Document Outline

• Chapter 1: General Functions
  • Outline of the MP940
    • Exterior of the MP940 module
    • Features of the MP940
• Chapter 2: Specifications
  • Specifications and Functions
  • General Specifications
  • Hardware Specifications
  • Function List
    • MP940 Motion Control Function Specificationss
    • PLC Function Specifications
    • Motion Command List
    • Ladder Command List
  • Servo Amplifier Specifications
    • External Appearence and Nameplate
    • Interpretation of Model
    • Servo Motor and Amplifier Combination
  • Servo Motors
    • Example of External Appearence and Nameplate
    • Interpretation of Model
    • Standard Servo Motors
      • Servo Motor Capacities (kW)
    • Servo Motors with Gearbox
      • Servo Motor Capacities (kW)
• Chapter 3: Basic System Operation
  • Operation Mode
    • Run Mode
    • Stop Mode
  • Start, Stop Sequence
    • DIP Switch Setting Method
    • Start Sequence
  • Scan Processing
    • Outline of Scan Processing
    • Content of S Scan
    • Scan Time Setting Method
    • System Scan Time Setting
    • Scan Time Definition Setting
    • Saving Scan Time Definitions
    • Completion of Scan Time Definition
  • User Programs
    • DWG (drawing)
      • Types and Priority of Source Drawings
    • Source Drawing Execution Control
    • Motion Programs
  • Functions
    • Standard System Functions
    • User Functions
    • Determination of I/O Specifications
    • Creation of External Function Definitions
    • Creation of the Function Program
    • Creation of the Function Reference Program
  • Register
    • Register Designation Method
    • Data Types
    • Register Types
    • Usage Method for Suffixes I and J
    • Function I/O and Function Registers
    • Program Register Reference Range
  • Symbol Management
    • Symbol Management in Drawings
    • Symbol Management in Functions
    • Upper-level Symbol Link
    • Automatic Register Numbering
• Chapter 4: MP940 Functions
  • Outline of MP940 Functions
    • Module Structure
    • MP940 Virtual Building Block Structure
      • Serial Transmission Function
    • Outline of Serial Transmission Function
    • System Configuration
    • Communication Specifications
    • Connector Hookup
    • Time Needed for Transmission
    • Serial Transmission Protocol
  • LI/O Function
    • Outline of LI/O Definition
    • Local Digital I/O Specifications
  • CNTR Function
    • Outline of CNTR Function
    • External Encoder Specifications
    • Hardware Specifications
    • Structure of the External Encoder Function
    • Pulse Calculation Format
    • Reversible Counter Mode
    • Conformance Output/Interrupt Function
    • PI Latch Function
  • Mechatrolink Function
    • Outline of Mechatrolink
    • Mechatrolink Specifications
    • Master/Slave
    • Mechatrolink Connection
    • MP940 Servo Control Function
    • SGDH User Parameter Setting
• Chapter 5: System Start
  • Handling Each Part
    • Handling of the Servo Amplifier
    • Handling the MP940 Module
    • Accessories/Options
  • Connection Method
    • Connector Names and Positions
    • Connector Specifications
    • Serial Port Connector Pin Array and I/O Circuit
    • I/O Connector Pin Array and I/O Circuit
    • Power Connector Cable
    • Mechatrolink Cable
  • Connection with Peripheral Devices
    • Single-phase Power Specifications
    • Three-phase Power Specifications
    • Standard Cable List
      • Servo Amplifier-Related Cables
      • MP940-Related Cables
  • Servo Amplifier Main Circuit Connection
    • Main Circuit Terminal Names and Functions
    • Representative Main Circuit Wiring
    • Main Circuit Terminal Block Wiring
  • Servo Amplifier I/O Signal
    • Schematic Diagram of I/O Signals
    • Connector (CN1) terminal array list.
