1E OL 20 OL 36 OL 38 OW 3A Position Reference Type Positioning Completed Width Positioning Completed Width 2 Linear Acceleration Time Linear Deceleration Time S-Curve Acceleration Time Set the target position for positioning. This setting can be changed during operation. The meaning of the setting depends on the status of OB 095. Set the width in which to turn ON the Positioning Completed bit (IB 0C1). Set the range in which the Position Proximity bit (IB 0C3) will turn ON. The Position Proximity bit will turn ON when the absolute value of the difference between the reference position and the feedback position is less than the value set here. Set the rate of acceleration or acceleration time constant for positioning. Set the rate of deceleration or deceleration time constant for positioning. Set the acceleration/deceleration filter time constant. Exponential acceleration/ deceleration or a moving average filter can be selected in OW 03. Change the setting only after pulse distribution has been completed for the command (IB 0C0 is ON). 8-6

216 8.2 Positioning (POSING) (b) Monitoring Parameters Parameter Name Monitor Contents IB 001 Servo ON Indicates the Servo ON status. ON: Power supplied to Servomotor, 0: Power not supplied to Servomotor IL 02 Warning Stores the most current warning. IL 04 Alarm Stores the most current alarm. IW 08 Servo Command Type Response Indicates the motion command that is being executed. The response code will be 1 during POSING command execution. IB 090 Command Executing Turns ON when abort processing is being performed for POSING command. Turns OFF when abort processing has been completed. IB 091 Hold Completed Turns ON when a deceleration to a stop has been completed as the result of setting the Command Pause bit (OB 090) to 1 during POSING command execution. IB 093 Command Error End Turns ON if an error occurs during POSING command execution. The axis will decelerate to a stop if it is moving. Turns OFF when another command is executed. IB 098 IB 0C0 IB 0C1 Command Completed Distribution Completed Positioning Completed Always OFF for POSING command. Use the Positioning Completed bit (IB 0C1) to confirm completion of this command. Turns ON when pulse distribution has been completed for the move command. Turns OFF during execution of a pulse distribution. Turns ON when pulse distribution has been completed and the current position is within the Positioning Completed Width. OFF in all other cases. IB 0C3 Position Proximity The operation depends on the setting of the Positioning Completed Width 2 (setting parameter OL 20). OL 20 = 0: Turns ON when pulse distribution has been completed (DEN = ON). OL 20 0: Turns ON when MPOS - APOS < Position Proximity Setting even if pulse distribution has not been completed. OFF in all other cases

217 8 Motion Commands (5) Timing Charts (a) Normal Execution OW 08 = 1 (POSING) IW 08 = 1 (POSING) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) IB 0C0 (DEN) IB 0C1 (POSCOMP) 1 scan Undefined length of time (b) Execution when Aborted OW 08 = 1 (POSING) OB 091 (ABORT) IW 08 = 1 (POSING) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) IB 0C0 (DEN) IB 0C1 (POSCOMP) 1 scan Undefined length of time (c) Execution when Aborting by Changing the Command OW 08 = 1 (POSING) IW 08 = 1 (POSING) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) IB 0C0 (DEN) IB 0C1 (POSCOMP) 1 scan 1 scan Undefined length of time 8-8

218 8.2 Positioning (POSING) (d) Command Hold OW 08 = 1 (POSING) OB 090 (HOLD) IW 08 = 1 (POSING) IB 090 (BUSY) IB 091 (HOLDL) IB 093 (FAIL) IB 098 (COMPLETE) IB 0C0 (DEN) IB 0C1 (POSCOMP) 1 scan Undefined length of time (e) Execution when an Alarm Occurs OW 08 = 1 (POSING) IW 08 = 1 (POSING) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) IB 0C0 (DEN) IB 0C1 (POSCOMP) 1 scan Alarm Undefined length of time 8 8-9

219 8 Motion Commands 8.3 External Positioning (EX_POSING) The EX_POSING command positions the axis to the target position using the specified target position and speed. Parameters related to acceleration and deceleration are set in advance. If the external positioning signal turns ON during axis movement, the axis will move the distance specified for the External Positioning Move Distance from the point at which the external positioning signal turned ON, and then stop. If the external positioning signal does not turn ON, positioning will be completed to the original target position. (1) Operating Procedure No. Execution Conditions Confirmation Method 1 There are no alarms. Both IL 02 and IL 04 are 0. 2 The Servo ON condition. IB 001 is ON. 3 Motion command execution has been completed. IW 08 is 0 and IB 090 is OFF. Set the motion setting parameters. External Positioning Move Distance: OL 46 External Positioning Signal: OW 04 Positioning Speed: OL 10 Acceleration/Deceleration Filter Type: OW 03 Speed Loop P/PI Switch: OW 01 Execute the External Positioning (EX_POSING) motion command. Set OW 08 to 2. Set the target position. Target Position Setting: OL 1C Positioning starts. IW 08 will be 2 during positioning. Turn ON the external positioning signal. The axis will be moved the External Positioning Move Distance and decelerate to a stop. Speed % 100% 0 Linear acceleration time Latch signal (external positioning signal) Rated speed Positioning speed External positioning move distance Time t Linear deceleration time The target position can be changed while the axis is moving. The target position cannot be changed after the external positioning signal is input. The positioning speed can be changed while the axis is moving. An override of between 0% to % can be set for the positioning speed. Set OB 090 to 1 to hold the command. Set OB 091 to 1 or execute the NOP motion command to abort the command. A latch zone can be set as long as it is supported by the SERVOPACK being used. Positioning completed. IB 098 will turn ON. Execute NOP motion command. Set OW 08 to 0. * If the Position Reference Type (OB 095) is set for an absolute mode, the target position can be set before executing the command. 8-10

220 8.3 External Positioning (EX_POSING) (2) Holding Axis travel can be stopped during command execution and then the remaining travel can be restarted. A command is held by setting the Command Pause bit (OB 090) to Set the Command Pause bit (OB 090) to 1. The axis will decelerate to a stop. When the axis has stopped, the Hold Completed bit (IB 091) will turn ON. (3) Aborting 2. Reset the Command Pause bit (OB 090) to 0. The command hold status will be cleared and the remaining portion of the positioning will be restarted. Axis travel can be stopped during command execution and the remaining travel cancelled by aborting execution of a command. A command is aborted by setting the Command Abort bit (OB 091) to 1. Set the Command Abort bit (OB 091) to 1. The axis will decelerate to a stop. When the axis has stopped, the remain travel will be canceled and the Positioning Completed bit (IB 01C) will turn ON. This type of operation will also be performed if the motion command is changed during axis movement. (4) Related Parameters (a) Setting Parameters Parameter Name Setting OB 000 Servo ON Turn the power to the Servomotor ON and OFF. 1: Power ON to Servomotor, 0: Power OFF to Servomotor Turn ON the power before setting the Motion Command (OW 08) to 2. OB 013 Speed Loop P/PI Switch Switch the speed control loop between PI control and P control. 0: PI control, 1: P control OW 03 Function 1 Set the speed unit, acceleration/deceleration unit, and filter type. OW 04 Function 2 Set the external positioning signal. 2: phase-c pulse, 3: /EXT1, 4: /EXT2, 5: /EXT3 OW 08 Motion Command The positioning starts when this parameter is set to 2. The operation will be canceled if this parameter is set to 0 during EX_POSING command execution. OB 090 Command Pause The axis will decelerate to a stop if this bit is set to 1 during execution of EX_POSING command execution. The positioning will restart if this bit is reset to 0 when a command is being held. OB 091 Command Abort The axis will decelerate to a stop if this bit is set to 1 during EX_POSING command execution. OB 094 Latch Zone Enabled Enable or disable the area where the external positioning signal is valid. If the latch zone is enabled, the external positioning signal will be ignored if it is input outside of the latch zone. 0: Disable, 1: Enable OB 095 Position Reference Type Switch the type of position reference. 0: Incremental addition mode, 1: Absolute mode Set this parameter before setting the Motion Command (OW 08) to 2. OL 10 Speed Reference Specify the speed for the positioning. This setting can be changed during operation. The unit depends on the setting of OW 03. OL 18 Speed Override This parameter allows the positioning speed to be changed without changing the Speed Reference (OL 10). Set the speed as a percentage of the Speed Reference Setting. This setting can be changed during operation. Setting range: 0 to (0% to %) Setting unit: 1 = 0.01% Example: Setting for 50%: 5000 OL 1C Position Reference Set the target position for positioning. This setting can be changed during operation. The meaning of the setting depends on the status of OB 095. OL 1E OL 2A Positioning Completed Width Latch Zone Lower Limit Set the width in which to turn ON the Positioning Completed bit (IB 0C1). Set the boundary in the negative direction of the area in which the external positioning signal is to be valid

221 8 Motion Commands Parameter Name Setting OL 2C Latch Zone Upper Set the boundary in the positive direction of the area in which the external positioning Limit signal is to be valid. OL 20 OL 36 OL 38 OW 3A OL 46 Positioning Completed Width 2 Linear Acceleration Time Linear Deceleration Time S-Curve Acceleration Time External Positioning Move Distance (b) Monitoring Parameters Set the range in which the Position Proximity bit (IB 0C3) will turn ON. The Position Proximity bit will turn ON when the absolute value of the difference between the reference position and the feedback position is less than the value set here. Set the rate of acceleration or acceleration time constant for positioning. Set the rate of deceleration or deceleration time constant for positioning. Set the acceleration/deceleration filter time constant. Exponential acceleration/ deceleration or a moving average filter can be selected in OW 03. Change the setting only after pulse distribution has been completed for the command (IB 0C0 is ON). Set the moving amount to move after the external positioning signal is input. (cont d) Parameter Name Monitor Contents IB 001 Servo ON Indicates the Servo ON status. ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor IL 02 Warning Stores the most current warning. IL 04 Alarm Stores the most current alarm. IW 08 Servo Command Type Response Indicates the motion command that is being executed. The response code is 2 during EX_POSING command execution. IB 090 Command Executing The Command Executing bit will turn ON during EX_POSING command execution and then turn OFF when command execution has been completed. IB 091 Hold Completed Turns ON when a deceleration to a stop has been completed as the result of to 1 the Command Pause bit (OB 090) to 1 during EX_POSING command execution. IB 093 Command Error End Turns ON if an error occurs during EX_POSING command execution. The axis will decelerate to a stop if it is moving. Turns OFF when another command is executed. IB 098 Command Completed Turns ON when EX_POSING command execution has been completed. IB 0C0 IB 0C1 Distribution Completed Positioning Completed Turns ON when pulse distribution has been completed for the move command. Turns OFF during execution of a move command. Turns ON when pulse distribution has been completed and the current position is within the Positioning Completed Width. OFF in all other cases. IB 0C3 Position Proximity The operation depends on the setting of the Positioning Completed Width 2 (setting parameter OL 20). OL 20 = 0: Turns ON when pulse distribution has been completed (DEN = ON). OL 20 0: Turns ON when MPOS - APOS < Position Proximity Setting even if pulse distribution has not been completed. OFF in all other cases. IL 18 Machine Coordinate Latch Position Stores the current position in the machine coordinate system when the latch signal turned ON. 8-12

222 8.3 External Positioning (EX_POSING) (5) Timing Charts (a) Normal Execution This position is stored. (IL 18) Travel distance OW 08 = 2 (EX_POSING) IW 08 = 2 (EX_POSING) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) IB 0C0 (DEN) IB 0C1 (POSCOMP) Latch signal Phase-C, EXT1,2,3 IB 0C2 (LCOMP) (Latch Completed) 1 scan Undefined length of time (b) Execution when Aborted OW 08 = 2 (EX_POSING) OB 091 (ABORT) IW 08 = 2 (EX_POSING) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) IB 0C0 (DEN) IB 0C1 (POSCOMP) 8 1 scan Undefined length of time (c) Execution when Aborting by Changing the Command OW 08 = 2 (EX_POSING) IW 08 = 2 (EX_POSING) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) IB 0C0 (DEN) IB 0C1 (POSCOMP) 1 scan Undefined length of time 8-13

223 8 Motion Commands (d) Execution when an Alarm Occurs OW 08 = 2 (EX_POSING) IW 08 = 2 (EX_POSING) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) IB 0C0 (DEN) IB 0C1 (POSCOMP) Alarm 1 scan Undefined length of time 8-14

224 8.4 Zero Point Return (ZRET) 8.4 Zero Point Return (ZRET) When the Zero Point Return command (ZRET) is executed, the axis will return to the zero point of the machine coordinate system. The operation to detect the position of the zero point is different between an absolute encoder and an incremental encoder. With an absolute encoder, positioning is performed to the zero point of the machine coordinate system and command execution is completed. With an incremental encoder, there are 13 different methods that can be performed for the Zero Point Return operation. (1) Selecting the Zero Point Return Method With an incremental encoder, the coordinate system data will be lost when the power supply is turned OFF. This command must be executed when the power supply is turned ON again to establish a new coordinate system. The 13 methods that are provided for the zero point return are listed in the following table. Select the best method for the machine in the setting parameters. Setting Parameter OW 3C 0 DEC1 + C-Phase Applies a 3-step deceleration method using the deceleration limit switch and phase-c pulse. Name Method Remarks DEC1 signal: The SERVOPACK DEC signal. 1 ZERO signal Uses the ZERO signal. ZERO signal: The SERVOPACK EXT1 signal. 2 DEC 1 + ZERO signal Applies a 3-step deceleration method using the deceleration limit switch and ZERO signal. 3 C-Phase Uses the phase-c pulse. 11 C pulse Only Uses only the phase-c pulse. 12 POT & C pulse Uses the positive overtravel signal and phase-c pulse. DEC1 signal: The SERVOPACK DEC signal. ZERO signal: The SERVOPACK EXT1 signal. POT: The SERVOPACK POT signal. 13 POT Only Uses only the positive overtravel signal. POT: The SERVOPACK POT signal. This method must not be used if repeat accuracy is required. 14 Home LS & C pulse Uses the home signal and phase-c pulse. HOME: The SERVOPACK EXT1 signal. 15 Home Only Uses only the home signal. HOME: The SERVOPACK EXT1 signal. 16 NOT & C pulse Uses the negative overtravel signal and phase- C pulse. NOT: The SERVOPACK NOT signal. 17 NOT Only Uses only the negative overtravel signal. NOT: The SERVOPACK NOT signal. This method must not be used if repeat accuracy is required. 18 INPUT & C pulse Uses the INPUT signal and phase-c pulse. INPUT: Setting parameter OB 05B 19 INPUT Only Uses only the INPUT signal. With this method, a zero point return can be performed without connecting an external signal using setting parameter OB 05B. This method must not be used if repeat accuracy is required

225 8 Motion Commands (2) Zero Point Return Operation and Parameters This section explains the operation that occurs after starting a zero point return and the parameters that need to be set before executing the command. (a) DEC1 + C-Phase Method Travel is started at the zero point return speed in the direction specified in the parameters. When the rising edge of the DEC1 signal is detected, the speed is reduced to the approach speed. When the first phase-c pulse is detected after passing the DEC1 signal, the speed is reduced to the creep speed and positioning is performed. When positioning has been completed, a machine coordinate system is established with the final position as the zero point. The moving amount after the phase-c pulse is detected is set in the Home Offset. If an OT signal is detected during the zero point return operation, an OT alarm will occur. Zero Point Home Offset (OL 42) Start Creep Speed (OL 40) Approach Speed (OL 3E) Zero Point Return Speed (OL 10) DEC signal 1 Phase-C pulse POT 2 NOT 3 * 1. The SERVOPACK DEC signal. * 2. The SERVOPACK P-OT signal. * 3. The SERVOPACK N-OT signal. Parameter Name Setting OW 3C Home Return Type 0: DEC1 + C-Phase OB 093 Home Direction Set the zero point return direction. OL 10 Speed Reference Set the speed to use when starting a zero point return. Only a positive value can be set; a negative value will result in an error. OL 18 Speed Override This parameter allows the Zero Point Return speed to be changed without changing the Speed Reference (OL 10). Set the speed as a percentage of the Speed Reference Setting. This setting can be changed during operation. Setting range: 0 to (0% to %) Setting unit: 1 = 0.01% Example: Setting for 50%: 5000 OL 3E Approach Speed Set the speed to use after detecting the DEC1 signal. Only a positive value can be set; a negative value will result in an error. OL 40 Creep Speed Set the speed to use after detecting the first phase-c pulse after passing the DEC1 signal. Only a positive value can be set; a negative value will result in an error. OL 42 Home Offset Set the travel distance from the point where the first phase-c pulse is detected after passing the DEC1 signal. If the sign is positive, travel will be toward the zero point return direction; if the sign is negative, travel will be away from the zero point return direction. 8-16

226 8.4 Zero Point Return (ZRET) (b) ZERO Signal Method Travel is started at the approach speed in the direction specified in the parameters. When the rising edge of the ZERO signal is detected, the speed is reduced to the creep speed and positioning is performed. When positioning has been completed, a machine coordinate system is established with the final position as the zero point. The moving amount after the ZERO signal is detected is set in the Home Offset. If an OT signal is detected during the zero point return operation, an OT alarm will occur. Zero Point Start Home Offset (OL 42) Creep Speed (OL 40) Approach Speed (OL 3E) ZERO signal 1 POT 2 NOT 3 * 1. The SERVOPACK EXT1 signal. * 2. The SERVOPACK P-OT signal. * 3. The SERVOPACK N-OT signal. Parameter Name Setting OW 3C Home Return Type 1: ZERO Signal Method OB 093 Home Direction Set the zero point return direction. OL 3E Approach Speed Set the speed to use when starting a zero point return. Only a positive value can be set; a negative value will result in an error. OL 40 Creep Speed Set the speed to use after detecting the ZERO signal. Only a positive value can be set; a negative value will result in an error. OL 42 Home Offset Set the travel distance from the point where the ZERO signal is detected. If the sign is positive, travel will be toward the zero point return direction; if the sign is negative, travel will be away from the zero point return direction

227 8 Motion Commands (c) DEC1 + ZERO Signal Method Travel is started at the zero point return speed in the direction specified in the parameters. When the rising edge of the DEC1 signal is detected, the speed is reduced to the approach speed. When the rising edge of the ZERO signal is detected after passing the DEC1 signal, the speed is reduced to the creep speed and positioning is performed. When positioning has been completed, a machine coordinate system is established with the final position as the zero point. The moving amount after the ZERO signal is detected is set in the Home Offset. If an OT signal is detected during the zero point return operation, an OT alarm will occur. Zero Point Home Offset (OL 42) DEC1 signal *1 Start Creep Speed (OL 40) Approach speed (OL 3E) Zero Point Return Speed (OL 10) ZERO signal *2 POT 3 NOT 4 * 1. The SERVOPACK DEC signal. * 2. The SERVOPACK EXT1 signal. * 3. The SERVOPACK P-OT signal. * 4. The SERVOPACK N-OT signal. Parameter Name Setting OW 3C Home Return Type 2: DEC1 + ZERO Signal Method OB 093 Home Direction Set the zero point return direction. OL 10 Speed Reference Set the speed to use when starting a zero point return. Only a positive value can be set; a negative value will result in an error. OL 18 Speed Override This parameter allows the Zero Point Return speed to be changed without changing the Speed Reference (OL 10). Set the speed as a percentage of the Speed Reference Setting. This setting can be changed during operation. Setting range: 0 to (0% to %) Setting unit: 1 = 0.01% Example: Setting for 50%: 5000 OL 3E Approach Speed Set the speed to use after detecting the DEC1 signal. Only a positive value can be set; a negative value will result in an error. OL 40 Creep Speed Set the speed to use after detecting the ZERO signal after passing the DEC1 signal. Only a positive value can be set; a negative value will result in an error. OL 42 Home Offset Set the travel distance from the point where the ZERO signal is detected after passing the DEC1 signal. If the sign is positive, travel will be toward the zero point return direction; if the sign is negative, travel will be away from the zero point return direction. 8-18

228 8.4 Zero Point Return (ZRET) (d) C-Phase Method Travel is started at the approach speed in the direction specified in the parameters. When the rising edge of the phase-c pulse is detected, the speed is reduced to the creep speed and positioning is performed. When positioning has been completed, a machine coordinate system is established with the final position as the zero point. The moving amount after the phase-c pulse is detected is set in the Home Offset. If an OT signal is detected during the zero point return operation, an OT alarm will occur. Zero Point Start Home Offset (OL 42) Creep Speed (OL 40) Approach Speed (OL 3E) Phase-C pulse POT *1 NOT *2 * 1. The SERVOPACK P-OT signal. * 2. The SERVOPACK N-OT signal. Parameter Name Setting OW 3C Home Return Type 3: C-Phase Method OB 093 Home Direction Set the zero point return direction. OL 3E Approach Speed Set the speed to use when starting a zero point return. Only a positive value can be set; a negative value will result in an error. OL 40 Creep Speed Set the speed to use after detecting the phase-c pulse. Only a positive value can be set; a negative value will result in an error. OL 42 Home Offset Set the travel distance from the point where a phase-c pulse is detected. If the sign is positive, travel will be toward the zero point return direction; if the sign is negative, travel will be away from the zero point return direction

229 8 Motion Commands (e) C Pulse Only Method Travel is started at the creep speed in the direction specified by the sign of the creep speed. When the rising edge of the phase-c pulse is detected, positioning is performed at the positioning speed. When positioning has been completed, a machine coordinate system is established with the final position as the zero point. The moving amount after the phase-c pulse is detected is set in the Home Offset. The positioning speed is set in the Speed Reference. If an OT signal is detected during creep speed operation, an OT alarm will not occur, the direction will be reversed, and a search will be made for the phase-c pulse. If an OT signal is detected during positioning speed operation, an OT alarm will occur. Positioning Speed (OL 10) Creep Speed (OL 40) Home Offset (OL 42) Start Zero Point Phase-C pulse POT *1 NOT *2 OT Signal Detected during Creep Speed Operation Positioning Speed (OL 10) Home Offset (OL 42) Zero Point Start Creep Speed (OL 40) Phase-C pulse Creep Speed (OL 40) POT *1 NOT *2 * 1. The SERVOPACK P-OT signal. * 2. The SERVOPACK N-OT signal. Note: The stopping method when the OT signal is detected depends on the setting of SERVOPACK parameters. Parameter Name Setting OW 3C Home Return Type 11: C Pulse Only Method OL 10 Speed Reference Set the positioning speed to use after detecting the phase-c pulse. The sign is ignored. The travel direction will depend on the sign of the Home Offset. OL 40 Creep Speed Set the speed to use when starting a zero point return. The travel direction will depend on the sign of the creep speed. OL 42 Home Offset Set the travel distance from the point where a phase-c pulse is detected. The travel direction will depend on the sign. 8-20

230 8.4 Zero Point Return (ZRET) (f) POT & C Pulse Method Travel is started at the approach speed in the positive direction until the stroke limit is reached. When the POT signal is detected, the direction is reversed to return at creep speed. When the phase-c pulse is detected during the return after passing the POT signal, positioning is performed. When positioning has been completed, a machine coordinate system is established with the final position as the zero point. The moving amount after the phase-c pulse is detected is set in the Home Offset. The positioning speed is set in the Speed Reference. If a negative value is set for the approach speed, the command will end in an error. If an OT signal is detected during the positioning speed operation, an OT alarm will occur. Approach Speed (OL 3E) Phase-C pulse Start Zero Point Home Offset (OL 42) Creep Speed (OL 40) Positioning Speed (OL 10) POT *1 NOT *2 * 1. The SERVOPACK P-OT signal. * 2. The SERVOPACK N-OT signal. Note: The stopping method when the OT signal is detected depends on the setting of SERVOPACK parameters. Parameter Name Setting OW 3C Home Return Type 12: POT & C pulse Method OL 10 Speed Reference Set the positioning speed to use after detecting the phase-c pulse. The sign is ignored. The travel direction will depend on the sign of the Home Offset. OL 3E Approach Speed Set the speed to use when starting a zero point return. Add a sign so that the travel direction will be positive. OL 40 Creep Speed Set the speed to reverse at after detecting the POT signal. The sign is ignored. The travel direction will be negative. OL 42 Home Offset Set the travel distance from the point where a phase-c pulse is detected. The travel direction will depend on the sign

