Machine Controller MP2110/MP2110M USER'S MANUAL DESIGN AND MAINTENANCE MODEL: JAPMC-MC2110 JAPMC-MC2130

Transcription

1 YASKAWA Machine Controller MP2110/MP2110M USER'S MANUAL DESIGN AND MAINTENANCE MODEL: JAPMC-MC2110 JAPMC-MC2130 YASKAWA MANUAL NO. SIEP C A

2 Copyright 2004 YASKAWA ELECTRIC CORPORATION All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is 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 MP2110/MP2110M system. Keep this manual in a safe place for future reference. Basic Terms Unless otherwise specified, the following definitions are used: MP2110 = Machine Controller MP2110 (PCI Bus) MP2110M = Machine Controller MP2110M (PCI Bus) MECHATROLINK = General term for Motion Network MECHATROLINK-I and MECAHA- TROLINK-II. M-I = MECHATROLINK-I M-II = MECHATROLINK-II Manual Configuration Read the chapters of this manual as required by the purpose. Chapter Chapter 1 Overview of the MP2110/MP2110M Chapter 2 System Configuration Chapter 3 MP2110/MP2110M Specifications Chapter 4 Installation and Wiring Chapter 5 Software Specifications Chapter 6 MP2110/MP2110M Functions Chapter 7 Special Functions Chapter 8 Application Precautions 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 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 examples: S-ON = /S-ON P-CON = /P-CON Copyrights Microsoft, Windows, WindowsNT, and Internet Explorer are registered trademarks of Microsoft. 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 MP2110/MP2110M Motion API User's Manual Σ-II Series SGM H/SGDM User s Manual Σ-II Series SGM H/SGDH 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 communication SIEPC SIEPS SIEPS TOBS SIEPS TOBPS SIEPS Describes the API specifications of the MP2110/ MP2110M Machine Controller. Describes the models, capacities, selection methods, installation, wiring, trial operation, function application methods, maintenance, and inspection of the Σ-II Series SERVOPACKs. 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 Σ-III Series SERVOPACKs and servomotors. 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 CAUTION Indicates precautions that, if not heeded, could possibly result in loss of life or serious injury. Indicates precautions that, if not heeded, could result in relatively serious or minor injury, damage to the product, or faulty operation. 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. The absolute position data can change if the SERVOPACK s multiturn limit is changed. Make sure that the multiturn limit is set according to settings in the machine. If the data is not set correctly, the machine may move in an unexpected direction, causing a dangerous situation. If a multiturn limit mismatch alarm (A.CC0) occurs, check the setting of SERVOPACK parameter Pn205 and make sure that it is correct. 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 MP2110/MP2110M. Do not attempt to modify the MP2110/MP2110M 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. WARNING vii

8 Storage and Transportation Do not store or install the MP2110/MP2110M 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 MP2110/MP2110M during transportation. There is a risk of injury or an accident. CAUTION viii

9 Installation CAUTION The MP2110/MP2110M is mounted in the PCI slot of a standard personal computer (IBM PC/AT or compatible). PC/AT or compatible computer PCI bus slot MP2110 board To prevent the MP2110/MP2110M from being damaged by static electricity, discharge any static electricity by touching a grounded metal object. Before installing or removing the MP2110/MP2110M, always turn OFF the host computer's power supply and unplug the computer's power cord. When installing the MP2110/MP2110M, always press the Board firmly until it is fully seated in the PCI slot. If the Board is not fully inserted, the MP2110/MP2110M and/or host computer may be damaged or operate incorrectly. If the MP2110/MP2110M 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 MP2110/MP2110M, 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 MP2110/ MP2110M or host computer. In some computers, it is necessary to secure the MP2110/MP2110M 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 MP2110/MP2110M is not secured, it may become loose and the MP2110/ MP2110M and/or host computer may be damaged or operate incorrectly. Connect and secure the cables that connect the MP2110/MP2110M to the Servodrive and I/O Module. If the cable connectors are not fully inserted and secured, the MP2110/MP2110M, Servodrive, and/or I/O Module may operate incorrectly. Never use the MP2110/MP2110M 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 MP2110/MP2110M to strong shock. There is a risk of an accident. ix

10 Wiring 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 MP2110/MP2110M 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. CAUTION Selecting, Separating, and Laying External Cables CAUTION Consider the following items when selecting the I/O signal lines (external cables) to connect the MP2110/MP2110M 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 cables Digital I/O ディジタル signal 入出力信号 cables ケーブル x

11 Maintenance and Inspection Precautions Do not attempt to disassemble the MP2110/MP2110M. 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 MP2110/MP2110M, restart operation only after transferring the programs and parameters from the old MP2110/MP2110M to the new MP2110/MP2110M. There is a risk of device damage. Disposal Precautions CAUTION CAUTION Dispose of the MP2110/MP2110M as general industrial waste. xi

12 Contents Using this Manual iii Safety Information vi Safety Precautions vii 1 Overview of the MP2110/MP2110M 1.1 Features MP2110 Features MP2110M Features Appearance MP2110 Appearance MP2110M Appearance System Configuration 2.1 MP2110 System Configuration Basic System Configuration for MP Precautions for MP MP2110M System Configuration Basic System Configuration for MP2110M Precautions for MP2110M Devices Connectable to MECHATROLINK SERVOPACKs I/O Modules Cables and Accessories Cables Specifications 3.1 Hardware Specifications General Specifications Hardware Specifications List of Functions Standard Functions Command Mode Functions MECHATROLINK Communication Specifications MP2110 LED Indicators and Switch Settings Layout LED Indicators Switch Settings MP2110M LED Indicators and Switch Settings Layout LED Indicators Switch Settings xii

13 4 Installation and Wiring 4.1 Installing the MP2110/MP2110M Recommended Computer Specifications Installing the MP2110/MP2110M Connections Connectors MECHATROLINK-I/II Connection I/O Connection Software Specifications 5.1 Software Configuration MP2110 Software Block Diagram MP2110M Software Block Diagram Function Specifications MECHATROLINK Mode Command Mode API Mode Shared Memory Specifications Shared Memory Details Interrupt Methods Shared Memory Structure MP2110/MP2110M Functions 6.1 Initial Processing between the MP2110/MP2110M and Host Computer MP2110 Initial Processing Using MECHATROLINK or Command Modes MP2110M Initial Processing Using MECHATROLINK or Command Modes Initial Processing Using API Mode Communication Timing with the Host Computer Command Response Characteristics Synchronous Communication Cycles Command Mode Details Controller Reset Sync ON Sync OFF Encoder Setup Parameter Set Parameter Block Write Parameter Block Read Parameter Individual Write Parameter Individual Read Position Preset Bank Parameter Write I/O Data Setting Pass Position Set xiii

14 Pass Position Reset Speed Control Mode ON Speed Control Mode OFF Torque Control Mode setting Torque Control Mode OFF Gain Switch Gantry Axis Set Gantry Axis Reset Opposing Beam Interference Check ON Opposing Beam Interference Check OFF Pass Action Register Watch Torque Limit Servo ON Servo OFF Alarm Reset Emergency Stop Hold ON Hold OFF Zero-point Return Gain Adjustment ON Positioning (Independent Axis) Positioning in Time External Positioning Return Positioning Linear Interpolation Circular Interpolation Pass Point Constant Speed Interpolation Speed Jog Start Speed Jog Stop Pulse Jog Speed Change during Axis Movement Servodrive Direct Command Execution Order Special Functions 7.1 Trace Functions Trace Area End Mark (Final Trace Address) MECHATROLINK Trace Details Command Trace Details HostFlash HostFlash Write Procedure (RTLinux Version) HostFlash Write Procedure (RTX Version) HostFlash Procedure (Windows) xiv

15 8 Application Precautions 8.1 Overtravel Function Overview Overtravel Input Signal Connections Parameter Settings Software Limit Function Overview of Software Limit Function Parameter Settings Appendices A Alarm Code Tables A-2 B Distributed I/O Module Communication Format A-6 C Parameter Block Read/Write Table A-7 C.1 SGDH Renewal (Rotary) A-7 C.2 SGDH Renewal (Linear) A-10 C.3 SGDS (Rotary) A-14 C.4 SGDS (Linear) A-20 D Addresses for Reading Individual Fn/Un Parameters A-26 D.1 SGDH Fn Parameters A-26 D.2 SGDS Fn Parameters A-26 D.3 SGDH Un Parameters A-27 D.4 SGDS Un Parameters A-28 E Driver Installation Procedure A-29 Revision History xv

16 1 1 Overview of the MP2110/MP2110M This chapter provides an overview and describes the features of the MP2110/MP2110M Machine Controller. 1.1 Features MP2110 Features MP2110M Features Appearance MP2110 Appearance MP2110M Appearance

17 1 Overview of the MP2110/MP2110M MP2110 Features 1.1 Features The MP2110/MP2110M is a Machine Controller built into a host computer with a PCI bus. Using MECHA- TROLINK-II in a field network enables high-speed control of drives and I/O devices MP2110 Features The general-purpose personal computer bus connection (PCI bus) and half-size configuration make the MP2110 compatible with almost any personal computer. (1) Ultra-precision, High-speed Motion Control characteristics have been improved by increasing the CPU and Motion Network (M-II) speed. MECHATROLINK-II baud rate: 2.5 times faster High-speed control at 2 ms/21 axes, 1 ms/15 axes, or 0.5 ms/6 axes. 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. (2) High Flexibility The user interface provides a choice of three modes: API mode, command mode, and MECHATROLINK mode. The MP2110 can also be used in control environments that are not dependent on an OS. Any host OS can be used for MECHATROLINK mode or command mode. The API is compatible with RTLinux and VenturCom RTX as the host OS. The drivers and libraries are provided by Yaskawa. (3) Powerful Computer Motion Functions The large library of 40 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. (4) High Expandability Up to four MP2110 can be mounted in a single host computer. A single MP2110 can be used to control up to 21 stations, of which the user can freely select to control servos or I/O for any number of axes. The MP2110 can be connected to Yaskawa MECHATROLINK products. The MP2110 can also be connected to IO2310 I/O Modules, PL2910 Pulse Output Modules, and PL2900 Counter Modules in addition to the Σ-II, Σ-III, and DMD Servodrives MP2110M Features The MP2110M is an MP2110 with two CPU Modules and two channels. The MP2110M consists of a sub-board mounted on the base board. It has the same half-size configuration with one PCI slot as the MP2110. The MP2110M has the following features, in addition to those of the MP2110. (1) Increased Number of Control Axes The MP2110M has all of the functions of the MP2110, but it can control twice as many axes as the MP2110. (2) Improved Motion Control Functions Up to 30 axes can be controlled with a 1-ms communication cycle and up to 12 axes can be controlled with a 0.5- ms communication cycle. 1-2

18 1.2 Appearance 1.2 Appearance MP2110 Appearance The following figure shows the external appearance of the MP YASKAWA I/O MP BAT TX S2 S1 ON M-I/II BAT 1-3

19 1 Overview of the MP2110/MP2110M MP2110M Appearance MP2110M Appearance The following figure shows the external appearance of the MP2110M. MP2110M YASKAWA PORT1 M-I/II I/O PORT2 M-I/II S2 TX S1 1-4

20 2 System Configuration 2 This chapter explains the product information required for building MP2110/MP2110M systems. 2.1 MP2110 System Configuration Basic System Configuration for MP Precautions for MP MP2110M System Configuration Basic System Configuration for MP2110M Precautions for MP2110M Devices Connectable to MECHATROLINK SERVOPACKs I/O Modules Cables and Accessories Cables

21 2 System Configuration Basic System Configuration for MP MP2110 System Configuration Basic System Configuration for MP2110 The following diagram shows the basic system configuration for the MP2110. Host computer PCI bus Max.4 boards MP2110 External I/O Input: 5 points (Interrupt input, etc) Output: 4 points MECHATROLINK-II NS115 NS115 SGDS SGDH IO2310 PL2900 PL2910 M M Max. 21 stations Note: 1. Up to 21 devices can be connected to MECHATROLINK-II. 2. Up to 9 digital I/O points (5 inputs and 4 outputs) can be used. 3. Use FG (frame ground) shielded twisted-pair cables with characteristic impedance of 130 Ω for the MECHATROLINK cables. 4. Use the thickest and shortest cables possible to connect the device s FG with the FG terminal TB1. 5. Up to four MP2110 can be mounted in a single host computer Precautions for MP2110 The following precautions must be followed when designing a system using the MP2110. 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 both MECHATROLINK-I (4 Mbps) and MECHATROLINK-II (10 Mbps) are used together, make all the 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

22 2.2 MP2110M System Configuration 2.2 MP2110M System Configuration Basic System Configuration for MP2110M The following diagram shows the basic system configuration for the MP2110M. Host computer PCI bus Max.4 boards MP2110M 1CH MECHATROLINK-II External I/O Input: 5 points (Interrupt input, etc) Output: 4 points 2CH MECHATROLINK-II 2 NS115 NS115 SGDS SGDH IO2310 SGDS SGDH IO2310 M M M M Max. 21 stations Max. 21 stations Note: 1. Up to 21 devices can be connected to one channel of MECHATROLINK-II. 2. Up to 9 digital I/O points (5 inputs and 4 outputs) can be used. 3. Use FG (frame ground) shielded twisted-pair cables with characteristic impedance of 130 Ω for the MECHATROLINK cables. 4. Use the thickest and shortest cables possible to connect the device s FG with the FG terminal TB1. 5. Check that the MP2100M base board and sub-board are connected. 6. Up to four MP2110M can be mounted in a single host computer Precautions for MP2110M The following precautions must be followed when designing a system using the MP2110M. 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 both MECHATROLINK-I (4 Mbps) and MECHATROLINK-II (10 Mbps) are used together, make all the 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

23 2 System Configuration SERVOPACKs 2.3 Devices Connectable to MECHATROLINK The devices that are compatible with MECHATROLINK and can be connected to the MP2110/MP2110M are listed below SERVOPACKs The following table shows SERVOPACKs that are compatible with MECHATROLINK and can be connected to the MP2110/MP2110M I/O Modules Model Number Details M-I M-II SGDH- E JUSP-NS100 SGDH- E JUSP-NS115 Σ-II Series SGDH Servodrives Application Module MECHATROLINK-I Interface Module Σ-II Series SGDH Servodrives Application Module MECHATROLINK-II Interface Module SGDS- 1 Σ-III Series AC Servodrives Yes Yes The following table shows the I/O Modules that are compatible with MECHATROLINK and can be connected to the MP2110/MP2110M. Model Number Details M-I M-II JEPMC-IO350 JAMSC-120DDI34330 JAMSC-120DDO34340 JAMSC-120DAI53330 JAMSC-120DAI73330 JAMSC-120DAO83330 JAMSC-120DRA83030 JAMSC-120AVI02030 JAMSC-120AVO01030 JAMSC-120EHC21140 JAMSC-120MMB20230 JEPMC-IO2310 JEPMC-PL point I/O Module 24 VDC, 64 inputs, 64 outputs DC Input Module 12/24 VDC, 16 inputs DC Output Module 12/24 VDC, 16 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 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 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 JEPMC-PL2910 Pulse Output Module Pulse output, 2 channels Yes Yes JEPMC-AN2900 Analog Voltage Input Module (±10 V) Yes Yes JEPMC-AN2910 Analog Voltage Output Module (±10 V) Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes No Yes No No No No No No No No No No No Yes Yes 2-4

24 2.4 Cables and Accessories 2.4 Cables and Accessories Cables The following table shows the cables that can be connected to the MP2110/MP2110M. Module MP2110/ MP2110M Connector Name Application Model Specifications I/O External I/O JEPMC-W2062- I/O < > External I/O M-I/II MECHATROLINK-I/ MECHATROLINK-II cable JEPMC-W6002- JEPMC-W6003- JEPMC-W6022 MP2110/MP2110M < > I/O Module MP2110/MP2110M < > SGDH- E +NS100 MP2110/MP2110M < > SGDH- E +NS115 MP2110/MP2110M < > SGDS- 1 USB connector < > USB connector* Note: JEPMC-W6003- has a ferrite core attached. Terminator 2 * Commercially available USB cables cannot be used. Always use the above mentioned cables. 2-5

25 3 Specifications This chapter explains detailed specifications for the MP2110/MP2110M Hardware Specifications General Specifications Hardware Specifications List of Functions Standard Functions Command Mode Functions MECHATROLINK Communication Specifications MP2110 LED Indicators and Switch Settings Layout LED Indicators Switch Settings MP2110M LED Indicators and Switch Settings Layout LED Indicators Switch Settings

26 3 Specifications General Specifications 3.1 Hardware Specifications General Specifications (1) General Hardware Specifications The following table lists the general hardware specifications of the MP2110/MP2110M. Item Specifications Ambient Operating Temperature 0 to 45 C Temperature Storage Temperature 25 to 85 C Depends on the personal computer. Ambient Operating Humidity 30% to 95% (with no condensation) Supply Voltage 5 V ±5% Vibration Resistance Depends on the personal computer. Shock Resistance Depends on the personal computer. Noise Resistance (2) MP2110 Appearance 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 Conforming to the ground standard for the personal computer Operating Altitude 2,000 m above sea level or lower Conformity Standard UL, CSA, (CE) Applicable Bus PCI Conforming to 5 V, 32 bits of PCI bus Revision 2.1 Others Corrosive Gas There must be no combustible or corrosive gas. Reliability Number of Fits (estimated according to DTR-A-9028) Life Expectancy 500 fits 10 years min. at 40 C. 3-2

27 3.1 Hardware Specifications (3) MP2110M Appearance Sub-board Base board Hardware Specifications The following table shows the hardware specifications of the MP2110/MP2110M. 3 Item Specifications Name MP2110 MP2110M Model Number JAPMC-MC2110 JAPMC-MC2130 Power Supply +5 VDC: Supplied from PCI bus, 510 ma Microprocessor SH4 (Hitachi) SH4 2 (Hitachi) FLASH Capacity 4 Mbytes 4 Mbytes + 1 Mbyte SDRAM Capacity 32 Mbytes 32 Mbytes 2 Shared Memory Capacity 32 Kbytes 32 Kbytes 2 Shared Memory Capacity between CPU Modules 32 Kbytes Communication Function I/O Signal Protective Functions Reset Circuit Debugging Port Optional Interface Power Supply, Current Consumption 1 MECHATROLINK port: 4 Mbps (M-I) or 10 Mbps (M-II) 2 MECHATROLINK ports: 4 Mbps (M-I) or 10 Mbps (M-II) 5 digital inputs (including 2 interrupts, shared with UPS input) 24 VDC, 4 ma, sink mode/source mode input 4 digital outputs (24 VDC, 100 ma, open-collector, sink mode output) Self-diagnostic mode Watchdog timer Hardware: 0 to 510 ms (register setting) 5-V supply voltage drop Reset switch (hardware: Resets 100 µs after NMI occurs.) Self-reset command (system software: Resets after command is sent.) Hitachi-UDI (JTAG) Dedicated bus (68-pin, half-pitch, receptacle) Also used as a system boot write interface. +5 VDC: Supplied by PCI bus +3.3 VDC: Supplied by REG from + 5V +1.8 VDC: Supplied by switching REG from + 5V Surface Processing Partial varnish coating (Standard: HumiSeal 1A27; Optional: PELGAN Z) External Dimensions (mm) (W D) (half-size PCI) Approximate Mass 140 g 210 g 3-3

28 3 Specifications Standard Functions 3.2 List of Functions Standard Functions The following table lists the standard functions for the MP2110/MP2110M. Function Specifications MP2110 MP2110M Field Network MECHATROLINK-I/MECHATROLINK-II Number of Channels 1 channel, USB connector 2 channels, USB connector Baud Rate 4 Mbps or 10 Mbps Maximum Number of Stations 6 stations (0.5 ms) 15 stations (1 ms) 21 stations (2 ms) 12 stations (0.5 ms, 6 stations/channel) 30 stations (1 ms, 15 stations/channel) 42 stations (2 ms, 21 stations/channel) Connectable Devices MECHATROLINK-I Servos (compatible with Σ-ΙΙ/Σ-ΙΙΙ Servos) MECHATROLINK-II Servos, I/O Modules, Pulse Output Modules, and Counter Modules Local I/O 5 digital inputs (sink mode/source mode inputs) 4 digital outputs (open-collector, sink mode outputs) Indicators 4 LED indicators Base board: 4 LED indicators Sub-board: 3 LED indicators Host Computer IBM PC/AT or compatible (one PCI slot) PCI Shared Memory 32 Kbytes (in MP2110) 32 Kbytes 2 (in MP2110M) Interrupts between Host Computer and MP2110/ MP2110M Host Operating System Motion Command Types Motion Commands Diagnostic Functions 1 channel in both directions MECHATROLINK mode or command mode: No OS restrictions. Software, however, is not provided. API mode: RTLinux or VenturCom RTX; device driver and DLL provided. Type 1: MECHATROLINK mode Type 2: Command mode Type 3: API mode Host computer MP2110/MP2110M: 2 channels MP2110/MP2110M host computer: 1 channel MECHATROLINK mode: Shared command group: 14 commands Motion shared command group: 6 commands Servo standard command group: 15 commands Command mode: 45 commands API mode: 54 functions Self-diagnosis when power is turned ON: Indicator display Software errors: Indicator display Commands between host computer and MP2110/MP2110M: Checksum function (MECHA- TROLINK mode only) Watchdog function between MP2110/MP2110M and Servodrive Watchdog function between host computer and MP2110/MP2110M 3-4

29 3.2 List of Functions Command Mode Functions The functions of MP2110/MP2110M command mode functions are shown in the following table. Function Specifications MP2110 Number of Controlled Axes 21 axes 42 axes MECHATROLINK Commands Supports MECHATROLINK-II Servo Commands. Self Diagnosis Hardware self diagnosis, host watchdog timer monitor Failure Display LED indicator Positioning Function (Independent Axes) Linear Interpolation Circular Interpolation Positioning (External Positioning) Minimum Output (Motion) Unit Maximum Positioning Command Automatic Acceleration/ Deceleration Speed Change during Motion Gain Switch Bank Switch Hold Pass Function Emergency Stop Jog Operation Automatic Zero-point Return Position Preset Parameter Set Servo Parameter Transmission Servo ON/OFF Alarm Reset Initialize (Software Reset) Communication Sync ON/OFF Torque Control Speed Control Gantry Axis Setting Independent for each axis: Up to 6 axes/0.5 ms, up to 15 axes/1 ms, up to 21 axes/2 ms Up to 6 axes/0.5 ms, up to 15 axes/1 ms 2-axis circular interpolation, up to 6 axes/ 0.5 ms, up to 14 axes/1 ms External positioning move distance 1 command unit 2 31 to command units MP2110M Independent for each axis: Up to 6 2 axes/0.5 ms, up to 15 2 axes/ 1 ms, up to 21 2 axes/2 ms Up to 6 2 axes/0.5 ms, up to 15 2 axes/ 1ms 2-axis circular interpolation, up to 6 2 axes/0.5 ms, up to 14 2 axes/1 ms Positioning: Linear acceleration/deceleration (trapezoid), interpolation: S-curve, exponential acceleration/deceleration Speed change during positioning motion Switches Servo gain (Number of switchable gains depends on the Servodrive.) Enables freely using user-set accelerations/decelerations using the Servodrive s bank switch function. Unrestricted holding during positioning or interpolation Enables setting positions for intermediate pass position responses during positioning or interpolation. Emergency stop by command or direct input Independent for each axis, simultaneously for up to 21 axes; setting unit: command units/s 4 types Presets the current position to a specified position. Sets the parameters required for positioning. Transmits or reads the Servo Parameters. Turns the Servo ON/OFF. Resets the alarm, except for faults. Sets the status that occurs immediately after turning ON the power. Independent for each axis, simultaneously for up to 21 2 axes; setting unit: command units/s Turns ON/OFF MECHATROLINK communication synchronization. Switches the Servodrive to torque control mode and performs torque control from the host computer. Switches the Servodrive to speed control mode and performs speed control from the host computer. Copies motion commands from the master to the gantry slave axes

30 3 Specifications MECHATROLINK Communication Specifications Function Trace Function MP2110 Specifications MP2110M (cont d) Traces the command send/receive log between the host computer and the MP2110/ MP2110M. Traces the MECHATROLINK commands between the MP2110/MP2110M and Servodrive. Traces shared RAM data using serial communication MECHATROLINK Communication Specifications The following table shows the MECHATROLINK communication specifications for the MP2110/MP2110M. MECHATROLINK-I Item Specifications Topology Bus Bus * 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 ms, 2 ms Maximum Number of Connectable Stations Communication Control Method Cyclic Cyclic Media Access Control Method 1:N 2:N* Communication Mode Control communication Control communication Error Detection Control CRC check CRC check 3-6

31 MP2110 LED Indicators and Switch Settings 3.3 MP2110 LED Indicators and Switch Settings Layout The following diagram shows the layout of the LED indicators and switches for the MP2110. Mode switch 2 Reset switch S2 S1 LED indicators S2 BAT BAT ON TX I/O 2 1 MP2110 YASKAWA M-I/II Battery connector Mode switch 1 I/O connector MECHATROLINK connector S1 ON 1 2 System LED indicator CN6 1 3 ON/OFF MECHATROLINK alarm LED indicator LED Indicators BAT TX S2 S1 The following table shows the status of the LED indicators that indicate the operating status and error status of the MP2110. S1 Indicator Display Status * Not used. Green Red lit/blinking Normal operation (RDY) Error (ERR) Green Normal operation (RUN) S2 Red lit/blinking Alarm (ALM) Not lit User program stopped TX Green Transmitting data to M-I/II BAT * 3-7

32 3 Specifications LED Indicators Details of the LED indicator display status are provided in Table 3.1 LED Indicator Status Details. Type Normal Error Indicator S1 S2 S1 S2 RDY RUN ERR ALM BAT Table 3.1 LED Indicator Status Details Display Details Meaning/Countermeasure Not lit Not lit Lit Lit Hardware reset status Indicates a hardware error if Not lit Not lit Not lit Not lit Initializing this status continues for 10 s after turning ON the power. Lit Not lit Not lit Not lit Lit Lit Not lit Not lit Lit Not lit Not lit Blinking Error Not lit Not lit Not lit Blinking Blinking Blinking Error Not lit Not lit Lit NMI status Ready to receive MP2110 commands User program executing normally Number of blinks when application error occurs: 1: MECHATROLINK Servodrive error 2: MECHATROLINK station configuration mismatch 3: MECHATROLINK station not connected 4: Host watchdog 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 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-hit error 11: TLB read error 12: TLB write error 13: TLB protection read violation 14: TLB protection write violation 15: First page write error The MP2110 has completed self diagnosis and is waiting for commands from the host computer. Command executing from host computer. Meaning: Error occurred at the Servodrive. Countermeasure: Investigate the cause of the Servodrive error. Meaning: The connected station device is not the same as the device specified by the host computer. Countermeasure: Correct the specified device at the host computer. The ALM and ERR indicators blink when the MP2110 has shut down during self diagnosis. The ERR indicator blinks when an error occurs. Indicates a hardware or software error. 3-8

33 MP2110 LED Indicators and Switch Settings Switch Settings The following tables show the switch settings of the MP2110. Mode Switch 1 Mode Switch 2 Reset Switch ON 1 2 (1) Mode Switch 1 (S1) No. Name Status Function 1 INIT ON Memory clear OFF Normal operation 2 STOP ON User program stopped OFF User program running (2) Mode Switch 2 (S2) Default Setting OFF OFF Not used. Not used. Details 3 No. Name Status Function 1 TEST 2 MON 3 CNFG 4 SUP 5 SLOT0 ON OFF ON OFF ON OFF ON OFF SLOT1 - SLOT10 ON - ON ON - OFF OFF - ON OFF - OFF System use Normal operation System use Normal operation Configuration mode Normal operation System use Normal operation MP2110 ID4 MP2110 ID3 MP2110 ID2 MP2110 ID1 Default Setting OFF OFF OFF OFF OFF 6 SLOT1 OFF Details Always leave set to OFF. Always leave set to OFF. Not used. Not used. Used to set the MP2110 ID. (3) Reset Switch This switch resets the MP2110. This switch can be used to cycle the MP2110 power when the host computer power is ON. 3-9

34 3 Specifications Layout 3.4 MP2110M LED Indicators and Switch Settings Layout The following diagram shows the layout of the LED indicators and switches for the MP2110M. Reset switch Mode switch S2 TX S1 MP2110M LED indicators Sub-board LED indicators YASKAWA PORT1 M-I/II I/O PORT2 M-I/II LED Indicators (1) Base Board Status LED Indicators The following table shows the status of the LED indicators that indicate the operating status and error status of the MP2110M base board. S2 S1 TX Indicator Display Status Green Normal operation (RDY) S1 Red lit/ blinking Error (ERR) Not lit User program stopped Green Normal operation (RUN) S2 Red lit/ Alarm (ALM) blinking TX Green Transferring data to M-I/II 3-10

35 3.4 MP2110M LED Indicators and Switch Settings Type Normal Error Details of the LED indicator display status are provided in Table 3.2 LED Indicator Status Details. Indicator Table 3.2 LED Indicator Status Details S1 S2 S1 S2 Display Details Meaning/Countermeasure RDY RUN ERR ALM BAT Not lit Not lit Lit Lit Hardware reset status Indicates a hardware error if this status continues for 10 s after turning ON the Not lit Not lit Not lit Not lit Initializing power. Lit Not lit Not lit Not lit Ready to receive MP2110M commands Lit Lit Not lit Not lit User program executing normally Lit Not lit Not lit Error Not lit Not lit Not lit Command executing from host computer. Blinking Blinking Blinking Blinking Number of blinks when application error occurs: 1: MECHATROLINK Servodrive error 2: MECHATROLINK station configuration mismatch 3: MECHATROLINK station not connected 4: Host watchdog 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 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-hit error 11: TLB read error 12: TLB write error 13: TLB protection read violation 14: TLB protection write violation 15: First page write error The MP2110M has completed self diagnosis and is waiting for commands from the host computer. Meaning: Error occurred at the Servodrive. Countermeasure: Investigate the cause of the Servodrive error. Meaning: The connected station device is not the same as the device specified by the host computer. Countermeasure: Correct the specified device at the host computer. The ALM and ERR indicators blink when the MP2110M has shut down during self diagnosis. The ERR indicator blinks when an error occurs. Error Not lit Not lit Lit NMI status Indicates a hardware or software error

36 3 Specifications LED Indicators (2) Sub-board Status LED Indicators The following table shows the status of the LED indicators that indicate the operating status and error status of the MP2110M sub-board. RUN ERR TX Indicator Display Status RUN Green Normal operation ERR Red lit/ blinking Error TX Green Transmitting data to M-I/II Details of the LED indicator display status are provided in the following table. Type Normal Error Indicator Name RUN Not lit ERR Lit Display Details Hardware reset status Initializing Meaning/Countermeasure Indicates a hardware error if this status continues for 10 s after turning ON the power. Not lit Not lit Ready to receive MP2110M commands The MP2110M has completed self diagnosis and is waiting for commands from the host computer. Lit Not lit User program executing normally Command executing from host computer. Not lit Lit Sub-board error Not lit Blinking A base board and sub-board error or a handshake error between CPUs The details of the sub-board error are shown by the base board indicators. If the ERR indicator is repeatedly lit and then not lit for equal intervals, an error has occurred on the base board and sub-board. The details of the base board error are shown by the base board indicators. (The sub-board error details are not shown.) If the ERR indicator blinks twice, a handshake error between the CPUs has occurred. (The base board does not respond.) 3-12

37 MP2110M LED Indicators and Switch Settings Switch Settings The following table shows the switch settings of the MP2110M. Mode Switch Reset Switch (1) Mode Switch 1 (S1) No. Name Status Function 1 TEST 2 MON 3 CNFG 4 INIT 5 SUP 6 STOP 7 SLOT0 ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF SLOT1- SLOT0 ON - ON ON - OFF OFF - ON OFF - OFF System use Normal operation System use Normal operation Not used. Not used. Not used. Not used. Not used. Not used. Not used. Not used. MP2110M ID4 MP2110M ID3 MP2110M ID2 MP2110M ID1 Default Setting OFF OFF OFF OFF OFF OFF OFF 8 SLOT1 OFF Details Always leave set to OFF. Always leave set to OFF. Not used. Not used. Not used. Not used. Used to set the MP2110M ID. Set to OFF if not using multiple boards. 3 (2) Reset Switch This switch resets the MP2110M. This switch can be used to cycle the MP2110M power when the host computer power is ON. 3-13

38 4 Installation and Wiring This chapter explains how to handle MP2110/MP2110M and the connection methods. 4.1 Installing the MP2110/MP2110M Recommended Computer Specifications Installing the MP2110/MP2110M Connections Connectors MECHATROLINK-I/II Connection I/O Connection

39 4 Installation and Wiring Recommended Computer Specifications 4.1 Installing the MP2110/MP2110M Recommended Computer Specifications The following table shows the specifications for the host computer in which the MP2110/MP2110M is installed. (1) Hardware Specifications The MP2110/MP2110M occupies one of the host computer's PCI slots. Up to four MP2110/MP2110M Boards can be installed in one personal computer. Model Item Specification Notes IBM PC/AT or compatible * These are the specifications when one MP2110/MP2110M board is being used. 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 Capacity 500 MB free space min. Display resolution min. Recommended: or higher Expansion Slot * One PCI slot Interrupt * Uses 1 level IRQ sharing is possible. I/O Memory * Uses 32 KB of shared memory. When two or more MP2110/MP2110M boards are installed in a computer, multiply the resources listed above by the number of boards. 4-2

40 4.1 Installing the MP2110/MP2110M Installing the MP2110/MP2110M Install the MP2110/MP2110M to a PCI slot of the host computer. The MP2110/MP2110M occupies one PCI slot. PC/AT or compatible computer PCI bus slot MP2110 board 4 CAUTION Before installing or removing the MP2110/MP2110M, always turn OFF the host computer's power supply and unplug the computer's power cord. When installing the MP2110/MP2110M, always press the Board firmly until it is fully seated in the PCI slot. If the Board is not fully inserted, the MP2110/MP2110M and/or host computer may be damaged or operate incorrectly. If the MP2110/MP2110M 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 MP2110/MP2110M, 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 MP2110/MP2110M or host computer. In some computers, it is necessary to secure the MP2110/MP2110M 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 MP2110/MP2110M is not secured, it may become loose and the MP2110/MP2110M and/or host computer may be damaged or operate incorrectly. 4-3

41 4 Installation and Wiring Connectors 4.2 Connections Connectors The following figure shows the connectors for the MP2110/MP2110M. S2 BAT S1 BAT ON TX S2 I/O 2 1 MP2110 S1 YASKAWA M-I/II I/O connector MECHATROLINK connector TX MP2110M PORT2 M-I/II I/O PORT1 M-I/II MECHATROLINK connector I/O connector MECHATROLINK connector YASKAWA MP2110 MP2110M MECHATROLINK-I/II Connection (1) MECHATROLINK-I/II Connector MECHATROLINK-I/II connector is used to connect the MP2100 and the SERVOPACKs and Distributed I/O Modules. 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 DDK Ltd. 4-4

42 4.2 Connections (3) Cables (4) External Appearance of MECHATROLINK-I/II Cables JEPMC-W6002- Name and Specification Model Number Length MECHATROLINK Cable USB Connector USB Connector JEPMC-W6002-A5 JEPMC-W JEPMC-W JEPMC-W JEPMC-W JEPMC-W JEPMC-W m 1 m 3 m 5 m 10 m 20 m 30 m JEPMC-W6003-A5 0.5 m JEPMC-W m JEPMC-W m JEPMC-W m MECHATROLINK Cable JEPMC-W m USB Connector USB Connector (with Ferrite Core) JEPMC-W m JEPMC-W m JEPMC-W m JEPMC-W m Terminator JEPMC-W JEPMC-W6003- JEPMC-W6022 (5) Cable Connections between the MP2110/MP2110M and I/O Units and the MP2110/ MP2110M and SERVOPACKs Signal Name Pin number JEPMC-W6002- JEPMC-W6003- 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. 4-5

43 4 Installation and Wiring MECHATROLINK-I/II Connection (6) Terminator Connections Name (NC) DATA DATA SH Shield Shell Pin number 130 Ω (7) Connection Example between MP2110/MP2110M, SERVOPACK, and IO2310 MP2110 S2 S1 IO2310 BAT TX I/O MP2110 CN1 YASKAWA JEPMC-IO2310 IN1 OUT1 IN2 OUT2 B1 A1 A1 A1 A1 B1 B1 B1 L1 L2 Ln YASKAWA SERVOPACK YASKAWA SERVOPACK YASKAWA SERVOPACK SGDH- SGDH- NS100 SGDH- NS100 NS100 Terminator Note: 1. Use standard cables between units. 2. Use under the conditions that L1 + L2 + L Lu 50 m IMPORTANT The MP2110/MP2110M has a built-in terminator. Insert a JEPMC-W6022 terminator into in the above diagram. 4-6

44 4.2 Connections I/O Connection (1) I/O Connector I/O connector is used to connect the MP2110/MP2110M and external I/O signals. External input: 5 points; External output: 4 points (2) Connector Specifications Name Connector Name No. of Pins I/O Connector I/O A2JL Connector Model Module Cable Manufacturer VE Connector A0-008 or F0-008 shell Sumitomo 3M Limited. (3) Cables Name Model Number Length JEPMC-W2062-A5 0.5 m I/O Cable (loose wires) JEPMC-W m JEPMC-W m 4 (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_24 V 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_24 V 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 01 DO_03 O Output

