Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Modul Manual do Utilizador

USER’S MANUALMANUAL NO. SIEP C880700 33FModel: JAPMC-MC2100, JEPMC-MP2540-A to CJAPMC-MC2140, JEPMC-MP2500-DJEPMC-MP2300, JEPMC-MP2540-DJEPM

x( 3 ) Suitability for Use1. It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that apply if the

4.4 MP2000 Series Machine Controller Parameter Details4.4.1 Motion Fixed Parameter Details4-24( 9 ) Encoder SettingsNo. 34 (Rotary Motor)Rated Motor

4.4 MP2000 Series Machine Controller Parameter Details4.4.2 Motion Setting Parameter Details4-25Motion Parameters4.4.2 Motion Setting Parameter Det

4.4 MP2000 Series Machine Controller Parameter Details4.4.2 Motion Setting Parameter Details4-26DescriptionBit 6POSMAX Turn Number Presetting Demand

4.4 MP2000 Series Machine Controller Parameter Details4.4.2 Motion Setting Parameter Details4-27Motion ParametersDescriptionBit ECommunication Reset

4.4 MP2000 Series Machine Controller Parameter Details4.4.2 Motion Setting Parameter Details4-28( 2 ) Mode Setting 1[ a ] Continuous Latch Function

4.4 MP2000 Series Machine Controller Parameter Details4.4.2 Motion Setting Parameter Details4-29Motion Parameters• Monitoring parameters• Servo pa

4.4 MP2000 Series Machine Controller Parameter Details4.4.2 Motion Setting Parameter Details4-30[ b ] Details of Latch Operations Usual Latch Opera

4.4 MP2000 Series Machine Controller Parameter Details4.4.2 Motion Setting Parameter Details4-31Motion Parameters• Operation To repeat latch operat

4.4 MP2000 Series Machine Controller Parameter Details4.4.2 Motion Setting Parameter Details4-32• Operation For continuous latch operations, bit 4

4.4 MP2000 Series Machine Controller Parameter Details4.4.2 Motion Setting Parameter Details4-33Motion Parameters• OperationFor continuous latch op

xiContentsUsing this Manual - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iiiSafety

4.4 MP2000 Series Machine Controller Parameter Details4.4.2 Motion Setting Parameter Details4-34( 3 ) Mode Setting 2OW02Mode Setting 2Setting Rang

4.4 MP2000 Series Machine Controller Parameter Details4.4.2 Motion Setting Parameter Details4-35Motion Parameters[ a ] SERVOPACKs with Stop Mode Sel

4.4 MP2000 Series Machine Controller Parameter Details4.4.2 Motion Setting Parameter Details4-36[ b ] Timing of Stop Mode Selection (OW02, bit 8 t

4.4 MP2000 Series Machine Controller Parameter Details4.4.2 Motion Setting Parameter Details4-37Motion Parameters( 5 ) Function Setting 2( 6 ) Funct

4.4 MP2000 Series Machine Controller Parameter Details4.4.2 Motion Setting Parameter Details4-38( 7 ) Motion Commands* These commands are move comma

4.4 MP2000 Series Machine Controller Parameter Details4.4.2 Motion Setting Parameter Details4-39Motion Parameters( 8 ) Motion Command Control FlagOW

4.4 MP2000 Series Machine Controller Parameter Details4.4.2 Motion Setting Parameter Details4-40( 9 ) Motion SubcommandsDescriptionBit 6Phase Compen

4.4 MP2000 Series Machine Controller Parameter Details4.4.2 Motion Setting Parameter Details4-41Motion Parameters( 10 ) Torque ReferenceOL0CTorque

4.4 MP2000 Series Machine Controller Parameter Details4.4.2 Motion Setting Parameter Details4-42( 11 ) Speed Reference( 12 ) Positive Side Limiting

4.4 MP2000 Series Machine Controller Parameter Details4.4.2 Motion Setting Parameter Details4-43Motion ParametersRelated parameters• Setting parame

xii4 Motion Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-14.1 Motion Parameters Register N

4.4 MP2000 Series Machine Controller Parameter Details4.4.2 Motion Setting Parameter Details4-44( 14 ) Override( 15 ) Position Reference SettingOW

4.4 MP2000 Series Machine Controller Parameter Details4.4.2 Motion Setting Parameter Details4-45Motion Parameters( 16 ) Width of Positioning Complet

4.4 MP2000 Series Machine Controller Parameter Details4.4.2 Motion Setting Parameter Details4-46( 18 ) Error Count Alarm Detection( 19 ) Positioning