231 8 Motion Commands (g) POT Only Method Travel is started at the approach speed in the positive direction until the stroke limit is reached. When the POT signal is detected, the direction is reversed to return at Positioning speed. When a change in the POT signal status from ON to OFF is detected, positioning is performed. When positioning has been completed, a machine coordinate system is established with the final position as the zero point. The moving amount after the POT signal changed is detected is set in the Home Offset. The positioning speed is set in the Speed Reference. If a negative value is set for the approach speed, the command will end in an error. If an OT signal is detected during the positioning speed operation, an OT alarm will occur. Detecting the change in the POT signal status is performed using software processing. The position where positioning is completed will vary with the high-speed scan setting, positioning speed, etc. Do not use this method if repeat accuracy is required in the position where the zero point return operation is completed. Approach Speed (OL 3E) Zero Point Start Home Offset (OL 42) Positioning Speed (OL 10) POT *1 NOT *2 Starting on the Positive Overtravel Limit (POT) Start Zero Point Home Offset (OL 42) Positioning Speed (OL 10) POT 1 NOT 2 * 1. The SERVOPACK P-OT signal. * 2. The SERVOPACK N-OT signal. Note: The stopping method when the OT signal is detected depends on the setting of SERVOPACK parameters. Parameter Name Setting OW 3C Home Return Type 13: POT Only Method OL 10 Speed Reference Set the positioning speed to use after detecting the POT signal change. The sign is ignored. The travel direction will depend on the sign of the Home Offset. OL 3E Approach Speed Set the speed to use when starting a zero point return. Add a sign so that the travel direction will be positive. OL 42 Home Offset Set the travel distance from the point where the POT signal change is detected. The travel direction will depend on the sign. 8-22

232 8.4 Zero Point Return (ZRET) (h) Home LS & C Pulse Method Travel is started at the approach speed in the direction specified by the sign of the approach speed. When the rising edge of the home signal is detected, the speed is reduced to creep speed. When the first phase-c pulse is detected after the falling edge of the home signal, positioning is performed at positioning speed. When positioning has been completed, a machine coordinate system is established with the final position as the zero point. The moving amount after the phase-c pulse is detected is set in the Home Offset. The positioning speed is set in the Speed Reference. If an OT signal is detected during approach speed operation, an alarm will not occur, the direction will be reversed, and a search will be made for the home signal. If an OT signal is detected during positioning speed operation, an alarm will occur. Approach Speed (OL 3E) Positioning Speed (OL 10) Creep Speed (OL 40) Home Offset (OL 42) Start Zero Point HOME signal *1 Phase-C pulse POT *2 NOT *3 Detecting the OT Signal during Approach Speed Movement Creep Speed (OL 40) Positioning Speed (OL 10) Home Offset (OLxx42) Start Approach Speed (OL 3E) Zero Point 8 HOME signal *1 Approach Speed (OL 3E) Phase-C pulse POT *2 NOT *3 * 1. The SERVOPACK EXT1 signal. * 2. The SERVOPACK P-OT signal. * 3. The SERVOPACK N-OT signal. Note: The stopping method when the OT signal is detected depends on the setting of SERVOPACK parameters. Parameter Name Setting OW 3C Home Return Type 14: Home LS & C pulse Method OL 10 Speed Reference Set the positioning speed to use after detecting the phase-c pulse. The sign is ignored. The travel direction depends on the sign of the Home Offset. OL 3E Approach Speed Set the speed to use when starting a zero point return. The travel direction will depend on the sign of the approach speed. OL 40 Creep Speed Set the speed to use after detecting the home signal. The travel direction will depend on the sign of the creep speed. OL 42 Home Offset Set the travel distance from the point where a phase-c pulse is detected. The travel direction will depend on the sign. 8-23

233 8 Motion Commands (i) Home Only Method Travel is started at the creep speed in the direction specified by the sign of the creep speed. When the rising edge of the home signal is detected, positioning is performed at the positioning speed. When positioning has been completed, a machine coordinate system is established with the final position as the zero point. The moving amount after the home signal is detected is set in the Home Offset. The positioning speed is set in the Speed Reference Setting. If an OT signal is detected during creep speed operation, an OT alarm will not occur, the direction will be reversed, and a search will be made for the home signal. If an OT signal is detected during positioning speed operation, an OT alarm will occur. Positioning Speed (OL 10) Creep Speed (OL 40) Home Offset (OL 42) Start Zero Point HOME signal *1 POT *2 NOT *3 Detecting the OT Signal during Creep Speed Movement Positioning Speed (OL 10) Home Offset (OL 42) Creep Speed (OL 40) Zero Point Start Creep Speed (OL 40) HOME LS signal *1 POT *2 NOT *3 * 1. The SERVOPACK EXT1 signal. * 2. The SERVOPACK P-OT signal. * 3. The SERVOPACK N-OT signal. Note: The stopping method when the OT signal is detected depends on the setting of SERVOPACK parameters. Parameter Name Setting OW 3C Home Return Type 15: Home Only Method OL 10 Speed Reference Set the positioning speed to use after detecting the home signal. The sign is ignored. The travel direction will depend on the sign of the Home Offset. OL 40 Creep Speed Set the speed to use when starting a zero point return. The travel direction will depend on the sign of the creep speed. OL 42 Home Offset Set the travel distance from the point where the home signal is detected. The travel direction will depend on the sign. 8-24

234 8.4 Zero Point Return (ZRET) (j) NOT & C Pulse Method Travel is started at the approach speed in the negative direction until the stroke limit is reached. When the NOT signal is detected, the direction is reversed to return at creep speed. When the phase-c pulse is detected during the return after passing the NOT signal, positioning is performed. When positioning has been completed, a machine coordinate system is established with the final position as the zero point. The moving amount after the phase-c pulse is detected is set in the Home Offset. The positioning speed is set in the Speed Reference. If a positive value is set for the approach speed, the command will end in an error. If an OT signal is detected during the positioning speed operation, an OT alarm will occur. Phase-C pulse Creep Speed (OL 40) Zero Point Start Home Offset (OL 42) Positioning Speed (OL 10) Approach Speed (OL 3E) POT *1 NOT *2 * 1. The SERVOPACK P-OT signal. * 2. The SERVOPACK N-OT signal. Note: The stopping method when the OT signal is detected depends on the setting of SERVOPACK parameters. Parameter Name Setting OW 3C Home Return Type 16: NOT & C pulse Method OL 10 Speed Reference Set the positioning speed to use after detecting the phase-c pulse. The sign is ignored. The travel direction will depend on the sign of the Home Offset. OL 3E Approach Speed Set the speed to use when starting a zero point return. Add a sign so that the travel direction will be negative. OL 40 Creep Speed Set the speed to use after detecting the NOT signal. The travel direction will be positive. OL 42 Home Offset Set the travel distance from the point where a phase-c pulse is detected. The travel direction will depend on the sign

235 8 Motion Commands (k) NOT Only Method Travel is started at the approach speed in the negative direction until the stroke limit is reached. When the NOT signal is detected, the direction is reversed to return at Positioning speed. When a change in the NOT signal status from ON to OFF is detected, positioning is performed. When positioning has been completed, a machine coordinate system is established with the final position as the zero point. The moving amount after the NOT signal changed is detected is set in the Home Offset. The positioning speed is set in the Speed Reference. If a positive value is set for the approach speed, the command will end in an error. If an OT signal is detected during the positioning speed operation, an OT alarm will occur. Detecting the change in the NOT signal status is performed using software processing. The position where positioning is completed will vary with the high-speed scan setting, positioning speed, etc. Do not use this method if repeat accuracy is required in the position where the zero point return operation is completed. Positioning Speed (OL 10) Home Offset (OL 42) Start Zero Point Approach Speed (OL 3E) POT *1 NOT *2 * 1. The SERVOPACK P-OT signal. * 2. The SERVOPACK N-OT signal. Note: The stopping method when the OT signal is detected depends on the setting of SERVOPACK parameters. Parameter Name Setting OW 3C Home Return Type 17: NOT Only Method OL 10 Speed Reference Set the positioning speed to use after detecting the NOT signal change. The sign is ignored. The travel direction will depend on the sign of the Home Offset. OL 3E Approach Speed Set the speed to use when starting a zero point return. Add a sign so that the travel direction will be negative. OL 42 Home Offset Set the travel distance from the point where the NOT signal change is detected. The travel direction will depend on the sign. 8-26

236 8.4 Zero Point Return (ZRET) (l) INPUT & C Pulse Method Travel is started at the approach speed in the direction specified by the sign of the approach speed. When the rising edge of the INPUT signal is detected, the speed is reduced to creep speed. When the first phase-c pulse is detected after the falling edge of the INPUT signal, positioning is performed at positioning speed. When positioning has been completed, a machine coordinate system is established with the final position as the zero point. The moving amount after the phase-c pulse is detected is set in the Home Offset. The positioning speed is set in the Speed Reference. If an OT signal is detected during approach speed operation, an OT alarm will not occur, the direction will be reversed, and a search will be made for the INPUT signal. If an OT signal is detected during positioning speed operation, an OT alarm will occur. Approach Speed (OL 3E) Positioning Speed (OL 10) Creep Speed (OL 40) Home Offset (OL 42) Start INPUT signal (OB 05B) Zero Point Phase-C pulse POT *1 NOT *2 Approach Speed (OL 3E) Positioning Speed (OL 10) Start Home Offset (OL 42) Creep Speed (OL 40) Zero Point 8 Approach Speed (OL 3E) INPUT signal (OB 05B) Phase-C pulse POT *1 NOT *2 * 1. The SERVOPACK P-OT signal. * 2. The SERVOPACK N-OT signal. Note: The stopping method when the OT signal is detected depends on the setting of SERVOPACK parameters. Parameter Name Setting OW 3C Home Return Type 18: INPUT & C pulse Method OL 10 Speed Reference Set the positioning speed to use after detecting the phase-c pulse. The sign is ignored. The travel direction will depend on the sign of the Home Offset. OL 3E Approach Speed Set the speed to use when starting a zero point return. The travel direction will depend on the sign of the approach speed. OL 40 Creep Speed Set the speed to use after detecting the INPUT signal. The travel direction will depend on the sign of the creep speed. OL 42 Home Offset Set the travel distance from the point where a phase-c pulse is detected. The travel direction will depend on the sign. OB 05B INPUT Signal for Zero Point Return This signal must be set to 1 from the ladder program. 8-27

237 8 Motion Commands (m) INPUT Only Method Travel is started at the creep speed in the direction specified by the sign of the creep speed. When the rising edge of the INPUT signal is detected, positioning is performed at the positioning speed. When positioning has been completed, a machine coordinate system is established with the final position as the zero point. The moving amount after the INPUT signal is detected is set in the Home Offset. The positioning speed is set in the Speed Reference. If an OT signal is detected during creep speed operation, an OT alarm will not occur, the direction will be reversed, and a search will be made for the INPUT signal. If an OT signal is detected during positioning speed operation, an OT alarm will occur. The INPUT signal is allocated to the motion setting parameter OB 05B, allowing the zero point return operation to be performed without actually wiring a signal. This method can thus be used to temporarily set the zero point during trial operation. Detecting the rising edge of the INPUT signal is performed using software processing. The position where positioning is completed will vary with the high-speed scan setting, positioning speed, etc. Do not use this method if repeat accuracy is required in the position where the zero point return operation is completed. Positioning Speed (OL 10) Start Creep Speed (OL 40) Home Offset (OL 42) Zero Point INPUT signal (OB 05B) POT *1 NOT *2 Creep Speed (OL 40) Start Zero Point Creep Speed (OL 40) Home Offset (OL 42) Positioning Speed (OL 10) INPUT signal (OB 05B) POT *1 NOT *2 * 1. The SERVOPACK P-OT signal. * 2. The SERVOPACK N-OT signal. Note: The stopping method when the OT signal is detected depends on the setting of SERVOPACK parameters. Parameter Name Setting OW 3C Home Return Type 19: INPUT Only Method OL 10 Speed Reference Set the positioning speed to use after detecting the INPUT signal. The sign is ignored. The travel direction will depend on the sign of the Home Offset. OL 40 Creep Speed Set the speed to use when starting a zero point return. The travel direction will depend on the sign of the creep speed. OL 42 Home Offset Set the distance to travel from the point the INPUT signal is detected. The travel direction will depend on the sign. OB 05B INPUT Signal for Zero Point Return This signal must be set to 1 from the ladder program. 8-28

238 8.4 Zero Point Return (ZRET) (3) Operating Procedure No. Execution Conditions Confirmation Method 1 There are no alarms. Both IL 02 and IL 04 are 0. 2 The Servo ON condition. IB 001 is ON. 3 Motion command execution has been completed. IW 08 is 0 and IB 090 is OFF. Set the motion setting parameters. The parameters that need to be set will depend on the zero point return method. Refer to the previous pages for details. The software limit function will be enabled after the Zero Point Return operation has been completed. The Command Pause (OB 090) cannot be used. Set OB 091 to 1 to abort the command. Execute the zero point return (ZRET) motion command. Set OW 08 to 3. Zero point return operation starts. IW 08 will be 3 during execution. Zero point return operation completed. IB 0C5 will turn ON. Execute NOP motion command. Set OW 08 to 0. (4) Holding Holding execution is not possible during zero point return operation. The Command Pause bit (OB 090) is ignored. (5) Aborting Axis travel can be stopped during command execution and the remaining travel cancelled by aborting execution of a command. A command is aborted by setting the Command Abort bit (OB 091) to 1. Set the Command Abort bit (OB 091) to 1. The axis will decelerate to a stop. When the axis has stopped, the Positioning Completed bit (IB 01C) will turn ON. This type of operation will also be performed if the motion command is changed during axis movement

239 8 Motion Commands (6) Related Parameters (a) Setting Parameters Parameter Name Setting OB 000 Servo ON Turn the power to the Servomotor ON and OFF. 1: Power ON to Servomotor, 0: Power OFF to Servomotor Turn ON the power before setting the Motion Command Code (OW 08) to 3. OB 013 Speed Loop P/PI Switch Switches the speed control loop between PI control and P control. 0: PI control, 1: P control OW 03 Function 1 Set the speed unit, acceleration/deceleration unit, and filter type. OW 08 Motion Command The zero point return operation starts when this parameter is set to 3. The operation will be canceled if this parameter is set to 0 during ZRET command execution. OB 091 Command Abort The axis will decelerate to a stop if this bit is set to 1 during zero point return operation. OB 095 OL 36 OL 38 OW 3A Position Reference Type Linear Acceleration Time Linear Deceleration Time S-Curve Acceleration Time (b) Monitoring Parameters Switch the type of position reference. 0: Incremental addition mode, 1: Absolute mode Set this parameter before setting the Motion Command Code (OW 08) to 3. Set the rate of acceleration or acceleration time constant for positioning. Set the rate of deceleration or deceleration time constant for positioning. Set the acceleration/deceleration filter time constant. Exponential acceleration/ deceleration or a moving average filter can be selected in OW 03. Change the setting only after pulse distribution has been completed for the command (IB 0C0 is ON). OW 3D Home Window Set the width in which the Zero Point Position bit (IB 0C4) will turn ON. Parameter Name Monitor Contents IB 001 Servo ON Indicates the Servo ON status. ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor IL 02 Warning Stores the most current warning. IL 04 Alarm Stores the most current alarm. IW 08 Servo Command Type Response Indicates the motion command that is being executed. The response code will be 3 during ZRET command execution. IB 090 Command Executing Turns ON during zero point return operation. Turns OFF when ZRET command execution has been completed. IB 091 Hold Completed Always OFF for ZRET command. IB 093 Command Error End Turns ON if an error occurs during ZRET command execution. The axis will decelerate to a stop if it is moving. Turns OFF when another command is executed. IB 098 IB 0C0 Command Completed Distribution Completed Turns ON when ZRET command execution has been completed. Turns ON when pulse distribution has been completed for the move command. Turns OFF during execution of a move command. IB 0C3 Position Proximity The operation depends on the setting of the Positioning Completed Width 2 (setting parameter OL 20). OL 20 = 0: Turns ON when pulse distribution has been completed (DEN = ON). OL 20 0: Turns ON when MPOS - APOS < Position Proximity Setting even if pulse distribution has not been completed. OFF in all other cases. IB 0C4 Zero Point Position Turns ON if the current position after the zero point return operation has been completed is within the Zero Point Position Output Wide from the zero point position. Turns OFF is the current position is not within this width. IB 0C5 Zero Point Return Completed Turns ON when the zero point return has been completed. 8-30

240 8.4 Zero Point Return (ZRET) (7) Timing Charts (a) Normal Execution Depends on zero point return method. OW 08 = 3 (ZRET) IW 08 = 3 (ZRET) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) IB 0C0 (DEN) IB 0C1 (POSCOMP) IB 0C5 (ZRNC) 1 scan Undefined length of time (b) Execution when Aborted OW 08 = 3 (ZRET) OB 091 (ABORT) IW 08 = 3 (ZRET) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) IB 0C0 (DEN) IB 0C1 (POSCOMP) 8 IB 0C5 (ZRNC) 1 scan Undefined length of time (c) Execution when Aborting by Changing the Command OW 08 = 3 (ZRET) IW 08 = 3 (ZRET) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) IB 0C0 (DEN) IB 0C1 (POSCOMP) 1 scan IB 0C5 (ZRNC) Undefined length of time 8-31

241 8 Motion Commands (d) Execution when an Alarm Occurs OW 08 = 3 (ZRET) IW 08 = 3 (ZRET) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) IB 0C0 (DEN) IB 0C1 (POSCOMP) IB 0C5 (ZRNC) 1 scan Undefined length of time Alarm 8-32

242 8.5 Interpolation (INTERPOLATE) 8.5 Interpolation (INTERPOLATE) The INTERPOLATE command positions the axis according to the target position that changes in sync with the high-speed scan. The positioning data is generated by a ladder program. (1) Operating Procedure No. Execution Conditions Confirmation Method 1 There are no alarms. Both IL 02 and IL 04 are 0. 2 The Servo ON condition. IB 001 is ON. 3 Motion command execution has been completed. IW 08 is 0 and IB 090 is OFF. Set the motion setting parameters. Target Position: OL 1C Acceleration/Deceleration Filter Type: OW 03 Speed Loop P/PI Switch: OW 01 Speed Feed Forward: OW 30 Execute the interpolation (INTERPOLATE) motion command. Set OW 08 to 4. Speed % 0 POSCOMP Position Positioning Completed Width Time (t Positioning starts. IW 08 will be 4 during positioning. Change the Target Position (OL 1C) every high-speed scan. Positioning Completed IB 0C1 will turn ON. Speed feed forward can be applied. Generate the positioning data each high-speed scan from the ladder logic program. The travel speed is calculated automatically. The Command Pause (OB 090) cannot be used. The Command Abort (OB 091) cannot be used. Change a motion command to stop interpolation execution. 8 Execute NOP motion command. Set OW 08 to 0. (2) Holding and Aborting The axis will decelerate to a stop if there is no change in the target position each high-speed scan. The Command Pause bit (OB 090) and the Command Abort bit (OB 091) cannot be used. 8-33

243 8 Motion Commands (3) Related Parameters (a) Setting Parameters Parameter Name Setting OB 000 Servo ON Turns the power to the Servomotor ON and OFF. 1: Power ON to Servomotor, 0: Power OFF to Servomotor Set this bit to 1 before setting the Motion Command (OW 08) to 4. OW 03 Function 1 Set the speed unit, acceleration/deceleration unit, and filter type. OW 08 Motion Command The positioning starts when this parameter is set to 4. OB 095 OL 1C OL 1E OL 20 OL 30 OL 36 OL 38 OW 3A Position Reference Type Position Reference Type Positioning Completed Width Positioning Completed Width 2 Speed Feed Forward Compensation Linear Acceleration Time Linear Deceleration Time S-Curve Acceleration Time (b) Monitoring Parameters Switch the type of position reference. 0: Incremental addition mode, 1: Absolute mode Set this parameter before setting the Motion Command (OW 08) to 4. Set the target position for positioning. The setting can be changed every highspeed scan. Set the width in which to turn ON the Positioning Completed bit (IB 0C1). Set the range in which the Position Proximity bit (IB 0C3) will turn ON. The Position Proximity bit will turn ON when the absolute value of the difference between the reference position and the feedback position is less than the value set here. Set the feed forward amount as a percentage of the rated speed. Set the rate of acceleration or acceleration time constant for positioning. Set the rate of deceleration or deceleration time constant for positioning. Set the acceleration/deceleration filter time constant. Exponential acceleration/ deceleration or a moving average filter can be selected in OW 03. Change the setting only after pulse distribution has been completed for the command (IB 0C0 is ON). Parameter Name Monitor Contents IB 001 Servo ON Indicates the Servo ON status. ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor IL 02 Warning Stores the most current warning. IL 04 Alarm Stores the most current alarm. IW 08 Servo Command Type Response Indicates the motion command that is being executed. The response code is 4 during INTERPOLATE command execution. IB 090 Command Executing Always OFF for INTERPOLATE command. IB 091 Hold Completed Always OFF for INTERPOLATE command. IB 093 Command Error End Turns ON if an error occurs during INTERPOLATE command execution. The axis will decelerate to a stop if it is moving. Turns OFF when another command is executed. IB 098 Command Always OFF for INTERPOLATE command. Completed IB 0C0 Distribution Completed Turns ON when pulse distribution has been completed for the move command. Turns OFF during execution of a move command. IB 0C1 Positioning Completed Turns ON when pulse distribution has been completed and the current position is within the Positioning Completed Width. OFF in all other cases. IB 0C3 Position Proximity The operation depends on the setting of the Positioning Completed Width 2 (setting parameter OL 20). OL 20 = 0: Turns ON when pulse distribution has been completed (DEN = ON). OL 20 0: Turns ON when MPOS - APOS < Position Proximity Setting even if pulse distribution has not been completed. OFF in all other cases. 8-34

244 8.5 Interpolation (INTERPOLATE) (4) Timing Charts (a) Normal Execution Change target position each high-speed scan. OW 08 = 4 (INTERPOLATE) IW 08 = 4 (INTERPOLATE) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) IB 0C0 (DEN) 1 scan Undefined length of time (b) Execution when an Alarm Occurs OW 08 = 4(INTERPOLATE) Alarm IW 08 = 4(INTERPOLATE) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) IB 0C0 (DEN) IB 0C1 (POSCOMP) 8 1 scan Undefined length of time 8-35

245 8 Motion Commands 8.6 Latch (LATCH) The LATCH command saves in a register the current position when the latch signal is detected during interpolation positioning. The latch signal type is set in setting register OW 04 and can be set to the phase-c pulse or the /EXT1, / EXT2, or /EXT3 signal. When executing the LATCH command more than once, change the Motion Command to NOP for at least one scan before executing LATCH again. (1) Operating Procedure No. Execution Conditions Confirmation Method 1 There are no alarms. Both IL 02 and IL 04 are 0. 2 The Servo ON condition. IB 001 is ON. 3 Motion command execution has been completed. IW 08 is 0 and IB 090 is OFF. Set the motion setting parameters. Target Position: OL 1C Acceleration/Deceleration Filter Type: OW 03 Speed Loop P/PI Switch: OW 01 Speed Feed Forward: OW 30 Latch Signal Selection: OW 04 Execute the LATCH motion command. Set OW 08 to 6. Positioning starts. IW 08 will be 6 during execution. Change the Target Position (OL 1C) every high-speed scan. When the latch signal turns ON, the current position will be stored in the Register (IL 18). Speed (%) 0 Latch Signal POSCOMP Position Positioning Completed Range This position is stored. IL 18) Time (t) Speed feed forward can be applied. Generate the target position data each high-speed scan from the ladder program. The travel speed is calculated automatically. The Command Pause (OB 090) cannot be used. The Command Abort (OB 091) cannot be used. Change a motion command to stop interpolation execution. Select the latch signal from the SERVOPACK phase-c pulse, / EXT1, /EXT2, or /EXT3. Positioning Completed IB 0C1 will turn ON. Execute NOP motion command. Set OW 08 to 0. (2) Holding and Aborting The axis will decelerate to a stop if there is no change in the target position each high-speed scan. The Command Pause bit (OB 090) and the Command Abort bit (OB 091) cannot be used. 8-36

