Yaskawa MP900 Series Machine Controller for Standard Opera Manual do Utilizador

YAS KA WA MANUAL NO. SIEZ-C887-2.4YASKAWAUSER'S MANUALMachine Controller MP900 SeriesProgramming Panel SoftwareFOR STANDARD OPERATION

CONTENTSxi7.4 Creating Table Programs - - - - - - - - - - - - - - - - - - - - - - - - 7-527.4.1 Outline of Table Programs - - - - - - - - - - - -

3.2 Basic Module Configuration Definition Operation3-533.2 Basic Module Configuration Definition Operation3.2.1 Outline of Basic Module Configurati

Module Configuration Definitions3.2.2 Basic Flowchart3-633.2.2 Basic Flowchart3.2.3 Opening the Module Configuration Definitions WindowThe Module C

3.2 Basic Module Configuration Definition Operation3-733.2.4 Module Configuration Definitions Window MenusThe following table shows the functions of

Module Configuration Definitions3.2.5 Setting Module Configuration Definitions Data3-83For detailed items, refer separately to each of the following

3.2 Basic Module Configuration Definition Operation3-93 Saving Module Configuration DefinitionsNothing has been set immediately after installation,

Module Configuration Definitions3.3.1 Opening Individual Module Definitions Windows3-1033.3 Basic Individual Module Definition Operations3.3.1 Open

3.3 Basic Individual Module Definition Operations3-113 Individual Module Definitions Window ConfigurationsThe basic configuration of individual Modu

Module Configuration Definitions3.3.1 Opening Individual Module Definitions Windows3-123 Saving Individual Module DefinitionsNothing has been set im

3.4 MP910 Module Configuration Definitions3-1333.4 MP910 Module Configuration DefinitionsThis section explains the parameter settings for the Main B

Module Configuration Definitions3.4.3 Setting Module Configuration Definitions3-143 Configuration InformationThis window consists of tab pages that

xiiA Error Messages - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-1A.1 System Error Messages - - - - - - - - - - - - - - - - - -

3.4 MP910 Module Configuration Definitions3-153 Setting Ranges for the MP910 I/O Start/End Register Numbers1 0000 to 13FF hex (5,120 words total)Be

Module Configuration Definitions3.4.5 Local I/O Definitions3-163Fig 3.2 Local I/O Definitions WindowLocal I/O Definition DetailsREG-No.The following

3.4 MP910 Module Configuration Definitions3-173Local I/O Definition Window (Current Values) Saving, Deleting, and Closing Local I/O Definition DataR

Module Configuration Definitions3.4.6 SVB-01 Definitions3-183Fig 3.3 MECHATROLINK Connections ExampleIn this diagram, a Remote I/O Unit is connected

3.5 MP920 Module Definitions3-1933.5 MP920 Module DefinitionsThis section explains how to select Modules that compose the MP920 Machine Controller

Module Configuration Definitions3.5.3 Setting Module Configuration Definitions3-203Fig 3.4 Initial Registration Window3.5.3 Setting Module Configur

3.5 MP920 Module Definitions3-213The Power Supply Module is required, even though it is not displayed in the Module Con-figuration Definitions Window

Module Configuration Definitions3.5.3 Setting Module Configuration Definitions3-223 Setting Slot Information ColumnsThis section explains the follow

3.5 MP920 Module Definitions3-233When a Module requiring two slots (MP920 or SVA-01) is selected, "RESERVED" will be displayed in the next

Module Configuration Definitions3.5.3 Setting Module Configuration Definitions3-243CPU configuration. The CPU configuration can be defined by setting

OverviewxiiiOverview About this ManualThis manual describes the installation and operation of the CP-717 Engineering Tool, a pro-gramming software

3.5 MP920 Module Definitions3-253Compatible Modules are as follows:• 215IF, 217IF, 218IF, 260IF, LIO-01, AI-01, AO-01, CNTR-01, DI-01, DO-01, SVA-01

Module Configuration Definitions3.5.3 Setting Module Configuration Definitions3-263Cir No. (Circuit Number)Input each Module's circuit number. W

3.5 MP920 Module Definitions3-2731. Dual Module SettingWhen setting a Dual Module, the same type of Module must be defined in another slot and the Du

Module Configuration Definitions3.5.3 Setting Module Configuration Definitions3-283When the leading register number of the register range is input, t

3.5 MP920 Module Definitions3-293• Blank:Disable specification not allowed.• D: Outputs disabled. • E: Outputs enabled.Select "D" to dis

Module Configuration Definitions3.5.3 Setting Module Configuration Definitions3-303tions are required when an SVB-01 Module is assigned, so "M-L

3.5 MP920 Module Definitions3-3133.5.4 Saving, Deleting, and Closing Module Configuration DefinitionsSave, delete, and close Module definitions acco

Module Configuration Definitions3.5.6 General-purpose Serial Communications Definitions3-3231 An individual Module Definition Window cannot be opened

3.5 MP920 Module Definitions3-333Generic Serial portsPORT2PORT1RS-232 DSUB-9RS-232 DSUB-9System bus connectorSystem bus interfaceSelf-diagnostic func

Module Configuration Definitions3.5.6 General-purpose Serial Communications Definitions3-343Generic Serial Connections ExampleOpening the Generic Ser

xivUsing This Manual Intended AudienceThis manual is intended for the following users.• Those responsible for designing the MP900 System• Those res

3.5 MP920 Module Definitions3-353Fig 3.5 Generic Serial Communication Definitions Window Generic Serial Communications DefinitionsSetting Generic S

Module Configuration Definitions3.5.6 General-purpose Serial Communications Definitions3-363 Setting Slave Interface Registers (Automatic Response)S

3.5 MP920 Module Definitions3-373Table 3.4 Start Register Address and Number of Words Saving, Deleting, and Closing Generic Serial Definitions Data

Module Configuration Definitions3.5.7 215IF Transmission Definitions3-383Note: 1. The network is composed of two segments: Network #1 and Net-work #

3.5 MP920 Module Definitions3-393 Opening the 215IF Transmission Definitions WindowOpen the 215IF Transmission Definitions Window according to the p

Module Configuration Definitions3.5.7 215IF Transmission Definitions3-403Table 3.5 Tab Pages in the 215IF Transmission Definitions WindowParameter S

3.5 MP920 Module Definitions3-413∗ For parameter set values and network configuration, refer to the MP920 Machine Controller User's Manual: Com

Module Configuration Definitions3.5.7 215IF Transmission Definitions3-423Link Assignments Tab Page1. Setting Assignment DataParameters such as the 21

3.5 MP920 Module Definitions3-4332. Deleting Assignment DataThe procedure to delete the assignment data for one station is given below.a) Move the cu

Module Configuration Definitions3.5.7 215IF Transmission Definitions3-4431. Limitations on Changing I/O Map AllocationsThe settings made in advance i

1-111 Welcome to the CP-717This chapter introduces the CP-717 software for the MP900-series Machine Controller Engineering Tool.1.1 CP-717 - - - - -

3.5 MP920 Module Definitions3-453Setting Item DetailsToken Cycle Time, Setting, Max. Value, Current ValueDisplays the Token Cycle Time Setting set in

Module Configuration Definitions3.5.7 215IF Transmission Definitions3-463a) Link Status Data for Other StationsFig 3.7 Link Status Data (Other Stati

3.5 MP920 Module Definitions3-4733.5.8 217IF Transmission DefinitionsThis section explains how to set the parameters for the 217IF Transmission Syst

Module Configuration Definitions3.5.8 217IF Transmission Definitions3-483 Opening the 217IF Transmission Definitions WindowOpen the 217IF Transmissi

3.5 MP920 Module Definitions3-493 Setting 217IF Transmission DefinitionsThis section explains the various parameters required to use the 217IF trans

Module Configuration Definitions3.5.9 218IF Transmission Definitions3-503 Saving, Deleting, and Closing 217IF Transmission Definitions DataRefer to

3.5 MP920 Module Definitions3-513 Opening the 218IF Transmission Definitions WindowOpen the 218IF Transmission Definitions Window according to the p

Module Configuration Definitions3.5.9 218IF Transmission Definitions3-523 The 218IF Transmission Definitions Window MenusThe following table shows t

3.5 MP920 Module Definitions3-533Count of Retry Input the number of retries (0 to 255) to attempt when a timeout is detected after execution of the s

Module Configuration Definitions3.5.9 218IF Transmission Definitions3-5431 The address is made up of 32 bits, as shown in the following diagram. The

Welcome to the CP-717 1-211.1 CP-717The CP-717 Engineering Tool is a software programming package used to control and monitor MP900-series Machine

3.5 MP920 Module Definitions3-5533 When the DST. IP Address and DST. Port are both set to 0, that connection will be in unpassive open mode and will

Module Configuration Definitions3.5.9 218IF Transmission Definitions3-563

3.5 MP920 Module Definitions3-573Details of the Local Station and TCP/IP SettingsSetting a Remote Station's Ethernet AddressWhen a remote statio

Module Configuration Definitions3.5.9 218IF Transmission Definitions3-5832. Select Edit (E) and then Ethernet Address Setting (A) from the 218IF Tran

3.5 MP920 Module Definitions3-593Table 3.8 Pairing ConditionsDeleting Assignment DataThe procedure to delete the assignment data for one connection

