Yaskawa MP2300S Basic Module Manual de usuario Pagina 144
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5.2 User Programs
5.2.2 Motion Programs
5-11
Outline of Motion Control Systems
( 3 ) How to Designate a Motion Program
The following two methods are available for designating a motion program.
• Using a direct designation to invoke a motion program
• Using a indirect designation to invoke a motion program
Now, this section explains each way to designate a motion program.
[ a ] Using a Direct Designation to Call a Motion Program
A direct designation method designates a motion program to call using a program number (MPM ).
A motion program registered in the M-EXECUTOR program execution definition
Select Direct for the Setting and set a program number (MPM ).
Fig. 5.1 Calling a Motion Program Using a Direct Designation - 1
A motion program referenced by a MSEE command from a ladder program
Set a program number to Program No. () in the MSEE command.
Fig. 5.2 Calling a Motion Program Using a Direct Designation -2
ABS;
MOV[X] _ [Y] _
MOV[X] _ [Y] _
MVS[X] _ [Y] _ F
IOW MB0001
.
.
.
Motion program
MPM001
Motion program reference command
ABS;
MOV[X] _ [Y] _
MOV[X] _ [Y] _
MVS[X] _ [Y] _ F
IOW MB0001
.
.
.
Ladder program Motion program
MPM number
MPM001
- Basic Module 1
- Using this Manual 3
- Related Manuals 4
- Copyrights 5
- Safety Information 6
- Safety Precautions 7
- Storage and Transportation 8
- Installation 8
- Wiring 9
- Disposal Precautions 10
- General Precautions 10
- Warranty 11
- ( 3 ) Suitability for Use 12
- ( 4 ) Specifications Change 12
- Contents 13
- Revision History 16
- Overview 17
- 1.1 MP2300S Features 18
- 1.2 MP2300S Configuration 19
- 1.2.2 MP2300S Modules 20
- 1.3 System Configuration 21
- 1.3.1 Example 21
- Synchronization 22
- ( 1 ) SERVOPACKs 24
- ( 2 ) Modules 24
- 1.5 Cables and Accessories 25
- 1.5.1 Cables 25
- MP2300S 27
- 2.1 Specifications 28
- 2.1.1 General Specifications 28
- Specifications and Functions 29
- × 130 mm × 108 mm 29
- 2.1.3 Function Lists 30
- 2.2 Basic Module 33
- ( 1 ) External Appearance 34
- ( 2 ) Indicators 34
- ( 3 ) Switch Settings 35
- [ b ] SW2 36
- to IW+ 3 (input) 54
- + 4 to OW+7 54
- 2.2.5 Built-in SVB Module 57
- 1. Overview 59
- ( 3 ) Module Configuration 64
- 2. Link Assignment Tab Page 70
- ( 5 ) SVB Definition 72
- ( 1 ) Outline 74
- ( 2 ) Example SVR Usage 75
- ( 4 ) SVR Operation 76
- × 2 sub parallels) 78
- I/O Register Details 80
- ( 5 ) Execution Scheduling 86
- 2.3 Option Module 88
- 2.4 External Appearance 90
- 2.4.1 Basic Module 90
- 3.1 Mounting MP2300S 93
- DIN rail 94
- Fixing a DIN Rail 95
- ( 2 ) Screwed Method 96
- 3.1.1 Method 97
- Mount condition 99
- Mounting and Wiring 100
- Round knob 101
- 3.2 Basic Module Connections 103
- 3.2.1 Connectors 103
- 3.2.2 Power Supply Connector 104
- 8 to 9 mm 105
- ( 2 ) Cables 106
- MP2300S/SVB01 Module 107
- I/O Unit or SERVOPACK 107
- ( 5 ) Terminator Connections 108
- Connection Example 1 111
- Connection Example 2 111
- Connection Example 2 112
- 4.1 System Startup Overview 118
- 4.2 Preparation (step 1) 119
- 4.2.1 Wiring 120
- [ a ] Required Equipment 120
- 4.2.2 Self Configuration 121
- 4.2.3 Test Operation 122
- 3. Jog Operation 124
- 4.3 Programming (step 2) 125
- 4. Editing Motion Program 126
- Caution 128
- 4.5.1 Overview 129
- 4.5.2 Required Equipment 129
- 4.5.3 Creation Procedure 131
- 4. FLASH Save 133
- 5. Operation Check 133
- 5.1.1 DIP Switch Settings 135
- 5.1.2 Startup Sequence 136
- ( 2 ) Self-configuration 137
- ( 3 ) Operation Start 137
- ( 4 ) Operation Stop 137
- ( 5 ) Online Self-diagnosis 137
- 5.2 User Programs 138
- 5.2.2 Motion Programs 139
- Line number 140
- , MPS ) 143
- ) in the MSEE command 144
- Motion program 145
- ( 4 ) Work Register 146
- [ b ] Control Signal 148
- [ c ] Interpolation Override 149
- [ d ] System Work Number 150
- External equipment 152
- Allocation register 152
- Reference of 153
- M-EXECUTOR 153
- Executing program number 158
- Executing program bit 158
- : Program number of MPS 160
- : Program number of SPS 160
- Sequence program 161
- Sequence program alarm 162
- 5.2.4 Ladder Drawings (DWG) 163
- [ a ] Execution Control 164