246 8.6 Latch (LATCH) (3) Related Parameters (a) Setting Parameters Parameter Name Setting OB 000 Servo ON Turn the power to the Servomotor ON and OFF. 1: Power ON to Servomotor, 0: Power OFF to Servomotor Set this bit to 1 before setting the Motion Command (OW 08) to 6. OW 03 Function 1 Set the speed unit, acceleration/deceleration unit, and filter type. OW 04 Function 2 Set the latch signal type. OW 08 Motion Command The positioning starts when this parameter is set to 6. OB 095 Position Reference Type Switch the type of position reference. 0: Incremental addition mode, 1: Absolute mode Set this parameter before setting the Motion Command (OW 08) to 6. OL 1C Position Reference Set the target position for positioning. The setting can be changed every highspeed scan. OL 1E OL 20 Positioning Completed Width Positioning Completed Width 2 Set the width in which to turn ON the Positioning Completed bit (IB 0C1). Set the range in which the Position Proximity bit (IB 0C3) will turn ON. The Position Proximity bit will turn ON when the absolute value of the difference between the reference position and the feedback position is less than the value set here. OL 30 Speed Feed Forward Set the feed forward amount as a percentage of the rated speed. OL 36 Linear Acceleration Set the rate of acceleration or acceleration time constant for positioning. Time OL 38 Linear Deceleration Set the rate of deceleration or deceleration time constant for positioning. Time OW 3A Filter Time Constant Set the acceleration/deceleration filter time constant. Exponential acceleration/ deceleration or a moving average filter can be selected in OW 03. Change the setting only after pulse distribution has been completed for the command (IB 0C0 is ON). (b) Monitoring Parameters 8 Parameter Name Monitor Contents IB 001 Servo ON Indicates the Servo ON status. ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor IL 02 Warning Stores the most current warning. IL 04 Alarm Stores the most current alarm. IW 08 Servo Command Type Response Indicates any alarms that have occurred during execution. The response code is 6 during LATCH operation. IB 090 Command Executing Always OFF for LATCH operation. IB 091 Hold Completed Always OFF for LATCH operation. IB 093 Command Error End Turns ON if an error occurs during LATCH operation. The axis will decelerate to a stop if it is moving. Turns OFF when another command is executed. IB 098 IB 0C0 IB 0C1 Command Completed Distribution Completed Positioning Completed Always OFF for LATCH operation. Turns ON when distribution has been completed for the move command. Turns OFF during execution of a move command. Turns ON when distribution has been completed and the current position is within the Positioning Completed Width. OFF in all other cases. 8-37

247 8 Motion Commands Parameter Name Monitor Contents IB 0C3 Position Proximity The operation depends on the setting of the Positioning Completed Width 2 (setting parameter OL 20). OL 20 = 0: Turns ON when pulse distribution has been completed (DEN = ON). OL 20 0: Turns ON when MPOS - APOS < Position Proximity Setting even if pulse distribution has not been completed. OFF in all other cases. IL 18 (4) Timing Charts Machine Coordinate Latch Position (a) Normal Execution (cont d) Stores the current position in the machine coordinate system when the latch signal turned ON. Change the target position each high-speed scan. OW 08 = 6 (LATCH) IW 08 = 6 (LATCH) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) IB 0C0 (DEN) Latch Signal: Phase-C or EXT1, 2, or 3 IB 0C2 (LCOMP) 1 scan Undefined length of time (b) Execution when an Alarm Occurs OW 08 = 6 (LATCH) Alarm IW 08 = 6 (LATCH) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) IB 0C0 (DEN) IB 0C1 (POSCOMP) 1 scan Undefined length of time 8-38

248 8.7 JOG Operation (FEED) 8.7 JOG Operation (FEED) The FEED command starts movement in the specified travel direction at the specified travel speed. To stop the operation, execute the NOP motion command. The axis will decelerate to a stop when the NOP motion command is executed. Parameters related to acceleration and deceleration are set in advance. The speed can be changed during axis movement. (1) Operating Procedure No. Execution Conditions Confirmation Method 1 There are no alarms. Both IL 02 and IL 04 are 0. 2 The Servo ON condition. IB 001 is ON. 3 Motion command execution has been completed. IW 08 is 0 and IB 090 is OFF. Set the motion setting parameters. Direction of Movement: OB 092 Speed Reference: OL 10 Acceleration/Deceleration Filter Type: OW 03 Speed Loop P/PI Switch: OW 01 Speed (%) 100% The position will be the integral of the travel speed. Rated speed Travel NOP Command speed Position* Execute the JOG operation (FEED) motion command. Set OW 08 to 7. JOG operation starts. IW 08 will be 7 during execution. 0 Linear Acceleration Time Linear Deceleration Time Time (t) The travel speed can be changed during movement. The Command Pause (OB 090) cannot be used. The axis will decelerate to a stop if the Command Abort bit (OB 091) is set to 1 during execution. Execute NOP motion command. Set OW 08 to 0. 8 Positioning completed. IB 0C1 will turn ON. (2) Holding Holding execution is not possible during FEED command execution. The Command Pause bit (OB 090) is ignored. (3) Aborting Axis travel can be stopped during FEED command execution by aborting execution of a command. A command is aborted by setting the Command Abort bit (OB 091) to Set the Command Abort bit (OB 091) to 1. The axis will decelerate to a stop. When the axis has stopped, the Positioning Completed bit (IB 01C) will turn ON. 2. The JOG operation will restart if the Command Abort bit (OB 091) is reset to 0 during abort processing. This type of operation will also be performed if the motion command is changed during axis movement. 8-39

249 8 Motion Commands (4) Related Parameters (a) Setting Parameters Parameter Name Setting OB 000 Servo ON Turn the power to the Servomotor ON and OFF. 1: Power ON to Servomotor, 0: Power OFF to Servomotor Turn ON the power before setting the Motion Command (OW 08) to 7. OB 013 Speed Loop P/PI Switch Switches the speed control loop between PI control and P control. 0: PI control, 1: P control OW 03 Function 1 Set the speed unit, acceleration/deceleration unit, and filter type. OW 08 Motion Command The JOG operation starts when this parameter is set to 7. The operation will be canceled if this parameter is set to 0 during FEED command execution. OB 090 Command Pause This parameter is ignored for FEED command. OB 091 Command Abort The axis is decelerated to a stop if this bit is set to 1 during JOG operation. OB 092 JOG/STEP Direction Set the travel direction for JOG operation. 0: Positive direction, 1: Negative direction OL 10 Speed Reference Specify the speed for the JOG operation. This setting can be changed during operation. The unit depends on the setting of OW 03. OL 18 Speed Override This parameter allows the feed speed to be changed without changing the Speed Reference (OL 10). Set the speed as a percentage of the Speed Reference Setting. This setting can be changed during operation. Setting range: 0 to (0% to %) Setting unit: 1 = 0.01% Example: Setting for 50%: 5000 OL 1E OL 20 OL 36 OL 38 OW 3A Positioning Completed Width Positioning Completed Width 2 Linear Acceleration Time Linear Deceleration Time S-Curve Acceleration Time Set the width in which to turn ON the Positioning Completed bit (IB 0C1). Set the range in which the Position Proximity bit (IB 0C3) will turn ON. The Position Proximity bit will turn ON when the absolute value of the difference between the reference position and the feedback position is less than the value set here. Set the rate of acceleration of the acceleration time constant for fixed-speed feeding. Set the rate of deceleration of the deceleration time constant for fixed-speed feeding. Set the acceleration/deceleration filter time constant. Exponential acceleration/ deceleration or a moving average filter can be selected in OW 03. Change the setting only after pulse distribution has been completed for the command (IB 0C0 is ON). 8-40

250 8.7 JOG Operation (FEED) (b) Monitoring Parameters Parameter Name Monitor Contents IB 001 Servo ON Indicates the Servo ON status. ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor IL 02 Warning Stores the most current warning. IL 04 Alarm Stores the most current alarm. IW 08 Servo Command Type Response Indicates the motion command that is being executed. The response code is 7 during FEED command execution. IB 090 Command Executing Turns ON when abort processing is being performed for FEED command. Turns OFF when abort processing has been completed. IB 091 Hold Completed Always OFF for FEED command. IB 093 Command Error End Turns ON if an error occurs during FEED command execution. The axis will decelerate to a stop if it is moving. Turns OFF when another command is executed. IB 098 IB 0C0 IB 0C1 Command Completed Distribution Completed Positioning Completed Always OFF for FEED command. Turns ON when pulse distribution has been completed for the move command. Turns OFF during execution of a move command. Turns ON when pulse distribution has been completed and the current position is within the Positioning Completed Width. OFF in all other cases. IB 0C3 Position Proximity The operation depends on the setting of the Positioning Completed Width 2 (setting parameter OL 20). OL 20 = 0: Turns ON when pulse distribution has been completed (DEN = ON). OL 20 0: Turns ON when MPOS - APOS < Position Proximity Setting even if pulse distribution has not been completed. OFF in all other cases

251 8 Motion Commands (5) Timing Charts (a) Normal Execution OW 08 = 7 (FEED) IW 08 = 7 (FEED) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) IB 0C0 (DEN) 1 scan Undefined length of time (b) Execution when Aborted OW 08 = 7 (FEED) OB 091 (ABORT) IW 08 = 7 (FEED) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) IB 0C0 (DEN) 1 scan Undefined length of time (c) Execution when an Alarm Occurs OW 08 = 7 (FEED) IW 08 = 7 (FEED) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) IB 0C0 (DEN) IB 0C1 (POSCOMP) Alarm 1 scan Undefined length of time 8-42

252 8.8 STEP Operation (STEP) 8.8 STEP Operation (STEP) The STEP command executes a positioning for the specified travel direction, moving amount, and travel speed. Parameters related to acceleration and deceleration are set in advance. The speed can be changed during axis movement. (1) Operating Procedure No. Execution Conditions Confirmation Method 1 There are no alarms. Both IL 02 and IL 04 are 0. 2 The Servo ON condition. IB 001 is ON. 3 Motion command execution has been completed. IW 08 is 0 and IB 090 is OFF. Set the motion setting parameters. Step Travel Distance: OL 44 Direction of Movement: OB 092 Travel Speed: OL 10 Acceleration/Deceleration Filter Type: OW 03 Speed Loop P/PI Switch: OW 01 Execute the STEP operation command. Set OW 08 to 8. STEP operation starts. IW 08 will be 8 during execution. Speed (%) 100% 0 Linear Acceleration Time Rated speed Travel speed STEP travel distance Linear Deceleration Time The travel speed can be changed during movement. An override of between 0% to % can be set for the travel speed. Set OB 090 to 1 to hold the command. Set OB 091 to 1 to abort execution. Position proximity reached. IB 0C3 will turn ON. Positioning completed. IB 0C1 will turn ON. 8 Execute NOP motion command. Set OW 08 to 0. (2) Holding Axis travel can be stopped during command execution and then the remaining travel can be restarted. A command is held by setting the Command Pause bit (OB 090) to Set the Command Pause bit (OB 090) to 1. The axis will decelerate to a stop. When the axis has stopped, the Hold Completed bit (IB 091) will turn ON. (3) Aborting 2. Reset the Command Pause bit (OB 090) to 0. The command hold status will be cleared and the remaining portion of the positioning will be restarted. Axis travel can be stopped during command execution and the remaining travel cancelled by aborting execution of a command. A command is aborted by setting the Command Abort bit (OB 091) to 1. Set the Command Abort bit (OB 091) to 1. The axis will decelerate to a stop. When the axis has stopped, the Positioning Completed bit (IB 01C) will turn ON. This type of operation will also be performed if the motion command is changed during axis movement. 8-43

253 8 Motion Commands (4) Related Parameters (a) Setting Parameters Parameter Name Setting OB 000 Servo ON Turn the power to the Servomotor ON and OFF. 1: Power ON to Servomotor, 0: Power OFF to Servomotor Turn ON the power before setting the Motion Command (OW 08) to 8. OB 013 Speed Loop P/PI Switch Switch the speed control loop between PI control and P control. 0: PI control, 1: P control OW 03 Function 1 Set the speed unit, acceleration/deceleration unit, and filter type. OW 08 Motion Command The STEP operation starts when this parameter is set to 8. The operation will be canceled if this parameter is set to 0 during STEP command execution. OB 090 Command Pause The axis will decelerate to a stop if this bit is set to 1 during STEP operation. The operation will restart if this bit is reset to 0 when a command is being held. OB 091 Command Abort The axis will decelerate to a stop if this bit is set to 1 during a STEP operation. Operation after stopping depends on the setting of the Position Reference Type (OB 095). OB 092 JOG/STEP Direction Set the moving amount for STEP operation. 0: Positive direction, 1: Negative direction OB 095 Position Reference Type Switch the type of position reference. 0: Incremental addition mode, 1: Absolute mode Set this parameter before setting the Motion Command (OW 08) to 8. OL 10 Speed Reference Specify the speed for the positioning. This setting can be changed during operation. The unit depends on the setting of OW 03. OL 18 Speed Override This parameter allows the travel speed to be changed without changing the Speed Reference (OL 10). Set the value as a percentage of the Speed Reference. This setting can be changed during operation. Setting range: 0 to (0% to %) Setting unit: 1 = 0.01% Example: Setting for 50%: 5000 OL 1E OL 20 OL 36 OL 38 OW 3A Positioning Completed Width Positioning Completed Width 2 Linear Acceleration Time Linear Deceleration Time S-Curve Acceleration Time Set the width in which to turn ON the Positioning Completed bit (IB 0C1). Set the range in which the Position Proximity bit (IB 0C3) will turn ON. The Position Proximity bit will turn ON when the absolute value of the difference between the reference position and the feedback position is less than the value set here. Set the rate of acceleration or acceleration time constant for positioning. Set the rate of deceleration or deceleration time constant for positioning. Set the acceleration/deceleration filter time constant. Exponential acceleration/ deceleration or a moving average filter can be selected in OW 03. Change the setting only after pulse distribution has been completed for the command (IB 0C0 is ON). OL 44 Step Distance Set the moving amount for STEP operation. 8-44

254 8.8 STEP Operation (STEP) (b) Monitoring Parameters Parameter Name Monitor Contents IB 001 Servo ON Indicates the Servo ON status. ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor IL 02 Warning Stores the most current warning. IL 04 Alarm Stores the most current alarm. IW 08 Servo Command Type Response Indicates the motion command that is being executed. The response code is 8 during STEP command execution. IB 090 Command Executing The Command Executing bit will turn ON during STEP command execution and then turn OFF when STEP command execution has been completed. IB 091 Hold Completed Turns ON when a deceleration to a stop has been completed as the result of setting the Command Pause bit (OB 090) to 1 during STEP command execution. IB 093 Command Error End Turns ON if an error occurs during STEP command execution. The axis will decelerate to a stop if it is moving. Turns OFF when another command is executed. IB 098 IB 0C0 IB 0C1 Command Completed Distribution Completed Positioning Completed (5) Timing Charts Turns ON when STEP command execution has been completed. Turns ON when pulse distribution has been completed for the move command. Turns OFF during execution of a move command. Turns ON when pulse distribution has been completed and the current position is within the Positioning Completed Width. OFF in all other cases. IB 0C3 Position Proximity The operation depends on the setting of the Positioning Completed Width 2 (setting parameter OL 20). OL 20 = 0: Turns ON when pulse distribution has been completed (DEN = ON). OL 20 0: Turns ON when MPOS - APOS < Position Proximity Setting even if pulse distribution has not been completed. OFF in all other cases. (a) Normal Execution 8 OW 08 = 8 (STEP) IW 08 = 8 (STEP) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) IB 0C0 (DEN) IB 0C1 (POSCOMP) 1 scan Undefined length of time 8-45

255 8 Motion Commands (b) Execution when Aborted OW 08 = 8 (STEP) OB 091 (ABORT) IW 08 = 8 (STEP) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) IB 0C0 (DEN) IB 0C1 (POSCOMP) 1 scan Undefined length of time (c) Execution when Aborting by Changing the Command OW 08 = 8 (STEP) IW 08 = 8 (STEP) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) IB 0C0 (DEN) IB 0C1 (POSCOMP) 1 scan Undefined length of time (d) Execution when an Alarm Occurs OW 08 = 8 (STEP) IW 08 = 8 (STEP) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) IB 0C0 (DEN) IB 0C1 (POSCOMP) Alarm 1 scan Undefined length of time 8-46

256 8.9 Zero Point Setting (ZSET) 8.9 Zero Point Setting (ZSET) The ZSET command sets the current position as the zero point of the machine coordinate system. This enables establishing the zero point without performing a zero point return operation. Either a zero point return or zero point setting must be performed to enable using the soft limits. (1) Operating Procedure No. Execution Conditions Confirmation Method 1 There are no alarms. Both IL 02 and IL 04 are 0. 2 Motion command execution has been completed. IW 08 is 0 and IB 090 is OFF. Execute the zero point setting (ZSET) motion command. Set OW 08 to 9. The soft limits will be enabled after the Zero Point Setting command has been completed. The Execution Pause (OB 090) cannot be used. The Execution Abort (OB 091) cannot be used. A new machine coordinate system will be established with the current position as the zero point. IW 08 will be 9 during command execution. Zero point setting completed. IB 0C5 will turn ON. Execute NOP motion command. Set OW 08 to 0. (2) Holding and Aborting The Command Pause bit (OB 090) and the Command Abort bit (OB 091) cannot be used. (3) Related Parameters (a) Setting Parameters 8 Parameter Name Setting OW 08 Motion Command Set to 9 for ZSET command. OB 090 Command Pause This parameter is ignored for ZSET command. OB 091 Command Abort This parameter is ignored for ZSET command. (b) Monitoring Parameters Parameter Name Monitor Contents IL 02 Warning Stores the most current warning. IL 04 Alarm Stores the most current alarm. IW 08 Servo Command Type Response Indicates the motion command that is being executed. The response code will be 9 during ZSET command execution. IB 090 Command Executing Turns ON during ZSET command execution and turns OFF when ZSET command execution has been completed. IB 091 Hold Completed Always OFF for ZSET command. IB 093 Command Error End Turns ON if an error occurs during ZSET command execution. Turns OFF when another command is executed. IB 098 IB 0C5 Command Completed Zero Point Return (Setting) Completed Turns ON when ZSET command execution has been completed. Turns ON when the zero point has been established. 8-47

257 8 Motion Commands (4) Timing Charts Normal Execution OW 08 = 9 (ZSET) IW 08 = 9 (ZSET) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) IB 0C5 (ZRNC) 8-48

258 8.10 Change Linear Acceleration Time Constant (ACC) 8.10 Change Linear Acceleration Time Constant (ACC) The ACC command transfers the setting of the Linear Acceleration Time (motion setting parameter OL 36) to the Second-step Linear Acceleration Time Constant in the SERVOPACK and enables the setting. For the SGD- N and SGDB- AN SERVOPACKs, the deceleration time constant will be the same as the acceleration time constant. (1) Operating Procedure No. Execution Conditions Confirmation Method 1 There are no alarms. Both IL 02 and IL 04 are 0. 2 The Servo ON condition. IB 001 is ON. 3 Pulse distribution has been completed for the IB 0C0 is ON. SERVOPACK. 4 Motion command execution has been completed. IW 08 is 0 and IB 090 is OFF. Execute the ACC motion command. Set OW 08 to 10. The Linear Acceleration Time Constant is set in the SERVOPACK and enabled. IW 08 will be 10 during command execution. IB 090 will be ON during command execution. With the MECHATROLINK-II, there is the function that the change of setting parameter is automatically updated. If utilizing this function, there is no need to execute ACC command. For details, refer to Motion Fixed Parameter Details. The Command Pause (OB 090) cannot be used. The Command Abort (OB 091) cannot be used. Parameter change completed. IW 08 will be 10 and IB 090 will be OFF. Execute NOP motion command. Set OW 08 to 0. (2) Holding and Aborting The Command Pause bit (OB 090) and the Command Abort bit (OB 091) cannot be used

259 8 Motion Commands (3) Related Parameters (a) Setting Parameters Parameter Name Setting OW 03 Function 1 Set the speed unit, acceleration/deceleration unit, and filter type. OW 08 Motion Command The linear acceleration time constant is changed when this parameter is set to 10. OB 090 Command Pause This parameter is ignored for ACC command. OB 091 Command Abort This parameter is ignored for ACC command. OL 36 Linear Acceleration Time Set the acceleration for feeding as the acceleration time. (b) Monitoring Parameters Parameter Name Monitor Contents IL 02 Warning Stores the most current warning. IL 04 Alarm Stores the most current alarm. IW 08 Servo Command Type Response Indicates the motion command that is being executed. The response code will be 10 during ACC command execution. IB 090 Command Executing Turns ON during ACC command execution and turns OFF when execution has been completed. IB 091 Hold Completed Always OFF for ACC command. IB 093 Command Error End Turns ON if an error occurs during ACC command execution. Turns OFF when another command is executed. IB 098 (4) Timing Charts (a) Normal End Command Completed Turns ON when ACC command execution has been completed. OW 08 = 10 (ACC) IW 08 = 10 (ACC) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) Undefined length of time (b) Error End OW 08 = 10 (ACC) IW 08 = 10 (ACC) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) Undefined length of time 8-50

260 8.11 Change Linear Deceleration Time Constant (DCC) 8.11 Change Linear Deceleration Time Constant (DCC) The DCC command transfers the setting of the Linear Deceleration Time (motion setting parameter OL 38) to the Second-step Linear Deceleration Time Constant in the SERVOPACK and enables the setting. For the SGD- N and SGDB- AN SERVOPACKs, this command is ignored. (1) Operating Procedure No. Execution Conditions Confirmation Method 1 There are no alarms. Both IL 02 and IL 04 are 0. 2 The Servo ON condition. IB 001 is ON. 3 Pulse distribution has been completed for the IB 0C0 is ON. SERVOPACK. 4 Motion command execution has been completed. IW 08 is 0 and IB 090 is OFF. Execute the DCC motion command. Set OW 08 to 11. The Linear Deceleration Time Constant is set in the SERVOPACK and enabled. IW 08 will be 11 during command execution. IB 090 will be ON during command execution. With the MECHATROLINK-II, there is the function that the change of setting parameter is automatically updated. If utilizing this function, there is no need to execute DCC command. For details, refer to Motion Fixed Parameter Details. The Command Pause (OB 090) cannot be used. The Command Abort (OB 091) cannot be used. Parameter change completed. IW 08 will be 11 and IB 090 will be OFF. Execute NOP motion command. Set OW 08 to 0. (2) Holding and Aborting The Command Pause bit (OB 090) and the Command Abort bit (OB 091) cannot be used. 8 (3) Related Parameters (a) Setting Parameters Parameter Name Setting OW 03 Function 1 Set the speed unit, acceleration/deceleration unit, and filter type. OW 08 Motion Command The linear deceleration time constant is changed when this parameter is set to 11. OB 090 Command Pause This parameter is ignored for DCC command. OB 091 Command Abort This parameter is ignored for DCC command. OL 38 Linear Deceleration Time Set the deceleration for feeding as the deceleration time. 8-51

261 8 Motion Commands (b) Monitoring Parameters Parameter Name Monitor Contents IL 02 Warning Stores the most current warning. IL 04 Alarm Stores the most current alarm. IW 08 Servo Command Type Response Indicates the motion command that is being executed. The response code will be 11 during DCC command execution. IB 090 Command Executing Turns ON during DCC command execution and turns OFF when execution has been completed. IB 091 Hold Completed Always OFF for DCC command. IB 093 Command Error End Turns ON if an error occurs during DCC command execution. Turns OFF when another command is executed. IB 098 (4) Timing Charts (a) Normal End Command Completed Turns ON when DCC command execution has been completed. OW 08 = 11 (DCC) IW 08 = 11 (DCC) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) Undefined length of time (b) Error End OW 08 = 11 (DCC) IW 08 = 11 (DCC) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) Undefined length of time 8-52