Module Configuration Definitions3.5.9 218IF Transmission Definitions3-603The definitions data can be deleted even if 0 is input for My Port (the loca

3.5 MP920 Module Definitions3-613All of the data listed above will be displayed in online mode. None will be displayed in offline mode.Error Status D

Module Configuration Definitions3.5.10 260IF Setup3-623 Saving, Deleting, and Closing 218IF Transmission Definitions DataRefer to the procedures in

3.5 MP920 Module Definitions3-633260IF Module.The I/O start and end register addresses must be set in the 260IF Module settings. Allo-cate the I/O re

Module Configuration Definitions3.5.10 260IF Setup3-643Setting ParametersSet the following items using the 260IF Definitions Window and the Transmiss

1.1 CP-7171-311.1.1 Recommended Personal ComputersThe Programming Device must be able to perform many functions, such as high-speed data transfer wi

3.5 MP920 Module Definitions3-6531. Saving ParametersWhen the parameter settings have been completed, save the parameters by selecting File (F) and t

Module Configuration Definitions3.5.10 260IF Setup3-663

3.5 MP920 Module Definitions3-6733. Example of Master I/O AllocationsMake the settings as shown in the following diagram to use the 260IF as a Device

Module Configuration Definitions3.5.10 260IF Setup3-6834. Example of Slave I/O AllocationSet the 260IF as shown in the following diagram to use the 2

3.5 MP920 Module Definitions3-693• I/O Allocation Using Network Configuration InformationWhen using the 260IF as a DeviceNet master, the settings ca

Module Configuration Definitions3.5.11 Local I/O Definitions3-703 Opening the Local I/O Definitions WindowOpen the Local I/O Definitions Window in a

3.5 MP920 Module Definitions3-713 Setting Local I/O DefinitionsThe Local I/O Definitions determine the operation and disable status of the Module&ap

Module Configuration Definitions3.5.12 Digital Input Definitions3-7233.5.12 Digital Input DefinitionsThis section explains how to set the Digital In

3.5 MP920 Module Definitions3-733 Digital Input Definitions Window Original MenusTable 3.9 Digital Input Definitions Window Original Menus Setting

Module Configuration Definitions3.5.13 Digital Output Definitions3-743Register allocations can be deleted for discrete inputs 1 to 4. When the regist

Welcome to the CP-7171.1.2 Main Functions of the CP-7171-411.1.2 Main Functions of the CP-717The CP-717 is configured from five management programs

3.5 MP920 Module Definitions3-753Fig 3.14 Digital Output Definitions Window Digital Output Definitions Window Original MenusThe following table show

Module Configuration Definitions3.5.14 Counter I/O Definitions3-763 Deleting Allocation Data1. Click the REG-No line to be deleted.2. Click Edit (E)

3.5 MP920 Module Definitions3-773 Opening the Counter I/O Definitions WindowOpen the Counter I/O Definitions Window according to the procedure in 3.3

Module Configuration Definitions3.5.14 Counter I/O Definitions3-783 Counter I/O Definitions Window Original MenusThe following table shows the funct

3.5 MP920 Module Definitions3-793Table 3.13 Default Values of Fixed ParametersThe procedure to reset parameters to their default values is given belo

Module Configuration Definitions3.5.14 Counter I/O Definitions3-803• Switching the Data Format of the DisplayThe I/O Data of the Counter Module can

3.5 MP920 Module Definitions3-813 Saving, Deleting, and Closing Counter I/O DefinitionsRefer to the procedures in 3.3 Basic Individual Module Definit

Module Configuration Definitions3.5.15 Analog Input Definitions3-823Fig 3.16 Analog Input Definitions Window The Analog Input Definitions Window Or

3.5 MP920 Module Definitions3-833Setting the Offset and Gain1. Click Set (S) and then Offset/Gain (O) on the Analog Input Definitions menu.2. Input th

Module Configuration Definitions3.5.16 Analog Output Definitions3-843 Opening the Analog Output Definitions WindowOpen the Analog Output Definitions

1.1 CP-7171-511.1.3 Function TreeThe following schematic diagram shows the commands activated by each manager. The first window displayed by the CP-

3.5 MP920 Module Definitions3-853 Analog Output Definitions Window Original MenusThe following table shows the functions of the menu commands in the

Module Configuration Definitions3.5.17 SVA Motion Parameters Settings3-863Setting the Offset and Gain1. Click Set (S) and then Offset/Gain (O) on the

3.5 MP920 Module Definitions3-873Module Main FeaturesSVA-01 • Analog-output 4-axis Servo Module• Independent position control, speed control, and phas

Module Configuration Definitions3.5.17 SVA Motion Parameters Settings3-883Fig 3.18 SVA-01 ModuleFig 3.19 SVA-02 ModuleTo set the SVA motion paramet

3.5 MP920 Module Definitions3-893Table 3.14 Comparison of the SVA-01 and SVA-02 Modules Opening the SVA Motion Parameters WindowOpen the SVA Definit

Module Configuration Definitions3.5.17 SVA Motion Parameters Settings3-903Fig 3.20 SVA Definitions WindowThe Motion Parameters Window is composed of

3.5 MP920 Module Definitions3-913Refer to MP920 Machine Controller User's Manual: Design and Maintenance (SIEZ-C887-2.1) or MP920 Machine Control

Module Configuration Definitions3.5.17 SVA Motion Parameters Settings3-923Refer to the MP920 Machine Controller User's Manual: Design and Mainte

3.5 MP920 Module Definitions3-933Refer to MP920 Machine Controller User's Manual: Design and Maintenance (SIEZ-C887-2.1) or MP920 Machine Control

Module Configuration Definitions3.5.18 PO-01 Motion Parameters Settings3-943 Opening the PO-01 Definitions WindowOpen the PO-01 Definitions Window i

Welcome to the CP-7171.1.3 Function Tree1-61Menu ListsCommunications Process List ManagerUser Menu ManagerFile ManagerEngineering ManagerPrint Manage

3.5 MP920 Module Definitions3-953Table 3.16 Tab Pages in the PO-01 Definitions WindowIt is possible to switch between these tab pages by selecting Vi

Module Configuration Definitions3.5.18 PO-01 Motion Parameters Settings3-963Refer to MP920 Machine Controller User's Manual: Motion Module (SIEZ

3.5 MP920 Module Definitions3-973Refer to MP920 Machine Controller User's Manual: Motion Module (SIEZ-C887-2.5) for details on monitor parameter

Module Configuration Definitions3.5.19 SVB Motion Parameters Settings3-9834 The Error Detection Message Box is displayed if the data was not saved su

3.5 MP920 Module Definitions3-993 Opening the SVB Motion Parameters WindowOpen the SVB Motion Parameters Window according to the procedure in 3.3 Bas

Module Configuration Definitions3.5.19 SVB Motion Parameters Settings3-1003Table 3.17 Tab Pages in the SVB Motion Parameters WindowIt is possible to

3.5 MP920 Module Definitions3-1013Details (D)Use this function to display setting data as bit images for motion parameters except for servo parameters

Module Configuration Definitions3.5.19 SVB Motion Parameters Settings3-1023 Setting Motion Fixed ParametersMotion Fixed Parameters Tab PageThe param

3.5 MP920 Module Definitions3-1033Setting Parameters Tab PageParameters required in the Motion Controller are set in the Set Parameter Tab Page.Table

Module Configuration Definitions3.5.19 SVB Motion Parameters Settings3-1043Refer to MP920 Machine Controller User's Manual: Design and Maintenan

Safety InformationiiiSafety InformationThe following conventions are used to indicate precautions in this manual. Failure to heed precautions provid

1.1 CP-7171-711.1.4 System ConnectionsThe standard system configuration is 1:1 between the CP-717 and a MP900-series Machine Controller.A MECHATROLI

3.5 MP920 Module Definitions3-1053Refer to MP920 Machine Controller User's Manual: Design and Maintenance (SIEZ-C887-2.1) or MP920 Machine Contro

Module Configuration Definitions3.5.20 MECHATROLINK Definitions3-1063Refer to MP920 Machine Controller User's Manual: Design and Maintenance (SI

3.5 MP920 Module Definitions3-1073 Opening the MECHATROLINK Definitions WindowOpen the MECHATROLINK Definitions Window according to the procedure giv

Module Configuration Definitions3.5.20 MECHATROLINK Definitions3-1083The settings are divided into four tab pages, as shown in the following table.