45 4 Installation and Wiring I/O Connection (6) Input Circuits The following table shows the I/O Connector input circuit specifications. Item Inputs 5 points DI-00 DI-01 to DI-04 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 Number of Commons Other Functions ON: 1 ms max. OFF: 1 ms max. 5 points Specifications General-purpose input (shared with interrupts) General-purpose input 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 DI_COM +5 V 680 Ω 0.01 µf DI_IN 5.6 kω/0.5 Ω 22 kω Input register µf Fig. 4.1 Digital Input Circuit (Sink Mode Input) +24 V +5 V DI_COM 680 Ω 0.01 µf DI_IN 5.6 kω/0.5 Ω 22 kω Input register µf Fig. 4.2 Digital Input Circuit (Source Mode Input) 4-8

46 4.2 Connections (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 Number of Commons Protection Circuit ON: 1 ms max. OFF: 1 ms max. 4 points 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 4 33 kω 0.01 µf DO_COM 0 24 Fig. 4.3 Digital Output Circuit (Sink Mode Output) 4-9

47 4 Installation and Wiring I/O Connection (8) I/O Connector Connections The following diagram shows the connections for the I/O connector. 1 DI_COM 8 DC24V (DI) 24 VDC Digital input DI_00 DI_01 DI_02 External input signals 10 DI_03 4 DI_04 11 DC24V (DO) 24 VDC Digital output DO_00 DO_01 DO_02 Fuse External output signals Fuse DO_03 DO_COM DO_COM Note: Connect an external 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. 4-10

48 4.2 Connections (9) PCI Configuration Register The MP2110/MP2110M can be detected from the PCI bus using the ID standard of the PCI bus. The following table shows each ID type for the MP2110/MP2110M and the structure of the PCI configuration register. (a) MP2110/MP2110M Controller ID VendorID: 10B5h PLX Technology DeviceID: 9050 PCI IO Bus Bridge (Rev02) Sub System Vendor ID: 1313h Yaskawa Sub Device ID: 0221h MP2110 Sub Device ID: 0223h MP2110M (b) PCI Configuration Register Structure Table 4.1 PCI Configuration Register h Device ID Vendor ID 04h Status Command 08h Class Code Revision ID 0Ch BIST Header Type Latency Timer Cache Line Size 10h Base Address 0 for memory mapped configuration registers * 1 14h Base Address 1 for I/O mapped configuration registers 18h Base Address 2 for local address space 0 * 2 1Ch Base Address 3 for local address space 1 * 3 20h Base Address 4 for local address space 2 24h Base Address 5 for local address space 3 28h CIS 2Ch SubSystem ID SubSystem Vendor ID 30h ROM Base Address 34h Reserved 38h Reserved 3Ch Max. Latency Min. Grant Interrupt Pin Interrupt Line * 1. To enable using IRQ interrupts, set the following data in the address 4Ch higher than the address specified here. MP2110: 41h MP2110M: 49h * 2. The first 32 Kbytes from the address specified here are used as shared memory for MP2110 and MP2110M base board. * 3. The first 32 Kbytes from the address specified here are used as shared memory for the MP2110M sub-board. They are not used for the MP

49 5 Software Specifications This chapter describes the software specifications of the MP2110/MP2110M. 5.1 Software Configuration MP2110 Software Block Diagram MP2110M Software Block Diagram Function Specifications MECHATROLINK Mode Command Mode API Mode Shared Memory Specifications Shared Memory Details Interrupt Methods Shared Memory Structure

50 5 Software Specifications MP2110 Software Block Diagram 5.1 Software Configuration MP2110 Software Block Diagram Fig. 5.1 MP2110 Software Block Diagram shows the block diagram for the entire software including the host computer. Host computer application software API mode MECHATROLINK mode Command mode MP2110 motion API driver RTX MECHATROLINK I/F Command interface Shared memory MECHATROLINK Motion control I/O data MP2110 MECHATROLINK - II Provided by Yaskawa MP2110M Software Block Diagram Fig. 5.1 MP2110 Software Block Diagram Fig. 5.2 MP2110M Software Block Diagram shows the block diagram for the entire software including the host computer. CPU1 is on the base board side and CPU2 on the sub-board side. Host computer application software API mode MECHATROLINK mode MP2110M motion API driver RTX/RT-Linux Command mode CPU1 MECHATROLINK interface Command interface Shared memory Shared memory Command interface CPU2 MECHATROLINK interface MECHATROLINK Motion control Distributed I/O data Distributed I/O data Motion control MECHATROLINK Local I/O (Read/write possible in the System Area of shared memory) MP2110M MECHATROLINK-II MECHATROLINK-II Provided by Yaskawa Fig. 5.2 MP2110M Software Block Diagram 5-2

51 5.2 Function Specifications 5.2 Function Specifications The MP2110/MP2110M provides three modes, as follows: MECHATROLINK mode Command mode API mode Each of these three modes is described here MECHATROLINK Mode By setting MECHATROLINK commands in shared memory, the Servodrive can be directly controlled from the host computer. The MP2110/MP2110M uses communication to pass to the Servodrive MECHATROLINK commands that were sent from the host computer without analyzing the command s contents. Therefore, the MECHATROLINK functions can be used from the host computer without modification. Table 5.1 MECHATROLINK Command List provides an overview of MECHATROLINK commands. Table 5.1 MECHATROLINK Command List Common Motion Common Type Code Command Function Processing Type *1 Sync Type *2 Options 00 NOP Invalid command N A Can be used. 01 PRM_RD Parameter reading D A Cannot be used. 02 PRM_WR Parameter writing D A Cannot be used. 03 ID_RD ID reading D A Can be used. 04 CONFIG Device setup C A Cannot be used. 05 ALM_RD Alarm reading D A Cannot be used. 06 ALM_CLR Alarm clearing C A Cannot be used. 0D SYNC_SET Sync communication starting N A Cannot be used. 0E CONNECT Connecting N A Cannot be used. 0F DISCONNECT Disconnecting N A Cannot be used. 1B PPRM_RD Non-volatile parameter reading D A Cannot be used. 1C PRM_WR Non-volatile parameter writing D A Cannot be used. 20 POS_SET Position setting D A Cannot be used. 21 BRK_ON Brake ON C A Cannot be used. 22 BRK_OFF Brake OFF C A Cannot be used. 23 SENS_ON Sensor ON C A Cannot be used. 24 SENS_OFF Sensor OFF C A Cannot be used. 25 HOLD Motion holding M A Can be used. 26 MLOCK_ON Machine lock ON C A Can be used. 27 MLOCK_OFF Machine lock OFF C A Can be used. 28 LTMOD_ON Modal latch ON C A Can be used. 29 LTMOD_OFF Modal latch OFF C A Can be used

52 5 Software Specifications MECHATROLINK Mode Standard Servo 30 SMON Status monitoring D A Can be used. 31 SV_ON Servo ON C A Can be used. 32 SV_OFF Servo OFF C A Can be used. 34 INTERPOLATE Interpolation M S Can be used. 35 POSING Positioning M A Can be used. 36 FEED Constant feeding M A Can be used. 38 LATCH Interpolation feeding with position detection M S Can be used. 39 EX_POSING External input positioning M A Can be used. 3A ZRET Zero-point return M A Can be used. 3C VELCTRL Speed reference M A Can be used. 3D TRQCTRL Torque reference M A Can be used. 3E ADJ Adjusting X A Cannot be used. 3F SVCTRL General-purpose Servo control X S, A Can be used. * 1. Processing Types N: Network command D: Data communication command C: Control command M: Motion command X: Compound command * 2. Sync Types S: Synchronous command A: Asynchronous command MECHATROLINK mode is used to read and write I/O, as follows: (a) Local I/O at Controller Input data is refreshed for five digital inputs in the System Area of shared memory in the communication cycle. To write the four digital outputs, write to the relevant area in the System Area, set D30 (the MP2110/ MP2110M) in the Write Status area to 1, and set an interrupt. The MP2110M cannot read/write local I/O data from the sub-board s System Area of shared memory. Local I/O can be accessed only from the base board. (b) Distributed I/O Table 5.1 MECHATROLINK Command List (cont d) Type Code Command Function Processing Type *1 Sync Type *2 Options When distributed I/O is connected, the distributed I/O input bit data is refreshed in the communication cycle from the first word of the MECHATROLINK Mode Receive Area of the connected station. To write the output signal of the distributed I/O, set all the output bits in the MECHATROLINK Mode Send Area, and set the station bit in the Write Status Area to

53 5.2 Function Specifications Command Mode In command mode, Servo commands are executed by writing MP2110/MP2110M commands to shared memory and setting an interrupt to the MP2110/MP2110M. It is not necessary to be conscious of MECHATROLINK communication, and the host computer operating system does not always need to be operating in real-time. Code Command Parameter Table 5.2 Command List of Command Mode Completed Coincidence Responses Near Pass Position 0001h Controller Reset 0002h Sync ON Option 0003h Sync OFF Option 0004h Encoder Setup Option 0010h Parameter Set Option, Parameter 0011h Parameter Block Write Option, Parameter 0012h Parameter Block Read Parameter Selection, Parameter 0013h Parameter Individual Parameter, Data Write 0014h Parameter Individual Parameter Selection, Parameter Read 0015h Position Preset Option, Target Position 0019h Bank Parameter Write Option, Transfer Parameter 0030h I/O Data Setting Option, I/O Data 0040h Pass Position Set Option, Parameter 0041h Pass Position Reset Option 0042h Speed Control Mode ON Option, Speed Reference 0043h Speed Control Mode OFF Option 0044h Torque Control Mode ON Option, Torque Reference 0045h Torque Control Mode OFF Option 0046h Gain Switch Option, Gain Number 0047h Gantry Axis Set Option, Slave Axis Number, Sync Error Width 0048h Gantry Axis Reset Option, Slave Axis Number 0049h 004Ah Opposing Beam Interference Check ON Opposing Beam Interference Check OFF Option, Interference Check Width, Direction Option Error 004Bh Pass Action Register Option, Action Command, Target Position, etc. 004Ch Watch Torque Limit Option 0100h Servo ON Option, Timer 0101h Servo OFF Option, Timer 0109h Alarm Reset Option 0110h Emergency Stop Option, Stop Method 0111h Hold ON Option 0112h Hold OFF Option 0200h Zero-point Return Option, Deceleration Distance, Creep Speed, etc. 0209h Gain Adjustment ON Option, Target Position 0210h 0211h 0213h Positioning (Independent Axis) Positioning in Time External Positioning Option, Target Position, Timer, Bank Option, Target Position, Positioning Time Target Position, External Positioning Travel Distance 5 5-5

54 5 Software Specifications Command Mode 0220h 0222h 0223h Linear Interpolation Circular Interpolation Pass Point Constant Speed Interpolation (1) Reading and Writing I/O Using Command Mode Command mode is used to read and write I/O, as follows: (a) Local I/O at Controller Input data is refreshed for five digital inputs in the System Area of shared memory in the communication cycle. To write the four digital outputs, write to the relevant area in the System Area, set D30 (the MP2110/ MP2110M) in the Write Status area to 1, and set an interrupt. The MP2110M cannot read/write local I/O data from the sub-board s System Area of shared memory. Local I/O can be accessed only from the base board. (b) Distributed I/O When distributed I/O is connected, the distributed I/O input bit data is refreshed in the communication cycle in the Direct Command Receive Area in the Individual Axis Areas of the connected station. To write the output signal of the distributed I/O, set all the output bits in the same Direct Command Send Area, and set the station bit in the Write Status Area to 1. If communication using distributed I/O fails for any reason, the MP2110/MP2110M will return a MECHA- TROLINK Disconnection response. (2) Using Pulse Output Modules and Counter Modules Pulse Output Modules and Counter Modules are used as described below. (a) Pulse Output Modules Use direct commands to send commands directly to the station connected to the Pulse Output Module. (b) Counter Modules Table 5.2 Command List of Command Mode(cont d) 0230h Speed Jog Start Option, Speed, Direction 0231h Speed Jog Stop Option 0232h Pulse Jog Option, Pulse, Direction 0240h Speed Change during Movement Option, Speed 0300h Servodrive Direct Option, MECHATROLINK Command Note: The meaning of symbols used in the table are as follows: : Response always sent : Response sent when specified Blank: Response not sent Responses Code Command Parameter Completedence Position Coinci- Pass Near Error 0214h Return Positioning Target Position, End Position Option, Target Position, Interpolation Speed, etc. Option, Target Position, Center Position, Interpolation Speed, etc. Option, Speed, Pass Position, Target Position, etc. Use direct commands to send commands directly to the station connected to the Counter Module. 5-6

55 5.2 Function Specifications API Mode By integrating the API library into the application, Servo commands can be sent from an application without considering shared memory. Simple motion control can be performed without considering the configuration and detailed settings of shared memory. The operating system that can be used is limited by the device driver that is provided and API restrictions. The API functions are compatible with RTLinux and VenturCom RTX. The following tables list the supported API functions. (1) Initial Processing API Functions No Description API Function Command 1 Connects Controller ymcopencontroller 2 Initializes API resources ymcinitializeapithread 3 Releases API resources ymcreleaseapithread 4 Sets an interrupt ymcsetinterrupt 5 Waits for an interrupt ymcwaitinterrupt 6 Sets API timeout value ymcsetapitimeoutvalue 7 Gets version ymcgetversion 8 Resets Controller ymcresetcontroller 001h 9 Turns ON/OFF sync ymcconnectcontrol 002h/003h 10 Sets up encoder ymcsetupencoder 004h 11 Disconnects Controller ymcclosecontroller (RTX version only) (2) Parameter API Functions No Description API Function Command 1 Sets basic parameters ymcsetstandardparameter 010h 2 Writes parameter block ymcsetparameterblock 011h 3 Reads parameter block ymcgetparameterblock 012h 4 Writes Servo parameter ymcsetservoparameter 013h 5 Reads Servo parameter ymcgetservoparameter 014h 6 Writes bank data ymcsetbankdata 019h 5 (3) System API Functions No Description API Function Command 1 Resets position ymcdefineposition 015h 2 Writes I/O data ymcsetiodata 030h 3 Reads I/O data ymcgetiodata 4 Sets pass position ymcsetpassposition 040h 5 Resets pass position ymcresetpassposition 041h 6 Switches gain ymcchangegain 046h 7 Sets gantry axis ymcsetgantryaxis 047h 8 Resets gantry axis ymcresetgantryaxis 048h 9 Turns ON/OFF opposing beam interference check ymcinterferecontrol 049h/04Ah 10 Registers pass action ymcsetpassaction 04Bh 11 Turns Servo ON/OFF ymcservocontrol 100h 12 Clears Servo alarm ymcclearservoalarm 109h 13 Emergency stop ymcstopmotion 110h 14 Turns ON/OFF axis hold ymcaxisholdcontrol 111h/112h 15 Sets Servodrive direct command ymcsetdirectcommand 300h 16 Reads shared memory ymcreaddpram 17 Writes to shared memory ymcwritedrpam 18 Monitors torque limit ymcwatchtorquelimit 004Ch 5-7

56 5 Software Specifications API Mode (4) Motion API Functions No Description API Function Command 1 Turns ON/OFF speed control mode ymcvelocitymodecontrol 042h/043h 2 Turns ON/OFF torque control mode ymctorquemodecontrol 044h/045h 3 Zero-point return ymcmovehomeposition 200h 4 Adjusts gain ymcmovegainadjust 209h 5 Positioning ymcmovepositioning 210h 6 Positioning in time ymcmoveintimepositioning 211h 7 External positioning ymcmoveexternalpositioning 213h 8 Return positioning ymcmoveroundtrip 214h 9 Linear interpolation ymcmovelinear 220h 10 Circular interpolation ymcmovecircularcenter 222h 11 Pass position interpolation with the same speed ymcmovepasspoint 223h 12 Starts jogging ymcmovejog 230h 13 Stops jogging ymcstopjog 231h 14 Pulse jogging ymcmovepulsejog 232h 15 Changes moving speed ymcchangedynamics 240h (5) Monitor API Functions No Description API Function Command 1 Monitors position ymcgetposition 2 Monitors speed ymcgetvelocity 3 Monitors status ymcgetstatus 4 Sets monitor selection ymcsetmonitorselect 5-8

57 5.3 Shared Memory Specifications 5.3 Shared Memory Specifications Shared Memory Details The entire configuration of the shared memory is shown in Table 5.3 Shared Memory Address Map. For MP2110M, shared memory exists separately for base board and sub-board. The memory map is the same for both CPUs. Table 5.3 Shared Memory Address Map Addresses and Offset 0000h to 01FFh [200h] 0200h to 073Fh [540h] 0740h to 0DFFh [6C0h] 0E00h to 0FFFh [200h] 1000h to 12FFh [300h] 1300h to 15FFh [300h] 1600h to 48FFh [3300h] 4900h to 4BFFh [300h] 4C00h to 4EFFh [300h] 4F00h to 4FFFh [100h] 5000h to 7EFFh [2EFEh] 7F00h to 7FFFh [100h] System Area Allocation MECHATROLINK Mode Area Send Area (32 bytes) + Receive Area (32 bytes) 21 stations Reserved by system. Shared Area Station 1 Area Station 2 Area (Omitted) Stations 3 to h (Area for 1 station) 17 stations 3300h Station 20 Area Station 21 Area Reserved by system. Trace Buffer Reserved by system

58 5 Software Specifications Shared Memory Details (1) System Area The configuration and details of the System Area are as shown below. (a) System Area Configuration Table 5.4 System Area Address A +C +E 000H Initial Condition Host Watchdog Timeout Time Controller ID ROM Version 010H Function CERF Cycle Retry Boot ROM Version Reserved by system. Model Code 020H 030H Reserved by system. 040H Station Connection Data Station 1 Station 2 Station 3 Station 4 Station 5 Station 6 050H Station 7 Station 8 Station 9 Station 10 Station 11 Station 12 Station 13 Station H Station 15 Station 16 Station 17 Station 18 Station 19 Station 20 Station H 080H 090H 0A0H 0B0H 0C0H 0D0H 0E0H 0F0H 100H 110H Reserved by system. RUN Counter Write Status Controller Status 1 120H Report Status 130H ERR Station Data 140H 5 inputs 4 outputs 150H 160H 170H 180H 190H 1A0H 1B0H 1C0H 1D0H 1E0H 1F0H Reserved by system. Controller Status 2 CERF_ STS Reserved by system. CERF_ ESTS Host Watchdog Reserved by system. Trace Axis Selection (MECHATROLINK mode only) 5-10

59 5.3 Shared Memory Specifications (b) Member Names Table 5.5 Shared Memory Member Names System Area Member Name Data Type Offset Name InitStatus USHORT 000H Initialization Status CndtnSetFlg USHORT 002H Condition Set Flag HostWDTTimer USHORT 004H Host Watchdog Timeout Value BoardID USHORT 006H Controller ID RomVer DOUBLE 008H ROM Version ModeSelect; USHORT 010H Function Selection CerfData USHORT 012H JL080 Data Setting CycleTime USHORT 014H Communication Cycle RtryNum USHORT 016H Number of Retry Stations BootVer ULONG 018H Boot ROM Version Rsv01Ch USHORT 01Ch Reserved by system. ModelCode USHORT 01Eh Model Code Rsv020h[16] USHORT [16] 020H to 3FH Reserved by system. InfCnctSt ULONG 040H Station Connection Data SetModule[21] USHORT [21] 044H to 06DH Station Type RsvSetModule[9] USHORT [9] 06EH to 07FH Reserved by system. Rsv080h[32] USHORT [32] 080H to 0BFH Reserved by system. Rsv0C0h[32] USHORT [32] 0C0H to 0FFH Reserved by system. RunCount USHORT 100H RUN Counter BoardSts1 USHORT 102H Controller Status 1 BoardSts2 USHORT 104H Controller Status 2 StatusCerf USHORT 106H CERF Status ErrStatusCerf USHORT 108H CERF Error Status HostWDT USHORT 10AH Host Watchdog TraceAxisSelect ULONG 10CH Trace Axis Selection (MECHATROLINK mode only) StatusWrite ULONG 110H Write Status Rsv0114h[3] ULONG 114H to 11FH Reserved by system. StatusReport ULONG 120H Report Status Rsv0124h[3] ULONG 124H to 12FH Reserved by system. ErrStation ULONG 130H Error Station Data Rsv0134h[3] ULONG [3] 134H to 13FH Reserved by system. Di5 USHORT 140H Five Digital Inputs Do4 USHORT 142H Four Digital Outputs Rsv144h[6] USHORT [6] 144H to 14FH Reserved by system. Rsv150h[88] USHORT [88] 150H to 1FFH Reserved by system

60 5 Software Specifications Shared Memory Details (c) Details of Area Reserved by System Addresses: 000h to 008h Table 5.6 Area Reserved by System (1) Address Size Name Description 000h 2 bytes Initialization Status Area 002h 2 bytes Condition Set Flag 004h 2 bytes Host Watchdog Timeout Time * 2 0Ah: DPRAM cleared (written by MP2110/MP2110M) 5Ah: MP System Ready (written by MP2110/MP2110M) A5h: Host System Ready (written by host computer) 44h: Connected Module error (written by MP2110/MP2110M) D0: Write Completed Flag 1 = Setting completed; 0 = Not set * 1 Unit: 1 (1 communication cycle) Setting range: 0 to h 2 bytes Controller ID * 3 (Up to 4 MP2110/MP2110Ms can be mounted, so each MP2110/ MP2110M is assigned a number from 1 to 4.) Stores the Controller ID and CPU number. Assign 0 or 1 as CPU number (uppermost byte). 008h 8 bytes ROM Version Stores the system software version. * 1. Condition Set Flag Write Completed Flag (D0): During initial processing, the host computer turns ON this flag after data has finished being written to shared memory. * 2. Host Watchdog Timeout Time Sets the time for the host watchdog timeout. If the host watchdog timeout time is set to 1 or higher, host watchdog monitoring from the MP2110/ MP2110M is enabled. If the host watchdog timeout time is set to 0, host watchdog monitoring is disabled. The MP2110/MP2110M starts host watchdog monitoring after A5h is set in the Initialization Status Area after completion of initial processing by the host computer. If the Host Watchdog Area is not refreshed when the host watchdog timeout time is exceeded, the host computer will determine that control is not functioning, perform emergency stop processing (command type setting: 0) for all axes, and write 34 (Host Watchdog Error) to shared memory. When using I/O Modules, settings are saved when a host watchdog timeout occurs. * 3. Controller ID Stores the Controller ID. Up to four MP2110/MP2110Ms can be mounted at the same time, so the number of the MP2110/ MP2110M is set using the DIP switch. The DIP switch settings are obtained in the initial sequence and set in the Controller ID Area of shared memory. The CPU number is set in the uppermost byte for MP2110M. Base boards: 00 h Sub-boards: 01 h 5-12

61 5.3 Shared Memory Specifications Addresses: 010h to 018h Table 5.7 Area Reserved by System (2) Address Size Name Description 010h 2 bytes Function Selection 012h 014h 2 bytes 2 bytes CERF Data Setting (Cerf Data) Communication Cycle (Cycle Time)* D0: Function Mode 0 = Command mode; 1 = MECHATROLINK mode D1: Response interrupts 0 = Disabled; 1 = Enabled D2: MECHATROLINK response 0 = Disabled; 1 = Enabled D4: Emergency stop I/O 0 = Without I/O processing; 1 = With I/O processing D5: Reserved by system (Always 0) D7: Response semaphore 0 = Disabled; 1 = Enabled D8: Response factor selection 0 = Code response; 1 = Bit response D0: Size 0 = 17 bytes; 1 = 32 bytes D1: Type 0 = MECHATROLINK-I; 1 = MECHATROLINK-II D3: C2 Master 0 = Without C2 Master; 1 = With C2 Master 125 µs N (N: 1 to 32) 016h 2 bytes Number of Retry Stations (ReTry) 7 stations max. 018h 4 bytes Boot ROM Version Software version for boot area 01Eh 2 bytes Model Code 1: MP2110 2: MP2110M * Set to 8 for 1 ms. (125 µs µs) Function Selection Function Mode (D0): Select the command mode (0) or MECHATROLINK mode (1). Response Interrupt (D1): By turning ON the Response Interrupt when using the command mode, interrupt signals will be returned to the host computer from the MP2110/ MP2110M for the command completion response and error response. The interrupt is returned when D0 (Response Interrupt) for the interrupt signal (7FFCh) is turned ON. Set Response Interrupt to OFF when using MECHATROLINK mode. MECHATROLINK Response (D2): Select whether to return or mask response sent from the MP2110/ MP2110M to the host computer every MECHATROLINK cycle. The response occurs directly after the host computer is set to Host Ready. When D2 is set to ON, Report Status D30 turns ON when the Controller s MECHATROLINK interrupt processing has finished. When D1 and D2 are ON, an interrupt is returned to the host computer when the Controller s MECHATROLINK interrupt processing has finished. No MECHATROLINK response is returned, however, when a response semaphore is used to buffer the response at the Controller. Emergency Stop I/O (D4): Select whether to use local input DI_00 for emergency stops in the MP2110/ MP2110M system. When set to OFF, I/O is not used to perform emergency stop processing. When set to ON, I/O is used to perform emergency stop processing. This input signal indicates emergency stop status when it is OFF and emergency stop reset status when it is ON

62 5 Software Specifications Shared Memory Details Response Semaphore (D7): Enabled with command and API mode. Set Response Semaphore to ON for the MP2110/MP2110M to determine whether or not the host computer is waiting for a response, and to send a response or write to the shared memory accordingly. When Report Status D31 = 0, the MP2110/MP2110M recognizes that the host computer is waiting for a response and writes a response to shared memory. If Report Status D31 is not 0, the MP2110/MP2110M recognizes that the host computer cannot receive a response. The MP2110/ MP2110M does not write a response to shared memory and waits for Report Status D31 = 0. (When API mode is used, the driver automatically changes the Report Status to ON or OFF, so the user does not have to be aware of whether the Report Status is ON or OFF.) MP2110/MP2110M processing Host computer processing Writing from MP2110/ MP2110M enabled? (0: Enabled, 1: Disabled) Semaphore enabled? StatusReport D31 = 0? Yes (= 0) Yes DPRAM Writes response NO Reading from host computer enabled? (0: Disabled, 1: Enabled) Status Report D31 = 1? Yes Host Read DPRAM response StatusReport D31 =1 0 Host computer clears D Status Report D31 = 0 1 MP2110/MP2110M turns ON D Note: The MP2110/MP2110M can buffer 60 responses per axis. If the number of responses reaches 61 or more because the host computer cannot receive responses, 37: Response Buffer Overflow will be set in Error Status 1 in the Individual Axis Area. If this error occurs, subsequent responses will be lost because they cannot be buffered. To prevent this error, program the host computer to quickly receive responses and set Report Status D31 to 0. Response Factor Selection (D8): Response Factor Selection is enabled for command and API modes. Set Response Factor Selection to OFF to set Response Factor in the Individual Axis Area using response codes. If multiple responses are detected for one axis within one communication cycle, (e.g., near or coincidence), the responses are returned over multiple communication cycles. Set Response Factor Selection to ON to set the Response Factor in the Individual Axis Area using response bits. Even if multiple responses are detected for one axis in one communication cycle, all responses can be returned to the host computer within one communication cycle. Refer to the description of Response Factors for the Individual Axis Area for details on response codes and response bits. CERF Data Setting Communication Data Format (D0): 0 = 17 bytes; 1 = 32 bytes Communication Speed (D1): 0 = MECHATROLINK-I; 1 = MECHATROLINK-II C2 Master (D3): Set when operating SigmaWin from a notebook computer using MECHATROLINK communication. 0 = None; 1 = Yes INFO It is recommended that MECHATROLINK-II 17-byte format be used to initialize the MP2110/MP2110M board. The SERVOPACK piano switch settings will need to be matched to the CERF data settings. 1: ON (MECHATROLINK-II) 2: OFF (17-byte format) 3: 1 to 15 stations: OFF; 16 to 31 stations: ON 4: OFF 5-14

63 5.3 Shared Memory Specifications EXAMPLE Communication Cycle The communication cycle can be set to a multiple of 125 µs. Set the set value to the value of N, where N = Communication cycle/125 µs. For MP2110M, set 0.5 ms, 1 ms, or 2 ms for base board and sub-board. Communication Cycle Set Value (N) Calculated Value 0.5 ms µs = 125 µs ms µs = 125 µs ms µs = 125 µs 16 Note: When connecting MECHATROLINK-I devices, set the communication cycle to 2.0 ms (N: 16). Number of Retry Stations If an error occurs in MECHATROLINK communication, the number of stations to retry can be specified for the remaining communication time. Up to seven stations can be specified but the number is determined by the number of connected axes. Addresses: 040h to 07Fh Table 5.8 Area Reserved by System (3) Address Size Name Description 040h 4 bytes Station Connection Data Bit data for D0 to D20 0: Station not connected.; 1: Station connected. 044h to 07Fh 60 bytes Station Module Data 2 bytes 21 stations Station Connection Data The host computer turns ON the bits corresponding to the connected stations. The MP2110/MP2110M executes send and receive processing only for the stations for which the corresponding bits are ON. Station Module Data The host computer sets the data for the Module connected to each station. (See Table 5.9 Station Data and Table 5.10 Module Codes.) Table 5.9 Station Data 5 Not used Module code 1 byte 1 byte Table 5.10 Module Codes Module SV I/O Inverter Module Code 40h 60h C0h INFO If the specified Module is different from the Module actually connected during configuration in initialization processing, a Connected Module Mismatch Error will occur at the MP2110/MP2110M. Check the connected Module, reset the data, and then restart the MP2110/MP2110M. 5-15

64 5 Software Specifications Shared Memory Details Addresses: 100h to 10Ah Table 5.11 Area Reserved by System (4) Address Size Name Description 100h 2 bytes RUN Counter Counts during RUN. 102h 2 bytes Controller Status 1 D0: CPU handshake error (for MP2110M only) D1: MECHATROLINK alarm D2: RAM error D3: Host RAM error D4: JL-080 error D5: Division-by-zero error D6: Processing overflow error D7: Illegal interrupt error D8: Watchdog error D9: SYS FAIL error D10: AC FAIL error D11: NMI illegal interrupt error D12: RAM diagnosis error D13: ROM diagnosis error D14: CPU function diagnosis error D15: FPU function diagnosis error 104h 2 bytes Controller Status 2 D0: Connected module mismatch error D1: Checksum error D2: D3: Address read error D4: Address write error D5: FPU error D6: General illegal command error D7: Slot illegal command error D8: General FPU suppression error D9: Slot FPU suppression error D10: TLB multi-bit error D11: TLB read error D12: TLB write error D13: TLB protection read violation D14: TLB protection write violation D15: First page write error 106h 2 bytes CERF Status CERF status 108h 2 bytes CERF Error Status Error status when CERF error occurs 10Ah 2 bytes Host Watchdog Host watchdog counter RUN Counter Automatically counts the time from when the power is turned ON for the MP2110/MP2110M every MECHATROLINK cycle. Controller Status 1 These bits are turned ON mainly when MP2110/MP2110M hardware errors occur. Response for interrupts cannot be returned to the host computer when errors occur. Use polling to constantly monitor this area, as required. Controller Status 2 These bits are turned ON mainly when MP2110/MP2110M software errors occur. Response for interrupts cannot be returned to the host computer when errors occur. Use polling to constantly monitor this area, as required. CERF Status Stores the status of JL-080. This area is used internally by the MP2110/MP2110M, and does not generally require monitoring by the host computer. 5-16

65 5.3 Shared Memory Specifications CERF Error Status Stores errors detected in the JL-080. This area is used internally by the MP2110/MP2110M, and does not generally require monitoring by the host computer. Host Watchdog When the Host Watchdog Timeout Time is set to 1 or higher, the host computer s operating status can be monitored by the MP2110/MP2110M. When the function is enabled, the host computer must refresh data in this area within the specified Host Watchdog Timeout Time. If a timeout occurs, a host computer control malfunction is determined and emergency stop processing for all axes (mode 0) is performed. Address: 110h Table 5.12 Area Reserved by System (5) Address Size Name Description 110h 4 bytes Write Status D0 to D20: Specified station present 0 = No; 1 = Yes D30: Control on MP2110/MP2110M 0 = No; 1 = Yes D31: 0 = Write enabled; 1 = Write disabled Write Status (D31) 0: Write enabled at host computer; Read disabled at MP2110/MP2110M 1: Write disabled at host computer; Read enabled at MP2110/MP2110M The Write Status is used to write commands in shared memory for axes. The MP2110/MP2110M performs command processing only for the stations to which the commands are specified. Bit D31 is used along with the station bits to create an exclusive interlock in shared memory of the host computer and MP2110/MP2110M. The Write Status is used for both MECHATROLINK mode and command mode. The following procedure is used to set bits when the host computer writes data to shared memory. i) The host computer turns ON the bit corresponding to the station to receive the command. ii) After the host computer writes data to shared memory, it sets bit D31 in the Write Status to 1 to disable writing and 1 is written to 7FFEh. iii) The MP2110/MP2110M reads the data in shared memory (copies the data to internal RAM for the station corresponding to the ON bit) and clears bit D31 in the Write Status to 0 to enable writing by the host computer again. 5 Writing from the Host Computer Reading from the MP2110/MP2110M No WriteStatus = 0? Yes Writing from host computer enabled? (0: Enabled, 1: Disabled) No Reading from MP2110/MP2110M enabled? (0: Disabled, 1: Enabled) WriteStatus = 1? Yes Host computer Shared memory Write Shared memory RAM Read WriteStatus 0 1 Host computer turns ON D WriteStatus 1 0 MP2110/MP2110M clears D FFEh 1 Host interrupt sent to the MP2110/MP2110M. 5-17

66 5 Software Specifications Shared Memory Details Address: 120h Table 5.13 Area Reserved by System (6) Address Size Name Description 120h 4 bytes Report Status D0 to D20: Specified Station Present 0 = No; 1 = Yes D30: MECHATROLINK response 0 = No; 1 = Yes D31: 0 = Report enabled; 1 = Report disabled Report Status (D31) 0: Write enabled at MP2110/MP2110M; Read disabled at host computer 1: Write disabled at MP2110/MP2110M; Read enabled at host computer Bit D31 is used along with the station bits to create an interlock when data is read from shared memory by the host computer. This area is used for both MECHATROLINK mode and command mode. A station bit is turned ON when an error response, completion response, or other response is received from the station. The following procedure is used when the MP2110/MP2110M writes data to shared memory, and the host computer reads the data. i) The MP2110/MP2110M turns ON the bit corresponding to the station sending the report. ii) The MP2110/MP2110M writes data to shared memory, sets bit D31 in the Report Status is set to 1 to disable reporting and complete write processing. iii) The host computer reads the data in shared memory (copies the data to internal RAM for the station corresponding to the ON bit) and clears bit D31 in the Report Status to enable reporting again. No Writing from the MP2110/MP2110M Writing from MP2110/MP2110M enabled? (0: Enabled; 1: Disabled) No ReportStatus = 0? Yes Reading from the Host Computer Reading from host computer enabled? (0: Disabled; 1: Enabled) ReportStatus = 1? Yes RAM Shared memory Write Shared memory Host computer Read Report Status 0 1 MP2110/MP2110M turns ON D Report Status 1 0 Host computer clears D Address: 130h Table 5.14 Area Reserved by System (7) Address Size Name Description 130h 4 bytes Error Station Data Bit data for D0 to D20: Bit turns ON for axis where error occurred. Error Station Data Bit turns ON for station where error occurred. These bits turn ON for all errors/alarms that occur, such as connected Module mismatch errors during initial processing and MECHATROLINK alarms. 5-18

67 5.3 Shared Memory Specifications Addresses: 140h to 142h Table 5.15 Area Reserved by System (8) Address Size Name Description 140h 2 bytes Five digital inputs D0: DI1, D1: DI2,... D4: DI5 142h 2 bytes Four digital outputs D0: DO1, D1: DO2,... D3: DO4 Five Digital Inputs The input status of I/O connected locally to the MP2110/MP2110M is output in this area. This area cannot be set from the host computer. When using the MP2110M, this area changes on the base board but not on the sub-board. Four Digital Outputs The output status of I/O connected locally to the MP2110/MP2110M is set in this area. This area can be set from the host computer. When using the MP2110M, this area changes on the base board but not on the sub-board

