YASKAWA JEPMC-MP2300S-E User Manual

USER’S MANUAL
MANUAL NO. SIEP C880700 33H
Model: JAPMC-MC2100(-E), JEPMC-MP2400-E
JAPMC-MC2102-E, JEPMC-MP2500-A to C
JAPMC-MC2140(-E), JEPMC-MP2540-A to C
JAPMC-MC2142-E, JEPMC-MP2500-D
JEPMC-MP2300(-E), JEPMC-MP2540-D
JEPMC-MP2300S-E, JAPMC-MC2310(-E)
JEPMC-MP2310-E
Built-in SVB/SVB-01
Motion Module
Machine Controller MP2000 Series
Overview
Settings and Installation
Self-configuration and Created Definition Files
Motion Parameters
Motion Parameter Setting Examples
Motion Commands
Switching Commands during Execution
Control Block Diagrams
Absolute Position Detection
Settings for Connecting Inverters
Utility Functions
Troubleshooting
Appendices
1
2
3
4
5
6
7
8
9
10
11
12
App
SVB-01
TX
ERRRUN
SPD
SIZE
M/S
ON
OFF
×10
×1
M-I/II
CN1
CN2

YASKAWA JEPMC-MP2300S-E Specifications

General

Brand	YASKAWA
Model	JEPMC-MP2300S-E
Category	Controller
Language	English

Summary

Overview

1.1 SVB Module Overview and Features

Provides an overview and features of the SVB Module.

1.2 Specifications

Details the hardware and module specifications for the SVB-01.

1.3 SVR Virtual Motion Module

Settings and Installation

2.1 LED Indicators and Switch Settings

Explains LED indicators and switch settings for the SVB-01 Module.

Self-configuration and Created Definition Files

3.1 Self-configuration Overview

Explains the self-configuration function and its benefits.

3.2 How to Execute Self-configuration

Details the methods for executing the self-configuration function.

3.3 System Startup Using Self-Configuration

Describes system startup procedures using self-configuration.

3.4 Self-configuration and Definition Files

Motion Parameters

4.1 Motion Parameters Register Numbers

Explains motion parameter register numbers for MP2000 Series Machine Controllers.

4.2 Motion Parameters Setting Window

Describes how to open and use the motion parameter setting windows.

4.3 Motion Parameter Lists

4.4 MP2000 Series Machine Controller Parameter Details

Motion Parameter Setting Examples

5.1 Example Setting of Motion Parameters for the Machine

Provides setting examples for motion parameters based on machine specifications.

Motion Commands

6.1 Motion Commands

Lists motion commands supported by MP2000 series Machine Controllers.

6.1.1 Motion Command Table

Lists motion commands supported by MP2000 series Machine Controllers.

6.1.2 Motion Commands Supported by SERVOPACK Models

Shows which motion commands are supported by different SERVOPACK models.

6.2 Motion Command Details

Provides detailed descriptions of motion commands.

6.2.1 Position Mode (POSING) (Positioning)

6.2.2 Latch Target Positioning (EX_POSING) (External Positioning)

6.2.3 Zero Point Return (ZRET)

6.2.4 Interpolation (INTERPOLATE)

6.2.5 Interpolation Mode with Latch Input (LATCH)

6.2.6 Jog Mode (FEED)

6.2.7 Relative Position Mode (STEP) (Step Mode)

6.2.8 Set Zero Point (ZSET)

Switching Commands during Execution

7.1 Switchable Motion Commands and Subcommands

Lists motion commands that can be switched during execution.

7.1.1 Switching Between Motion Commands

Lists motion commands that can be switched during execution.

7.1.2 Setting a Subcommand During Command Execution

7.2 Motions After Switching Motion Commands

Describes motion changes when the command in execution is switched.

Control Block Diagrams

8.1 Position Control

Explains motion parameters and control block diagram for position control.

8.1.1 Motion Parameters for Position Control

Lists motion parameters relevant to position control.

8.1.2 Control Block Diagram for Position Control

Illustrates the control block diagram for position control.

8.2 Phase Control

Explains motion parameters and control block diagram for phase control.

8.2.1 Motion Parameters for Phase Control

Lists motion parameters relevant to phase control.

8.2.2 Control Block Diagram for Phase Control

Illustrates the control block diagram for phase control.

8.3 Torque Control

Explains motion parameters and control block diagram for torque control.

8.3.1 Motion Parameters for Torque Control

Lists motion parameters relevant to torque control.

8.3.2 Control Block Diagram for Torque Control

Illustrates the control block diagram for torque control.

8.4 Speed Control

Explains motion parameters and control block diagram for speed control.

8.4.1 Motion Parameters for Speed Control

Lists motion parameters relevant to speed control.

8.4.2 Control Block Diagram for Speed Control

Illustrates the control block diagram for speed control.

Absolute Position Detection

9.1 Absolute Position Detection Function

Explains the absolute position detection function.

9.1.1 Outline of the Function

Provides an outline of the absolute position detection function.

9.1.2 Reading Absolute Data

Explains the procedure for reading absolute data.

9.1.3 Finite Length/Infinite Length Axes and Absolute Position Detection

Discusses finite/infinite length axes in relation to absolute position detection.

9.2 Setting Procedure of Absolute Position Detection Function

Details the procedure for setting the absolute position detection function.

9.2.1 System Startup Flowchart

Illustrates the system startup flowchart for absolute position detection.

9.2.2 Initializing the Absolute Encoder

Details the procedure for initializing the absolute encoder.