3.5 MP920 Module Definitions3-1093I/O Assignment Tab Page1. Setting Assignment DataThe I/O Assignment Tab Page is used to set the I/O devices, I/O reg

Module Configuration Definitions3.5.20 MECHATROLINK Definitions3-1103The I/O devices set using the TYPE field are shown in Appendix D.1 MECHATROLINK

3.5 MP920 Module Definitions3-1113Status Tab PageThe Status Tab Page displays the data that is currently being transmitted by the MECHA-TROLINK.The ta

Module Configuration Definitions3.5.20 MECHATROLINK Definitions3-1123The meaning of each column is identical to the columns in the I/O Assignment Tab

3.6 MP930 Module Definitions3-11333.6 MP930 Module DefinitionsThis section explains the parameter settings for RS-232C, local I/O, and MECHATROLINK

Module Configuration Definitions3.6.3 Setting Module Configuration Definitions3-1143Fig 3.21 MP930 Module Configuration Definitions Window Configur

Welcome to the CP-7171.2.1 Installation Disk1-811.2 Installing the CP-717This section explains the procedure for installing the CP-717 system softwa

3.6 MP930 Module Definitions3-1153 Setting Ranges for the MP930 I/O Leading/Ending Register Numbers1 0000 to 07FF hex (2,048 words total)Be sure tha

Module Configuration Definitions3.6.5 RS-232C Definitions3-1163• MC350-I/O definitions• MC350-NET definitions3.6.5 RS-232C DefinitionsThis section

3.6 MP930 Module Definitions3-1173Tab PagesUse the tab pages to set the parameters for the RS-232C Module. There are two tab pages, one for each port

Module Configuration Definitions3.6.6 MC350-I/O Definitions3-1183The serial transmission parameters (communications parameters) are set to predetermi

3.6 MP930 Module Definitions3-1193Fig 3.23 The Local I/O Definitions WindowLocal I/O DefinitionsSetting Item DetailsNo. Displays the number of the s

Module Configuration Definitions3.6.6 MC350-I/O Definitions3-1203REG-No.The following table shows the default register allocations for group input si

3.6 MP930 Module Definitions3-12133.6.7 MC350-NET DefinitionsThis section explains the MC350-NET (MECHATROLINK) Definitions that are set for vir-tua

Module Configuration Definitions3.6.7 MC350-NET Definitions3-1223Tab PagesSet the various devices connected to the MECHATROLINK network. The followin

3.6 MP930 Module Definitions3-1233I/O Assignment Tab PageThis tab page is used to set the I/O devices connected in the MECHATROLINK and their transmi

Module Configuration Definitions3.6.7 MC350-NET Definitions3-12431. TYPE (MECHATROLINK Devices)Refer to D.1 MECHATROLINK Devices for a list of the cu

1.2 Installing the CP-7171-911.2.3 Installation Procedure1. When setup.exe is started, the following window will be displayed and installation will

3.6 MP930 Module Definitions3-1253The ending register number of "020F" is set considering the MECHATROLINK devices that are likely to be co

Module Configuration Definitions3.6.8 MP930 Motion Parameter Definitions3-1263The meaning of each column is identical to the columns in the I/O Assig

3.6 MP930 Module Definitions3-1273 Opening the MP930 Motion Parameter WindowTo open the MP930 Motion Parameter Window, double-click the Motion Param

Module Configuration Definitions3.6.8 MP930 Motion Parameter Definitions3-1283MP930 Motion Parameter Window Original MenusRefer to SVB Motion Paramet

3.6 MP930 Module Definitions3-1293 Set Up Parameters Tab PageThis tab page is used to set the parameters required for servo adjustment.Refer to MP93

Module Configuration Definitions3.6.8 MP930 Motion Parameter Definitions3-1303 SERVOPACK Parameters Tab PageThis tab page is used to set the servo p

3.6 MP930 Module Definitions3-1313 Monitor Tab PageThis tab page is used to display the current values for the motion parameters. This window is onl

Module Configuration Definitions3.6.8 MP930 Motion Parameter Definitions3-1323 Deleting MP930 Motion Parameter DefinitionsThe procedure to delete mo

3.7 MP940 Module Definitions3-13333.7 MP940 Module DefinitionsThis section explains the basic parameter settings for the Serial, Local I/O, SVA, CNT

Module Configuration Definitions3.7.3 Opening the Module Configuration Definitions Window3-1343It is necessary to define how each Module in the virtu

Welcome to the CP-7171.2.4 Completing Setup1-1011.2.4 Completing SetupOnce the files have been copied, the Setup Complete Window will be displayed.T

3.7 MP940 Module Definitions3-13533.7.4 Setting Module Configuration Definitions Configuration InformationThis window consists of tab pages used to

Module Configuration Definitions3.7.5 Opening Individual Module Definition Windows3-1363 Setting Ranges for the I/O Leading/Ending Register Numbers1

3.7 MP940 Module Definitions3-1373be used as a engineering port to connect the CP-717 as an engineering interface.This section describes the hardware

Module Configuration Definitions3.7.6 Serial Transmission Definitions3-1383Tab PagesUse the tab pages to set the parameters for the Serial Module. Th

3.7 MP940 Module Definitions3-1393Transmission Protocol• MEMOBUS: Yaskawa's standard MEMOBUS protocol.• MELSEC: Mitsubishi's special prot

Module Configuration Definitions3.7.6 Serial Transmission Definitions3-1403Leading Register Numbers and Number of WordsThe leading register numbers a

3.7 MP940 Module Definitions3-1413 Saving, Deleting, and Closing General-purpose Serial DefinitionsRefer to the procedures in 3.3 Basic Individual M

Module Configuration Definitions3.7.7 LIO Definitions3-1423 Opening the LIO Definitions WindowOpen the LIO Definitions Window according to procedure

3.7 MP940 Module Definitions3-1433 Saving, Deleting, and Closing LIO DefinitionsRefer to the procedures in 3.3 Basic Individual Module Definition Op

Module Configuration Definitions3.7.8 SVA Parameter Settings3-1443Tab PagesThe SVA Motion Parameters Window is composed of four tab pages: Fixed Para

1.2 Installing the CP-7171-1112. Double-click the Total Engineering Workstation icon and check that the applicationstarts up correctly.This applicati

3.7 MP940 Module Definitions3-1453to the initial Motion Parameters Window.Refer to 6.3.1 Motion Fixed Parameter Details in the MP940 Machine Controll

Module Configuration Definitions3.7.8 SVA Parameter Settings3-1463Refer to MP930 Machine Controller User's Manual: Design and Maintenance (SIEZ-

3.7 MP940 Module Definitions3-1473Refer to 6.3.3 Motion Monitoring Parameter Details in the MP940 Machine Controller User's Manual: Design and M

Module Configuration Definitions3.7.9 CNTR I/O Definitions3-1483The count data is input to the CPU-01 Module once each scan (high-speed or low-speed)

3.7 MP940 Module Definitions3-1493Tab PagesThe Counter I/O Definitions Window is composed of two tab pages: Fixed Parameter Set Tab and I/O Data Set

Module Configuration Definitions3.7.9 CNTR I/O Definitions3-1503I/O Data Set Tab PageClick the I/O Data Set Tab.1. Channel NumberThe channel number d

3.7 MP940 Module Definitions3-15132. IN Dataa) StatusDisplays the status of each bit in the operating status register. The corresponding box will con

Module Configuration Definitions3.7.10 MLINK (CERF) Definitions3-1523b) OUT Data Settings Saving, Deleting, and Closing CNTR I/O DefinitionsRefer to

3.7 MP940 Module Definitions3-1533 Opening the MECHATROLINK (CERF) WindowOpen the MECHATROLINK Definitions Window according to the procedure given i

Module Configuration Definitions3.7.10 MLINK (CERF) Definitions3-1543 MLINK Definition SettingsThis section describes the settings on the tab pages.

Welcome to the CP-7171.3.1 Outline1-1211.3 Communications SettingsThis section explains settings for communications between the CP-717 and Machine C

3.7 MP940 Module Definitions3-1553I/O Assignment Tab PageThis tab page is used to set the I/O devices and registers connected in the MECHA-TROLINK.Re

Module Configuration Definitions3.7.10 MLINK (CERF) Definitions3-1563Deleting I/O Allocations1. To delete a station's allocation data, move the

3.7 MP940 Module Definitions3-1573The tab only displays the status; the displayed values cannot be changed.The meaning of each column is identical to

Module Configuration Definitions3.7.11 260IF Setup3-15833.7.11 260IF SetupPerform the setup for the 260IF from the CP-717 Engineering Tool. Opening

3.7 MP940 Module Definitions3-1593Fig 3.29 260IF Definitions Window Setting MethodsThe 260IF Definitions Window consists of the following three tab

Module Configuration Definitions3.7.11 260IF Setup3-1603Refer to 4.2 Calculating Communications Cycle Times in the MP920 Machine Control-ler User&apo

3.7 MP940 Module Definitions3-16133. Saving ParametersWhen the parameter settings have been completed, save the parameters by selecting File (F) and

Module Configuration Definitions3.7.11 260IF Setup3-16235. Example of Slave I/O AllocationSet the 260IF as shown in the following diagram to use the

4-144 System ConfigurationDefinitionsThis section explains how to define the system configuration that must be pre-set before using the MP900 Series.

System Configuration Definitions 4-244.5 Data Trace Definitions - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-174.5.1 Opening the Data Tra

1.3 Communications Settings1-1311.3.3 Serial Communications Port SettingsProcedureThe procedure for setting a serial communications port is as foll

4.1 System Configuration Definitions4-344.1 System Configuration DefinitionsThis section describes the system configuration definitions that set th

System Configuration Definitions4.1.3 Updating Files in Online Mode and Offline Mode4-44 Opening from the File ManagerAs shown below, open the relev

4.1 System Configuration Definitions4-54The creation and updating of all data and files is managed in offline mode.YESNONOYESData file designationOnl

System Configuration Definitions4.2.1 Opening the System Configuration Window4-644.2 System ConfigurationThis section explains how to perform operat

4.2 System Configuration4-744.2.2 System Configuration Window MenusThe following menus are available through the System Configuration Window.Menu Co

System Configuration Definitions4.2.3 System Configuration Tab Page4-844.2.3 System Configuration Tab PageThis tab page is used to set the following

4.2 System Configuration4-944.2.4 Changing Machine Controller StatusWhen the System Configuration Window is displayed and active, the status of the

System Configuration Definitions4.2.5 Saving System Definitions4-104The Machine Controller operation must be stopped when this operation is executed.