262 8.12 Change Filter Time Constant (SCC) 8.12 Change Filter Time Constant (SCC) The SCC command transfers the setting of the S-Curve Acceleration Time (motion setting parameter OW 3A) to the Moving Average Time in the SERVOPACK and enables the setting. Always execute the CHG_FILTER command before executing SCC command. (1) Operating Procedure No. Execution Conditions Confirmation Method 1 There are no alarms. Both IL 02 and IL 04 are 0. 2 The Servo ON condition. IB 001 is ON. 3 Pulse distribution has been completed for the IB 0C0 is ON. SERVOPACK. 4 Motion command execution has been completed. IW 08 is 0 and IB 090 is OFF. Execute the SCC motion command. Set OW 08 to 12. Filter Time Constant is set in the SERVOPACK and enabled. IW 08 will be 12 during command execution. IB 090 will be ON during command execution. With the MECHATROLINK-II, there is the function that the change of setting parameter is automatically updated. If utilizing this function, there is no need to execute SCC command. For details, refer to Motion Fixed Parameter Details. The Command Pause (OB 090) cannot be used. The Command Abort (OB 091) cannot be used. Parameter change completed. IW 08 will be 12 and IB 090 will be OFF. Execute NOP motion command. Set OW 08 to 0. (2) Holding and Aborting The Command Pause bit (OB 090) and the Command Abort bit (OB 091) cannot be used. 8 (3) Related Parameters (a) Setting Parameters Parameter Name Setting OW 03 Function 1 Set the speed unit, acceleration/deceleration unit, and filter type. OW 08 Motion Command The filter time constant is changed when this parameter is set to 12. OB 090 Command Pause This parameter is ignored for SCC command. OB 091 Command Abort This parameter is ignored for SCC command. OW 3A S-Curve Acceleration Time Set the filter time constant for acceleration/deceleration. 8-53

263 8 Motion Commands (b) Monitoring Parameters Parameter Name Monitor Contents IL 02 Warning Stores the most current warning. IL 04 Alarm Stores the most current alarm. IW 08 Servo Command Type Response Indicates the motion command that is being executed. The response code is 12 during SCC command execution. IB 090 Command Executing Turns ON during SCC command execution and turns OFF when execution has been completed. IB 091 Hold Completed Always OFF for SCC command. IB 093 Command Error End Turns ON if an error occurs during SCC command execution. Turns OFF when another command is executed. IB 098 (4) Timing Charts (a) Normal End Command Completed Turns ON when SCC command execution has been completed. OW 08 = 12 (SCC) IW 08 = 12 (SCC) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) Undefined length of time (b) Error End OW 08 = 12 (SCC) IW 08 = 12 (SCC) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) Undefined length of time 8-54

264 8.13 Change Filter Type (CHG_FILTER) 8.13 Change Filter Type (CHG_FILTER) The CHG_FILTER command enables the current setting of the Filter Type (motion setting parameter OW 03) for execution of the following motion commands: POSING, EX_POSING, ZRET, INTERPOLATE, LATCH, FEED, and STEP. Always execute CHG_FILTER command after changing the setting of OW 03. (1) Operating Procedure No. Execution Conditions Confirmation Method 1 There are no alarms. Both IL 02 and IL 04 are 0. 2 The Servo ON condition. IB 001 is ON. 3 Pulse distribution has been completed for the IB 0C0 is ON. SERVOPACK. 4 Motion command execution has been completed. IW 08 is 0 and IB 090 is OFF. Execute the CHG_FILTER motion command. Set OW 08 to 13. The Acceleration/Deceleration Filter Type is enabled. IW 08 will be 13 during command execution. IB 090 will be ON during command execution. Select one of the following filters: 1. No filter 2. Exponential acceleration/deceleration 3. S-curve acceleration/deceleration (Moving average filter) The Command Pause (OB 090) cannot be used. The Command Abort (OB 091) cannot be used. Command completed. IW 08 will be 13 and IB 090 will be OFF. Execute NOP motion command. Set OW 08 to 0. (2) Holding and Aborting The Command Pause bit (OB 090) and the Command Abort bit (OB 091) cannot be used. 8 (3) Related Parameters (a) Setting Parameters Parameter Name Setting OW 03 Function 1 Set the speed unit, acceleration/deceleration unit, and filter type. OW 08 Motion Command The filter type is changed when this parameter is set to 13. OB 090 Command Pause This parameter is ignored for CHG_FILTER command. OB 091 Command Abort This parameter is ignored for CHG_FILTER command. 8-55

265 8 Motion Commands (b) Monitoring Parameters Parameter Name Monitor Contents IL 02 Warning Stores the most current warning. IL 04 Alarm Stores the most current alarm. IW 08 Servo Command Type Response Indicates the motion command that is being executed. The response code will be 13 during CHG_FILTER command execution. IB 090 Command Executing Turns ON during CHG_FILTER command execution and turns OFF when execution has been completed. IB 091 Hold Completed Always OFF for CHG_FILTER command. IB 093 Command Error End Turns ON if an error occurs during CHG_FILTER command execution. Turns OFF when another command is executed. IB 098 Command Completed Turns ON when CHG_FILTER command execution has been completed. (4) Timing Charts (a) Normal End OW 08 = 13 (CHG-FILTER) IW 08 = 13 (CHG-FILTER) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) 1 scan (b) Error End OW 08 = 13 (CHG-FILTER) IW 08 = 13 (CHG-FILTER) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) 8-56

266 8.14 Change Speed Loop Gain (KVS) 8.14 Change Speed Loop Gain (KVS) The KVS command transfers the setting of the Speed Loop Gain (motion setting parameter OW 2F) to the Speed Loop Gain in the SERVOPACK and enables the setting. (1) Operating Procedure No. Execution Conditions Confirmation Method 1 There are no alarms. Both IL 02 and IL 04 are 0. 2 Motion command execution has been completed. IW 08 is 0 and IB 090 is OFF. Execute the KVS motion command. Set OW 08 to 14. The Speed Loop Gain is set in the SERVOPACK and enabled. IW 08 will be 14 during command execution. IB 090 will be ON during command execution. With the MECHATROLINK-II, there is the function that the change of setting parameter is automatically updated. If utilizing this function, there is no need to execute KVS command. For details, refer to Motion Fixed Parameter Details. The Command Pause (OB 090) cannot be used. The Command Abort (OB 091) cannot be used. Parameter change completed. IW 08 will be 14 and IB 090 will be OFF. Execute NOP motion command. Set OW 08 to 0. (2) Holding and Aborting The Command Pause bit (OB 090) and the Command Abort bit (OB 091) cannot be used. (3) Related Parameters (a) Setting Parameters 8 Parameter Name Setting OW 08 Motion Command The speed loop gain is changed when this parameter is set to 14. OB 090 Command Pause This parameter is ignored for KVS command. OB 091 Command Abort This parameter is ignored for KVS command. OW 2F Speed Loop Gain Set the gain for the SERVOPACK speed control loop. (b) Monitoring Parameters Parameter Name Monitor Contents IL 02 Warning Stores the most current warning. IL 04 Alarm Stores the most current alarm. IW 08 Servo Command Type Response Indicates the motion command that is being executed. The response code will be 14 during KVS command execution. IB 090 Command Executing Turns ON during KVS command execution and turns OFF when execution has been completed. IB 091 Hold Completed Always OFF for KVS command. IB 093 Command Error End Turns ON if an error occurs during KVS command execution. Turns OFF when another command is executed. IB 098 Command Completed Turns ON when KVS command execution has been completed. 8-57

267 8 Motion Commands (4) Timing Charts (a) Normal End OW 08 = 14 (KVS) IW 08 = 14 (KVS) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) Undefined length of time (b) Error End OW 08 = 14 (KVS) IW 08 = 14 (KVS) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) Undefined length of time 8-58

268 8.15 Change Position Loop Gain (KPS) 8.15 Change Position Loop Gain (KPS) The KPS command transfers the setting of the Position Loop Gain (motion setting parameter OW 2E) to the Position Loop Gain in the SERVOPACK and enables the setting. (1) Operating Procedure No. Execution Conditions Confirmation Method 1 There are no alarms. Both IL 02 and IL 04 are 0. 2 Motion command execution has been completed. IW 08 is 0 and IB 090 is OFF. Execute the KPS motion command. Set OW 08 to 15. The Position Loop Gain is set in the Servopack and enabled. IW 08 will be 15 during command execution. IB 090 will be ON during command execution. With the MECHATROLINK-II, there is the function that the change of setting parameter is automatically updated. If utilizing this function, there is no need to execute KPS command. For details, refer to Motion Fixed Parameter Details. The Command Pause (OB 090) cannot be used. The Command Abort (OB 091) cannot be used. Parameter change completed. IW 08 will be 15 and IB 090 will be OFF. Execute NOP motion command. Set OW 08 to 0. (2) Holding and Aborting The Command Pause bit (OB 090) and the Command Abort bit (OB 091) cannot be used

269 8 Motion Commands (3) Related Parameters (a) Setting Parameters Parameter Name Setting OW 08 Motion Command The position loop gain is changed when this parameter is set to 15. OB 090 Command Pause This parameter is ignored for KPS command. OB 091 Command Abort This parameter is ignored for KPS command. OW 2E Position Loop Gain Set the gain for the SERVOPACK position control loop. (b) Monitoring Parameters Parameter Name Monitor Contents IL 02 Warning Stores the most current warning. IL 04 Alarm Stores the most current alarm. IW 08 Servo Command Type Response Indicates the motion command that is being executed. The response code is 15 during KPS command execution. IB 090 Command Executing Turns ON during KPS command execution and turns OFF when execution has been completed. IB 091 Hold Completed Always OFF for KPS command. IB 093 Command Error End Turns ON if an error occurs during KPS command execution. Turns OFF when another command is executed. IB 098 Command Completed Turns ON when KPS command execution has been completed. (4) Timing Charts (a) Normal End OW 08 = 15 (KPS) IW 08 = 15 (KPS) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) Undefined length of time (b) Error End OW 08 = 15 (KPS) IW 08 = 15 (KPS) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) Undefined length of time 8-60

270 8.16 Change Feed Forward (KFS) 8.16 Change Feed Forward (KFS) The KFS command transfers the setting of the Speed Feed Forward Compensation (motion setting parameter OW 30) to the Feed Forward in the SERVOPACK and enables the setting. (1) Operating Procedure No. Execution Conditions Confirmation Method 1 There are no alarms. Both IL 02 and IL 04 are 0. 2 Motion command execution has been completed. IW 08 is 0 and IB 090 is OFF. Execute the KFS motion command. Set OW 08 to 16. The Feed Forward is set in the SERVOPACK and enabled. IW 08 will be 16 during command execution. IB 090 will be ON during command execution. With the MECHATROLINK-II, there is the function that the change of setting parameter is automatically updated. If utilizing this function, there is no need to execute KFS command. For details, refer to Motion Fixed Parameter Details. The Command Pause (OB 090) cannot be used. The Command Abort (OB 091) cannot be used. Parameter change completed. IW 08 will be 16 and IB 090 will be OFF. Execute NOP motion command. Set OW 08 to 0. (2) Holding and Aborting The Command Pause bit (OB 090) and the Command Abort bit (OB 091) cannot be used. (3) Related Parameters (a) Setting Parameters 8 Parameter Name Setting OW 08 Motion Command The feed forward value is changed when this parameter is set to 16. OB 090 Command Pause This parameter is ignored for KFS command. OB 091 Command Abort This parameter is ignored for KFS command. OW 30 Speed Feed Forward Compensation Set the amount of Servo feed forward (%). (b) Monitoring Parameters Parameter Name Monitor Contents IL 02 Warning Stores the most current warning. IL 04 Alarm Stores the most current alarm. IW 08 Servo Command Type Response Indicates the motion command that is being executed. The response code will be 16 during KFS command execution. IB 090 Command Executing Turns ON during KFS command execution and turns OFF when execution has been completed. IB 091 Hold Completed Always OFF for KFS command. IB 093 Command Error End Turns ON if an error occurs during KFS command execution. Turns OFF when another command is executed. IB 098 Command Completed Turns ON when KFS command execution has been completed. 8-61

271 8 Motion Commands (4) Timing Charts (a) Normal End OW 08 = 16 (KFS) IW 08 = 16 (KFS) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) Undefined length of time (b) Error End OW 08 = 16 (KFS) IW 08 = 16 (KFS) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) Undefined length of time 8-62

272 8.17 Read SERVOPACK Parameter (PRM_RD) 8.17 Read SERVOPACK Parameter (PRM_RD) The PRM_RD command reads the setting of the SERVOPACK parameter with the specified parameter number and parameter size and stores the parameter number in Servo Constant Number (monitoring parameter IW 36) and the setting in Servo User Constant (monitoring parameter IL 38). (1) Operating Procedure No. Execution Conditions Confirmation Method 1 There are no alarms. Both IL 02 and IL 04 are 0. 2 Motion command execution has been completed. IW 08 is 0 and IB 090 is OFF. Execute the PRM_RD motion command. Set OW 08 to 17. The Command Pause (OB 090) cannot be used. The Command Abort (OB 091) cannot be used. The SERVOPACK parameter is read and written to the monitoring parameters. IW 08 will be 17 during command execution. IB 090 will be ON during command execution. Reading completed. IW 08 will be 17 and IB 090 will be OFF. Execute NOP motion command. Set OW 08 to 0. (2) Holding and Aborting The Command Pause bit (OB 090) and the Command Abort bit (OB 091) cannot be used

273 8 Motion Commands (3) Related Parameters (a) Setting Parameters Parameter Name Setting OW 08 Motion Command The SERVOPACK parameter is read when this parameter is set to 17. OB 090 Command Pause This parameter is ignored for PRM_RD command. OB 091 Command Abort This parameter is ignored for PRM_RD command. OW 50 Servo Constant Set the number of the SERVOPACK parameter to be read. Number OW 51 Servo Constant Number Size Set the size of the SERVOPACK parameter to be read. (b) Monitoring Parameters Parameter Name Monitor Contents IL 02 Warning Stores the most current warning. IL 04 Alarm Stores the most current alarm. IW 08 Servo Command Type Response Indicates the motion command that is being executed. The response code will be 17 during PRM_RD command execution. IB 090 Command Executing Turns ON during PRM_RD command execution and turns OFF when execution has been completed. IB 091 Hold Completed Always OFF for PRM_RD command. IB 093 Command Error End Turns ON if an error occurs during PRM_RD command execution. Turns OFF when another command is executed. IB 098 (4) Timing Charts (a) Normal End Command Completed Turns ON when PRM_RD command execution has been completed. IW 36 Servo Constant Stores the number of the SERVOPACK parameter that was read. Number IL 38 Servo User Constant Stores the data of the SERVOPACK parameter that was read. OW 08 = 17 (PRM-RD) IW 08 = 17 (PRM-RD) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) Undefined length of time (b) Error End OW 08 = 17 (PRM-RD) IW 08 = 17 (PRM-RD) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) Undefined length of time 8-64

274 8.18 Write SERVOPACK Parameter (PRM_WR) 8.18 Write SERVOPACK Parameter (PRM_WR) The PRM_WR command writes the SERVOPACK parameter using the specified parameter number, parameter size, and setting data. (1) Operating Procedure No. Execution Conditions Confirmation Method 1 There are no alarms. Both IL 02 and IL 04 are 0. 2 Motion command execution has been completed. IW 08 is 0 and IB 090 is OFF. Execute the PRM_WR motion command. Set OW 08 to 18. The Command Pause (OB 090) cannot be used. The Command Abort (OB 091) cannot be used. The SERVOPACK parameter is written. IW 08 will be 18 during command execution. IB 090 will be ON during command execution. Writing completed. IW 08 will be 18 and IB 090 will be OFF. Execute NOP motion command. Set OW 08 to 0. (2) Holding and Aborting The Command Pause bit (OB 090) and the Command Abort bit (OB 091) cannot be used. (3) Related Parameters (a) Setting Parameters 8 Parameter Name Setting OW 08 Motion Command The SERVOPACK parameter is written when this parameter is set to 18. OB 090 Command Pause This parameter is ignored for PRM_WR command. OB 091 Command Abort This parameter is ignored for PRM_WR command. OW 50 Servo Constant Set the number of the SERVOPACK parameter to be written. Number OW 51 Servo User Constant Set the size of the SERVOPACK parameter to be written. Size OL 52 Servo User Constant Set the data to be set to the SERVOPACK parameter to be written. 8-65

275 8 Motion Commands (b) Monitoring Parameters Parameter Name Monitor Contents IL 02 Warning Stores the most current warning. IL 04 Alarm Stores the most current alarm. IW 08 Servo Command Type Response Indicates the motion command that is being executed. The response code will be 18 during PRM_WR command execution. IB 090 Command Executing Turns ON during PRM_WR command execution and turns OFF when execution has been completed. IB 091 Hold Completed Always OFF for PRM_WR command. IB 093 Command Error End Turns ON if an error occurs during PRM_WR command execution. Turns OFF when another command is executed. IB 098 (4) Timing Charts (a) Normal End Command Completed Turns ON when PRM_WR command execution has been completed. OW 08 = 18 (PRM-WR) IW 08 = 18 (PRM-WR) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) Undefined length of time (b) Error End OW 08 = 18 (PRM-WR) IW 08 = 18 (PRM-WR) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) Undefined length of time 8-66

276 8.19 Monitor SERVOPACK Alarms (ALM_MON) 8.19 Monitor SERVOPACK Alarms (ALM_MON) The ALM_MON command reads the alarm or warning that has occurred in the SERVOPACK and stores it in Servo Alarm Code (monitoring parameter IW 2D). (1) Operating Procedure No. Execution Conditions Confirmation Method 1 Motion command execution has been completed. IW 08 is 0 and IB 090 is OFF. Execute the ALM_MON motion command. Set OW 08 to 19. The Command Pause (OB 090) cannot be used. The Command Abort (OB 091) cannot be used. Any alarms/warnings that have occurred in the SERVOPACK are stored in the monitoring parameter. IW 08 will be 19 during command execution. IB 090 will be ON during command execution. Monitoring is completed. IW 08 will be 19 and IB 090 will be OFF. Execute NOP motion command. Set IW 08 to 0. (2) Holding and Aborting The Command Pause bit (OB 090) and the Command Abort bit (OB 091) cannot be used. (3) Related Parameters (a) Setting Parameters 8 Parameter Name Setting OW 08 Motion Command Alarms are monitored when this parameter is set to 19. OB 090 Command Pause This parameter is ignored for ALM_MON command. OB 091 Command Abort This parameter is ignored for ALM_MON command. OW 4F Servo Alarm Monitor Number Set the number of the alarm to be monitored. 8-67

277 8 Motion Commands (b) Monitoring Parameters Parameter Name Monitor Contents IL 02 Warning Stores the most current warning. IL 04 Alarm Stores the most current alarm. IW 08 Servo Command Type Response Indicates the motion command that is being executed. The response code will be 19 during ALM_MON command execution. IB 090 Command Executing Turns ON during ALM_MON command execution and turns OFF when execution has been completed. IB 091 Hold Completed Always OFF for ALM_MON command. IB 093 Command Error End Turns ON if an error occurs during ALM_MON command execution. Turns OFF when another command is executed. IB 098 Command Turns ON when ALM_MON command execution has been completed. Completed IW 2D Servo Alarm Code Stores the SERVOPACK alarm or warning code that was read. (4) Timing Charts (a) Normal End OW 08 = 19 (ALM-MON) IW 08 = 19 (ALM-MON) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) IW 2D Undefined length of time Alarm code (0) Specified Alarm code (0) alarm code (b) Error End OW 08 = 19 (ALM-MON) IW 08 = 19 (ALM-MON) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) IW 2D Undefined length of time Alarm code (0) Alarm code (0) Alarm code (0) 8-68

278 8.20 Monitor SERVOPACK Alarm History (ALM_HIST) 8.20 Monitor SERVOPACK Alarm History (ALM_HIST) The ALM_HIST command reads the alarm history that is stored in the SERVOPACK and stores it in Servo Alarm Code (monitoring parameter IW 2D). (1) Operating Procedure No. Execution Conditions Confirmation Method 1 Motion command execution has been completed. IW 08 is 0 and IB 090 is OFF. Execute the ALM_HIST motion command. Set OW 08 to 20. The Command Pause (OB 090) cannot be used. The Command Abort (OB 091) cannot be used. The alarm history stored in the SERVOPACK is read and the codes are stored in the monitoring parameters. IW 08 will be 20 during command execution. IB 090 will be ON during command execution. Execution completed. IW 08 will be 20 and IB 090 will be OFF. Execute NOP motion command. Set OW 08 to 0. (2) Holding and Aborting The Command Pause bit (OB 090) and the Command Abort bit (OB 091) cannot be used. (3) Related Parameters (a) Setting Parameters 8 Parameter Name Setting OW 08 Motion Command The alarm history is monitored when this parameter is set to 20. OB 090 Command Pause This parameter is ignored for ALM_HIST command. OB 091 Command Abort This parameter is ignored for ALM_HIST command. OW 4F Servo Alarm Monitor Number Set the number of the alarm to be monitored. 8-69

279 8 Motion Commands (b) Monitoring Parameters Parameter Name Monitor Contents IL 02 Warning Stores the most current warning. IL 04 Alarm Stores the most current alarm. IW 08 Servo Command Type Response Indicates the motion command that is being executed. The response code will be 20 during ALM_HIST command execution. IB 090 Command Executing Turns ON during ALM_HIST command execution and turns OFF when execution has been completed. IB 091 Hold Completed Always OFF for ALM_HIST command. IB 093 Command Error End Turns ON if an error occurs during ALM_HIST command execution. Turns OFF when another command is executed. IB 098 Command Turns ON when ALM_HIST command execution has been completed. Completed IW 2D Servo Alarm Code Stores the SERVOPACK alarm code that was read. (4) Timing Charts (a) Normal End OW 08 = 20 (ALM-HIST) IW 08 = 20 (ALM-HIST) IB 090 (BUSY) IB 093 (FAIL) Undefined length of time IB 098 (COMPLETE) IW 2D Alarm code (0) Specified alarm code Alarm code (0) (b) Error End OW 08 = 20 (ALM-HIST) IW 08 = 20 (ALM-HIST) IB 090 (BUSY) IB 093 (FAIL) Undefined length of time IB 098 (COMPLETE) IW 2D Alarm code (0) Alarm code (0) Alarm code (0) 8-70

280 8.21 Clear SERVOPACK Alarm History (ALMHIST_CLR) 8.21 Clear SERVOPACK Alarm History (ALMHIST_CLR) The ALMHIST_CLR command clears the alarm history in the SERVOPACK. (1) Operating Procedure No. Execution Conditions Confirmation Method 1 Motion command execution has been completed. IW 08 is 0 and IB 090 is OFF. Execute the ALMHIST_CLR motion command. Set OW 08 to 21. The Command Pause (OB 090) cannot be used. The Command Abort (OB 091) cannot be used. The alarm history stored in the SERVOPACK is cleared. IW 08 will be 21 during command execution. IB 090 will be ON during command execution. Execution completed. IW 08 will be 21 and IB 090 will be OFF. Execute NOP motion command. Set OW 08 to 0. (2) Holding and Aborting The Command Pause bit (OB 090) and the Command Abort bit (OB 091) cannot be used. (3) Related Parameters (a) Setting Parameters Parameter Name Setting OW 08 Motion Command The alarm history is cleared when this parameter is set to 21. OB 090 Command Pause This parameter is ignored for ALMHIST_CLR command. OB 091 Command Abort This parameter is ignored for ALMHIST_CLR command. 8 (b) Monitoring Parameters Parameter Name Monitor Contents IL 02 Warning Stores the most current warning. IL 04 Alarm Stores the most current alarm. IW 08 Servo Command Type Response Indicates the motion command that is being executed. The response code will be 21 during ALMHIST_CLR command execution. IB 090 Command Executing Turns ON during ALMHIST_CLR command execution and turns OFF when execution has been completed. IB 091 Hold Completed Always OFF for ALMHIST_CLR command. IB 093 Command Error End Turns ON if an error occurs during ALMHIST_CLR command execution. Turns OFF when another command is executed. IB 098 Command Completed Turns ON when ALMHIST_CLR command execution has been completed. 8-71