4.4 MP2000 Series Machine Controller Parameter Details4.4.2 Motion Setting Parameter Details4-47Motion Parameters( 21 ) LatchOL2ALatch Zone Lower

4.4 MP2000 Series Machine Controller Parameter Details4.4.2 Motion Setting Parameter Details4-48( 22 ) Gain and Bias SettingsOW2EPosition Loop Gai

4.4 MP2000 Series Machine Controller Parameter Details4.4.2 Motion Setting Parameter Details4-49Motion ParametersThe following figure shows the rela

4.4 MP2000 Series Machine Controller Parameter Details4.4.2 Motion Setting Parameter Details4-50( 23 ) Acceleration/Deceleration SettingsThe followi

4.4 MP2000 Series Machine Controller Parameter Details4.4.2 Motion Setting Parameter Details4-51Motion Parameters Changing the maximum value of acc

4.4 MP2000 Series Machine Controller Parameter Details4.4.2 Motion Setting Parameter Details4-52( 24 ) Filter There are two types of acceleration/d

4.4 MP2000 Series Machine Controller Parameter Details4.4.2 Motion Setting Parameter Details4-53Motion ParametersA typical example of a zero point r

xiii6.2.24 Phase References (PHASE)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-896.2.25 Change Po

4.4 MP2000 Series Machine Controller Parameter Details4.4.2 Motion Setting Parameter Details4-54( 27 ) External Positioning Final Travel Distance( 2

4.4 MP2000 Series Machine Controller Parameter Details4.4.2 Motion Setting Parameter Details4-55Motion Parameters( 29 ) SERVOPACK User MonitorOW4E

4.4 MP2000 Series Machine Controller Parameter Details4.4.2 Motion Setting Parameter Details4-56( 30 ) SERVOPACK Commands( 31 ) Supplemental Setting

4.4 MP2000 Series Machine Controller Parameter Details4.4.2 Motion Setting Parameter Details4-57Motion Parameters( 32 ) Absolute Infinite Length Axi

4.4 MP2000 Series Machine Controller Parameter Details4.4.3 Motion Monitoring Parameter Details4-584.4.3 Motion Monitoring Parameter DetailsThe mot

4.4 MP2000 Series Machine Controller Parameter Details4.4.3 Motion Monitoring Parameter Details4-59Motion Parameters( 2 ) Over Range Parameter Numbe

4.4 MP2000 Series Machine Controller Parameter Details4.4.3 Motion Monitoring Parameter Details4-60( 3 ) Warning* 1. The bits for the positive/negat

4.4 MP2000 Series Machine Controller Parameter Details4.4.3 Motion Monitoring Parameter Details4-61Motion Parameters• When the Σ-V series of SGDV S

4.4 MP2000 Series Machine Controller Parameter Details4.4.3 Motion Monitoring Parameter Details4-62( 4 ) AlarmIL04Alarm Range Unit−−DescriptionBit

4.4 MP2000 Series Machine Controller Parameter Details4.4.3 Motion Monitoring Parameter Details4-63Motion ParametersDescriptionBit 9Excessive Deviat

xiv9.2 Setting Procedure of Absolute Position Detection Function- - - - - - - - - - - - - - - - 9-49.2.1 System Startup Flowchart - - - - - - -

4.4 MP2000 Series Machine Controller Parameter Details4.4.3 Motion Monitoring Parameter Details4-64( 5 ) Motion Command Response Code( 6 ) Motion Co

xv11.3 Software Limit Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-1311.3.1 Fixed Parameter Settings -

xviAppendix B Settings When Connecting MECHATROLINK Compatible I/O Modules, MYVIS, and MP940- - - - - - - - - - - - - - - - - - - - - - - - - - -

1-1Overview1OverviewThis chapter provides an overview and the features of the SVB Module. 1.1 SVB Module Overview and Features - - - - - - - - - - -

1.1 SVB Module Overview and Features1.1.1 SVB Modules1-21.1 SVB Module Overview and Features1.1.1 SVB ModulesThe SVB Module is a motion module use

1.1 SVB Module Overview and Features1.1.4 System Configuration Example1-3Overview1.1.4 System Configuration ExampleThe following diagram shows a sy

Copyright © 2007 YASKAWA ELECTRIC CORPORATIONAll rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or tra

1.1 SVB Module Overview and Features1.1.5 Devices Connectable to MECHATROLINK1-41.1.5 Devices Connectable to MECHATROLINKThe devices that are compa

1.1 SVB Module Overview and Features1.1.5 Devices Connectable to MECHATROLINK1-5Overview( 3 ) CablesJEPMC-IO233064-point I/O Module 24 VDC, 64 input