4.3 Scan Time Definitions4-1144.3 Scan Time DefinitionsThis section explains how to set the scan times.The scan times are the cycles repeated by Mac

System Configuration Definitions4.3.2 Scan Time Window Menus4-124 Network InformationMP900-series network information is displayed. The information

Welcome to the CP-7171.3.4 Setting the CP-717 Logical Port1-1411.3.4 Setting the CP-717 Logical PortUp to 16 logical ports can be set for the commun

4.3 Scan Time Definitions4-134The scan times must be set as shown in the following table. Refer to the MP940 Machine Controller User's Manual: D

System Configuration Definitions4.3.5 Saving Scan Time Definitions4-144In online mode, the Machine Controller's high-speed scan time is displaye

4.4 Application Information Definitions4-1544.4 Application Information DefinitionsThis section explains how to set application information.The proc

System Configuration Definitions4.4.3 Setting Application Information4-1644.4.3 Setting Application InformationRefer to the Application Information

4.5 Data Trace Definitions4-1744.5 Data Trace DefinitionsThis section explains how to define data to be traced and how traced data is displayed.Data

System Configuration Definitions4.5.1 Opening the Data Trace Window4-184 Group and Status Information Tab PagesThe Data Trace Window consists of th

4.5 Data Trace Definitions4-1944.5.2 Data Trace Window MenusThe following table shows the functions of the menu commands in the Data Trace Window.Me

System Configuration Definitions4.5.3 Outline of Data Trace Operations4-2044.5.3 Outline of Data Trace OperationsThe three tab pages are switched be

4.5 Data Trace Definitions4-214The tab pages are described in the following sections.4.5.4 Data Trace Definition Tab PageThis tab page is used to se

System Configuration Definitions4.5.4 Data Trace Definition Tab Page4-224Details of Trace Data DefinitionsIf the trace data definition is saved with

1.4 Outline of the Motion Program Development Procedure1-1511.4 Outline of the Motion Program Development ProcedureThis section explains the standar

4.5 Data Trace Definitions4-234 Trigger Conditions1 There are three trigger conditions: Initiate trigger, terminate trigger 1, and terminate trigger

System Configuration Definitions4.5.4 Data Trace Definition Tab Page4-2443 Error checks are not performed in offline mode. Editing Trace Definitions

4.5 Data Trace Definitions4-254Saving a trace definition with no data is the same as deleting it. If the save operation fails, an error message will

System Configuration Definitions4.5.4 Data Trace Definition Tab Page4-264SymbolsThe following symbols have special meanings in the client area of the

4.5 Data Trace Definitions4-274Deleting Trace DataEither a trace data file or individual trace data saved in a floppy disk can be deleted. The proced

System Configuration Definitions4.5.4 Data Trace Definition Tab Page4-284Reading Trace DataThe procedure to read trace data from a floppy disk is giv

4.5 Data Trace Definitions4-2944.5.5 List Tab PageThis tab page is used to display the results of a data trace in numeric form. The following items

System Configuration Definitions4.5.5 List Tab Page4-304Display Configuration• The trace time axis type is determined by the trace time axis setting

4.5 Data Trace Definitions4-314 Details of Trace Time Axis SettingThere are four types of trace time axes: TIMEA, TIMEB, SNOA, and SNOB. Each of the

System Configuration Definitions4.5.5 List Tab Page4-324 Changing the Base Number of Display DataThe data can be displayed in either decimal or hexa

Welcome to the CP-7171.4.3 Creating Definition Data1-161Communication SettingsSet the communications conditions for communications between the Engin

4.5 Data Trace Definitions4-3342. In the Select Trace Time Axis Display Dialog Box, set the time axis display and thesampling interval and then click

System Configuration Definitions4.5.6 Graph Tab Page4-3442. Input the number of data items to be read in the Setting Number of Read Data DialogBox, a

4.5 Data Trace Definitions4-354 Graph Tab PageGroup and Status InformationRefer to information for the List Tab Page.Display ConfigurationS =AS =BS

System Configuration Definitions4.5.6 Graph Tab Page4-364Setting ItemsSetting Item DetailsRegister Number Select the number of the integer, double-le

4.5 Data Trace Definitions4-374Setting Graph Button1. Click the Setting Graph Button. The following Setting Graph Dialog Box will be dis-played.2. In

System Configuration Definitions4.5.7 Closing Data Trace Definitions4-3844.5.7 Closing Data Trace DefinitionsExit the data trace definition settings

5-155 Motion ProgrammingThis chapter describes the procedure to develop motion programs.5.1 Developing Motion Programs - - - - - - - - - - - - - - -

Motion Programming5.1.1 Outline of Motion Program Development5-255.1 Developing Motion Programs5.1.1 Outline of Motion Program DevelopmentThe foll

5.2 Group Definitions5-355.2 Group DefinitionsThis section explains how to set definitions for the groups, which are important settings for exe-cuti

Motion Programming5.2.2 Opening Group Definition Window5-45The maximum number of programs that can be executed in parallel is as follows:• MP940: 1

ivVisual AidsThe following aids are used to indicate certain types of information for easier reference.Indicates important information that should be

1.4 Outline of the Motion Program Development Procedure1-171Logging On from OfflineThe group definitions set later are important definition files fo

5.2 Group Definitions5-55 Login InformationLogin information is displayed below the title bar in the Group Definition Window. Hyphens will be displa

Motion Programming5.2.4 Setting Group Definitions5-655.2.4 Setting Group DefinitionsWhen setting group definitions, first set the name of each group

5.2 Group Definitions5-75added to the window. Group 01 Tab PageClick the Group 01 Tab in the Group Definition Window to display the following window

Motion Programming5.2.4 Setting Group Definitions5-85Create Ladder Dwgs. (Automatic Program Generation)Specify whether a motion management ladder log

5.2 Group Definitions5-95The same alarm output registers are used for all tasks. To manage alarms separately for each task when two or more tasks are

Motion Programming5.2.6 Deleting Group Definitions5-105fer the group definition data.5.2.6 Deleting Group DefinitionsThe procedure to delete group d

5.3 Creating Motion Programs5-1155.3 Creating Motion ProgramsThis section explains the basics of motion programming, from editing to compiling and s

Motion Programming5.3.2 Setting the Number of Global Registers5-1255.3.2 Setting the Number of Global RegistersDefining global registers can reduce

5.3 Creating Motion Programs5-1352. Point at the Motion Folder, click the right mouse button, and select Open (O) and thenResister Writing Permission

Motion Programming5.3.3 Motion Properties5-1451 When the Engineering Manager is opened, all values are for display only, i.e., they cannot be changed

Welcome to the CP-7171.4.4 Transferring Files1-181For example, if operating multiple machines using a single Motion Controller, it is easier to consi

5.3 Creating Motion Programs5-155 Tab PagesThe Motion Program Configuration Definition Window contains two tabs: Configuration Definition and Update

Motion Programming5.3.4 Opening the Motion Editor5-1655.3.4 Opening the Motion EditorThe Motion Editor is a programming tool that is required in inp

5.3 Creating Motion Programs5-175Opening from the Engineering ManagerFrom the Engineering Manager Window, select File (F), Open (O), Motion Program (

Motion Programming5.3.5 Motion Editor Window Menus5-1855.3.5 Motion Editor Window MenusThe following table shows the functions of the menu commands

5.3 Creating Motion Programs5-195Tool (T)Register List (C) Displays Machine Controller registers.Cross Reference (X) Detects the using registers.Disa

Motion Programming5.3.6 Motion Editor Editing Functions5-2055.3.6 Motion Editor Editing FunctionsThis section explains the menu bar and the commands

5.3 Creating Motion Programs5-215a) When a matching character string is found, it will be displayed in reversed color and the search will stop. Eithe

Motion Programming5.3.6 Motion Editor Editing Functions5-225(I).With this function enabled, a semicolon is added in the last column of a program line

5.3 Creating Motion Programs5-235The logical axis names and check boxes defined in the Group Definitions are dis-played as shown below.Fig 5.4 Posit

Motion Programming5.3.6 Motion Editor Editing Functions5-245The function keys will be displayed along with the logical axis names. Function Keys1 Ei

1.4 Outline of the Motion Program Development Procedure1-191Logging OnlineCommunications are required between the CP-717 and the Machine Controller,

5.3 Creating Motion Programs5-255If the Teach Button in the Position Teaching Window is clicked this point, the coordinate values displayed in the Po

Motion Programming5.3.7 Motion Editor Expansion Commands5-265import and export commands to allow general-purpose text editors to be used.Fig 5.5 Imp

5.3 Creating Motion Programs5-275 ExportingThe export function is used in the following cases:• To temporarily save a file that is being edited by

Motion Programming5.3.8 Closing the Motion Editor5-2851 Motion parameter can be changed or saved while the Motion Editor Window is open. If the numbe