281 8 Motion Commands (4) Timing Charts (a) Normal End OW 08 = 22 (ABS_RST) IW 08 = 22 (ABS_RST) IW 090 (BUSY) IW 093 (FAIL) Undefined length of time (approx 2 s) IW 097 (ABS_RSTC) IW 098 (COMPLETE) IW 000 (SVCRDY) Undefined here (b) Error End OW 08 = 22 (ABS_RST) IW 08 = 22 (ABS_RST) IW 090 (BUSY) IW 095 (FAIL) Undefined length of time IW 097 (ABS_RSTC) IW 098 (COMPLETE) IW 000 (SVCRDY) 8-72

282 8.22 Reset Absolute Encoder (ABS_RST) 8.22 Reset Absolute Encoder (ABS_RST) The ABS_RST command resets the multiturn data in the absolute encoder to 0. If an Encoder Backup Alarm (A.810) or Encoder Checksum Alarm (A.820) occurs when the ABS_RST command is executed, the encoder will be reset. The ABS_RST command can be executed to reset the encoder s multiturn data to 0 when these alarms occur or when the machine is being used for the first time. (1) Operating Procedure No. Execution Conditions Confirmation Method 1 Communication is synchronized with SERVOPACK. IB 000 is ON. 2 The Servo OFF condition. IB 001 is OFF. 3 Motion command execution has been completed. OW 08 is 0, IW 08 is 0 and IB 090 is OFF. Execute the ABS_RST motion command. Set OW 08 to 22. Any alarms will be cleared, and the multiturn data in the absolute encoder will be set to 0. IW 08 will be 22 during command execution. IB 090 will be ON during command processing. Absolute encoder reset is completed. IW 08 will be 22 and IB 090 will be OFF. IB 093 will be OFF. IB 097 will be ON. IB 000 will be OFF. Execute NOP motion command. Set OW 08 to 0. When resetting the absolute encoder has been completed, communication will be disconnected between the Machine Controller and SERVOPACK, and thus the Zero Point Setting Completed and Zero Point Return Completed status will be cleared. After clearing the alarms and re-establishing communications, execute a zero point setting and a zero point return. If the ABS_RST command is executed while an A.81 alarm exists, the alarm clear operation will have to be performed twice before communication can be synchronized again. The ABS_RST command is valid for Σ-II and Σ-III Series SERVOPACKs. A command error will occur if the ABS_RST command is executed for a Σ Series SERVOPACK. A command error will also occur if the ABS_RST command is executed when an incremental encoder is being used (or when an absolute encoder is used as an incremental encoder). The Command Pause (OB 090) cannot be used. The Command Abort (OB 091) cannot be used. 8 (2) Holding and Aborting The Command Pause bit (OB 090) and the Command Abort bit (OB 091) cannot be used. Processing will be canceled if a communication error occurs while the command is being executed and a command error end will occur. (3) Related Parameters (a) Setting Parameters Parameter Name Setting OB 000 Servo ON Turns the power to the Servomotor ON and OFF. 1: Power ON to Servomotor, 0: Power OFF to Servomotor Turn OFF the power before setting the Motion Command Code (OW 08) to 22. OW 08 Motion Command Starts resetting the absolute encoder when this parameter is set to 22. Even if this parameter is set to 0 during command execution, it will be ignored and execution will be continued. OB 090 Command Pause This parameter is ignored for ABS_RST command. OB 091 Command Abort This parameter is ignored for ABS_RST command. 8-73

283 8 Motion Commands (b) Monitoring Parameters Parameter Name Monitor Contents IB 000 Motion Controller Operation Ready Indicates the synchronized communication status between the Machine Controller and the SERVOPACK. ON: Synchronized communication, OFF: Communication disconnected IB 001 Servo ON Indicates the Servo ON status. ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor IL 02 Warning Stores the most current warning. IL 04 Alarm Stores the most current alarm. IW 08 Servo Command Type Response Indicates the motion command that is being executed. The response code will be 22 during ABS_RST command execution. IB 090 Command Executing Turns ON during ABS_RST command execution and turns OFF when execution has been completed. IB 091 Hold Completed Always OFF for ABS_RST command. IB 093 Command Error End Turns ON if an error occurs during ABS_RST command execution. Turns OFF when another command is executed. IB 097 IB 098 Absolute Encoder Reset Completed Command Completed Turns ON when resetting the absolute encoder has been completed. Turns ON when ABS_RST command execution has been completed. 8-74

284 8.22 Reset Absolute Encoder (ABS_RST) (4) Timing Charts (a) Normal End OW 08 = 22 (ABS_RST) IW 08 = 22 (ABS_RST) IB 090 (BUSY) IB 093 (FAIL) Undefined length of time (approx 2 s) IB 097 (ABS_RSTC) IB 098 (COMPLETE) IB 000 (SVCRDY) Undefined here (b) Error End OW 08 = 22 (ABS_RST) IW 08 = 22 (ABS_RST) IB 090 (BUSY) IB 095 (FAIL) Undefined length of time IB 097 (ABS_RSTC) IB 098 (COMPLETE) IB 000 (SVCRDY)

285 8 Motion Commands 8.23 Speed Reference (VELO) With the MECHATROLINK-II, the VELO command is used to operate the SERVOPACK under the speed control mode, enabling the same type of operation as is possible with the analog speed reference input of the SERVOPACK. (1) Operating Procedure No. Execution Conditions Confirmation Method 1 There are no alarms. Both IL 02 and IL 04 are 0. 2 Motion command execution has been completed. IW 08 is 0 and IB 090 is OFF. Set the motion setting parameters. Speed Reference setting: OL 10 Torque Limit setting: OL 14 Acceleration/Deceleration Filter Type: OW 03 Speed Loop P/PI Switch: OW 01 Speed (%) 100% Rated speed Speed Execute the VELO motion command. Set OW 08 to Linear Acceleration Time Linear Deceleration Time Time (t) The control mode in the SERVOPACK is switched to speed control. IW 08 will be 23 during execution. Operation under speed control mode Execute another motion command to cancel the speed control mode. Position management using the position feedback is possible during operation with speed control mode. The speed can be changed during operation. An override of between 0% to % can be set for the reference speed. This command can be executed even when the Servo is OFF. The Command Pause (OB 090) cannot be used. If OB 091 set to 1 to abort execution, the axis will decelerate to a stop. (2) Holding Holding execution is not possible during VELO command operation. The Command Pause bit (OB 090) is ignored. (3) Aborting The speed control mode can be cancelled by aborting execution of a command. A command is aborted by setting the Command Abort bit (OB 091) to Set the Command Abort bit (OB 091) to 1. The axis will decelerate to a stop if the Command Abort bit (OB 091) is set to The speed control mode operation will restart if the Command Abort bit (OB 091) is reset to 0 during abort processing. This type of operation will also be performed if the motion command is changed during operation with speed control mode. 8-76

286 8.23 Speed Reference (VELO) (4) Related Parameters (a) Setting Parameters Parameter Name Setting OB 000 Servo ON Turn the power to the Servomotor ON and OFF. 1: Power ON to Servomotor, 0: Power OFF to Servomotor Motor will start to rotate when this bit is set to 1 under the speed control data mode. OB 013 Speed Loop P/PI Switch Switch the speed control loop between PI control and P control. 0: PI control, 1: P control OW 03 Function 1 Set the speed unit, acceleration/deceleration unit, and filter type. OW 08 Motion Command The mode is changed to speed control mode when this parameter is set to 23. OB 090 Command Pause This parameter is ignored for VELO command. OB 091 Command Abort The axis will decelerate to a stop if this bit is set to 1 during operation. OL 10 Speed Reference Specify the speed. This setting can be changed during operation. The unit depends on the setting of OW 03. OL 14 Positive Side Limiting Torque Setting at the Speed Reference (b) Monitoring Parameters Set the torque limit for the speed reference. The same value is used for both the positive and negative directions. OL 18 Speed Override This parameter allows the motor speed to be changed without changing the Speed Reference (OL 10). Set the speed as a percentage of the Speed Reference Setting. This setting can be changed during operation. Setting range: 0 to (0% to %) Setting unit: 1 = 0.01% Example: Setting for 50%: 5000 OL 36 OL 38 OW 3A Linear Acceleration Time Linear Deceleration Time S-Curve Acceleration Time Set the rate of acceleration or acceleration time constant for operation. Set the rate of deceleration or deceleration time constant for operation. Set the acceleration/deceleration filter time constant. Exponential acceleration/ deceleration or a moving average filter can be selected in OW 03. Change the setting only after pulse distribution has been completed for the command (IB 0C0 is ON). 8 Parameter Name Monitor Contents IB 001 Servo ON Indicates the Servo ON status. ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor IL 02 Warning Stores the most current warning. IL 04 Alarm Stores the most current alarm. IW 08 Servo Command Type Response Indicates the motion command that is being executed. The response code will be 23 during VELO command execution. IB 090 Command Executing Turns ON when abort processing is being performed for VELO command. Turns OFF when abort processing has been completed. IB 091 Hold Completed Always OFF for VELO command. IB 093 Command Error End Turns ON if an error occurs during VELO command execution. The axis will decelerate to a stop if it is operating. Turns OFF when another command is executed. IB 098 IB 0C0 Command Completed Distribution Completed Always OFF for VELO command. Turns ON when pulse distribution has been completed for the move command. Turns OFF during execution of a move command. 8-77

287 8 Motion Commands (5) Timing Charts (a) Normal Execution OW 08 = 23 (VELO) IW 08 = 23 (VELO) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) IB 0C0(DEN) 1 scan Undefined length of time (b) Execution when Aborted OW 08 = 23 (VELO) OB 091 (ABORT) IW 08 = 23 (VELO) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) IB 0C0 (DEN) Speed Control Mode Position Control Mode (c) Execution when Aborting by Changing the Command OW 08 = 23 (VELO) IW 08 = 23 (VELO) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) IB 0C0 (DEN) Speed Control Mode Position Control Mode 8-78

288 8.23 Speed Reference (VELO) (d) Execution when an Alarm Occurs OW 08 = 23 (VELO) IW 08 = 23 (VELO) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) IB 0C0 (DEN) Alarm 1 scan

289 8 Motion Commands 8.24 Torque Reference (TRQ) With the MECHATROLINK-II, the TRQ command is used to operate the SERVOPACK under the torque control mode, enabling the same type of operation as is possible with the analog torque reference input of the SERVOPACK. (1) Operating Procedure No. Execution Conditions Confirmation Method 1 There are no alarms. Both IL 02 and IL 04 are 0. 2 Motion command execution has been completed. IW 08 is 0 and IB 090 is OFF. Set the motion setting parameters. Torque Reference Setting: OL 0C Speed Limit Setting: OL 0E Acceleration/Deceleration Filter Type: OW 03 Speed Loop P/PI Switch: OW 01 Torque Torque Reference Execute the TRQ motion command. Set OW 08 to Time t The control mode in the SERVOPACK is changed to torque control. IW 08 will be 24 during execution. Operation in torque control mode Execute another motion command to cancel the torque control mode. Position management using the position feedback is possible during operation with torque control mode. The torque can be changed during operation. This command can be executed even when the Servo is OFF. The Command Pause (OB 090) cannot be used. If OB 091 is set to 1 to abort execution, the axis will decelerate to a stop. (2) Holding Holding execution is not possible during TRQ command operation. The Command Pause bit (OB 090) is ignored. (3) Aborting The torque control mode can be cancelled by aborting execution of a command. A command is aborted by setting the Command Abort bit (OB 091) to Set the Command Abort bit (OB 091) to 1. The axis will decelerate to a stop if the Command Abort bit (OB 091) is set to The torque control mode operation will restart if the Command Abort bit (OB 091) is reset to 0 during abort processing. This type of operation will also be performed if the motion command is changed during operation with torque control mode. 8-80

290 8.24 Torque Reference (TRQ) (4) Related Parameters (a) Setting Parameters Parameter Name Setting OB 000 Servo ON Turn the power to the Servomotor ON and OFF. 1: Power ON to Servomotor, 0: Power OFF to Servomotor Motor torque will start to generate when the Servo is turned ON after switching to Torque Control Mode. OB 013 Speed Loop P/PI Switch Switch the speed control loop between PI control and P control. 0: PI control, 1: P control OW 03 Function 1 Set the speed unit, acceleration/deceleration unit, and filter type. OW 08 Motion Command The mode is changed to torque control when this parameter is set to 24. OB 090 Command Pause This parameter is ignored for TRQ command. OB 091 Command Abort Positioning is performed when this bit turns ON during operation. OL 0C Torque Reference Set the torque reference in 0.01% units. This setting can be changed during operation. OL 0E OL 36 Speed Limit at Torque Reference Linear Acceleration Time (b) Monitoring Parameters Set the speed limit for torque references. The speed limit is set as a percentage of the rated speed. Set the rate of acceleration or acceleration time constant for positioning. OL 38 Linear Deceleration Set the rate of deceleration or deceleration time constant for positioning. Time OW 3A Filter Time Constant Set the acceleration/deceleration filter time constant. Exponential acceleration/deceleration or a moving average filter can be selected in OW 03. Change the setting only after pulse distribution has been completed for the command (IB 0C0 is ON). Parameter Name Monitor Contents IB 001 Servo ON Indicates the Servo ON status. ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor IL 02 Warning Stores the most current warning. IL 04 Alarm Stores the most current alarm. IW 08 Servo Command Type Response Indicates the motion command that is being executed. The response code will be 24 during TRQ command execution. IB 090 Command Executing Turns ON when abort processing is being performed for TRQ command. Turns OFF when abort processing has been completed. IB 091 Hold Completed Always OFF for TRQ command. IB 093 Command Error End Turns ON if an error occurs during TRQ command execution. The axis will decelerate to a stop if it is operating. Turns OFF when another command is executed. IB 098 Command Completed Always OFF for TRQ command

291 8 Motion Commands (5) Timing Charts (a) Normal Execution OW 08 = 24 (TRQ) IW 08 = 24 (TRQ) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) IB 0C0 (DEN) 1 scan (b) Executed when Aborted OW 08 = 24 (TRQ) OB 091 (ABORT) IW 08 = 24 (TRQ) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) IB 0C0 (DEN) IB 0C1 (POSCOMP) Torque Control Mode Position Control Mode 1 scan (c) Execution when an Alarm Occurs OW 08 = 24 (TRQ) IW 08 = 24 (TRQ) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) IB 0C0 (DEN) IB 0C1 (POSCOMP) 1 scan Undefined length of time Alarm Torque Control Mode Position Control Mode 8-82

292 8.25 Phase References (PHASE) 8.25 Phase References (PHASE) The PHASE command is used for the synchronized operation of multiple axes under phase control mode, using the specified speed, phase bias, and speed compensation value. (1) Operating Procedure No. Execution Conditions Confirmation Method 1 There are no alarms. Both IL 02 and IL 04 are 0. 2 The Servo ON condition. IB 001 is ON. 3 Motion command execution has been completed. IW 08 is 0 and IB 090 is OFF. Set the motion setting parameters. Speed Reference Setting: OL 10 Acceleration/Deceleration Filter Type: OW 03 Speed Loop P/PI Switch: OW 01 Phase Bias Setting: OL 28 Speed Compensation: OW 31 Speed (%) Position Execute the PHASE motion command. Set OW 08 to Time (t) Sync operation using phase control starts. IW 08 will be 25 during execution. Operation in phase control mode The speed can be changed during operation. Offset in the sync between the axes can be compensated. The Command Pause (OB 090) cannot be used. The Command Abort (OB 091) cannot be used. Execute another motion command to cancel the phase control mode. (2) Holding and Aborting The Command Pause bit (OB 090) and the Command Abort bit (OB 091) cannot be used. 8 (3) Related Parameters (a) Setting Parameters Parameter Name Setting OB 000 Servo ON Turns the power to the Servomotor ON and OFF. 1: Power ON to Servomotor, 0: Power OFF to Servomotor Turn ON the power before setting the Motion Command Code (OW 08) to 25. OW 03 Function 1 Set the speed unit, acceleration/deceleration unit, and filter type. OW 08 Motion Command Phase control operation is started when this parameter is set to 25. OL 10 Speed Reference Set the speed reference. The setting can be changed during operation. The unit depends on the setting of OW 03. OL 28 Phase Compensation Set the number of bias pulses for phase compensation in pulses. OW 31 Speed Amends Set the speed feed forward gain as a percentage of the rated speed. OW 3A S-Curve Acceleration Time Set the acceleration/deceleration filter time constant. Exponential acceleration/ deceleration or a moving average filter can be selected in OW 03. Change the setting only after pulse distribution has been completed for the command (IB 0C0 is ON). 8-83

293 8 Motion Commands (b) Monitoring Parameters Parameter Name Monitor Contents IB 001 Servo ON Indicates the Servo ON status. ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor IL 02 Warning Stores the most current warning. IL 04 Alarm Stores the most current alarm. IW 08 Servo Command Type Response Indicates the motion command that is being executed. The response code will be 25 during PHASE command execution. IB 090 Command Executing Always OFF for PHASE command. IB 091 Hold Completed Always OFF for PHASE command. IB 093 Command Error End Turns ON if an error occurs during PHASE command execution. The axis will decelerate to a stop if it is moving. Turns OFF when another command is executed. IB 098 Command Completed (4) Timing Charts (a) Normal Execution Always OFF for PHASE command. Target position is changed automatically in every scan. OW 08 = 25 (PHASE) IW 08 = 25 (PHASE) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) IB 0C0 (DEN) 1 scan Undefined length of time (b) Execution when an Alarm Occurs OW 08 = 25 (PHASE) Alarm IW 08 = 25 (PHASE) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) IB 0C0 (DEN) IB 0C1 (POSCOMP) 1 scan Undefined length of time 8-84

294 8.26 Change Position Loop Integration Time Constant (KIS) 8.26 Change Position Loop Integration Time Constant (KIS) The KIS command transfers the setting of the Position Integration Time Constant (motion setting parameter OW 32) to the Position Loop Integration Time Constant in the SERVOPACK and enables the setting. (1) Operating Procedure No. Execution Conditions Confirmation Method 1 There are no alarms. Both IL 02 and IL 04 are 0. 2 Motion command execution has been completed. IW 08 is 0 and IB 090 is OFF. Execute the KIS motion command. Set OW 08 to 26. The Position Loop Integration Time Constant is set in the SERVOPACK and enabled. IW 08 will be 26 during command execution. IB 090 will be ON during command execution. With the MECHATROLINK-II, there is the function that the change of setting parameter is automatically updated. If utilizing this function, there is no need to execute KIS command. For details, refer to Motion Fixed Parameter Details. The Command Pause (OB 090) cannot be used. The Command Abort (OB 091) cannot be used. Parameter change completed. IW 08 will be 26 and IB 090 will be OFF. Execute NOP motion command. Set OW 08 to 0. (2) Holding and Aborting The Command Pause bit (OB 090) and the Command Abort bit (OB 091) cannot be used. (3) Related Parameters (a) Setting Parameters 8 Parameter Name Setting OW 08 Motion Command The integration time constant for the position loop is changed when this parameter is set to 26. OB 090 Command Pause This parameter is ignored for KIS command. OB 091 Command Abort This parameter is ignored for KIS command. OW 32 Position Integration Time Constant Set the integration time constant for the position loop in milliseconds. (b) Monitoring Parameters Parameter Name Monitor Contents IL 02 Warning Stores the most current warning. IL 04 Alarm Stores the most current alarm. IW 08 Servo Command Type Response Indicates the motion command that is being executed. The response code will be 26 during KIS command execution. IB 090 Command Executing Turns ON during KIS command execution and turns OFF when execution has been completed. IB 091 Hold Completed Always OFF for KIS command. IB 093 Command Error End Turns ON if an error occurs during KIS command execution. Turns OFF when another command is executed. IB 098 Command Completed Turns ON when KIS command execution has been completed. 8-85

295 8 Motion Commands (4) Timing Charts (a) Normal End OW 08 = 26 (KIS) IW 08 = 26 (KIS) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) Undefined length of time (b) Error End OW 08 = 26 (KIS) IW 08 = 26 (KIS) IB 090 (BUSY) IB 093 (FAIL) IB 098 (COMPLETE) Undefined length of time 8-86

296 9 Control Block Diagrams This chapter explains the motion control block diagrams for the MP2100/ MP2100M. 9.1 Motion Control Block Diagrams Position Control Phase Control Torque Control Speed Control

297 9 Control Block Diagrams Position Control 9.1 Motion Control Block Diagrams Position Control (1) Motion Parameters for Position Control (a) Fixed Parameters No. Name Setting Unit Default Value Setting Range 0 Run Mode 1 0 to 5 1 Function Selection h Bit Setting 2 Function Selection h Bit Setting 4 Command Unit 0 0 to 3 5 Number of Decimal Places 3 0 to 5 6 Command Unit per Revolution Reference unit 10,000 1 to Gear Ratio [MOTOR] 1 1 to 65,535 9 Gear Ratio [LOAD] 1 1 to 65, Maximum Value of Rotary Counter (POSMAX) Reference unit 360,000 1 to Forward Software Limit Reference unit to Reverse Software Limit Reference unit to Backlash Compensation Reference unit to Motor Type 0 0 or 1 30 Encoder Type 0 0 to 3 34 Rated Speed min 1 3,000 1 to 32, Encoder Resolution pulse 65,536 1 to Max. Revolutions of Absolute Encoder Rev 65,534 0 to Feedback Speed Moving Average Time Constant ms 10 0 to 32 (b) Setting Parameters No. Name Setting Unit Default Value Setting Range OW 00 Run Commands 0000 h Bit Setting OW 01 Mode h Bit Setting OW 02 Mode h Bit Setting OW 03 Function h Bit Setting OW 04 Function h Bit Setting OW 05 Function h Bit Setting OW 08 Motion Command 0 0 to 26 OW 09 Motion Command Options 0000 h Bit Setting OW 0A Motion Subcommand 0 0 to 65,535 OL 0C Torque Reference Depends on torque unit to OW 0E Speed Limit at Torque Reference 0.01% 15, to 32,767 OL 10 Speed Reference Depends on speed unit to OL 14 Positive Side Limiting Torque Setting at the Speed Reference Depends on torque unit. 30, to OL 16 Secondly Speed Compensation Depends on speed unit to OW 18 Speed Override 0.01% 10,000 0 to OL 1C Position Reference Type Reference unit to OL 1E Positioning Completed Width Reference unit to 65,535 OL 20 Positioning Completed Width 2 Reference unit 0 0 to 65,535 OL 22 Deviation Abnormal Detection Value Reference unit to OW 26 Position Complete Timeout ms 0 0 to 65,535 OL 28 Phase Compensation Reference unit to OL 2A Latch zone lower limit (for external positioning) Reference unit to OL 2C Latch zone upper limit (for external positioning) Reference unit to OW 2E Position Loop Gain 0.1/s to 32,767 OW 2F Speed Loop Gain Hz 40 1 to 2,000 OW 30 Speed Feed Forward Compensation 0.01% 0 0 to 32,767 OW 31 Speed Amends 0.01% 0 32,768 to 32,767 OW 32 Position Integration Time Constant ms 0 0 to 32,767 OW 34 Speed Integration Time Constant 0.01 ms 2, to 65,535 OL 36 Linear Acceleration Time Depends on acceleration/ deceleration unit. OL 38 Linear Deceleration Time Depends on acceleration/ deceleration unit. 0 0 to to OW 3A S-Curve Acceleration Time 0.1 ms 0 0 to 65,535 OW 3C Home Return Type 0 0 to 19 OW 3D Home Window Reference unit to 65,