    • I/O Signal Names and Functions
      • Input Signal
      • Output Signal
    • Interface Circuit
  • Encoder Wiring
    • Connection with the Encoder (CN2) and Output Signal Processing from the Servo Amplifier (CN1)
    • Terminal Array and Model of Encoder Connector (CN2)
      • CN2 Terminal Array
      • CN2 Mode
  • Outline of the Start-up Procedure
  • Test Device Configuration
  • Outline of Test Device Configuration
    • Outline of Control
    • Outline of Operation
  • Preparation of Devices Used
    • Controller-related Devices
    • Servo-related Devices
    • Programming-related Devices
    • Other Necessary Items
  • Handling of the MP940 Module
  • Mounting of Battery Holder
  • Connection and Wiring
    • Connection of Peripheral Devices
    • Connection of the Servo Amplifier (SGD) and Switch Box
    • Potentiometer Connection with the SGDH V-REF Terminal as a General-purpose AI Input
• Chapter 6: Parameters
  • Parameter Outline
    • Parameter Types and Classifications
      • Parameter Types
      • Parameter Editing
  • Parameter Setting
    • Open the Parameter window
    • Parameter Setting
      • Fixed Parameters Tab
      • Set-up Parameters Tab
      • Servo Pack Tab
      • Monitor Tab
    • Parameter Deletion
    • Saving Parameters
  • Parameter Details
  • Details of Fixed Parameters
    • Fixed Parameters
  • Details of Setup Parameters
    • Run Mode Setting (RUNMOD)
    • RUN Mode Setting (RUNMOD) (Continued)
    • Run Command Setting (SVRUNCMD)
    • Other Command/Mode Settings
    • Other Command/Mode Settings (Continued)
  • Monitor Parameter Details
    • Number 1 - Run Status (RUNSTS)
    • Number 2 - Servo Amplifier Status (SYSTS)
    • Other Monitor Parameters
  • SGDH User Parameters
  • Structure of User Parameters
  • Parameters for Function Selection
    • User Parameters
  • Gain-related Parameters
    • Gain Related Parameters
  • Position-related Constants
    • Position Related Parameters
  • Speed-related Parameters
    • Speed Related Parameters
  • Torque-related Constants
    • Torque Related Constants
  • Sequence-related Parameters
    • Sequence Related Parameters
  • Input Signal Selection
    • Sequence Related Parameters - Input Signal Selection
  • Output Signal Selection
    • Sequence Related Parameters - Output Signal Selection
• Chapter 7: Absolute Encoder
  • Outline of Absolute Encoder Functions
    • Overview
    • Absolute Encoder Basics
  • Starting the Absolute Encoder Function
    • System Startup Procedure
    • Setting of Related Parameters
    • Absolute Encoder Initialization
    • Multi-turn Limit Setting
  • Absolute Encoder Usage Method
    • When Used with Linear Axes
    • When Used as a Rotary Axis
• Chapter 8: Maintenance Inspection
  • Inspection Items
    • Daily Inspection
    • Periodic Inspection
      • Periodic Inspection Items
  • MP940 Module Battery
    • Battery Life
    • Changing the Battery
      • Saving Memory Content
      • Preparation for Battery Replacement
      • Battery Change Procedure
• Chapter 9: Troubleshooting
  • Troubleshooting Outline
    • Troubleshooting Methods
    • Basic Troubleshooting Flow
    • LED Error List
  • System Errors
    • Outline of System Errors
    • Processing Flow at System Error Generation
    • Processing Flow at User Program Error Generation
    • Configuration of System Register
      • System Status Display
      • CPU Status Alarm Bit
      • System Error Status
      • User Operation Error Status - 1
      • User Operation Error Status - 2
      • User Operation Error Status - 3
      • User Operation Error Status - 4
      • System Service Execution Status
      • System I/O Error Status
      • System Operation Error Status - 1
      • System Operation Error Code Status - 2
  • Motion Error
  • Outline of Motion Errors
  • Processing Flow at Motion Error Generation
    • Motion Program Alarm Codes
    • Motion Parameter Alarm (ILxx22)
