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YASKAWA
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MP Series
YASKAWA MP Series User Manual
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6.2 Motion Command Details
6.2.4 Interpolation (INTERPOLA
TE)
6-39
Motion Commands
( 4 )
Tim
ing Charts
[ a ]
Normal Exec
ution
[ b ]
Execution when an Alarm Occurs
OW
08 = 4 (INTERPOLA
TE)
IW
08 = 4 (INTERPOLA
TE)
IW
09, bit 0 (BUSY)
IW
09, bit 8 (COMPLETE)
IW
09, bit 3 (F
AIL)
IW
0C, bit 0 (DEN)
IW
0C, bit 1 (POSCOMP)
Undefined length of time
1 scan
The target position is refreshed every high-speed scan.
Undefined length of time
IW
0C, bit 1 (POSCOMP)
1 scan
Alarm
OW
08 = 4 (INTERPOLA
TE)
IW
08 = 4 (INTERPOLA
TE)
IW
09, bit 0 (BUSY)
IW
09, bit 8 (COMPLETE)
IW
09, bit 3 (F
AIL)
IW
0C, bit 0 (DEN)
203
205
Table of Contents
2 Settings and Installation
34
Default Chapter
6
Safety Information
6
Safety Precautions
7
Revision History
18
Specifications
27
Table of Contents
34
LED Indicators and Switch Settings
35
External Appearance
35
Indicators
35
Module Status Indication
35
Switch Settings
37
Applicable Machine Controllers for SVB-01 Modules
39
Mounting/Removing SVB-01 Modules
40
Mounting an SVB-01 Module
40
Removing SVB-01 Modules for Replacement
42
3 Self-Configuration and Created Definition Files
45
Self-Configuration Overview
46
How to Execute Self-Configuration
48
System Startup Using Self-Configuration
49
Starting the System for First Time
49
System Startup When Adding Electronic Devices
51
System Startup When Replacing Electronic Devices
53
Self-Configuration and Definition Files
54
Module Configuration Definition
55
Engineering Tool MPE720 Version
55
MECHATROLINK Transmission Definition
58
SVB Definition
64
Current Value and Setting Data in SVB
72
Precautions When Saving SERVOPACK Parameters
79
4 Motion Parameters
80
Motion Parameters Register Numbers
81
Motion Parameter Register Numbers for MP2000 Series Machine Controllers
81
Motion Parameters Setting Window
83
How to Open the Motion Parameter Setting Windows
83
Motor Type and Related Alarms
84
Motion Parameter Lists
85
Fixed Parameter List
85
Setting Parameter List
87
Register no
87
Name
87
Ow0F
90
Monitoring Parameter List
93
MP2000 Series Machine Controller Parameter Details
97
Motion Fixed Parameter Details
97
Motion Setting Parameter Details
104
Motion Monitoring Parameter Details
137
5 Motion Parameter Setting Examples
152
Electronic Gear
153
Example Setting of Motion Parameters for the Machine
153
Reference Unit
153
Axis Type Selection
155
Position Reference
156
Speed Reference
160
Acceleration/Deceleration Settings
163
Acceleration/Deceleration Filter Settings
164
Linear Scale Pitch and Rated Speed
165
6 Motion Commands
166
Motion Commands
168
Motion Command Table
168
Motion Commands Supported by SERVOPACK Models
169
Motion Command Details
170
Position Mode (POSING) (Positioning)
170
Latch Target Positioning (EX_POSING) (External Positioning)
176
Zero Point Return (ZRET)
181
Interpolation (INTERPOLATE)
201
Interpolation Mode with Latch Input (LATCH)
205
Jog Mode (FEED)
209
Relative Position Mode (STEP) (Step Mode)
213
Set Zero Point (ZSET)
217
Change Acceleration Time (ACC)
219
Change Deceleration Time (DCC)
221
Change Filter Time Constant (SCC)
223
Change Filter Type (CHG_FILTER)
225
Change Speed Loop Gain (KVS)
227
Change Position Loop Gain (KPS)
229
Change Feed Forward (KFS)
231
Read User Constant (PRM_RD)
233
Write User Constant (PRM_WR)
235
Alarm Monitor (ALM_MON)
237
Alarm History Monitor (ALM_HIST)
239
Clear Alarm History (ALMHIST_CLR)
241
Absolute Encoder Reset (ABS_RST)
243
Speed Reference (VELO)
246
Torque /Thrust Reference (TRQ)
250
Phase References (PHASE)
254
Change Position Loop Integral Time Constant (KIS)
258
Stored Parameter Write (PPRM_WR)
260
Multiturn Limit Setting (MLTTRN_SET)
262
Motion Subcommands
266
Motion Subcommand Table
266
Motion Subcommand Settings
266
Motion Subcommand Details
267
No Command (NOP)
267
Read User Constant (PRM_RD)
268
Write User Constant (PRM_WR)
270
Status Monitor (SMON)
272
Read Fixed Parameters (FIXPRM_RD)
274
7 Switching Commands During Execution
276
Switchable Motion Commands and Subcommands
277
Switching between Motion Commands
277
Setting a Subcommand During Command Execution
279
Motions after Switching Motion Commands
280
Switching from POSING
281
Switching from EX_POSING
285
Switching from ZRET
289
Switching from INTERPOLATE
292
Switching from ENDOF_INTERPOLATE or LATCH
295
Switching from FEED
296
Switching from STEP
300
Switching from ZSET
303
Switching from VELO
304
Switching from TRQ
309
Switching from PHASE
314
8 Control Block Diagrams
318
Position Control
319
Control Block Diagram for Position Control
323
Phase Control
325
Control Block Diagram for Phase Control
329
Torque Control
331
Control Block Diagram for Torque Control
