Yaskawa MP2000 Manuel d'utilisateur Page 1

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 1/168 Doc Number: EF.MCD.05.101 11/17/2005 MP2000 Series Function Block

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 10/168 Doc Number: EF.MCD.05.101 11/17/2005 <CAM> Block Fault Co

TECHNICAL NOTE <SLAVEOFF> Function Block Operation Notes • Rising edge of EXECUTE input initiates block operation, and all block input values

TECHNICAL NOTE <SLAVEOFF> Input and Output Register Map Output Registers The following registers are used as outputs from the function block

TECHNICAL NOTE <SLAVEOFF> Working Register This table outlines the data in the eight registers used by the Home function block. There is not

TECHNICAL NOTE STOP function Function block for MP2000 series <STOP> Function Block Summary This function block commands a controlled motio

TECHNICAL NOTE <STOP> Input and Output Register Map Output Registers Output Type Description RUNNING Bit High while block has control

TECHNICAL NOTE <STOP> Working Registers This table outlines the data in the seven registers used by the function block. There is not usually a

TECHNICAL NOTE SERVO ENABLE POWER function Function block for MP2000 series <SVON> Function Block Summary This function block controls the

TECHNICAL NOTE o Servo will enable only if axis is normal (SVCRDY=high, ALM=low, PON=high), and HS-1SEC=high. o The S-Curve filter type will be s

TECHNICAL NOTE See below for a table of RDA values: Table: Axis #1 RDA values from SVON Axis Mapping Run Status-1 MW30200 IW8000 - Run St

TECHNICAL NOTE <SVON> Input and Output Register Map Output Registers The following registers are used as outputs from the function block. T

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 11/168 Doc Number: EF.MCD.05.101 11/17/2005 <CAM> Working Regist

TECHNICAL NOTE <SVON> Block Fault Conditions: The following table outlines several situations that may cause an error. The block error can be

TECHNICAL NOTE Bit 0 Working latchedfirst High when Latch is detected Bit 1 Working rdaSpdErr RDA error. Motor rated speed is set to zero

TECHNICAL NOTE AW00044 Working Timer Timer for error detection of servo on AW00045 Working Revision Revision Level of the function block

TECHNICAL NOTE TUNING function Function block for MP2000 series <TUNING> Function Block Summary This function block sets the speed feed for

TECHNICAL NOTE • Six words are used as working registers for this function, starting at the address in Data06W. <TUNING>Input and Output Re

TECHNICAL NOTE <TUNING> Block Fault Condition: The following table outlines several situations that may cause an error, and will turn on the b

TECHNICAL NOTE <TUNING> Working Registers This table outlines the data in the six registers used by the function block. There is not usually

TECHNICAL NOTE ABSOLUTE ENCODER RESET Function Block Function block for MP2000 Series SVB Module <AENC_RST> Function Block Summary This functi

TECHNICAL NOTE • If EXECUTE has been turned ON, But the Absolute encoder rest operation does not complete within 5 seconds, ERROR output bit will tu

TECHNICAL NOTE <AENC_RST> Block Fault Conditions: The following table outlines several situations that may cause an error, and will turn on th

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 12/168 Doc Number: EF.MCD.05.101 11/17/2005 Bit E Working cmndError

TECHNICAL NOTE Bit 8 Working START_STEP2 Goes High at the start of Step 2. Step1 and Step2 operation are different if A81 alarm exist or not. Bit

TECHNICAL NOTE <AENC_RST> Flow Chart STARTEXECUTEENDYESAXISIN NOP?AXISSERVOON?YESAXISA.81ALARM?NOSET RUNNINGOUTPUTISSUE ALARMRESETSTART ERRORTI

TECHNICAL NOTE ALARM RESET Function Block Function block for MP2000 series <ALRMRST> Function Block Summary The “ALARMRST” block is used to

TECHNICAL NOTE • This block will also set SW00041=0 (CPU error status system register). Note that this register is not used to trigger any alarms.