1.1 SVB Module Overview and Features1.1.5 Devices Connectable to MECHATROLINK1-6* If making cables for the SGD-N and SGDB-AN SERVOPACKs, use ca

1.1 SVB Module Overview and Features1.1.6 Synchronization between Modules1-7Overview1.1.6 Synchronization between Modules( 1 ) OverviewMP2200 and M

1.1 SVB Module Overview and Features1.1.6 Synchronization between Modules1-8( 4 ) Operation when High-speed Scan Cycle Is ChangedMECHATROLINK commun

1.2 Specifications1.2.1 SVB-01 Module Hardware Specifications1-9Overview1.2 Specifications1.2.1 SVB-01 Module Hardware SpecificationsItem Specific

1.2 Specifications1.2.2 Specifications of SVB Module1-10 For more information on the hardware specifications for the built-in SVB Module, refer to

1.2 Specifications1.2.2 Specifications of SVB Module1-11Overview* 2. Only with MECHATROLINK-II(cont'd)Item DetailsServo ControlCommunication M

1.2 Specifications1.2.2 Specifications of SVB Module1-12( 2 ) MECHATROLINK Communication Specifications* Up to 16 stations can be connected if a JEP

1.3 SVR Virtual Motion Module1.3.1 Overview1-13Overview1.3 SVR Virtual Motion Module1.3.1 OverviewThe Virtual Motion Module is a software module p

iiiUsing this ManualRead this manual to ensure correct usage of the MP2000-series Machine Controller (hereinafter referred to as Machine Controller

1.3 SVR Virtual Motion Module1.3.2 Example of SVR Usage1-141.3.2 Example of SVR UsageThe SVR is used in the following two applications. • Program t

1.3 SVR Virtual Motion Module1.3.4 SVR Operation1-15Overview1.3.4 SVR Operation( 1 ) SVR Execution TimingThe SVR is processed at the beginning of t

2-1Settings and Installation2Settings and InstallationThis chapter explains the LED indicators and switch settings of the SVB-01 Module and how to ins

2.1 LED Indicators and Switch Settings2.1.1 External Appearance2-22.1 LED Indicators and Switch Settings2.1.1 External AppearanceThe following fig

2.1 LED Indicators and Switch Settings2.1.3 SVB-01 Module Status Indication2-3Settings and Installation :Lit : Unlit:Blinks - : Not specifiedErr

2.1 LED Indicators and Switch Settings2.1.4 Switch Settings2-42.1.4 Switch SettingsBoth the DIP switch and rotary switches set the operating condit

2.1 LED Indicators and Switch Settings2.1.4 Switch Settings2-5Settings and Installation( 2 ) Rotary SwitchesThis rotary switch is valid only in Slav

2.2 Applicable Machine Controllers for SVB-01 Modules2-62.2 Applicable Machine Controllers for SVB-01 ModulesThe following table lists the MP2000-se

2.2 Applicable Machine Controllers for SVB-01 Modules2-7Settings and Installation* 1. One of the CPU modules indicated below is required.* 2. Inter-

2.3 Mounting/Removing SVB-01 Modules2.3.1 Mounting an SVB-01 Module2-82.3 Mounting/Removing SVB-01 ModulesThis section describes how to mount and r

iv Related ManualsThe following table lists the manuals relating to the MP2000-series Machine Controllers. Refer to these manuals as required.Man

2.3 Mounting/Removing SVB-01 Modules2.3.1 Mounting an SVB-01 Module2-9Settings and Installation2. Remove the cover of the SVB-01 Module.Insert the t

2.3 Mounting/Removing SVB-01 Modules2.3.2 Removing SVB-01 Modules for Replacement2-103. Mount the panel of the SVB-01 Module.Line up the notch on th

2.3 Mounting/Removing SVB-01 Modules2.3.2 Removing SVB-01 Modules for Replacement2-11Settings and Installation2. Remove the cover of the SVB-01 Modu

2.3 Mounting/Removing SVB-01 Modules2.3.2 Removing SVB-01 Modules for Replacement2-124. Pull out the SVB-01 Module.While holding both the top and bo

3-1Self-configuration and Created Definition Files3Self-configuration and Created Definition FilesThis chapter describes the procedures for self-confi

3.1 Self-configuration Overview 3-23.1 Self-configuration OverviewWhen the self-configuration function is implemented, the Machine Controller recog

3.1 Self-configuration Overview3-3Self-configuration and Created Definition FilesThe SERVOPACK parameters will be written in the SERVOPACK’s EEPROM o

3.2 How to Execute Self-configuration 3-43.2 How to Execute Self-configurationThere are two ways to execute self-configuration. Turning ON the Pow

