Yaskawa MotionWorks IEC Hardware Manuel d'utilisateur

MotionWorks IEC Hardware Configuration – 2013-03-26 1 MotionWorks IEC Hardware Configuration 2013-03-26

MotionWorks IEC Hardware Configuration – 2013-03-26 7 1.4.1 Configuration Comparison This window will appear if differences were detected in the c

MotionWorks IEC Hardware Configuration – 2013-03-26 97 Welcome Page The Welcome page opens when the user connects to an MPiec controller using In

MotionWorks IEC Hardware Configuration – 2013-03-26 98 Use the Welcome page to confirm the firmware version, model number, and axis count capabilit

MotionWorks IEC Hardware Configuration – 2013-03-26 99 Alarm Reference Common amplifier alarms are listed on the Alarm Reference page. If the u

MotionWorks IEC Hardware Configuration – 2013-03-26 100 • Sigma-5 with rotary motor: SIEPS8000043, see Section 6.1 • Sigma-5 with linear motor: SIE

MotionWorks IEC Hardware Configuration – 2013-03-26 101 Axis Grid The axis grid page provides details about the axes connected to the controller.

MotionWorks IEC Hardware Configuration – 2013-03-26 102 I/O Grid A sample I/O grid of a MP2300Siec motion control system including an LIO option ca

MotionWorks IEC Hardware Configuration – 2013-03-26 103 Machine Operations Feedback position in user units, velocity in user units/sec, and torqu

MotionWorks IEC Hardware Configuration – 2013-03-26 104 Machine Operations Alarms The Alarms tab on the Machine Operations page lists all curren

MotionWorks IEC Hardware Configuration – 2013-03-26 105 Data Logs Feedback position, velocity, torque, commanded position, velocity, torque and po

MotionWorks IEC Hardware Configuration – 2013-03-26 106 Once the End Trigger condition is satisfied, the log is automatically displayed. The data

MotionWorks IEC Hardware Configuration – 2013-03-26 8 Saving while offline Saving while online with the controller

MotionWorks IEC Hardware Configuration – 2013-03-26 107 Axis Parameters Select drive parameters are displayed on the Axis Params tab of the Machine

MotionWorks IEC Hardware Configuration – 2013-03-26 108 Diagnostics The Diagnostics tab shows the total free memory (1.6 MB in the figure below)

MotionWorks IEC Hardware Configuration – 2013-03-26 109

MotionWorks IEC Hardware Configuration – 2013-03-26 110 Configuration Sets The Configuration Sets page contains a listing of all the XML configurat

MotionWorks IEC Hardware Configuration – 2013-03-26 111 Drive Parameters Starting in firmware version 2.2.1, the web server has a new page to send

MotionWorks IEC Hardware Configuration – 2013-03-26 112 Ethernet Configuration The following Ethernet Configuration details of the controller can b

MotionWorks IEC Hardware Configuration – 2013-03-26 113 MP2600iec Ethernet Configuration The MP2600iec has two Ethernet connections, Cn11A and Cn11

MotionWorks IEC Hardware Configuration – 2013-03-26 114 Project Archive It is possible to download or upload the complete application image to / fr

MotionWorks IEC Hardware Configuration – 2013-03-26 115 Machine Commissioning Note Sending archive.zip to the controller does not send parameters t

MotionWorks IEC Hardware Configuration – 2013-03-26 116 Update Firmware Firmware should not be upgraded on machines running in production environme

MotionWorks IEC Hardware Configuration – 2013-03-26 9 1.7 Additional Tools 1.7.1 User File Download To add a user data file to any MPiec Series Con

MotionWorks IEC Hardware Configuration – 2013-03-26 117 3. Login using the following Login name and password: Controller Login Password MP3200ie

MotionWorks IEC Hardware Configuration – 2013-03-26 118 Note that the factory default Login and passwords may be changed by the user according to

MotionWorks IEC Hardware Configuration – 2013-03-26 119 5. The firmware update screen will appear: If the physical SUP switch was not enabled bef

MotionWorks IEC Hardware Configuration – 2013-03-26 120 9. Click on the ‘Update Firmware’ link in the left menu. 10. Select a firmware.zip file