TECHNICAL NOTE <ALRMRST> Block Error Condition: The following table outlines several situations that may cause an error, and will turn on the

TECHNICAL NOTE DEFINE POSITION Function Block Function Block for MP2000 Series <DEF_POS> Function Block Summary This function block adjusts th

TECHNICAL NOTE • Ten words are used as working registers for this function, starting at the address in Data10W <DEF_POS> Input and Output Reg

TECHNICAL NOTE <DEF_POS> Block Fault Conditions: The following table outlines several situations that may cause an error, and will turn on the

TECHNICAL NOTE <DEF_POS> Working Registers This table outlines the data in the ten registers used by the function block. There is not usually

TECHNICAL NOTE <DEF_POS> Flow Chart STARTFIRST HIGHSPEED SCANABSOLUTEENCODERSET ABSOLUTEOFFSET TOZEROEND1NOYES1NOYESEXECUTENOIN RDARANGEYESSET

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 13/168 Doc Number: EF.MCD.05.101 11/17/2005 CAM RECOVERY function Func

TECHNICAL NOTE RDA INITIALIZATION #1 Function Function block for MP2000 series <RDAINIT1> Function Block Summary The Reserved Data Area (RD

TECHNICAL NOTE <RDAINIT1> Input and Output Register Map Output Registers The following registers are used as outputs from the function block

TECHNICAL NOTE RDA INITIALIZATION #2 function Function block for MP2000 series <RDAINIT2> Function Block Summary The Reserved Data Area (RD

TECHNICAL NOTE <RDAINIT2> Input and Output Register Map Output Registers The following registers are used as outputs from the function block

TECHNICAL NOTE READ SERVO ERROR function Function block for MP2000 series <RDERROR> Function Block Summary This function block displays se

TECHNICAL NOTE <RDERROR> Input and Output Register Map Output Registers The following registers are used as outputs from the function block.

TECHNICAL NOTE <RDERROR> Axis Fault Condition: The following table outlines several situations that may cause an error. The block error can b

TECHNICAL NOTE <RDERROR> Appendix: File: MP2000_IndividualFunctionDocument_RevC 137/168 Doc Number: eng.MCD.05.101 11/17

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 138/168 Doc Number: eng.MCD.05.101 11/17/2005

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 139/168 Doc Number: eng.MCD.05.101 11/17/2005

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 14/168 Doc Number: EF.MCD.05.101 11/17/2005 <CAM_RECV> Function B

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 140/168 Doc Number: eng.MCD.05.101 11/17/2005

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 141/168 Doc Number: eng.MCD.05.101 11/17/2005

TECHNICAL NOTE READ RDA PARAMETER function Function block for MP2000 series <RDPARAM> Function Block Summary This function block reads the

TECHNICAL NOTE <RDPARAM> Input and Output Register Map Output Registers The following registers are used as outputs from the function block.

TECHNICAL NOTE <RDPARAM> Block Fault Condition: The following table outlines several situations that may cause an error, and will turn on the

TECHNICAL NOTE <RDPARAM> Parameter List The following tables show the accessible parameters by RDPARAM. # 001-#999 are PLC Open specificatio

TECHNICAL NOTE 1000 Clear Pending Action 1001 Abort Stop axis discontinuous motion (RDA#031) 1002 Command Bit One Scan Pulse of Motion Bl

TECHNICAL NOTE 1060 CAM type OFF: Return, ON: One way 1061 Positive Cycle End On when CAM Master position, includes CAM-Shift, rolled over i

TECHNICAL NOTE WRITE RDA PARAMETER function Function block for MP2000 series <WRTPARAM> Function Block Summary This function block writes v

TECHNICAL NOTE <WRTPARAM> Input and Output Register Map Output Registers The following registers are used as outputs from the function block.

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 15/168 Doc Number: EF.MCD.05.101 11/17/2005 • CAM Table: Cam table is

TECHNICAL NOTE <WRTPARAM> Block Fault Condition: The following table outlines several situations that may cause an error. The block error can

TECHNICAL NOTE <WRTPARAM> Parameter list The following table shows the accessible parameters by RDPARAM. #001 through #999 are PLCOpen specifi

TECHNICAL NOTE 1000 Clear Pending Action 1001 Abort Stop axis discontinuous motion (RDA#031) 1002 Command Bit One Scan Pulse of Motion Bloc

TECHNICAL NOTE 1060 CAM type OFF: Return, ON: One way 1061 Positive Cycle End On when CAM Master position, includes CAM-Shift, rolled over in

TECHNICAL NOTE ASCII CHARACTER INPUT Function Block Function block for MP2000 series <ASCIIIN> Function Block Summary This function block re

TECHNICAL NOTE • This function expects the characters to be received from the source in a continuous stream (Note: if testing is performed by typing

