Yaskawa MP2300S Basic Module Manual de usuario Pagina 368
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Appendix E Motion Parameter Details
E.3 Monitoring Parameter List
A-46
* Valid only when using an MP2300SCPU ver 2.61 or later and Σ-V series servo drive.
IL38
Servo Driver User
Constant Reading
Data (SERVOPACK
Parameter Reading
Data for
MECHATROLINK
Command Area)
Stores the data of the parameter being read.
Yes
IL3A
Supplementary Servo
Driver User Constant
Reading Data
(SERVOPACK
Parameter Reading
Data for
MECHATROLINK
Subcommand Area)
Stores the data of the parameter being read.
Yes
IW3F Motor Type
Stores the type of motor actually connected.
0: Rotation type motor
1: Linear motor
Yes
IL40 Feedback Speed Unit is according to OW03, bits 0 to 3 (Speed Unit).
Yes Ye s
IL42
Feedback
torque/thrust
Unit is according to OW03, bits 12 to 15 (Torque Unit).
Yes Ye s
IW44 to
IW55
− Reserved
−−
IL56
Fixed Parameter
Monitor
Stores the data of the fixed parameter when FIXPRM-RD has been
specified in the Motion Subcommand.
Yes Ye s
IW58 to
IW5C
− Reserved
−−
IL5E
Encoder Position
When the Power is
OFF (Lower 2 Words)
1 = 1 pulse
Yes
IL60
Encoder Position
When the Power is
OFF (Upper 2 Words)
1 = 1 pulse
Yes
IL62
Pulse Position When
the Power is OFF
(Lower 2 Words)
1 = 1 pulse
Yes
IL64
Pulse Position when
the Power is OFF
(Upper 2 Words)
1 = 1 pulse
Yes
IW66 to
IW6F
− Res
erved
−−
IW70 to
IW7F
Response
Buffer for
Transparent
Command Mode
Stores the response data when MECHATROLINK Servo commands
are specified directly.
Yes
(cont’d)
Register No. Name Contents SVB SVR
- 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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