• Chapter 10: Servo Amplifier Maintenance and Inspection
  • Servo Amplifier Maintenance/Inspection
    • Servo Motor Inspection
    • Servo Amplifier Inspection
    • Replacing the Absolute Encoder Battery
  • Troubleshooting
    • Troubleshooting Problems with an Alarm Display
    • Troubleshooting Problems with No Alarm Display
    • Alarm Display List
      • Alarm Display and Alarm Code Output Relationship
• Chapter 11: Motion Control
  • Outline of Motion Control
    • MP940 Motion Control
    • Motion Control Techniques
      • Ladder Program Format
      • Motion Program Formats
      • Examples of Motion Control Applications
  • Control Mode
    • Outline of Control Modes
    • Speed Control Mode
      • Outline
      • Detailed Description
      • Speed control mode stop
      • User Program Examples
    • Torque Control Mode
      • Outline
      • Detailed Description
      • User Program Examples
    • Phase Control
    • Zero-point Return Mode
      • Detailed Description
      • User Program Examples
      • Operation Conditions
  • Position Control
    • Preparatory Knowledge for Position Control
      • Outline of Position Control
      • Command Unit
      • Electronic Gear Ratio
      • Axis Selection
      • Position Reference
      • Position Buffer
      • Position Buffer Usage Method
      • Position Buffer Read/Write Data
      • Cautionary Items
      • 1. Method for Use as a Position Reference
      • Position Monitor
      • Speed Reference
      • Examples of Parameter Setting
    • Position Control without the Use of Motion Commands
      • Detailed Description
      • User Program Examples
  • Position Control by Motion Commands
    • Motion Command Types and Outlines:
    • Positioning (POSING)
      • Detailed Description
      • User Program Example (positioning)
  • External Positioning (EX_POSING)
    • Detailed Description
    • User Program Example (external positioning)
  • Zero-point Return (ZRET)
    • Zero-Point Return Format
      • DEC1+C-phase Pulse Format
      • DEC2+C-phase Pulse Format
      • Operation when the transition signal (deceleration LS) is in the high range at zero-point return ...
      • Operation when the transition signal (deceleration LS) is in the low range at zero-point return o...
      • DEC1+LMT+C-phase Pulse Format
      • Operation in Area (a) at Zero-point Return Operation Start
      • Operation in Area (b) at Zero-point Return Operation Start
      • Operation in Area (c) at Zero-point Return Operation Start
      • Operation in Areas (d) and (e) at Zero-Point Return Operation Start
      • C-phase Pulse Format
      • DEC1+ZEROSignal Format
      • DEC2+ZEROSignal Format
      • DEC1+CMT+ZEROSignal Format
      • ZERO Signal Format
      • Example of Zero-Point Return Operation Method
      • User Program Example (zero-point return DEC1+C-phase pulse signal format)
  • Interpolation (INTERPOLATE)
    • Detailed Description
  • Interpolation with Position Detection (LATCH)
    • Detailed Description
  • Set Speed Feed (FEED)
    • Detailed Description
    • User Program Example (set speed feed)
  • Stepping (STEP)
    • Detailed Description
    • User Program Example (stepping)
  • Zero-point Setting (ZSET)
    • Detailed Description
• Appendix A
  • User Parameter List
  • Structure of User Parameters
  • User Parameter List
    • Table 1: User Parameters
  • Switch List
    • Table 2: Switches
  • Input Signal Selection List
    • Table 3: Input Signal Selection
  • Output Signal Selection
    • Table 4: Output Signal Selection
  • Auxiliary Functions List
    • Table 5: Auxiliary Functions
  • Monitor Mode List
    • Table 6: Monitor Modes
  • Parameters
    • Fixed Parameters
      • Table 7: Fixed Parameters
    • Motion Setup Parameters
      • Table 8: Setup Parameters
    • Monitor Parameters
      • Table 9: Monitor Parameters
  • Scan Processing
    • Scan Processing Timing Chart