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JEPMC-MP2300-Y Series
YASKAWA JEPMC-MP2300-Y Series User Manual
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A-1
Appendix A
A Switching Motion Commands and Subco
mmands
....................A-2
A.1 Motion Command Execution T
able........
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A-2
A.2 Motion Subcommand Execution T
able
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A-4
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576
Table of Contents
1 Overview of the Mp2300
35
Table of Contents
35
Features
36
MP2300 Configuration
37
MP2300 Modules
38
System Configuration
40
1.3 System Configuration
41
Devices Connectable to MECHATROLINK
41
Cables and Accessories
42
Accessories and Options
43
2 System Startup and Sample Programs
45
Model System Startup Procedure
46
Flowchart for Model System Startup
46
System Configuration
47
Initializing Servopacks
48
MP2300 Self-Configuration
49
Starting and Preparing MPE720
51
Reading Sample Programs and Setting and Saving Parameters
63
Checking Sample Program Operation
80
Operation Check 1: Manual Operation
80
Operation Check 2: Position Control
87
Operation Check 3: Phase Control - Electronic Shaft
92
Operation Check 4: Phase Control - Electronic Cam
96
System Startup Using Self-Configuration
103
Starting the System for First Time
103
System Startup When Adding Electronic Devices
105
System Startup When Replacing Electronic Devices
107
3 Module Specifications
109
General Specifications
110
Environmental Conditions
110
Function Lists
111
Basic Module
114
Outline of Functions
114
External Appearance, LED Indicators, and Switch Settings
115
Module Specifications
117
SVR Virtual Motion Module
119
Motion Modules (Optional)
122
Module
122
Module
127
I/O Modules (Optional)
132
LIO-01/LIO-02 Modules
132
Counter Functions and Settings of LIO-01/LIO-02 Modules
136
LIO-04/LIO-05 Modules
152
Module
155
Communication Modules (Optional)
159
218IF-01 Module
159
217IF-01 Module
162
260IF-01 Module
165
261IF-01 Module
168
Dimensional Drawings
172
Basic Module
172
Optional Modules
173
4 Mounting and Wiring
175
Handling MP2300
176
Mounting MP2300
176
Replacing and Adding Optional Modules
179
Basic Module Connections
182
Connectors
182
Power Supply Connector
183
MECHATROLINK Connectors
184
CPU I/O Connectors
189
Motion Module (Optional) Connections
193
Module Connections
196
4.4 I/O Module (Optional) Connections
204
LIO-01/LIO-02 Modules
204
LIO-04/LIO-05 Module Connections
208
Module Connections
220
Communication Module (Optional) Connections
234
218IF-01 Module
234
217IF-01 Module
238
260IF-01 Module
242
261IF-01 Module
245
5 Outline of Motion Control Systems
247
Startup Sequence and Basic Operation
248
DIP Switch Settings
248
Startup Sequence
249
Startup Sequence Operation Details
250
LED Indicator Details
251
User Programs
252
Ladder Drawings (DWG)
252
Execution Control of Drawings
253
Motion Programs
256
Motion Programs and MSEE and S Registers
258
Example of Ladder Programs for Motion Program Control
264
Functions
266
Registers
267
Types of Registers
267
Data Types and Register Specifications
270
Using I and J Subscripts
271
Register Specification Methods
273
Self-Configuration
274
Self-Configuration Processing Procedure
274
Execution Procedure for Self-Configuration Using the DIP Switch
275
Execution Procedure for Self-Configuration Using MPE720
277
Definition Data Refreshed by Self-Configuration and Allocation Examples
280
MP2300 Basic Module Definition Data
280
Modules
282
LIO-01/LIO-02 Modules
282
LIO-04/LIO-05 Modules
283
Modules
283
218IF-01 Modules
284
217IF-01 Modules
285
260IF-01 Modules
287
261IF-01 Modules
288
Examples of Register Allocation by Self-Configuration
289
6 Motion Parameters
291
Motion Parameters Register Numbers
292