3.3 System Startup Using Self-Configuration3.3.1 Starting the System for First Time3-5Self-configuration and Created Definition Files3.3 System Sta

3.3 System Startup Using Self-Configuration3.3.1 Starting the System for First Time3-6.6. Make parameter settings to match the machinery.Start MPE72

v CopyrightsSafety InformationThe following conventions are used to indicate precautions in this manual. These precautions are provided to ensure t

3.3 System Startup Using Self-Configuration3.3.2 System Startup when Adding Electronic Devices3-7Self-configuration and Created Definition Files9. S

3.3 System Startup Using Self-Configuration3.3.2 System Startup when Adding Electronic Devices3-85. Execute Self-configuration.Turn ON the power to

3.3 System Startup Using Self-Configuration3.3.3 System Startup when Replacing Electronic Devices3-9Self-configuration and Created Definition Files3

3.4 Self-configuration and Definition Files3-103.4 Self-configuration and Definition FilesWhen executing self-configuration, the Machine Controller

3.4 Self-configuration and Definition Files3.4.1 Module Configuration Definition3-11Self-configuration and Created Definition Files3.4.1 Module Con

3.4 Self-configuration and Definition Files3.4.1 Module Configuration Definition3-12( 2 ) Module Configuration WindowThe Module Configuration Window

3.4 Self-configuration and Definition Files3.4.1 Module Configuration Definition3-13Self-configuration and Created Definition FilesThe following tab

3.4 Self-configuration and Definition Files3.4.2 MECHATROLINK Transmission Definition3-143.4.2 MECHATROLINK Transmission Definition( 1 ) How to Ope

3.4 Self-configuration and Definition Files3.4.2 MECHATROLINK Transmission Definition3-15Self-configuration and Created Definition Files( 2 ) MECHAT

3.4 Self-configuration and Definition Files3.4.2 MECHATROLINK Transmission Definition3-16 Transmission Bytes, Communication Cycle, Number of Retrie

viSafety PrecautionsThe following precautions are for checking products on delivery, storage, transportation, installation, wiring, operation, ins

3.4 Self-configuration and Definition Files3.4.2 MECHATROLINK Transmission Definition3-17Self-configuration and Created Definition Files Communicat

3.4 Self-configuration and Definition Files3.4.2 MECHATROLINK Transmission Definition3-18[ b ] Link Assignment Tab PageThe data of the slave devices

3.4 Self-configuration and Definition Files3.4.2 MECHATROLINK Transmission Definition3-19Self-configuration and Created Definition Files[ c ] I/O Ma

3.4 Self-configuration and Definition Files3.4.3 SVB Definition3-203.4.3 SVB DefinitionThe SVB Definition file defines the motion parameters (motio

3.4 Self-configuration and Definition Files3.4.3 SVB Definition3-21Self-configuration and Created Definition Files3. Click the Fixed Parameters, Set

3.4 Self-configuration and Definition Files3.4.3 SVB Definition3-22( 2 ) Environmental Requirements of SGDV SERVOPACKs[ a ] Compatible Versions Whe

3.4 Self-configuration and Definition Files3.4.3 SVB Definition3-23Self-configuration and Created Definition Files[ b ] Allocations Communication M

3.4 Self-configuration and Definition Files3.4.3 SVB Definition3-24 AllocationUse the following settings for the TYPE parameter of the station numb

3.4 Self-configuration and Definition Files3.4.3 SVB Definition3-25Self-configuration and Created Definition Files[ c ] RestrictionsThe following fu

3.4 Self-configuration and Definition Files3.4.4 Current Value and Setting Data in SVB3-263.4.4 Current Value and Setting Data in SVBIn systems con

vii Installation Wiring Never use the Machine Controller in locations subject to water, corrosive atmospheres, or flammable gas, or near burnable

3.4 Self-configuration and Definition Files3.4.4 Current Value and Setting Data in SVB3-27Self-configuration and Created Definition Files( 3 ) When

3.4 Self-configuration and Definition Files3.4.4 Current Value and Setting Data in SVB3-28( 4 ) SERVOPACK Parameters Saved in the MPE720 The data fl

3.4 Self-configuration and Definition Files3.4.4 Current Value and Setting Data in SVB3-29Self-configuration and Created Definition FilesThe followi

3.4 Self-configuration and Definition Files3.4.4 Current Value and Setting Data in SVB3-30( 5 ) Copying Current Values to Set Values (Input Data) in

3.4 Self-configuration and Definition Files3.4.4 Current Value and Setting Data in SVB3-31Self-configuration and Created Definition Files( 6 ) Chang

