manuais YASKAWA MP920 Motion Module

Yaskawa MP920 Motion Module Manual do Utilizador (450 páginas)

Marca: Yaskawa | Categoria: Equipamento | Tamanho: 3.27 MB |

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Índice

USER'S MANUAL

1

Using this Manual

3

 Related Manuals

5

Safety Information

6

Safety Precautions

7

MANDATORY

8

PROHIBITED

9

 General

10

CONTENTS

11

4 Parameters

12

8 Troubleshooting

13

9 Application Precautions

13

Appendix A Module Appearance

14

Revision History

14

Overview of Motion Modules

15

1.1.1 Motion Modules

16

1.1.2 SVA-01A Module

17

1.1.3 SVA-02A Module

18

SERVOPACK

19

1.1.4 SVB-01 Module

20

JEPMC-IO350

21

1.1.5 PO-01 Module

22

1.2 System Configuration

23

1.3 Specifications

24

1.3.2 Function Lists

25

1 Overview of Motion Modules

26

1.3.2 Function Lists

26

Motion Control

27

2.1.2 Motion Control Methods

30

Winder A

31

Winder B

31

 Phase Control

32

Conveyor Synchronization

32

 Position Control

32

Conveyor

32

2.2 Control Modes

33

2.2 Control Modes

35

 User Program Examples

36

 User Program Example

40

Cam machine

41

Integra

44

2.2.4 Phase Control Mode

46

2.2.5 Zero Point Return Mode

48

Operating Conditions

51

2.3 Position Control

52

 Reference Unit

54

 Electronic Gear

55

2.3 Position Control

57

 Axis Selection

58

 Position Reference

59

 Position Buffers

60

Using the Position Buffers

61

Writing to Position Buffers

61

Reading Position Buffers

62

 Position Monitoring

63

 Speed Reference

64

When Motion Commands Are Used

65

Parameter Setting Examples

66

Setting (ABSOFF)

69

Position*

73

NOP command

73

2.4.2 Positioning (POSING)

74

Deceleration limit switch

82

 DEC1 + Phase-C Pulse

83

 DEC2 + Phase-C Pulse

84

 DEC1 + LMT + Phase-C Pulse

86

 Phase-C Pulse

89

 DEC1 + ZERO Signal

89

 DEC2 + ZERO Signal Method

89

 ZERO Signal Method

90

Rapid traverse

100

Example of RUN Operation

102

Ladder Logic Program Example

102

 Overview

103

 Details

103

2 Motion Control

104

Time (t)

105

STEP travel

105

 Module Allocations

110

IMPORTANT

111

Control CPU No

112

Cir No (Circuit Number)

113

Motion Start Register

113

I/O Start Register

113

Transmission Parameters

115

 I/O Assignments

116

Setting Assignments

116

Assignment Example

117

 Saving Motion Parameter

119

 Setting Setting Parameters

119

 Monitoring Parameters

120

Parameters

121

4.1 Overview of Parameters

122

 Editing Parameters

123

4.2 Parameter List by Module

125

(OFFSET)

136

SVA Module Specifications and

143

Handling

143

24 VDC ±2%

144

5.1.2 Handling

145

 LED Indicator

146

5.1 SVA-01A Module

147

 Connector Specifications

148

CN1/CN2 36-pin Connector

149

Pin Layout on Wiring Side

149

CN3/CN4 36-pin Connecto

149

 Connector Pin Layout (CN5)

151

5.1.2 Handling

152

 Standard Cables

153

Appearance

154

Cable Connection Diagram

154

 External I/O Cables

158

5.2 SVA-02A Module

166

5.2.2 Handling

167

5.2 SVA-02A Module

169

 24 V Input Connector (CN3)

170

Core wire

171

Covering

171

+ Side (pin No.2)

171

- Side (pin No.1)