Motion Parameter Register Numbers for MP2300
292
Motion Parameters Setting Window
294
Motion Parameter Details
296
Fixed Parameter List
296
Setting Parameter List
298
Bits C to F: Monitor 4
302
Servo User Monitor
302
Monitoring Parameter List
303
Reserved for System Use/Stores the Number of the Parameter Being Processed
306
Default Chapter
306
Auxiliary Servo User
306
Reserved for System Use
306
Stores the Number of the Parameter Being Processed
306
Reserved for System Use
307
MP2300 Parameter Details
308
Motion Fixed Parameter Details
308
Setting Parameter List
314
Motion Monitoring Parameter Details
336
Absolute Position at Power off
336
Pulse
336
Iw 2F
347
Example of Setting Motion Parameters for the Machine
349
Reference Unit
349
Electronic Gear
349
Axis Type Selection
351
Position Reference
352
Speed Reference
353
Acceleration/Deceleration Settings
355
Acceleration/Deceleration Filter Settings
357
7 Motion Commands
359
Motion Commands
361
Motion Command Table
361
Motion Commands Supported by SERVOPACK Models
362
Motion Command Details
363
Positioning (POSING)
363
External Positioning (EX_POSING)
369
Zero Point Return (ZRET)
374
Interpolation (INTERPOLATE)
394
Latch (LATCH)
398
JOG Operation (FEED)
402
STEP Operation (STEP)
406
Zero Point Setting (ZSET)
410
Change Linear Acceleration Time Constant (ACC)
412
Change Linear Deceleration Time Constant (DCC)
414
Change Filter Time Constant (SCC)
416
Change Filter Type (CHG_FILTER)
418
Change Speed Loop Gain (KVS)
420
Change Position Loop Gain (KPS)
422
Change Feed Forward (KFS)
424
Number
426
Read SERVOPACK Parameter (PRM_RD)
426
Write SERVOPACK Parameter (PRM_WR)
428
Monitor SERVOPACK Alarms (ALM_MON)
430
Monitor SERVOPACK Alarm History (ALM_HIST)
431
Clear SERVOPACK Alarm History (ALMHIST_CLR)
433
Reset Absolute Encoder (ABS_RST)
435
Speed Reference (VELO)
438
Torque Reference (TRQ)
442
Phase References (PHASE)
447
Change Position Loop Integration Time Constant (KIS)
451
Motion Sub-Command Table
453
Motion Subcommand Settings
453
IW 37 Constant Number IL
455
8 Control Block Diagrams
463
Position Control
464
Motion Parameters for Position Control
464
Control Block Diagram for Position Control
466
Phase Control
468
Motion Parameters for Phase Control
468
Control Block Diagram for Phase Control
470
Torque Control
472
Motion Parameters for Torque Control
472
Control Block Diagram for Torque Control
474
Speed Control
476
Motion Parameters for Speed Control
476
Control Block Diagram for Speed Control
478
9 Absolute Position Detection
481
Absolute Position Detection Function
482
Outline of the Function
482
Reading Absolute Data
483
Finite Length/Infinite Length Axes and Absolute Position Detection
484
Setting Procedure of Absolute Position Detection Function
485
System Startup Flowchart
485
Initializing the Absolute Encoder
486
Absolute Position Detection for Finite Length Axes
486
Parameter Settings for Finite Length Axes
486
Setting the Zero Point for a Finite Length Axis
489
Turning on the Power after Setting the Zero Point of Machine Coordinate System
493
Absolute Position Detection for Infinite Length Axes
493
Parameter Settings for Simple Absolute Infinite Length Position Control
495
Setting the Zero Point and Turning on Power as Simple Absolute Positions
499
Turning on the Power after Setting the Zero Point
500
Infinite Length Position Control Without Simple Absolute Positions
500
Parameters Updated When a MECHATROLINK Connection Is
525
Parameters Updated When a MECHATROLINK Connection Is
526
Precautions When Setting or Changing User Definition Files and Scan Times
531
5
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YASKAWA JEPMC-MP2300-Y Series Specifications
General
Brand
YASKAWA
Model
JEPMC-MP2300-Y Series
Category
Controller
Language
English
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