MotionWorks IEC Hardware Configuration – 2013-03-26 121 11. Click ‘Browse’ to locate the file. 12. Click ‘Upload’ to upload the firmware file to

MotionWorks IEC Hardware Configuration – 2013-03-26 122 16. Verify correct version loaded on the controller by clicking ‘Welcome’ (to refresh) in

MotionWorks IEC Hardware Configuration – 2013-03-26 123 Initialize SRAM Data that is reset when the SRAM is initialized: 1. Absolute Encoder offse

MotionWorks IEC Hardware Configuration – 2013-03-26 124 Controller AlarmID List The following is a list of alarm codes that are reported in the Har

MotionWorks IEC Hardware Configuration – 2013-03-26 125 Hex Code Description ErrorClass AxisErrorID ErrorClass+AxisErrorID output from MC_Read

MotionWorks IEC Hardware Configuration – 2013-03-26 126 Hex Code Description ErrorClass AxisErrorID ErrorClass+AxisErrorID output from MC_Read

MotionWorks IEC Hardware Configuration – 2013-03-26 10 7) The file will be visible from the web server Project Archive list, and it is possible to

MotionWorks IEC Hardware Configuration – 2013-03-26 127 Hex Code Description ErrorClass AxisErrorID ErrorClass+AxisErrorID output from MC_Read

MotionWorks IEC Hardware Configuration – 2013-03-26 128 Hex Code Description ErrorClass AxisErrorID ErrorClass+AxisErrorID output from MC_Read

MotionWorks IEC Hardware Configuration – 2013-03-26 129 Hex Code Description ErrorClass AxisErrorID ErrorClass+AxisErrorID output from MC_Read

MotionWorks IEC Hardware Configuration – 2013-03-26 130 Hex Code Description ErrorClass AxisErrorID ErrorClass+AxisErrorID output from MC_Read

MotionWorks IEC Hardware Configuration – 2013-03-26 131 Hex Code Description ErrorClass AxisErrorID ErrorClass+AxisErrorID output from MC_Read

MotionWorks IEC Hardware Configuration – 2013-03-26 132 Hex Code Description ErrorClass AxisErrorID ErrorClass+AxisErrorID output from MC_Read

MotionWorks IEC Hardware Configuration – 2013-03-26 133 Hex Code Description ErrorClass AxisErrorID ErrorClass+AxisErrorID output from MC_Read

MotionWorks IEC Hardware Configuration – 2013-03-26 134 Hex Code Description ErrorClass AxisErrorID ErrorClass+AxisErrorID output from MC_Read

MotionWorks IEC Hardware Configuration – 2013-03-26 135 Hex Code Description ErrorClass AxisErrorID ErrorClass+AxisErrorID output from MC_Read

MotionWorks IEC Hardware Configuration – 2013-03-26 136 Hex Code Description ErrorClass AxisErrorID ErrorClass+AxisErrorID output from MC_Read

MotionWorks IEC Hardware Configuration – 2013-03-26 11 1.8 MECHATROLINK Configuration 1.8.1 Adding a Motion Axis There are a couple methods to add

MotionWorks IEC Hardware Configuration – 2013-03-26 137 Hex Code Description ErrorClass AxisErrorID ErrorClass+AxisErrorID output from MC_Read

MotionWorks IEC Hardware Configuration – 2013-03-26 138 Hex Code Description ErrorClass AxisErrorID ErrorClass+AxisErrorID output from MC_Read

MotionWorks IEC Hardware Configuration – 2013-03-26 139 Hex Code Description ErrorClass AxisErrorID ErrorClass+AxisErrorID output from MC_Read

MotionWorks IEC Hardware Configuration – 2013-03-26 140 Hex Code Description ErrorClass AxisErrorID ErrorClass+AxisErrorID output from MC_Read

MotionWorks IEC Hardware Configuration – 2013-03-26 141 Hex Code Description ErrorClass AxisErrorID ErrorClass+AxisErrorID output from MC_Read

MotionWorks IEC Hardware Configuration – 2013-03-26 142 Hex Code Description ErrorClass AxisErrorID ErrorClass+AxisErrorID output from MC_Read

MotionWorks IEC Hardware Configuration – 2013-03-26 143 Hex Code Description ErrorClass AxisErrorID ErrorClass+AxisErrorID output from MC_Read