298 9.1 Motion Control Block Diagrams No. Name Setting Unit Default Value Setting Range OL 3E Approach Speed Depends on speed unit. 1, to OL 40 Creep Speed Depends on speed unit to OL 42 Home Offset Reference unit to OL 44 Step Distance Reference unit 1,000 0 to OL 46 External Positioning Move Distance Reference unit to OL 48 Zero Point Offset Reference unit to OL 4A Work Coordinate System Offset Reference unit to OL 4C Preset Data of POSMAX Turn Rev to OW 4E Servo User Monitor 0E00 h Bit Setting OW 4F Servo Alarm Monitor Number 0 0 to 10 OW 50 Servo Constant Number 0 0 to 65,535 OW 51 Servo Constant Number Size 1 1 or 2 OL 52 Servo User Constant to OW 54 Auxiliary Servo User Constant Number 0 0 to 65,535 OW 55 Auxiliary Servo Constant Number Size 1 1 or 2 OL 56 Auxiliary Servo User Constant to OW 5C Fixed Parameter Number 0 0 to 65,535 OL 5E Absolute Position at Power OFF (Low Value) pulse to OL 60 Absolute Position at Power OFF (High Value) pulse to OL 62 Modularized Position at Power OFF (Low Value) pulse to OL 64 Modularized Position at Power OFF (High Value) pulse to Note: The shaded parameter settings are ignored. (c) Monitoring Parameters No. Name Unit Default Value Range IW 00 Drive Status Bit Setting IW 01 Over Range Parameter Number 0 to 65,535 IL 02 Warning Bit Setting IL 04 Alarm Bit Setting IW 08 Servo Command Type Response 0 to 65,535 IW 09 Servo Module Command Status Bit Setting IW 0A Motion Subcommand Response Code 0 to 65,535 IW 0B Motion Subcommand Status Bit Setting IW 0C Position Management Status Bit Setting IL 0E Machine Coordinate Target Position (TPOS) Reference unit 2 31 to IL 10 Target Position (CPOS) Reference unit 2 31 to IL 12 Machine Coordinate System Position (MPOS) Reference unit 2 31 to IL 16 Machine Coordinate Feedback Position (APOS) Reference unit 2 31 to IL 18 Machine Coordinate Latch Position (LPOS) Reference unit 2 31 to IL 1A Position Error (PERR) Reference unit 2 31 to IL 1C Target Position Difference Monitor Reference unit 2 31 to IL 1E POSMAX Number of Turns Reference unit 2 31 to IL 20 Speed Reference Output Monitor pulse/s 2 31 to IW 2C Network Servo Status Bit Setting IW 2D Servo Alarm Code 32,768 to 32,767 IW 2E Network Servo I/O Monitor Bit Setting IW 2F Network Servo User Monitor Information Bit Setting IL 30 Servo User Monitor to IL 34 Servo User Monitor to IW 36 Servo Constant Number 0 to 65,535 IW 37 Auxiliary Servo User Constant Number 0 to 65,535 IL 38 Servo User Constant 2 31 to IL 3A Auxiliary Servo User Constant 2 31 to IW 3F Motor Type 0 or 1 IL 40 Feedback Speed Depends on speed unit to IL 42 Torque (Thrust) Reference Monitor Depends on torque unit to IL 56 Fixed Parameter Monitor to IL 5E Absolute Position at Power OFF (Low Value) pulse to IL 60 Absolute Position at Power OFF (High Value) pulse to IL 62 Modularized Position at Power OFF (Low Value) pulse to IL 64 Modularized Position at Power OFF (High Value) pulse to

299 9 Control Block Diagrams Position Control (2) Control Block Diagram for Position Control MP2100/MP2100M Run Settings OW 00 Run Commands OW 01 Mode 1 OW 02 Mode 2 OW 03 Function 1 OW 04 Function 2 OW 05 Function 3 OW 08 Motion Command OW 09 Motion Command Options OW 0A Motion Subcommand SVB Speed/Position References Acceleration/ Deceleration OL 10 Speed Reference OW 18 Speed Override OL 1C Position Reference Type OL 1E Positioning Completed Width OL 20 Positioning Completed Width 2 OL 22 Deviation Abnormal Detection Value OW 26 Position Complete Timeout OL 31 Speed Amends OL 36 Linear Acceleration Time OL 38 Linear Deceleration Time OW 3A S-Curve Acceleration Time POSING commands INTERPOLATE commands Override Processing p OW 18 Position pattern generation for interpolation p ts Motion program acceleration/ deceleration: IAC, IDC t Electronic gear Σ Zero Point Return Feed speeds Coordinates OW 3C OW 3D OL 3E OL 40 OL 42 OL 44 OL 26 OL 48 OL 4A OL 4C Home Return Type Home Window Approach Speed Creep Speed Home Offset Step Distance External Positioning Move Distance Zero Point Offset Work Coordinate System Offset Preset Data of POSMAX Turn Motion program or user application (ladder program) Note: Processing performed by CPU. Speed reference unit conversion Valid only for interpolation Run Information IW 00 IL 02 IL 04 Drive Status Warning Alarm Motion Command Information Position Information IW 08 IW 09 IW 0A IW 0B IW 0C IL 0E IL 10 IL 12 IL 14 IL 16 IL 18 IL 1A IL 1C IL 1E IL 20 Servo Command Type Response Servo Module Command Status Motion Subcommand Response Code Motion Subcommand Status Position Management Status Machine Coordinate Target Position (TPOS) Target Position (CPOS) Machine Coordinate System Position (MPOS) 32-bit Coordinate System Position (DPOS) Machine Coordinate Feedback Position (APOS) Machine Coordinate Latch Position (LPOS) Position Error (PERR) Target Position Difference Monitor POSMAX Number of Turns Speed Reference Output Monitor POSMAX processing Σ POSMAX processing POSMAX processing Electronic gear Electronic gear Electronic gear + SERVOPACK Information IW 2C Network Servo Status IW 2D Servo Alarm Code IW 2E Network Servo I/O Monitor IW 2F Network Servo User Monitor Information IW 30 Servo User Monitor 2 IL 40 Feedback Speed IL 42 Torque (Thrust) Reference Monitor 9-4

300 9.1 Motion Control Block Diagrams SERVOPACK POSING command Acceleration/ deceleration processing INTERPOLATE command Acceleration: OL 36 Deceleration: OL 38 Filter OW 3A S Differential Speed Feed Forward Compensation Pn109 (OW 30) B A Pn10A Position Loop Gain Kp B A Pn102 (OW 2E) FB Ti Pn11F Position Integration Time Constant (OW 32) Position Loop Gain Kv Vref Pn100 (OW 2F) Speed Integration Time Constant NTi Pn101 (OW 34) Current loop M TRQ Analog monitor value MPOS APOS LPOS A B A B Counter Counter PG Latch signal 9 9-5

301 9 Control Block Diagrams Phase Control Phase Control (1) Motion Parameters for Phase Control (a) Fixed Parameters No. Name Setting Unit Default Value Setting Range 0 Run Mode 1 0 to 5 1 Function Selection h Bit Setting 2 Function Selection h Bit Setting 4 Command Unit 0 0 to 3 5 Number of Decimal Places 3 0 to 5 6 Command Unit per Revolution Reference unit 10,000 1 to Gear Ratio [MOTOR] 1 1 to 65,535 9 Gear Ratio [LOAD] 1 1 to 65, Maximum Value of Rotary Counter (POSMAX) Reference unit 360,000 1 to Forward Software Limit Reference unit to Reverse Software Limit Reference unit to Backlash Compensation Reference unit to Motor Type 0 0 or 1 30 Encoder Type 0 0 to 3 34 Rated Speed min 1 3,000 1 to 32, Encoder Resolution pulse 65,536 1 to Max. Revolutions of Absolute Encoder Rev 65,534 0 to Feedback Speed Moving Average Time Constant ms 10 0 to 32 (b) Setting Parameters No. Name Setting Unit Default Value Setting Range OW 00 Run Commands 0000 h Bit Setting OW 01 Mode h Bit Setting OW 02 Mode h Bit Setting OW 03 Function h Bit Setting OW 04 Function h Bit Setting OW 05 Function h Bit Setting OW 08 Motion Command 0 0 to 26 OW 09 Motion Command Options 0000 h Bit Setting OW 0A Motion Subcommand 0 0 to OL 0C Torque Reference Depends on torque unit to OW 0E Speed Limit at Torque Reference 0.01% 15,000 32,768 to 32,767 OL 10 Speed Reference Depends on speed unit. 3, to OL 14 Positive Side Limiting Torque Setting at the Speed Reference Depends on torque unit. 30, to OL 16 Secondly Speed Compensation Depends on speed unit to OW 18 Speed Override 0.01% 10,000 0 to 32,767 OL 1C Position Reference Type Reference unit to OL 1E Positioning Completed Width Reference unit to 65,535 OL 20 Positioning Completed Width 2 Reference unit 0 0 to OL 22 Deviation Abnormal Detection Value Reference unit to OW 26 Position Complete Timeout ms 0 0 to OL 28 Phase Compensation Reference unit to OL 2A Latch Zone Lower Limit Setting Reference unit to OL 2C Latch Zone Upper Limit Setting Reference unit to OW 2E Position Loop Gain 0.1/s to 32,767 OW 2F Speed Loop Gain Hz 40 1 to 2,000 OW 30 Speed Feed Forward Compensation 0.01% 0 0 to 32,767 OW 31 Speed Amends 0.01% 0 32,768 to 32,767 OW 32 Position Integration Time Constant ms 0 0 to 32,767 OW 34 Speed Integration Time Constant 0.01 ms 2, to 65,535 OL 36 Linear Acceleration Time Depends on acceleration/ 0 deceleration unit. 0 to OL 38 Linear Deceleration Time Depends on acceleration/ 0 deceleration unit. 0 to OW 3A S-Curve Acceleration Time 0.1 ms 0 0 to 65,535 OW 3C Home Return Type 0 0 to 19 OW 3D Home Window Reference unit to 65, 535 OL 3E Approach Speed Depends on speed unit. 1, to

302 9.1 Motion Control Block Diagrams No. Name Setting Unit Default Value Setting Range OL 40 Creep Speed Depends on speed unit to OL 42 Home Offset Reference unit to OL 44 Step Distance Reference unit 1,000 0 to OL 46 External Positioning Move Distance Reference unit to OL 48 Zero Point Offset Reference unit to OL 4A Work Coordinate System Offset Reference unit to OL 4C Preset Data of POSMAX Turn Rev to OW 4E Servo User Monitor 0E00 h Bit Setting OW 4F Servo Alarm Monitor Number 0 0 to 10 OW 50 Servo Constant Number 0 0 to 65,535 OW 51 Servo Constant Number Size 1 1 or 2 OL 52 Servo User Constant to OW 54 Auxiliary Servo User Constant Number 0 0 to 6,5535 OW 55 Auxiliary Servo Constant Number Size 1 1 or 2 OL 56 Auxiliary Servo User Constant to OW 5C Fixed Parameter Number 0 0 to OL 5E Absolute Position at Power OFF (Low Value) pulse to OL 60 Absolute Position at Power OFF (High Value) pulse to OL 62 Modularized Position at Power OFF (Low Value) pulse to OL 64 Modularized Position at Power OFF (High Value) pulse to Note: The shaded parameter settings are ignored. (c) Monitoring Parameters No. Name Unit Default Value Range IW 00 Drive Status Bit Setting IW 01 Over Range Parameter Number 0 to 65,535 IL 02 Warning Bit Setting IL 04 Alarm Bit Setting IW 08 Servo Command Type Response 0 to 65,535 IW 09 Servo Module Command Status Bit Setting IW 0A Motion Subcommand Response Code 0 to 65,535 IW 0B Motion Subcommand Status Bit Setting IW 0C Position Management Status Bit Setting IL 0E Machine Coordinate Target Position (TPOS) Reference unit 2 31 ~ IL 10 Target Position (CPOS) Reference unit 2 31 ~ IL 12 Machine Coordinate System Position (MPOS) Reference unit 2 31 ~ IL 16 Machine Coordinate Feedback Position (APOS) Reference unit 2 31 ~ IL 18 Machine Coordinate Latch Position (LPOS) Reference unit 2 31 ~ IL 1A Position Error (PERR) Reference unit 2 31 ~ IL 1C Target Position Difference Monitor Reference unit 2 31 ~ IL 1E POSMAX Number of Turns Reference unit 2 31 ~ IL 20 Speed Reference Output Monitor pulse/s 2 31 ~ IW 2C Network Servo Status Bit Setting IW 2D Servo Alarm Code 32,768 to 32,767 IW 2E Network Servo I/O Monitor Bit Setting IW 2F Network Servo User Monitor Information Bit Setting IL 30 Servo User Monitor ~ IL 34 Servo User Monitor ~ IW 36 Servo Constant Number 0 to 65,535 IW 37 Auxiliary Servo User Constant Number 0 to 65,535 IL 38 Servo User Constant 2 31 ~ IL 3A Auxiliary Servo User Constant 2 31 ~ IW 3F Motor Type 0 or 1 IL 40 Feedback Speed Depends on speed unit ~ IL 42 Torque (Thrust) Reference Monitor Depends on torque unit ~ IL 56 Fixed Parameter Monitor 2 31 ~ IL 5E Absolute Position at Power OFF (Low Value) pulse 2 31 ~ IL 60 Absolute Position at Power OFF (High Value) pulse 2 31 ~ IL 62 Modularized Position at Power OFF (Low Value) pulse 2 31 ~ IL 64 Modularized Position at Power OFF (High Value) pulse 2 31 ~

303 9 Control Block Diagrams Phase Control (2) Control Block Diagram for Phase Control MP2100/MP2100M Run Settings OW 00 Run Commands OW 03 Function 1 OW 05 Function 3 OW 08 Motion Command OW 09 Motion Command Options OW 0A Motion Subcommand SVB Move command generation processing Coordinates Time Gain Speed/Position constants References OL 10 Speed Reference OL 1E Positioning Completed Width OL 20 Positioning Completed Width 2 OL 22 Deviation Abnormal Detection Value OW 26 Position Complete Timeout OL 28 Phase Compensation OW 31 Speed Amends OL 16 Secondly Speed Compensation OW 3A S-Curve Acceleration Time OL 48 Zero Point Offset OL 4A Work Coordinate System Offset OL 4C Preset Data of POSMAX Turn Target position difference operation Difference operation Speed reference unit change Speed reference unit change Speed reference unit change Target position operation Electronic gear PHREF OFF Run Information IW 00 IL 02 IL 04 Drive Status Warning Alarm Motion Command Information Position Information IW 08 IW 09 IW 0A IW 0B IW 0C IL 0E IL 10 IL 12 IL 14 IL 16 IL 18 IL 1A IL 1C IL 1E IL 20 Servo Command Type Response Servo Module Command Status Motion Subcommand Response Code Motion Subcommand Status Position Management Status Machine Coordinate Target Position (TPOS) Target Position (CPOS) Machine Coordinate System Position (MPOS) 32-bit Coordinate System Position (DPOS) Machine Coordinate Feedback Position (APOS) Machine Coordinate Latch Position (LPOS) Position Error (PERR) Target Position Difference Monitor POSMAX Number of Turns Speed Reference Output Monitor POSMAX processing Σ POSMAX processing POSMAX processing Electronic gear Electronic gear Electronic gear + SERVOPACK Information IW 2C Network Servo Status IW 2D Servo Alarm Code IW 2E Network Servo I/O Monitor IW 2F Network Servo User Monitor Information IW 30 Servo User Monitor 2 IL 40 Feedback Speed IL 42 Torque (Thrust) Reference Monitor 9-8

304 9.1 Motion Control Block Diagrams SERVOPACK Filter OW 3A S Differential Speed Feed Forward Compensation* Pn109 (OW 30) B A Pn10A Position Loop Gain Kp B A Pn102 (OW 2E) FB Ti Pn11F Position Integration Time Constant (OW 32) Speed Loop Gain Kv Vref Pn100 (OW 2F) Speed Integration Time Constant NTi Pn101 (OW 34) Current loop M TRQ Analog monitor value MPOS APOS LPOS A B A B Counter Counter PG Latch signal 9 * The speed feedback gain is 0 for the phase reference. 9-9

305 9 Control Block Diagrams Torque Control Torque Control (1) Motion Parameters for Torque Control (a) Fixed Parameters No. Name Setting Unit Default Value Setting Range 0 Run Mode 1 0 to 5 1 Function Selection h Bit Setting 2 Function Selection h Bit Setting 4 Command Unit 0 0 to 3 5 Number of Decimal Places 3 0 to 5 6 Command Unit per Revolution Reference unit 10,000 1 to Gear Ratio [MOTOR] 1 1 to 65,535 9 Gear Ratio [LOAD] 1 1 to 65, Maximum Value of Rotary Counter (POSMAX) Reference unit 360,000 1 to Forward Software Limit Reference unit to Reverse Software Limit Reference unit to Backlash Compensation Reference unit to Motor Type 0 0 or 1 30 Encoder Type 0 0 to 3 34 Rated Speed min 1 3,000 1 to 32, Encoder Resolution pulse 65,536 1 to Max. Revolutions of Absolute Encoder Rev 65,534 0 to Feedback Speed Moving Average Time Constant ms 10 0 to 32 (b) Setting Parameters No. Name Setting Unit Default Value Setting Range OW 00 Run Commands 0000 h Bit Setting OW 01 Mode h Bit Setting OW 02 Mode h Bit Setting OW 03 Function h Bit Setting OW 04 Function h Bit Setting OW 05 Function h Bit Setting OW 08 Motion Command 0 0 to 26 OW 09 Motion Command Options 0000 h Bit Setting OW 0A Motion Subcommand 0 0 to 65,535 OL 0C Torque Reference Depends on torque unit to OW 0E Speed Limit at Torque Reference 0.01% 15,000 32,768 to 32,767 OL 10 Speed Reference Depends on speed unit. 3, to OL 14 Positive Side Limiting Torque Setting at the Speed Reference Depends on torque unit. 30, to OL 16 Secondly Speed Compensation Depends on speed unit to OW 18 Speed Override 0.01% 10,000 0 to 32,767 OL 1C Position Reference Type Reference unit to OL 1E Positioning Completed Width Reference unit to 65,535 OL 20 Positioning Completed Width 2 Reference unit 0 0 to 65,535 OL 22 Deviation Abnormal Detection Value Reference unit to OW 26 Position Complete Timeout ms 0 0 to 65,535 OL 28 Phase Compensation Reference unit to OL 2A Latch Zone Lower Limit Setting Reference unit to OL 2C Latch Zone Upper Limit Setting Reference unit to OW 2E Position Loop Gain 0.1/s to 32,767 OW 2F Speed Loop Gain Hz 40 1 to 2,000 OW 30 Speed Feed Forward Compensation 0.01% 0 0 to 32,767 OW 31 Speed Amends 0.01% 0 32,768 to 32,767 OW 32 Position Integration Time Constant ms 0 0 to 32,767 OW 34 Speed Integration Time Constant 0.01 ms 2, to 65,535 OL 36 Linear Acceleration Time Depends on acceleration/ 0 deceleration unit. 0 to OL 38 Linear Deceleration Time Depends on acceleration/ 0 deceleration unit. 0 to OW 3A S-Curve Acceleration Time 0.1 ms 0 0 to 65,535 OW 3C Home Return Type 0 0 to 19 OW 3D Home Window Reference unit to 65,535 OL 3E Approach Speed Depends on speed unit. 1, to

306 9.1 Motion Control Block Diagrams No. Name Setting Unit Default Value Setting Range OL 40 Creep Speed Depends on speed unit to OL 42 Home Offset Reference unit to OL 44 Step Distance Reference unit 1,000 0 to OL 46 External Positioning Move Distance Reference unit to OL 48 Zero Point Offset Reference unit to OL 4A Work Coordinate System Offset Reference unit to OL 4C Preset Data of POSMAX Turn Rev to OW 4E Servo User Monitor 0E00 h Bit Setting OW 4F Servo Alarm Monitor Number 0 0 to 10 OW 50 Servo Constant Number 0 0 to 65,535 OW 51 Servo Constant Number Size 1 1 or 2 OL 52 Servo User Constant to OW 54 Auxiliary Servo User Constant Number 0 0 to 65,535 OW 55 Auxiliary Servo Constant Number Size 1 1 or 2 OL 56 Auxiliary Servo User Constant to OW 5C Fixed Parameter Number 0 0 to 65,535 OL 5E Absolute Position at Power OFF (Low Value) pulse to OL 60 Absolute Position at Power OFF (High Value) pulse to OL 62 Modularized Position at Power OFF (Low Value) pulse to OL 64 Modularized Position at Power OFF (High Value) pulse to Note: The shaded parameter settings are ignored. (c) Monitoring Parameters No. Name Unit Default Value Range IW 00 Drive Status Bit Setting IW 01 Over Range Parameter Number 0 to 65,535 IL 02 Warning Bit Setting IL 04 Alarm Bit Setting IW 08 Servo Command Type Response 0 to 65,535 IW 09 Servo Module Command Status Bit Setting IW 0A Motion Subcommand Response Code 0 to 65,535 IW 0B Motion Subcommand Status Bit Setting IW 0C Position Management Status Bit Setting IL 0E Machine Coordinate Target Position (TPOS) Reference unit 2 31 to IL 10 Target Position (CPOS) Reference unit 2 31 to IL 12 Machine Coordinate System Position (MPOS) Reference unit 2 31 to IL 16 Machine Coordinate Feedback Position (APOS) Reference unit 2 31 to IL 18 Machine Coordinate Latch Position (LPOS) Reference unit 2 31 to IL 1A Position Error (PERR) Reference unit 2 31 to IL 1C Target Position Difference Monitor Reference unit 2 31 to IL 1E POSMAX Number of Turns Reference unit 2 31 to IL 20 Speed Reference Output Monitor pulse/s 2 31 to IW 2C Network Servo Status Bit Setting IW 2D Servo Alarm Code 32,768 to 32,767 IW 2E Network Servo I/O Monitor Bit Setting IW 2F Network Servo User Monitor Information Bit Setting IL 30 Servo User Monitor to IL 34 Servo User Monitor to IW 36 Servo Constant Number 0 to 65,535 IW 37 Auxiliary Servo User Constant Number 0 to 65,535 IL 38 Servo User Constant 2 31 to IL 3A Auxiliary Servo User Constant 2 31 to IW 3F Motor Type 0 or 1 IL 40 Feedback Speed Depends on speed unit ~ IL 42 Torque (Thrust) Reference Monitor Depends on torque unit to IL 56 Fixed Parameter Monitor 2 31 to IL 5E Absolute Position at Power OFF (Low Value) pulse 2 31 to IL 60 Absolute Position at Power OFF (High Value) pulse 2 31 to IL 62 Modularized Position at Power OFF (Low Value) pulse 2 31 to IL 64 Modularized Position at Power OFF (High Value) pulse 2 31 to

307 9 Control Block Diagrams Torque Control (2) Control Block Diagram for Torque Control MP2100/MP2100M Run Settings OW 00 Run Commands OW 03 Function 1 OW 08 Motion Command OW 09 Motion Command Options OW 0A Motion Subcommand SVB Torque Reference OL 0C OL 0E Torque Reference Speed Limit at Torque Reference Coordinates OL 48 OL 4A OL 4C Zero Point Offset Work Coordinate System Offset Preset Data of POSMAX Turn Run Information IW 00 IL 02 IL 04 Drive Status Warning Alarm SERVOPACK Information Position Information Motion Command Information IW 08 Servo Command Type Response IW 09 Servo Module Command Status IW 0A Motion Subcommand Response Code IW 0B Motion Subcommand Status IW 0C Position Management Status IL 0E Machine Coordinate Target Position (TPOS) IL 10 Target Position (CPOS) IL 12 Machine Coordinate System Position (MPOS) IL bit Coordinate System Position (DPOS) IL 16 Machine Coordinate Feedback Position (APOS) IL 18 Machine Coordinate Latch Position (LPOS) IL 1A Position Error (PERR) IL 1C Target Position Difference Monitor IL 1E POSMAX Number of Turns IL 20 Speed Reference Output Monitor IW 2C Network Servo Status IW 2D Servo Alarm Code IW 2E Network Servo I/O Monitor IW 2F Network Servo User Monitor Information IW 30 Servo User Monitor 2 IL 40 Feedback Speed IL 42 Torque (Thrust) Reference Monitor POSMAX processing Follow-up processing POSMAX processing POSMAX processing Electronic gear Electronic gear Electronic gear