5.4 Compiling Motion Programs5-2955.4 Compiling Motion ProgramsThis section explains the process involved in compiling a motion program.5.4.1 Compi

Motion Programming5.4.2 Compile Execution Steps5-305If the insufficient memory error occurs again for saving, then the physical memory is insufficien

5.5 Debugging Motion Programs5-3155.5 Debugging Motion ProgramsThis section describes the Debug Operation used to debug motion programs.5.5.1 Outli

Motion Programming5.5.2 Opening the Debug Window5-325Debug Operation Window Configuration Debug MenuThe debug commands that are available on the men

5.5 Debugging Motion Programs5-335 Debug IconsIcons have been created for frequently used debug commands, and these commands can be executed by left

Motion Programming5.5.3 Debug Operations5-3455.5.3 Debug OperationsThis section explains the actual debug operations.Debug operations are possible o

Welcome to the CP-7171.4.6 Operation1-201motion programs in the MP900 Series Motion Controller User's Manual: Design and Main-tenance before cre

5.5 Debugging Motion Programs5-355Setting Start PointsThe start point symbol (⇒) is displayed from when it is set and during debugging. The sym-bol d

Motion Programming5.5.3 Debug Operations5-365operation cursor will be displayed during normal operation if a program opened using the Motion Editor i

5.5 Debugging Motion Programs5-3753. A breakpoint and the cursor are automatically set when one line has been debugged.Step InThe Step In command is

Motion Programming5.5.3 Debug Operations5-3854. When the subroutine RET command is executed, the subroutine window is closed andthe display returns t

5.5 Debugging Motion Programs5-395• Main ProgramsDebugging will be executed until the END command, where it will stop.• SubroutinesThe RET command

Motion Programming5.5.3 Debug Operations5-405The timing charts for the following commands is outlined in the following table. AbortThe Abort command

5.5 Debugging Motion Programs5-4152. Once the subroutine is executed, set the start point and breakpoint as shown below.3. Then, execute the Abort co

Motion Programming5.5.3 Debug Operations5-425 Editing during Debug OperationsIf the program is to be improved or faults in the program is discovered

5.5 Debugging Motion Programs5-4353 In the following program, the MPS101 subroutine, which has been called from the MPM001 main pro-gram using the St

Motion Programming5.5.3 Debug Operations5-4452. Input the substitute text dw14=14.3. Press the Shift + Enter Keys or select Debug (T) and then Code G

2-122 Manager FunctionsThis chapter explains the main manager windows in the CP-717.2.1 File Manager - - - - - - - - - - - - - - - - - - - - - - - -

5.5 Debugging Motion Programs5-4553. Two lines of commands have been added at line 9. The line numbers will move and, as aresult, the breakpoint will

Motion Programming5.5.3 Debug Operations5-465If the RET command is executed in the subroutine after temporary registration but without permanent regi

5.5 Debugging Motion Programs5-4752. Execute Step Over.3. The comment and label lines are passed, and the breakpoint and cursor are set to line 9,whi

Motion Programming5.5.3 Debug Operations5-485Commands that Cannot be Executed with Step RunThe Step Run command cannot be executed for some commands.

5.5 Debugging Motion Programs5-495When step execution is performed, the executable commands after line 6 are executed. In this example, the FMX comma

6-166 Monitoring ToolsThis chapter explains the monitoring functions that check the Machine Con-troller's operating conditions.6.1 Monitoring To

Monitoring Tools 6-266.6 Motion Alarm Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-186.6.1 Outline of Motion Alarm Monitor - - -

6.1 Monitoring Tools6-366.1 Monitoring ToolsThe Monitoring Tools support program debugging and confirmation of motion program execu-tion conditions

Monitoring Tools6.2.1 Register Lists6-466.2 Using the Ladder Programming ToolThis section describes the Register List and Tuning Panel, which are of

6.2 Using the Ladder Programming Tool6-56Refer to 7.6.2 Creating Tuning Panels for Tuning Panel operations.No. S REG-No. DWGData name Definition CV U

Manager Functions 2-222.5 User Menu Manager - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-612.5.1 Registering Shortcut Icons- - - - - -

Monitoring Tools6.3.1 Outline of Motion Program Monitoring6-666.3 Motion Program MonitoringThis section how to follow motion program execution condi

6.3 Motion Program Monitoring6-76 Monitor Display for PFORK CommandThe PFORK command is used to branch execution into up to four processes executed

Monitoring Tools6.3.3 Stopping and Restarting the Monitoring Display6-86 Commands Displayed for MonitoringThe following table shows the commands tha

6.3 Motion Program Monitoring6-96Select View (V) and then Monitor Regeneration (V) in the Motion Editor Menu while the focus is on the Motion Editor

Monitoring Tools6.4.1 Outline of Position Monitor6-1066.4 Position MonitorThis section explains how to use position monitoring to display the curren

6.4 Position Monitor6-1166.4.3 Position Monitor Window MenusThe following table shows the functions of menu commands in the Position Monitor Win-dow

Monitoring Tools6.4.4 Position Monitor Window Configuration6-126 Login InformationLogin information is displayed below the title bar in the System C

6.4 Position Monitor6-136cedure.1. Select View (V) and then Display Item (S) in the Position Monitor Window.2. A dialog box will be displayed. Check

Monitoring Tools6.5.1 Outline6-1466.5 Task MonitorThis section explains how to display motion program execution conditions in the Task Monitor.The T

6.5 Task Monitor6-156 Login InformationLogin information is displayed below the title bar in the System Configuration Definition Window. Hyphens wil

2.1 File Manager2-322.1 File ManagerThis section explains the File Manager Window configuration and menus.2.1.1 File Manager WindowThe File Manager

Monitoring Tools6.5.4 Task Monitor Display Modes6-1666.5.4 Task Monitor Display ModesTask monitoring can be displayed in either of the following two

6.5 Task Monitor6-176following table.6.5.6 Closing Task MonitoringClose this program by closing the Task Monitor Window.To close the Task Monitor Wi

Monitoring Tools6.6.1 Outline of Motion Alarm Monitor6-1866.6 Motion Alarm MonitorThis section describes the Motion Alarm Monitor, which displays de

6.6 Motion Alarm Monitor6-196 Login InformationLogin information is displayed below the title bar in the System Configuration Definition Window. Hyp

Monitoring Tools6.6.4 Displaying Motion Alarms6-2066.6.4 Displaying Motion AlarmsWhen an alarm occurs, this function displays the name of the group

6.6 Motion Alarm Monitor6-216Fig 6.2 MP930 MECHATROLINK Servo Module Error Code Details Dialog BoxFig 6.3 MP920 SVA Module Error Code Details Dialo

Monitoring Tools6.6.4 Displaying Motion Alarms6-2261 Servo alarm error codes show the motion monitor parameter alarms (ILoo24).2 MECHATROLINK servo a

6.6 Motion Alarm Monitor6-2366.6.5 Closing Motion AlarmsClose this program by closing the Motion Alarm Window.To close the Motion Alarm Window, sele

7-177 Ladder Logic ProgrammingThis chapter explains ladder logic programs called drawings or drawing pro-grams.7.1 Ladder Programming System - - - -

Ladder Logic Programming 7-277.4 Creating Table Programs - - - - - - - - - - - - - - - - - - - - - - - - - 7-527.4.1 Outline of Table Programs - - -

Manager Functions2.1.1 File Manager Window2-42Opening FoldersA small symbol in front of the folder icon means that the folder contains other folders.

7.1 Ladder Programming System7-377.1 Ladder Programming SystemThis section provides a diagram showing the relationships between the various tools p

Ladder Logic Programming7.1.1 Ladder Programming System7-47Based on the above diagram, the following items are described in this chapter.• Setting p

7.2 Setting Drawing Properties7-577.2 Setting Drawing PropertiesThis section describes the Property Windows used to manage the configuration informa

Ladder Logic Programming7.2.2 Opening Property Windows7-67If the properties are for a ladder function program, the following tabs will be displayed.O

7.2 Setting Drawing Properties7-77 Tab PagesThere are different tab pages for drawing program and function program Property Windows.Tab Pages for Ma

Ladder Logic Programming7.2.5 I/O Definition Tab Page7-87• The number of D and # registers will differ depending on the type of Machine Control-ler.