TECHNICAL NOTE <ASCIIIN> Block Fault Conditions: The following table outlines several situations that may cause an error. The block error can

TECHNICAL NOTE AW00010 MSG-RCV Reserved Reserved AW00011 MSG-RCV Reserved Reserved AW00012 MSG-RCV holding_offset Value to shift

TECHNICAL NOTE <ASCIIIN> Example of application: The following examples illustrates how to receive ASCII characters from PC COM1 to Port#1 of

TECHNICAL NOTE Hyper-Terminal Serial Port (PC COM1) Setup Setting the serial interface on the PC COM1 for ASCII communication is as follow

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 16/168 Doc Number: EF.MCD.05.101 11/17/2005 <CAM_RECV> Input and

TECHNICAL NOTE ASCII CHARACTER OUTPUT function Function block for MP2000 series <ASCIIOUT> Function Block Summary This function block sends

TECHNICAL NOTE <ASCIIOUT> Input and Output Register Map Output Registers The following registers are used as outputs from the function block

TECHNICAL NOTE <ASCIIOUT> Block Fault Conditions: The following table outlines several situations that may cause an error, and will turn on th

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 163/168 Doc Number: eng.MCD.05.101 11/17/2005 AW00001 MSG-SND Rese

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 164/168 Doc Number: eng.MCD.05.101 <ASCIIOUT> Application Exampl

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 165/168 Doc Number: eng.MCD.05.101 Hyper-Terminal Serial Port Setup

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 166/168 Doc Number: eng.MCD.05.101 Character Table Setup The characte

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 167/168 Doc Number: eng.MCD.05.101 PLS – PROGRAMMABLE LIMIT SWITCH fun

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 168/168 Doc Number: eng.MCD.05.101 <PLS> Input and Output Regist

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 17/168 Doc Number: EF.MCD.05.101 11/17/2005 Input Registers The followi

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 18/168 Doc Number: EF.MCD.05.101 11/17/2005 <CAM_RECV> Block Faul

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 19/168 Doc Number: EF.MCD.05.101 11/17/2005 <CAM_RECV> Working Re

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 2/168 Doc Number: EF.MCD.05.101 11/17/2005 Revision Level As part of

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 20/168 Doc Number: EF.MCD.05.101 11/17/2005 Bit E Working cmndError

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 21/168 Doc Number: EF.MCD.05.101 11/17/2005 CAM_RECV Time Chart

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 22/168 Doc Number: EF.MCD.05.101 11/17/2005 CAM OFFSET function Block F

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 23/168 Doc Number: EF.MCD.05.101 11/17/2005 <CAMOFFST> Function

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 24/168 Doc Number: EF.MCD.05.101 11/17/2005 Input Registers The follow

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 25/168 Doc Number: EF.MCD.05.101 11/17/2005 <CAMOFFST> Working R

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 26/168 Doc Number: EF.MCD.05.101 11/17/2005 CAM SCALE function Functio

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 27/168 Doc Number: EF.MCD.05.101 11/17/2005 • Distance mode note: Be

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 28/168 Doc Number: EF.MCD.05.101 11/17/2005 Input Registers The follow

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 29/168 Doc Number: EF.MCD.05.101 11/17/2005 <CAMSCALE> Working Re

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 3/168 Doc Number: EF.MCD.05.101 11/17/2005 AXIS END function Function

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 30/168 Doc Number: EF.MCD.05.101 11/17/2005 CHANGE DYNAMICS function F

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 31/168 Doc Number: EF.MCD.05.101 11/17/2005 • Five words are used as w

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 32/168 Doc Number: EF.MCD.05.101 11/17/2005 <CHNGDYN> Block Fault

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 33/168 Doc Number: EF.MCD.05.101 11/17/2005 Bit 0 Working holdCntrl

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 34/168 Doc Number: EF.MCD.05.101 11/17/2005 GEAR function Function blo

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 35/168 Doc Number: EF.MCD.05.101 11/17/2005 <GEAR> Function Block

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 36/168 Doc Number: EF.MCD.05.101 11/17/2005 • Thirty-five words are us

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 37/168 Doc Number: EF.MCD.05.101 11/17/2005 Input Type Description R

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 38/168 Doc Number: EF.MCD.05.101 11/17/2005 <GEAR> Block Error Co

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 39/168 Doc Number: EF.MCD.05.101 11/17/2005 <GEAR> Working Regist

