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MP2200
YASKAWA MP2200 User Manual
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5.2
Motion Command Details
5-13
( 5 )
Tim
ing Charts
[ a ]
Normal Executio
n
*
Latch signal:
SVB-01 Module: Phase-C pulse
, EXT1, EXT2, or EXT3 signal
SV
A-01 Module: Phase-C pul
se, EXT
, or ZERO signal
[ b ]
Execution when Aborted
OW
08 = 2 (EX_POSING)
IW
08 = 2 (EX_POSING)
IB
090 (BUSY)
Undefined length of time
IB
098 (COMPLETE)
IB
093 (F
AIL)
IB
0C0 (DEN)
Phase-C
EXT1,2,3
IB
0C1 (POSCOMP)
Latch signal*
IB
0C2 (LCOMP)
(Latch Completed)
1 scan
T
ravel distance
This position is stored.
IL
18
OW
08 = 2 (EX_POSING)
IW
08 = 2 (EX_POSING)
IB
090 (BUSY)
Undefined length of time
IB
098 (COMPLETE)
IB
093 (F
AIL)
IB
0C0 (DEN)
IB
0C1 (POSCOMP)
1 scan
OB
091 (ABORT)
WWW.NNC.IR
242
244
Table of Contents
1 Motion Module Overview
35
Default Chapter
35
Table of Contents
35
Module Overview and Features
38
Overview
38
Features
38
System Configuration Example
39
System Configuration Precautions
39
Devices Connectable to MECHATROLINK
40
Synchronization between Modules
41
Module Overview and Features
43
Overview
43
Features
44
System Configuration Example
45
Virtual Motion Module (SVR) Overview
46
Overview
46
System Configuration
46
2 Module Specifications and Connections
47
Module Specifications and Connections
48
General Specifications
48
LED Indicators and Switch Settings
52
Module Connections
54
Modules
48
Module Specifications and Connections
60
General Specifications
60
LED Indicators and Switch Settings
64
Module Connections
65
3 Motion Module Setup
73
Module Setup
74
Setup Methods
74
Self-Configuration
75
Module Configuration Definitions
84
Module Setup
98
Setup Method
98
Self-Configuration
98
Module Configuration Definitions
101
Servo Parameter Settings
108
SVR Module Setup
116
Module Configuration Definition
116
4 Motion Parameters
121
Motion Parameters Register Numbers
122
Motion Parameter Register Numbers for the SVB-01 Module
122
Module Motion Parameter Register Numbers
124
Motion Parameter Lists
125
Fixed Parameter List
125
Setting Parameter List
127
Monitoring Parameter List
133
Module Parameter Details
137
Motion Fixed Parameter Details
137
Motion Setting Parameter Details
143
Motion Monitoring Parameter Details
165
Module Parameter Details
180
Motion Fixed Parameter Details
180
Motion Setting Parameter Details
188
Motion Monitoring Parameter Details
207
Example of Setting Motion Parameters for the Machine
220
5 Motion Commands
231
Motion Commands
232
Motion Command Table
232
Motion Commands Supported by SERVOPACK Models
233
Motion Command Details
234
Positioning (POSING)
234
External Positioning (EX_POSING)
239
Zero Point Return (ZRET)
246
Interpolation (INTERPOLATE)
286
Latch (LATCH)
289
JOG Operation (FEED)
294
STEP Operation (STEP)
297
Zero Point Setting (ZSET)
302
Change Linear Acceleration Time Constant (ACC)
304
Change Linear Deceleration Time Constant (DCC)
306
Change Filter Time Constant (SCC)
308
Change Filter Type (CHG_FILTER)
310
Change Speed Loop Gain (KVS)
312
Change Position Loop Gain (KPS)
314
Change Feed Forward (KFS)
316
Read SERVOPACK Parameter (PRM_RD)
318
Write SERVOPACK Parameter (PRM_WR)
320
Monitor SERVOPACK Alarms (ALM_MON)
322
Monitor SERVOPACK Alarm History (ALM_HIST)
324
Clear SERVOPACK Alarm History (ALMHIST_CLR)
326
Reset Absolute Encoder (ABS_RST)
328
Speed Reference (VELO)
330
Torque Reference (TRQ)
334
Phase References (PHASE)
340
Change Position Loop Integration Time Constant (KIS)
344
Motion Subcommands
346
Motion Sub-Command Table
346
Motion Subcommand Settings
346
No Command (NOP)
347
Read SERVOPACK Parameter (PRM_RD)
348
Write SERVOPACK Parameter (PRM_WR)
350
Monitor Status (SMON)
352
Read Fixed Parameters (FIXPRM_RD)
354
6 Control Block Diagrams
357
Module Control Block Diagrams
358
Position Control
358
Phase Control
364
Torque Control
370
Speed Control
376
Module Control Block Diagram
382
7 Absolute Position Detection
385
Absolute Position Detection Function
386
Outline of the Function
386
Basic Terminology
386
Startup the Absolute Position Detection Function
387
System Startup Procedure
387
Setting Related Parameters
388
Initializing the Absolute Encoder
392
Using an Absolute Encoder
397
Finite Length Axis
397
Infinite Length Axis
402
8 Svr Virtual Motion Module
417
SVR Virtual Motion Module
418
Overview
418
System Configuration
419
SVR Operation
421
Motion Parameters
422
Motion Parameter Details
422
Motion Parameter Settings
424
Motion Commands
433
Motion Commands List
433
Motion Command Details
434
Sample Programming
455
Description of the Sample Program
455
Checking Operation
456
Sample Program Details
458
9 Utility Functions
465
Controlling Vertical Axes
466
Overview
466
Connections to Σ-II and Σ-III SERVOPACK
467
Connections to Σ Series SGDB SERVOPACK
470
Connections to Σ Series SGD or SGDA SERVOPACK
473
Overtravel Function
476
Overview
476
Overtravel Input Signal Connections
476
Parameter Settings
478
Software Limit Function
481
Overview
481
Fixed Parameter Settings
481
Processing after an Alarm Occurs
482
Parameters that Are Automatically Updated
483
Parameters Updated When a Connection Is Established (MP2200/MP2300 to SERVOPACK)
483
Parameters Updated When a Setting Parameter Is Changed (MP2200/MP2300 to SERVOPACK)
484
Parameters Updated When a Motion Command Is Started (MP2200/MP2300 to SERVOPACK)
484
Pack)
484
Motion Errors
488
Description of Motion Errors
488
Motion Error Details and Corrections
491
Motion Program Alarms
506
Causes of the "Command Error End" Status (SVB-01 Only)
508
Error Detection
512
Module LED Indicators
512
A Switching Motion Commands
518
Appendix A
518
Module Motion Command Execution Tables
518
Module Motion Subcommand Execution Table
520
Module Motion Command Execution Table
521
4
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YASKAWA MP2200 Specifications
General
Brand
YASKAWA
Model
MP2200
Category
Controller
Language
English
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