171

CN1/CN2 36-pin Connecto

172

5.2.2 Handling

176

MP920 CPU-01 DI-01

180

Power supply

184

5.3.1 Differences in Hardware

185

02A Modules

186

 SVA-01A Module

190

OB01F must be set

192

5.4.1 Motion Fixed Parameters

194

 0: DEC 1 + Phase-C Pulse

201

 1: Zero Signal

201

 2: DEC 1 + Zero Signal

201

 3: Phase-C Pulse

202

 4: DEC 2 + Zero Signal

202

 6: DEC 2 + Phase-C Pulse

202

 Supplemental Explanation 1

204

 Supplemental Explanation 2

207

Position reference data 1

208

Position reference data 100

208

Positive speed limiter

209

Output speed

209

Negative speed limite

209

 Supplemental Explanation 3

210

Latch signal

219

 Supplemental Explanation 4

228

SVB Module Specifications and

236

6.1 SVB-01 Module

237

6.1.2 Handling

238

6.1.2 Handling

239

 LED Indicator 2

240

 CN1 Connection

241

6.1 SVB-01 Module

242

MECHATROLINK Cables

243

USB Terminator

243

 SVB-01 System Configuration

244

 SVB-01 Module Connections

245

Connection of IO350 Unit

245

1. SGD-N SERVOPACKs

246

6.2 SVB-01 Parameters

251

6.2 SVB-01 Parameters

252

Ball screw pitch = 10 mm

253

One rotation = 360°

253

 Supplemental Explanation

260

2.3.1 Prerequisites for

264

Position Control

264

× Override = Output speed

268

 List of Parameters

280

 Memory Switches

282

Cn-001: Memory Switch 1

282

Cn-002: Memory Switch 2

283

Cn-0013: Memory Switch 3

284

Cn-0014: Memory Switch 4

285

1st digit

291

2nd digit

291

3rd digit

291

4th digit

291

Hexadecimal display

291

 List of Switches

292

 Input Signal Selections

295

 Output Signal Selections

296

Series SERVOPACK

299

SVB-01 SERVOPACK

302

7.1 PO-01 Module

304

7.1.2 Handling

305

7.1.2 Handling

306

 Pulse Output Connector 1

307

 Pulse Output Connector 2

307

 Connector Pin Layout (CN1)

309

 Connector Pin Layout (CN2)

311

 DO Output Circuit

314

 DI Input Circuit (DI-0)

314

DI_0- (24V)

316

DI_0- (5/12V)

316

 DI-0 Connection Examples

317

At 5 V differential input

317

At 12 V open collector

317

7.2 Functions

318

 Reference Pulse Forms

319

Sign Reference Pulses

319

7.2.2 Motion Functions

321

7.2.2 Motion Functions

322

7.2 Functions

323

7.2.3 Program Example

324

 Programming Example

325

7.2.3 Program Example

326

7.2.4 Out-of-step Detection

327

 Application Program Example

328

Initial Settings

330

Feedback Position Calculation

330

7.2.5 Emergency Stop

331

7.3 PO-01 Parameters

333

7.3 PO-01 Parameters

335

Software limit

337

(upper limit)

337

(ABSOFF)

343

Troubleshooting

357

8.1 Overview of Alarms

358

SVA-01A/02A and PO-01

359

 Troubleshooting Flow

361

8.2 Alarms and Actions Taken

362

 SERVOPACK Error

363

8.2.1 Alarm IL22

364

 Analog Servo Alarms

365

 Servo OFF (Excitation ON)

368

 Positioning Time Over

369

 Filter Type Change Error

370

 Control Mode Error

371

 Zero Point Not Set

371

8.2 Alarms and Actions Taken

373

 Broken PG Wiring

374

 Status Monitor (IW01)

375

Alarm code

376

Axis alarm

376

 Servo Number LED Display

378

Application Precautions

381

L1, L2, L3

382

 Connection Example

383

 Parameter Settings

383

Cn-15 and Cn-16

384

9.1 Vertical Axis Control

387

Pn507 and Pn508

389

9.2 Overtravel Function

390

9.2 Overtravel Function

391

9.2.3 Parameter Settings

392

SGDA and SGDB

393

SGDM and SGDS

394

9.3 Software Limit Function

396

 Alarm Data

397

9.4 Reverse Rotation Mode

398

9.4 Reverse Rotation Mode

399

10.1 CNTR-01 Module

403

10.1.2 Handling

404

 Pulse Input Connector 1

405

 Pulse Input Connector 2

406

10.1 CNTR-01 Module

408

10.1.2 Handling

409

10.2 Using the CNTR-01 Module

412

 Module Configuration

413

10.2.2 Fixed Parameters

414

10.2.2 Fixed Parameters

415

10.2.3 Setting I/O Data

416

 Out Data (Output Data)

417

 Status (Operating Status)

417

 Operating Mode

418

 Pulse Count Methods

419

10.2.3 Setting I/O Data

421

10.3 Counter Modes

423

 Reversible Counter Settings

424

Fixed Parameter Settings

424

I/O Data Settings

424

10.3.2 Interval Counter Mode

425

 Interval Counter Settings

426

10.3.3 Frequency Measurement

427

 PI Latch Function

430

75ALS1177

432

10.4.2 Latch Input Circuits

433

10.5.2 Pulse C Signals

437

 24-V Input Signals

438

Appendix A

439

A.1 Motion Modules

440

 2-axis Servo Module

441

 Pulse Output Module

442

A.2 Counter Module

443

- - - - - 5-68

445

MANUAL NO. SIEZ-C887-2.5C

450

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