Yaskawa MP2000 - Manual (Page 107)

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 set to moving average.
• If the
ENABLE
input goes off during operation, the servo will be disabled but its
position in the RDA will continue to update. Note that all outputs will be off or
zero.
• If a servo fault occurs and the servo is enabled the ERROR output will go high.
• Positive and Negative direction operation enable inputs (POSENABL and
NEGENABL) inputs are constantly monitored when the ENABLE input is ON, and
sets the RDA (MB003**770 servo on, MB03**771 pos enable, MB3**772 neg
enable). Each motion block will then monitor the RDA status bits to insure proper
direction operation.
• All of the motion function blocks rely on data computed in this block (Actual
Position, Actual Velocity, Actual acceleration, Actual deceleration, Actual S-curve,
updates latched position, handles rotary mode positioning, monitors over-travel
status). Data computed in this block is stored to the RDA.
• Input feedback from specific axis registers are read into the RDA from this
function block. Example – for axis #1 the following is read and written to RDA:
o
IW8000 run status (motion controller operation ready, servo enabling,
system busy, servo ready)
o
IW800C position management status (position compete, latch complete,
home complete).
o
IW802C network servo status (servo alarm, servo enabled, main power on,
pos complete, latch complete, speed lim, etc)
o
IL8010 target position (CPOS)
o
IL8018 latch position (LPOS)
o
IL8016 motor actual feedback position (APOS)
o
IW8009 motion command status (command executing, holding, error,
reset abs enc done).
o
IW8008 motion command code response
o
IL8004 alarm (servo err, POT, NOT, soft POT, soft NOT, excessive spd or
following error or timeout, homing error, servo comm. err, servo miss-
match)
o
IL8002 Warnings (parameter setting warning, following error warning,
comm. warning, POT/NOT warnings, servo enable warning)
o
IW802D servo alarm code
o
IW802E servo DI monitor (CN1 input signal status level)
o
IL8020 speed reference
o
IL8040 feedback speed
For more information on these registers, see MP2300/2200 Motion Module
Users Manual SIEPC88070016A, section 4.3.3 (Motion Monitoring Parameter
Details.
File: MP2000_IndividualFunctionDocument_RevC 107/168
Doc Number: eng.MCD.05.101
11/17/2005