MotionWorks IEC Hardware Configuration – 2013-03-26 144 Hex Code Description ErrorClass AxisErrorID ErrorClass+AxisErrorID output from MC_Read

MotionWorks IEC Hardware Configuration – 2013-03-26 145 Hex Code Description ErrorClass AxisErrorID ErrorClass+AxisErrorID output from MC_Read

MotionWorks IEC Hardware Configuration – 2013-03-26 146 Hex Code Description ErrorClass AxisErrorID ErrorClass+AxisErrorID output from MC_Read

MotionWorks IEC Hardware Configuration – 2013-03-26 12 Figure 1: Two SGDV MECHATROLINK II axes and a virtual axis configured on an MP2300siec cont

MotionWorks IEC Hardware Configuration – 2013-03-26 147 Hex Code Description ErrorClass AxisErrorID ErrorClass+AxisErrorID output from MC_Read

MotionWorks IEC Hardware Configuration – 2013-03-26 148 Hex Code Description ErrorClass AxisErrorID ErrorClass+AxisErrorID output from MC_Read

MotionWorks IEC Hardware Configuration – 2013-03-26 149 Hex Code Description ErrorClass AxisErrorID ErrorClass+AxisErrorID output from MC_Read

MotionWorks IEC Hardware Configuration – 2013-03-26 150 Hex Code Description ErrorClass AxisErrorID ErrorClass+AxisErrorID output from MC_Read

MotionWorks IEC Hardware Configuration – 2013-03-26 151 Hex Code Description ErrorClass AxisErrorID ErrorClass+AxisErrorID output from MC_Read

MotionWorks IEC Hardware Configuration – 2013-03-26 152 Hex Code Description ErrorClass AxisErrorID ErrorClass+AxisErrorID output from MC_Read

MotionWorks IEC Hardware Configuration – 2013-03-26 153 Hex Code Description ErrorClass AxisErrorID ErrorClass+AxisErrorID output from MC_Read

MotionWorks IEC Hardware Configuration – 2013-03-26 154 Hex Code Description ErrorClass AxisErrorID ErrorClass+AxisErrorID output from MC_Read

MotionWorks IEC Hardware Configuration – 2013-03-26 155 Hex Code Description ErrorClass AxisErrorID ErrorClass+AxisErrorID output from MC_Read

MotionWorks IEC Hardware Configuration – 2013-03-26 156 Hex Code Description ErrorClass AxisErrorID ErrorClass+AxisErrorID output from MC_Read

MotionWorks IEC Hardware Configuration – 2013-03-26 13 Figure 2: Thirty two MECHATROLINK III SGDVs and eight virtual axes configured on an MP3200i

MotionWorks IEC Hardware Configuration – 2013-03-26 157 Hex Code Description ErrorClass AxisErrorID ErrorClass+AxisErrorID output from MC_Read

MotionWorks IEC Hardware Configuration – 2013-03-26 158 Hex Code Description ErrorClass AxisErrorID ErrorClass+AxisErrorID output from MC_Read

MotionWorks IEC Hardware Configuration – 2013-03-26 159 Hex Code Description ErrorClass AxisErrorID ErrorClass+AxisErrorID output from MC_Read

MotionWorks IEC Hardware Configuration – 2013-03-26 160 Hex Code Description ErrorClass AxisErrorID ErrorClass+AxisErrorID output from MC_Read

MotionWorks IEC Hardware Configuration – 2013-03-26 161 Hex Code Description ErrorClass AxisErrorID ErrorClass+AxisErrorID output from MC_Read

MotionWorks IEC Hardware Configuration – 2013-03-26 162 Controller Memory

MotionWorks IEC Hardware Configuration – 2013-03-26 14 1.8.1.1 Multi Axis Parameter Editing Machine configurations with multiple axes that have sim

MotionWorks IEC Hardware Configuration – 2013-03-26 15 4. Select the axes whose parameters must be set/edited. 5. Select the parameters that mu

MotionWorks IEC Hardware Configuration – 2013-03-26 16 7. Select the parameters to be edited and transfer them to the Selected group as shown be

MotionWorks IEC Hardware Configuration – 2013-03-26 17 8. Enter the desired value in the value column. Press 'Enter'. The parameter