68 5 Software Specifications Shared Memory Details (2) MECHATROLINK Mode Area The MECHATROLINK Mode Area is used only when MECHATROLINK mode is specified. This area is not used for the command mode. The format of the Send Area and Receive Area is format used for MECHATROLINK. Table 5.16 MECHATROLINK Mode Area Address Offset 200h to 21Fh 220h to 23Fh 240h to 25Fh 260h to 27Fh 280h to 29Fh 2A0h to 2BFh 2C0h to 2DFh 2E0h to 2FFh 300h to 31Fh 320h to 33Fh 340h to 35Fh 360h to 37Fh 380h to 39Fh 3A0h to 3BFh 3C0h to 3DFh 3E0h to 3FFh 400h to 41Fh 420h to 43Fh 440h to 45Fh 460h to 47Fh 480h to 49Fh 4A0h to 4BFh 4C0h to 4DFh 4E0h to 4FFh 500h to 51Fh 520h to 53Fh 540h to 55Fh 560h to 57Fh 580h to 59Fh 5A0h to 5BFh 5C0h to 5DFh 5E0h to 5FFh 600h to 61Fh 620h to 63Fh 640h to 65Fh 660h to 67Fh 680h to 69Fh 6A0h to 6BFh 6C0h to 6DFh 6E0h to 6FFh 700h to 71Fh 720h to 73Fh Station 1 Station 2 Station 3 Station 4 Station 5 Station 6 Station 7 Station 8 Station 9 Station 10 Station 11 Station 12 Station 13 Station 14 Station 15 Station 16 Station 17 Station 18 Station 19 Station 20 Station 21 Description Send Area Receive Area Send Area Receive Area Send Area Receive Area Send Area Receive Area Send Area Receive Area Send Area Receive Area Send Area Receive Area Send Area Receive Area Send Area Receive Area Send Area Receive Area Send Area Receive Area Send Area Receive Area Send Area Receive Area Send Area Receive Area Send Area Receive Area Send Area Receive Area Send Area Receive Area Send Area Receive Area Send Area Receive Area Send Area Receive Area Send Area Receive Area 5-20

69 5.3 Shared Memory Specifications Note: An addition checksum of one byte is added to the 17-byte or 32-byte format commands for the Send Areas shown in Table 5.16 MECHATROLINK Mode Area. The additional byte becomes byte 17 or byte 32. When writing from the host computer to a Send Area in 17-byte format, add the data for byte 1 to byte 16, and store the result in byte 17. When writing from the host computer to a Send Area in 32-byte format, add the data for byte 1 to byte 31, and store the result in byte 32. If the checksum is incorrect when the MP2110/ MP2110M confirms the contents of the Send Area, the error status is set and the command will not be sent to the Servodrive. (See Table 5.17 Example of a 17-byte Format.). EXAMPLE Table 5.17 Example of a 17-byte Format Byte Send Area Receive Area 01 INTERPOLATE (34H) INTERPOLATE (34H) 02 Alarm Option Status Interpolation position Monitor Speed feed forward Monitor 2 13 Monitor 2 selection Monitor 1 selection Monitor 2 selection Monitor 1 selection I/O signal 16 WDT RWDT 17 Checksum

70 5 Software Specifications Shared Memory Details (3) Shared Area The configuration of the Shared Area is shown in Table 5.18 Shared Area for Command Mode and Table 5.19 Member Names in Shared Area for Command Mode. Table 5.18 Shared Area for Command Mode A +C +E 000H Interrupt Mask Reserved by system. 010H Interpolation Speed Linear Acceleration Time Constant Linear Deceleration Time Constant Table 5.19 Member Names in Shared Area for Command Mode Maximum Feed Speed 020H MP Reporting Reserved by system. Host Reading Reserved by system. 030H 040H to 1F0H Interpolation S-curve Reserved by system. Reserved by system. Member Name Data Format Offset Name IntMask ULONG 000h Interrupt Mask IntpltSpd ULONG 010h Interpolation Speed TimStAdd ULONG 014h Linear Acceleration Time Constant TimStDec ULONG 018h Linear Deceleration Time Constant SendMaxSpd ULONG 01Ch Maximum Feed Speed MPReporting ULONG 020h MP2110 Writing HostReading ULONG 028h Host Reading SValue USHORT 030h Interpolation S-curve IntpFunc USHORT 032h Interpolation function Rsv034h[xxx] UCHAR [xxx] 034H to 1F0h Reserved by system. 5-22

71 5.3 Shared Memory Specifications Table 5.20 Details of Shared Area for Command Mode Address Size Name Description 000h 4 bytes Interrupt Mask Sets whether to mask interrupts from the MP2110/ MP2110M to the host computer for each station, such as those for completion responses and error responses. D0: Station 1 interrupt mask D1: Station 2 interrupt mask D2: Station 3 interrupt mask D3: Station 4 interrupt mask D4: Station 5 interrupt mask D5: Station 6 interrupt mask D6: Station 7 interrupt mask D7: Station 8 interrupt mask D8: Station 9 interrupt mask D9: Station 10 interrupt mask D10: Station 11 interrupt mask D11: Station 12 interrupt mask D12: Station 13 interrupt mask D13: Station 14 interrupt mask D14: Station 15 interrupt mask D15: Station 16 interrupt mask D16: Station 17 interrupt mask D17: Station 18 interrupt mask D18: Station 19 interrupt mask D19: Station 20 interrupt mask D20: Station 21 interrupt mask D21 to D31: Reserved by system. 004h to 00Fh 12 bytes Reserved by system. 010h 4 bytes Interpolation Speed Sets the interpolation speed. 014h 4 bytes Linear Acceleration Time Constant Sets the interpolation acceleration time constant. 018h 4 bytes Linear Deceleration Time Constant Sets the interpolation deceleration time constant. 01Ch 4 bytes Maximum Feed Speed Sets the maximum feed speed for interpolation. 020h 4 bytes MP Reporting D0 to D20: Specified station ON = MP2110/MP2110M writing Host computer reading disabled 024h 4 bytes Reserved by system. 028h 4 bytes Host Reading D0 to D20: Specified station ON = Host computer reading MP2110/MP2110M writing disabled 02Ch 4 bytes Reserved by system. 030h 2 bytes Interpolation S-curve 032h 2 bytes Interpolation Function 034h to 1FFh 460 bytes Reserved by system. Sets an S-curve for interpolation (S-curve by the MP2110/MP2110M). D0: Interpolation positioning 1 = Enabled; 0 = Disabled 5 MP Reporting 0: Not writing at MP2110/MP2110M; Reading enabled at host computer 1: Writing at MP2110/MP2110M; Reading disabled at host computer Host Reading 0: Writing enabled at MP2110/MP2110M; Not reading at host computer 1: Writing disabled at MP2110/MP2110M; Reading at host computer 5-23

72 5 Software Specifications Shared Memory Details These bits are used to create interlocks to prevent reading/writing the axis Monitor Areas (position, status, etc.) from both the MP2110/MP2110M and host computer. The following procedure is used to read data from the shared memory from the host computer. i) The bit corresponding to the station being read from the host computer is set to indicate reading and the Host Reading bit is turned ON. ii) A check is made to see if reading is enabled for the station (i.e., to see if the MP2110/MP2110M is writing). MP Reporting = OFF? Reading enabled: MP Reporting OFF Monitor Area in the Shared Memory is read. Reading disabled: MP Reporting ON Shared Memory is not read (MP2110/MP2110M is writing). iii) All bits for reading from the host computer are turned OFF and the Host Reading bit is turned OFF. Writing from the MP2110/MP2110M Reading from the Host Computer No MPReporting ON HostReading =0? Yes RAM Shared memory Write Writing from MP2110/MP2110M enabled? (0: Enabled, 1: Disabled) No HostReading ON MPReporting =0? Yes Shared memory Host computer Read Reading from host computer enabled? (0: Enabled, 1: Disabled) MPReporting OFF MP2110/MP2110M turns OFF bit. HostReading OFF Host computer turns OFF bit. 5-24

73 5.3 Shared Memory Specifications Monitor Parameters (4) Areas for Stations 1 to 21 The configuration and details of the Shared Area are shown in Table 5.21 Axis Areas for Command Mode. (a) Axis Areas for Command Mode Table 5.21 Axis Areas for Command Mode Offset A +C +E 000 MP ID 010h 020h 030h 040h 050h Reserved by system. Response Command SERVOPACK SERVOPACK Alarm History Alarm Code SERVOPACK Model Servomotor Model Application Module Model SERVOPACK Software Version Encoder Software Version Application Module Software Version Response Factor Error Status 1 Reserved by system. Error Address Reserved by system. 060h Command Current Position Actual Current Position Command Speed 070h 080h 090h to 0BFh 0C0h 0D0h 0E0h 0F0h I/O Monitor Actual Speed Reserved by system. Servodrive Status Direct Command Send Area Direct Command Receive Area Operating Status 1 Command Current Position General-purpose Monitor 1 Reserved by system. Error Status 2 Current Error Reserved by system. Maximum Error General-purpose Monitor

74 5 Software Specifications Shared Memory Details Table 5.21 Axis Areas for Command Mode (cont d) Setting Parameters Command Data Offset A +C +E 100h 110h HOST ID Unit/Function Selection Reserved by system. Gain Switch Timer Command Option Target Position Command Speed Positioning Timeout Value Bank Selection End Position Center Position 120h Pass Position Approach Width Jog Speed Positioning Time 130h Zero-point Return Maximum Speed Zero-point Return Creep Speed Zero-point Return Mode Zero-point Return Deceleration Distance Hold Timer Reserved by system. 140h Reserved by system. Phase-C Interval Pulse Command Torque Interpolation Emergency Stop Deceleration Time Constant 150h Pass Parameter 1 Pass Parameter 2 Pass Parameter 3 Pass Parameter 4 160h Pass Parameter 5 Pass Parameter 6 Pass Parameter 7 Pass Parameter 8 170h Action No. Action Specified Axis Action Command Action Option 180h General Working Area 10 General Working Area h 1A0h 1B0h to 21F 220h 230h to 25F 260h 270h 280h General Working Area 1 Starting No. General Working Area 2 Parameter Selection Transfer Parameter 7 to 62 Transfer Parameter 63 Reserved by system. Trace Selection Status Setting Exponential Acceleration/ Deceleration Bias Transfer Parameter 64 Monitor Selection Step 1 Acceleration Exponential Acceleration/ Deceleration Time Constant General Working Area 3 Transfer Parameter 1 General Working Area 4 Transfer Parameter 2 Reserved by system. Servo ON Timer Rated Speed Servo OFF Timer Step 2 Acceleration Acceleration Switch Speed Jog Pulse Reserved by system. Transfer Parameter 3 Gantry Axis Maximum Error Step 1 Deceleration Reserved by system. Transfer Parameter 4 Transfer Parameter 5 Reserved by system. NEAR Signal Width Step 2 Deceleration Deceleration Switch Speed Transfer Parameter 6 S-curve Parameter Positioning Completed Width 290h Software Limit (+) Software Limit ( ) Gain 1 Gain 2 Gain 3 Gain 4 2A0h Gain 5 Gain 6 Gain 7 Gain 8 Gain 9 Gain 10 Gain 11 Gain 12 2B0h Gain 13 2C0h 2D0h to 2F0h Mass Reserved by system. Emergency Stop Mode Sync Control Gain Maximum Error (Position Error Exceeded Alarm Level) Maximum Torque Reserved by system. External Positioning Travel Distance Reserved by system. 5-26

75 5.3 Shared Memory Specifications (b) Member Names in the Axis Areas for Command Mode Table 5.22 Member Names in the Axis Areas for Command Mode Member Name Data Format Offset Name MPCmdID USHORT 000h MP2110/MP2110M Command ID Rsv002h USHORT 002h Reserved by system. AnsCommand USHORT 004h Response Command AnsFactor USHORT 006h Response Factor ErrStatus1 USHORT 008h Error Status 1 ErrAddress USHORT 00Ah Error Address ErrStatus2 USHORT 00Ch Error Status 2 Rsv00Eh USHORT 00Eh Reserved by system. ServeAlm USHORT 010h SERVOPACK Alarm ServoAlmHist1 USHORT 012h SERVOPACK Alarm History 1 ServoAlmHist2 USHORT 014h SERVOPACK Alarm History 2 ServoAlmHist3 USHORT 016h SERVOPACK Alarm History 3 Rsv018h[4] USHORT 018h Reserved by system. TypeSvPack[16] UCHAR 020h SERVOPACK Model TypeMotor[16] UCHAR 030h Servomotor Model TypeOption[16] UCHAR 040h Application Module Model VerSvPack USHORT 050h SERVOPACK Software Version VerMotor USHORT 052h Encoder Software Version VerOption USHORT 054h Application Module Software Version Rsv056h[5] USHORT 056h Reserved by system. CmdPos LONG 060h Command Current Position CurPos LONG 064h Actual Current Position SetSpd ULONG 068h Command Speed CurDef SHORT 06Ch Current Error MaxDef SHORT 06Eh Maximum Error IOMoni USHORT 070h I/O Monitor DrvStatus USHORT 072h Servodrive Status ActStatus ULONG 074h Operating Status GnrlMonitr1 ULONG 078h General-purpose Monitor 1 GnrlMonitr2 ULONG 07Ch General-purpose Monitor 2 CurSpd LONG 080h Actual Speed DrvCmdPos LONG 084h Command Current Position Rsv088h[28] USHORT 088h to 0BFh Reserved by system. DrctCmd SendM- Link[32] RecvM- Link[32] STR_TOKA _ST UCHAR[32] 0C0h to 0DFh Send Data UCHAR[32] 0E0h to 0FFh Receive Data HOSTCmdID USHORT 100h Host Command ID Rsv102h USHORT 102h Reserved by system. Command USHORT 104h Command SubCommand USHORT 106h Option TargetPos LONG 108h Target Position ComSpeed LONG 10Ch Command Speed UnitSelect USHORT 110h Unit/Function Selection TimerKvChg USHORT 112h Kv Switch Timer TimerPos USHORT 114h Positioning Timeout Value BankSelect USHORT 116h Bank Selection EndPos LONG 118h End Position CenterPos LONG 11Ch Center Position PassPos LONG 120h Pass Position

76 5 Software Specifications Shared Memory Details Table 5.22 Member Names in the Axis Areas for Command Mode (cont d) Member Name Data Format Offset Name ApprWidth LONG 124h Approach Width JogSpeed ULONG 128h Jog Speed PosingTime ULONG 12Ch Positioning in Time ZretMaxSpd ULONG 130h Zero-point Return Maximum Speed ZretCreepSpd ULONG 134h Zero-point Return Creep Speed ZretMode USHORT 138h Zero-point Return Mode ZretDecDist USHORT 13Ah Zero-point Return Deceleration Distance HoldTimer USHORT 13Ch Hold Timer Rsv13Eh USHORT 13Eh Reserved by system. Rsv140h ULONG 140h Reserved by system. PulsCsou ULONG 144h Pulse-C Interval Pulse ComTorque LONG 148h Torque TimStDec2 ULONG 14Ch Interpolation Emergency Stop Deceleration Time Constant MidCoin[8] LONG 150h to 16Fh Pass Parameters 1 to 8 ActionPoint USHORT 170h Pass Position for Action ActAxis USHORT 172h Axis for Action Command ActCmd USHORT 174h Action Command ActSubCmd USHORT 176h Action Option PulsJog USHORT 178h Jog Pulse Rsv17Ah[3] USHORT 17Ah Reserved by system. GeneWork10 ULONG 180h General Working Area 10 GeneWork11 ULONG 184h General Working Area 11 Rsv188h[4] USHORT 188h Reserved by system. GeneWork1 USHORT 190h General Working Area 1 GeneWork2 USHORT 192h General Working Area 2 GeneWork3 USHORT 194h General Working Area 3 GeneWork4 USHORT 196h General Working Area 4 Rsv198h[4] USHORT 198h Reserved by system. TopAdr USHORT 1A0h Starting Address SelectCnPn USHORT 1A2h Cn-Pn Selection ParamSend[64] USHORT 1A4h to 223h Transfer Parameters 1 to 264 Rsv224h[6] USHORT 224h to 222F Reserved by system. Rsv230h[24] USHORT 230h to 225F Reserved by system. TraceSelect USHORT 260h Trace Selection MonSelect USHORT 262h Monitor Selection TimerSvOn USHORT 264h Servo ON Timer TimerSvOff USHORT 266h Servo OFF Timer GntrMaxDef USHORT 268h Gantry Axis Maximum Error Rsv26Ah[3] USHORT 26Ah to 26F Reserved by system. StatusSet USHORT 270h Status Setting Accel1 USHORT 272h Step 1 Acceleration Accel2 USHORT 274h Step 2 Acceleration SpdChgAccel USHORT 276h Acceleration Switch Speed Decel1 USHORT 278h Step 1 Deceleration Decel2 USHORT 27Ah Step 2 Deceleration SpdChgDecel USHORT 27Ch Deceleration Switch Speed SParam USHORT 27Eh S-curve Parameter ExpAccBias USHORT 280h ExpAccConst USHORT 282h Exponential Acceleration/Deceleration Bias Command Exponential Acceleration/Deceleration Time Constant 5-28

77 5.3 Shared Memory Specifications Table 5.22 Member Names in the Axis Areas for Command Mode (cont d) Member Name Data Format Offset Name ConstSpeed ULONG 284h Rated Speed NearWidth ULONG 288h NEAR Signal Width PSetWidth ULONG 28Ch Positioning Completed Width SftLmtP LONG 290h Positive Software Limit SftLmtM LONG 294h Negative Software Limit Gain1 USHORT 298h Gain 1 Gain2 USHORT 29Ah Gain 2 Gain3 USHORT 29Ch Gain 3 Gain4 USHORT 29Eh Gain 4 Gain5 USHORT 2A0h Gain 5 Gain6 USHORT 2A2h Gain 6 Gain7 USHORT 2A4h Gain 7 Gain8 USHORT 2A6h Gain 8 Gain9 USHORT 2A8h Gain 9 Gain10 USHORT 2AAh Gain 10 Gain11 USHORT 2ACh Gain 11 Gain12 USHORT 2AEh Gain 12 Gain13 USHORT 2B0h Gain 13 EmgStopMode USHORT 2B2h Emergency Stop Mode MaxDeflect ULONG 2B4h Maximum Error ExPosing Dist LONG 2B8h External Positioning Travel Distance Rsv2BCh[2] USHORT 2BCh Reserved by system. Weight USHORT 2C0h Mass TffGain USHORT 2C2h Torque Feed Forward Gain TrqMax USHORT 2C4h Maximum Torque Rsv2C6h[5] USHORT 2C6h to 2CF Reserved by system. Rsv2D0h[24] USHORT 2D0h to 2FF Reserved by system

78 5 Software Specifications Shared Memory Details (c) Status Details for Each Axis Using Command Mode Addresses: 000h to 0E0h Table 5.23 Status Details for Axes Using Command Mode (1) Address Size Name Description 000h 2 bytes Command ID 004h 2 bytes Response Command 006h 2 bytes Response Factor Returns from the MP2110/MP2110M the same number as the ID number from the host computer for the completion response. Stores the Command ID during execution for the command completion response and error response. Stores 0 for an error response when no command is executing. System Area selection (Response factor D8 = 0) 0010h: Completion 0100h: Coincidence 0101h: Near 0110h: Pass Position h: Pass Position h: Pass Position h: Pass Position h: Pass Position h: Pass Position h: Pass Position h: Pass Position h: Target Position Passed for Return Positioning 0122h: Torque Limiting -1: Error System Area selection (Response factor D8 = 1) D00: Error D01: Completion response D02: Coincidence D03: Near D04: Target Position Passed for Return Positioning D05: Torque Limiting D08 to D15: Pass Position 1 to 8 Detected 5-30

79 5.3 Shared Memory Specifications Table 5.23 Status Details for Axes Using Command Mode (1) (cont d) Address Size Name Description 008h 2 bytes Error Status 1 (decimal) 1: Servo Alarm 2: MECHATROLINK Disconnection 3: Negative Overtravel 4: Positive Overtravel 5: Negative Software Limit 6: Positive Software Limit 7: Servo ON Timeout Error 8: Servo OFF Timeout Error 9: Phase-C Interval Alarm 10: Phase-C Not Detected 11: DEC Signal Not Detected 12: Multiple DEC Signals Detected 13: Positioning Timeout 14: Error Overflow 15: SERVOPACK Warning Detected 16: Gantry Axis Error Overflow 17: Opposing Beam Interference Check 18: No Available Group 19: Command Axis Over/Under Error 20: Circular Interpolation Radius Error 21: Circular Interpolation Distance Overtravel 22: Slave Axis Unspecified Error (Gantry/Opposing Beam) 23: Duplication Error (Gantry/Opposing Beam) 24: Gantry Setting Error 25: Opposing Beam Interference Check Setting Error 26: Circular Interpolation Plane Designation Error 27: Zero-point Return C Positive OT Error 28: Zero-point Return C Negative OT Error 29: Module Mismatch Error 30: Servo Parameter Read/Write Timeout Error 31: Gantry Slave Axis Command Not Possible Error (Command to Master) 32: Emergency Stop by DI0, EXT1 33: Pass Point Constant-speed Interpolation Axis Error 34: Host Watchdog Error 35: Interpolation Overspeed 36: Drive Watchdog Error 37: Response Buffer Overflow 38: System Error 39: Main Power Supply Error 5 100: Illegal Parameter 101: Command Not Possible 102: Illegal Command 103: Illegal Command Axis 110: Status Transition Error: Initializing 111: Status Transition Error: Main Power Supply OFF 112: Status Transition Error: Setting Parameters 113: Status Transition Error: Positioning 114: Status Transition Error: Holding Axis 115: Status Transition Error: Checking Pass Position 116: Status Transition Error: Changing Speed 117: Status Transition Error: Zero-point Return 118: Status Transition Error: Speed Jogging 5-31

80 5 Software Specifications Shared Memory Details 008h (cont d) 2 bytes (cont d) Error status 1 (decimal) (cont d) 119: Status Transition Error: Pulse Jogging 120: Status Transition Error: Servo OFF 121: Status Transition Error: Stopping 122: Status Transition Error: Interpolating 123: Status Transition Error: Gantry Slave Axis Mode ON 124: Status Transition Error: Servodrive Alarm ON 125: Status Transition Error: Sync Not Established 126: Status Transition Error: Slave Interference 127: Status Transition Error: Overtravel, Interference, Gantry Alarm ON 128: Status Transition Error (Reserved by system.) 129: Status Transition Error (Reserved by system.) 130: Status Transition Error (Reserved by system.) 131: Status Transition Error (Reserved by system.) 132: Status Transition Error (Reserved by system.) 133: Status Transition Error (Reserved by system.) 134: Status Transition Error (Reserved by system.) 135: Status Transition Error (Reserved by system.) 136: Status Transition Error (Reserved by system.) 137: Status Transition Error: Moving 138: Status Transition Error: Emergency Stopping 139: Status Transition Error: Torque Control Mode ON 140: Status Transition Error: Speed Control Mode ON 141: Status Transition Error: Position Control Mode ON 00Ah 2 bytes Error Address Stores illegal parameter address. 00Ch 2 bytes Error Status 2 Reserved by system. 010h 2 bytes SERVOPACK Alarm Code 012h to 017h 6 bytes SERVOPACK Alarm History Stores the MECHATROLINK Servo alarm code. For details, refer to Appendix A Alarm Code Tables. Stores the SERVOPACK alarm history. 020h 16 bytes SERVOPACK Model Refer to Table 5.24 Details of SERVOPACK, servomotor, 030h 16 bytes Servomotor Model and Application Module Model ID Contents for model ID 040h 16 bytes Application Module Model contents. 050h 2 bytes SERVOPACK Software Version Binary value 052h 2 bytes Encoder Software Version Binary value 054h 2 bytes Application Module Software Version Binary value 060h 4 bytes Command Current Position Current calculated coordinate position 064h 4 bytes Actual Current Position Current actual coordinate position 068h 4 bytes Current Speed Current speed 06Ch 2 bytes Current Error Current error 06Eh 2 bytes Maximum Error Maximum error during this operation 070h 2 bytes Input Monitor Table 5.23 Status Details for Axes Using Command Mode (1) (cont d) Address Size Name Description Stores the I/O Signal Monitor for MECHATROLINK receive data. 5-32

81 5.3 Shared Memory Specifications Table 5.23 Status Details for Axes Using Command Mode (1) (cont d) Address Size Name Description 072h 2 bytes Driver Status D0: ALARM 1 = Alarm ON 0 = Alarm OFF D1: WARNING 1 = WARNING ON 0 = WARNING OFF D2: CMDRDY 1 = Command reception enabled (READY) 0 = Command reception disabled (BUSY) D3: SVON 1 = Servo ON 0 = Servo OFF D4: PON 1 = Main power supply ON 0 = Main power supply OFF D5: MLOCK 1 = Machine lock ON 0 = Machine lock OFF (normal operation) D6: ZPOINT 1 = Absolute position (APOS) within zero point range 0 = Absolute position (APOS) outside zero point range D7: PSET 1 = Distribution completed (DEN=1) and absolute position is within positioning completed width. 0 = Other status D8: DEN 1 = Position reference distribution completed Command Position (POS) same as Target Position (TPOS). 0 = Position command distributing D9: T_LIM 1 = Torque limiting 0 = No torque limiting D10: L_CMP 1 = Latch completed 0 = Latch incomplete D11: NEAR 1 = Absolute Position (APOS) within positioning near range. 0 = Other status D12: P-POS 1 = Absolute Position (APOS) or Command Position (POS) exceeded positive software limit. 0 = Absolute Position (APOS) or Command Position (POS) did not exceed positive software limit. D13: N-POS 1 = Absolute Position (APOS) or Command Position (POS) exceeded negative software limit. 0 = Absolute Position (APOS) or Command Position (POS) did not exceed negative software limit. D14, D15: Reserved by system

82 5 Software Specifications Shared Memory Details Address Size Name Description 074h 4 bytes Operating Status 1 D0: Initializing D1: Main power supply OFF D2: Setting parameters D3: Positioning D4: Holding D5: Checking pass position D6: Changing speed D7: Zero-point return D8: Jogging D9: Pulse jogging D10: Servo OFF (Servo ON standby) D11: Stopping D12: Interpolating D13: Gantry slave axis mode ON D14: Servodrive alarm ON D15: Sync not established D16: Setting interference beam D17: OT/interference alarm ON D18 to D26: Reserved by system. D27: Moving D28: Emergency stop D29: Torque Control Mode ON D30: Speed Control Mode ON D31: Position Control Mode ON 078h 07Ch 4 bytes 4 bytes General-purpose Monitor 1 General-purpose Monitor 2 Used to monitor Servodrive data, except the Command Current Position, Actual Current Position, Command Speed, and Current Error (see Table 5.26 Status Details for Axes Using Command Mode (3). 080h 4 bytes Actual Speed Actual speed 084h 4 bytes Command Current Position The current position of the Servodrive command. 0C0h 0E0h 32 bytes 32 bytes Table 5.23 Status Details for Axes Using Command Mode (1) (cont d) Direct Command Send Area Direct Command Receive Area Used to input MECHATROLINK send data when using direct commands. Used for I/O Modules. Used to output MECHATROLINK receive data when using direct commands. Used for I/O Modules. 5-34

83 5.3 Shared Memory Specifications Type/Name SERVO- PACK Table 5.24 Details of SERVOPACK, servomotor, and Application Module Model ID Contents DEVICE- CODE OFFSET A 0B 0C 0E 0F 10 Model 00H S G D H - *1 *1 *2 E *5 *5 *5 00 Software Ver. 02H Ver. Encoder Software Ver. 12H Servomotor Model 20H S G M *3 H - *1 *2 *2 *4 00 Application Module Model 50H J U S P - N S *5 *5 *5 00 Software Ver. 52H Ver. *1: Capacity *2: Supply voltage *3: Motor type *4: Serial encoder type *5: Y specifications number. Y123, for example. The standard value is 00. Note: 1. Model numbers appear in ASCII code, with the last section as The software version is binary data. 3. Spaces indicate unspecified data. 4. The installation options (rack mounting or duct ventilation) are not given. 5. The data is as follows when an alarm E0, E1, E2, EA, EB, or EC occurs in the SGDH when power is turned ON: *1: Capacity *2: Supply voltage *3: Motor type *4: Serial encoder type are all?. *5: Y specifications number is The data is as follows when new model servomotors are connected: *1: Capacity *2: Supply voltage *3: Motor type *4: Serial encoder type are all?. 5 Addresses: 100h to 106h Table 5.25 Status Details for Axes Using Command Mode (2) Address Size Name Description 100h 2 bytes Host Command ID Specifies the host command ID number when a command is sent from the host computer. The command completion response for the specified host command ID number is returned to the MP2110/MP2110M command ID. 104h 2 bytes Command Sets the MP2110/MP2110M command. *1 106h 2 bytes Option 108h to 2FFh *2 Used to select the option function. The contents depends on the command. *2 * 1. For a command list of the command mode, refer to Command Mode. * 2. For details on command data, refer to 6.5 Command Mode Details. 5-35

84 5 Software Specifications Shared Memory Details Address: 262h Table 5.26 Status Details for Axes Using Command Mode (3) Address Size Name Description 262h 2 bytes Monitor Selection Table 5.27 Monitor Data Selects the parameters to be monitored using the upper and lower 4 bits. When these values are overwritten, the MP2110/MP2110M will refresh the specified monitor data. The MP2110/MP2110M always reads the Actual Current Position/Command Current Position. When not using the monitor selection, set these values to 0. Regardless of the values set here, the five data types in shared memory, including the Command Current Position and Actual Current Position, are automatically refreshed. Commands are not required to overwrite the monitor values. Refer to the following table Table 5.27 Monitor Data for details on monitor codes. Monitor code Name Description Unit 0 Monitor stopped 1 MPOS Command position in machine coordinate system Command units 2 PERR Position error Command units 3 APOS Feedback position in machine coordinate system Command units 4 LPOS Feedback latch position in machine coordinate system Command units 5 IPOS Command position in command coordinate system (before command filter) Command units 6 TPOS Target position in command coordinate system Command units 7 8 FSPD Feedback speed 9 CSPD Command speed A TSPD Target speed Position/torque control: Command units/s Speed: Maximum speed/ h Position/torque control: Command units/s Speed: Maximum speed/ h Position/torque control: Command units/s Speed: Maximum speed/ h B TRQ Torque reference (Rated torque: 100%) Position/speed control: % Torque control: Maximum torque/ h C Reserved by system. D Reserved by system. E OMN1 Option Monitor 1 Selected using Pn824 (for SGDS only) F OMN2 Option Monitor 2 Selected using Pn825 (for SGDS only) Note: 1. The position data being monitored is all the position data for the Servodrive. When the position is preset using the MP2110/MP2110M, however, these positions will not match the monitor positions. 2. Table 5.28 Extracted SGDS Parameters shows examples extracted from SGDS parameters for details on Option Monitors. 5-36

85 5.3 Shared Memory Specifications EXAMPLE Parameter No. Pn824 Pn825 Table 5.28 Extracted SGDS Parameters Name Default Setting Option Monitor 1 Selections 0000H 0000H Motor Rotation Speed [ H/Overspeed Detection Speed] High speed 0001H Speed Reference [ H/Overspeed Detection Speed] High speed 0002H Torque [ H/Maximum Torque] High speed 0003H Position Deviation (Lowermost 32 bits) [Reference Unit] High speed 0004H Position Deviation (Uppermost 32 bits) [Reference Unit] High speed 0005H Position Command Speed [Reference Unit/250 µs] High speed 0006H System Reserved High speed 000AH Encoder Count (Lowermost 32 bits) [Reference Unit] High speed 000BH Encoder Count (Uppermost 32 bits) [Reference Unit] High speed 000CH Fully Closed Encoder Count (Lower 32 bits) [Reference Unit] High speed 000DH Fully Closed Encoder Count (Upper 32 bits) [Reference Unit] High speed 0010H Un000: Motor Rotation Speed [min -1 ] Low speed 0011H Un001: Speed Reference [min -1 ] Low speed 0012H Un002:Torque Reference [%] Low speed 0013H Un003: Rotational Angle 1 [pulse] Low speed 0014H Un004: Rotational Angle 2 [deg] Low speed 0015H Un005: Input Position Reference Speed [min -1 ] Low speed 0016H Un006: Input Signal Monitor Low speed 0017H Un007: Output Signal Monitor Low speed 0018H Un008: Position Deviation [Reference Unit] Low speed 0019H Un009: Accumulated Load Ratio [%] Low speed 001AH Un00A: Regenerative Load Ratio [%] Low speed 001BH Un00B: DB Resistance Consumption Power [%] Low speed 001CH Un00C: Input Reference Pulse Counter [pulse] Low speed 001DH Un00D: Feedback Pulse Counter [pulse] Low speed 001EH Un00E: Fully Closed Feedback Pulse Counter [pulse] Low speed 001FH Un00F: Fully Closed Feedback Speed [pulse/s] Low speed 0023H Initial Multiturn Data [Rev] Fixed 0024H Initial Incremental Data [pulse] Fixed Option Monitor 2 Selection 0000H Same as Option Monitor 1 Selection to 0024H 0002H

86 5 Software Specifications Interrupt Methods Interrupt Methods An interrupt can be sent from the host computer to the MP2110/MP2110M using a hardware by writing data to the address 7FFEh in the host computer s shared memory. Set the data to be written from the host computer to 01h. The interrupt is cleared at the MP2110/MP2110M by reading the contents of the same address (7FFEh). The MP2110/MP2110M can also set interrupts in the host computer by writing to the address 7FFCh in shared memory. The data written by the MP2110/MP2110M is either 01h or 02h. 01h: Command completed interrupt when using command mode (command mode only) 02h: MECHATROLINK communication interrupt (when MECHATROLINK interrupt is enabled) The interrupt is cleared at the host computer in the same way, by reading the same address (7FFCh) in shared memory. Be sure to perform clear processing as part of interrupt receive processing Shared Memory Structure The shared memory structure is provided in such a way that the host computer does not need to directly consider offset addresses. Address changes required due to changes in design can be achieved by recompiling on the host computer. Addresses are not changed except under special circumstances. 5-38

87 6 MP2110/MP2110M Functions This chapter describes the functions of the MP2110/MP2110M. 6.1 Initial Processing between the MP2110/MP2110M and Host Computer MP2110 Initial Processing Using MECHATROLINK or Command Modes MP2110M Initial Processing Using MECHATROLINK or Command Modes Initial Processing Using API Mode Communication Timing with the Host Computer Command Response Characteristics Synchronous Communication Cycles Command Mode Details Controller Reset Sync ON Sync OFF Encoder Setup Parameter Set Parameter Block Write Parameter Block Read Parameter Individual Write Parameter Individual Read Position Preset Bank Parameter Write I/O Data Setting Pass Position Set Pass Position Reset Speed Control Mode ON Speed Control Mode OFF Torque Control Mode setting Torque Control Mode OFF Gain Switch Gantry Axis Set Gantry Axis Reset Opposing Beam Interference Check ON Opposing Beam Interference Check OFF Pass Action Register Watch Torque Limit Servo ON Servo OFF Alarm Reset

88 6 MP2110/MP2110M Functions Emergency Stop Hold ON Hold OFF Zero-point Return Gain Adjustment ON Positioning (Independent Axis) Positioning in Time External Positioning Return Positioning Linear Interpolation Circular Interpolation Pass Point Constant Speed Interpolation Speed Jog Start Speed Jog Stop Pulse Jog Speed Change during Axis Movement Servodrive Direct Command Execution Order

89 6.1 Initial Processing between the MP2110/MP2110M and Host Computer 6.1 Initial Processing between the MP2110/MP2110M and Host Computer MP2110 Initial Processing Using MECHATROLINK or Command Modes After the operating mode is set from the host computer, the MP2110 is initialized according to the operating mode that has been set and communication with the Servodrive is established. The following figure is a flowchart of the initial sequences for MECHATROLINK mode and command mode. Host Computer Ready to operate Shared Memory MP2110 Memory clear (shared memory) NO Shared memory cleared? InitStatus = 0Ah YES Write to shared memory. System Area Parameters* InitStatus 0Ah Waiting for writing to host computer shared memory to be completed Initialization status 0Ah * 004h Host Watchdog Timeout Time (set to 0 if not required) 010h Function Selection 012h JL080 Data Settings 014h Transmission Cycle 016h No. of Retry Stations (normally set to 1) 040h Station Connection Information 044h to 06Dh Station Identification Writing to shared memory completed. Flag OFF ON Condition Set Flag D0: OFF ON NO Condition Set Flag D0 ON? Writing to shared memory completed? YES CERF initialization Interrupt initialization MECHATROLINK interrupt enabled DISCONNECT executed. CONNECT executed. Initial processing 6 SYNC_SET executed. ID_RD executed. SENS_ON executed. Initial processing in MECHATROLINK interrupt ADJ executed. Motor type checked. InitStatus 44h NO Connection error? System Area InitStatus 0Ah 44h ERR NO Connected Module OK YES Error processing YES Reset standby infinite loop NO InitStatus = 5Ah MP2110 ready to operate? YES InitStatus 5Ah A5h System Area InitStatus 0Ah 5Ah System Area InitStatus 5Ah A5h InitStatus 0Ah 5Ah Ready to receive commands. SMON command is sent when no command is received from the host computer. Proceed to on next page. 6-3

90 6 MP2110/MP2110M Functions MP2110 Initial Processing Using MECHATROLINK or Command Modes Host Computer Shared Memory MP2110 Continued Command enabled status NO Write Status = OFF? Writing to shared memory enabled? YES Shared memory write Write Status OFF ON Shared memory write disabled System Area Write Status OFF ON Ready to receive commands The SMON command is always sent when no command is received from the host computer. Host interrupt Interrupt received Reads only the stations specified in Write Status. Shared memory read Shared memory Copy to internal RAM Shared memory data analysis Host interrupt processing Write Status As a Write result of turning ON the bits for the stations to be sent the command, BIT the MP2110 MP2110 will refresh BIT the send data for the stations with the bit numbers only. System Area Write Status ON OFF Shared memory write enabled JL-080 send/receive NO Report Status = OFF Shared memory write enabled? MECHATROLINK interrupt processing YES Shared memory write System Area Report Status OFF ON Shared memory write disabled Interrupt received Interrupt Reads receive area and interrupt area. Interrupts are cleared by reading the interrupt area. Shared memory read Shared memory write enabled System Area Report Status ON OFF The SMON command is continually sent when no interrupt is received from the host computer. If no host interrupt is received, shared memory cannot be read, so the same data is sent to JL-080 (except the WDT). Fig. 6.1 Initial Sequence with the Host Computer 6-4