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 4/168 Doc Number: EF.MCD.05.101 11/17/2005 <AXISEND> Input and

TECHNICAL NOTE Bit 5 Working RDA_Error Reserved Bit 6 IN atStop RIGID input (XB000003) Bit 8 Working speed_ok High when speed is matched t

TECHNICAL NOTE <GEAR> Timing chart RIGID=ON * Note that the commanded leads the master for PLC scan compensation. This is to insure that the

TECHNICAL NOTE <GEAR> Timing chart RIGID=OFF File: MP2000_IndividualFunctionDocument_RevC

TECHNICAL NOTE HOME function Function block for MP2000 series <HOME> Function Block Summary The HOME function is used to home the axis. Ho

TECHNICAL NOTE <HOME> Function Block Operation Notes • This is not valid for Absolute Encoder application, only for Incremental encoder. •

TECHNICAL NOTE <HOME> Input and Output Register Map Output Registers The following registers are used as outputs from the function block. T

TECHNICAL NOTE <HOME> Block Fault Conditions: The following table outlines several situations that may cause an error, and will turn on the bl

TECHNICAL NOTE <HOME> Homing Type (1) Homing Type Option The following table shows thirteen Homing Type. Please select the best one for t

TECHNICAL NOTE (2) Homing operation and parameters The motion after the function is executed and parameters to be set at the execution of the funct

TECHNICAL NOTE (b) ZERO signal method The movement starts at the approach speed in the direction specified by the parameter. Speed is decelerated to

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 5/168 Doc Number: EF.MCD.05.101 11/17/2005 CAM function Function block

TECHNICAL NOTE (c) DEC 1+ZERO signal method The movement starts at the speed of the homing in the direction specified by the parameter. When the ris

TECHNICAL NOTE (d) C phase pulse method The movement starts at the approach speed in the direction specified by the parameter. Speed is decelerated t

TECHNICAL NOTE (e) C phase pulse method The movement starts at the creep speed in the direction specified by the parameter, and final positioning is

TECHNICAL NOTE Input Name Set content EXECUTE Execution Block enable REVERSE Direction selection The direction of the homing. 0: Seek in

TECHNICAL NOTE (f) POT & C phase pulse method The movement starts at the approach speed, and moves to the stroke limit in a positive direction.

TECHNICAL NOTE (g) POT The movement starts at the approach speed, and moves to the stroke limit in a positive direction. The movement reverses when

TECHNICAL NOTE Input Name Set content EXECUTE Execution Block enable REVERSE Direction selection The direction of the homing. 0: Seek in

TECHNICAL NOTE (h) HOME LS & C phase pulse method The movement starts at the approach speed in the direction specified by the parameter. Speed i

TECHNICAL NOTE Input Name Set content EXECUTE Execution Block enable REVERSE Direction selection The direction of the homing. 0: Seek in

TECHNICAL NOTE (i) HOME LS The movement starts at the creep speed in the direction specified by the parameter. At the rising edge of the HOME signa

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 6/168 Doc Number: EF.MCD.05.101 11/17/2005 <CAM> Function Block O

TECHNICAL NOTE Input Name Set content EXECUTE Execution Block enable REVERSE Direction selection The direction of the homing. 0: Seek in

TECHNICAL NOTE (j) NOT & C phase pulse method The movement starts at the approach speed, and moves to the stroke limit in a negative direction.

TECHNICAL NOTE (k) NOT The movement starts at the approach speed, and moves to the stroke limit in a negative direction. When the NOT signal is det

TECHNICAL NOTE (l) INPUT & C phase pulse The movement starts at the approach speed in the direction specified by the parameter. Speed changes

TECHNICAL NOTE Input Name Set content EXECUTE Execution Block enable REVERSE Direction selection The direction of the homing. 0: Seek in

TECHNICAL NOTE (m) INPUT The movement starts at the creep speed in the direction of the sign of the creep speed. The final positioning is performed

TECHNICAL NOTE Input Name Set content EXECUTE Execution Block enable REVERSE Direction selection The direction of the homing. 0: Seek in

TECHNICAL NOTE <HOME> Working Registers This table outlines the data in the ten registers used by the Home function block. There is not usuall

TECHNICAL NOTE LATCH function Function block for MP2000 series <LATCH> Function Block Summary The LATCH function block enables the high spe

TECHNICAL NOTE <LATCH> Input and Output Register Map Output Registers The following registers are used as outputs from the function block. T

