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YASKAWA JAPMC-MC2142T-E manual available for free PDF download: User Manual
YASKAWA JAPMC-MC2142T-E User Manual (375 pages)
Machine Controller, Motion Module
Brand:
YASKAWA
| Category:
Controller
| Size: 3.49 MB
Table of Contents
Table of Contents
13
1 Overview
18
Module Overview and Features
19
Overview
19
Features
20
System Configuration Example
21
Specifications
22
Hardware Specifications
22
Functional Specifications
24
Performance Specifications
25
Applicable Servopacks
26
2 Settings and Installation
27
External Appearance and LED Indicators
28
External Appearance
28
LED Indicators
28
Module Status Indication
29
Applicable Machine Controllers for SVA-01 Modules
30
Mounting/Removing SVA-01 Modules
31
Mounting a SVA-01 Module
31
Removing SVA-01 Modules for Replacement
33
Module Connections
35
Connectors
35
Connection Procedure for 24-V Input Cable
36
CN1 and CN2 Connector Pin Arrangement
37
Cable Specifications and Connections
38
Cables
38
JEPMC-W2040--E Details
38
JEPMC-W2041--E Details
40
Restrictions for Feedback Pulse Inputs
43
Restrictions for SERVOPACK Pulse Output Frequency
43
Restrictions in SVA-01 Module Pulse Input Frequency
44
3 Setup
45
Setting Items
46
Module Configuration Definition of Machine Controller
47
How to Execute Self-Configuration
47
Opening the Module Configuration Window
48
Module Configuration Window
49
Manually Allocating Modules
50
SVA Definition
51
Opening the SVA Definition Window
51
Setting the SVA-01 Module Fixed Parameters
53
SERVOPACK Parameter Settings
54
SGDA SERVOPACK Parameter Settings
54
SGDB SERVOPACK Parameter Settings
55
SGDM, SGDH, SGDS, SGDV, and SGD7S SERVOPACK Parameter Settings
56
SERVOPACK Reference Offset Adjustment
57
Automatic Adjustment of the Analog Reference Offset
57
Manual Servo Tuning of the Speed Reference Offset
58
4 Operation Modes
60
Module Operation Mode Selection
61
Normal Operation Mode
62
Motion Parameters that Can be Used in Normal Operation Mode
62
DI/DO Signals in Normal Operation Mode
62
Simulation Mode
63
Motion Parameters that Can be Used in Simulation Mode
63
Position and Speed in Simulation Mode
63
Torque in Simulation Mode
63
Functions that Cannot be Simulated
63
Output Signals in Simulation Mode
64
General-Purpose I/O Mode
65
Motion Parameters that Can be Used in General-Purpose I/O Mode
65
Correspondence between Motion Parameter and Connector Pin Number
67
General-Purpose I/O Signal Connection Example
68
Pulse Input Modes
69
Pulse Counter Connection Example
71
5 Motion Parameters
72
Motion Parameters Register Numbers
73
Motion Parameter Register Numbers for MP2000 Series Machine Controllers
73
Motion Parameters Setting Window
74
How to Open the Motion Parameter Setting Windows
74
Selecting a Motor Type
75
Motion Parameter Lists
76
Fixed Parameter List
76
Setting Parameter List
79
Monitoring Parameter List
84
MP2000 Series Machine Controller Parameter Details
88
Motion Fixed Parameter Details
88
Motion Setting Parameter Details
96
Motion Monitoring Parameter Details
114
6 Motion Parameter Setting Examples
124
Example Setting of Motion Parameters for the Machine
125
Reference Unit
125
Electronic Gear
125
Axis Type Selection
127
Position Reference
128
Speed Reference
132
Acceleration/Deceleration Settings
134
Acceleration/Deceleration Settings
135
Acceleration/Deceleration Filter Settings
136
Linear Scale Pitch and Rated Motor Speed
138
Motion Command Table
141
Motion Commands
141
7 Motion Commands
141
Motion Command Details
142
Positioning (POSING)
142
External Positioning (EX_POSING)
148
Zero Point Return (ZRET)
154
Interpolation (INTERPOLATE)
196
Latch (LATCH)
199
JOG Operation (FEED)
202
STEP Operation (STEP)
206
Zero Point Setting (ZSET)
210
Speed Reference (VELO)
212
Torque Reference (TRQ)
216
Phase References (PHASE)
220
Motion Subcommands