308 9.1 Motion Control Block Diagrams SERVOPACK S Differential Speed Feed Forward Compensation Pn109 B A Pn10A Position Loop Gain Kp B A Pn102 FB Position Integration Time Constant Ti Pn11F Speed Loop Gain Kv Vref Pn100 Speed Integration Time Constant NTi Pn101 Current loop M Speed reference operation V-REF Torque reference operation T-REF TRQ Analog monitor value MPOS APOS LPOS A B A B Counter Counter PG Latch signal

309 9 Control Block Diagrams Speed Control Speed Control (1) Motion Parameters for Speed Control (a) Fixed Parameters No. Name Setting Unit Default Value Setting Range 0 Run Mode 1 0 to 5 1 Function Selection h Bit Setting 2 Function Selection h Bit Setting 4 Command Unit 0 0 to 3 5 Number of Decimal Places 3 0 to 5 6 Command Unit per Revolution Reference unit 10,000 1 to Gear Ratio [MOTOR] 1 1 to Gear Ratio [LOAD] 1 1 to Maximum Value of Rotary Counter (POSMAX) Reference unit 360,000 1 to Forward Software Limit Reference unit to Reverse Software Limit Reference unit to Backlash Compensation Reference unit to Motor Type 0 0 or 1 30 Encoder Type 0 0 to 3 34 Rated Speed min 1 3,000 1 to 32, Encoder Resolution pulse 65,536 1 to Max. Revolutions of Absolute Encoder Rev 65,534 0 to Feedback Speed Moving Average Time Constant ms 10 0 to 32 (b) Setting Parameters No. Name Setting Unit Default Value Setting Range OW 00 Run Commands 0000 h Bit Setting OW 01 Mode h Bit Setting OW 02 Mode h Bit Setting OW 03 Function h Bit Setting OW 04 Function h Bit Setting OW 05 Function h Bit Setting OW 08 Motion Command 0 0 to 26 OW 09 Motion Command Options 0000 h Bit Setting OW 0A Motion Subcommand 0 0 to OL 0C Torque Reference Depends on torque unit to OW 0E Speed Limit at Torque Reference 0.01% 15000, 32,768 to 32,767 OL 10 Speed Reference Depends on speed unit. 3, to OL 14 Positive Side LimitingTorque Setting at the Speed Reference Depends on torque unit. 30, to OL 16 Secondly Speed Compensation Depends on speed unit ~ OW 18 Speed Override 0.01% 10,000 0 to 32,767 OL 1C Position Reference Type Reference unit to OL 1E Positioning Completed Width Reference unit to 65,535 OL 20 Positioning Completed Width 2 Reference unit 0 0 to 65,535 OL 22 Deviation Abnormal Detection Value Reference unit to OW 26 Position Complete Timeout ms 0 0 to 65,535 OL 28 Phase Compensation Reference unit to OL 2A Latch Zone Lower Limit Setting Reference unit to OL 2C Latch Zone Upper Limit Setting Reference unit to OW 2E Position Loop Gain 0.1/s to 32,767 OW 2F Speed Loop Gain Hz 40 1 to 2,000 OW 30 Speed Feed Forward Compensation 0.01% 0 0 to 32,767 OW 31 Speed Amends 0.01% 0 32,768 to 32,767 OW 32 Position Integration Time Constant ms 0 0 to 32,767 OW 34 Speed Integration Time Constant 0.01 ms 2, to 65,535 OL 36 Linear Acceleration Time Depends on acceleration/ deceleration unit. OL 38 Linear Deceleration Time Depends on acceleration/ deceleration unit. 0 0 to to OW 3A S-Curve Acceleration Time 0.1 ms 0 0 to 65,535 OW 3C Home Return Type 0 0 to 19 OW 3D Home Window Reference unit to 65,535 OL 3E Approach Speed Depends on speed unit. 1, to

310 9.1 Motion Control Block Diagrams No. Name Setting Unit Default Value Setting Range OL 40 Creep Speed Depends on speed unit to OL 42 Home Offset Reference unit to OL 44 Step Distance Reference unit 1,000 0 to OL 46 External Positioning Move Distance Reference unit to OL 48 Zero Point Offset Reference unit to OL 4A Work Coordinate System Offset Reference unit to OL 4C Preset Data of POSMAX Turn Rev to OW 4E Servo User Monitor 0E00 h Bit Setting OW 4F Servo Alarm Monitor Number 0 0 to 10 OW 50 Servo Constant Number 0 0 to 65,535 OW 51 Servo Constant Number Size 1 1 or 2 OL 52 Servo User Constant to OW 54 Auxiliary Servo User Constant Number 0 0 to 65,535 OW 55 Auxiliary Servo Constant Number Size 1 1 or 2 OL 56 Auxiliary Servo User Constant to OW 5C Fixed Parameter Number 0 0 to 65,535 OL 5E Absolute Position at Power OFF (Low Value) pulse to OL 60 Absolute Position at Power OFF (High Value) pulse to OL 62 Modularized Position at Power OFF (Low Value) pulse to OL 64 Modularized Position at Power OFF (High Value) pulse to Note: The shaded parameter settings are ignored. (c) Monitoring Parameters No. Name Unit Default Value Range IW 00 Drive Status Bit Setting IW 01 Over Range Parameter Number 0 to 65,535 IL 02 Warning Bit Setting IL 04 Alarm Bit Setting IW 08 Servo Command Type Response 0 to 65,535 IW 09 Servo Module Command Status Bit Setting IW 0A Motion Subcommand Response Code 0 to 65,535 IW 0B Motion Subcommand Status Bit Setting IW 0C Position Management Status Bit Setting IL 0E Machine Coordinate Target Position (TPOS) Reference unit 2 31 to IL 10 Target Position (CPOS) Reference unit 2 31 to IL 12 Machine Coordinate System Position (MPOS) Reference unit 2 31 to IL 16 Machine Coordinate Feedback Position (APOS) Reference unit 2 31 to IL 18 Machine Coordinate Latch Position (LPOS) Reference unit 2 31 to IL 1A Position Error (PERR) Reference unit 2 31 to IL 1C Target Position Difference Monitor Reference unit 2 31 to IL 1E POSMAX Number of Turns Reference unit 2 31 to IL 20 Speed Reference Output Monitor pulse/s 2 31 to IW 2C Network Servo Status Bit Setting IW 2D Servo Alarm Code 32,768 to 32,767 IW 2E Network Servo I/O Monitor Bit Setting IW 2F Network Servo User Monitor Information Bit Setting IL 30 Servo User Monitor to IL 34 Servo User Monitor to IW 36 Servo Constant Number 0 to 65,535 IW 37 Auxiliary Servo User Constant Number 0 to 65,535 IL 38 Servo User Constant 2 31 to IL 3A Auxiliary Servo User Constant 2 31 to IW 3F Motor Type 0 or 1 IL 40 Feedback Speed Depends on speed unit to IL 42 Torque (Thrust) Reference Monitor Depends on torque unit to IL 56 Fixed Parameter Monitor 2 31 to IL 5E Absolute Position at Power OFF (Low Value) pulse 2 31 to IL 60 Absolute Position at Power OFF (High Value) pulse 2 31 to IL 62 Modularized Position at Power OFF (Low Value) pulse 2 31 to IL 64 Modularized Position at Power OFF (High Value) pulse 2 31 to

311 9 Control Block Diagrams Speed Control (2) Control Block Diagram for Speed Control MP2100/MP2100M Run Settings OW 00 OW 03 OW 08 OW 09 OW 0A Run Commands Function 1 Motion Command Motion Command Options Motion Subcommand SVB Acceleration/ Coordinates Speed Reference Deceleration OL 10 OL 14 OL 18 OL 36 OL 38 OW 3A OL 48 OL 4A OL 4C Speed Reference Positive Side Limiting Torque Setting at the Speed Reference Speed Override Linear Acceleration Time Linear Deceleration Time S-Curve Acceleration Time Zero Point Offset Work Coordinate System Offset Preset Data of POSMAX Turn Override Processing Acceleration/deceleration processing Acceleration: OL 36 Deceleration: OL 38 Filter OW 3A Limiter Fixed (No parameter) Run Information IW 00 IL 02 IL 04 Drive Status Warning Alarm Motion Command Information Position Information IW 08 IW 09 IW 0A IW 0B IW 0C IL 0E IL 10 IL 12 IL 14 IL 16 IL 18 IL 1A IL 1C IL 1E IL 20 Servo Command Type Response Servo Module Command Status Motion Subcommand Response Code Motion Subcommand Status Position Management Status Machine Coordinate Target Position (TPOS) Target Position (CPOS) Machine Coordinate System Position (MPOS) 32-bit Coordinate System Position (DPOS) Machine Coordinate Feedback Position (APOS) Machine Coordinate Latch Position (LPOS) Position Error (PERR) Target Position Difference Monitor POSMAX Number of Turns Speed Reference Output Monitor POSMAX processing Follow-up processing POSMAX processing POSMAX processing Electronic gear Electronic gear Electronic gear + SERVOPACK Information IW 2C Network Servo Status IW 2D Servo Alarm Code IW 2E Network Servo I/O Monitor IW 2F Network Servo User Monitor Information IW 30 Servo User Monitor 2 IL 40 Feedback Speed IL 42 Torque (Thrust) Reference Monitor 9-16

312 9.1 Motion Control Block Diagrams SERVOPACK S Differential Speed Feed Forward Compensation Pn109 B A Pn10A Position Loop Gain Kp B A Pn102 FB Position Integration Time Constant Ti Pn11F Speed Loop Gain Kv Vref Pn100 (OW 2F) Speed Integration Time Constant NTi Pn101 (OW 34) Current loop M Speed reference operation V-REF Torque reference operation T-REF TRQ Analog monitor value MPOS APOS LPOS A B A B Counter Counter PG Latch signal

313 10 Absolute Position Detection This chapter explains an absolute position detection system that uses an absolute encoder. Be sure to read this chapter carefully when using a Servomotor equipped with an absolute encoder Structure of the Absolute Position Detection Function Outline of the Function Basic Terminology Startup the Absolute Position Detection Function System Startup Procedure Setting Related Parameters Initializing the Absolute Encoder Using an Absolute Encoder Finite Length Axis Infinite Length Axis

314 10 Absolute Position Detection Outline of the Function 10.1 Structure of the Absolute Position Detection Function This section explains the Absolute Position Detection Function in the MP2100/MP2100M Outline of the Function The Absolute Position Detection Function detects the position of the machine even if power is turned OFF. This allows it to establish the machine coordinate system automatically and to begin operating automatically without having to execute the zero point return (ZRET) command after power is turned ON. The following are features of the absolute position detection system. Eliminates the need to execute the zero point return after power is turned ON. Eliminates the need for a zero point dog and overtravel limit switch Basic Terminology The following explanation for basic terminology used in this chapter is provided to ensure basic understanding. (1) Absolute Encoder Absolute position detection is generally performed in a semi-closed loop using an absolute encoder built into a Servomotor. The encoder is comprised of a detector that is used to detect absolute position within one rotation and a counter that is used to count the number of rotations. (2) Absolute Data Absolute data that is stored in an absolute encoder is comprised of the number of rotations (N) from the absolute reference position and position (PO) in a one Servomotor rotation. This absolute data is read as serial data when the power is turned ON. All other operations are the same as that for ordinary incremental encoders. In other words, we can determine the absolute value P from the following equation. Absolute value (P) = N RP + PO Number of rotations from the absolute reference position: N Number of pulses per one Servomotor rotation: RP Position in one Servomotor rotation: PO (3) Holding Absolute Data An absolute encoder uses a battery connected to the battery terminals of the SERVOPACK to maintain absolute data at all times even though power is turned OFF. It also updates data if there is a change. (4) Reading Absolute Data When power is turned ON, absolute data is read to the SERVOPACK as well as to the MP2100/MP2100M, where it is used to automatically calculate the absolute position and set the machine coordinate system. This way the absolute machine position can be detected and automatic operation can begin immediately after power is turned ON. 10-2

315 10.2 Startup the Absolute Position Detection Function 10.2 Startup the Absolute Position Detection Function This section explains the procedure that is used to start the Absolute Position Detection Function. Perform the absolute position detection system startup procedure in the following situations. When starting up the absolute position detection system for the first time When the Servomotor is changed When an absolute encoder-related alarm occurs System Startup Procedure Start up the system using the following procedure. 1 2 Check Devices Setting Parameters Related to the MP2100/MP2100M and SERVOPACK Check to see if the SERVOPACK, Servomotor, and cables are the right products and models for the absolute encoder. Set all MP2100/MP2100M and SERVOPACK parameters related to the Absolute Position Detection Function. 3 Initialize the Absolute Encoder Follow the setup procedure to set the absolute encoder to default values. 4 Zero Point Setting Set the zero point as well as the absolute zero point, that is, the machine coordinate zero point. After the steps 1 to 4 are successfully completed, the absolute position detection system will be ready for operation

316 10 Absolute Position Detection Setting Related Parameters Setting Related Parameters The parameters for which IMPORTANT precautions are provided must be set. If they are not set correctly, the current position after turning ON the power supply may not be correct. Machine damage may occur. Set these parameters carefully. This section explains absolute position detection parameters in the MP2100/MP2100M parameters. Set the following MP2100/MP2100M parameters and SERVOPACK parameters prior to startup the absolute position detection system. (1) MP2100/MP2100M Parameters CAUTION Table 10.1 MP2100/MP2100M Parameters Parameter No. Name Setting Range Units Fixed Parameter 1, bit 0 Axis Type 0: Finite length axis, 1: Infinite length axis - Fixed Parameter 1, bit 9 Simple ABS Infinite Axis 0: Disable, 1: Enable - Fixed Parameter 10 Maximum Value of Rotary 1 to = 1 reference Counter unit Fixed Parameter 30 Encoder Type Incremental encoder Absolute encoder Absolute encoder (used as incremental encoder) - Fixed Parameter 36 Encoder Resolution 1 to Set the value after multiplication. (For a 16- bit encoder, set 2 16 = ) Fixed Parameter 38 Max. Revolution of Absolute Encoder pulse 0 to = 1 rotation 10-4

317 10.2 Startup the Absolute Position Detection Function (2) SERVOPACK Parameters SERVOPACK Model * 1. Σ Series: SGD- N,SGDB- AN * 2. Σ-II Series: SGDH- E + NS100,NS115 * 3. Σ-III Series: SGDS- 1 (3) Detailed Descriptions Parameter Name Setting Range Units Σ Series *1 Cn-0001, bit E Encoder Selection 0: Incremental encoder 1: Absolute encoder Cn-0002, bit 0 Cn-0011 Rotation Direction Selection Number of Encoder Pulses 0: Sets counterclockwise (CCW) rotation as forward rotation. 1: Sets clockwise (CW) rotation as forward rotation (reverse rotation mode). 513 to P/R Σ-II Series *2 Pn000.0 Direction Selection 0: Sets counterclockwise (CCW) rotation as forward direction. 1: Sets clockwise (CW) rotation as forward direction (reverse rotation mode). Pn205 Multiturn Limit Setting 0 to Rev Pn002.2 Absolute Encoder Usage 0: Uses absolute encoder as an absolute encoder. 1: Uses absolute encoder as an incremental encoder. - Σ-III Series *3 Pn000.0 Direction Selection 0: Sets counterclockwise (CCW) rotation as forward - direction. 1: Sets clockwise (CW) rotation as forward direction (reverse rotation mode). Pn205 Multiturn Limit Setting 0 to Rev Pn002.2 Absolute Encoder Usage 0: Uses absolute encoder as an absolute encoder. - 1: Uses absolute encoder as an incremental encoder (a) Encoder Selection MP2100/MP2100M fixed parameter 30 SERVOPACK parameter Cn-0001, bit E or Pn002.2 For an axis performing absolute position detection, set MP2100/MP2100M fixed parameter 30 and SERVOPACK parameter Cn-0001, bit E, or parameter Pn002.2 as shown in the following table. Parameter MP2100/MP2100M fixed parameter 30 Σ Series Cn-0001, bit E Σ-II, Σ-III Series Pn002.2 Absolute encoder 1: Absolute encoder Setting 0: Uses absolute encoder as an absolute encoder. 10 Both the MP2100/MP2100M and SERVOPACK parameters are valid, so be sure to set both of them. IMPORTANT If the above settings are not used, correct motion control will not be performed. Set the parameters carefully. 10-5

318 10 Absolute Position Detection Setting Related Parameters (b) Axis Selection MP2100/MP2100M fixed parameter 1, bit 0 This setting is used to set either an infinite or finite length axis for controlled axis movement. Refer to 10.3 Using an Absolute Encoder for position management methods for finite and infinite length axes. (c) Infinite Length Axis Reset Position MP2100/MP2100M fixed parameter 10 The Infinite Length Axis Reset Position is used to set the reset position of infinite length axis per rotation in reference units. This parameter is enabled when an axis type is set to a infinite length axis. (d) Maximum Number of Absolute Encoder Turns/Multiturn Limit Setting MP2100/MP2100M fixed parameter 38 Σ-II and Σ-III Series SERVOPACK parameter Pn205 These parameters determine the maximum value of the number of encoder turns managed by the SERVOPACK and MP2100/MP2100M. The setting is determined by the SERVOPACK that is used and the type of axis, as shown in the following table. Fixed Parameter 38 SERVOPACK Parameter Pn205 Finite length axis for Σ Series Infinite length axis for Σ Series Finite length axis for Σ-II or Σ-III Series Infinite length axis for Σ-II or Σ-III Series Set to the same value as Pn205* max.* * A fixed parameter setting error will occur if fixed parameter 38 is set to for the Σ-ΙΙ Series with an infinite length axis. IMPORTANT If the above settings are not used, the position may be offset. Set the parameters carefully. 10-6

319 10.2 Startup the Absolute Position Detection Function Initializing the Absolute Encoder Initialize the absolute encoder in the following situations. When the absolute position detection system is started up for the first time When the multiturn data needs to be initialized to 0 When a Servomotor has been left alone with no battery connected to the absolute encoder When an alarm which is related the absolute position detection system occurs (1) Σ Series (a) Initializing a 12-bit Absolute Encoder Use the following procedure to initialize a 12-bit absolute encoder. 1. Properly connect the SERVOPACK, Servomotor, and MP2100/MP2100M. 2. Reset Absolute Position Data in the encoder. a) Disconnect the connector on the encoder end. b) Short-circuit pins 13 and 14 on the encoder end connector for 2 seconds or more c) Remove the short piece and insert the connector securely in its original position. 3. Connect the cables using normal wiring and make sure the encoder battery is connected. 4. Turn ON the system. Repeat the procedure starting from step 1 if an Absolute Encoder Alarm occurs, otherwise the system has been successfully initialized. (b) Initializing a 15-bit Absolute Encoder Use the following procedure to initialize a 15 bit-type absolute encoder. 1. Turn OFF the SERVOPACK and the host computer which MP2100/MP2100M is installed. 2. Discharge the large-capacity capacitor in the encoder using one of the following methods. a) At the SERVOPACK end connector i) Disconnect the connector on the SERVOPACK end. ii) Use a short piece to short-circuit together connector pins 10 and 13 on the encoder end. iii) Leave the pins short-circuited for at least 2 minutes. iv) Remove the short piece and insert the connector securely in its original position. b) At the encoder end connector i) Disconnect the connector on the encoder end

320 10 Absolute Position Detection Initializing the Absolute Encoder ii) Use a short piece to short-circuit together connector pins R and S on the encoder end. Key キー位置 position エンコーダ側 Encoder A SERVOPACK SERVOPACK サーボパック CN2-1 S R S T R (White/orange) ( 白 / 橙 ) (White/gray) ( 白 / 灰 ) PG ケーブル cable CN2-13 CN2-12 CN2-10 この線を追加する Short-circuit この線を外しショートする here. Figure 10.1 Setup procedure using a PG cable iii) Leave the pins short-circuited for at least 2 minutes. iv) Remove the short piece and insert the connector securely in its original position. 3. Connect the cables using normal wiring and make sure the encoder battery is connected. 4. Turn ON the system. Repeat the procedure starting from step 1 if an Absolute Encoder Alarm occurs, otherwise the system has been successfully initialized. (2) Σ-II Series (a) Setup Using a Hand-held Digital Operator 1. Press the DSPL/SET Key to select the Auxiliary Function Mode. 2. Select parameter Fn008 by pressing the LEFT (<) and RIGHT (>) Keys to select the digit to be changed and then using the UP and DOWN Keys to change the value of the digit. 3. Press the DATA/ENTER Key. The following display will appear. 10-8

321 10.2 Startup the Absolute Position Detection Function 4. Press the UP Key. The display will change as shown below. Then press the UP Key until PGCL5 is displayed. If a mistake is made in the key operation, no_op will blink on the display for 1 second and then the display will return to the Auxiliary Function Mode. If this happens, return to step 3, above, and repeat the operation. UP Key Mistake in Key Operation Blinks for 1 s UP Key Returns to Auxiliary Function Mode 5. Press the DSPL/SET Key when PGCL5 is displayed. The display will change as shown below and the clear operation will be performed for multiturn data for the absolute encoder. Blinks for 1 s 6. Press the DATA/ENTER Key. The display will return to the Auxiliary Function Mode. This completes setting up the absolute encoder. Turn the power supply OFF and then back ON. (b) Setup Using the Built-in Panel Operator 1. Press the MODE/SET Key to select the Auxiliary Function Mode. 2. Press the UP and DOWN Keys to select parameter Fn Press the DATA/SHIFT Key for 1 second or longer. The following display will appear. 10-9

322 10 Absolute Position Detection Initializing the Absolute Encoder 4. Press the UP Key. The display will change as shown below. Then press the UP Key until PGCL5 is displayed. If a mistake is made in the key operation, no_op will blink on the display for 1 second and then the display will return to the Auxiliary Function Mode. If this happens, return to step 3, above, and repeat the operation. UP Key Mistake in Key Operation Blinks for 1 s UP Key Returns to Auxiliary Function Mode 5. Press the MODE/SET Key when PGCL5 is displayed. The display will change as shown below and the clear operation will be performed for multiturn data for the absolute encoder. Blinks for 1 s 6. Press the DATA/SHIFT Key for 1 second or longer. The display will return to the Auxiliary Function Mode. This completes setting up the absolute encoder. Turn the power supply OFF and then back ON

323 10.2 Startup the Absolute Position Detection Function (3) Σ-ΙΙΙ Series Use a digital operator to initialize the absolute encoder. Step Operation Key Display Example Description 1 Open the Utility Function Mode main menu and select BB FUNCTION Fn008. Fn007 Fn008 Fn009 Fn00A 2 3 BB Multiturn Clear PGCL1 BB Multiturn Clear Press the Key. The display is switched to the execution display of Fn008 (Absolute encoder multi-turn reset and encoder alarm reset). Note: If the display is not switched and NO_OP is displayed in the status display, the Write Prohibited Setting (Fn010 = 0001) is set. Check the status and reset. Keep pressing the to PGCL5. Key until PGCL1 is changed PGCL1 4 Done Press the to Done. Key. BB in the status display changes Multiturn Clear PGCL5 5 BB Fn007 Fn008 Fn009 Fn00A FUNCTION 6 The completes initializing the absolute encoder. Turn the power supply OFF and then back ON to enable the setting. Press the Key. The display returns to the Utility Function Mode main menu

