YASKAWA MP2100 Series User Manual

6 Basic System Operation
6.3.1 Drawings (DWGs)
6-8
6.3 User Programs
This section explains the basic operation of the user program. The MP2100/MP2100M’s user programs include
ladder program and motion program. For details, refer to the following manuals.
• Machine Controller MP900 Series User’s Manual Ladder Programming
(Manual No.: SIEZ-C887-1.2)
• Machine Controller MP

User’s Manual Motion Programming
(Manual No.: SIEZ-C887-1.3)
• Machine Controller MP900 Series New Ladder Editor Programming Manual
(Manual No.: SIE-C887-13.1)
• Machine Controller MP900 Series New Ladder Editor User’s Manual
(Manual No.: SIE-C887-13.2)
6.3.1 Drawings (DWGs)
User programs are managed in units of programming called drawings. Each drawing is identified by a drawing
number (DWG No.). These drawings serve as the basis of user programs.
The drawings include parent drawings, child drawings, grandchild drawings, and operation error drawings.
Besides the drawings, there are functions that can be freely called from each drawing.
• Parent Drawings
Parent drawings are executed automatically by the system program when the execution condition is
established. See the following table for execution conditions.
• Child Drawings
Child drawings are executed by being called from a parent drawing using the SEE instruction.
• Grandchild Drawings
Grandchild drawings are executed by being called from a child drawing using the SEE instruction.
• Operation Error Drawings
Operation error drawings are executed automatically by the system program when an operation error
occurs.
• Functions
Functions are executed by being called from a parent, child, or grandchild drawing using the FSTART
instruction.
• Types and Priority Levels of Drawings
Drawings are classified by the first character of the drawing number (A, I, H, L) according to the purpose of
the process. The priority levels and execution conditions are as shown in the following table.
Type of
Parent
Drawing
Role of Drawing
Priority
Level
Execution Condition
Number of
Drawings
DWG.A
(drawing A)
Startup process
1
Started when power is turned ON (exe-
cuted once only when the power is turned
ON).
64
DWG.I
(drawing I)
Interrupt process
2
Executed by external interrupts, such as
Optional Module DI interrupts or counter
interrupts.
64
DWG.H
(drawing H)
High-speed scan
process
3
Started at a fixed interval (executed during
each high-speed scan).
200
DWG.L
(drawing L)
Low-speed scan
process
4
Started at a fixed interval (executed during
each low-speed scan).
500

YASKAWA MP2100 Series Specifications

General

Brand	YASKAWA
Model	MP2100 Series
Category	Controller
Language	English

Summary

Safety Information

Safety Precautions

Essential precautions for handling, installation, operation, and maintenance of the MP2100/MP2100M.

Mounting and Wiring

Recommended Computer Specifications

Specifies hardware and software requirements for the host computer used with the MP2100/MP2100M.

Installing the Drivers

Step-by-step guide to install necessary drivers for the MP2100/MP2100M on the host computer.

Verifying Driver Installation

Procedure to confirm proper recognition and driver installation of the MP2100/MP2100M.

Basic System Operation

Operating Modes

Explains the different operating modes like Online and Offline.

MP2100 Mode Switch Settings

Details the functions of mode switches for controlling MP2100 startup sequences.

Startup Sequence

Provides a flowchart detailing the system startup process for the MP2100/MP2100M.

Registers

Register Designation Methods

Explains direct register number and symbolic designation methods for addressing registers.

Self-configuration

MECHATROLINK Station Information

Describes the process of automatically identifying MECHATROLINK devices connected to the system.

Motion API

Installing MP2100/MP2100M

Step-by-step instructions for installing the Motion API software package on the host computer.

Specifications

Hardware Specifications

Details the physical and electrical specifications of the MP2100/MP2100M hardware.

Motion Parameter Details

Lists and describes various motion parameters used for controlling axis movement.

Acceleration/Deceleration Settings

Explains how to set acceleration and deceleration rates or time constants.

Motion Commands

Command Table

Lists available motion commands with their codes, names, and descriptions.

Positioning (POSING)

Details the POSING command for axis positioning with specified speed and acceleration/deceleration.

External Positioning (EX_POSING)

Explains the EX_POSING command for positioning an axis based on external signals.

Zero Point Return (ZRET)

Describes the ZRET command for returning an axis to its zero point.

JOG Operation (FEED)

Details the FEED command for manual axis movement.

STEP Operation (STEP)

Explains the STEP command for positioning with specified travel distance.

Zero Point Setting (ZSET)

Describes the ZSET command to set the current position as the machine coordinate system's zero point.

Control Block Diagrams

Position Control

Illustrates the control block diagram for position control operations within the MP2100/MP2100M.

Absolute Position Detection

Structure of the Absolute Position Detection Function

Provides an overview of the absolute position detection function and its features.

Startup the Absolute Position Detection Function

Step-by-step guide to start the absolute position detection system.

Using an Absolute Encoder

Explains precautions and zero point setting for finite length axes with absolute encoders.

SVR Virtual Motion Module

Overview

Provides an overview of the SVR Virtual Motion Module and its system configuration.

Motion Parameters

Lists motion parameters used by the SVR and their default values.

Maintenance and Inspection

Inspection Items

Lists daily and regular inspection items that must be performed by the customer.

Troubleshooting

Overview of Troubleshooting

Outlines methods for checking system issues: symptoms, error codes, and monitor functions.

System Errors

Explains system error details and remedies.

Motion Program Alarms

Lists and describes motion program alarm codes and their remedies.

Application Precautions

Overtravel Function

Explains how to use the overtravel function and its parameter settings.

Software Limit Function

Explains the soft limit function for machine movement range monitoring.

Appendix A Motion API

Motion API

Lists the common, sequential, and system APIs for motion control.

Appendix B Parameters That are Automatically Updated

Parameters Updated when a Connection is Established

Details parameters updated automatically when a connection is established between MP2100/MP2100M and SERVOPACK.

Appendix C List of System Registers

System Service Registers

Lists system registers common to all drawings, specific to high-speed, and low-speed scan drawings.