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 7/168 Doc Number: EF.MCD.05.101 11/17/2005 • CAM Table: Cam table is

TECHNICAL NOTE <LATCH> Block Fault Conditions: The following table outlines several situations that may cause an error, and will turn on the

TECHNICAL NOTE <LATCH> Working Registers This table outlines the data in the four registers used by the function block. There is not usually

TECHNICAL NOTE LATCH TO TARGET function Function block for MP2000 series <LTHTRGT> Function Block Summary The Latch Target (LTHTRGT) block

TECHNICAL NOTE <LTHTRGT> Function Block Operation Notes • Rising edge of EXECUTE input initiates block operation, and the following block inp

TECHNICAL NOTE <LTHTRGT> Input and Output Register Map Output Registers The following registers are used as outputs from the function block.

TECHNICAL NOTE Input Registers The following registers are used as inputs to the function block. They select the options and define the parameters

TECHNICAL NOTE <LTHTRGT> Block error condition: The following table outlines several situations that may cause an error, and will turn on the

TECHNICAL NOTE <LTHTRGT> Timing chart File: MP2000_IndividualFunctionDocument_RevC 77/16

TECHNICAL NOTE MODULUS ENGINE function Function block for MP2000 series <MOD_ENG> Function Block Summary The “MOD-ENG” block is used to mod

TECHNICAL NOTE <MOD_ENG> Input and Output Register Map Output Registers The following registers are used as outputs from the function block

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 8/168 Doc Number: EF.MCD.05.101 11/17/2005 <CAM> Input and Outpu

TECHNICAL NOTE Input register The following registers are used as inputs to the function block. They select the options and define the parameters t

TECHNICAL NOTE <MOD_ENG> Block error condition: The following table outlines several situations that may cause an error, and will turn on the

TECHNICAL NOTE <MOD_ENG> Timing chart File: MP2000_IndividualFunctionDocument_RevC 82

TECHNICAL NOTE MOVE ABSOLUTE function Function block for MP2000 series <MOVEABS> Function Block Summary This function block commands a cont

TECHNICAL NOTE <MOVEABS> Input and Output Register Map Output Registers The following registers are used as outputs from the function block.

TECHNICAL NOTE <MOVEABS> Block error condition: The following table outlines several situations that may cause an error, and will turn on the

TECHNICAL NOTE AW00001 <bit> 0 Working oneshot10 Reserved AL00002 Working startPos Commanded position of axis at execution o

TECHNICAL NOTE MOVE ADDITIVE function Function block for MP2000 series <MOVADDTV> Function Block Summary This function block adds the set d

TECHNICAL NOTE <MOVADDTV> Input and Output Register Map Output Registers The following registers are used as outputs from the function block.

TECHNICAL NOTE <MOVADDTV> Block Fault Conditions: The following table outlines several situations that may cause an error, and will turn on th

TECHNICAL NOTE File: MP2000_IndividualFunctionDocument_RevC 9/168 Doc Number: EF.MCD.05.101 11/17/2005 Input Registers The followin

TECHNICAL NOTE <MOVADDTV> Working Registers This table outlines the data in the nine registers used by the function block. There is not usual

TECHNICAL NOTE MOVE INCREMENTAL function Function block for MP2000 series <MOVINC> Function Block Summary This function block commands a co

TECHNICAL NOTE <MOVINC> Input and Output Register Map Output Registers The following registers are used as outputs from the function block.

TECHNICAL NOTE <MOVINC> Block error condition: The following tables might cause the error, and outline some situations. If the EXECUTE input

TECHNICAL NOTE <MOVINC> Working Register This table outlines the data of the register of eight that the function block use is done. The user

TECHNICAL NOTE MOVE VELOCITY “JOG” function Function block for MP2000 series <MOVVEL> Function Block Summary This function block commands a

TECHNICAL NOTE <MOVVEL> Input and Output Register Map Output Registers The following registers are used as outputs from the function block.

TECHNICAL NOTE <MOVVEL> Block Fault Condition: The following table outlines several situations that may cause an error, and will turn on the

TECHNICAL NOTE <MOVVEL> Working Registers This table outlines the data in the eight registers used by the function block. There is not usuall

TECHNICAL NOTE SLAVE OFFSET function Function block for MP2000 series <SLAVEOFF> Function Block Summary The Slave Offset (SLAVEOFF) block i