91 6.1 Initial Processing between the MP2110/MP2110M and Host Computer MP2110M Initial Processing Using MECHATROLINK or Command Modes After the operating mode is set from the host computer, the MP2110M is initialized according to the operating mode that has been set and communication with the Servodrive is established. The following figure is a flowchart of the initial sequences for MECHATROLINK mode and command mode. Host Computer Shared Memory MP2110M Ready to operate Base Board Memory clear (shared memory) Sub-board Memory clear (shared memory) NO Shared memory cleared? InitStatus = 0Ah? YES Write to shared memory. * 004h Host Watchdog Timeout Time (set to 0 if not required) 010h Function Selection 012h JL080 Data Settings 014h Transmission Cycle 016h No. of Retry Stations (normally set to 1) 040h Station Connection Information 044h to 06Dh Station Identification Writing to shared memory completed. Flag OFF ON Base Board (System Area) Parameters* Sub-board (System Area) Parameters* Base Board Condition Set Flag D0: OFF ON Sub-board Condition Set Flag D0: OFF ON Initialization status 0Ah InitStatus 0Ah Waiting for writing to host computer shared memory to be completed NO Writing to shared memory completed? Condition Set Flag YES D0 = ON? CERF initialization Interrupt initialization MECHATROLINK interrupt enabled DISCONNECT executed. CONNECT executed. Initialization status 0Ah InitStatus 0Ah Waiting for writing to host computer shared memory to be completed NO Writing to shared memory completed? Condition Set Flag YES D0 = ON? CERF initialization Interrupt initialization MECHATROLINK interrupt enabled DISCONNECT executed. CONNECT executed. Initial processing InitStatus 44h? NO Connection error? Base Board (System Area) InitStatus 0Ah 44h Sub-board (System Area) InitStatus 0Ah 44h ERR NO ID_RD executed. SYNC_SET executed. SENS_ON executed. Connected Module OK? YES ERR NO ID_RD executed. SYNC_SET executed. SENS_ON executed. Connected Modules OK? YES Initial processing in MECHATROLINK interrupt 6 Error processing NO InitStatus = 5Ah? YES MP2110M ready to operate? YES InitStatus 5Ah A5h Command enabled status Base Board (System Area) InitStatus 0Ah 5Ah Sub-board (System Area) InitStatus 0Ah 5Ah Base Board (System Area) InitStatus 5Ah A5h Sub-board (System Area) InitStatus 5Ah A5h Reset standby infinite loop InitStatus 0Ah 5Ah Ready to receive commands. SMON command is sent when no command is received from the host computer. Reset standby infinite loop InitStatus 0Ah 5Ah Ready to receive commands. SMON command is sent when no command is received from the host computer. Fig. 6.2 Initial Sequence with the Host Computer Initial Processing Using API Mode Refer to Machine Controller MP2110/MP2110M Motion API USER S MANUAL (Manual. No. SIEPC ) for information on initial processing using the API mode. 6-5

92 6 MP2110/MP2110M Functions 6.2 Communication Timing with the Host Computer The communication timing between the host computer and MP2110/MP2110M must be considered when using command mode. This chapter describes two timing chart types for command mode, i.e., with and without interrupt responses (interrupts from the MP2110/MP2110M to the host computer). (1) Command Mode with Interrupt Responses Host processing Processing Shared memory read Shared memory write Host interrupt Processing Shared memory read Shared memory write Host interrupt Host Processing Receives interrupt from MP2110/MP2110M and reads data in shared memory. Sets Report Status to write enabled status (=OFF). Processes read data. Writes data to shared memory. Sets Write Status to write disabled status (=ON). Outputs interrupt signal. MP2110/MP2110M processing Host interrupt MECHATROLINK interrupt MECHATROLINK send/receive Host interrupt processing Interrupt signal Interrupt signal MECHATROLINK send/receive Host Interrupt Processing Reads data in shared memory to internal RAM. Sets Write Status to write enabled status (=OFF). Interprets specified axis, command, etc. Sets interlock. Sets trigger for command processing. MECHATROLINK Interrupt Processing Writes send data in internal RAM to JL-080. Reads receive data in JL-080 to internal RAM. Checks errors from receive data, refreshes position data, etc. Command processing (processed as MECHATROLINK command Send data) Writes data to shared memory. Sets Report Status to write disabled status (=ON). Outputs interrupt signal. Command processing Shared memory write Command processing Shared memory write Command processing Host interrupt processing Shared memory write 1 ms 1 ms MECHATROLINK send/receive (2) Command Mode without Interrupt Responses Host processing Shared memory read Processing Shared memory write Host interrupt Shared memory read Processing Shared memory write Host Processing Reads data in shared memory. Sets Report Status to write enabled status (=OFF). Processes read data. Writes data to shared memory. Sets Write Status to write disabled status (=ON). Outputs interrupt signal. MP2110/MP2110M processing Host interrupt MECHATROLINK interrupt MECHATROLINK send/receive Host interrupt processing MECHATROLINK send/receive Host interrupt processing MECHATROLINK send/receive Host Interrupt Processing Reads data in shared memory to internal RAM. Sets Write Status to write enabled status (=OFF). Interprets specified axis, command, etc. Sets interlock. Sets trigger for command processing. Note: Priority is given to MECHATROLINK interrupt, so the command is executed after the MECHATROLINK interrupt processing is completed. MECHATROLINK Interrupt Processing Writes send data in internal RAM to JL-080. Reads receive data in JL-080 to internal RAM. Checks errors from receive data, refreshes position data, etc. Command processing (processed as MECHATROLINK command Send data) Writes data to shared memory. Sets Report Status to write disabled status (=ON). Command processing Shared memory write Command processing Shared memory write Command processing Shared memory write 1 ms 1 ms 1 ms 6-6

93 6.3 Command Response Characteristics 6.3 Command Response Characteristics The response timing for commands from after positioning is completed until the next positioning operation is performed is shown in the following figures. The following equations show the theoretical time from the completion of positioning until the next positioning operation. Communication cycle: 1 ms SGDS: ms + α, SGDH: ms + α (0 ms < α < 1 ms) Communication cycle: 0.5 ms (SGDS only) SGDS: ms + α (0 ms < α < 0.5 ms) (1) Communication Cycle: 1 ms Host processing Shared memory read Processing Shared memory write Host interrupt Positioning completed Positioning command MP2110/ MP2110M processing 1 ms 1 ms 1 ms MECHATROLINK send/receive Command processing Host interrupt processing MECHATROLINK send/receive Command processing 1 ms 1 ms 1 ms SGDS processing MECHATROLINK send/receive 500 µs MECHATROLINK send/receive MECHATROLINK send/receive Servodrive R/W Servodrive R/W Servodrive R/W Servodrive R/W Servodrive R/W Servodrive R/W Servodrive R/W Servodrive R/W Motor stopped COIN signal MECHATROLINK send/receive SGDS: 425 µs SGDH: 625 µs Motor rotation 6 Receiving COIN signal α ms less than 1 ms Monitor processing SGDS: 450 µs SGDH: 625 µs Sending MECHATROLINK command: 1 ms Completing command and creating command: 1 ms Sending MECHATROLINK command: 1 ms Interpreting command SGDS 425 µs SGDH: 625 µs Fig. 6.3 Command Response Timing 6-7

94 6 MP2110/MP2110M Functions (2) Communication Cycle: 0.5 ms Processing Host processing Shared memory read Shared memory write Host interrupt Positioning completed Positioning command MP2110/MP2110M processing MECHATROLINK send/receive MECHATROLINK send/receive Command processing Host interrupt processing Command processing 500 µs 500 µs 500 µs 500 µs 500 µs 500 µs 500 µs 500 µs SGDS processing MECHATROLINK send/receive MECHATROLINK send/receive MECHATROLINK send/receive MECHATROLINK send/receive MECHATROLINK send/receive MECHATROLINK send/receive Servodrive R/W Servodrive R/W Servodrive R/W Servodrive R/W Servodrive R/W Servodrive R/W Servodrive R/W Motor stopped MECHATROLINK send/receive COIN signal Motor rotation Receiving COIN signal: α ms (less than 0.5 ms) Monitor processing SGDS: 450µs Sending ME- CHATRO- LINK command: 0.7 ms Completing command and creating command: 0.5 ms Sending MECHATROLINK command: 0.5 ms Interpreting command SGDS 425 µs Fig. 6.4 Command Response Timing (Communication Cycle: 0.5 ms) 6-8

95 6.4 Synchronous Communication Cycles 6.4 Synchronous Communication Cycles When using the MP2110M, the communication cycles can be synchronized between the base board and subboard, based on the order in which the initial processing of the boards occurs. (Refer to MP2110M Initial Processing Using MECHATROLINK or Command Modes for information on initial processing of the boards.) (1) Synchronous Communication Cycles If the base board initial processing is performed first, followed by the sub-board initial processing, the communication cycles between the two boards will be synchronized. To synchronize the communication cycles between the boards when they are asynchronous, send a board reset command to the sub-board from the host computer and then execute initial processing for the sub-board. The communication cycles will then be synchronized between the boards. Start of initial processing for base board Start of initial processing for sub-board Host computer Base board Host processing Condition Set Flag D0: OFF ON Host processing Initial processing InitStatus 0Ah A5h InitStatus A5h 5Ah Host processing Condition Set Flag D0: OFF ON Host processing InitStatus 0Ah A5h InitStatus A5h 5Ah 0.5 ms 0.5 ms 0.5 ms 0.5 ms 0.5 ms 0.5 ms 0.5 ms Sub-board Initial processing 1 ms 1 ms Synchronization of communications cycles 6 (2) Asynchronous Communication Cycles Fig. 6.5 Synchronous Communication Cycles If the sub-board initial processing is performed before the base board initial processing, the communication cycles between the boards will be asynchronous. Also, if the initial processing of the sub-board is executed without waiting for the initial processing of the base board to be completed, the communication cycles may not be synchronized. Start of initial processing for sub-board Start of initial processing for base board Host computer Base board Host processing Condition Set Flag D0: OFF ON Host processing InitStatus 0Ah A5h InitStatus A5h 5Ah Host processing Condition Set Flag D0: OFF ON Initial processing Host processing InitStatus 0Ah A5h InitStatus A5h 5Ah 0.5 ms 0.5 ms 0.5 ms 0.5 ms 0.5 ms Sub-board Initial processing 1 ms 1 ms 1 ms The communications cycles between CPUs becomes asynchronous. Fig. 6.6 Asynchronous Communication Cycles 6-9

96 6 MP2110/MP2110M Functions 6.5 Command Mode Details This section describes the MP2110/MP2110M commands using the following format. n.n.n Command Name (1) Command Code: 0001h The command code in hexadecimal. (2) Responses: Completion Coincidence Near Pass Error Latch Indicates the response details when the command is executed. The meanings of the symbols used are as follows: : Response will always be returned for these conditions. : Response will be returned only when specified. : Response is not returned. Completion: Interrupt sent to the host computer when the command is completed. Coincidence: Interrupt sent to the host computer when the COIN signal is set. Near: Interrupt sent to the host computer when the NEAR signal is set. Pass: Interrupt sent to the host computer when the pass position set from the host computer is reached. Error: Interrupt sent to the host computer when an error occurs in the command. Latch: Interrupt sent to the host computer when the latch is completed. (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Command ULONG IntMask; 010h Individual Axis Area Command USHORT SubCommand; 020h The specific nature of the command to be executed is specified in the System Area, Shared Area, and Individual Axis Areas. The Member Name column shows the names of the shared memory definition header file. The offsets are from 0h where 0h is the leading address of the System Area, Shared Area, and Individual Axis Areas. (4) Function Provides details on the functions and precautions. (5) Response Details Provides details on any responses that are returned. 6-10

97 6.5 Command Mode Details Controller Reset (1) Command Code: 0001h (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Individual Axis Area Command USHORT Command; 104h (4) Function Initializes and resets the MP2110/MP2110M to the status immediately after turning ON the power supply. Sync processing with the host computer must be performed again. The MP2110M base board and subboard are reset independently. INFO When executing this command, turn ON bits D0 (axis 1) and D30 (the MP2110/MP2110M) in Write Status (110h in the System Area), and set the Controller Reset command code (0001h) in the Command Area for axis 1 (104h in the Individual Axis Area), and set an interrupt. This command can also be used to reset individual axes, in addition to resetting the MP2110/MP2110M. To reset an axis, turn OFF D30, specify the axis to be reset, and write this command code in the Individual Axis Area. When a command to reset an axis is executed, all commands for the specified axis are cancelled and the axis stops. (5) Response Details No response is returned Sync ON (1) Command Code: 0002h 6 (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Interrupt Mask Register ULONG IntMask; 000h Individual Axis Area (4) Function Synchronizes with the Servodrive for the specified axis. In normal startup processing, the MP2110/MP2110M automatically connects to the device specified by the host computer and establishes synchronization. (5) Response Details Command USHORT Command; 104h Option D15: 0 = Completion response not required. 1 = Completion response required. USHORT SubCommand; 106h When a completion response is required, it is sent as a report after synchronization is established. An error response is sent if a specified axis does not connect with the Servo. 6-11

98 6 MP2110/MP2110M Functions Sync OFF Sync OFF (1) Command Code: 0003h (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Interrupt Mask Register ULONG IntMask; 000h Individual Axis Area (4) Function Cancels synchronization with the Servodrive for the specified axis. The Sync OFF command is used to prevent communication errors occurring in the Servodrive when the power supply to the MP2110/MP2110M is turned OFF. (5) Response Details When a completion response is required, it is sent as a report after synchronization is released. An error response is sent if a specified axis does not connect with the Servodrive Encoder Setup (1) Command Code: 004h (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters (4) Function This command is used to set up the absolute encoder or set the multiturn limit for the encoder. The same setup is also possible from a Digital Operator or personal computer monitoring software. This command can be used only when the Servo is OFF. If this command is used while the Servo is ON, 101: Illegal Command will be set in Error Status 1 (008h) of the Individual Axis Area. The option can be used for either absolute position encoder setup or multiturn limit setting. If both are required, use two separate commands. When the command is completed normally, turn the power OFF and then ON again to enable the settings. (a) Absolute Encoder Setup Command USHORT Command; 104h Option D15: 0 = Completion response not required. 1 = Completion response required. USHORT SubCommand; 106h Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Interrupt Mask Register ULONG IntMask; 000h Individual Axis Area Command USHORT Command; 104h Option D0: Absolute position encoder setup D1: Multiturn limit setting USHORT SubCommand; 106h D15: 0 = Completion response not required. 1 = Completion response required. Absolute encoder setup is required under the following conditions. When the machine is started for the first time. When an encoder backup alarm (A.810) occurs. When an encoder checksum alarm (A.820) occurs. To set the absolute encoder rotation amount to 0.

99 6.5 Command Mode Details (b) Multiturn Limit Setting WARNING The absolute position data can change if the SERVOPACK s multiturn limit is changed. Make sure that the multiturn limit is set according to settings in the machine. If the data is not set correctly, the machine may move in an unexpected direction, causing a dangerous situation. If a multiturn limit mismatch alarm (A.CC0) occurs, check the setting of SERVOPACK parameter Pn205 and make sure that it is correct. The multiturn limit setting must be set if Pn205 (Multiturn Limit Setting) is changed. If Pn205 is changed, however, a multiturn limit mismatch alarm (A.CC0) will occur. (c) Procedure for Setting Any Position of the Absolute Motor to 0 1. Move the absolute motor to any position, and use this command to initialize the absolute motor according to the absolute position encoder setup. 2. Check the Pn808 setting and the Command Current Position. 3. Write the following calculation to Pn808. Pn808 Command Current Position ( 1) + Pn Turn the Servodrive power OFF and then ON again to enable the Pn808 setting. Alternatively, execute the Clear Synchronization command followed by the Synchronize command to enable the setting. (5) Response Details If a completion response is required, it is sent when processing is completed. If an error occurs, the details are set in Error Status 1. If multiple adjustment commands are specified as options, 100: Illegal Parameter will be set in Error Status 1 (008h) of the Individual Axis Area

100 6 MP2110/MP2110M Functions Parameter Set Parameter Set (1) Command Code: 0010h (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Interrupt Mask Register ULONG IntMask; 000h Command USHORT Command; 104h Option D15: 0 = Completion response not required. USHORT SubCommand; 106h 1 = Completion response required. Status Setting* D0: Software overtravel (positioning, interpolation, speed/torque control) D1: Software overtravel (jog) D2: Overtravel USHORT StatusSet; 270h D3: Warning check D4: Emergency stop using EXT1 signal (D5 to D15: Not used.) Step 1 Linear Acceleration Constant Unit: 10,000 command units/s 2 Range: 1 to USHORT Accel1; 272h SGDH, SGDS: Pn80A Individual Axis Area Step 2 Linear Acceleration Constant Unit: 10,000 command units/s 2 Range: 1 to USHORT Accel2; 274h SGDH, SGDS: Pn80B Acceleration Switch Speed Unit: 100 command units/s Range: 0 to USHORT SpdChgAccel; 276h SGDH, SGDS: Pn80C Step 1 Linear Deceleration Constant Unit: 10,000 command units/s 2 Range: 1 to USHORT Decel1; 278h SGDH, SGDS: Pn80D Step 2 Linear Deceleration Constant Unit: 10,000 command units/s 2 Range: 1 to USHORT Decel2; 27Ah SGDH, SGDS: Pn80E Deceleration Switch Speed Unit: 100 command units/s Range: 0 to SGDH, SGDS: Pn80F USHORT SpdChgDecel; 27Ch * Status Setting A set value of 1 for each bit indicates that the corresponding function is enabled. A set value of 0 indicates that a function is disabled. 6-14

101 6.5 Command Mode Details (cont d) Shared Memory Area Parameter Member Name Offset Individual Axis Area (cont d) Average Moving Time (S-curve filter constant) S-curve acceleration/deceleration is calculated using the moving average method. Unit: 100 µs Range: 0 to 5100 SGDH, SGDS: Pn812 Exponential Acceleration/Deceleration Bias Unit: Command units/s Range: 0 to SGDH, SGDS: Pn810 Exponential Acceleration/Deceleration Time Constant Unit: 0.1 ms Range: 0 to 5100 SGDH, SGDS: Pn811 Rated Speed (setting required) Maximum hardware speed for this axis. Unit: Command units/s Range: 0 to NEAR Signal Width (setting required) Distance between near position and target position Unit: Command units Range: SGDH: +1 to 250 SGDS: +1 to SGDH: Pn504 word SGDS: Pn524 double word Positioning Completed Width (setting required) Distance between coincidence position and target position Unit: Command units Range: SGDH: 0 to 250 SGDS: 0 to SGDH: Pn500 word SGDS: Pn522 double word Positive Software Limit Limit for the software limiter in the positive direction Unit: Command units Range: 2 30 to Negative Software Limit Limit for the software limiter in the negative direction Unit: Command units Range: 2 30 to USHORT SParam; USHORT ExpAccBias; USHORT ExpAccConst; ULONG ConstSpeed; ULONG NearWidth; ULONG PsetWidth; LONG SftLmtP; LONG SftLmtM; 27Eh 280h 282h 284h 288h 28Ch 290h 294h

102 6 MP2110/MP2110M Functions Parameter Set (cont d) Shared Memory Area Parameter Member Name Offset Individual Axis Area (cont d) Gain 1: Stopped position loop gain SGDH, SGDS: Pn102 Unit: SGDH: 1/s, SGDS: 0.1/s Range: SGDH: 1 to 2000 SGDS: 10 to Stopped speed loop gain SGDH, SGDS: Pn100 Unit: SGDH: Hz, SGDS: 0.1Hz Range: SGDH: 1 to 2000 SGDS: 10 to Stopped speed loop integral time constant SGDH, SGDS: Pn101 Unit: 0.01 ms Range: 15 to Gain 2: Moving position loop gain SGDH, SGDS: Pn106 Moving speed loop gain SGDH, SGDS: Pn104 Moving speed loop integral time constant SGDH, SGDS: Pn105 Gain 3: Stabilized position loop gain SGDH: None, SGDS: Pn12D Stabilized speed loop gain SGDH: None, SGDS: Pn12B Stabilized speed loop integral time constant SGDH: None, SGDS: Pn12C Gain 4: Position loop gain SGDH: None, SGDS: Pn130 Speed loop gain SGDH: None, SGDS: Pn12E Speed loop integral time constant SGDH: None, SGDS: Pn12F Gain 5: Feed forward gain Range: 0 to 100 SGDH, SGDS: Pn109 Position Error Overflow Alarm Level Error overflow check data SGDH: Pn505 (2 bytes) SGDS: Pn520 (4 bytes) Unit: SGDH: 256 command units SGDS: Command units Range: SGDH: +1 to SGDS: +1 to External Positioning Move Distance (setting required) Travel distance after external positioning (latch) signal Unit: Command units Range: 2 31 to SGDH, SGDS: Pn814 USHORT Gain1; to USHORT Gain13; ULONG MaxDeflect; LONG ExPosingDist; 298h 29Ah 29Ch 29Eh 2A0h 2A2h 2A4h 2A6h 2A8h 2AAh 2ACh 2AEh 2B0h 2B4h 2B8h 6-16

103 6.5 Command Mode Details (cont d) Shared Memory Area Parameter Member Name Offset Individual Axis Area (cont d) Interpolation Emergency Stop Deceleration Time Constant Interpolation deceleration for emergency stop mode 2 Unit: 1 ms Range: 0 to Emergency Stop Mode D0 to D2: Local I/O emergency stop mode Default: Emergency stop mode 0 D3 to D5: EXT1 emergency stop mode Default: Emergency stop mode 1 D6 to D8: Not used D9 to D11: Gantry error overflow emergency stop mode Default: Emergency stop mode 0 D12 to D14: Opposing beam interference check emergency stop mode Default: Emergency stop mode 3 The following settings can be selected. 0: Default 1: Emergency stop mode 0 2: Emergency stop mode 1 3: Emergency stop mode 2 4: Emergency stop mode 3 ULONG TimStDec2; USHORT EmgStopMode; 14Ch 2B2h

104 6 MP2110/MP2110M Functions Parameter Set (4) Function Sets the Servo parameters for the specified axis. The parameters consist of parameters written for the Servodrive, and parameters used by the MP2110/ MP2110M. To write parameters, set the parameters in the required address, and then execute this command. Parameters not to be written can be left set to 0. Parameters with the default value of 0 are not written. When setting parameters from the second time on, add the new parameters to be changed to those set the previous time, and then execute the command. The MP2110/MP2110M compares the parameters with the previous parameters and changes only those parameters that have changed. Therefore, leave unchanged parameters in the shared memory when not changing their values. Data from host computer MP2110/MP2110M initial setting MP2110/MP2110M memory setting No change, so nothing is written. Change is written Compared No change, so nothing is written. No change, so nothing is written. Change is written Change is written. No change, so nothing is written. No change, so nothing is written Second data from host computer MP2110/MP2110M memory setting MP2110/MP2110M memory setting Data to be written Data to be written Compared No change, so nothing is written. No change, so nothing is written. Change is written. No change, so nothing is written. No change, so nothing is written. Change is written. No change, so nothing is written. No change, so nothing is written Fig. 6.7 Setting Parameters IMPORTANT After turning ON the power, if the Parameter Set command is not executed at all, the parameters in the MP2110/MP2110M and those in the Servodrive will not match. If a positioning command is executed under these conditions, the NEAR Signal Width and Positioning Completed Width will remain set to 0, and the MP2110/MP2110M will detect positioning completion with a completed width of 0. As a result, the time to complete positioning will be several times longer than normally required. The travel distance for external positioning will not match between the Servodrive and MP2110/MP2110M, and normal operations will not be possible. If the Rated Speed is not set, the positioning speed will be clamped at 0, and movement will not be possible. Therefore, always set the parameters after turning ON the power. (The MP2110/MP2110M does not read the parameters of the Servodrive.) The Parameter Set command can be received during positioning. Parameter Set is executed when pulse distribution for positioning is completed. Positioning in sequence using Parameter Set allows high-speed processing that is faster than sending Parameter Set after positioning is completed. 6-18

105 6.5 Command Mode Details (5) Response Details If a completion response is required, it is sent after processing is completed. If the data for the parameter contents or specified axis is incorrect, an error response will be returned by setting 100: Illegal Parameter in Error Status 1 (008h) of the Individual Axis Area. INFO Status Setting Functions can be enabled by setting the Status Setting bits. The following functions can be enabled/disabled by turning ON/OFF the following bits, rather than using individual command codes. D0: Software overtravel (positioning, interpolation, speed/torque control) Enables the software overtravel function for positioning, interpolation, speed/torque control from the MP2110/ MP2110M. D1: Software overtravel (jog) Enables the software overtravel function for speed/pulse jog operations from the MP2110/MP2110M. D2: Overtravel Monitors hardware overtravel of the Servodrive. This function does not affect the Servodrive s overtravel function. D3: SERVOPACK warning check Monitors SERVOPACK warnings. D4: Emergency stop using EXT1 signal Performs emergency stops using the Servodrive s EXT1 signal. Emergency stops are performed only for the axes for which inputs are received Parameter Block Write (1) Command Code: 0011h (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Interrupt Mask Register ULONG IntMask; 000h Command USHORT Command; 104h Individual Axis Area Leading Address (in transfer parameters) USHORT TopAdr; 1A0h Transfer parameters 1 to 36 USHORT ParamSend[64]; 1A4h to 223h 6 (4) Function Writes the non-volatile parameters of the Servodrive from the address specified by the transfer parameters (230h). A maximum of 36 parameters can be written. The numbers used for the parameters to be written depend on the connected Servodrive model, and the type of motor used (rotary or linear). For details, refer to Appendix C Parameter Block Read/Write Table. Use the tables to match the parameter numbers for the host computer and MP2110/MP2110M. After executing this command, turn ON the power to the Servodrive and MP2110/MP2110M again. INFO There are both single- and double-word parameters. Specify an even Leading Address for ParamSend[64] and write all parameters as double-word data. This eliminates the need for the host computer to consider the data types. The MP2110/MP2110M will cast to single or double words as required when writing. (5) Response Details The completion response is sent after write processing is completed. If the data for the parameter contents or specified axis is incorrect, an error response will be returned by setting 100: Illegal Parameter in Error Status 1 (008h). If this command is executed while an axis is moving, 113: Status Transition Error: Positioning will be set in Error Status 1 (008h). 6-19

106 6 MP2110/MP2110M Functions Parameter Block Read Parameter Block Read (1) Command Code: 0012h (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Interrupt Mask Register ULONG IntMask; 000h Individual Axis Area (4) Function Command USHORT Command; 104h Leading Address (in transfer parameters) USHORT TopAdr; 1A0h Reads the non-volatile parameters of the Servodrive from the address specified by the transfer parameters (230h). A maximum of 36 parameters can be read. The parameter numbers to be read depend on the connected Servodrive model and the type of motor used (rotary or linear). For details, refer to Appendix C Parameter Block Read/Write Table. Use the tables to match the parameter numbers for the host computer and MP2110/MP2110M. INFO There are both single- and double-word parameters. Specify an even Leading Address for ParamSend[64] and write all parameters as double-word data. This eliminates the need for the host computer to consider the data types. The MP2110/MP2110M will cast to single or double words as required when writing. (5) Response Details The completion response is sent after read processing is completed. If the data for the parameter contents or specified axis is incorrect, an error response will be returned by setting 100: Illegal Parameter in Error Status 1 (008h). If this command is executed while the axis is moving, 113: Status Transition Error: Positioning will be set in Error Status 1 (008h) Parameter Individual Write (1) Command Code: 0013h (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Interrupt Mask Register ULONG IntMask; 000h Individual Axis Area (4) Function Writes a single specified parameter to the non-volatile memory for the address specified by the Leading Address (1A0h). The MP2110/MP2110M automatically determines the data type according to the parameter number. Shared memory uses USHORT data, but convert to the required data type for writing. (5) Response Details Command USHORT Command; 104h Leading Address (in transfer parameters) USHORT TopAdr; 1A0h Transfer parameters 1, 2 USHORT ParamSend[0]; USHORT ParamSend[1]; 1A4h The completion response is sent after write processing is completed. If the data for the parameter contents or specified axis is incorrect, an error response will be returned by setting 100: Illegal Parameter in Error Status 1 (008h). If this command is executed during motion, 113: Status Transition Error: Positioning will be set in Error Status 1 (008h). 6-20

107 6.5 Command Mode Details Parameter Individual Read (1) Command Code: 0014h (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Interrupt Mask Register ULONG IntMask; 000h Individual Axis Area (4) Function Command USHORT Command; 104h Parameter Selection 0: Pn Parameter 1: 2: Fn parameters 3: Un parameters USHORT SelctCnPn; 1A2h Leading Address (in transfer parameters) USHORT TopAdr; 1A0h Reads a single parameter data from the address specified by the Leading Address (1A0h) for the parameter type specified in Parameter Selection (1A2h). The parameter that is read is set in the transfer parameters (1A4h). The MP2110/MP2110M automatically determines the data type according to the parameter number. Shared memory uses USHORT data, but convert to the required data type for reading. INFO For Un, or Fn parameters, set the address in Leading Address (in transfer parameters). (5) Response Details The completion response is sent after read processing is completed. If the data for the parameter contents or specified axis is incorrect, 100: Illegal Parameter will be set in Error Status 1 (008h). If this command is executed during motion, 113: Status Transition Error: Positioning will be set in Error Status 1 (008h)

108 6 MP2110/MP2110M Functions Position Preset Position Preset (1) Command Code: 0015h (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Interrupt Mask Register ULONG IntMask; 000h Individual Axis Area (4) Function Presets the current position of the specified axis to the Target Position (preset position). (5) Response Details Command USHORT Command; 104h Option D15: 0 = Completion response not required. USHORT SubCommand; 106h 1 = Completion response required. Target Position (preset position) Positioning target position Unit: Command units Range: 2 31 to LONG TargetPos; 108h If required, the completion response is sent after processing is completed. If the data for the parameter contents or specified axis is incorrect, 100: Illegal Parameter will be set in Error Status 1 (008h). If this command is executed during motion, 113: Status Transition Error: Positioning will be set in Error Status 1 (008h). 6-22

109 6.5 Command Mode Details Bank Parameter Write (1) Command Code: 0019h (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Interrupt Mask Register ULONG IntMask; 000h Individual Axis Area Command USHORT Command; 104h Option D15: 0 = Completion response not required. 1 = Completion response required. USHORT SubCommand; 106h Bank Data Area 64 members USHORT ParamSend[64]; 1A4h to 223h (4) Function This command can be used by SGDS and cannot be used by SGDH. Only the Servodrive bank data from the normally used parameters Pn920 to Pn95F are written. This command cannot be used to write parameters related to the bank configuration (Pn900 to Pn910). Therefore, either set the bank configuration parameters beforehand or use Parameter Individual Write or Parameter Block Write. After setting the configuration parameters, turn ON the power to the Servodrive again. During positioning, it is possible to set data for a bank not currently in use. Therefore, for continued positioning while changing accelerations and decelerations, high speeds can be achieved by using this command and specifying banks for positioning commands. Bank data for up to 64 members is saved in shared memory. Calculate which of the parameters Pn920 to Pn95F is to be used for the address of the bank data to be written according to the bank definition set in the parameters, and use it to write the target data number. For example, in the figure of the following setting example, the step 2 acceleration data for bank 2 is the data from the leading address of the fourth bank. Therefore, transfer parameter 4 (ParamSend[3]) is used. When this command is executed by the MP2110/MP2110M, the data that has changed from the previous execution is detected, and only data that has changed is written to the Servodrive. Therefore data that is no longer being used can be left without changing it, as long as it will not effect operation, saving processing time. 6 (5) Response Details If a response is required, it is sent after processing is completed. If this command is executed for the SGDH, 103: Illegal Command Axis will be set in Error Status 1 (008h). (6) Bank Switch Function Overview An overview of the bank switch function is provided here. (a) Related Parameters No. Name Min. Max. Default Pn900 Number of Parameter Banks Pn901 Number of Parameter Bank Members Pn902 to Pn910 Parameter Bank Member Definition 0000H FFFFH 0 Pn920 to Pn95F Parameter Bank Data Depends on members. Depends on members

110 6 MP2110/MP2110M Functions Bank Parameter Write (b) Setting Method Use the following procedure to set this function. 1. Set the following two parameters so that mn 64: Number of parameter bank members (Pn901) = n Number of parameter banks (Pn900) = m 2. Register the bank switch members in Pn902 to Pn910 using the parameter numbers. 3. Set the data for each bank starting from the Leading Address (Pn920) of the parameter s Bank Data Area. Bank 0: Pn 920 to Pn (920+n 1) Bank 1: Pn (920+n) to Pn (920+2n 1) : Bank m-1: Pn (920+ (m 1) n) to Pn (920+m n 1) 4. Turn ON the power again. The following example shows switching between two banks. EXAMPLE Example: Switching between Two Banks for Members Step 2 Linear Acceleration Constant (Pn80B), Step 2 Linear Deceleration Constant (Pn80E), and Acceleration Switch Speed (Pn80C) Pn900 = 2 Number of banks Pn920 = 80BH value Pn901 = 3 Number of members Pn921 = 80EH value Pn922 = 80CH value Bank 0 Default Pn902 = 80BH Member 1 Pn903 = 80EH Member 2 Pn904 = 80CH Member 3 Pn923 = 80BH value Pn924 = 80EH value Pn925 = 80CH value Bank1 IMPORTANT When the set data for the Number of Parameter Banks (Pn900) or Number of Parameter Bank Members (Pn901) is 0, the standard parameters are used (i.e., the Bank Switch command is disabled). An upper/lower limit check is performed for the bank data using the allowable range for the registered bank members. If the value exceeds the upper/lower limit value, the parameter setting error alarm (A.04A) will occur. Therefore, at least the minimum values must be written for bank members. If a member number that is already being used is registered in a bank member definition, the bank data with the higher bank member definition parameter numbers is used. The Number of Parameter Banks (Pn900), Number of Parameter Bank Members (Pn901), and Parameter Bank Member Definition (Pn902 to Pn910) are offline parameters. These parameters are enabled when the power is turned OFF and ON again. Bank data is also used when the bank selection is 0 (BANK_SEL = 0), so set the default values for the data for bank 0. Banks are switched only after pulse distribution is completed (DEN = 1). Banks cannot be switched during pulse distribution (DEN = 0). If the parameter bank data (Pn920 to Pn95F) is changed for the selected bank during pulse distribution (DEN = 0), the A.95A warning will occur and the command will be ignored. This command does not overwrite the non-volatile memory of the Servodrive. To write bank data to the non-volatile memory, use the Parameter Block Write command or the Parameter Individual Write command. 6-24

111 6.5 Command Mode Details (c) Parameters That Can Be Registered The following table lists the parameters that can be registered as bank switch members. No. Name Size Min. Max. Unit Default Pn80A Step 1 Linear Acceleration Constant ,000 command units/s Pn80B Step 2 Linear Acceleration Constant ,000 command units/s Pn80C Acceleration Switch Speed command units/s 0 Pn80D Step 1 Linear Deceleration Constant ,000 command units/s Pn80E Step 2 Linear Deceleration Constant ,000 command units/s Pn80F Deceleration Switch Speed command units/s 0 Pn810 Exponential Acceleration/Deceleration Bias Command units/s 0 Pn811 Exponential Acceleration/Deceleration Time Constant ms 0 Pn812 Average Moving Time ms

112 6 MP2110/MP2110M Functions I/O Data Setting I/O Data Setting (1) Command Code: 0030h (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset Local I/O on MP2110 System Area Four digital outputs USHORT Do4; 16h Write Status ULONG StatusWrite; 110h Shared Area Interrupt Mask Register ULONG IntMask; 000h Individual Axis Area (4) Function Command USHORT Command; 104h Option D15: 0 = Completion response not required. 1 = Completion response required. USHORT SubCommand; 106h Direct Command Send Area Output I/O: Total output bit image I/O: Write format depends on the I/O device. Typedef struct{ UCHAR SendMLink[32]; UCHAR RecvMLink[32]; }STR_TOKA_ST; STR_TOKA_ST DrctCmd; 0C0 to 0FFh This command changes the output contacts for local I/O on the MP2110/MP2110M or distributed I/O (including MECHATROLINK-compatible inverters and MYVIS) connected to individual stations. For I/O on the MP2110/MP2110M, write to the Four Digital Outputs in the System Area, and set D30 (the MP2110/MP2110M) and D0 in the Write Status to 1. Input the command code in the Individual Axis Area for the first axis. INFO Turn ON D30 and D0 in the Write Status regardless of whether the connected station is enabled or disabled. For distributed I/O (including MECHATROLINK-compatible inverters and MYVIS), set the MECHATROLINK send packet data for each Module in the Direct Command Send Area of the Individual Axis Area, and set the station data in Write Status. For both local I/O and distributed I/O, write all of the output data, and not only the data for the output bits being changed. The input data is refreshed in the Direct Command Receive Area in the communication cycle. There is no command for reading I/O data. To read local I/O data, the data is refreshed in the System Area in each communication cycle. To read distributed I/O, the data is refreshed each communication cycle in the I/O data area of the Individual Axis Area. (5) Response Details When a completion response is required, it is returned after processing is completed. If the data for the parameter contents or specified axis is incorrect, 100: Illegal Parameter will be set in Error Status 1 (008h). 6-26