7.2 Setting Drawing Properties7-97Table 7.1 Data Types7.2.6 Symbol Definition Tab PageClick the Symbol Definition Tab in the Property Window. Sett

Ladder Logic Programming7.2.6 Symbol Definition Tab Page7-1071. Symbol NameNumbers, dashes, and underscores cannot be used as the first character of

7.2 Setting Drawing Properties7-117not automatically deleted. These superseded symbol names should be deleted by the user, but they cannot be deleted

Ladder Logic Programming7.2.6 Symbol Definition Tab Page7-127register data with a data size of 1. Therefore, the register numbers will be DW00000, MF

2.1 File Manager2-52Detailed/Basic DisplayClick View (V) and then Detail Window (W) on the File Manager Menu to switch between detailed and basic dis

7.2 Setting Drawing Properties7-137In step 1., the register type is also entered in the No. of Register column. The register number does not, therefo

Ladder Logic Programming7.2.7 # Register Lists7-147 Changing the Base of # Register ValuesThe display mode, or base, of the register values can be c

7.2 Setting Drawing Properties7-157the register numbers to ASCII characters.Undefined data will be displayed if register values that cannot be displa

Ladder Logic Programming7.2.9 Saving Property Information7-167 Deleting Update HistoryThere are two methods for deleting the Update History: All dat

7.3 Creating Ladder Logic Programs7-1777.3 Creating Ladder Logic ProgramsThis section explains how to create drawing (DWG) and function ladder logic

Ladder Logic Programming7.3.2 Programming Window7-187Opening Existing Drawings from the File Manager1. Click the desired drawing number in the Direct

7.3 Creating Ladder Logic Programs7-1971 In the dialog box, set the Type Box to DWG to open the main drawing program, and set to FUNC to open the mai

Ladder Logic Programming7.3.3 Programming Window Menus7-2077.3.3 Programming Window MenusThe following table shows the functions of menu command in

7.3 Creating Ladder Logic Programs7-2177.3.4 Programming Window Display ModeThe section describes the display modes that are available for the Ladde

Ladder Logic Programming7.3.5 Entering Ladder Instructions7-227 Switching Program Display ModesThere are two program display modes: Normal, for disp

Manager Functions2.1.2 Basic Tree Concepts2-62The group folder names are not connected to the group definitions in the PLC folder. Allocate group nam

7.3 Creating Ladder Logic Programs7-237• Structure of ladder instructions• Ladder instruction input methods• Operand input methods• Inputting ins

Ladder Logic Programming7.3.5 Entering Ladder Instructions7-247below.1. Enter the mnemonic for N.O. CONTACT (][).2. Press the Enter Key. The N.O. CON

7.3 Creating Ladder Logic Programs7-257Register Input Mode is the default when the program window is first displayed.Register Number Input ModeOnly r

Ladder Logic Programming7.3.5 Entering Ladder Instructions7-267 Input Format for ConstantsThe following table shows the input format for constants.

7.3 Creating Ladder Logic Programs7-277Inputting Math, Logic, and Comparison InstructionsThe cursor normally moves to the right when the Enter Key is

Ladder Logic Programming7.3.5 Entering Ladder Instructions7-2871. Creating the Function Box• Select the FSTART instruction and enter the function na

7.3 Creating Ladder Logic Programs7-297Create the input section for integer data (defined using I-REG), double-length integer data (defined using L-R

Ladder Logic Programming7.3.5 Entering Ladder Instructions7-307Inputting MOVW, XCHG and Other InstructionsMOVW, XCHG and similar instructions require

7.3 Creating Ladder Logic Programs7-317to zero, and the STORE instruction.2. Select the WHILE instruction.3. Enter the WHILE statement (steps 4 to 10

Ladder Logic Programming7.3.6 Editing Programs7-327 InsertingThe procedure to insert instructions into a string of instructions is outlined below.1.

CONTENTSvCONTENTSSafety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iiiVisual Aids - - - - - - - - - - -

2.1 File Manager2-72Folder Configuration ExampleAn example of a folder configuration is shown below. Refer to the portions of the folder configuratio

7.3 Creating Ladder Logic Programs7-337• Circuits will be connected after an instruction is deleted if they are connected directly to the deleted el

Ladder Logic Programming7.3.6 Editing Programs7-347 CuttingInstructions can be cut. Cut data is copied to the clipboard. The contents of the clipboa

7.3 Creating Ladder Logic Programs7-3571. Move the cursor to the beginning of the section to be copied.2. Select Edit (E) and then Copy (C) from the

Ladder Logic Programming7.3.6 Editing Programs7-367The following operands exist and can be changed. You cannot, however, change to an operands that i

7.3 Creating Ladder Logic Programs7-3772. Select Debug (G) and then REFER (R) from the programming menus.3. The program window called in step 1. will

Ladder Logic Programming7.3.7 Creating Branch Circuits7-3872. A branch will appear.3. Enter the relay number.1 The mnemonic for a branch, a comma (,)

7.3 Creating Ladder Logic Programs7-3974. Enter the relay number.1 The mnemonic for a connection point, a period (.), can be used at step 2. to displ

Ladder Logic Programming7.3.7 Creating Branch Circuits7-4074. Enter the relay number.1 The mnemonic for a parallel connection, a comma and a period (

7.3 Creating Ladder Logic Programs7-4175. Select the OFF PULSE instruction.6. Enter the register number which is the operand for the OFF PULSE instru

Ladder Logic Programming7.3.7 Creating Branch Circuits7-4274. Enter the register number for counting as an operand of the ON DELAY instruction.5. Sel

Manager Functions2.1.2 Basic Tree Concepts2-82 Expanded PLC Folder DiagramWhen creating a new PLC folder, the data folder groups under the PLC folde

7.3 Creating Ladder Logic Programs7-437limit setting or the register for counting. Series ConnectionsWhen connection points or parallel connections

Ladder Logic Programming7.3.8 Disabling Coils7-447The procedure for step 3 in the table, for example, is outlined below.1. Select the N.C. CONTACT in

7.3 Creating Ladder Logic Programs7-457• SET COIL Instruction Notation• RESET COIL Instruction Notation1 Devices may malfunction if the above opera

Ladder Logic Programming7.3.9 Displaying Current Values7-467 Clearing Disable SettingsThe procedure to clear Disable Settings for COIL instructions

7.3 Creating Ladder Logic Programs7-477The current values will be refreshed when the set condition is met.Click the Clear Button in step 2. to clear

Ladder Logic Programming7.3.10 Creating Comments7-487 Pausing Refreshing of Current ValuesSelect Debug (G) and then HOLD (H) from the programming me

7.3 Creating Ladder Logic Programs7-4973. Click the OK Button in the next message box.An insufficient memory error may occur when saving. Refer to 5.

Ladder Logic Programming7.3.12 Printing Ladder Logic Programs7-507Move the highlighted error indication in any error window and click the OK Button t

7.3 Creating Ladder Logic Programs7-5172. The Print Setup Window will be displayed. Set the printer name and click the OK But-ton.Refer to the relev

Ladder Logic Programming7.4.1 Outline of Table Programs7-5277.4 Creating Table ProgramsThis section explains how to create table programs.7.4.1 Ou

2.1 File Manager2-922.1.3 Command MenusSelect commands from the pull-down menus or pop-up menus.The contents of the menu depends on the type of fold

7.4 Creating Table Programs7-537• 7.4.7 Inputting I/O Conversion Table Data• 7.4.8 Inputting Interlock Table Data• 7.4.9 Inputting Component Assem

Ladder Logic Programming7.4.4 Switching Input Modes7-547∗ The Next Page (N) and Back Page (B) operations are displayed for # reg-ister constant tabl

7.4 Creating Table Programs7-557 Switching Cursor Movement DirectionUse the procedure to switch the cursor movement direction after table data has b

Ladder Logic Programming7.4.6 Inputting M Register Constant Table Data7-567saved if these are not set.2 # register constant tables cannot be created

7.4 Creating Table Programs7-577ues in the input registers according to the conversion equation and saves the results in the output registers. An add

Ladder Logic Programming7.4.8 Inputting Interlock Table Data7-5877.4.8 Inputting Interlock Table1 DataInterlock tables define the device startup and

7.4 Creating Table Programs7-597Table 7.2 Interlock I/O Modes Deleting Condition SignalsSelect the signal to be deleted and press the Space Bar. Th

Ladder Logic Programming7.4.9 Inputting Component Assembly Table Data7-607for that subtable.No subtable can be displayed for a row where data other t

7.4 Creating Table Programs7-617• Inputting table data• Switching part units• Switching table formats Inputting Table DataUp to 100 rows of table

Ladder Logic Programming7.4.10 Inputting Data in C Constant Tables7-6272. Designate the part unit in the window and click the OK Button. The table un

Manager Functions2.1.4 Registering PLC Folders2-1022.1.4 Registering PLC FoldersThis section explains the operating procedure to create new PLC fold

7.4 Creating Table Programs7-637 C Register Constant List Window ConfigurationThe C Register Constant List Window displays a list of the registered

Ladder Logic Programming7.4.10 Inputting Data in C Constant Tables7-647 Operation in the C Register List WindowThe following operations are possible

7.4 Creating Table Programs7-6573. The C Register Table Window will be opened.1 Enter a table name of up to 8 characters. Enter an initial register n

Ladder Logic Programming7.4.10 Inputting Data in C Constant Tables7-667 Opening C Constant Table WindowsC constant tables are opened by clicking the

7.4 Creating Table Programs7-677 Setting C Constant TablesC registers are created by inputting constants (integer, double-length integer, real numbe

Ladder Logic Programming7.4.11 Editing Table Programs7-687The set value, upper limits and lower limits, and save points must be set, otherwise, an er

7.4 Creating Table Programs7-697Button. The cursor will move to the specified row.Next PageSelect View (V) and then Next Page (N) from the table prog

Ladder Logic Programming7.4.11 Editing Table Programs7-707Copying Table DataTable data within a specified region can be copied to the clipboard in th

7.4 Creating Table Programs7-7171. Click the row to be deleted.2. Select Edit (E) and then Delete Row (D) from the table program menus.The row specif

Ladder Logic Programming7.4.12 Saving and Closing Table Programs7-727Deleting ColumnsUse the following procedure to delete one or more consecutive co