324 10 Absolute Position Detection Finite Length Axis 10.3 Using an Absolute Encoder This section explains precautions regarding use as well as the procedure for setting the zero point when using an absolute encoder Finite Length Axis Do not change the Zero Point Offset (OL 48) while operating a machine with a finite length axis. Otherwise the machine may be damaged or an accident may occur. (1) Overview An absolute encoder stores the multiturn data in internal memory backed up by battery. This way the zero point of the coordinate system can be determined without the zero point return operation when the system is started up. Once the system is started, the encoder functions just like an incremental encoder. Unfortunately, the maximum multiturn data is ±99999 for the Σ Series and to for the Σ-II /III Series. If system power is turned ON when the multiturn data exceeds these limits, the MP2100/MP2100M position will not be the same before and after power is turned ON. The multiturn data for the encoder functions as illustrated below. (a) Σ Series Reverse limit CAUTION 0 Forward limit Reverse Forward direction Reference direction ( rotations) position ( rotations) (b) Σ-II or Σ-III Series Reverse limit 0 Forward limit Reverse Forward direction Reference direction ( rotations) position ( rotations) Therefore, be sure to observe the following precautions when using an absolute encoder for a finite length axis. Be sure to initialize the encoder prior to setting the zero point. Use the absolute encoder within the range of the multiturn data. Note: The actual machine operating range may vary depending on parameters like the gear ratio. (2) Position Management with a Finite Length Axis Initialize the axis position as described next when power is turned ON if an absolute encoder is used for a finite length axis. Current position for the machine coordinate system = Encoder position when servo power is turned ON * + Zero Point Offset (setting parameter OL 48) * The encoder position when servo power is turned ON is as follows: Multiturn data Number of encoder pulses + initial increment pulses. Refer to your SERVOPACK manual for information on the initial increment pulses

325 10.3 Using an Absolute Encoder The Zero Point Offset (setting parameter OL 48) is always valid for a finite length axis. If the machine coordinate system zero point is changed during machine operation, the current position may become inaccurate. The meaning of setting parameter OL 48 will differ for a finite length axis and infinite length axis. Finite Length Axis Set OL 48 to the difference between IL 48 and OL 10 (IL 48 OL 10) to make the current position of the machine coordinate system the zero position. EXAMPLE IL 10 = 10,000 and OL 48 = 100 Setting the current position of the machine coordinate system to = 9900 Set OL 48 to 9,900 IL 10: Target Position (CPOS) (3) Setting the Zero Point for a Finite Length Axis Set the zero point after initializing the absolute encoder to set the zero point of the machine coordinate system and to establish the machine coordinate system. The following illustration shows the procedure for setting the zero point for a finite length axis. Start Servo ON JOG to move close to the zero point. STEP to move to the zero point. Repeat for every axis. OL 48 = OL 48 - IL 10 Save OL 48 *2 *1 Set the zero point. *3 10 Has the setting for the required axis been completed? YES NO End * 1. The OL 48 value must be saved when it is set. * 2. See the information on the next page for more details on saving the OL 48 value. * 3. Execute with the ZSET command

326 10 Absolute Position Detection Finite Length Axis (4) Turning ON the Power for a Finite Length Axis The Zero Point Return (Setting) Completed bit (IB 0C5) will turn OFF when the power supply to the MP2100/MP2100M is turned OFF and ON, the communication are interrupted by the power OFF to the SERVOPACK, or communication are interrupted in any other reason after the zero point has been set. The Zero Point Return (Setting) Completed bit must therefore be turned back ON when the power supply is restored. Use the following procedure. 1. Turn ON the power supply to the MP2100/MP2100M (or clear alarms to restart communication). 2. Confirm that communication have been synchronized by checking to see if the Motion Controller RUN Ready bit (SVCRDY) (IB 000) is ON. 3. Set the Zero Point Offset (OL 48) to the same value as it was the last time the zero point was set. This will establish a machine coordinate system for the MP2100/MP2100M. 4. Execute the Zero Point Setting (ZSET) motion command by setting OW 08 to 9. This is done only to turn ON the Zero Point Return (Setting) Completed bit (IB 0C5). It will not cause the coordinate system to be reset by executing the ZSET command. INFO The following methods are used to save the Zero Point Offset (OL 48). Saving in a M Register with Ladder Program Subtract the Calculated Position in Machine Coordinate System from the Machine Coordinate System Zero Point Offset and save the result in an M register when it is stored in setting parameter OL 48. Store the contents saved in the M register in Zero Point Offset (setting parameter OL 48) when system or servo power is turned back ON. Ladder Program Example Required for a Finite Length Axis (Axis 1) Zero Point Setting signal startup detection IB DB IFON Store the Machine Coordinate System Zero Point Offset (Calculated Position in Machine Coordinate System) in OL 48. OL8048 IL8010 OL8048 IEND Save in an M register. ML00400 ML00400 Store the offset saved in the M register in OL 48. OL8048 DEND Saving the Zero Point Offset (OL 48) from the MPE720 Parameter Window After the Zero Point Offset (OL 48) is set after setting the zero point, use Save to save the settings to the MP2100/ MP2100M. When power is turned back ON, the value that was saved for Zero Point Offset (OL 48) will be stored automatically

327 10.3 Using an Absolute Encoder Infinite Length Axis (1) Overview Infinite length positioning is a function that automatically resets the machine position, program position (absolute values in the program coordinate system), and current position at regular intervals according to the Maximum Value of Rotary Counter (POSMAX) (fixed parameter 10). The function can be used for repeated positioning in one direction. POSMAX Unfortunately, the maximum multiturn data is as follows, at which point the multiturn data is reset to 0. Σ Series: ± Σ-II/III Series infinite length axis: 0 to When system power is turned ON therefore, the MP2100/MP2100M position may not be the same before and after power is turned ON. This problem can be resolved using one of the following two methods. (a) Simple Absolute Infinite Length Position Control With this method, ladder program to manage the absolute infinite length axis position is not required. The coordinate system is established simply by setting the Zero Point Offset (OL 48) when setting the zero point after turning ON the power supply or restarting communication. (b) Absolute Infinite Length Position Control With this method, ladder program to manage the absolute infinite length axis position is required. The coordinate system is established by turning ON the Infinite Length Axis Position Information LOAD bit (OB 007). 0 (2) Managing Positioning with the Simple Absolute Infinite Length Position Control Function The simple absolute infinite length position control is used to manage the position of an infinite length axes based on the assumption that the number of possible turns from the encoder is an integral multiple of the number of encoder turns corresponding to the reset frequency in reference units. With this method, ladder program to manage the infinite length position is not required. This function can be used when the following conditions are met. The Σ-II or Σ-III Series is used. The following equation is satisfied: (Maximum number of absolute encoder turns +1) / Reset number of turns = An integer (remainder = 0) 10 (a) Setting the Zero Point Set the desired position in OL 48 and execute the Zero Point Setting (ZSET) motion command. The position will be set as the current position of the machine coordinate system. EXAMPLE To set the present position of the machine coordinate system to 0 when the Zero Point Setting (ZSET) motion command is executed, set OL 48 to

328 10 Absolute Position Detection Infinite Length Axis Calculating the Reset Value for the Number of Turns Reset Value When the Reference Unit is Pulses Reset value = Infinite length axis reset position / Number of pulses per motor rotation Reset Value for All Other Reference Units Reset value = (Infinite length axis reset position Servomotor gear ratio) / (Moving amount per machine rotation Machine gear ratio) (b) Parameters Used for a Simple Absolute Infinite Length Axis The fixed parameters listed in the following table must be set to use a simple absolute infinite axis. No. Name 1 Function Selection 1 30 Encoder Type Setting Range Meaning Details Setting Bit setting Bit 0: Axis Type 0: Finite length axis 1: Infinite length axis 1: Infinite length axis Bit 9: Simple ABS Infinite Axis 0: Disable, 1: Enable 1: Enable 0 to 3 0: Incremental encoder 1: Absolute encoder 1: Absolute encoder 2: Absolute encoder (used as incremental encoder) The Simple ABS Infinite Axis bit will not be valid if both an infinite length axis and an absolute encoder are not set. The following parameters set the conditions for the number of turns for resetting the encoder. No. Name Setting Range Meaning 4 Command Unit 0 to 3 0: pulse 1: mm 2: deg 3: inch 6 Moving Unit Per Revolution 1 to = 1 reference unit 8 Gear Ratio [MOTOR] 1 to = 1 rotation 9 Gear Ratio [LOAD] 1 to = 1 rotation 10 Maximum Value of Rotary Counter 1 to = 1 reference unit Details The electronic gear is not relevant if the unit is pulses. 36 Encoder Resolution 1 to = 1 pulse/rev This setting must match the encoder. 38 Max. Revolution of Absolute Encoder 0 to = 1 rotation This setting must match the setting in the SERVOPACK. Pn205 must be or less. A fixed parameter error will occur and information will be provided in the following monitoring parameters if a simple absolute infinite length axis is selected and the combination of the above fixed parameters do not satisfy the equation given on the previous page, i.e., (Maximum number of absolute encoder turns +1) / Reset number of turns = An integer (i.e., remainder = 0). Register Name Meaning Details IW 01 Over Range Parameter Number Stores the parameter number with a setting error. IL 02 Warning Bit 2: Fixed Parameter Error 0: OFF, 1: ON Fixed parameter: fixed parameter number 10-16

329 10.3 Using an Absolute Encoder EXAMPLE (c) Application Example of Simple Absolute Infinite Length Position Control Function An example of using the simple absolute infinite length position control function is given below. No. Name Setting 4 Command Unit 2: deg 6 Command Unit per Revolution Gear Ratio [MOTOR] 6 9 Gear Ratio [LOAD] 5 10 Maximum Value of Rotary Counter 36 Encoder Resolution Max. Revolution of Absolute Encoder (d) Setting the Zero Point for a Simple Absolute Infinite Length Axis Calculation of the Number to Turns to Reset * 6 / * 5 = 6/5 (number of turns to reset) Conditions ( ) / (6/5) = The result is an integer, i.e., the remainder is 0, so the simple absolute infinite length position control function can be used. Set the zero point as described here after initializing the absolute encoder to set the zero point of the machine coordinate system and establish the machine coordinate system. The procedure to set the zero point for a simple absolute infinite length axis is shown below. Start Servo ON JOG to move close to the zero point. STEP to move to the zero point. Repeat for every axis. OL 48 = OL 48 - IL 10 Save OL 48 *2 *1 Set the zero point. *3 10 Has the setting for the required axis been completed? YES NO End * 1. The OL 48 value must be saved when it is set. * 2. See the information on the next page for more details on saving the OL 48 value. * 3. Execute with the ZSET command

330 10 Absolute Position Detection Infinite Length Axis (3) Turning ON the Power for a Simple Absolute Infinite Length Axis The Zero Point Return (Setting) Completed bit (IB 0C5) will turn OFF when the power supply to the MP2100/MP2100M is turned OFF and ON, the communication are interrupted by the power OFF to the SERVOPACK, or communication are interrupted in any other reason after the zero point has been set. The Zero Point Return (Setting) Completed bit must therefore be turned back ON when the power supply is restored. Use the following procedure. 1. Turn ON the power supply to the MP2100/MP2100M (or clear alarms to restart communication). 2. Confirm that communication have been synchronized by checking to see if the Motion Controller RUN Ready bit (SVCRDY) (IB 000) is ON. 3. Set the Zero Point Offset (OL 48) to the same value as it was the last time the zero point was set. This will establish a machine coordinate system for the MP2100/MP2100M. 4. Execute the Zero Point Setting (ZSET) motion command by setting OW 08 to 9. This is done only to turn ON the Zero Point Return (Setting) Completed bit (IB 0C5). It will not cause the coordinate system to be reset by executing the ZSET command. INFO The following methods are used to save the Zero Point Offset (OL 48). Saving in a M resister with Ladder Program Subtract the Calculated Position in Machine Coordinate System from the Machine Coordinate System Zero Point Offset and save the result in an M register when it is stored in setting parameter OL 48. Store the contents saved in the M register in Zero Point Offset (setting parameter OL 48) when system or servo power is turned back ON. Ladder Program Example Required for a Simple Absolute Infinite Length Axis (Axis 1) Zero Point Setting signal startup detection IB DB IFON Store the Machine Coordinate System Zero Point Offset (Calculated Position in Machine Coordinate System) in OL 48. OL8048 IL8010 OL8048 IEND Save in an M register. ML00400 ML00400 Store the offset saved in the M register in OL 48. OL8048 DEND Saving the Zero Point Offset (OL 48) from the MPE720 Parameter Window After the Zero Point Offset (OL 48) is set after setting the zero point, use Save to save the settings to the MP2100/ MP2100M. When power is turned back ON, the value that was saved for Zero Point Offset (OL 48) will be stored automatically

331 10.3 Using an Absolute Encoder (4) Managing Positions when the Simple Absolute Infinite Length Position Control Function Is Not Used When power is turned ON to the system, the position managed by the MP2100/MP2100M is calculated from the relative absolute position in pulse units using the following equation. The modularized position and absolute position are always stored as paired information in backup memory. This information is used the next time power is turned ON as the modularized position and the absolute position at shutdown to find the relative encoder position in pulses. Modularized position = Modularized position at power OFF + (Absolute position - Absolute position at power OFF) * * The portion in parentheses ( ) represents the moving amount while the power is OFF. INFO The positions are defined as follows: Absolute position: The position information in the Absolute Encoder (Multiturn data Number of encoder pulses + Initial increment pulses) Modularized position: The position information from the MP2100/MP2100M converted to pulses

332 10 Absolute Position Detection Infinite Length Axis (5) Setting the Zero Point for an Infinite Length Axis Execute the ZSET motion command (zero point setting). The system will settle pulse position at power OFF, encoder position at power OFF, and all position data when the zero point is set. The following illustration shows the procedure for setting the zero point for an infinite length axis. Start Servo ON JOG to move close to the zero point. STEP to move to the zero point. Repeat for every axis. Set the desired position at OL 48. *1 Set the zero point. *2 Has the setting for the required axis been completed? NO YES End * 1. For an infinite length axis, the Zero Point Offset (setting parameter OL 48) is valid only when the ZSET command is executed. Therefore, the OL 48 value doesn t have to be memorized in a M register. Set the desired coordinate value in the Zero Point Offset (OL 48) when using an infinite length axis. Example: When setting the current stop position to 0 (zero point position for the machine coordinate system), set OL 48 to 0. * 2. Execute with the ZSET command

333 10.3 Using an Absolute Encoder (6) Ladder Program for Infinite Length Axis Position Control Ladder program for normal operation and for restarting the system is needed for absolute infinite length axis position control when the simple absolute infinite length position control function is not used. (a) Normal Operation 1. Check the status of the Zero Point Return (Setting) Completed bit. Check to see if the Zero Point Return (Setting) Completed bit (monitoring parameter IW 0C, bit 5) is ON. If it is, go to step 2. If it is not, it means that the pulse position at power OFF, encoder position at power OFF and all position data was not settled. In that case, restart the system and set up the position data again or execute the ZSET (zero point setting) motion command to settle the position data all over from the start. 2. Save the modularized position at power OFF and absolute position at power OFF. Use the ladder program to save the following monitoring parameters with high-speed scan timing at an M register backed up by battery. Monitoring parameter: Absolute Position at Power OFF (All four words at IL 5E to IL 60) Monitoring parameter: Modularized Position at Power OFF (All four words at IL 62 to IL 64) The M register that is used to save the above monitoring parameters is structured as shown below. MW Bit 0 Toggle Buffer Enabled Flag (OFF: Disabled, ON: Enabled) Bit 1 Toggle Buffer Selection Flag (OFF: Buffer 0, ON: Buffer 1) Bit 2 Position Data Re-setup Request Flag (OFF: Complete, ON: Request) MW +1 Not used ML +2 ML +4 ML +6 ML +8 ML +10 ML +12 ML +14 ML +16 Buffer 0 Buffer 1 Monitoring parameter: Absolute Position at Power OFF Monitoring parameter: Modularized Position at Power OFF Monitoring parameter: Absolute Position at Power OFF Monitoring parameter: Modularized Position at Power OFF Lower-place two words (IL 5E) Upper-place two words (IL 60) Lower-place two words (IL 62) Upper-place two words (IL 64) Lower-place two words (IL 5E) Upper-place two words (IL 60) Lower-place two words (IL 62) Upper-place two words (IL 64) Note: Two buffers are needed to save the absolute position and the modularized position at power OFF because the program may be exited without settling position data at all four words if power is turned OFF during the high-speed scan

334 10 Absolute Position Detection Infinite Length Axis Use the following flowchart to store values in buffers. Start the high-speed 高速スキャン図面始まり scan drawing. First 高速スキャン始動後 scan since highspeed scan started?, 1スキャン目か? YES NO Has the zero point been set? 原点設定完了? NO YES Toggle トグルバッファ有効フラグ Buffer Enabled Flag ON ON Toggle トルグバッファ選択フラグ Buffer Selection Flag =1? ON? NO YES Copy バッファ monitoring 0にモニタパラメータの値を parameters to buffer 0. コピーする Copy バッファ monitoring 1にモニタパラメータの値を parameters to buffer 1. コピーする Toggle Buffer Enabled Flag OFF トグルバッファ有効フラグ 0 Toggle トグルバッファ有効フラグ Buffer Enabled Flag 1 ON End the high-speed scan 高速スキャン図面終了 drawing

335 10.3 Using an Absolute Encoder The following programming example (ladder program) is for the flowchart shown above. The axis used here is axis 1 of module 1. Change the motion parameter register number if the module and axis numbers are different. H10 ABS System Infinite Length Mode Axis: Axis No. 1 First address in the toggle buffer: MW30000 $FSCAN-H (ON for just one scan after high-speed scan starts) SB IFON Motion fixed parameter setting error (*1) IB80022 IFON Zero Point Setting Completed Flag IB800C5 IFON $ONCOIL SB Toggle Buffer Enabled Flag ON MB Toggle Buffer Selection Flag MB IFON Monitoring parameters saved in buffer 0 IL805E ML30002 IL8060 ML30004 IL8062 ML30006 IL8064 ML30008 ELSE Monitoring parameters saved in buffer 1 IL805E IL8060 IL8062 IL8064 ML30010 ML30012 ML30014 ML IEND MB Toggle Buffer Selection Flag inverted MB ELSE IEND IEND IEND DEND 10-23

336 10 Absolute Position Detection Infinite Length Axis (a) Turning the System Back ON (Turning the Servo Back ON) Set up position data again from the ladder program using high-speed scan timing as shown below. This is done when system power or servo power is turned back ON. 1. Store Modularized Position at Power OFF and Absolute Position at Power OFF to setting parameters. Store the Modularized Position at Power OFF and Absolute Position at Power OFF values saved in M register to the following setting parameters. Setting parameter: Absolute Position at Power OFF (All four words at OL 5E to OL 60) Setting parameter: Modularized Position at Power OFF (All four words at OL 62 to OL 64) Store the contents of the buffer selected by the Toggle Buffer Selection Flag. 2. Load Request for Absolute System Infinite Length Position Control Information Set the Infinite Length Axis Position Information LOAD bit (setting parameter OW 00, bit 7) to 0, 1 and 0 again. This will allow all position data to be settled. The following monitoring parameters will then be enabled and the Zero Point Return (Setting) Completed bit (monitoring parameter IW 0C bit 5) will turn ON. Monitoring parameter: Absolute Position at Power OFF (All four words at IL 5E to IL 60) Monitoring parameter: Modularized Position at Power OFF (All four words at IL 62 to IL 64) The system will create position data using the following equation when Infinite Length Axis Position Information LOAD is requested. Modularized position = Modularized position at power OFF + (Absolute position Absolute position at power OFF) * The portion in parentheses ( ) represents the moving amount while power is OFF

337 10.3 Using an Absolute Encoder Use the following flowchart to set up position data again. Start the high-speed scan 高速スキャン図面 drawing. 始まり First 高速スキャン始動後 scan after the start,1スキャン目か of high-speed? scan or signal indicating or that the servo power supply was turned back ON? サーボ電源再投入信号 NO YES Toggle トグルバッファ有効フラグ Buffer Enabled Flag =1 ON?? NO YES 位置情報再セットアップ要求フラグ Position Data Re-setup Request Flag = 1 ON 位置情報再セットアップ要求フラグ Position Data Re-setup Request Flag = 0 OFF Motion Controller 運転準備完了 RUN Ready? ON? NO YES Position 位置情報再セットアップ要求フラグ Data Re-setup Request Flag = ON? 1? NO YES Absolute System Infinite Length Position ABSシステム無限長位置管理情報 Control Information Load Completed 初期化完了フラグ Flag OFF? = 0? NO YES Toggle トルクバッファ選択フラグ Buffer Selection Flag =ON? 1? NO YES バッファ Copy buffer 1にモニタパラメータの 1 to setting parameters. 値をコピーする バッファ Copy buffer 0にモニタパラメータの 0 to setting parameters. 値をコピーする ABS Absolute システム無限長位置管理情報 system Infinite Axis Position Control Data Initialization 初期化要求フラグ Request Flag = 1 ON Absolute ABSシステム無限長位置管理情報 System Infinite Length Position Control Data Initialization Request 初期化要求フラグ Flag OFF = 0 10 Position 位置情報再セットアップ有効フラグ Data Re-setup Enabled Flag OFF = 0 End the high-speed scan 高速スキャン図面 drawing. 終わり 10-25

338 10 Absolute Position Detection Infinite Length Axis The following programming example (ladder program) is for the flowchart shown above. The axis used here is axis 1 of module 1. Change the motion parameter register number if the module and axis numbers are different. H11 ABS System Infinite Length Mode Axis: Axis No. 1 First address in the toggle buffer: MW30000 $FSCAN-H (ON for just one scan after high-speed scan starts) SB MB Servo Power Supply Turned Back ON Signal IB0000E First scan or Servo Power Supply Turned Back ON Signal MB IFON Toggle Buffer Enabled Flag MB IFON $ONCOIL SB Position Data Re-setup Request Flag ON MB ELSE $ONCOIL SB Position Data Re-setup Request Flag OFF MB IEND IEND SVRDY (Motion Controller Run Ready) IB80000 IFON Position Data Re-setup Request Flag MB IFON ABS System Infinite Length Position Control Information Load Completed Flag IB800C8 IFON Toggle Buffer Selection Flag MB IFON Continues on next page

339 10.3 Using an Absolute Encoder Buffer 0 contents saved in setting parameters ML30002 OL805E ML30004 ML30006 ML30008 ELSE Buffer 1 contents saved in setting parameters ML30010 ML30012 ML30014 ML30016 OL8060 OL8062 OL8064 OL805E OL8060 OL8062 OL8064 IEND $ONCOIL SB ABS System Infinite Length Position Control Data Initialization Request Flag ON OB80007 ELSE $ONCOIL SB ABS System Infinite Length Position Control Data Initialization Request Flag OFF OB80007 $ONCOIL SB Position Data Re-setup Request Flag OFF MB IEND IEND IEND DEND INFO There are no restrictions in the executing order for ladder programs H10 and H11 when an absolute encoder is used for a finite length axis

340 11 SVR Virtual Motion Module This chapter gives an overview of the SVR Virtual Motion Module and describes the system configuration, applicable motion parameters, motion commands, and sample programs SVR Virtual Motion Module Overview System Configuration SVR Operation Motion Parameters Motion Parameter Details Motion Parameter Settings Motion Commands Motion Command Table Motion Command Details Sample Programming

341 11 SVR Virtual Motion Module Overview 11.1 SVR Virtual Motion Module This section gives an overview of the SVR Virtual Motion Module and describes the system configuration Overview The Virtual Motion Module (SVR) is a Software Module that provides an interface for virtual axes that are not actually connected to Servomotors. The SVR is configured in the same way as the SVB Motion Module with fixed parameters, setting parameters, and monitoring parameters, and can be accessed from application programs using I/O registers. The SVR can be used to control up to 16 virtual axes in the high-speed scan control cycle. If the SVR is not used, the MP2100/MP2100M processing time can be reduced by setting the Module Type for SVR to UNDEFINED in the Module Configuration Window. The software limit function, follow-up function, and machine lock function cannot be used with the SVR. The position error will always be 0. The following table lists example applications of the SVR. No. Application Example Application Method 1 Master axis for phase control 2 Multi-axis synchronous control Electronic cam or shaft operation can be achieved by using the SVR for the virtual master axis. Multi-axis synchronous control can be achieved by controlling the SVR from a motion program and then using the ladder program to copy position commands of the SVR to other axes. 3 Sine curve commands If the motion program is used to perform circular interpolation with the SVR, the axis will operate with a sine curve command. 11-2