224
No Command (NOP)
224
Read Fixed Parameters (FIXPRM_RD)
225
8 Switching Commands During Execution
227
Switchable Motion Commands
228
Switching between Motion Commands
228
Switching from POSING
229
Switching from EX_POSING
233
Switching from ZRET
237
Switching from INTERPOLATE
239
Switching from ENDOF_INTERPOLATE or LATCH
242
Switching from FEED
243
Switching from STEP
247
Switching from ZSET
250
Switching from VELO
251
Switching from TRQ
256
Switching from PHASE
262
9 Control Block Diagram
268
Module Control Block Diagram
269
10 Absolute Position Detection
271
Absolute Position Detection Function
272
Outline of the Function
272
Reading Absolute Data
272
Finite Length/Infinite Length Axes and Absolute Position Detection
273
Setting Procedure of Absolute Position Detection Function
274
System Startup Flowchart
274
Initializing the Absolute Encoder
275
Absolute Position Detection for Finite Length Axes
276
Parameter Settings for Finite Length Axes
276
Detailed Descriptions on Parameter Settings for Finite Length Axes
278
Setting the Zero Point for a Finite Length Axis
280
Setting the Zero Point for a Finite Length Axis
281
Turning on the Power after Setting the Zero Point of Machine Coordinate System
283
Absolute Position Detection for Infinite Length Axes
284
Simple Absolute Infinite Length Position Control
284
Parameters Setting for Simple Absolute Infinite Length Position Control
286
Detailed Descriptions on Parameter Settings for Simple Absolute Infinite Length Axes
288
Setting the Zero Point and Turning on Power as Simple Absolute Positions
290
Turning on the Power after Setting the Zero Point for Simple Absolute Infinite Length Axes
291
Infinite Length Position Control Without Simple Absolute Positions
292
11 Utility Functions
300
Controlling Vertical Axes
301
Holding Brake Function of the SERVOPACK
301
Connections to Σ-II, Σ-III, Σ-V, or Σ-7 Series SGDM, SGDH, SGDS, SGDV, and SGD7S Servopacks
301
Connections to Σ-I Series SGDB SERVOPACK
303
Connections to Σ-I Series SGDA SERVOPACK
305
Overtravel Function
307
Connections to Σ-II, Σ-III, Σ-V, or Σ-7 Series SGDH, SGDS, SGDV, and SGD7S Servopacks
307
Connections to Σ-I Series SGDB or SGDA SERVOPACK
309
Rotation Direction Selection
311
Software Limit Function
312
Parameter Settings
312
Software Limit Detection Function
312
Axis Stopping Operation at Alarm Occurrence
313
Processing after an Alarm Occurs
313
Other Utility Functions
314
Modal Latch Function
314
Reading Absolute Data after Power Is Turned on
315
Reading Absolute Data Online
315
General-Purpose DO_2 Signal Selection
316
12 Troubleshooting
319
Basic Flow of Troubleshooting
320
Troubleshooting
320
MP2000 Series Machine Controller Error Check Flowchart
321
LED Indicators (MP2200/MP2300)
322
Troubleshooting System Errors
324
Outline of System Errors
324
Outline of System Errors
325
Troubleshooting Flowchart for System Errors
327
Correcting User Program Errors
328
System Register Configuration and Error Status
329
Motion Program Alarms
345
Motion Program Alarm Configuration
345
Motion Program Alarm Code List
345
Troubleshooting Motion Errors
346
Overview of Motion Errors
346
Axis Alarm Details and Corrections
347
Analog Servo Alarm List
350
Appendix A System Registers Lists
357
System Service Registers
357
A System Registers Lists
357
Scan Execution Status and Calendar
359
Program Software Numbers and Remaining Program Memory Capacity
359
Appendix B Initializing the Absolute Encoder
360
Σ-III, Σ-V, or Σ-7 Series SERVOPACK
360
B Initializing the Absolute Encoder
360
Σ-II Series Servopacks
361
Σ-I Series SERVOPACK
363
C Fixed Parameter Setting According to Encoder Type and Axis Type
366
Appendix C Fixed Parameter Setting According to Encoder Type
367
Appendix D Terminology
367
D Terminology
367
Revision History
373
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