113 6.5 Command Mode Details Pass Position Set (1) Command Code: 0040h (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Interrupt Mask Register ULONG IntMask; 000h Individual Axis Area Command USHORT Command; 104h Option D0: 0 = Absolute position 1 = Distance from end position D1: 0 = Actual current position detection 1 = Command current position detection D15:0 = Completion response not required. 1 = Completion response required. USHORT SubCommand; 106h Pass Parameters 1 to 8 Position for detecting pass Unit: Command units Range: 2 31 to Pass Detection Direction (General working area 10) Direction for pass detection D0 to D7: Pass position 1 to 8 0 = Positive 1 = Negative Pass Direction Enable/Disable (General working area 11) Enables/disables pass detection direction (General working area 10) D0 to D7: Pass position 1 to 8 0 = Disabled 1 = Enabled Pass Position Enable/Disable (General working area 12) D0 to D7: Pass position 1 to 8 0 = Disabled (use previous setting.) 1 = Enabled ULONG MidCoin[8]; ULONG GeneWork10; ULONG GeneWork11; ULONG GeneWork12; 150h to 16Fh 180h 184h 188h

114 6 MP2110/MP2110M Functions Pass Position Reset (4) Function Sets up to eight pass positions. The host computer will be notified when the specified axis passes over a specified pass position. Select whether the pass position is to be specified as an absolute position or as a distance from the end position. Select whether pass detection is to be executed by the Actual Current Position (feedback values), or the Command Current Position (command values from the Servodrive). Select whether to specify the pass detection direction. If the pass direction is specified, detection is performed only in the specified direction for the respective position. This command can be executed before or during positioning. If the command has already been used to specify different pass positions, new parameters can be specified to overwrite the pass positions of the same number. When a pass position is detected, it is automatically cleared. Therefore, set the pass position every time, even when the same pass position is to be used. This command can also be executed during Servo OFF status, but detection is not performed during Servo OFF for safety reasons. If the feed speed is extremely slow when using the Actual Current Position for pass detection, the axis may appear to be moving in the opposite pulse direction from one communication cycle to the next (1 ms), and may be detected in the opposite direction. This is caused by the load status from the machine. When the feed speed is slow, use the Command Position. An action can be set for the pass function in advance. By registering an action, the commands registered for pass detection can be executed at high speed in the MP2110/MP2110M. For details, refer to Pass Action Register. (5) Response Details By specifying in the options, a response is returned at completion of the command. A pass report is sent when the position for the pass parameter specified by the present command current position is passed. The report indicates which pass position has been passed. The data for 0110h to 0117h is returned in the Shared Area as report data for each station. This data corresponds to pass positions 1 to 8. If the data for a specified axis is incorrect, 100: Illegal Parameter will be set in Error Status 1 (008h) of the Individual Axis Area Pass Position Reset (1) Command Code: 0041h (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Interrupt Mask Register ULONG IntMask; 000h Individual Axis Area (4) Function The pass position settings are cleared for all pass positions (1 to 8). The command is ignored if no pass positions are set. If actions are registered for pass positions, all the action will be reset along with the pass positions. (5) Response Details Command USHORT Command; 104h Option D15: 0 = Completion response not required. USHORT SubCommand; 106h 1 = Completion response required. Previous Pass Position Setting Keep/Reset (General working area 12) D0 to D7: Pass position 1 to 8 0 = Reset 1 = Keep previous setting. ULONG GeneWork12; 188h A response indicating completion of the command is returned if specified in the option. If the data for a specified axis is incorrect, 100: Illegal Parameter will be set in Error Status 1 (008h) of the Individual Axis Area. 6-28

115 6.5 Command Mode Details Speed Control Mode ON (1) Command Code: 0042h (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Interrupt Mask Register ULONG IntMask; 000h Command USHORT Command; 104h Option D03: 0 = Execution after current command execution completed 1 = Immediate execution USHORT SubCommand; 106h Individual Axis Area D15: 0 = Completion response not required. 1 = Completion response required. Command Speed The command direction is specified by the sign. This is the command speed for changing speeds. LONG ComSpeed; 10Ch (Unit: Maximum rotation speed */ h) h to h * The maximum rotational speed depends on the Motor model. For details on the maximum rotational speed for the Motor being used, refer to the Yaskawa SERVOPACK User s Manual. (4) Function Sets the Servodrive to speed control mode and starts the speed reference. The command is executed by specifying the sign for the command speed in the Individual Axis Area. This command is also used to change speeds. If, for example, the command speed is set to h, the axis will be moved at the maximum speed. The position data in shared memory is also refreshed correctly during speed control mode. If a positioning command is executed during speed control mode, speed control mode is interrupted and the Servodrive switches to position control mode with a smooth speed change. The option can be set to stop the current motion command and change to speed control mode. The change to speed control mode cannot be made, however, during zero point return or gain adjustment. When executing this command during interpolation, always set option D03 to 1. 6 INFO When executing this command, set the Speed/Position Control Option (Pn002.0) in the Servodrive parameters to 0. (5) Response Details A response indicating completion of the command is returned if specified in the option. If the data for the parameter contents or specified axis is incorrect, 100: Illegal Parameter will be set in Error Status 1 (008h) of the Individual Axis Area. When speed control mode is used, D30: Speed Control Mode is turned ON in Operating Status 1 (074h) of the Individual Axis Area. This command can be executed only for MECHATROLINK-II. If this command is executed for MECHATROLINK-I, 103: Illegal Command Axis will be set in Error Status 1 (008h) in the Individual Axis Area. 6-29

116 6 MP2110/MP2110M Functions Speed Control Mode OFF Speed Control Mode OFF (1) Command Code: 0043h (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Interrupt Mask Register ULONG IntMask; 000h Individual Axis Area (4) Function Returns the Servodrive to position control mode from speed control mode, and stops the axis. To perform positioning at a specific position while the Motor is still rotating in speed control mode, execute a positioning command while still in speed control mode. The Servodrive will return to position control mode without using this command. (5) Response Details Command USHORT Command; 104h Option D15: 0 = Completion response not required. 1 = Completion response required. USHORT SubCommand; 106h A response indicating completion of the command is returned if specified in the option. If the data for the parameter contents or specified axis is incorrect, 100: Illegal Parameter will be set in Error Status 1 (008h) of the Individual Axis Area. When speed control mode is turned OFF, D30: Speed Control Mode will turn OFF and D31: Position Control Mode will turn ON in Operating Status 1 (074h) of the Individual Axis Area. 6-30

117 6.5 Command Mode Details Torque Control Mode setting (1) Command Code: 0044h (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Interrupt Mask Register ULONG IntMask; 000h Command USHORT Command; 104h Option D03: 0 = Execution after current command execution completed 1 = Immediate execution USHORT SubCommand; 106h Individual Axis Area D15: 0 = Completion response not required. 1 = Completion response required. Torque Reference The command direction is specified by the sign. This is the command speed for changing torque. LONG ComTorque; 148h (Unit: Motor maximum torque */ h) h to h * The maximum torque depends on the Motor model. For details on the maximum torque for the Motor being used, refer to the Yaskawa SERVOPACK User s Manual. (4) Function Sets the Servodrive to torque control mode, and starts the torque reference. The command torque is specified by adding a sign to the torque reference in the Individual Axis Area. This command is also used to change torque. If, for example, the torque reference is set to h, the axis will move at the Motor s maximum torque. The position data in shared memory is also refreshed correctly during torque control mode. If a positioning command is executed during torque control mode, torque control mode is interrupted and the Servodrive switches to position control mode with a smooth torque change. The option can be set to stop the current motion command and change to speed control mode. The change to speed control mode cannot be made, however, during zero point return or gain adjustment. When executing this command during interpolation, always set option D03 to 1. 6 INFO When executing this command, set the Speed/Position Control Option (Pn002.0) in the Servodrive parameters to 0. (5) Response Details A response indicating completion of the command is returned if specified in the option. If the data for the parameter contents or specified axis is incorrect, 100: Illegal Parameter will be set in Error Status 1 (008h) of the Individual Axis Area. When torque control mode is used, D29: Torque Control Mode is turned ON in Operating Status 1 (074h) of the Individual Axis Area. This command can be executed only for MECHATROLINK-II. If this command is executed for MECHATROLINK-I, 103: Illegal Command Axis will be set in Error Status 1 (008h) in the Individual Axis Area. 6-31

118 6 MP2110/MP2110M Functions Torque Control Mode OFF Torque Control Mode OFF (1) Command Code: 0045h (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Interrupt Mask Register ULONG IntMask; 000h Individual Axis Area (4) Function Returns the Servodrive to position control mode from torque control mode and stops the axis. To perform positioning at a specific position while the Motor is still rotating in torque control mode, execute a positioning command while still in torque control mode. The Servodrive will return to position control mode without using this command. (5) Response Details Command USHORT Command; 104h Option D15: 0 = Completion response not required. 1 = Completion response required. USHORT SubCommand; 106h A response indicating completion of the command is returned if specified in the option. If the data for the parameter contents or specified axis is incorrect, 100: Illegal Parameter will be set in Error Status 1 (008h) of the Individual Axis Area. When torque control mode is turned OFF, D29: Torque Control Mode will turn OFF and D31: Position Control Mode will turn ON in Operating Status 1 (074h) of the Individual Axis Area. 6-32

119 6.5 Command Mode Details Gain Switch (1) Command Code: 0046h (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Interrupt Mask Register ULONG IntMask; 000h Command USHORT Command; 104h Option D15: 0 = Completion response not required. 1 = Completion response required. USHORT SubCommand; 106h Option Individual Axis Area Gain Number D2 D1 D0 Gain Gain Gain Gain Gain 1 Other than above USHORT SubCommand; 106h INFO (4) Function This command is used while operation is stopped to switch gain numbers that have been set in the Servodrive. An error will occur if this command is used during axis movement. For details on switching gain numbers during positioning and linear interpolation, refer to the separate command descriptions in this manual. The gain number settings depend on the Servodrive model connected. Refer to the Yaskawa SERVOPACK User s Manual for details (The SGDH has two settings, and the SGDS has four settings). All of the gain settings must be set using the Parameter Set command beforehand. 6 (5) Response Details By specifying in the options, the response command is returned when the gain switch is completed. If the data for the parameter contents or specified axis is incorrect, 100: Illegal Parameter will be set in Error Status 1 (008h) of the Individual Axis Area. 6-33

120 6 MP2110/MP2110M Functions Gantry Axis Set Gantry Axis Set (1) Command Code: 0047h (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Interrupt Mask Register ULONG IntMask; 000h Individual Axis Area (4) Function Command USHORT Command; 104h Option D15: 0 = Completion response not required. USHORT SubCommand; 106h 1 = Completion response required. General Working Area 1 Gantry slave axis number USHORT GeneWork1; 190h Maximum Gantry Axis Error USHORT GntrMaxDef; 268h This command sets a slave axis for a master axis when using machines with gantry axes. At execution of this command, all motion commands for the master axis are automatically copied to the slave axis. The interpolation commands that the MP2110/MP2110M uses to control acceleration/deceleration are used to copy the distribution pulses and distribute them to the slave axis as well. The positioning commands (Positioning, Jog) that the Servodrive executes are copied by the MP2110/MP2110M and used by both Servodrives. Commands not related to motion, however, such as Alarm Reset and Parameter Set must be executed separately for the master/slave axes from the host computer. The details on each command are provided in Table 6.1 Command Interlock to Master Axis while Setting Gantry. Use this table to determine which command to execute. An error will be returned to the host computer if a motion command is executed for the gantry slave axis. This function monitors the position of the master/slave axes, and when position error exceeds the specified error, the master/slave axes will be set to Servo OFF and an error response will be returned to the host computer. This command can be set for one axis combination only each time. Execute the command multiple times for multiple gantry axes. This command functions to distribute the same reference pulses from the MP2110/MP2110M. Feedback for both specified gantry axes is not monitored and any error is not corrected. The commands that can be executed for a gantry slave axis are shown in 6.6 Command Execution Order, but these commands cannot be executed for a slave axis when interpolation commands are being executed. Always use the same command for the master axis. 6-34

121 6.5 Command Mode Details Table 6.1 Command Interlock to Master Axis while Setting Gantry Slave Axis Status Command Code Command Operation after Setting Gantry Setting Parameters D2 Servo OFF D10 Servodrive Alarm ON D14 OT/ Interference Alarm ON D17 Emergency Stop ON D h Controller Reset 0002h Sync ON 0003h Sync OFF 0004h Encoder Setup 0010h Parameter Set 0011h Parameter Block Write 0012h Parameter Block Read 0013h Parameter Individual Write 0014h Parameter Individual Read 0015h Position Preset 0019h Bank Data Write 0030h I/O Data Setting 0040h Pass Position Set 0041h Pass Position Reset 0042h Speed Control Mode ON 0043h Speed Control Mode OFF 0044h Torque Control Mode ON 0045h Torque Control Mode OFF 0046h Gain Switch 0047h Gantry Axis Set Execute for master axis only. 0048h Gantry Axis Reset Execute for master axis only. 0049h Opposing Beam Interference Check ON Execute for master axis only. 004Ah Opposing Beam Interference Check OFF Execute for master axis only. 004Bh Pass Action Register Execute for master axis only. 004Ch Watch Torque Limit 0100h Servo ON 0101h Servo OFF 0109h Alarm Reset 0110h Emergency Stop 0111h Hold ON 0112h Hold OFF 0200h Zero-point Return 0209h Gain Adjustment ON 0210h Positioning (Independent Axis) 0211h Positioning in Time 0213h External Positioning Cannot be used. 0214h Return Positioning 0220h Linear Interpolation 0222h Circular Interpolation

122 6 MP2110/MP2110M Functions Gantry Axis Set Table 6.1 Command Interlock to Master Axis while Setting Gantry (cont d) Slave Axis Status Command Code Command Operation after Setting Gantry Setting Parameters D2 Servo OFF D10 Servodrive Alarm ON D14 OT/ Interference Alarm ON D17 Emergency Stop ON D h Pass Point Constant Speed Interpolation 0230h Speed Jog Start 0231h Speed Jog Stop 0232h Pulse Jog 0240h Speed Change during Axis Movement 0300h Servodrive Direct Note: : Copied : Slave axis command disabled status error : No effect (5) Response Details By specifying in the options, a response command is returned after the Gantry Axis Set command is completed. Bit D13: Gantry Slave Axis Mode ON will be set in Operating Status 1 for the axis set as the gantry slave axis. Even if the slave axis is moving, the settings in Operating Status 1 for the gantry slave axis will not be refreshed. Refer to Operating Status 1 for the master axis during gantry setting. If Gantry Set is executed again for an axis already set as a gantry axis (master or slave), 23: Duplication Error (Gantry/Opposing Beam) will be set in Error Status 1 (008h). If the data for the parameter contents or specified axis is incorrect, 100: Illegal Parameter will be set in Error Status 1 (008h) of the Individual Axis Area. When the gantry axis error is incorrect, 16: Gantry Axis Error Overflow is set in Error Status 1 (008h). 6-36

123 6.5 Command Mode Details Gantry Axis Reset (1) Command Code: 0048h (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Interrupt Mask Register ULONG IntMask; 000h Individual Axis Area (4) Function Resets the gantry setting set using the Gantry Axis Set command. After this command is executed, commands executed for the master axis will not be copied to the slave axis. This command can be executed for one axis combination only each time. Execute the command multiple times for multiple gantry axes. The specified slave axes are recorded in the MP2110/MP2110M, so the axes do not need to be specified. (5) Response Details Command USHORT Command; 104h Option D15: 0 = Completion response not required. 1 = Completion response required. USHORT SubCommand; 106h A response command is returned after the Gantry Axis Reset command is completed. If the data for the parameter contents or specified axis is incorrect, 100: Illegal Parameter will be set in Error Status 1 (008h) of the Individual Axis Area

124 6 MP2110/MP2110M Functions Opposing Beam Interference Check ON Opposing Beam Interference Check ON (1) Command Code: 0049h (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Interrupt Mask Register ULONG IntMask; 000h Individual Axis Area (4) Function Command USHORT Command; 104h Option D15: 0 = Completion response not required. USHORT SubCommand; 106h 1 = Completion response required. Opposing Beam Axis Number (General working area 1) USHORT GeneWork1; 190h Set the opposite axis number. Interference Check Distance (General working area 10) Set the distance between the two axes for interference check. Range: 1 to ULONG GeneWork10; 180h Distance between Moving Coils (General working area 11) Sets the distance between the home positions of two beams with a sign. Range: 2 31 to ULONG GeneWork11; 184h Beams in machines that have two opposing beams, as shown in the following figure, may collide due to an incorrect command from the host computer. The MP2110/MP2110M, however, can monitor the distance between the two beams to prevent collision. If the two beams approaches the specified interference check distance, the master/slave axes are immediately stopped. If there are axes set as gantry axes, the gantry axes are also immediately stopped. The interference check constantly monitors the axes until the interference check is turned OFF. If interference is detected, temporarily send the Interference Check OFF command from the host computer, execute Alarm Reset, and remove one of the beams to a safe position using an operation such as jogging. Then enable the interference check again. Specify the interference check distance to the distance over which the axis can stop at maximum feed speed. Specify the signed distance from the home position for the opposite axis in respect to the home position of the axis executing this command. Set to 0 to set both home positions to the same position. 6-38

125 6.5 Command Mode Details EXAMPLE Stop interference Moving part Arm Moving part Linear slider Fig. 6.8 Example: Opposing Beam Interference Check Setting Interference check error distance Y1 axis Actual current position Interference check position Actual current position Y2 axis Distance between beam home positions (signed) 6 EXAMPLE Fig. 6.9 Interference Position Concept Interference check error distance Y1 axis Y2 axis Actual current position Actual current position Interference check position Fig Interference Error Example 6-39

126 6 MP2110/MP2110M Functions Opposing Beam Interference Check OFF (5) Response Details By specifying in the options, a response command is returned when the opposing beam interference check is enabled. When interference is detected, the host computer is notified. The response command is 0049h: Opposing Beam Interference Check ON, the response factor is -1: Error and 17: Opposing Beam Interference Check are returned in Error Status 1 (008h). If the Interference Check ON command is executed again for an axis for which the interference check (master and slave) has already been set, 23: Duplication Error (Gantry/Opposing Beam) is set in Error Status 1 (008h). If the data for the parameter contents or specified axis is incorrect, 100: Illegal Parameter will be set in Error Status 1 (008h) of the Individual Axis Area Opposing Beam Interference Check OFF (1) Command Code: 004Ah (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Interrupt Mask Register ULONG IntMask; 000h Individual Axis Area (4) Function Turns OFF the opposing beam interference check for the axis set using the Opposing Beam Interference Check ON command. When multiple axes are set, execute the OFF command separately for each axis. The check can be turned OFF without specifying the axis number for the opposing axis. Turn OFF the function using the axis numbers saved in the MP2110/MP2110M. (5) Response Details Command USHORT Command; 104h Option D15: 0 = Completion response not required. 1 = Completion response required. USHORT SubCommand; 106h By specifying in the options, a response command is returned when the opposing beam interference check is disabled. If this command is executed for an axis for which the opposing beam interference check is not set, 103: Illegal Command Axis will be set in Error Status 1 (008h). 6-40

127 6.5 Command Mode Details Pass Action Register (1) Command Code: 004Bh (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area System Area Shared Area Parameter Action Command Member Name Offset Write Status ULONG StatusWrite; 110h MP2110/MP2110M Local I/O Four digital outputs I/O Data Setting ULONG Do4; 016h Interrupt Mask Register ULONG IntMask; 000h Interpolation Speed Unit: Command units/s Linear Interpolation ULONG IntpltSpd; 010h Range: 0 to Linear Acceleration Time Constant 1= 1 ms Linear Interpolation ULONG TimStAdd; 014h Linear Deceleration Time Constant 1= 1 ms Linear Interpolation ULONG TimStDec; 018h Maximum Feed Speed Unit: Command units/s Linear Interpolation ULONG SendMaxSpd; 01C Range: 0 to Interpolation S-curve Unit: 1 = 1 communication cycle Range: 0 to 99 Linear Interpolation USHORT SValue; 030h

128 6 MP2110/MP2110M Functions Pass Action Register Shared Memory Area Individual Axis Area Command USHORT Command; 104h Option D15: 0 = Completion response not required. 1 = Completion response required. USHORT SubCommand; 106h Pass Position for Action Specifies the pass position for registering an action. Range: 1 to 8 Axis Number Specifies the axis number for registering an action. Action Command Specifies the command code. Action Option Specifies an option to accompany the command. Target Position Positioning target position Unit: Command units Range: 2 31 to Command Speed Positioning feed speed Unit: Command units/s Range: 0 to Filter Type Selection D0, D1: 0 = No filter 1 = Exponential acceleration/deceleration filter 2 = S-curve acceleration/deceleration filter Gain Switch Timer After positioning with a positioning command is completed, this time is measured and the gain is switched from the stabilized gain to the stopped gain. Unit: ms Specify 1 to 8 USHORT ActionPoint; 170h Always required. USHORT ActAxis; 172h Always required. USHORT ActCmd; 174h Always required. USHORT ActSubCmd; 176h Positioning Return Positioning Linear Interpolation Positioning Return Positioning Speed Change Positioning Return Positioning Linear Interpolation Positioning Linear Interpolation LONG TargetPos; LONG ComSpeed; USHORT UnitSelect; USHORT TimerKvChg; (cont d) Parameter Action Command Member Name Offset 108h 10Ch 110h 112h 6-42

129 6.5 Command Mode Details Shared Memory Area Individual Axis Area (cont d) Positioning Timeout The time is monitored from DEN to COIN. An error is returned to the host computer if the specified time is exceeded. Unit: ms Range: +1 to Bank Switch Selects an acceleration/deceleration bank number registered to the Servodrive. Not switched when set to 0. (Enabled for SGDS.) Range: 0 to 64 End Position End retracting position Unit: Command units Range: 2 31 to Hold Timer (momentary stop time) Unit: ms Command Speed: Return Positioning feed speed Unit: Command units/s Range: 0 to Bank Switch: Return Selects an acceleration/deceleration bank number registered to the Servodrive. Not switched when set to 0. (Enabled for SGDS.) Range: 0 to 64 Direct Command Send Area Output I/O: Total output bit image Individual I/O: Write format depends on the I/O device. Positioning USHORT TimerPos; 114h Positioning Return Positioning USHORT BankSelect; 116h Return Positioning LONG EndPos; 118h Return Positioning USHORT HoldTimer; 13Ch Return Positioning ULONG GeneWork10; 180h Return Positioning USHORT GeneWork1; 190h I/O Data Setting typedef struct{ UCHAR SendMLink[32]: UCHAR RecvMLink[32]; }STR_TOKA_ST; STR_TOKA_ST DrctCmd; (cont d) Parameter Action Command Member Name Offset 0C0 to 0FFh 6 (4) Function This function is used to register in advance the actions to be executed when pass positions are passed. Actions can be set for a maximum of eight pass positions. When a pass position that has been set for an axis is passed, the previously registered action is automatically started from the MP2110/MP2110M. Use the Pass Position Set command to set the pass position. This function minimizes the time from the pass position until the next action. (Communication time between the Servodrive and MP2110/MP2110M is required.) The following actions can be used. Positioning Return Positioning Linear Interpolation Speed Changes during Axis Movement I/O Data Setting Torque Limit Setting 6-43

130 6 MP2110/MP2110M Functions Pass Action Register EXAMPLE The required parameters depend on the registered action commands. The MP2110/MP2110M automatically reads the required parameters according to the specified action command. This command can be executed before or during positioning. Only one action can be registered for one axis during one communication cycle. Therefore, registering actions for all eight pass positions requires eight communication cycles. Even if a separate action has already been set for the same axis number, the new action will overwrite the previous action. Actions for the detected pass positions are automatically cleared after the action is performed. Therefore, set each pass position and accompanying action separately whenever setting an action more than once for the same position. When the command code is set to 0, the registered action is reset. Actions can also be cleared by resetting the pass position, but this method will clear all actions at once. Use Pass Position Reset to clear a pass position. To execute multiple actions at the same detected position, set the same position in the multiple pass parameters using Pass Position Set. Speed Change during Axis Movement is the only function that can be performed for the local axis. Set the action axis number to 0 when outputting data to local I/O. Speed (V) Pass position 1 Pass position 2 Pass position 3 Axis 1 Speed (V) Time (t) Axis 2 Speed (V) Start movement Time (t) Axis 3 Start movement Time (t) Fig Example: Pass Action Setting (5) Response Details A pass report is sent as the current position (Command Current Position or Actual Current Position can be selected) passes the specified pass position. The report shows which pass point has been passed. For each station, a value between 0110h and 0117h is returned in the Report Data Area of the Shared Area. These addresses correspond to pass positions 1 through 8. If the data for the specified axis is incorrect, 100: Illegal Parameter will be set in Error Status 1 (008h) of the Individual Axis Area. 6-44

131 6.5 Command Mode Details Watch Torque Limit (1) Command No.: 004Ch (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Interrupt Mask Register ULONG IntMask; 000h Individual Axis Area Command USHORT Command; 104h Option D0: 0 =No torque limit in positive direction 1 = Torque limit in positive direction D1: 0 = No torque limit in reverse direction 1 = Torque limit in reverse direction D15: 0 = Completion response not required 1 = Completion response required USHORT SubCommand; 106h (4) Function This function monitors torque limit from when the torque control command is sent to when it is cleared. Set the torque limit in the SERVOPACK parameters. Pn404 External input forward torque/thrust limit Pn405 External input reverse torque/thrust limit The MP2110/MP2110M returns a response to the host computer when the torque limit is reached. If torque limit is set during a zero point return or gain adjustment, these operations continue without a torque limit, and torque limit monitoring starts when each of these commands has completed processing. If a torque limit is set in torque control mode, torque control monitoring starts after torque control mode is finished. If this command is executed during a motion command, torque limiting is executed immediately, without waiting for the axis movement to be completed. Torque limit monitoring can be enabled using a pass action. 6 (5) Response Details When the torque limit settings have been completed, a response command is returned based on the option specifications. When the torque limit is reached, 122: Torque Limiting is set in Response Factor of the Individual Axis Area. 6-45

132 6 MP2110/MP2110M Functions Servo ON Servo ON (1) Command Code: 0100h (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Interrupt Mask Register ULONG IntMask; 000h Individual Axis Area (4) Function Turns ON the Servo for the specified axis. The option can specify whether to enable/disable the Servo ON Timeout check. (5) Response Details Command USHORT Command; 104h Option D0: 0 = Do not execute Servo ON timeout. 1 = Execute Servo ON timeout. D15: 0 = Completion response not required. 1 = Completion response required. USHORT SubCommand; 106h Servo ON Timeout Value 1 = 1 ms Setting range: 1 to USHORT TimerSvOn; 264h When completion is normal, D10: Servo OFF is turned OFF in Operating Status 1 (074h) of the Individual Axis Area. An error response will be sent if the Servo for the specified axis cannot turn ON within the time specified as the Servo ON Timeout Value. The error 7: Servo ON Timeout is set in Error Status 1 (008h) of the Individual Axis Area. If the data for the parameter contents or specified axis is incorrect, 100: Illegal Parameter will be set in Error Status 1 (008h) of the Individual Axis Area. 6-46

133 6.5 Command Mode Details Servo OFF (1) Command Code: 0101h (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Interrupt Mask Register ULONG IntMask; 000h Individual Axis Area (4) Function Command USHORT Command; 104h Option D0: 0 = Do not execute Servo OFF timeout. 1 = Execute Servo OFF timeout. D15: 0 = Completion response not required. 1 = Completion response required. USHORT SubCommand; 106h Servo OFF Timeout Value 1 = 1 ms Setting range: 0 to USHORT TimerSvOff; 266h Turns OFF the Servo for the specified axis. Specify in the options whether to enable or disable the Servo OFF timeout check. After completion, D10: Servo OFF is turned ON in Operating Status 1 (074h) of the Individual Axis Area. (5) Response Details An error response will be sent if the Servo for the specified axis cannot turn OFF within the time specified as the Servo OFF Timeout Value. The error 8: Servo OFF Timeout is set in Error Status 1 (008h) of the Individual Axis Area. If the data for the parameter contents or specified axis is incorrect, 100: Illegal Parameter will be set in Error Status 1 (008h) of the Individual Axis Area

134 6 MP2110/MP2110M Functions Alarm Reset Alarm Reset (1) Command Code: 0109h (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Interrupt Mask Register ULONG IntMask; 000h Individual Axis Area (4) Function Resets the alarm and restores normal control. The processing performed for this command depends on the alarm contents. This command is ignored if an error has not occurred in the specified axis. The alarm may not be reset depending on the alarm contents in the SERVOPACK. Turn ON the power to the SERVOPACK again. (5) Response Details Command USHORT Command; 104h Option D15: 0 = Completion response not required. 1 = Completion response required. USHORT SubCommand; 106h If the data for the parameter contents or specified axis is incorrect, 100: Illegal Parameter will be set in Error Status 1 (008h) of the Individual Axis Area. 6-48

135 6.5 Command Mode Details Emergency Stop (1) Command Code: 0110h (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Interrupt Mask Register ULONG IntMask; 000h Individual Axis Area Command USHORT Command; 104h Option (Emergency Stop Mode) D0, D1: 0 = Servo OFF, stop (Servo OFF, emergency stop status) 1 = Deceleration stop (Servo ON) 2 = Second deceleration stop (Servo ON) 3 = Immediate stop (Servo ON) D15: 0 = Completion response not required. 1 = Completion response required. USHORT SubCommand; 106h (4) Function Executes emergency stop processing for the specified axis. This command can be executed for individual axes or all axes. The stop method is selected using options. Emergency Stop Modes (Options D0, D1) 0: Turns OFF the Servo, goes into emergency stop status, and waits for the Alarm Reset command. 1: Decelerates to a stop according to the deceleration that is set. Does not become an emergency stop, and does not turn OFF the Servo. 2: This command cannot be used for positioning. For interpolation, decelerates to a stop using the Interpolation Emergency Stop Deceleration Time Constant in the Individual Axis Area. When the Interpolation Emergency Stop Deceleration Time Constant is smaller than the Deceleration Time Constant (Shared Area 018h), stopping is performed using the Deceleration Time Constant. If the Interpolation Emergency Stop Deceleration Time Constant is larger, operation is stopped using the same operation as for emergency stop mode 1. To specify emergency stop mode 2 during interpolation, the Interpolation Emergency Stop Deceleration Time Constant must be set in advance using the Parameter Set command. For interpolation group axes, the longest Interpolation Emergency Stop Deceleration Time Constant is used as the Deceleration Time Constant for the master axis. As a result, this does not become an emergency stop and does not turn the Servo OFF. 3: Specifies an immediate stop (zero speed) to the Servodrive. This mode may subject the machinery to shock. This is not an emergency stop, and does not turn OFF the Servo. 6 INFO An emergency stop can be executed even if the same command is used from the host computer, but it can also be executed by the hardware using the MP2110 s local I/O inputs. Whether or not local inputs are to be used for emergency stops can be set when the power is turned ON. Local I/O emergency stops depend on the emergency stop mode specified in the parameter settings. (5) Response Details When a completion response is required, it is sent as a report after stopping. An error response will be returned if an error occurs for the specified axis. When the emergency stop mode is set to 0, set D28: Emergency Stop in Operating Status 1 (074h) of the Individual Axis Area to 1. Emergency stops will not occur for modes other than

136 6 MP2110/MP2110M Functions Hold ON Hold ON (1) Command Code: 0111h (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Interrupt Mask Register ULONG IntMask; 000h Individual Axis Area (4) Function Decelerates the specified axis to a stop. While axis operation is stopped, movement parameters, such as the target position, are held, and movement resumes when the Hold OFF command is executed. This command can also be used during positioning jogging and interpolation. Some commands can be received while holding is ON, but then the Hold OFF command cannot be used to resume operation. If another command is executed during the hold, execute the first command again after turning OFF the hold. (5) Response Details If required, a response report is sent when stopping has completed. If the data for the parameter contents or specified axis is incorrect, 100: Illegal Parameter will be set in Error Status 1 (008h) of the Individual Axis Area. While hold is ON, D4: Holding is ON in Operating Status 1 (074h) of the Individual Axis Area Hold OFF (1) Command Code: 0112h (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters (4) Function Cancels the hold (temporary stop) for the specified axis. When this command is executed, the specified axis resumes operation. If the specified axis is not in hold status, this command is ignored. (5) Response Details Command USHORT Command; 104h Option D15: 0 = Completion response not required. 1 = Completion response required. USHORT SubCommand; 106h Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Interrupt Mask Register ULONG IntMask; 000h Individual Axis Area Command USHORT Command; 104h Option D15: 0 = Completion response not required. 1 = Completion response required. USHORT SubCommand; 106h Pass, near, and coincidence position processing that was performed before hold is resumed. If the data for the parameter contents or specified axis is incorrect, 100: Illegal Parameter will be set in Error Status 1 (008h) of the Individual Axis Area. When Hold OFF is executed, D4: Holding turns OFF in Operating Status 1 (074h) of the Individual Axis Area. 6-50

137 6.5 Command Mode Details Zero-point Return (1) Command Code: 0200h (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Interrupt Mask Register ULONG IntMask; 000h Individual Axis Area Command USHORT Command; 104h Option D15: 0 = Completion response not required. USHORT SubCommand; 106h 1 = Completion response required. Zero-point Return Mode 0: Normal zero-point return 1: Zero-point return for infinite axis (θ axis) 2: Zero-point return for small-stroke axis (Z axis) 4: Zero-point return C USHORT ZretMode; 138h Zero-point Return Maximum Speed Maximum speed until deceleration switch turns ON for zero-point return. Unit: Command units/s Range: 0 to Zero-point Return Creep Speed Moving speed when searching for phase C Unit: Command units/s Range: 0 to Zero-point Return Deceleration Distance Distance from when deceleration switch turns ON until phase C check begins Unit: Command units Range: +1 to Start Direction (used with mode 4) (Option) D0: 0 = Negative 1 = Positive Hold Timer Value (Used with modes 0 and 4) Timer value for holding when the DEC signal is detected and rotation is reversed for a zero-point return command Unit: 1 ms ULONG ZretMaxSpd; ULONG ZretCreepSpd; USHORT ZretDecDist; USHORT SubCommand; USHORT HoldTimer; 130h 134h 13Ah 106h 13Ch

138 6 MP2110/MP2110M Functions Zero-point Return (4) Function This command executes a zero-point return for the specified axis. The following four modes can be specified for the zero-point return operation depending on the hardware configuration. (a) Mode 0: Normal Zero-point Return The procedure is as follows: 1. If the deceleration switch turns OFF (outside DEC signal), the axis will move in the negative direction at the speed specified in Zero-point Return Maximum Speed (130h). If the deceleration switch turns ON (inside DEC signal), the axis will move in the positive direction, and decelerate to a stop when the deceleration switch turns OFF. After the hold timer, the axis will start moving in the negative direction again. 2. When the deceleration switch turns ON (inside DEC signal), positioning will be performed in the negative direction at the Zero-point Return Creep Speed (134h) for the Zero-point Return Deceleration Distance (13Ah) only. 3. After positioning distribution is completed (without waiting for coincidence), phase C detection starts, and the axis moves in the negative direction at the Zero-point Return Creep Speed. After phase C is detected by the encoder, the axis decelerates to a stop, and positioning to phase C resumes. The operation is completed when the position is set to 0. Start Position within DEC Signal Width ( ) OT DEC (+) OT Phase 10 Phase 3 Phase C Start position Phase 4 Phase 1, 2 Phase 5 Phase 9 Phase 8 Phase 7 Phase 6 Start Position Outside DEC Signal Width ( ) OT DEC (+) OT Phase 10 Phase C Start position Phase 1, 2 Phase 5 Phase 9 Phase 8 Phase 6 Phase 7 Fig Mode 0: Normal Zero-point Return 6-52

139 6.5 Command Mode Details (b) Mode 1: Zero-point Return for Infinite Axis (θ Axis) The procedure is as follows: 1. The specified axis is moved in the negative direction at the speed specified in Zero-point Return Creep Speed (134h). 2. As the encoder turns ON the phase C input, positioning is executed in the negative direction for the Zeropoint Return Deceleration Distance (13Ah) only. 3. After pulse distribution is completed, the axis moves in the positive direction. The position at which the phase C input was turned ON by the encoder is recorded, and then the axis decelerates to a stop. 4. Positioning is executed to phase C, and is completed when the position is set to 0. ( ) OT (+) OT Phase 7 Phase 8 Phase C Phase 9 Phase 1, 2 Start position Phase 6 Phase 5 Phase 10 Phase 4 Phase 3 Fig Mode 1: Zero-point Return for Infinite Axis (θ Axis)