MotionWorks IEC Hardware Configuration – 2013-03-26 18 1.8.1.2 Copy - Paste All Parameters Copy All Parameters to Multiple Drives 1. Select the

MotionWorks IEC Hardware Configuration – 2013-03-26 19 2. To copy parameters to multiple axes, select 'Paste Parameters to Multiple Axes&apos

MotionWorks IEC Hardware Configuration – 2013-03-26 20 1.8.2 Motion axis I/O Addressing Global variable groups are automatically added to the glo

MotionWorks IEC Hardware Configuration – 2013-03-26 21 Applicability of specific variables will depend on the hardware support for such features. P

MotionWorks IEC Hardware Configuration – 2013-03-26 22

MotionWorks IEC Hardware Configuration – 2013-03-26 23

MotionWorks IEC Hardware Configuration – 2013-03-26 24

MotionWorks IEC Hardware Configuration – 2013-03-26 25

MotionWorks IEC Hardware Configuration – 2013-03-26 26 1.8.3 Limits Set the soft position, torque, and velocity limits for the application. The

MotionWorks IEC Hardware Configuration – 2013-03-26 iii Table Of Contents 1.1 Hardware Configuration Overview ...

MotionWorks IEC Hardware Configuration – 2013-03-26 27 1.8.4 Servo Tuning Please refer to the following tuning documents on www.yaskawa.com: 1.

MotionWorks IEC Hardware Configuration – 2013-03-26 28 1.8.5 Performing a Test Move Warning: Be sure to safeguard the machine during the Test Mov

MotionWorks IEC Hardware Configuration – 2013-03-26 29 Direction Select from forward only, reverse only, and forward & reverse motion. Distance

MotionWorks IEC Hardware Configuration – 2013-03-26 30 For each of the AlarmClasses listed above, the AlarmID is the alarm code generated by the de

MotionWorks IEC Hardware Configuration – 2013-03-26 31 1.8.7 Remote I/O Devices MECHATROLINK I/O devices, such as those provided by Yaskawa and Pho

MotionWorks IEC Hardware Configuration – 2013-03-26 32 More information on the IL MII BK units can be obtained from the Phoenix Contact Bus Couple

MotionWorks IEC Hardware Configuration – 2013-03-26 33 Warning: If user unit parameters are changed after MC_SetPosition has been executed to st

MotionWorks IEC Hardware Configuration – 2013-03-26 34 1.8.9 All Parameters This tab displays a list of all parameters related to the selected axis

MotionWorks IEC Hardware Configuration – 2013-03-26 35 1.8.10 S-Curve Settings The configuration page allows the user to select whether an axis i

MotionWorks IEC Hardware Configuration – 2013-03-26 36 using MC_WriteBoolParameter and parameter number 1300. The filter time constant (parameter 1

MotionWorks IEC Hardware Configuration – 2013-03-26 1 1.1 Hardware Configuration Overview The Hardware Configuration provides a means of setting de

MotionWorks IEC Hardware Configuration – 2013-03-26 37 Commanded velocity in blue (Parameter 1011). Post S - curve commanded velocity in red (Para

MotionWorks IEC Hardware Configuration – 2013-03-26 38 4. Increase Pn51B , the allowable deviation between motor and load positions that will trig

MotionWorks IEC Hardware Configuration – 2013-03-26 39 A snap shot of the dual encoder tab is shown below Example 2: Assume a fully closed loo

MotionWorks IEC Hardware Configuration – 2013-03-26 40 Therefore, the number of pulses in one rev of the external encoder = 5000 x 256 = 1280000 pu

MotionWorks IEC Hardware Configuration – 2013-03-26 41 Therefore, 1 rev of the motor = (5000 / (99.7/50.265)) = 2513 pitches / rev of motor. Pn20A

MotionWorks IEC Hardware Configuration – 2013-03-26 42 1.9 Ethernet Communications 1.9.1 Ethernet Connections Overview The controller can operate a

MotionWorks IEC Hardware Configuration – 2013-03-26 43 1.9.0 Connecting to the Controller The project IP address is located under the TCP/IP Settin

MotionWorks IEC Hardware Configuration – 2013-03-26 44 Application Note Setup for remote EtherNet/IP connections using Routers: AN.MP2000iec.04

MotionWorks IEC Hardware Configuration – 2013-03-26 45 Global Variable Groups created when EthetNet/IP adapter and MODBUS TCP server (slave) commu

MotionWorks IEC Hardware Configuration – 2013-03-26 46 The Modbus memory map for an MPiec controller when configured as a server (slave) is shown

MotionWorks IEC Hardware Configuration – 2013-03-26 2 Menu on Hardware Configuration 1.2 Accessing the Configuration Open a project before laun

MotionWorks IEC Hardware Configuration – 2013-03-26 47 The figure below shows the relationship between Modbus registers and IEC application memory.