2.1 File Manager2-112 Deleting Group FoldersIn online mode, the group folder data on both the Machine Controller and hard disk will be deleted. In o

7.4 Creating Table Programs7-7377.4.13 Printing Table ProgramsTable programs can be printed from the Table Program Window without starting the Print

Ladder Logic Programming7.5.1 Outline of Data Tables7-7477.5 Creating Data TablesThis section explains how to create data used in table format (arra

7.5 Creating Data Tables7-7572. Setting Column AttributesOpen the Column Attributes Window and set the column attribute. The attributes to be set inc

Ladder Logic Programming7.5.2 Table Data List Windows7-767Opening from the Engineering ManagerSelect File (F), Open (O), Data Table Definition (G), a

7.5 Creating Data Tables7-7777.5.3 Table Data List Window MenusThe following table shows the functions of menu commands in the Table Data List Windo

Ladder Logic Programming7.5.4 Manipulating Tables in Table Data List Windows7-7872. Select View (V) and then Column Definition (C) on the Table Data

7.5 Creating Data Tables7-797Table Definition Settings Deleting Data TablesThe procedure to delete data tables is outlined below.1. Click the No. co

Ladder Logic Programming7.5.6 Column Attributes Window Menus7-8077.5.6 Column Attributes Window MenusThe following table shows the functions of menu

7.5 Creating Data Tables7-817In Online Mode, only data in the Display Type and Column Comment columns can be changed.7.5.8 Editing Column Attributes

Ladder Logic Programming7.5.8 Editing Column Attributes7-827 Inserting Column Attribute Data Rows1. Click the column number where the row is to be i

Manager Functions2.1.4 Registering PLC Folders2-1223. Set the information for each Machine Controller in the Controller Configuration Win-dow, and th

7.5 Creating Data Tables7-8372. Select Edit (E) and then Copy (C) from the Column Attributes Menu. The specifiedrange of data in will be copied to th

Ladder Logic Programming7.5.10 Opening Table Data Windows7-8477.5.10 Opening Table Data WindowsRefer to Opening Table Data Windows under 7.5.4 Manip

7.5 Creating Data Tables7-8577.5.13 Editing Table DataJumping the CursorUse the following procedure to move the cursor to a specific row or column.1

Ladder Logic Programming7.5.14 Saving and Closing Table Data7-8677.5.14 Saving and Closing Table Data SavingData entered when making table data set

7.6 Tools7-8777.6 ToolsThis section describes the tools that assist programming.• Register lists• Tuning panels• Cross-references• Disable coil

Ladder Logic Programming7.6.1 Register Lists7-887Opening the Register List WindowThe Register List Window can be opened from either the File Manager

7.6 Tools7-897 Register List Window Menus∗ Displayed only in the Register List Window.Tool Icons in Register List WindowAmong the various menu item

Ladder Logic Programming7.6.1 Register Lists7-907 Opening the Register WindowOne Register Window is opened automatically when the Register List Wind

7.6 Tools7-9171 If a register number other than for a D register is input for the register number setting, there is no need to input a drawing number

Ladder Logic Programming7.6.2 Creating Tuning Panels7-927Changing the Register TypeThe register type can be changed to integer, double-length integer

2.1 File Manager2-132Application Tab Page Settings Changing PLC Folder InformationThe procedure to change PLC folder information is given below.1. S

7.6 Tools7-937In Online Mode, the current value for the defined register is displayed and this value can be changed. Opening the Tuning Panel Window

Ladder Logic Programming7.6.2 Creating Tuning Panels7-947 Tuning Panel Window MenusThe following table shows the functions of menu commands in the T

7.6 Tools7-957 Switching Input ModesThere are two input modes for tuning panels: Table Definition Input Mode where entries are made for all cells in

Ladder Logic Programming7.6.2 Creating Tuning Panels7-967Table Formats∗ Negative values cannot be input when the current values are input.Note: The

7.6 Tools7-9771 When tuning panels are saved, a check of whether or not the definition data is correctly input is per-formed. An error window is disp

Ladder Logic Programming7.6.3 Cross References7-987If step 1. is executed when a drawing or function program is open, the Cross Reference Window will

7.6 Tools7-997 Executing Cross ReferencesThe cross reference conditions can be reset while the Cross Reference Window is open.• Select File (F), Op

Ladder Logic Programming7.6.3 Cross References7-1007Specifying Cross Reference ConditionsInput the cross reference conditions on the Cross Reference

7.6 Tools7-1017 Search ResultsThe cross reference window is displayed as follows:Display of Search ResultsSearch results are displayed in the follow

Ladder Logic Programming7.6.4 Disable Coil Lists7-10273. PositionThe position of the search register. The step number is given for drawings, function

Manager Functions2.1.4 Registering PLC Folders2-142Revision History on Application Tab PageDouble-click a number entered in the revision history to d

7.6 Tools7-1037 Setting Disable Coil ListsSpecifying Search Program RangesDrawing and function main programs, as well as SFC action blocks (online o

Ladder Logic Programming7.6.5 Comment Lists7-1047Step NumbersStep numbers and program types are displayed as follows: Exiting Disable Coil ListsClos

7.6 Tools7-1057 Setting the Comment List WindowThe symbols and comments defined for register numbers are displayed in the Comment List Window. Crea

Ladder Logic Programming7.6.6 Replacing Register Numbers7-10677.6.6 Replacing Register NumbersThe register replacement function can be used to searc

7.6 Tools7-1077Input the following items and click the OK Button to search and replace the register num-bers.Search/Replacement Results Display Forma

Ladder Logic Programming7.6.6 Replacing Register Numbers7-10872. Search/Replacement Results Display WindowSpecifying Search/Replacement RangesThe fol

7.6 Tools7-1097for table programs and other programs with multiple pages. For example, "L01.02P01" indicates page 01 in L01.02.3. Program T

A-1AA Error MessagesA.1 System Error Messages - - - - - - - - - - - - - - - - - - - - - - - - - - -A-2A.2 Motion Compile Error Messages - - - - - - -

Error MessagesA.1 System Error MessagesA-2AA.1 System Error MessagesThe following tables show the messages with error codes of the form CPDH_xxx_nnn.

A-3ATable A.3 CPDH_CPU_nnnAEND instruction structure incorrect(CPDH_CMP_007)The AEND instruction structure is incorrect.Match the number of ABOX or S

2.1 File Manager2-1522.1.5 User ManagementThis function manages the registration of users who can access the PLC folders. Users are managed by user

Error MessagesA.1 System Error MessagesA-4AInappropriate file name(CPDH_CPU_093)• The file name is inappropriate.• The drawing number is incor-rect.•

A-5ATable A.4 CPHD_DRV_nnnNo free program memory space(CPDH_CPU_0B3)There is no free program memory space.• Compress memory from the System Defini-ti

Error MessagesA.1 System Error MessagesA-6ATable A.5 CPDH_COM_nnnError Message Probable Cause Possible CorrectionTransfer handle could not be obtain

A-7ATable A.6 Other Error MessagesError in SB/BP signal.(CPDH_COM_0D7)• A step was executed for a line with no command.• A GO command was executed wi

Error MessagesA.1 System Error MessagesA-8AMonitoring/debug information file error- File not saved or does not match. Resave.An attempt was made to o

A-9AA.2 Motion Compile Error MessagesThe following table shows a list of compile errors in motion programs. All error messages and their causes are ou

Error MessagesA.2 Motion Compile Error MessagesA-10AMaximum number of axes exceeded • The maximum number of axes to be simultaneously used has been e

B-1BB File Manager MenusB.1 Common Menus - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -B-2B.2 Individual Menus - - - - - - - - - -

File Manager MenusB.1 Common MenusB-2BB.1 Common MenusThis section explains the common items on the pull-down menus under the menu bar in the File Ma

B-3BB.2 Individual Menus Root Folder and Group Folder MenusThis section explains the pull-down and pop-up menus that are displayed when the root fold

Manager Functions2.1.5 User Management2-162 Relationship between User and File PrivilegesA user privilege level is given to each user, but the user

File Manager MenusB.2 Individual MenusB-4BPull-down MenusPop-up Menus PLC Folder MenusThis section explains the pull-down and pop-up menus that are

B-5BPop-up Menus C Register and Table Data Folder MenusThis section explains the pull-down and pop-up menus that are displayed a C register, pro-gram

File Manager MenusB.2 Individual MenusB-6B∗ Valid only in online mode. Program Folder MenusThis section explains the pull-down and pop-up menus tha

B-7BPop-up Menu∗ Valid only in online mode. Program File MenusThis section explains the pull-down and pop-up menus that are displayed a program file

File Manager MenusB.2 Individual MenusB-8BPop-up MenusView (V)List Display (V)Display All DWG (L) Sets the data files to be displayed in the List Dis

B-9B∗ Valid only in online mode.View Display (V)Display All DWG (L) Sets the data files to be displayed in the File Dis-play Section.SFC Flow Chart (

File Manager MenusB.2 Individual MenusB-10B Motion Program Folder MenusThis section explains the pull-down and pop-up menus that are displayed when

B-11B Motion Group Folder MenusThis section explains the pull-down and pop-up menus that are displayed when a motion group folder is selected.Pull-do

File Manager MenusB.2 Individual MenusB-12B Motion Program File MenusThis section explains the pull-down and pop-up menus that are displayed when a