140 6 MP2110/MP2110M Functions Zero-point Return (c) Mode 2: Zero-point Return for Small-stroke Axis (Z Axis) The procedure is as follows: 1. If the deceleration switch is OFF at the start position (outside DEC signal), the specified axis moves in the negative direction until the switch turns ON at the Zero-point Return Creep Speed (134h). When the switch turns ON, the axis decelerates to a stop, moving in the positive direction at the Zero-point Return Creep Speed. When the deceleration switch is ON at the start position (inside DEC signal), the axis moves in the positive direction at the Zero-point Return Creep Speed. 2. The axis moves until the deceleration switch turns OFF. When the deceleration switch is turned OFF, the encoder starts phase C detection, and axis movement continues. At the phase C input, the axis decelerates to a stop. 3. Positioning is executed to phase C again and the position is set to 0 to complete the operation. Start Position Inside DEC Signal ( ) OT DEC Phase 6, 7 Phase 10 (+) OT Phase 5 Phase 8, 9 Start position Phase 1, 2 Phase C Phase 10 Phase 11 Start Position Outside DEC Signal ( ) OT DEC Phase 6, 7 Phase 10 (+) OT Phase 5 Phase 8, 9 Phase C Phase 10 Start position Phase 4 Phase 3 Phase 11 Phase 1, 2 Phase 3 Fig Mode 2: Zero-point Return for Small-stroke Axis (Z Axis) 6-54

141 6.5 Command Mode Details (d) Mode 4: Zero-point Return C The procedure is as follows: 1. The specified axis moves at the Zero-point Return Maximum Speed (130h) in the direction specified by the option (106h) D: Start Direction setting. The axis does not move if the specified start direction is negative and ( ) OT is ON or if the start direction is positive and + (OT) is ON when the command is executed. 2. The axis stops when the overtravel input turns ON. After stopping for the time specified in the Hold Timer (13Ch), the axis moves in the opposite direction at the Zero-point Return Creep Speed (134h). 3. After the overtravel input turns OFF, the axis decelerates to a stop when the first phase C is detected. 4. Positioning is executed to phase C again, and the position is set to 0 to complete the operation. Positive Start Direction without OT ( ) OT (+) OT Phase 4 Phase C Start position Phase 8 Phase 9, 10 6 Negative Start Direction with Negative ( ) OT ( ) OT Phase 9, 10 (+) OT Start position Phase 8 Phase C Phase 1, 2 (5) Response Details Fig Mode 4: Zero-point Return C A completion response is sent after zero-point return is completed, if required. If the data for the parameter contents or specified axis is incorrect, 100: Illegal Parameter will be set in Error Status 1 (008h) of the Individual Axis Area. Bits D27: Moving and D7: Zero-point Return are turned ON in Operating Status 1 (074h) of the Individual Axis Area. These bits turn OFF when zero-point return is completed. 6-55

142 6 MP2110/MP2110M Functions Gain Adjustment ON Gain Adjustment ON (1) Command Code: 0209h (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Interrupt Mask Register ULONG IntMask; 000h Individual Axis Area (4) Function This command can be executed to make gross gain adjustments during trial operation of the machine. The specified axes are positioned at their target positions, and the moving time and overshoot amounts are returned. Moving time: Returns the time from the beginning of axis movement until positioning to within the positioning completion width ± the target position. The moving time does not include the gain switch timer time. Overshoot amount: Maximum amount of overshooting returned from when the target position is first passed until 100 ms after the target position is reached. If there is no overshooting, then 0 is returned. (5) Response Details Command USHORT Command; 104h Option Gain Switch D0: 0 = Do not switch gain. 1 = Switch gain. USHORT SubCommand; 106h Target Position Positioning target position Unit: Command units Range: 2 31 to Command Speed Positioning feed speed Unit: Command units/s Range: 0 to Filter Type Selection D0, D1: 0 = No filter 1 = Exponential acceleration/deceleration filter 2 = S-curve acceleration/deceleration filter Gain Switch Timer After positioning with a positioning function is completed, the time is measured and the gain is switched from the stabilized gain to the stopped gain. Unit: ms Bank Switch Selects an acceleration/deceleration bank number registered to the Servodrive. Not switched when set to 0. (Enabled for SGDS.) Range: 0 to 64 LONG TargetPos; LONG ComSpeed; USHORT UnitSelect; USHORT TimerKvChg; USHORT BankSelect; The moving time and overshoot amount are returned in the report and parameters. General working area 1 (190h): Moving time (Unit: ms) General working area 2 (192h): Overshoot amount (Unit: Command units) If the data for the parameter contents or specified axis is incorrect, 100: Illegal Parameter will be set in Error Status 1 (008h). 108h 10Ch 110h 112h 116h 6-56

143 6.5 Command Mode Details Positioning (Independent Axis) (1) Command Code: 0210h (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Interrupt Mask Register ULONG IntMask; 000h Individual Axis Area Command USHORT Command; 104h Option Gain Switch D0: 0 = Do not switch gain. 1 = Switch gain. Positioning Timeout D1: 0 = No positioning timeout 1 = Positioning timeout Wait for coincidence (COIN) D2: 0 = Wait for coincidence (COIN). 1 = Do not wait for coincidence (COIN). Target Position Change D3: 0 = Do not change target position. 1 = Change target position. Near Response D4: 0 = Near response not required. 1 = Near response required. Movement Start Response D5: 0 = Movement start response not required. 1 = Movement start response required. USHORT SubCommand; 106h Target Position Positioning target position Unit: Command units Range: 2 31 to Command Speed Positioning feed speed Unit: Command units/s Range: 0 to Filter Type Selection D0, D1: 0 = No filter 1 = Exponential acceleration/deceleration filter 2 = S-curve acceleration/deceleration filter Gain Switch Timer After positioning with a positioning function is completed, the time is measured and the gain is switched from the stabilized gain to the stopped gain. Unit: ms Positioning Timeout The time is monitored from DEN until COIN. An error response is returned to the host computer if the specified time is exceeded. Unit: ms Range: +1 to LONG TargetPos; LONG ComSpeed; USHORT UnitSelect; USHORT TimerKvChg; USHORT TimerPos; 108h 10Ch 110h 112h 114h

144 6 MP2110/MP2110M Functions Positioning (Independent Axis) (cont d) Shared Memory Area Parameter Member Name Offset Individual Axis Area (cont d) Bank Switch Selects an acceleration/deceleration bank number registered to the Servodrive. Not switched when set to 0. (Enabled for SGDS.) Range: 0 to 64 USHORT BankSelect; 116h Acceleration switch speed (276h) Step 2 acceleration (274h) Step 1 acceleration (272h) Step 2 deceleration (27Ah) Step 1 deceleration (278h) Deceleration switch speed (27Ch) Positioning speed (10Ch) Rated speed (284h) Positioning approach (288h, 28Ch) Gain switch timer (112h) (4) Function Fig Movement During Positioning (Independent Axis) Moves a specified axis to the target position. There is no synchronization with other axes. The speed during motion is determined by the positioning speed. The speed is clamped at the rated speed, however, so always set the Rated Speed, Approach Width, and Completion Width using the Parameter Set command after turning ON the power supply. Positioning cannot be performed if these parameters have not been set. During positioning, bit D3: Positioning turns ON in Operating Status 1 (074h) of the Individual Axis Area. Any of the following types of acceleration/deceleration can be used: 2-step, exponential, or S-curve. The Servodrive parameters must be set in advance using the Parameter Set command. Gain switch can be either enabled or disabled by using an option. When gain switch is enabled, it is possible to switch between position loop gain (Kp) and speed loop gain (Kv) regardless of whether the status is moving gain, stabilized gain, or stopped gain. (Moving gain and stopped gain are supported for SGDH.) Gain 1: Stopped position loop gain (298h) Stopped speed loop gain (29Ah) Stopped speed loop integral time constant (29Ch) Gain 2: Moving position loop gain (29Eh) Moving speed loop gain (2A0h) Moving speed loop integral time constant (2A2h) Gain 3: Stabilized position loop gain (2A4h) Stabilized speed loop gain (2A6h) Stabilized speed loop integral time constant (2A8h) Gain 4: Feed forward gain (2AAh) After pulse distribution is completed (DEN = 1), moving gain switches to stabilized gain. Afterwards, the value set in the Gain Switch Timer is counted, and stabilized gain switches to stopped gain. Positioning timeouts can be monitored by using an option. The time is monitored from when pulse distribution is completed (i.e., until DEN is output) until positioning is completed (i.e., until COIN is output). An error response is returned if the specified time is exceeded. Options can be used to select whether to wait for coincidence (COIN). This function allows easy positioning while switching between positions requiring precision positioning and positions that do not. When coincidence is not waited for, the Gain Switch Timer and Wait for Coincidence Timeout functions are disabled. 6-58

145 6.5 Command Mode Details Speed v Speed v Positioning with waiting for coincidence Positioning COIN Positioning with waiting for coincidence Time t Positioning without waiting for coincidence Positioning Distribution completed Reduced time Time t Fig Switching between Positioning with and without Waiting for Coincidence Options can be used to specify target position changes. To revise the end position of a currently moving position, a new target position can be specified. When the target position is changed during motion, a completion response (Response Factor: 0010h) is returned immediately after receiving the new target position. Therefore, the next coincidence response (Response Factor: 0100h) that is sent refers to the positioning of the new end position. A completion response is not sent if the target position is changed while the axis is not moving. If the axis moves to the new position normally, a coincidence response is sent according to the option. When the Target Position Change command is executed, the coincidence response and near response will be correctly referenced, so always set these parameters when these responses are required. x axis New end position coordinates Positioning with waiting for coincidence Original end position coordinates Target Position Change command executed 6 y axis Fig Changing Target Position When positioning commands are executed continuously, the next positioning command is executed during positioning. When the next command is set and the current positioning operation is completed, the MP2110/MP2110M immediately starts the next positioning operation. Speed v Next command Speed v Positioning COIN Next command Time t Positioning COIN Reduced time Time t Fig Receiving Next Command 6-59

146 6 MP2110/MP2110M Functions Positioning (Independent Axis) The SGDS bank switch operation can be used to switch positioning acceleration and deceleration rates. The parameter area allows 64 parameters, so the number of banks that can be used depends on the number of parameters used in each. When two parameters are used, 32 bank combinations are possible. This function is not supported for the SGDH. Speed v Positioning Bank 1 Positioning Bank 2 Time t Fig Switching Banks During positioning, the parameters to be used in the next positioning operation, such as Acceleration/ Deceleration Time Constant and Maximum Speed can be specified in advance using Parameter Set. The MP2110/MP2110M executes Parameter Set using the timing output by the pulse distribution completed (DEN) signal. The option settings can be used to enable or disable movement start responses. If Movement Start Response is enabled, a completion response is returned to the host computer when movement is started. (5) Response Details During positioning, bits D31: Position Control Mode ON, D27: Moving, and D3: Positioning are turned ON in Operating Status 1. A response report is sent at the position when the remaining distance is shorter than the values set in the NEAR Signal Width and Positioning Completed Width. At the position when the coincidence response is sent, positioning is considered to be completed, and bits D27: Moving and D3: Positioning in Operating Status 1 are cleared. When the NEAR Signal Width is 0, positioning is considered to be completed at the position within the pulses specified for coincidence relative to the target position. If the data for the parameter contents or specified axis is incorrect, 100: Illegal Parameter will be set in Error Status 1 (008h) of the Individual Axis Area. If this command is executed during movement other than positioning an independent axis, an error response is returned, and 101: Illegal Command is set in Error Status 1 (008h) of the Individual Axis Area. If positioning is not completed within the time specified in Positioning Timeout, an Error Response will be returned. The Response Factor will be set to -1: Error, and Error Status 1 (008h) will be set to 13: Positioning Timeout. The following table shows the details when Wait for Coincidence and Near response are specified as the options. Near Response (Option D4) Yes No Near response: Yes Wait for coincidence: Yes Coincidence response: Yes Near response: No Wait for coincidence: Yes Coincidence response: Yes Wait for Coincidence (Option D2) Yes No Near response: Yes Wait for coincidence: No Coincidence response: No Near response: No Wait for coincidence: No Coincidence response: No 6-60

147 6.5 Command Mode Details Positioning in Time (1) Command Code: 0211h (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Interrupt Mask Register ULONG IntMask; 000h Individual Axis Area Command USHORT Command; 104h Option Near Response D4: 0 = Near response not required. 1 = Near Response required. Movement Start Response D5: 0 = Movement start response not required. 1 = Movement start response required. USHORT SubCommand; 106h Target Position Positioning target position Unit: Command units Range: 2 31 to Specified Positioning Time Unit: ms Range: +1 to Filter Type Selection D0, D1: 0 = No filter 1 = Exponential acceleration/deceleration filter 2 = S-curve acceleration/deceleration filter LONG TargetPos; ULONG PosingTime; USHORT UnitSelect; 108h 12Ch 110h 6 Speed v Second acceleration Feed speed Second deceleration Clamped feed speed Time t Positioning time (4) Function Fig Movement with Positioning Time Set This command calculates the feed speed automatically and positions the axis according to a target position and specified time. The automatically calculated feed speed is stored as the Command Speed (10Ch) in the Individual Axis Area. The delay in movement due to the Servodrive and filter are not considered in the calculation. To execute this command, Second Acceleration (274h) and Second Deceleration (27Ah) must be set in advance using the Parameter Set command. Operations will not be executed exactly according to the specified time if the Acceleration Switch Speed (276h) is set to a value other than 0, or if the feed speed calculated from the target position and specified time is more than the Rated Speed, which will cause the speed to be clamped at the rated speed. During positioning, D3: Positioning is turned ON in Operating Status 1 (074h) of the Individual Axis Area. 6-61

148 6 MP2110/MP2110M Functions Positioning in Time (5) Response Details If the relationship between the second acceleration (a), second deceleration (b), incremented moving amount (S), and specified time (t) is not the same as that shown below, 100: Illegal Parameter will be set in Error Status 1 (008h) of the Individual Axis Area. t > 0, a > 0, b > 0 t 2 2S (1/a+1/b) a: Second acceleration (command units/s2) t: Specified time (s) b: Second deceleration (command units/s2) S: Incremented moving amount (command units) Response reports are sent when the current position is smaller than the values set for the NEAR Signal Width and Positioning Completed Width. Positioning is considered to be completed at the position when the coincidence response is sent, and bit D3: Positioning in Operating Status 1 is cleared. When the NEAR Signal Width is 0, positioning is considered to be completed at the position within the pulses specified for coincidence relative to the target position. 6-62

149 6.5 Command Mode Details External Positioning (1) Command Code: 0213h (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Interrupt Mask Register ULONG IntMask; 000h Individual Axis Area Command USHORT Command; 104h Option D0, D1: 0 = Servo OFF, stop (Servo OFF, emergency stop status) 1 = Deceleration stop (Servo ON) 2 = Second deceleration stop (Servo ON) 3 = Immediate stop (Servo ON) Near Response D4: 0 = Near response not required. 1 = Near response required. Movement Start Response D5: 0 = Movement start response not required. 1 = Movement start response required. USHORT SubCommand; 106h Target Position Positioning target position Unit: Command units Range: 2 31 to External Positioning Move Distance Travel distance after external positioning (latch) signal Unit: Command units Range: 2 31 to Command Speed Positioning feed speed Unit: Command units/s Range: 0 to LONG TargetPos; LONG ComSpeed; 108h 2B8h 10Ch 6 Speed v External positioning final travel distance Time t External positioning (latch) signal Fig External Positioning Operation 6-63

150 6 MP2110/MP2110M Functions External Positioning (4) Function If the specified external positioning signal (latch signal) is input during positioning, the counter is latched and the axis moves only the External Positioning Move Distance from the latched position. Positioning is performed according to the Rated Speed, Acceleration, Deceleration, NEAR Signal Width, and Positioning Completed Width that are set using the Parameter Set command. Positioning is not possible if these parameters have not been set using the Parameter Set command after turning ON the power. Without external input, the axis is positioned at the position specified in Target Position. The External Positioning Move Distance can also be set in advance using the Parameter Set Command. If the external travel distance is specified when this command is executed, the Travel Distance set in advance is compared and if the values are different, the Servodrive parameters are set before starting movement. To position the axis with an External Positioning Move Distance of 0, use the Parameter Set Command to set the External Positioning Move Distance to a value other than 0, and then use this command to set the External Positioning Move Distance to 0. During execution of this command, bits D3: Positioning and D27: Moving are turned ON in Operating Status 1 (074h) of the Individual Axis Area. (5) Response Details A response report is sent at the position when the remaining distance is shorter than the values set in the NEAR Signal Width and Positioning Completed Width. At the position when the coincidence response is sent, positioning is considered to be completed, and D3: Positioning in Operating Status 1 of the Individual Axis Area is cleared. If the Near parameter value is 0, a near response report is not sent. If the data for the parameter contents or specified axis is incorrect, 100: Illegal Parameter will be set in Error Status 1 (008h) of the Individual Axis Area. During axis motion, 101: Illegal Command will also be set. This command cannot be used during gantry axis setting. If this command is executed during gantry axis setting, 31: Gantry Slave Axis Command Not Possible Error (Command to Master) will be set in Error Status 1 (008h). 6-64

151 6.5 Command Mode Details Return Positioning (1) Command Code: 0214h (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Interrupt Mask Register ULONG IntMask; 000h Individual Axis Area Command USHORT Command; 104h Option Near Response D4: 0 = Near response not required. 1 = Near response required. Movement Start Response D5: 0 = Movement start response not required. 1 = Movement start response required. USHORT SubCommand; 106h Target Position Positioning target position Unit: Command units Range: 2 31 to End Position Final retracting position Unit: Command units Range: 2 31 to Hold Timer Unit: ms Filter Type Selection D0, D1: 0 = No filter 1 = Exponential acceleration/deceleration filter 2 = S-curve acceleration/deceleration filter Command Speed: Outbound Positioning feed speed Unit: Command units/s Range: 0 to Bank Switch Selection: Outbound Selects an acceleration/deceleration bank number registered to the Servodrive. Not switched when set to 0. Range: 0 to 64 (Enabled for SGDS.) Command Speed: Return Positioning feed speed Unit: Command units/s Range: 0 to Bank Switch Selection: Return Selects an acceleration/deceleration bank number registered to the Servodrive. Not switched when set to 0. Range: 0 to 64 (Enabled for SGDS.) LONG TargetPos; LONG EndPos; USHORT HoldTimer; USHORT UnitSelect; LONG ComSpeed; USHORT BankSelect; ULONG GeneWork10; USHORT GeneWork1; 108h 118h 13Ch 110h 10Ch 116h 180h 190h

152 6 MP2110/MP2110M Functions Return Positioning y axis Start position End position Target position event Speed v Stops at target position. x axis Outbound Return Time t Specified time (4) Function Fig Return Positioning Operation Stops for the specified time and then returns to the specified end position after the specified axis has been moved to the target position. At the target position, the axis waits for the Coincidence Completed (COIN) signal and then stops for the wait time and starts return positioning. The specified time can be set to 0, but the time until coincidence completion and the communication speed between the Servodrive and MP2110/MP2110M (approximately 3 communication cycles) are still required. During motion, bit D3: Positioning turns ON in Operating Status 1 (074h) of the Individual Axis Area. (5) Response Details As positioning to the end position is completed, the respective response reports for positioning proximity and positioning completed are returned. At the target position, the response 0121h: Target Position Passed for Return Positioning will be returned in Response Factor. At the position when the coincidence response is sent, positioning is considered to be completed, and D3: Positioning in Operating Status 1 is cleared. If the data for the parameter contents or specified axis is incorrect, 100: Illegal Parameter will be set in Error Status 1 (008h) of the Individual Axis Area. If the command is executed during movement other than positioning an independent axis, an error response is returned and 101: Illegal Command is set in Error Status 1 (008h) of the Individual Axis Area. 6-66

153 6.5 Command Mode Details Linear Interpolation (1) Command Code: 0220h (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Individual Axis Area Interrupt Mask Register ULONG IntMask; 000h Interpolation Speed Unit: Command units/s ULONG IntpltSpd; 010h Linear Acceleration Time Constant 1= 1 ms ULONG TimStAdd; 014h Linear Deceleration Time Constant 1= 1 ms ULONG TimStDec; 018h Maximum Feed Speed Unit: Command units/s ULONG SendMaxSpd; 01Ch Interpolation S-curve Unit: 1 = 1 communication cycle USHORT SValue; 030h Range: 0 to 99 Interpolation Function D0: 0 = Interpolation positioning disabled 1 = Interpolation positioning enabled USHORT IntpFunc; 032h Command USHORT Command; 104h Option Gain Switch D0: 0 = Do not switch gain. 1 = Switch gain. Wait for Coincidence (COIN) D2: 0 = Wait for coincidence (COIN). 1 = Do not wait for coincidence (COIN). Target Position Change D3: 0 = Do not change target position. 1 = Change target position. Near Response D4: 0 = Near response not required. 1 = Near response required. Movement Start Response D5: 0 = Movement start response not required. 1 = Movement start response required. USHORT SubCommand; 106h Target Position Positioning target position Unit: Command units Range: 2 31 to Filter Type Selection D0, D1: 0 = No filter 1 = Exponential Acceleration/deceleration filter 2 = S-curve acceleration/deceleration filter Gain Switch Timer After positioning with a positioning command is completed, the time is measured and the gain is switched from the stabilized gain to the stopped gain. Unit: ms LONG TargetPos; USHORT UnitSelect; USHORT TimerKvChg; 108h 110h 112h

154 6 MP2110/MP2110M Functions Linear Interpolation (4) Function This command executes linear interpolation for the specified axes. All the axes for which interpolation commands are sent simultaneously are processed as a group during one communication cycle. Interpolation (linear, circular, or constant-speed) can be executed simultaneously for up to 15 axes. The maximum number of groups is 15. The moving speed for axes defined as a single group is the integrated interpolation speed. For the acceleration/deceleration time constant, acceleration and deceleration are specified for the integrated speed. As a result, the acceleration and deceleration for each axis are calculated and distributed to the Servodrive. When interpolation is specified, unlike positioning, the acceleration/deceleration parameters related to interpolation can be simultaneously changed by the MP2110/MP2110M. The Servodrive parameters do not changed, enabling high-speed processing. When exponential acceleration/deceleration or S-curve acceleration/deceleration is used as the filter type, the Servodrive parameters must be changed using the Parameter Set command. The S-curve acceleration/deceleration filter type supports an independent interpolation S-curve acceleration/deceleration function. In contrast to the S-curve acceleration/deceleration filter, which is supported by the Servodrive, interpolation S-curve acceleration/deceleration is supported by the MP2110/ MP2110M. While it is possible to use the two together, normally just one or the other should be used. Setting Filter type = S-curve acceleration/deceleration filter Interpolation S-curve = 0 Filter type = No filter Interpolation S-curve 0 Filter type = S-curve acceleration/deceleration filter Interpolation S-curve 0 Function Enabled S-curve acceleration/deceleration by Servodrive S-curve acceleration/deceleration by MP2110/ MP2110M S-curve acceleration/deceleration by MP2110/ MP2110M and Servodrive If the command is executed with the value for the interpolation S-curve higher than the maximum value, the S-curve will be clamped at the maximum value set in the MP2110/MP2110M. Gain switch can be either enabled or disabled by using an option. When gain switch is enabled, it is possible to switch between position loop gain (Kp) and speed loop gain (Kv) regardless of whether the status is moving gain, stabilized gain, or stopped gain. Set the gain as follows: Gain 1: Stopped position loop gain (298h) Stopped speed loop gain (29Ah) Stopped speed loop integral time constant (29Ch) Gain 2: Moving position loop gain (29Eh) Moving speed loop gain (2A0h) Moving speed loop integral time constant (2A2h) Gain 3: Stabilized position loop gain (2A4h) Stabilized speed loop gain (2A6h) Stabilized speed loop integral time constant (2A8h) Gain 4: Feed forward gain (2AAh) After pulse distribution is completed and the value set for the Gain Switch Timer has been counted, the gain number changes from stabilized gain to stopped gain. An option can be used to select whether to wait for coincidence (COIN). This function allows easy positioning while switching between positions requiring precision positioning and positions that do not. When coincidence is not waited for, the Gain Switch Timer function is disabled. 6-68

155 6.5 Command Mode Details Axis 2 End position Interpolation feed speed (integrated speed) Axis 1 Axis 3 Current position Fig Motion Command Image Integrated speed Integrated interpolation maximum feed speed: Integrated interpolation feed speed: Linear acceleration time constant: 300 ms Linear deceleration time constant: 600 ms Time t Axis speed Interpolation axis 1 speed Axis speed Time t Interpolation axis 2 speed Time t Fig Integrated Speed and Individual Axis Speed 6-69

156 6 MP2110/MP2110M Functions Linear Interpolation Integrated speed Integrated interpolation maximum feed speed: Integrated interpolation feed speed: Acceleration/ deceleration bias Time t Acceleration/deceleration time constant Integrated speed Fig Exponential Acceleration/Deceleration Integrated interpolation maximum feed speed: Integrated interpolation feed speed: Time t Average moving time Fig S-curve Acceleration/Deceleration Filter Speed v Next command Time t Fig Acceleration/Deceleration Time Constant Change Options can be used to specify target position changes. To revise the end position of a currently moving position, a new target position can be specified. When executing interpolation for multiple axes, specify target position changes for all interpolation axes in the group. An error response will be returned if a target position change request is specified for a single axis only, or if the target position change is specified for interpolation axes in more than one interpolation group. When the target position is changed during movement, a completion response (Response Factor: 10h) is returned immediately after receiving the new target position. Therefore, the next coincidence response (Response Factor: 100h) that is sent refers to the interpolation executed at the new end position. A completion response is not sent if the target position is changed while the axis is not moving. If interpolation is executed normally for the axis at the new target position, however, a coincidence response is sent according to the option. 6-70

157 6.5 Command Mode Details When the Target Position Change command is executed, the coincidence response and near response in the options will be correctly referenced, so always set these parameters when the respective responses are required. x axis New end position coordinates Original end position coordinates Target Position Change command executed y axis Fig Target Position Change When interpolation commands are executed continuously, the next interpolation command is executed during interpolation. When the next command is set and the current interpolation operation is completed, the MP2110/MP2110M immediately starts the next interpolation operation. If an interpolation command is executed for interpolation axes from multiple groups, the next interpolation operation will start after interpolation for the applicable group is completed. Speed v Next command Speed v Positioning COIN Next command Time t Positioning COIN Reduced time Time t 6 Fig Receiving Next Command The Interpolation Function can be used to execute interpolation positioning. When interpolation positioning is disabled, the interpolation speed (Shared Area: 010h) is the combined speed for all axes. When interpolation positioning is enabled, the interpolation speed is the speed for the interpolation axis with the longest travel distance. y axis Interpolation Positioning Disabled Interpolation speed is combined speed for all axes. Interpolation Positioning Enabled Interpolation speed is the speed of the axis with the longest travel distance. x axis Fig Interpolation Speed when Interpolation Positioning Enabled/Disabled 6-71

158 6 MP2110/MP2110M Functions Linear Interpolation (5) Response Details During interpolation, bits D12: Interpolating, D27: Moving, and D31: Position Control Mode ON are set in Operating Status 1. Coincidence response processing is executed when all the specified interpolation axes have reached a position in the Positioning Completed Width range. If the NEAR Signal Width has been set, a Near Response will be output when the specified axes enter the set area. If the data for the parameter contents or specified axis is incorrect, 100: Illegal Parameter will be set in Error Status 1 (008h) of the Individual Axis Area. If the command is executed during movement other than linear interpolation, 101: Illegal Command will be set in Error Status 1. The upper limits for interpolation speed and maximum feed speed depend on the communication cycle, due to the calculation precision. If a command is sent with interpolation and maximum feed speeds that exceed the upper limits, 35: Interpolation Speed Exceeded will be set in Error Status 1 (008h) of the Individual Axis Area. Communication Command Upper Limit Cycle (ms) (Command Units/s)

159 6.5 Command Mode Details Circular Interpolation (1) Command Code: 0222h (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Individual Axis Area Interrupt Mask Register ULONG IntMask; 000h Interpolation Speed Unit: Command units/s ULONG IntpltSpd; 010h Linear Acceleration Time Constant 1= 1 ms ULONG TimStAdd; 014h Linear Deceleration Time Constant 1= 1 ms ULONG TimStDec; 018h Maximum Feed Speed Unit: Command units/s ULONG SendMaxSpd; 01Ch Interpolation S-curve Unit: 1 = 1 communication cycle Range: 0 to 99 USHORT SValue; 030h Command USHORT Command; 104h Target Position Positioning target position Unit: Command units Range: 2 31 to LONG TargetPos; 108h Center Position Specifies center position by absolute coordinates. Unit: Command units Range: 2 31 to Option Rotary Direction D0: 0 = CW 1 = CCW Plane Selection D1: 0 = Horizontal axis 1 = Vertical axis Near Response D4: 0 = Near response not required. 1 = Near response required. Movement Start Response D5: 0 = Movement start response not required. 1 = Movement start response required. Filter Type Selection D0, D1: 0 = No filter 1 = Exponential acceleration/deceleration filter 2 = S-curve acceleration/deceleration filter LONG CenterPos; USHORT SubCommand; USHORT UnitSelect; 11Ch 106h 110h

160 6 MP2110/MP2110M Functions Circular Interpolation (4) Function Executes circular interpolation for the specified axes. Execute interpolation for two axes simultaneously. By delaying the communication cycle, circular interpolation can be executed simultaneously for a total of up to 14 interpolation axes (when MECHATROLINK supports multiple channels). The end position and center position are determined from two axes for which the command is executed. The radius cannot be specified. Set the current position in the Target Position to interpolate a full circle. The rotary direction and plane selection are specified in the options. For axes in an XY2 plane, specify the horizontal or vertical axes. In the following figure, the X axis is the horizontal axis, and the Y axis is the vertical axis. y axis End position Incremental value y to the end position Center position Incremental value y to the center position Start position x axis Incremental value x to the center position Incremental value x to the end position Fig Circular Interpolation INFO The Acceleration/Deceleration Time Constant and Acceleration/Deceleration Filter can be selected, but the same constant and filter must be set for both interpolation axes. Otherwise, the interpolated arc/circle will not be accurate. If the distances between the start position and center position and between the end position and center position are different, an arc will be created, as shown in the following figure. The operation is performed using constant angular velocity, so the tangential speed is not constant. y axis End position Start position Center position x axis (5) Response Details Coincidence response processing is executed when all the specified interpolation axes have reached a position in the Positioning Completed Width range. If the value for the Near Parameter is 0, a near response report will not be sent. If the data for the parameter contents or specified axis is incorrect, 100: Illegal Parameter will be set in Error Status 1 (008h) of the Individual Axis Area. If the command is executed during movement other than circular interpolation, 101: Illegal Command will be set in Error Status

161 6.5 Command Mode Details Pass Point Constant Speed Interpolation (1) Command Code: 0223h (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Individual Axis Area Interrupt Mask Register ULONG IntMask; 000h Interpolation Speed Unit: Command units/s ULONG IntpltSpd; 010h Linear Acceleration Time Constant 1 = 1 ms ULONG TimStAdd; 014h Linear Deceleration Time Constant 1=1 ms ULONG TimStDec; 018h Maximum Feed Speed Unit: Command units/s ULONG SendMaxSpd; 01Ch Interpolation S-curve Unit: 1 = 1 communication cycle Range: 0 to 99 USHORT SValue; 030h Command USHORT Command; 104h Option Master Axis Type D0: 0 = Constant-speed axis 1 = Slave axis Target Position Change D3: 0 = Do not change target position. 1 = Change target position. Near Response D4: 0 = Near response not required. 1 = Near response required. Movement Start Response D5: 0 = Movement start response not required. 1 = Movement start response required. USHORT SubCommand; 106h Pass Position Positioning target position Unit: Command units Range: 2 31 to End Position Positioning target position Unit: Command units Range: 2 31 to Approach Width Approach distance around pass position Unit: Command units Range: 0 to Filter Type Selection D0, D1: 0 = No filter 1 = Exponential Acceleration/deceleration filter 2 = S-curve acceleration/deceleration filter LONG PassPos; LONG TargetPos; LONG ApprWidth; USHORT UnitSelect; 120h 118h 124h 110h

162 6 MP2110/MP2110M Functions Pass Point Constant Speed Interpolation (4) Function This command is used to move a device, such as a camera, stably over a given position. The axis moves from the starting position, passes through the pass position, and ends at the end position. To pass over the pass position stably, a block is automatically inserted that moves the approach distance that is specified around the pass position using an independent constant-speed axis. Only the constant-speed axis moves at the specified constant speed, and the slave axis stops. Linked processing is executed with the blocks around the connected constant-speed area, enabling smooth linking without decelerating to a stop. Pass Point Constant Speed Interpolation can be executed simultaneously in a single communication cycle for two axes only. For gantry axes, however, the MP2110/MP2110M automatically copies the command, so this command is not required. Pass Point Constant Speed Interpolation can be executed in different communication cycles for a total of up to 14 axes. The command cannot be executed for two groups simultaneously in a single communication cycle. Options can be used to specify target position changes. The target position can be changed for the end position only, and cannot be changed for the pass position. To change the target position, specify to change the target position for all Pass Point Constant Speed Interpolation axes. An error response will be returned if the target position change request is specified for one axis only. A near response for the end position can be specified as required or not required. y axis Block link processing y axis moves as the master axis at constant speed. Master axis: Constant speed b a b Block automatically inserted Parameter selection Speed v Time t a y axis stops in constant speed area. x axis Time t (5) Response Details Fig Pass Point Constant Speed Interpolation Coincidence processing is executed when all the specified interpolation axes enter the positioning completed width. If the data for the parameter contents or specified axis is incorrect, 100: Illegal Parameter will be set in Error Status 1 (008h) of the Individual Axis Area. If the command is executed during movement other than pass point constant speed interpolation, 101: Illegal Command will be set in Error Status

163 6.5 Command Mode Details Speed Jog Start (1) Command Code: 0230h (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Interrupt Mask Register ULONG IntMask; 000h Individual Axis Area Command USHORT Command; 104h Option D1: 0 = Do not change acceleration/deceleration. 1 = Change acceleration/deceleration. D15: 0 = Completion response not required. 1 = Completion response required. USHORT SubCommand; 106h Jogging Speed Jog speed Unit: Command units/s Range: 0 to Jogging Direction (Option) D0: 0 = Negative direction 1 = Positive direction Filter Type Selection D0, D1: 0 = No filter 1 = Exponential acceleration/deceleration filter 2 = S-curve acceleration/deceleration filter ULONG JogSpeed; USHORT SubCommand; USHORT UnitSelect; 128h 106h 110h Step 1 Linear Acceleration Constant 10,000 command units/s 2 USHORT Accel1; 272h Step 2 Linear Acceleration Constant 10,000 command units/s 2 USHORT Accel2; 274h Acceleration Switch Speed 100 command units/s USHORT SpdChgAccel; 276h Step 1 Linear Deceleration Constant 10,000 command units/s 2 USHORT Decel1; 278h Step 2 Linear Deceleration Constant 10,000 command units/s 2 USHORT Decel2; 27Ah Deceleration Switch Speed 100 command units/s USHORT SpdChgDecel; 27Ch Filter Type Selection D0, D1: 0 = No filter 1 = Exponential acceleration/deceleration filter 2 = S-curve acceleration/deceleration filter USHORT UnitSelect; 110h

164 6 MP2110/MP2110M Functions Speed Jog Stop (4) Function Moves the specified axis in the specified jogging direction at the specified jogging speed. The jogging operation continues until it is stopped with the Speed Jog Stop command. To change the jogging speed while jogging is in progress, execute this command again with a new jogging speed. Jogging acceleration and deceleration time constants can be changed using options. Set the acceleration/ deceleration time constants that are to be changed, and then execute this command. If this command is executed while the axis is stopped, the axis is moved according to the new acceleration/deceleration parameters. If the acceleration/deceleration time constants are changed while the axis is moving, the change is applied for deceleration only. Once the acceleration/deceleration time constants have been changed, the next positioning operation is executed based on the new (i.e., changed) acceleration/deceleration time constants. If required, reset the acceleration/deceleration time constants using the Parameter Set command. (5) Response Details If a completion response is specified, a response will be returned when jogging starts. If the data for the parameter contents or specified axis is incorrect, 100: Illegal Parameter will be set in Error Status 1 (008h) of the Individual Axis Area. Bits D8: Jogging and D27: Moving turn ON in the Operating Status 1 (074h) Speed Jog Stop (1) Command Code: 0231h (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Interrupt Mask Register ULONG IntMask; 000h Individual Axis Area (4) Function Stops jogging for the specified axis. (5) Response Details Command USHORT Command; 104h Option D15: 0 = Completion response not required. 1 = Completion response required. USHORT SubCommand; 106h If required, a completion response is sent after jogging has completed stopping. If the data for the specified axis is incorrect, an error response will be sent and 100: Illegal Parameter will be set in Error Status 1 (008h). Bits D8: Jogging and D27: Moving turn OFF in Operating Status 1 (074h). 6-78