MotionWorks IEC Hardware Configuration – 2013-03-26 48 Selected Modbus clients and related Application Notes available on www.yaskawa.com : Red Li

MotionWorks IEC Hardware Configuration – 2013-03-26 49 Supported Modbus Function Codes: Function Code Description Modbus Address Range (On Slave)

MotionWorks IEC Hardware Configuration – 2013-03-26 50 Step 3: The Add Modbus TCP Device window is shown below. Enter a name for the slave device

MotionWorks IEC Hardware Configuration – 2013-03-26 51 Step 5: Click on the new Modbus Device in the Configuration tree at the left of the screen.

MotionWorks IEC Hardware Configuration – 2013-03-26 52 The starting address field is the offset that will be used in the MODBUS slave for the memo

MotionWorks IEC Hardware Configuration – 2013-03-26 53 Step 6: When finished entering data blocks, Save the Configuration. This will create the gl

MotionWorks IEC Hardware Configuration – 2013-03-26 54 Any IEC data type can be transmitted or requested from the remote device, provided the data

MotionWorks IEC Hardware Configuration – 2013-03-26 55 Modbus TCP Status Variable This variable reflects the connection status. It can be used i

MotionWorks IEC Hardware Configuration – 2013-03-26 56 Figure 7: Modbus status WORD Modbus errors in the lower byte of the status variable ONLY

MotionWorks IEC Hardware Configuration – 2013-03-26 3 1.4 Online vs. Offline Offline When the Hardware Configuration is offline, all data displaye

MotionWorks IEC Hardware Configuration – 2013-03-26 57 type, for example because it is not configured and is being asked to return register values.

MotionWorks IEC Hardware Configuration – 2013-03-26 58 since the MODBUS protocol is unaware of the significance of any particular value of any part

MotionWorks IEC Hardware Configuration – 2013-03-26 59 detected a parity error in the memory. The client (or master) can retry the request, but se

MotionWorks IEC Hardware Configuration – 2013-03-26 60 1.9.4 Using an EtherNet/IP Scanner to Communicate to the MPiec Controller as an Adapter 12 p

MotionWorks IEC Hardware Configuration – 2013-03-26 61 Global Variable Groups created when EtherNet/IP adapter communication capabilities are enab

MotionWorks IEC Hardware Configuration – 2013-03-26 62 The following diagram shows the relationship of Ethernet/IP instances to Global Variable map

MotionWorks IEC Hardware Configuration – 2013-03-26 63 1.9.5 Adding an Ethernet/IP Adapter 1.9.5 Adding an Ethernet/IP Adapter EtherNet/IP data is

MotionWorks IEC Hardware Configuration – 2013-03-26 64 Steps to add an EtherNet/IP adapter: Step 1: Launch the Hardware Configuration Step 2: R

MotionWorks IEC Hardware Configuration – 2013-03-26 65 Step 3: Enter the Adapter details in the "Add EtherNet/IP" Adapter dialog box.

MotionWorks IEC Hardware Configuration – 2013-03-26 66 Step 4: Once the adapter device has been configured, the adapter device is shown in the con

MotionWorks IEC Hardware Configuration – 2013-03-26 4 function is executed, the project's Hardware Configuration is stored in the controller.