3.4 Self-configuration and Definition Files3.4.4 Current Value and Setting Data in SVB3-32The following figure shows a display example after having

3.4 Self-configuration and Definition Files3.4.5 Precautions When Saving SERVOPACK Parameters3-33Self-configuration and Created Definition Files( 7

4-1Motion Parameters4Motion ParametersThis chapter explains each of the motion parameters.4.1 Motion Parameters Register Numbers - - - - - - - - - -

4.1 Motion Parameters Register Numbers4.1.1 Motion Parameter Register Numbers for MP2000 Series Machine Controllers4-24.1 Motion Parameters Registe

4.1 Motion Parameters Register Numbers4.1.1 Motion Parameter Register Numbers for MP2000 Series Machine Controllers4-3Motion ParametersCircuit No.Ax

viii Selecting, Separating, and Laying External Cables Maintenance and Inspection Precautions Disposal Precautions General Precautions Consid

4.2 Motion Parameters Setting Window4.2.1 How to Open the Motion Parameter Setting Windows4-44.2 Motion Parameters Setting WindowSet or monitor the

4.2 Motion Parameters Setting Window4.2.2 Motor Type and Related Alarms4-5Motion Parameters4.2.2 Motor Type and Related Alarms( 1 ) Selecting a Mot

4.3 Motion Parameter Lists4.3.1 Fixed Parameter List4-64.3 Motion Parameter Lists4.3.1 Fixed Parameter ListThe following table provides a list of

4.3 Motion Parameter Lists4.3.1 Fixed Parameter List4-7Motion Parameters18 to 29−Reserved for system use.−− −30Encoder Selection0: Incremental encod

4.3 Motion Parameter Lists4.3.2 Setting Parameter List4-84.3.2 Setting Parameter ListThe following table provides a list of SVB and SVR motion sett

4.3 Motion Parameter Lists4.3.2 Setting Parameter List4-9Motion ParametersOW03Function Setting 1Bits 0 to 3: Speed Unit Selection 0: Refere

4.3 Motion Parameter Lists4.3.2 Setting Parameter List4-10OW08Motion Command0: NOP (No Command)1: POSING (Position Mode) (Positioning)*2: EX_POSIN

4.3 Motion Parameter Lists4.3.2 Setting Parameter List4-11Motion ParametersOL0CTorque/ThrustReference SettingUnit is according to OW03, bits 12

4.3 Motion Parameter Lists4.3.2 Setting Parameter List4-12OL36Straight LineAcceleration/Acceleration Time ConstantUnits depends on the setting of

4.3 Motion Parameter Lists4.3.2 Setting Parameter List4-13Motion ParametersOW51Servo Driver User Constant Size(SERVOPACKparameter size for motion

ixWarranty( 1 ) Details of Warranty Warranty PeriodThe warranty period for a product that was purchased (hereinafter called “delivered product”) is

4.3 Motion Parameter Lists4.3.3 Monitoring Parameter List4-144.3.3 Monitoring Parameter ListThe following table provides a list of SVB and SVR moti

4.3 Motion Parameter Lists4.3.3 Monitoring Parameter List4-15Motion ParametersIL04(Cont’d)AlarmBit 13: Excessive ABS Encoder Rotations Invalid fo

4.3 Motion Parameter Lists4.3.3 Monitoring Parameter List4-16IL16Machine Coordinate System Feedback Position (APOS)1 = 1 reference unitYes Ye s4.4

4.3 Motion Parameter Lists4.3.3 Monitoring Parameter List4-17Motion ParametersIL30Servo Driver User Monitor 2Stores the result of the selected mon

4.4 MP2000 Series Machine Controller Parameter Details4.4.1 Motion Fixed Parameter Details4-184.4 MP2000 Series Machine Controller Parameter Detail

4.4 MP2000 Series Machine Controller Parameter Details4.4.1 Motion Fixed Parameter Details4-19Motion Parameters( 2 ) Function Selection 1No. 1Functi

4.4 MP2000 Series Machine Controller Parameter Details4.4.1 Motion Fixed Parameter Details4-20( 3 ) Function Selection Flag 2( 4 ) Reference Unit Se

4.4 MP2000 Series Machine Controller Parameter Details4.4.1 Motion Fixed Parameter Details4-21Motion Parameters( 5 ) Infinite Length Axis Reset Posi

4.4 MP2000 Series Machine Controller Parameter Details4.4.1 Motion Fixed Parameter Details4-22( 6 ) Software LimitsOutline of Software Limit The so

4.4 MP2000 Series Machine Controller Parameter Details4.4.1 Motion Fixed Parameter Details4-23Motion Parameters( 7 ) Backlash Compensation( 8 ) Serv