165 6.5 Command Mode Details Pulse Jog (1) Command Code: 0232h (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Interrupt Mask Register ULONG IntMask; 000h Individual Axis Area Command USHORT Command; 104h Option D15: 0 = Completion response not required. USHORT SubCommand; 106h 1 = Completion response required. Jogging Pulse Moving amount when pulse jogging is executed Unit: Command units Range: +1 to USHORT PulsJog; 178h Jogging Direction (Option) D0: 0 = Negative direction 1 = Positive direction Jogging Speed Jog speed Unit: Command units/s Range: 0 to Filter Type Selection D0, D1: 0 = No filter 1 = Exponential acceleration/deceleration filter 2 = S-curve acceleration/deceleration filter USHORT SubCommand; ULONG JogSpeed; USHORT UnitSelect; 106h 128h 110h 6 (4) Function Executes pulse jogging for the specified axis. Moves the axis in the jogging direction for the number of pulses set in Jogging Pulses. (5) Response Details If the data for the parameter contents or specified axis is incorrect, 100: Illegal Parameter will be set in Error Status 1 (008h) of the Individual Axis Area. Bits D9: Pulse Jogging and D27: Moving turn ON in Operating Status 1 (074h), and turn OFF when the axis stops. 6-79

166 6 MP2110/MP2110M Functions Speed Change during Axis Movement Speed Change during Axis Movement (1) Command Code: 0240h (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Individual Axis Area Interrupt Mask Register ULONG IntMask; 000h Interpolation Speed Unit: Command units/s Range: 0 to ULONG IntpltSpd; 010h Command USHORT Command; 104h Option D15: 0 = Completion response not required. USHORT SubCommand; 106h 1 = Completion response required. Command Speed Command speed for changing speed Unit: Command units/s Range: 0 to LONG ComSpeed; 10Ch Speed Change command Command speed (4) Function Fig Speed Change Dynamically changes speeds for axes during positioning, interpolation, or jogging. During positioning, this command changes the speed of a single specified axis according to the specified speed in the Individual Axis Area. During interpolation, if the speed is changed for any of the axes that are involved in the interpolation, the integrated interpolation speed is changed according to the interpolation speed in the Shared Area. This command can be executed several times during movement. For applications requiring a speed change at a particular position, the action function for the pass position can be used to register this command for the action and execute it. This command cannot be executed during positioning in time. (5) Response Details A change completion response report is sent according to the option. If the data for the parameter contents or specified axis is incorrect, 100: Illegal Parameter will be set in Error Status 1 (008h) of the Individual Axis Area. Bit D6: Changing Speed in Operating Status 1 (074h) turns ON until a new speed command is executed for the Servodrive. The actual acceleration/deceleration time is not included. 6-80

167 6.5 Command Mode Details Servodrive Direct (1) Command Code: 0300h (2) Responses: Completion Coincidence Near Pass Error Latch (3) Parameters Shared Memory Area Parameter Member Name Offset System Area Write Status ULONG StatusWrite; 110h Shared Area Interrupt Mask Register ULONG IntMask; 000h Individual Axis Area Command USHORT Command; 104h Option D00: 0 = Command received confirmation. 1 = No command received confirmation. D01: 0 = Monitoring code specified by MP2110/ MP2110M 1 = Monitoring code specified by user. D15: 0 = Completion response not required. 1 = Completion response required. USHORT SubCommand; 106h Direct Command Send Area* Typedef struct{ UCHAR SendMLink[32]; UCHAR RecvMLink[32]; }STR_TOKA_ST; STR_TOKA_ST DrctCmd; 0C0h to 0FFh (4) Function * For details on the MECHATROLINK command format, refer to the MECHATROLINK communication specifications provided in the SERVOPACK User s Manual. This command is used to send MECHATROLINK commands directly from the host computer to the MECHATROLINK Servo. The data for MECHATROLINK commands is set in command parameters 1 to 8, and used to send commands to the Servo. Monitoring, however, is automatically performed by the MP2110/MP2110M, so monitoring commands cannot be executed from the host computer. An option can be used to select whether command reception is confirmed. a) Command Received Confirmation The command is completed when the Servodrive has finished receiving the MECHATROLINK command and command reception has been confirmed by the MP2110/MP2110M. Depending on the MECHATROLINK communication delay and on the Servodrive processing time when executing MECHATROLINK commands, it may take 3 communication cycles or more for this processing to be completed. b) No Command Received Confirmation The command is completed after the MECHATROLINK command has been sent. It is always completed within one communication cycle. The command is completed without confirming the Servodrive response. Specify No Command Received Confirmation when executing INTERPOLATE or LATCH commands from the host computer every communication cycle. When executing other MECHATROLINK commands, set Command Received Confirmation. The Servodrive may not be able to receive commands and other problems may occur if No Command Received Confirmation is set. If this command is used and POSING, INTERPOLATE or other motion commands are executed, the commands must be executed at the Servodrive s Command Current Position. Refer to the Individual Axis Area (084h) in shared memory to find the Servodrive Command Current Position. Care must be taken when executing commands because even if a motion command other than a software limit is executed using this command, the axis keeps moving to the target position without software overtravel processing

168 6 MP2110/MP2110M Functions Servodrive Direct An option can be used to specify automatic designation of the monitoring code by the MP2110/MP2110M or for the user to specify the monitoring code at the byte 13 in the Direct Command Send Area. If the user is to specify the monitoring code, obtain the monitoring information from Monitoring Information 1 and 2 in the Direct Command Receive Area. Users can specify the monitoring code only while this command is being executed. Normally, this command is completed within several communication cycles, even if a motion command is executed. (5) Response Details If a completion response is required, the command is sent to the MECHATROLINK Servo and the response is returned at completion of the command. The response is also set by the MECHATROLINK Servo in the Direct Command Receive Area (Individual Axis Area: 0E0H to 0FFH). An error response is returned if the data for the specified axis is incorrect, or if this command is executed while the axis is other than stopped. 6-82

169 6.6 Command Execution Order 6.6 Command Execution Order In principle, commands sent from the host computer are executed immediately. Some commands cannot be executed, however, depending on the Controller status and the commands that have already been executed. The following table shows the commands that can be received during execution of other commands and those that cannot. Command Initializing Setting Parameters Positioning Momentary Holding Checking Pass Position Changing Speed Zero-point Return Speed Jogging Pulse Jogging Servo OFF Status Stopped Servodrive Alarm Status Speed Control Mode ON Torque Control Mode ON Sync Not Established Emergency Stop Status Gantry Slave Axis Control Interpolating 001h Controller Reset (All Axes) 001h Controller Reset (Independent Axis) 002h Sync ON 003h Sync OFF 004h Encoder Setup 010h Parameter Set 011h Parameter Write 012h Parameter Read 013h Parameter Individual Write 014h Parameter Individual Read 015h Position Preset 019h Bank Data Write 030h I/O Data Setting 040h Pass Position Set 041h Pass Position Reset 042h Speed Control Mode ON 043h 044h Speed Control Mode OFF Torque Control Mode ON 045h Torque Control Mode OFF 046h Gain Switch 047h Gantry Axis Set 048h Gantry Axis Reset 049h Opposing Beam Interference Check ON 04Ah Opposing Beam Interference Check OFF 04Bh Pass Action Register 04Ch Watch Torque Limit 100h Servo ON 101h Servo OFF 109h Alarm Reset 110h Emergency stop 111h Hold ON

170 6 MP2110/MP2110M Functions Servodrive Direct (cont d) Command Initializing Setting Parameters Positioning Momentary Holding Checking Pass Position Changing Speed Zero-point Return Speed Jogging Pulse Jogging Servo OFF Status Stopped Servodrive Alarm Status Speed Control Mode ON Torque Control Mode ON Sync Not Established Emergency Stop Status Gantry Slave Axis Control Interpolating 112h Hold OFF 209h Gain Adjustment ON 200h Zero-point Return 210h Positioning (Independent Axis) 211h Positioning in Time 213h External Positioning 214h Return Positioning 220h Linear Interpolation 222h Circular Interpolation 223h Pass Point Constant Speed Interpolation 230h Speed Jog Start 231h Speed Jog Stop 232h Pulse Jog 240h Speed Change during Axis Movement 300h Servodrive Direct Note: : Execution possible (response) : Execution not possible (error response) If the commands are executable, one command is placed on standby in addition to the one currently being executed in the MP2110/MP2110M. The command on standby will be automatically executed as soon as execution of the current command ends. If a command is specified when there is already one on standby, an error will return and the command will not be accepted. The commands that can be executed for a gantry slave axis are indicated. These commands, however, cannot be used for axes set as gantry slave axes when interpolation commands are being executed for the gantry axes. They must be executed for the master axis. The following commands can be executed from I/O Module slaves: 001h: Controller reset (all axes), 030h: I/O Data Setting; and 300h: Servodrive Direct. 6-84

171 7 Special Functions This chapter describes the special functions of the MP2110/MP2110M. 7.1 Trace Functions Trace Area End Mark (Final Trace Address) MECHATROLINK Trace Details Command Trace Details HostFlash HostFlash Write Procedure (RTLinux Version) HostFlash Write Procedure (RTX Version) HostFlash Procedure (Windows)

172 7 Special Functions Trace Area 7.1 Trace Functions The MP2110/MP2110M provides trace functions to help find the cause of failures and reduce the time for countermeasures. Two trace functions are supported: A MECHATROLINK trace and a command trace. MECHATROLINK trace: Traces MECHATROLINK communication data. Command trace: Traces command and response data Trace Area Both the MECHATROLINK and the command trace use the Trace Buffer Area (0x5000 to 0x7E00) in shared memory as a ring buffer. Refer to Table 7.1 Memory Map. 5000H: Trace Buffer Pointer 5010 to 7EFEH: Trace Data Area Table 7.1 Memory Map Addresses and Offset 0000h to 01FFH [200h] 0200h to 073Fh [540h] 0740h to 0DFFh [6C0h] 0E00h to 0FFFh [200h] 1000h to 12FFh [300h] 1300h to 15FFh [300h] 1600h to 48FFh [3300h] 4900h to 4BFFh [300h] 3C00h to 3EFFh [100h] 4F00h to 4FFFh [100h] 5000h to 7EFFh [2EFEh] 7F00h to 7FFFh [100h] Reserved by system. Allocation MECHATROLINK Mode Area Send (32 bytes) + Receive (32 bytes) 21 stations Reserved by system. Shared Area Station 1 Area Station 2 Area (Omitted) Stations 3 to h (Area for 1 station) 17 stations 3300h Station 20 Area Station 21 Area Reserved by system. Trace Buffer Reserved by system. 7-2

173 7.1 Trace Functions End Mark (Final Trace Address) The trace functions add an end mark at the first address (16 bytes) following the final trace address. The end mark can be used to determine where the trace data ends. End mark: 0xFFFF EXAMPLE A sample of trace data is shown below. End mark 7 Fig. 7.1 Trace Sample 7-3

174 7 Special Functions MECHATROLINK Trace Details MECHATROLINK Trace Details (1) Function MECHATROLINK communication data is traced when the Trace Start/Stop Flag in shared memory is set to start a trace. Data is not traced when this flag is set to stop tracing. INFO All MECHATROLINK communication data except for SMON (0x30) is traced. (2) Trace Timing Send data: Just before MECHATROLINK communication send processing Receive data: Just after MECHATROLINK communication reception processing (3) Trace Start/Stop Flags The Trace Start/Stop Flags (260h) in the individual axis areas in shared memory is used. Trace Start/Stop Flag xx00h: MECHATROLINK trace disabled xx01h: MECHATROLINK trace enabled INFO Only the lower byte is used for a MECHATROLINK trace. (4) Traced Data The following data is traced for a MECHATROLINK trace in units of 32 bytes. (a) Tracing Send Data 16-byte Transfers 00H 02H 04H 06H 08H 0AH 0CH 0EH RUN Axis Type MECHATROLINK send data (12 bytes from start) counter 10H 12H 14H 16H 18H 1AH 1CH 1EH (0000H) (0000H) 31-byte Transfers MECHATROLINK send data (Starting from byte 13) (0000H) (0000H) (0000H) Note: 1. In 31-byte Mode, bytes 14 to 16 of the MECHATROLINK send data are not traced. 2. Trace type (02H): Send data = 00H, Receive data = 01H (0000H) 00H 02H 04H 06H 08H 0AH 0CH 0EH RUN Axis Type MECHATROLINK send data (12 bytes from start) counter 10H 12H 14H 16H 18H 1AH 1CH 1EH MECHATROLINK send data (Starting from bytes 13 and 17) (0000H) 7-4

175 7.1 Trace Functions (b) Tracing Receive Data 16-byte Transfers 00H 02H 04H 06H 08H 0AH 0CH 0EH RUN Axis Type MECHATROLINK receive data (12 bytes from start) counter 10H 12H 14H 16H 18H 1AH 1CH 1EH (0000H) (0000H) 31-byte Transfers MECHATROLINK receive data (Starting from byte 13) (0000H) (0000H) Note: 1. Byte 16 (WDT) of the MECHATROLINK receive data is not traced. 2. Trace type (02H): Send data = 00H, Receive data = 01H (0000H) (0000H) 00H 02H 04H 06H 08H 0AH 0CH 0EH RUN Axis Type MECHATROLINK receive data (12 bytes from start) counter 10H 12H 14H 16H 18H 1AH 1CH 1EH MECHATROLINK receive data (Starting from byte 13) 7 7-5

176 7 Special Functions Command Trace Details Command Trace Details (1) Function When a Trace Start/Stop Flag in shared memory is set to start tracing, tracing is performed when the host computer sends a command and when the MP2110/MP2110M returns a response to the host computer. Data is not traced when this flag is set to stop tracing. (2) Trace Timing Host Interrupt (Host Command): At the start of host interrupt processing Controller Interrupt (Response): Just after response processing (3) Trace Start/Stop Flags The Trace Start/Stop Flags (260h) in the individual axis areas in shared memory are used. Trace Start/Stop Flags x0xx: Command trace disabled x1xxh: Command trace enabled INFO Only the upper byte is used for command traces. (4) Traced Data The following data is traced for a command trace in units of 32 bytes. (a) Host Interrupt (Host Command) RUN Counter 00H 02H 04H 06H 08H 0AH 0CH 0EH Trace Type* 1 Axis Number (b) Controller Interrupt (Response) Command Option (0000H) (0000H) (0000H) 10H 12H 14H 16H 18H 1AH 1CH 1EH (0000H) Command ID Command Current Position* 2 Actual Current Position* 2 Command Speed* 2 00H 02H 04H 06H 08H 0AH 0CH 0EH RUN Trace Response Error Status Counter Type* 3 Axis number Command Option Factor 1 (0000H) 10H 12H 14H 16H 18H 1AH 1CH 1EH (0000H) Command ID Command Current Position* 2 Actual Current Position* 2 Command Speed* 2 * 1. Always cccch. * 2. When Trace Start/Stop Flag is 01 h: 14H: Command Current Position (4 bytes); 18H: Actual Current Position (4 bytes); 1CH: Command Speed (4 bytes) When Trace Start/Stop Flag is 11 h: 14H: Command Current Position (4 bytes); 18H: Target Position (4 bytes); 1CH: Operating Status (4 bytes) When Trace Start/Stop Flag is 21 h: 14H: Command Current Position (4 bytes); 18H: I/O Monitor (2 bytes); 1AH: Servodrive Status (2 bytes); 1CH: Operating Status (4 bytes) * 3. Always eeeeh, aaaah except for in error responses. 7-6

177 7.2 HostFlash 7.2 HostFlash The HostFlash function enables directly writing the firmware in the MP2110/MP2110M from a host computer. To use this function, you must have the HostFlash Tool and a binary file of the firmware. IMPORTANT Never turn OFF the MP2110/MP2110M power supply during HostFlash execution. Yaskawa assumes no responsibility for any problems that may occur during firmware upgrades using the HostFlash function HostFlash Write Procedure (RTLinux Version) Use the following procedure to write the firmware. 1. Required Files Place the following files in the folder that is being used by the user. MP2110drv.o HostFlash.o HostFlash.bin Servodrive software HostFlash write file HostFlash execution file Firmware ( is the filename, which corresponds to the version) 2. Starting RTLinux Perform all of the following operation in a shell without Xwindow. The init 3 command can be used to switch. Start RTLinux in this status. rtlinux start 3. Incorporation Modules Incorporate the two Modules using the following files: insmod MP2110drv.o insmod HostFlash.o 4. Write Files./HostFlash.bin 1 File name: Specify the file name of the firmware. CPU number: Specify the number of the CPU if more than one MP2110/MP2110M is mounted. Use the number set on the DIP switch on the MP2110/MP2110M. Add 256 to the CPU number when upgrading the MP2110M sub-board version. 7 INFO If HostFlash is executed without an operand, the version and a simple help routine will be displayed. 5. Write Indications When HostFlash is executed, a message indicating that a write is being performed and the file name being written will be displayed on the Linux console. When the write has been completed, the firmware versions before and after the write will be displayed and HostFlash will end. The indicators on the MP2110/MP2110M can also be used to confirm when the write has been completed. If the RDY indicator is lit green, either the processing is at initialization status or the flash memory is being deleted. When the RUN indicator lights green, the flash memory is being written. When both the RDY and RUN indicators light, the write has been completed. If an error occurs, the indicators will blink read. The number of blinks can be used to determine the cause of the error. 7-7

178 7 Special Functions HostFlash Write Procedure (RTX Version) 6. Error Indications If a problem occurs while writing, the following error indications will be made. Indicators on the MP2110/MP2110M Red indicator blinks twice: Internal RAM error Red indicator blinks 3 times: Flash delete error Red indicator blinks 4 times: Flash write error Red indicator blinks 5 times: Checksum error HostFlash Console Error Indications Error code 2: RAM comparison error Error code 3: Flash delete error Error code 4: Flash write error Error code 5: Sum error 7. Restarting Turn OFF the power to the computer and then restart it. Confirm that the RDY indictor on the MP2110/ MP2110M lights normally. If the indicators are lit or blinking red, HostFlash was not executed normally HostFlash Write Procedure (RTX Version) Use the following procedure to write using HostFlash. 1. Start HostFlash. The following dialog box will be displayed. INFO When started, HostFlash will search for an MP2110/MP2110M on the PCI bus. If no MP2110/MP2110M is found, a message to that effect will be displayed. If this message appears, check to be sure that the MP2110/MP2110M is correctly installed in the system. 2. Select the MP2110/MP2110M for which to update the firmware from the host computer. At least one MP2110/MP2110M must be selected. More than one MP2110/MP2110M can be selected at the same time. 7-8

179 7.2 HostFlash 3. Select the MP2110/MP2110M to be updated. The following File Selection Dialog Box will be displayed. Select the binary file to be loaded. 4. Click the HostFlash Button. The file will be loaded in order as shown below to the MP2110/MP2110M selected in step 2. The following dialog box shows the progression of deleting the flash ROM. This process will require about 1 to 2 minutes. (If this process is not completed in reasonable time, the MP2110/ MP2110M may not have been restarted.) 7 5. The progress of HostFlash will be shown in the next dialog box. If more than one MP2110/MP2110M was specified in step 2, the process will be repeated from step 4 after the first MP2110/MP2110M has been updated. 7-9

180 7 Special Functions HostFlash Write Procedure (RTX Version) 6. The following message will be displayed when all of the MP2110/MP2110M that were selected have been updated. Turn OFF the power and then ON to all the MP2110/MP2110M that were updated. 7-10

181 7.2 HostFlash HostFlash Procedure (Windows) 1. Start HostFlash. Check the MP2110/MP2110M on the host PCI bus and the following bus connection window will be displayed. The following window will be displayed if no MP2110/MP2110M is connected to the host computer which has started HostFlash and an RS-232C cable is connected between the host computer and the MP2110/MP2110M. 7 If the RS-232C cable is connected correctly, the COM port and baud rate will be detected and set automatically. If connected correctly, the current firmware version will appear under Old Version ( V in the above example.) INFO If Old Version is not displayed, one of the following causes may apply. HostFlash was started while not in Board Reset status. Restart the MP2110/MP2110M power supply and then restart HostFlash. The driver for the MP2110/MP2110M may not be installed correctly. A Windows driver for the MP2110/MP2110M is required when executing HostFlash using a bus connection. Open Device Manager and check that the MP2110/MP2110M is correctly installed as the Memory technology driver. Refer to Appendix E Driver Installation Procedure for information on how to install drivers. RS-232C Cable not connected. If executing HostFlash using a serial connection, check that the RS-232C cable is connected correctly. Use RS-232C cables specified by Yaskawa. (Model No. JEPMC-W2010-**) 7-11

182 7 Special Functions HostFlash Procedure (Windows) If HostFlash did not end normally in the MP2110/MP2110M the previous time, will be displayed in the version field. Use the following procedure in step 2 to reinstall the firmware. 2. Press the Browse Button. When the following File Selection Dialog Box appears, select the image files to be loaded and click the Open Button. 3. Click the HostFlash Button. Flash ROM will be cleared in the following window. 4. Write the firmware to the flash ROM. 7-12

183 7.2 HostFlash Note: For the MP2110M, the sub-board flash ROM must be cleared/written before the base board flash ROM is cleared/written. 5. Once the MP2110/MP2110M firmware update has been completed, a message will appear and updated version will appear under New Version. An error will appear if the firmware update has not completed normally. 6. Restart the MP2110/MP2110M power supply or reset the MP2110/MP2110M using the reset switch

184 8 Application Precautions This chapter provides precautions for using the MP2110/MP2110M. 8.1 Overtravel Function Overview Overtravel Input Signal Connections Parameter Settings Software Limit Function Overview of Software Limit Function Parameter Settings

185 8 Application Precautions Overview 8.1 Overtravel Function This section explains the overtravel function Overview The overtravel function forces the machine to stop when the moving part of the machine exceeds the range of allowable movement. With the MP2110/MP2110M, processing for stopping as a result of overtravel is achieved by using SERVOPACK functions. The SERVOPACK connections and parameter settings depend on the model of SERVOPACK. The connections and parameter settings are described in the following sections Overtravel Input Signal Connections When using the overtravel function, correctly connect the input signals for the overtravel limit switches shown below to the corresponding pins on the SERVOPACK CN1 or 1CN connector. SGDS- 1 or SGDH- E SERVOPACK Connections Servomotor Reverse Forward Reverse overtravel Forward overtravel P-OT SERVOPACK CN1-42 N-OT CN1-43 P-OT N-OT When ON CN1-42 (1CN-16) is low. When OFF CN1-42 (1CN-16) is high. When ON CN1-43 (1CN-17) is low. When OFF CN1-43 (1CN-17) is high. Forward drive enabled. Normal operating condition Forward drive disabled. (Reverse movement possible.) Reverse drive enabled. Normal operating condition Reverse drive disabled. (Forward movement possible.) Parameter Settings (1) Using/Not Using Overtravel Input Signals The following parameters are used to enable and disable using the overtravel input signals. SGDS- 1 or SGDH- E SERVOPACK Parameter Description Setting Item Pn50A.3 Pn50B.0 P-OT Signal Mapping N-OT Signal Mapping Enables use of Positive Prohibit Input Signal (P- 2 OT). (Forward rotation prohibited when open, allowed for 0 V.) 8 Disables the P-OT signal. Enables use of Negative Prohibit Input Signal 3 (N-OT). (Reverse rotation prohibited when open, allowed for 0 V.) 8 Disables the N-OT signal. Default Setting 2 3 Note: : Recommended setting. 8-2

186 8.1 Overtravel Function (2) Selecting Motor Stopping Methods for Overtravel When using the overtravel function has been enabled, the following parameters are used to set the methods for stopping the motor. Select the methods for stopping when the P-OT or N-OT is input during motor running. (a) SGDS- 1 or SGDH- E SERVOPACK Select the stopping method and processing after stopping when the OT signal is input during motor running. Parameter Description Setting Item Pn001.1 Overtravel Stop Mode Stops the motor according to Pn001.0 setting (dynamic brake or coasting) when overtravel is detected. Decelerates the motor to a stop by applying the torque specified in Pn406 (Emergency Stop Torque) when overtravel is detected, and then sets it to zero clamp (servolock) mode. Decelerates the motor to a stop by applying the torque specified in Pn406 (Emergency Stop Torque) when overtravel is detected, and then sets it to coast (servo OFF) mode. Default Setting 0 Note: : Recommended setting. Stopping Method After Stopping Pn001.1 Overtravel Setting Pn001.0 = 0 or 1 Dynamic brake Pn001.1 = 0 DB released 0 (Servo OFF) Pn001.0 = 2 Coasting Zero clamp 1 Pn001.1 = 1 or 2 Deceleration Servo OFF 2 Select the stopping method and processing after stopping when the Servo turns OFF. Parameter Description Setting Item Pn001.0 Servo OFF Stop Mode Stops the motor by applying dynamic brake (DB) and then holds the DB. Stops the motor by applying dynamic brake (DB) and then releases the DB. Makes the motor coast to a stop. Current is not supplied to the motor and the machine stops due to friction. Default Setting 0 8 Note: : Recommended setting. Servo OFF Pn001.0 = 0 or 1 Stopping Method DB stop 0 After Stopping DB held 1 DB released Pn001.0 = 2 Coasting 8-3

187 8 Application Precautions Overview of Software Limit Function 8.2 Software Limit Function This section explains the software limit function Overview of Software Limit Function The software limit function is used to set upper and lower limits for the range of machine movement in fixed parameters so the MP2110/MP2110M can constantly monitor the operating range of the machine. The function can be used to help prevent machine runaway or damage due to incorrect operation as well as incorrect references in a motion program. Motor Overtravel in reverse direction Software limit (lower) Distance traveled Software limit (upper) Overtravel in forward direction Parameter Settings The software limit function is set using the Status Setting (D0 and D1) in the Parameter Set command and the Forward and Reverse Software Limit Parameters. Name Unit Setting Range Status Setting D0: Software Overtravel (Positioning, Interpolation, Speed/Torque Control) D1: Software Overtravel (Speed/Pulse JOG) Set the positive and negative software limits for the machine coordinate system. The following table describes the software limit functions in each operating mode. 0: Disabled, 1: Enabled 0: Disabled, 1: Enabled Positive Software Limit 1 = Command unit 2 30 to Negative Software Limit 1 = Command unit 2 30 to Axis Travel Type Interpolation Speed/torque control Speed jog Positioning Pulse jog Remarks The software limit range is constantly checked during an interpolation, and the axis will decelerate to a stop after passing the software limit position. If the software limit function is enabled, a move command is executed to the software limit position. After an error is cleared, the axis can be moved to inside the stroke range. If a positioning command is given for a position beyond the software limit, the axis will be positioned on the software limit and an alarm will occur. 8-4

188 Appendices A A Alarm Code Tables A-2 B Distributed I/O Module Communication Format A-6 C Parameter Block Read/Write Table A-7 C.1 SGDH Renewal (Rotary) A-7 C.2 SGDH Renewal (Linear) A-10 C.3 SGDS (Rotary) A-14 C.4 SGDS (Linear) A-20 D Addresses for Reading Individual Fn/Un Parameters A-26 D.1 SGDH Fn Parameters A-26 D.2 SGDS Fn Parameters A-26 D.3 SGDH Un Parameters A-27 D.4 SGDS Un Parameters A-28 E Driver Installation Procedure A-29 A-1

189 Appendices A Alarm Code Tables The following alarm codes will be returned to the Controller Status portion of the System Area in shared memory when an alarm occurs. Table A.1 Controller Status Address Size Name Description bytes Controller Status bytes Controller Status 2 D0: D1: MECHATROLINK alarm D2: RAM error D3: Host RAM error D4: JL-080 error D5: Division-by-zero error D6: Processing overflow error D7: Illegal interrupt error D8: Watchdog error D9: SYS FAIL error D10: AC FAIL error D11: NMI illegal interrupt error D12: RAM diagnosis error D13: ROM diagnosis error D14: CPU function diagnosis error D15: FPU function diagnosis error D0: Connected Module mismatch error D1: Checksum error D2: D3: Address read error D4: Address write error D5: FPU error D6: General illegal command error D7: Slot illegal command error D8: General FPU suppression error D9: Slot FPU suppression error D10: TLB multi-bit error D11: TLB read error D12: TLB write error D13: TLB protection read violation D14: TLB protection write violation D15: First page write error Error information from each drive is returned to the Axis Reception Area in the MECHATROLINK Mode Area in shared memory according to the MECHATROLINK format. This information should be accessed directly from the host computer. A-2

190 A Alarm Code Tables INFO A list of the error information from a Servodrive (SGDS) is given below for reference. Table A.2 SGDS Alarm List Error Code Alarm Name Servomotor Stop Method Alarm Reset Display Attribute 020 Parameter Breakdown: Servo DB stop N/A Common 02A Parameter Breakdown: Option DB stop N/A Option 030 Main Circuit Detector Error DB stop Available Common 040 Parameter Setting Error: Servo DB stop N/A Common 04A Parameter Setting Error: Option DB stop N/A Option 041 Dividing Pulse Output Setting Error DB stop N/A Common 050 Combination Error DB stop Available Common 080 Scale Pitch Setting Error DB stop N/A Linear 100 Overcurrent or Heat Sink Overheated DB stop N/A Common 300 Regeneration Error Detected DB stop Available Common 320 Regenerative Overload Zero speed stop Available Common 330 Main Circuit Power Supply Wiring Error DB stop Available Common 400 Overvoltage DB stop Available Common 410 Undervoltage Zero speed stop Available Common 510 Overspeed DB stop Available Common 511 Dividing Pulse Output Overspeed DB stop Available Common 520 Vibration Alarm DB stop Available Common 710 Overload: High Load Zero speed stop Available Common 720 Overload: Low Load DB stop Available Common 730 Dynamic Brake Overload DB stop Available Common 740 Overload of Surge Current Limit Resistor DB stop Available Common 7A0 Heat Sink Overheated Zero speed stop Available Common 810 Encoder Backup Error DB stop N/A Common 820 Encoder Checksum Error DB stop N/A Common 830 Absolute Encoder Battery Error DB stop Available Common 840 Encoder Data Error DB stop N/A Common 850 Encoder Overspeed DB stop N/A Common 860 Encoder Overheated DB stop N/A Common 870 Fully-closed Serial Encoder Checksum Alarm DB stop N/A Fully-closed 880 Fully-closed Serial Encoder Data Alarm DB stop N/A Fully-closed 8A0 Fully-closed Serial Encoder Scale Error DB stop Available Fully-closed 8A1 Fully-closed Serial Encoder Module Error DB stop Available Fully-closed 8A2 Fully-closed Serial Encoder Sensor Error (Incremental) DB stop Available Fully-closed 8A3 Fully-closed Serial Encoder Position Error (Absolute) DB stop Available Fully-closed B10 Reference Speed Input Read Error Zero speed stop Available Common B20 Reference Torque Input Read Error Zero speed stop Available Common B31 Current Detection Error 1 DB stop N/A Common B32 Current Detection Error 2 DB stop N/A Common B33 Current Detection Error 3 DB stop N/A Common BF0 System Alarm: Sampling Overflow DB stop N/A Common BF1 System Alarm: Stack Overflow DB stop N/A Common BF2 System Alarm: Micro Program Error DB stop N/A Common BF3 System Alarm: SCANA Stopped DB stop N/A Common BF4 System Alarm: Host CPU WDT Error DB stop N/A Common C10 Servo Overrun Detected DB stop Available Common C20 Phase Error Detection DB stop N/A Linear A A-3

191 Appendices Error Code C50 Polarity Detection Failure DB stop N/A Linear C80 Absolute Encoder Clear Error and Multi-turn Limit Setting Error DB stop N/A Common C90 Encoder Communication Error DB stop N/A Common C91 Encoder Communication Position Data Error DB stop N/A Common C92 Encoder Communication Timer Error DB stop N/A Common CA0 Encoder Parameter Error DB stop N/A Common CB0 Encoder Echoback Error DB stop N/A Common CC0 Multi-turn Limit Disagreement DB stop N/A Common CE0 FPG Multiturn Error DB stop N/A Fully-closed CF1 Table A.2 SGDS Alarm List (cont d) Alarm Name Fully-closed Serial Encoder Communication Error (Reception Error) Servomotor Stop Method Alarm Reset Display Attribute DB stop N/A Fully-closed CF2 Fully-closed Serial Encoder Communication Error (Timer Stopped) DB stop N/A Fully-closed D00 Position Error Pulse Overflow DB stop Available Common D01 Position Error Pulse Overflow Alarm at Servo ON DB stop Available Common D02 Position Error Pulse Overflow Alarm by Speed Limit at Servo ON Zero speed stop Available Common D10 Motor-Load Position Error Pulse Overflow Zero speed stop Available Fully-closed D30 Position Data Out of Range DB stop N/A Linear E00 Option Board Setting Invalid Zero speed stop Available Option E01 Option Timeout Zero speed stop Available Option E02 Option WDC Error Zero speed stop Available Option E07 Option Unit Detection Failure Zero speed stop N/A Option E40 MECHATROLINK-II Transmission Cycle Setting Error Zero speed stop Available Option E50 MECHATROLINK WDT Sync Error Zero speed stop Available Option E60 MECHATROLINK-II Communication Error Zero speed stop Available Option E61 MECHATROLINK-II Transmission Cycle Error Zero speed stop Available Option EA0 SERVOPACK Failure DB stop N/A Option EA1 SERVOPACK Initial Access Error DB stop N/A Option EA2 SERVOPACK WDC Error Zero speed stop Available Option ED0 Command Execution Not Completed Zero speed stop Available Option F10 Power Line Open Phase Zero speed stop Available Common A-4

192 A Alarm Code Tables Table A.3 SGDS Warning List Warning Warning Name Display Attribute 900 Position Error Pulse Overflow Common 901 Position Error Pulse Overflow at Servo ON Common 910 Overload Common 911 Vibration Common 920 Regenerative Overload Common 930 Battery Warning Common 931 Fully-closed Battery Warning Common 941 Change of Parameters Requires Setting Validation Common 94A Data Setting Warning 1 (Parameter Number Error) Option 94B Data Setting Warning 2 (Out of Range) Option 94C Data Setting Warning 3 (Calculation Error) Option 94D Data Setting Warning 4 (Parameter Size) Option 95A Command Warning 1 (Command Conditions Not Met) Option 95B Command Warning 2 (Unsupported Command) Option 95C Command Warning 3 (Command Conditions Not Met for Parameter) Option 95D Command Warning 4 (Command Interference) Option 95E Command Warning 5 (Option Not Allowed) Option 9F0 Option Warning Option A A-5

193 Appendices B Distributed I/O Module Communication Format The communication format used for MECHATROLINK JEPMC-IO2310 Distributed I/O Modules is described in this appendix. The Direct Command Send Area is used to read and write I/O data. Data is set in the send area, SendMLink[32], in the command format and then the Set I/O Data command (30h) is executed. Input bit data is continuously refreshed in RecvMLink[32] area in the communication cycle in the response format. Table A.4 Distributed I/O Modules Data format 16-byte Mode 31-byte Mode Byte Command Response Byte Command Response 01 Inputs 1 to 8 01 Inputs 1 to 8 02 Inputs 9 to Inputs 9 to Inputs 17 to Inputs 17 to Inputs 25 to Inputs 25 to 32 No data 05 Inputs 33 to Inputs 33 to Inputs 41 to Inputs 41 to Inputs 49 to Inputs 49 to Inputs 57 to Inputs 57 to Outputs 1 to Outputs 9 to Outputs 17 to Outputs 25 to No data No data 13 Outputs 33 to Outputs 41 to Outputs 49 to Outputs 57 to Outputs 1 to 8 25 Outputs 9 to Outputs 17 to Outputs 25 to Outputs 33 to Outputs 41 to Outputs 49 to Outputs 57 to 64 No data A-6

194 C Parameter Block Read/Write Table C Parameter Block Read/Write Table The parameter block read/write tables for each Servodrive model are given below. Table Notation Writing and reading in more than one of the blocks given as separate tables below is not possible. Manipulate these one block at a time. Within one block, only a maximum of 32 items can be read or written at one time. Where necessary, double lines are given in the table as the boundary lines for separating read/write operations into 32 items or less each. Portions of the tables given as None are unused words, but these must also be included when calculating 32-item areas. Do not omit these parameters. A C.1 SGDH Renewal (Rotary) (1) Pn000 to Pn01F Classification Parameter No. Name Size (bytes) Pn000 Function selection basic switches 2 Pn001 Function selection application switches 1 2 Pn002 Function selection application switches 2 2 Pn003 Function selection application switches 3 2 (Pn004) None Pn005 Function selection application switches 5 2 (Pn006 to Pn01F) None END (2) Pn100 to Pn13F Classification Parameter No. Name Size (bytes) Pn100 Speed loop gain 2 Pn101 Speed loop integral time constant 2 Pn102 Position loop gain 2 Pn103 Moment of inertia ratio 2 Pn104 Second speed loop gain 2 Pn105 Second speed loop integral time constant 2 Pn106 Second position loop gain 2 Rotary Pn107 Bias 2 Pn108 Bias width addition 2 Pn109 Feed-forward 2 Pn10A Feed-forward filter time constant 2 Pn10B Gain-related application switches 2 Pn10C Mode switch torque reference 2 Rotary Pn10D Mode switch speed reference 2 Rotary Pn10E Mode switch acceleration 2 Pn10F Mode switch error pulse 2 Pn110 Online autotuning switches 2 Pn111 Speed feedback compensation 2 (Pn112 to Pn11E) None Pn11F Position integral time constant 2 (Pn120 to Pn123) None Pn124 Automatic gain change timer Pn125 Automatic gain change width (Pn126 to Pn13F) None END A-7