9.3 Absolute Position Detection for Finite Length Axes

Describes procedure for setting parameters and precautions for finite length axes.

9.3.1 Parameter Settings for Finite Length Axes

Lists parameters to enable absolute position detection for finite length axes.

9.3.2 Setting the Zero Point for a Finite Length Axis

Describes the procedure for setting the zero point for a finite length axis.

9.3.3 Turning ON the Power after Setting the Zero Point of Machine Coordinate System

9.4 Absolute Position Detection for Infinite Length Axes

Explains absolute position detection for infinite length axes.

9.4.1 Simple Absolute Infinite Length Position Control

Describes a position control method for infinite length axes.

9.4.2 Parameter Settings for Simple Absolute Infinite Length Position Control

Lists parameters for simple absolute infinite length position control.

9.4.3 Setting the Zero Point and Turning ON Power as Simple Absolute Positions

9.4.4 Turning ON the Power after Setting the Zero Point

9.4.5 Infinite Length Position Control without Simple Absolute Positions

Settings for Connecting Inverters

10.1 Specifications for Communications with Connected Inverters

Provides specifications for connecting inverters through MECHATROLINK.

10.2 Operating Inverters Using an MPE720

Describes how to operate inverters using the MPE720.

10.2.1 Check Items before Operation

Lists items to confirm before starting inverter operation.

10.2.2 Operation Precautions

Provides precautions for operating inverters.

10.2.3 Operation Procedure

10.2.4 Manually Allocating Inverters

10.3 Main Commands and Subcommands

Describes main commands and subcommands for connecting inverters.

10.3.1 List of Main Commands and Subcommands

Lists main commands and subcommands available for each communication protocol.

10.3.2 Applicable Combinations of Commands and Subcommands

10.3.3 Command Details

10.3.4 Subcommand Details

10.4 Motion Parameter Details

10.4.1 Fixed Parameter List

10.4.2 Setting Parameter List

10.4.3 Monitoring Parameter List

10.5 Inverter Alarm and Warning Codes

Lists inverter alarms and warning codes.

10.5.1 Inverter Alarms

Lists inverter alarms and their classifications.

10.5.2 Inverter Warnings

Lists inverter warnings and their classifications.

10.5.3 Communication Warnings

10.5.4 Communication Alarm

10.5.5 Optional Interface Settings

Utility Functions

11.1 Controlling Vertical Axes

Explains connection methods and parameter settings for controlling vertical axes.

11.1.1 Holding Brake Function of the SERVOPACK

Describes the holding brake function of the SERVOPACK.

11.1.2 Connections to Σ-II Series SGDH SERVOPACKs, Σ-III Series SGDS SERVOPACKs, Σ-V Series SGDV SERVOPACKs, and Σ-7 Series SGD7S SERVOPACKs

Shows connection examples for various SERVOPACK series.

11.1.3 Connections to Σ-I Series SGDB SERVOPACK

11.1.4 Connections to Σ-I Series SGD SERVOPACK

11.2 Overtravel Function

Describes how the overtravel function stops the machine when movement exceeds range.

11.2.1 Connections to Σ-II Series SGDH SERVOPACKs, Σ-III Series SGDS SERVOPACKs, Σ-V Series SGDV SERVOPACKs, and Σ-7 Series SGD7S SERVOPACKs

Shows overtravel input signal connections for various SERVOPACK series.

11.2.2 Connections to Σ-I Series SGDB or SGD SERVOPACK

11.3 Software Limit Function

Explains setting upper and lower limits for machine movement range.

11.3.1 Fixed Parameter Settings

11.3.2 Effects of the Software Limit Function

11.3.3 Processing after an Alarm Occurs

11.5 Bank Switching Function

11.5.1 Bank Switching Specifications

11.5.3 SERVOPACK Parameter Settings for Bank Switching

11.6 Parameters That Are Automatically Updated

11.6.1 Parameters Updated when a MECHATROLINK Connection Is Established (1) (User Constants Self-writing Function Enabled)

11.6.2 Parameters Updated when a MECHATROLINK Connection Is Established (2) (Regardless of the User Constants Self-writing Function)

11.6.3 Parameters Updated when a Setting Parameter Is Changed (MECHATROLINK-II Operating at 10 Mbps in 32-byte Mode with User Constants Self-writing Function Enabled)

11.6.4 Parameters Updated when a Motion Command Is Executed

11.6.5 Parameters Updated during Self-configuration

Troubleshooting

12.1 Troubleshooting

Describes basic troubleshooting methods and lists errors.

12.1.1 Basic Flow of Troubleshooting

Illustrates the basic troubleshooting flowchart.

12.1.2 MP2000 Series Machine Controller Error Check Flowchart

12.1.3 LED Indicators (MP2200/MP2300)

12.2 Troubleshooting System Errors

Provides troubleshooting information for system errors.

12.2.1 Outline of System Errors

Outlines system errors and how to use system registers.

12.2.2 Troubleshooting Flowchart for System Errors

12.2.3 Correcting User Program Errors

12.2.4 System Register Configuration and Error Status

12.3 Motion Program Alarms

12.3.1 Motion Program Alarm Configuration

12.3.2 Motion Program Alarm Code List

12.4 List of Causes for Command Error Occurrence

12.5 Troubleshooting Motion Errors

Explains details and corrective actions for errors in motion control functions.

12.5.1 Overview of Motion Errors

Provides an overview of motion errors and their classification.

12.5.2 Motion Error Details and Corrections

12.5.3 Servo Driver Status and Servo Driver Error Codes