- DWG.X YY . ZZ 165
- DWG.X 00 165
- DWG Description: 165
- System starts 166
- ( 3 ) Functions 167
- 5.3 Registers 168
- 5.3.1 Types of Registers 169
- ( 2 ) Function Registers 169
- 5.3.2 Data Types 171
- Equivalent 172
- 5.3.4 Register Designation 173
- 5.4 Self-configuration 174
- INIT Switch and RAM Data 176
- ( 2 ) Procedure Using MPE720 177
- [ a ] I/O Allocations 183
- [ b ] 218IFA Definition 183
- Master 184
- [ d ] SVR Definition 185
- [ e ] M-EXECUTOR Definition 185
- MP2300S by Ethernet 190
- 6.1 Communication Methods 191
- Ethernet 192
- Automatic receive function 192
- MSG-SND function 192
- MP2300S MP2300 193
- Set transmission parameters 198
- Communication device = 218IF 200
- Line number = 1 200
- Continued on the next page 203
- MSG-RCV function 206
- Setting Example 207
- 6. Check the setting values 210
- Communication device 211
- Circuit number=1 211
- I/O Message Communication 225
- (Local station) 226
- (Remote station) 226
- Data Update Timing 229
- Circuit number = 1 243
- (GP3000 series) 254
- Touch panel 255
- GP3000 series 255
- [ a ] How to Set up GP-Pro EX 259
- Port Number 260
- GP-Pro EX Screen 262
- Corporation (MELSEC protocol) 264
- Complement 271
- 7.1 Function 280
- 7.2.1 Supported Version 281
- Select SVB-01 even when 282
- Set the synchronous 282
- ( 2 ) Slave Side Setting 283
- Refer to 285
- 7.3.1 and 7.3.2 285
- Refer to 7.3.6 286
- 7.3 Operation 287
- 7.3.1 Input/Output Register 288
- Slave status details 288
- Output data details 288
- Input data details 289
- Control bit details 290
- 7 6 5 4 3 2 1 0 293
- × 2 + MECHATROLINK cycle 294
- × 2 + 1 ms 294
- Master processing 295
- Slave processing 295
- [ a ] Master Side 296
- Application Example 297
- [ b ] Slave Side 299
- 7.4 Precautions 306
- Maintenance and Inspection 308
- 8.1 Daily Inspections 309
- 8.2 Regular Inspections 310
- PROHIBITED 310
- Red lead Black lead 311
- Troubleshooting 312
- 9.2 LED Indicator Meanings 314
- 9.3 Problem Classification 315
- 9.3.1 Overview 315
- 9.4 Troubleshooting Details 317
- Error code 317
- Index error 317
- ■ Complement 319
- Appendices 323
- MSG-SND 324
- 1.0s 1.0s 325
- 2.0s 2.0s 325
- A.1 System Service Registers 326
- ( 3 ) DWG.L Only 326
- A.2 System Status 328
- A.3 System Error Status 330
- A.7 System I/O Error Status 334
- A.7 System I/O Error Status 334
- A.9 Interrupt Status 336
- A.9.1 Interrupt Status List 336
- A.10 Module Information 337
- A.10 Module Information 337
- A.11 MPU-01 System Status 338
- A.11 MPU-01 System Status 338
- System Word Number 9 to 16 340
- (cont’d) 341
- ( 1 ) Power ON 342
- ( 2 ) Normal Operation 343
- MPE720 㧔online㧕 344
- HDD in personal computer 344
- PACK Tab and displays 346
- D.1 Σ-V SERVOPACK 352
- D.2 Σ-III SERVOPACK 353
- D.3 Σ-II SERVOPACK 354
- D.4 Σ-I SERVOPACK 356
- Key location 357
- E.1 Fixed Parameter List 358
- E.1 Fixed Parameter List 359
- E.2 Setting Parameter List 360
- E.2 Setting Parameter List 360
- F.1 Preparation 369
- F.2 Procedure 369
- E-INIT 2 370
- Controller search function 371
- Personal computer IP address 372
- ( 1 ) Input Item 374
- 1. Busy (in process) 376
- 3. Error (error occurred) 377
- ( 1 ) MEMOBUS Parameter List 378
- BUS Protocols 379
- PARAM09 (input relay offset) 380
- ( 3 ) Status (PARAM00) 381
- ( d ) PARAMETER (parameter) 382
- ( 6 ) Function Code (PARAM04) 384
- ( 7 ) Data Address (PARAM05) 385
- ( 8 ) Data Size (PARAM06) 386
- ( 3 ) Status (PARAM01) 389
- ( 5 ) Option (PARAM03) 390
- ( a ) 218IFA Setting Example 399
- ( b ) 218IF Setting Example 399
- 83H Data size error 400
- ( 5 ) Data Address (PARAM05) 402
- Function 404
- ( 2 ) When Writing 405
- 5. Cir-No (circuit number) 410
- [In Normal Condition] 412
- [When Forcibly Aborted] 412
- [When Error Occurred] 412
- PARAM09 (input relay offset) 416
- [ d ] PARAMETER (parameter) 418
- : Available, –: Not available 421
- [ a ] 218IFA Setting Example 427
- [ b ] 218IF Setting Example 427
- ( 5 ) Data Size (PARAM06) 434
- ( 1 ) Overview of Functions 442
- ( 2 ) Supported Versions 442
- ( 4 ) Operation Procedure 444
- H.2 Security 446
- [ f ] Releasing Security 448
- Use the following procedure 452
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