195 Appendices C.1 SGDH Renewal (Rotary) (3) Pn200 to Pn21F Classification Parameter No. Name Size (bytes) Pn200 Position control references selection switches 2 Rotary Pn201 PG divider 2 Pn202 Electronic gear ratio (numerator) 2 Pn203 Electronic gear ratio (denominator) 2 Pn204 Position reference accel/decel time constant 2 Rotary Pn205 Multiturn limit setting 2 Rotary Pn206 Number of fully-closed pulses 2 (Pn207 to Pn211) None Rotary Pn212, Pn213 Dividing ratio 4 (Pn214 to Pn216) None Pn217 Reference pulse input multiplication Pn218 Reference pulse input multiplication function selection (Pn219 to Pn21F) None END (4) Pn300 to Pn31F Classification Parameter No. Name Size (bytes) Pn300 Speed reference input gain 2 Rotary Pn301 Speed 1 2 Rotary Pn302 Speed 2 2 Rotary Pn303 Speed 3 2 Rotary Pn304 JOG speed 2 Pn305 Soft start acceleration time 2 Pn306 Soft start deceleration time 2 Pn307 Speed reference filter time constant 2 Pn308 Speed feedback filter time constant 2 (Pn309 to Pn31F) None END (5) Pn400 to Pn41F Classification Parameter No. Name Size (bytes) Pn400 Torque/thrust reference input gain 2 Pn401 Torque/thrust filter time constant 2 Rotary Pn402 Forward torque limit 2 Rotary Pn403 Reverse torque limit 2 Pn404 External input forward torque/thrust limit 2 Pn405 External input reverse torque/thrust limit 2 Pn406 Emergency stop torque/thrust 2 Rotary Pn407 Speed limit during torque control 2 Pn408 Torque/thrust control function switches 2 Pn409 Notch filter frequency 2 Pn40A Notch filter Q value 2 Pn40B Notch filter 2 frequency 2 Pn40C Notch filter 2 Q value 2 (Pn40D to Pn41F) None END A-8

196 C Parameter Block Read/Write Table (6) Pn500 to Pn51F Classification Parameter No. Name Size (bytes) Pn500 Positioning completed width 2 Rotary Pn501 Zero clamp level 2 Rotary Pn502 Rotation detection level 2 Rotary Pn503 Speed coincidence signal output width 2 Pn504 NEAR signal width 2 Pn505 Overflow level 2 Pn506 Brake reference-servo OFF delay time 2 Rotary Pn507 Brake reference output speed level 2 Pn508 Timing for brake reference output during motor operation 2 Pn509 Momentary hold time 2 Pn50A Input signal selections 1 2 Pn50B Input signal selections 2 2 Sequence Pn50C Input signal selections 3 2 Parameters Pn50D Input signal selections 4 2 Pn50E Output signal selections 1 2 Pn50F Output signal selections 2 2 Pn510 Output signal selections 3 2 Pn511 Input signal selections 5 2 Pn512 Output signal reversal settings 2 Pn513 Input signal selections 6 2 (Pn514 to Pn519) None Rotary Pn51A Error level between motor and load position 2 (Pn51B to Pn51D) None Pn51E Position error over warning detection level 2 (Pn51F) None END A (7) Pn600 to Pn61F Classification Parameter No. Name Size (bytes) Pn600 Regenerative resistor capacity 2 (Pn601 to Pn61F) None END (8) Pn800 to Pn83F Classification Parameter No. Name Size (bytes) Communication Pn800 Communication control 2 Sequences Positions Acceleration/Deceleration Pn801 Function selection application 6 (software LS) 2 (Pn802) None Pn803 Zero point width 2 Pn804, Pn805 Forward software limit 4 Pn806, Pn807 Reverse software limit 4 Pn808, Pn809 Absolute encoder zero point position offset 4 Pn80A First-step linear acceleration parameter 2 Pn80B Second-step linear acceleration parameter 2 Pn80C Acceleration parameter switching speed 2 Pn80D First-step linear deceleration parameter 2 Pn80E Second-step linear deceleration parameter 2 Pn80F Deceleration parameter switching speed 2 A-9

197 Appendices C.2 SGDH Renewal (Linear) Classification Parameter No. Name Size (bytes) Pn810 Exponential acceleration/deceleration bias 2 Acceleration/Deceleration Filter Pn811 Exponential acceleration/deceleration time constant 2 Pn812 Running average time 2 Monitor Pn813 Option monitor 2 Command Supplements C.2 SGDH Renewal (Linear) (1) Pn000 to Pn09F (2) Pn100 to Pn19F Pn814, Pn815 Final travel distance for external positioning 4 Pn816 Zero point return mode setting 2 Pn817 Zero point return approach speed 1 2 Pn818 Zero point return approach speed 2 2 Pn819, Pn81A Final travel distance to return to zero point 4 Pn81B Backlash compensation amount 2 (Pn81C) None Pn81D Compensation function selection 2 Pn81E Input signal monitor selection 2 Pn81F For future use 2 Pn820, Pn821 Latching area upper limit 4 Pn822, Pn823 Latching area lower limit 4 (Pn824 to Pn83F) None END (cont d) Classification Parameter No. Name Size (bytes) Pn000 Function selection basic switches 2 Pn001 Function selection application switches 1 2 Pn002 Function selection application switches 2 2 Pn003 Function selection application switches 3 2 (Pn004) None Pn005 Function selection application switches 5 2 (Pn006 to Pn01F) None Linear Pn080 Function selection application switches 2 (Pn081 to Pn09F) None Classification Parameter No. Name Size (bytes) Pn100 Speed loop gain 2 Pn101 Speed loop integral time constant 2 Pn102 Position loop gain 2 Pn103 Moment of inertia ratio 2 Pn104 Second speed loop gain 2 Pn105 Second speed loop integral time constant 2 Pn106 Second position loop gain 2 (Pn107) None Pn108 Bias width addition 2 Pn109 Feed-forward 2 Pn10A Feed-forward filter time constant 2 Pn10B Gain-related application switches 2 Pn10C Mode switch torque reference 2 (Pn10D, Pn10E) None Pn10F Mode switch error pulse 2 A-10

198 C Parameter Block Read/Write Table (cont d) Classification Parameter No. Name Size (bytes) Pn110 Online autotuning switches 2 Pn111 Speed feedback compensation 2 (Pn112 to Pn11E) None Pn11F Position integral time constant 2 (Pn120 to Pn123) None Pn124 Automatic gain change timer Pn125 Automatic gain change width (Pn126 to Pn13F) None Linear Pn180 Bias 2 Linear Pn181 Mode switch speed reference 2 Linear Pn182 Mode switch acceleration 2 (Pn183 to Pn19F) END A (3) Pn200 to Pn29F Classification Parameter No. Name Size (bytes) Pn200 Position control references selection switches 2 (Pn201) None Pn202 Electronic gear ratio (numerator) 2 Pn203 Electronic gear ratio (denominator) 2 (Pn204 to Pn216) None Pn217 Reference pulse input multiplier Pn218 Reference pulse multiplier function selection (Pn219 to Pn21F) None Linear Pn280 Linear scale pitch 2 Linear Pn281 PG divider 2 (Pn282 to Pn29F) None END (4) Pn300 to Pn39F Classification Parameter No. Name Size (bytes) Pn300 Speed reference input gain 2 (Pn301 to Pn304) None Pn305 Soft start acceleration time 2 Pn306 Soft start deceleration time 2 Pn307 Speed reference filter time constant 2 Pn308 Speed feedback filter time constant 2 (Pn309 to Pn31F) None Linear Pn380 Internal set speed 1 2 Linear Pn381 Internal set speed 2 2 Linear Pn382 Internal set speed 3 2 Linear Pn383 JOG speed 2 Linear Pn384 Motor maximum speed 2 (Pn385 to Pn39F) None END A-11

199 Appendices C.2 SGDH Renewal (Linear) (5) Pn400 to Pn49F Classification Parameter No. Name Size (bytes) Pn400 Torque/thrust reference input gain 2 Pn401 Torque/thrust filter reference input time constant 2 (Pn402, Pn403) None Pn404 External input forward torque/thrust limit 2 Pn405 External input reverse torque/thrust limit 2 Pn406 Emergency stop torque/thrust 2 (Pn407) None Pn408 Torque/thrust control function switches 2 Pn409 Notch filter frequency 2 Pn40A Notch filter Q value 2 Pn40B Notch filter 2 frequency 2 Pn40C Notch filter 2 Q value 2 (Pn40D to Pn41F) None Linear Pn480 Speed limit in thrust control 2 Linear Pn481 Polarity detection speed loop gain 2 Linear Pn482 Polarity detection speed loop integral time constant 2 Linear Pn483 Forward thrust limit 2 Linear Pn484 Reverse thrust limit 2 (Pn485 to Pn49F) None END (6) Pn500 to Pn59F Classification Parameter No. Name Size (bytes) Pn500 Positioning completed width 2 (Pn501 to Pn503) None Pn504 NEAR signal width 2 Pn505 Overflow level 2 Pn506 Brake reference-servo OFF delay time 2 (Pn507) None Pn508 Timing for brake reference output during motor operation 2 Pn509 Momentary hold time 2 Pn50A Input signal selections 1 2 Pn50B Input signal selections 2 2 Sequence Pn50C Input signal selections 3 2 Parameters Pn50D Input signal selections 4 2 Pn50E Output signal selections 1 2 Pn50F Output signal selections 2 2 Pn510 Output signal selections 3 2 Pn511 Input signal selections 5 2 Pn512 Output signal reversal settings 2 Pn513 Input signal selections 6 2 (Pn514 to Pn51D) None Pn51E Excessive position error warning level 2 (Pn51F) None Linear Pn580 Zero clamp level 2 Linear Pn581 Zero speed level 2 Linear Pn582 Speed coincidence signal output width 2 Linear Pn583 Brake reference output speed level 2 Linear Pn584 Motor self-cooling ratio 2 A-12

200 C Parameter Block Read/Write Table (cont d) Classification Parameter No. Name Size (bytes) (Pn585 to Pn59F) None END (7) Pn600 to Pn61F Classification Parameter No. Name Size (bytes) Pn600 External regenerative resistor capacity 2 (Pn601 to Pn61F) None END A (8) Pn800 to Pn83F Classification Parameter No. Name Size (bytes) Communication Pn800 Communication control 2 Sequences Positions Acceleration /Deceleration Pn801 Function selection application 6 (software LS) 2 (Pn802) None Pn803 Zero point width 2 Pn804, Pn805 Forward software limit 4 Pn806, Pn807 Reverse software limit 4 Pn808, Pn809 Absolute encoder zero point position offset 4 Pn80A First-step linear acceleration parameter 2 Pn80B Second-step linear acceleration parameter 2 Pn80C Acceleration parameter switching speed 2 Pn80D First-step linear deceleration parameter 2 Pn80E Second-step linear deceleration parameter 2 Pn80F Deceleration parameter switching speed 2 Acceleration Pn810 Exponential acceleration/deceleration bias 2 /Deceleration Pn811 Exponential acceleration/deceleration time constant 2 Filter Pn812 Running average time 2 Monitor Pn813 Option monitor 2 Commands Pn814, Pn815 Final travel distance for external positioning 4 Pn816 Zero point return mode setting 2 Pm817 Zero point return approach speed 1 2 Pn818 Zero point return approach speed 2 2 Pn819, Pn81A Final travel distance to return to zero point 4 Pn81B Backlash compensation amount 2 (Pn81C) None Pn81D Compensation function selection 2 Pn81E Input signal monitor selection 2 Pn81F For future use 2 Pn820, Pn821 Latching area upper limit 4 Pn822, Pn823 Latching area lower limit 4 (Pn824 to Pn83F) None END A-13

201 Appendices C.3 SGDS (Rotary) C.3 SGDS (Rotary) (1) Pn000 to Pn01F Parameter No. Name Size (bytes) Pn000 Function selection basic switch 0 2 Pn001 Function selection application switch 1 2 Pn002 Function selection application switch 2 2 (Pn003) None Pn004 Function selection application switch 4 2 (Pn005) None Pn006 Function selection application switch 6 2 Pn007 Function selection application switch 7 2 Pn008 Function selection application switch 8 2 (Pn009 to Pn01F) None END (2) Pn100 to Pn1BF A-14 Parameter No. Name Size (bytes) Pn100 Speed loop gain 2 Pn101 Speed loop integral time constant 2 Pn102 Position loop gain 2 Pn103 Moment of inertia ratio 2 Pn104 Second speed loop gain 2 Pn105 Second speed loop integral time constant 2 Pn106 Second position loop gain 2 Pn107 Bias 2 Pn108 Bias addition width 2 Pn109 Feed forward gain 2 Pn10A Feed forward filter time constant 2 Pn10B Gain related application switch 2 Pn10C Mode switch (torque reference) 2 Pn10D Mode switch (speed reference) 2 Pn10E Mode switch (acceleration) 2 Pn10F Mode switch (error pulse) 2 Pn110 Normal autotuning switches 2 Pn111 Speed feedback compensation gain 2 (Pn112 to Pn118) None Pn119 Reference filter gain 2 Pn11A Reference filter gain compensation 2 (Pn11B to Pn11D) None Pn11E Reference filter bias (forward) 2 Pn11F Position integral time constant 2 (Pn120 to Pn12A) None Pn12B Third speed loop gain 2 Pn12C Third speed loop integral time constant 2 Pn12D Third position loop gain 2 Pn12E Fourth speed loop gain 2 Pn12F Fourth speed loop integral time constant 2 Pn130 Fourth position loop gain 2 Pn131 Gain switching time 1 2 Pn132 Gain switching time 2 2 Pn133 Gain switching time 3 2

202 C Parameter Block Read/Write Table (cont d) Parameter No. Name Size (bytes) Pn134 Gain switching time 4 2 Pn135 Gain switching waiting time 1 2 Pn136 Gain switching waiting time 2 2 (Pn137, Pn138) None Pn139 Automatic gain changeover related switch 1 2 (Pn13A to Pn13F) None (Pn140 to Pn143) None Pn144 Reference filter bias (reverse) 2 (Pn145 to Pn14F) None Pn150 Predictive control selection switch 2 Pn151 Predictive control acceleration/deceleration gain 2 Pn152 Predictive control weighting ratio 2 (Pn153 to Pn15F) None Pn1A0 Servo rigidity 2 Pn1A1 Servo rigidity #2 2 Pn1A2 Speed feedback filter time constant 2 Pn1A3 Speed feedback filter time constant #2 2 Pn1A4 Torque reference filter time constant 2 (Pn1A5, Pn1A6) None Pn1A7 Utility control switch 2 (Pn1A8) None Pn1A9 Utility integral gain 2 Pn1AA Position proportional gain 2 Pn1AB Speed integral gain 2 Pn1AC Speed proportional gain 2 (Pn1AD to Pn1B4) None Pn1B5 Gain compensation upper limit 1 2 (Pn1B6 to Pn1BF) None END A (3) Pn200 to Pn29F Parameter No. Name Size (bytes) Pn200 Position control reference form selection switch 2 (Pn201 to Pn204) None Pn205 Multiturn limit setting 2 (Pn206) None Pn207 Position control function switch 2 (Pn208) None Pn209 Position reference acceleration/deceleration bias 2 Pn20A, Pn20B Number of external scale pitches 4 (Pn20C, Pn20D) None Pn20E, Pn20F Electronic gear ratio (numerator) 4 Pn210, Pn211 Electronic gear ratio (denominator) 4 Pn212, Pn213 Pg dividing pulse (pulse unit) 4 Pn214 Backlash compensation amount 2 Pn215 Backlash compensation time constant 2 Pn216 Reference acceleration/deceleration time constant 2 Pn217 Average movement time of position reference 2 (Pn218 to Pn21F) None (PnPn280) None A-15

203 Appendices C.3 SGDS (Rotary) Parameter No. Name Size (bytes) Pn281 Encoder output resolution 2 (Pn282 to Pn29F) None END (4) Pn300 to Pn31F Parameter No. Name Size (bytes) Pn300 Speed reference input gain 2 Pn301 Internal set speed 1 2 Pn302 Internal set speed 2 2 Pn303 Internal set speed 3 2 Pn304 JOG speed 2 Pn305 Soft start acceleration time 2 Pn306 Soft start deceleration time 2 Pn307 Speed reference filter time constant 2 Pn308 Speed feedback filter time constant 2 (Pn309 to Pn30F) None Pn310 Vibration detection switch 2 Pn311 Vibration detection sensibility 2 Pn312 Vibration detection level 2 (Pn313 to Pn31F) None END (5) Pn400 to Pn46F (cont d) Parameter No. Name Size (bytes) Pn400 Torque reference input gain 2 Pn401 First step first torque reference filter time constant 2 Pn402 Forward torque limit 2 Pn403 Reverse torque limit 2 Pn404 Forward external torque limit 2 Pn405 Reverse external torque limit 2 Pn406 Emergency stop torque 2 Pn407 Speed limit during torque control 2 Pn408 Torque related function switch 2 Pn409 First step notch filter frequency 2 Pn40A First step notch filter Q value 2 (Pn40B) None Pn40C Second step notch filter frequency 2 Pn40D Second step notch filter Q value 2 (Pn40E) None Pn40F Second step second torque reference filter frequency 2 Pn410 Second step second torque reference filter Q value 2 Pn411 Third step torque reference filter time constant 2 Pn412 First step second torque reference filter time constant 2 Pn413 First step third torque reference filter time constant 2 Pn414 First step fourth torque reference filter time constant 2 (Pn415 to Pn41F) None Pn420 Damping for vibration suppression on stopping 2 Pn421 Vibration suppression starting time 2 Pn422 Gravity compensation torque 2 A-16

204 C Parameter Block Read/Write Table (cont d) Parameter No. Name Size (bytes) (Pn423 to Pn43F) None (Pn450 to Pn455) None Pn456 Sweep torque reference amplitude 2 (Pn457 to Pn46F) None END (6) Pn500 to Pn55F A Parameter No. Name Size (bytes) (Pn500) None Pn501 Zero clamp level 2 Pn502 Zero speed level 2 Pn503 Speed coincidence signal output width 2 (Pn504, Pn505) None Pn506 Brake reference-servo OFF delay time 2 Pn507 Brake reference output speed level 2 Pn508 Waiting time for brake signal when motor running 2 Pn509 Instantaneous power cut hold time 2 Pn50A Input signal selection 1 2 Pn50B Input signal selection 2 2 Pn50C Input signal selection 3 2 Pn50D Input signal selection 4 2 Pn50E Output signal selection 1 2 Pn50F Output signal selection 2 2 Pn510 Output signal selection 3 2 Pn511 Input signal selection A 2 Pn512 Output signal reverse setting 2 (Pn513, Pn514) None Pn515 Input signal selection 5 2 (Pn516 to Pn51A) None Pn51B, Pn51C Servomotor load excessive position error level 4 (Pn51C to Pn51D) None Pn51E Excessive position error warning level 2 (Pn51F) None Pn520, Pn521 Excessive position error alarm level 4 Pn522, Pn523 Positioning completion width 4 Pn524, Pn525 NEAR signal width 4 Pn526, Pn527 Excessive position error alarm level at servo ON 4 Pn528 Excessive position error warning level at servo ON 2 Pn529 Speed limit level at servo ON 2 Pn52A Squared value per fully-closed one rotation 2 (Pn52B to Pn52E) None Pn52F Monitor display at power ON 2 Pn530 Program JOG operation related switch 2 Pn531, Pn532 Program JOG movement distance 4 Pn533 Program JOG movement speed 2 Pn534 Program JOG acceleration/deceleration time 2 Pn535 Program JOG waiting time 2 Pn536 Number of times of program JOG movement 2 (Pn537 to Pn53F) None Pn540 Gain limit 2 A-17

205 Appendices C.3 SGDS (Rotary) Parameter No. Name Size (bytes) (Pn541 to Pn54F) None Pn550 Analog monitor 1 offset voltage 2 Pn551 Analog monitor 2 offset voltage 2 (Pn552 to Pn55F) None END (7) Pn600 to Pn61F Parameter No. Name Size (bytes) Pn600 Regenerative resistor capacity 2 (Pn601 to Pn61F) None END (8) Pn800 to Pn83F (cont d) Parameter No. Name Size (bytes) Pn800 Communication control 2 Pn801 Function selection application 6 (software LS) 2 (Pn802) None Pn803 Origin range 2 Pn804, Pn805 Forward software limit 4 Pn806, Pn807 Reverse software limit 4 Pn808, Pn809 Absolute encoder origin offset 4 Pn80A First step linear acceleration constant 2 Pn80B Second step linear acceleration constant 2 Pn80C Acceleration constant switching speed 2 Pn80D First step linear deceleration constant 2 Pn80E Second step linear deceleration constant 2 Pn80F Deceleration constant switching speed 2 Pn810 Exponential function accel/decel bias 2 Pn811 Exponential function accel/decel time constant 2 Pn812 Moving average time 2 Pn813 Reserved parameter 2 Pn814, Pn815 Final travel distance for external positioning 4 Pn816 Homing mode setting 2 Pn817 Homing approach speed 1 2 Pn818 Homing approach speed 2 2 Pn819 Move distance for homing 4 (Pn81B, Pn81C) None Pn81D Compensation function selection 2 Pn81E Input signal monitor selection 2 Pn81F For future use 2 Pn820, Pn821 Latching area upper limit 4 Pn822, Pn823 Latching area lower limit 4 Pn824 Option monitor 1 selection 2 Pn825 Option monitor 2 selection 2 (Pn826 to Pn83F) None END A-18

206 C Parameter Block Read/Write Table (9) Pn900 to Pn95F Parameter No. Name Size (bytes) Pn900 Number of parameter banks 2 Pn901 Number of parameter bank members 2 Pn902 to Pn910 Parameter bank member definition 2 (Pn911 to Pn91F) None Pn920 to Pn93F Parameter bank data 2 Pn940 to Pn95F Parameter bank data 2 END A A-19

207 Appendices C.4 SGDS (Linear) C.4 SGDS (Linear) (1) Pn000 to Pn09F Parameter No. Name Size (bytes) Pn000 Function selection basic switch 0 2 Pn001 Function selection application switch 1 2 Pn002 Function selection application switch 2 2 (Pn003 to Pn005) None Pn006 Function selection application switch 6 2 Pn007 Function selection application switch 7 2 Pn008 Function selection application switch 8 2 (Pn009 to Pn01F) None Pn080 Function selection application switch 80 2 (Pn081 to Pn09F) None END (2) Pn100 to Pn19F A-20 Parameter No. Name Size (bytes) Pn100 Speed loop gain 2 Pn101 Speed loop integral time constant 2 Pn102 Position loop gain 2 Pn103 Moment of inertia ratio 2 Pn104 Second speed loop gain 2 Pn105 Second speed loop integral time constant 2 Pn106 Second position loop gain 2 (Pn107) None Pn108 Bias addition width 2 Pn109 Feed forward gain 2 Pn10A Feed forward filter time constant 2 Pn10B Gain related application switch 2 Pn10C Mode switch (torque reference) 2 (Pn10D, Pn10E) None Pn10F Mode switch (error pulse) 2 Pn110 Normal autotuning switches 2 Pn111 Speed feedback compensation gain 2 (Pn112 to Pn11E) None Pn11F Position integral time constant 2 (Pn120 to Pn12A) None Pn12B Third speed loop gain 2 Pn12C Third speed loop integral time constant 2 Pn12D Third position loop gain 2 Pn12E Fourth speed loop gain 2 Pn12F Fourth speed loop integral time constant 2 Pn130 Fourth position loop gain 2 Pn131 Gain switching time 1 2 Pn132 Gain switching time 2 2 (Pn133, Pn134) None Pn135 Gain switching waiting time 1 2 Pn136 Gain switching waiting time 2 2 (Pn137, Pn138) None Pn139 Automatic gain changeover related switch 1 2 (Pn13A to Pn13F) None

208 C Parameter Block Read/Write Table (cont d) Parameter No. Name Size (bytes) Pn180 Bias 2 Pn181 Mode switch speed reference 2 Pn182 Mode switch acceleration 2 (Pn183 to Pn19F) None Pn1A0 Servo rigidity 2 Pn1A1 Servo rigidity 2 2 Pn1A2 Speed feedback filter time constant 2 Pn1A3 Speed feedback filter time constant 2 2 Pn1A4 Thrust reference filter time constant 2 (Pn1A5 to Pn1A6) None Pn1A7 Utility control switch 2 (Pn1A8) None Pn1A9 Utility integral gain 2 Pn1AA Position proportional gain 2 Pn1AB Speed integral gain 2 Pn1AC Speed proportional gain 2 (Pn1AD to Pn1B4) None Pn1B5 Gain compensation upper limit 1 2 (Pn1B6 to Pn1BF) None END A (3) Pn200 to Pn29F Parameter No. Name Size (bytes) Pn200 Position control reference form selection switch 2 (Pn201 to Pn206) None Pn207 Position control function switch 2 (Pn208) None Pn209 Position reference acceleration/deceleration bias 2 (Pn20A to Pn20D) None Pn20E, Pn20F Electronic gear ratio (numerator) 4 Pn210, Pn211 Electronic gear ratio (denominator) 4 (Pn212 to Pn215) None Pn216 Position reference acceleration/deceleration time constant 2 Pn217 Average movement time of position reference 2 (Pn218 to Pn21F) None (Pn280) None Pn281 Encoder output resolution 2 Pn282, Pn283 Linear scale pitch 4 (Pn284 to Pn29F) None END A-21

209 Appendices C.4 SGDS (Linear) (4) Pn300 to Pn39F Parameter No. Name Size (bytes) Pn300 Speed reference input gain 2 (Pn301 to Pn304) None Pn305 Soft start acceleration time 2 Pn306 Soft start deceleration time 2 Pn307 Speed reference filter time constant 2 Pn308 Speed feedback filter time constant 2 (Pn309 to Pn30F) None Pn310 Vibration detection switch 2 Pn311 Vibration detection sensibility 2 (Pn312 to Pn31F) None Pn380 Internal set speed 1 2 Pn381 Internal set speed 2 2 Pn382 Internal set speed 3 2 Pn383 JOG speed 2 Pn384 Vibration detection level 2 Pn385 Motor maximum speed 2 (Pn385 to Pn39F) None END (5) Pn400 to Pn49F Parameter No. Name Size (bytes) Pn400 Torque reference input gain 2 Pn401 First step first torque reference filter time constant 2 (Pn402 to Pn403) None Pn404 Forward external torque limit 2 Pn405 Reverse external torque limit 2 Pn406 Emergency stop torque 2 (Pn407) None Pn408 Torque related function switch 2 Pn409 First step notch filter frequency 2 Pn40A First step notch filter Q value 2 (Pn40B) None Pn40C Second step notch filter frequency 2 Pn40D Second step notch filter Q value 2 (Pn40E) Pn40F Second step second torque reference filter frequency 2 Pn410 Second step second torque reference filter Q value 2 Pn411 Third step torque reference filter time constant 2 Pn412 First step second torque reference filter time constant 2 Pn413 First step third torque reference filter time constant 2 Pn414 First step fourth torque reference filter time constant 2 (Pn415 to Pn41F) None Pn420 Damping for vibration suppression on stopping 2 Pn421 Vibration suppression starting time 2 Pn422 Gravity compensation torque 2 (Pn423 to Pn43F) None (Pn450 to Pn455) None Pn456 Sweep torque reference amplitude 2 (Pn457 to Pn46F) None A-22

210 C Parameter Block Read/Write Table (cont d) Parameter No. Name Size (bytes) Pn480 Speed limit during thrust control 2 Pn481 Polarity detection speed loop gain 2 Pn482 Polarity detection speed loop integral time 2 Pn483 Forward thrust limit 2 Pn484 Reverse thrust limit 2 Pn485 Polarity detection speed reference 2 Pn486 Polarity detection acceleration/deceleration time 2 Pn487 Polarity detection reference-constant speed time 2 Pn488 Polarity detection reference waiting time 2 (Pn489) None Pn48A Polarity detection speed error level 2 Pn48B Polarity detection thrust limit value 2 (Pn48C to Pn48D) None Pn48E Polarity detection movable range 2 Pn48F Polarity detection movement check 2 END A (6) Pn500 to Pn59F Parameter No. Name Size (bytes) (Pn500 to Pn505) None Pn506 Brake reference-servo OFF delay time 2 (Pn507) None Pn508 Waiting time for brake signal when motor running 2 Pn509 Instantaneous power cut hold time 2 Pn50A Input signal selection 1 2 Pn50B Input signal selection 2 2 Pn50C Input signal selection 3 2 Pn50D Input signal selection 4 2 Pn50E Output signal selection 1 2 Pn50F Output signal selection 2 2 Pn510 Output signal selection 3 2 (Pn511) None Pn512 Output signal reverse setting 2 (Pn513, Pn514) None Pn515 Input signal selection 5 2 (Pn516 to Pn51D) None Pn51E Excessive position error warning level 2 (Pn51F) None Pn520, Pn521 Excessive position error alarm level 4 Pn522, Pn523 Positioning completion width 4 Pn524, Pn525 NEAR signal width 4 Pn526, Pn527 Excessive position error alarm level at servo ON 4 Pn528 Excessive position error warning level at servo ON 2 (Pn529 to Pn52E) None Pn52F Monitor display at power ON 2 Pn530 Program JOG operation related switch 2 Pn531 Program JOG movement distance 4 (Pn533) None Pn534 Program JOG acceleration/deceleration time 2 Pn535 Program JOG waiting time 2 A-23

211 Appendices C.4 SGDS (Linear) Parameter No. Name Size (bytes) Pn536 Number of times of program JOG movement 2 (Pn537 to Pn53F) None Pn540 Gain limit 2 (Pn541 to Pn54F) None Pn550 Analog monitor 1 offset voltage 2 Pn551 Analog monitor 2 offset voltage 2 (Pn552 to Pn55F) None Pn580 Zero clamp level 2 Pn581 Zero speed level 2 Pn582 Speed coincidence signal output width 2 Pn583 Brake reference output speed level 2 Pn584 Speed limit level at servo on 2 Pn585 Program JOG movement speed 2 Pn586 Motor self-cooling ratio 2 (Pn587 to Pn59F) None END (7) Pn600 to Pn61F Parameter No. Name Size (bytes) Pn600 Regenerative resistor capacity 2 (Pn601 to Pn61F) None END (8) Pn800 to Pn83F (cont d) Parameter No. Name Size (bytes) Pn800 Communication control 2 Pn801 Function selection application 6 (software LS) 2 Pn802 Reserved parameter 2 Pn803 Origin range 2 Pn804, Pn805 Forward software limit 4 Pn806, Pn807 Reverse software limit 4 Pn808, Pn809 Absolute encoder origin offset 4 Pn80A First step linear acceleration constant Pn80B Second step linear acceleration constant 2 Pn80C Acceleration constant switching speed 2 Pn80D First step linear deceleration constant 2 Pn80E Second step linear deceleration constant 2 Pn80F Deceleration constant switching speed 2 Pn810 Exponential function accel/decel bias 2 Pn811 Exponential function accel/decel time constant 2 Pn812 Moving average time 2 Pn813 Reserved parameter 2 Pn814, Pn815 Move distance for external positioning (EX_POSING) 4 Pn816 Homing mode setting 2 Pn817 Homing approach speed 1 2 Pn818 Homing approach speed 2 2 Pn819, Pn81A Move distance for homing 4 Pn81B For future use 2 Pn81C For future use 2 A-24

212 C Parameter Block Read/Write Table (cont d) Parameter No. Name Size (bytes) Pn81D Compensation function selection 2 Pn81E Input signal monitor selection 2 Pn81F For future use 2 Pn820, Pn821 Latching area upper limit 4 Pn822, Pn823 Latching area lower limit 4 Pn824 Option monitor 1 selection 2 Pn825 Option monitor 2 selection 2 (Pn826 to Pn83F) None END A (9) Pn900 to Pn95F Parameter No. Name Size (bytes) Pn900 Number of parameter banks 2 Pn901 Number of parameter bank members 2 Pn902 to Pn910 Parameter bank member definition 2 (Pn911 to Pn91F) None Pn920 to Pn93F Parameter bank data 2 Pn940 to Pn95F Parameter bank data 2 END A-25

213 Appendices D.1 SGDH Fn Parameters D Addresses for Reading Individual Fn/Un Parameters When reading Fn and Un parameters with the Parameter Individual Read command, read addresses are used instead of parameter numbers. These addresses are listed in the following tables. D.1 SGDH Fn Parameters Fn Number Address Description Remarks Fn000 Fn011 Fn012 D.2 SGDS Fn Parameters 8500h Alarm traceback data display, error number = h Alarm traceback data display, error number = h Alarm traceback data display, error number = h Alarm traceback data display, error number = h Alarm traceback data display, error number = h Alarm traceback data display, error number = h Alarm traceback data display, error number = h Alarm traceback data display, error number = h Alarm traceback data display, error number = h Alarm traceback data display, error number = h Motor models display 8515h Motor capacity 8516h Encoder model 8517h Yaskawa specification 8518h SERVOPACK software version display 8519h Encoder software version display Fn Number Address Description Remarks Fn000 E500h Alarm traceback data display, error number = 0 E501h Alarm traceback data display, error number = 1 E502h Alarm traceback data display, error number = 2 E503h Alarm traceback data display, error number = 3 E504h Alarm traceback data display, error number = 4 E505h Alarm traceback data display, error number = 5 E506h Alarm traceback data display, error number = 6 E507h Alarm traceback data display, error number = 7 E508h Alarm traceback data display, error number = 8 E509h Alarm traceback data display, error number = 9 Fn011 Check servomotor models. Fn012 SERVOPACK software version display Fn01E SERVOPACK and servomotor ID display Valid only for LCD Digital Operator A-26

214 D Addresses for Reading Individual Fn/Un Parameters D.3 SGDH Un Parameters Un Number Address Description Unit Remarks Un h Speed feedback Rotary: min -1 Linear: mm/s Un h Input speed reference Rotary: min -1 Linear: mm/s Un h Torque reference % Value for rated torque/thrust Un h Rotation angle 1 (number of pulses from the zero point) Un h Rotation angle 2 (angle from the zero point) deg Un h Input signal monitor Un h Output signal monitor Un h Input reference pulse speed Rotary: min -1 Linear: mm/s Un h Error counter value Command unit Un h Accumulated load rate % Un00A 800Ah Regenerative load rate % Un00B 800Bh Power consumed by DB resistance % Un00C Un00D 800Ch Input reference pulse counter 800Dh Input reference pulse counter 800Eh Feedback pulse counter 800Fh Feedback pulse counter Displays effective torque in 10 s cycle. Displays regeneration power consumption in 10 s cycle. Displays DB power consumption in 10 s cycle. Given in hexadecimal (lower 16 bits) Given in hexadecimal (upper 16 bits) Given in hexadecimal (lower 16 bits) Given in hexadecimal (upper 16 bits) A A-27

215 Appendices D.4 SGDS Un Parameters D.4 SGDS Un Parameters Un Number Address Description Unit Remarks Un000 E000h Motor speed min 1 Un001 E001h Speed min 1 Un002 E002h Internal torque reference % In percentage to the rated torque Un003 E003h Rotation angle 1 Pulse E004h Rotation angle 1 Pulse Number of pulses from zero point (32 bits decimal) (lower 16 bits) Number of pulses from zero point (32 bits decimal) (upper 16 bits) Un004 E005h Rotation angle 2 deg Angle to the zero point (electrical angle) Un005 E006h Input signal monitor Un006 E007h Output signal monitor Un007 E008h Input reference pulse speed min 1 Un008 E009h Error counter Command unit E00Ah Error counter Command unit Un009 E00Bh Accumulated load ratio % Un00A E00Ch Regenerative load ratio % Un00B E00Dh Power consumed by DB resistance % Un00C Un00D Un00E Un00F Position error amount (lower 16 bits) Position error amount (upper 16 bits) E00Eh Input reference pulse counter Pulse 32 bits decimal (lower 16 bits) E00Fh Input reference pulse counter Pulse (upper 16 bits) In percentage to the rated torque: Effective torque in cycle of 10 s. In percentage to the processable regenerative power: Regenerative power consumption in cycle of 10 s. In percentage to the processable power at DB activation: Display in cycle of 10 s. E010h Feedback pulse counter Pulse 32 bits decimal E011h E012h Fully-closed feedback pulse counter Pulse 32 bits decimal (lower 16 bits) E013h Fully-closed feedback pulse counter Pulse (upper 16 bits) E014h Fully-closed feedback speed Pulse/s 32 bits decimal (lower 16 bits) E015h Fully-closed feedback speed Pulse (upper 16 bits) A-28

216 E Driver Installation Procedure E Driver Installation Procedure 1. Insert the MP2110/MP2110M into the PCI slot and start Windows. If this is the first time the MP2110/ MP2110M has been inserted into the slot, Plug and Play will display Welcome to the Find New Hardware Wizard. Click the Next Button and go to step 2. A If the Welcome to the Find New Hardware Wizard is not displayed, open the Driver Upgrade Wizard under Memory technology driver in the Device Manager. 2. In the Install Hardware Device Drivers Window, select Display a list of the known drivers for this device so that I can choose a specific driver, and click the Next Button. A-29

217 Appendices 3. Click the Have Disk Button on the Select a Device Driver Window. Specify the folder where the MP2110/MP2110M device driver supplied by Yaskawa is installed, click the OK Button to select the device driver. 4. Click the Next Button on the Start Device Driver Installation Window to install the device driver. A-30