YASKAWA MP2000 Series User Manual

4.4 MP2000 Series Machine Controller Parameter Details
4.4.3 Motion Monitoring Parameter Details
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Motion Parameters
• For an SGDV or SGD7S SERVOPACK, the following servo parameter settings must be used.
The setting of Pn50A is equal to that of H2881 (A P-OT warning is activated when Cn1-8 is low).
The setting of Pn50B is equal to that of H8881 (A N-OT warning is activated when Cn1-7 is low).
• The fixed parameters of the MP2300 machine controller use the following settings.
Fixed parameter No.1: Bit 3 is set to 0 (disabled).
Bit 4 is set to 0 (disabled).
The bits for the positive/negative direction overtravel warnings will be turned ON in the following order.
1. The servomotor power is ON.
2. A motion command, such as one for positioning or constant feed, is executed.
3. The servomotor moves in the forward (P-OT) or reverse (N-OT) direction.
4. A SERVOPACK P-OT or N-OT signal is input.
 Stop Signal Input Warning for SGDV and SGD7S SERVOPACKs
When an HWBB signal (stop signal) is input, bit A of IL02 is turned ON, and a warning is issued.
The warning (Servo Driver Stop Signal Input) indicates that the SERVOPACK is being stopped forcibly.
This warning is cleared automatically when the HWBB signal turns OFF.
The status of the HWBB signal can be checked with the stop signal (HWBB) of the Servo Driver I/O Monitor.
• Monitoring Parameters
When an HWBB signal (stop signal) is sent, the SERVOPACK cannot be ON. Also, if an HWBB signal is sent
when the SERVOPACK is running, the SERVOPACK is turned OFF.
• Servo ON and NOP mid-operation
When the SERVOPACK is ON and a No Operation (NOP) motion command is issued during operations, a warning
is issued (IL02, bit 8 = 1). To clear the warning, turn the HWBB signal OFF, and set bit 0 of OW00 to 1.
• Axis Movement by the Motion Command
When axis movement results from a motion command being issued, and the following warnings or alarms will
occur.
• Servo Driver Error (IL02, bit 3)
• Servo ON Incomplete (IL02, bit 8)
• Servo OFF (IL04, bit 5)
And then the following motion command will be executed: Command Error Completed Status (IW09, bit 3).
To clear the error, turn the HWBB signal OFF and do the following procedures.
1. Change the motion command to NOP (OW08 = 0)
2. Servo OFF (OW00, bit 0 to 0)
3. Clear the alarm (OW00, bit F = 0 → 1 → 0)
4. Servo ON (OW00, bit 0 to 1)
Register No. Name Meaning
IL02
Warning Bit A: Servo Driver Stop Signal Input
IW2E
Servo Driver I/O Monitor Bit A: Stop signal (HWBB)

YASKAWA MP2000 Series Specifications

General

Brand	YASKAWA
Model	MP2000 Series
Category	Controller
Language	English