335
Speed Control
337
Control Block Diagram for Speed Control
341
9 Absolute Position Detection
343
Absolute Position Detection Function
344
Outline of the Function
344
Reading Absolute Data
344
Finite Length/Infinite Length Axes and Absolute Position Detection
345
Setting Procedure of Absolute Position Detection Function
346
System Startup Flowchart
346
Initializing the Absolute Encoder
347
Absolute Position Detection for Finite Length Axes
348
Parameter Settings for Finite Length Axes
348
Setting the Zero Point for a Finite Length Axis
351
Turning on the Power after Setting the Zero Point of Machine Coordinate System
354
Absolute Position Detection for Infinite Length Axes
355
Simple Absolute Infinite Length Position Control
355
Setting the Zero Point and Turning on Power as Simple Absolute Positions
360
Turning on the Power after Setting the Zero Point
361
Infinite Length Position Control Without Simple Absolute Positions
361
10 Settings for Connecting Inverters
370
Default Chapter
371
Specifications for Communications with Connected Inverters
371
Operation Precautions
373
Operation Procedure
375
10.2 Operating Inverters Using an MPE720
373
Input Command
377
Manually Allocating Inverters
380
I/O Options
381
Command Details
386
Subcommand Details
391
10.3 Main Commands and Subcommands
386
Motion Parameter Details
397
Fixed Parameter List
397
Setting Parameter List
398
0: Disabled, 1: Enabled
399
Ow10
402
Monitoring Parameter List
406
Bit 2: Multi-Function Input Command S3
408
Bit 3: Multi-Function Input Command S4
408
Bit 4: Multi-Function Input Command S5
408
Bit 5: Multi-Function Input Command S6
408
Bit 6: Multi-Function Input Command S7
408
Bit 9: Multi-Function Analog Input A3
408
Bit A: Multi-Function Input Terminal
408
Bit B: Multi-Function Analog Input A1
408
Bit C: Encoder Counter
408
Bits D to F Reserved by the System
408
10.5 Inverter Alarm and Warning Codes
420
Communication Warnings
420
Communication Alarm
420
Optional Interface Settings
420
11 Utility Functions
422
Default Chapter
422
User Constants Self-Writing Function Enabled) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
422
Controlling Vertical Axes
424
Holding Brake Function of the SERVOPACK
424
Connections to Σ-II Series SGDH Servopacks, Σ-III Series SGDS Servopacks
424
Σ-V Series SGDV Servopacks, and Σ-7 Series SGD7S Servopacks
424
Connections to Σ-I Series SGDB SERVOPACK
427
Connections to Σ-I Series SGD SERVOPACK
429
Overtravel Function
431
Connections to Σ-II Series SGDH Servopacks, Σ-III Series SGDS Servopacks, Σ-V Series SGDV Servopacks, and Σ-7 Series SGD7S Servopacks
431
Connections to Σ-I Series SGDB or SGD SERVOPACK
434
Software Limit Function
436
Fixed Parameter Settings
436
Processing after an Alarm Occurs
437
Modal Latch Function
438
Bank Switching Function
439
Bank Switching Specifications
439
Bank Switching Function Unsupported Motion Commands
439
SERVOPACK Parameter Settings for Bank Switching
439
Bank Member Setting
441
Parameters Updated When a MECHATROLINK Connection Is Established
444
Parameters Updated When a MECHATROLINK Connection Is Established
445
Parameters Updated When a Setting Parameter Is Changed
445
Parameters Updated When a Motion Command Is Executed
446
Parameters Updated During Self-Configuration
447
Precautions When Using Σ-V-Series SGDV Servopacks
450
Software Limit Settings
450
When the Tuning-Less Function Is Enabled
450
Saving the Parameter Bank Data
450
Motion Command Operation for External Latches with DC Power Input Σ-V-Series Servopacks
451
Precautions When Using Σ-7-Series SGD7S Servopacks with Rotary Servomotors
452
SGD7S Electronic Gear Ratio Settings
452
Link Assignment
452
Number of Pulses Per Motor Rotation
452
Motion Image
452
Software Limit Settings
453
When the Tuning-Less Function Is Enabled
453
Saving the Parameter Bank Data
453
Troubleshooting
454
Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
503
Appendix A System Registers Lists
507
A.3 Program Software Numbers and Remaining Program Memory Capacity Name - - - - - - - - - - - -
507
Appendix B Settings When Connecting MECHATROLINK Compatible I/O Modules
522
Appendix C Initializing the Absolute Encoder
522
Appendix D Setting the Multiturn Limit
522
Appendix E Fixed Parameter Setting According to Encoder Type and Axis Type
522
I.3 Motion Parameters that Can be Used in Servo Driver Transmission Reference Mode - - - - - -
542
Parameter Settings for Simple Absolute Infinite Length Position Control - - - - - - - - - - - - - - -
551
Other manuals for YASKAWA MP Series
Troubleshooting Manual
60 pages
Driver Manual
18 pages
4
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YASKAWA MP Series Specifications
General
Brand
YASKAWA
Model
MP Series
Category
Controller
Language
English
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