B-13B Group Definition File MenusThis section explains the pull-down and pop-up menus that are displayed when a group def-inition file is selected.Pu

vi2.1.7 Logging On and Logging Off from the CPU - - - - - - - - - - - - - - - - - - 2-202.1.8 Switching the CPU Status - - - - - - - - - - - - - -

2.1 File Manager2-1721. Click New (N) in the User Management Window. Input the new user information in the User Info-New Dialog Box that is displayed

C-1CC Drawing and FunctionInstructionsC.1 Auxiliary Input Keys for Drawings and Function Programs - - C-2

Drawing and Function InstructionsC.1 Auxiliary Input Keys for Drawings and Function ProgramsC-2CC.1 Auxiliary Input Keys for Drawings and Function Pr

C-3C Direct I/O Instructions Sequence Program Instructions Logic Operation InstructionsInstruction DisplayFunction BarPull-down MenuMnemonicsDIRECT

Drawing and Function InstructionsC.1 Auxiliary Input Keys for Drawings and Function ProgramsC-4C Numeric Operation Instructions Numeric Conversion

C-5C Numeric Comparison Instructions Data Operation Instructions Basic Function InstructionsInstruction DisplayFunction BarPull-down MenuMnemonicsC

Drawing and Function InstructionsC.1 Auxiliary Input Keys for Drawings and Function ProgramsC-6C DDC Instructions Table Data Operation Instructions

C-7CQUEUE TABLE READ AND INCREMENTQTBLRI QTBLRI [TABLE(T)]-[QTBLRI] 2[QTBLRI]QUEUE TABLE WRITE QTBLW QTBLW [TABLE(T)]-[QTBLW] 3[QTBLW]QUEUE TABLE WRIT

D-1DD MECHATROLINK DevicesD.1 MECHATROLINK Devices - - - - - - - - - - - - - - - - - - - - - - - - D-2

MECHATROLINK DevicesD.1 MECHATROLINK DevicesD-2DD.1 MECHATROLINK DevicesNote: Y = Connection possible, N = Connection not possible.Refer to the MP900

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Manager Functions2.1.5 User Management2-182The procedure to change the user information is given below.1. In the No. column, click the number of the

2.1 File Manager2-192 Deleting Default UsersThe default user can be deleted by clearing the user name and password in the Default User Set Window an

Manager Functions2.1.7 Logging On and Logging Off from the CPU2-202The user cannot switch between online and offline mode when logged on to the CPU.

2.1 File Manager2-212 Logging Off from the CPUThe procedure to log off from the CPU is given below.1. Click the PLC folder to be logged off from the

Manager Functions2.1.9 Program File Operations2-2222. Click Copy DWG (C) on the pop-up menu.3. Input the copy destination program number or function

2.1 File Manager2-232 Switching Display between SubroutinesThis function can be used in all interrupt program, function program, high-speed scan pro

Manager Functions2.1.10 Transferring Files2-242nated for transfer. The Load1, Dump2, and Compare3 functions can be used only when the user is logged

2.1 File Manager2-252The following table outlines the transfer functions described above. Opening the File Transfer WindowThe procedure to open the

Manager Functions2.1.10 Transferring Files2-2621 File transfer cannot be executed if the user is not logged onto the Machine Controller.2 Continuous

CONTENTSvii3.4.5 Local I/O Definitions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-153.4.6 SVB-01 Definitions - - - - - -

2.1 File Manager2-2722. Click the OK Button once the parameters for loading all files have been checked. Thetransfer will start. A confirmation messa

Manager Functions2.1.10 Transferring Files2-282The process of transferring all files can be continued or stopped on this window. To stop file transfe

2.1 File Manager2-292If the transfer source or destination is a Machine Controller, the communications set-tings or CPU used in the transfer can be c

Manager Functions2.1.10 Transferring Files2-302Starting TransferThe procedure to start transfer is given below.1. Click File (F) and then Execute (S)

2.1 File Manager2-312Setting DetailsSource If the transfer source is a hard disk, floppy disk, or magneto-optical disk, the source directory name wil

Manager Functions2.1.10 Transferring Files2-322Menu CommandsChanging Transfer Source and DestinationThe Machine Controller or floppy disk used in the

2.1 File Manager2-3324. Constant Tables (C registers) Detail Data Set WindowSelect the C register tables to be transferred.Click the Select All Butto

Manager Functions2.1.10 Transferring Files2-342Note: Yes: Defaults, but the specification can be canceled.(Yes): Must be selected if required for tra

2.1 File Manager2-352Continuous File Transfer MenusChanging Transfer DrivesChange the transfer drive when the files to be transferred are in the Othe

Manager Functions2.1.10 Transferring Files2-362The function for saving and comparing files between the Machine Controller and flash memory is not ava

viii3.7.11 260IF Setup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-1584 System Configuration Definitions - - -

2.1 File Manager2-372Changing the Transfer CPUThe communications information and the transfer CPU can be changed. For details, refer to "All Fil

Manager Functions2.1.11 Configuration2-382 Configuration of the Configuration WindowThe Configuration Window consists of tab pages and command butto

2.1 File Manager2-392 Functional Setup Tab Page Engineering Manager Tab Page1Get Current ValueThis function reads and displays the current value in

Manager Functions2.1.11 Configuration2-402While the ladder program is open, the ON/OFF function can be specified using "Monitor ON/OFF."2 N

2.2 Engineering Manager2-4122.2 Engineering ManagerThis section explains how to start the Engineering Manger and the role it plays.2.2.1 Automatic

Manager Functions2.2.2 Basic Functions2-422The following screens are displayed when the Motion Editor is opened from the File Man-ager.1. Start the M

2.2 Engineering Manager2-432Several function windows can be open at once, and the window to be used can be activated as needed.2.2.3 Basic MenusThe

Manager Functions2.2.4 Function Windows2-442∗ 1. Motion Parameters (M) is only displayed when the MP930 is used.∗ 2. Position Monitor (P), Task Mon

2.2 Engineering Manager2-452 Window ConfigurationThis section explains the basic configuration of function windows.Title BarCurrently displaying the

Manager Functions2.2.5 Exiting the Engineering Manager2-462Login InformationThe login information is displayed under the title bar. When logging in w

CONTENTSix5.2.2 Opening Group Definition Window - - - - - - - - - - - - - - - - - - - - - - - - - -5-45.2.3 Group Definition Window Menus - - - - -

2.3 List and Print Managers2-4722.3 List and Print Managers2.3.1 Basic Outline of the List and Print ManagersUse this manager to print lists and de

Manager Functions2.3.3 List Manager Window Menus2-482To open the List Manager, select Print (P) and then Printing Status (D) on the Print Man-ager Me

2.3 List and Print Managers2-492 Displaying Printing StatusThe current printing status is displayed in the List Manager Window. Cancelling Printing

Manager Functions2.3.4 Print Manager2-502The Print (P) command under the File (F) Menu in Ladder Logic Program Windows prints the main program displa

2.3 List and Print Managers2-512Program Tab Pages1. Program Print SettingsSetting DetailsO/# Data from the Order No. column in the Application Inform

Manager Functions2.3.4 Print Manager2-5222. Detailed Settings for ProgramsDetailed printing settings are required for items that have a Details Butto

2.3 List and Print Managers2-532c) Detailed Settings for Function ProgramsDesignate Select All or Individual Select using the Function Program List D

Manager Functions2.3.4 Print Manager2-542Register Tab Pages1. Register Printing SettingsThe window configuration is the same as the one for program p

2.3 List and Print Managers2-552c) Detailed Settings for O RegistersEnter in hexadecimal the leading and ending numbers of the O registers to be prin

Manager Functions2.3.4 Print Manager2-5621. Definition Printing SettingsThe window configuration is the same as the one for the program printing sett

x6.5 Task Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-146.5.1 Outline - - - - - - - - - - - - - - - - - - - - - -

2.3 List and Print Managers2-572Motion Tab PageMotion program and motion parameter printing data can be selected.1. Motion Printing Settings2. Detail

Manager Functions2.3.4 Print Manager2-582dow. PrintingThe Print command is executed according to the program, register, definition, and motion tab p

2.3 List and Print Managers2-592saved as files. Such files are called printing settings files.This section explains how to read, delete and save prin

Manager Functions2.4.1 Starting the Communications Manager2-6022.4 Communications ManagerThe Communications Manager function provides communications

2.5 User Menu Manager2-6122.5 User Menu ManagerThe User Menu Manager allows you to register a shortcut icon on the desktop for function win-dows. On

Manager Functions2.5.2 Starting from a Shortcut Icon2-622The Register User Menu Dialog Box is displayed when the Motion Editor Window is open. Input

3-133 Module ConfigurationDefinitionsThis chapter explains how to set the operating conditions for Basic Modules that have already been installed and

Module Configuration Definitions 3-233.5 MP920 Module Definitions - - - - - - - - - - - - - - - - - - - - - - - - 3-193.5.1 MP920 Module Configurati

3.1 Module Configurations3-333.1 Module Configurations3.1.1 MP900-series Module ConfigurationsThe configuration of MP900-series Machine Controller

Module Configuration Definitions3.1.1 MP900-series Module Configurations3-43• MP920 Module configuration definitions• MP930 Module configuration de