MotionWorks IEC Hardware Configuration – 2013-03-26 67 Step 8: Open the Global Variables list. Right click on the I/O group header to “Insert Vari

MotionWorks IEC Hardware Configuration – 2013-03-26 68 Lower 3 Nibbles Description 0x001 Unable to connect (timeout) 0x002 I/O Timeout 0x003

MotionWorks IEC Hardware Configuration – 2013-03-26 69 Lower 3 Nibbles Description either the Connection Type or Priority of the Connection. 0x109

MotionWorks IEC Hardware Configuration – 2013-03-26 70 Lower 3 Nibbles Description 0x11A Target Application cannot support any more connections 0x

MotionWorks IEC Hardware Configuration – 2013-03-26 71 Lower 3 Nibbles Description adapter. 0x316 Path and Connection not equal in close 0x317 Ei

MotionWorks IEC Hardware Configuration – 2013-03-26 72 Application Notes/Example Code on selected EtherNet/IP adapter devices Please refer to subs

MotionWorks IEC Hardware Configuration – 2013-03-26 73 Cognex Vision System Phoenix EtherNet/IP module

MotionWorks IEC Hardware Configuration – 2013-03-26 74 RTA Gateway SICK Vision Sensor SMC IO

MotionWorks IEC Hardware Configuration – 2013-03-26 75 Turck IO Yaskawa VFD

MotionWorks IEC Hardware Configuration – 2013-03-26 76 Wago Coupler

MotionWorks IEC Hardware Configuration – 2013-03-26 5 Process of going online with an MPiec Series Controller It is not possible to go online with

MotionWorks IEC Hardware Configuration – 2013-03-26 77 1.9.6 OPC Server By default, all global variables are transmitted as OPC data. To disable

MotionWorks IEC Hardware Configuration – 2013-03-26 78 Any data in the application program can be set as OPC data by simply clicking the checkbox

MotionWorks IEC Hardware Configuration – 2013-03-26 79 1.10 External Encoders Option cards LIO-01, LIO-02, and LIO-06 have an encoder input availab

MotionWorks IEC Hardware Configuration – 2013-03-26 80 Steps to configure an external encoder 1) Enable the External Encoder 2) Set User Units 3)

MotionWorks IEC Hardware Configuration – 2013-03-26 81 Three pulse counting methods are supported: • Sign (One channel counts, the other indicat

MotionWorks IEC Hardware Configuration – 2013-03-26 82

MotionWorks IEC Hardware Configuration – 2013-03-26 83 AXIS_REF assignment in IEC Application code: Once the configuration is complete and power c

MotionWorks IEC Hardware Configuration – 2013-03-26 84 1.11 Option Slots Each slot in the controller can optionally contain a module, or remain em

MotionWorks IEC Hardware Configuration – 2013-03-26 85 Global variables for the following remote I/O devices with a fixed number of I/O will automa

MotionWorks IEC Hardware Configuration – 2013-03-26 86 1.12 Task Priority Planning The following table serves as a guide to architect the execution

MotionWorks IEC Hardware Configuration – 2013-03-26 6 3. Click 'Send offline configuration to controller then reboot controller’. Note that

MotionWorks IEC Hardware Configuration – 2013-03-26 87 IEC Application Task - Priority 1 43 IEC Application Task - Priority 2 44 IEC Application

MotionWorks IEC Hardware Configuration – 2013-03-26 88 IEC Application Task - Priority 12 54 These PLC Tasks interrupted by network and EIP IEC Ap

MotionWorks IEC Hardware Configuration – 2013-03-26 89 than IEC Tasks 81 Server communication 82 83 System Tasks with lower priority than IEC Tasks

MotionWorks IEC Hardware Configuration – 2013-03-26 90 1.13 Creating an Archive.ZIP In MotionWorks IEC version 2.5.0 and greater, a new feature was

MotionWorks IEC Hardware Configuration – 2013-03-26 91

MotionWorks IEC Hardware Configuration – 2013-03-26 92 2. Web Server Web Server Overview The Web Server is built into the controller firmware and a

MotionWorks IEC Hardware Configuration – 2013-03-26 93 The web server's factory default logins, passwords, and access levels can be changed t

MotionWorks IEC Hardware Configuration – 2013-03-26 94 The functions available without logging in are: 1) Welcome Page (displays Firmware version a

MotionWorks IEC Hardware Configuration – 2013-03-26 95 Level 2 (Additional functions) of the controller web server can be accessed using the follo

MotionWorks IEC Hardware Configuration – 2013-03-26 96 levels in the controller’s web server. Please refer to AN.MCD.09.069 for details on how this