Yaskawa MP2000 - Manual (Page 2)

MP2000 Quick Reference Guide Rev1.2
5.5 MB Stores ladder drawings, Local registers and special tables
S (Global) SW0000-1023 C (Global) M (Global) (MW00000-65535)
System information and status (read only) Constant, Read only registers. General Multi-Purpose read/write registers
Example: Flicker relays, Calendar, User Free: MW00000-29999
Scan time setting, error codes, ect. Convention:
Axis#1:MW100-199, Axis#2:MW200-299
Fixed Parameters (for each axis) Example: *Function Block RDA: MW30000-65535
Written to in Module Configuration Mechanical system specifications Axis#1:MW30100. Offset=200 per axis
Define axis units, motor specs. (pulley ratios, encoder counts per load rev) Master-Slave: MW56000. Offset=50 per M-S Pair
Cannot be written by ladder Reference: RDA Spreadsheet
Changes usually require power cycle Reference: * If using motion function blocks.
I (Input) IW0000-FFFF O (Output) OW0000-FFFF
general purpose & motion data (Read only by application program) general purpose &motion data (Read/Write by application program)
Physical Inputs: IW0000-7FFF Physical Outputs: OW0000-7FFF
Convention: IW0410+ for Local I/O modules Convention: OW0410+ for Local I/O Modules
IW0010+ for M-LINK I/O modules OW0010+ for M-LINK I/O modules
Axis (Motion) Input: IW8000-807F (Module#1, Axis#1) Axis (Motion) Output: OW8000-807F (Module#1, Axis#1)
"motion monitoring" Offset 80h per axis "motion setting" Offset 80h per axis
800h per module 800h per module
Example: IB8000 0 = controller ready Example: OB8000 0 = turn servo on
Reference: Basic Module User Man 7.2.3 Reference: Basic Module User Man 7.2.2
D (Local Registers)*
Used as general purpose read/write in the defined Drawing only.
Suggested Bits: DW00000-00008 (DB000000~DB00008F)
Convention: One-Shot DW00009 (DB000090~DB00009F)
Word Operations: DW00010-00025 (16-bit integers)
Accumulators: DW00026 (16-bit Integer accumulator)
DW00027 (16-bit Logic [Hexadecimal] Accumulator)
DL00028 (32-bit Long Accumulator)
DF00030 (32-bit Floating point Accumulator)
Long & Float DW00032-00098*
F.B. Work Register: DW00100-00320*
*Default is 32 D-registers per drawing. R-click drawing in File Manager - increase to 320 when using Function Blocks.
Reference:
# ("Sharps") #W00000-16383 Module Configuration
Drawings: H, L, A, I
H (High Scan) Use for all code that runs motion related functions
L (Low Scan) Use for code that runs HMI, or user operated switches, lights, etc
A (Startup) Use for drawings that should automatically run once at controller power up.
I (Interrupt) Use to run a special interrupt routine after receiving a local input defined as a dedicated "Interrupt."
F (Function) Use as a ladder element with custom inputs and outputs
R
e
g
ister M
e
m
o
ry
(B
attery B
a
ckup)
Pr
ogr
a
m
Me
mor
y
(O
verw
ritten from
F
L
A
S
H
at pow
er up)
D
E
C
I
M
A
L
H
E
X
A
D
E
C
I
M
A
L
Data that end user can change in MPE720
without needing to access the drawings. D
E
C
I
M
A
L
(32-bit Integers, 32-bit Floating Point)
(Bits, integers, floats as defined in Function Block)
Local Constants. General purpose, read-only by the specifed Drawing
they are defined in.
Each hardware module on the rack has several configuration files. This data
is stored in program memory.
Set up via a table in the "properties" dialog box for each
drawing. Rarely Used New project requires setting Module Configuration first. Select
from File Manager under Definition Folder"
MP2000 Memory Map
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