Document Outline

• Front Cover
• Using this Manual
• MP920 Related Manuals Configuration
• Safety Information
• Safety Precautions
• CONTENTS
• 1 MP920 Overview and Features
  • 1.1 Overview of the MP920
    • 1.1.1 Appearance of MP920 Modules
    • 1.1.2 List of Modules
    • 1.1.3 Features of the MP920
    • 1.1.4 Comparison between the MP920 and MP930
• 2 MP920 Specifications and System Configuration
  • 2.1 Specifications
    • 2.1.1 General Specifications
    • 2.1.2 Hardware Specifications
    • 2.1.3 Function Lists
  • 2.2 Basic System Configuration
    • 2.2.1 List of Basic Modules
    • 2.2.2 Overall Configuration
• 3 Basic System Operation
  • 3.1 Operating Modes
    • 3.1.1 Online Operating Mode
    • 3.1.2 Offline Stop Mode
  • 3.2 Start and Stop Sequences
    • 3.2.1 DIP Switch Settings
    • 3.2.2 Start Sequence
  • 3.3 Power Failures
    • 3.3.1 Power Failure Detection
  • 3.4 User Programs
    • 3.4.1 Drawings (DWGs)
    • 3.4.2 Execution Control of Parent Drawings
    • 3.4.3 Motion Programming
  • 3.5 Functions
    • 3.5.1 Standard System Functions
    • 3.5.2 Creating User Functions
    • 3.5.3 Determining the I/O Specifications
    • 3.5.4 Defining Function I/O
    • 3.5.5 Creating the Body of the Function
    • 3.5.6 Creating the Program that Calls the Function
  • 3.6 Registers
    • 3.6.1 Register Designation Methods
    • 3.6.2 Data Types
    • 3.6.3 Types of Register
    • 3.6.4 Using Subscripts I and J
    • 3.6.5 I/O and Registers in Functions
    • 3.6.6 Register Ranges in Programs
  • 3.7 Managing Symbols
    • 3.7.1 Symbols in Drawings
    • 3.7.2 Symbols in Functions
    • 3.7.3 Upward Linking of Symbols
    • 3.7.4 Automatic Register Number Allocation
• 4 Motion Control
  • 4.1 Overview of Motion Control
    • 4.1.1 Motion Control for the MP920
    • 4.1.2 Motion Control Methods
    • 4.1.3 Examples of Motion Control Applications
  • 4.2 Control Modes
    • 4.2.1 Overview of Control Modes
    • 4.2.2 Speed Reference Output Mode
    • 4.2.3 Torque Reference Output Mode
    • 4.2.4 Phase Control Mode
    • 4.2.5 Zero Return Mode
  • 4.3 Position Control
    • 4.3.1 Prerequisites for Position Control
    • 4.3.2 Position Control Without Using Motion Commands
  • 4.4 Position Control Using Motion Commands
    • 4.4.1 Overview of Motion Commands
    • 4.4.2 Positioning (POSING)
    • 4.4.3 External Positioning (EX_POSING)
    • 4.4.4 Zero Point Return (ZRET)
    • 4.4.5 Interpolation (INTERPOLATE, END_OF_INTERPOLATE)
    • 4.4.6 Interpolation with Position Detection (LATCH)
    • 4.4.7 Fixed Speed Feed (FEED)
    • 4.4.8 Fixed Length Feed (STEP)
    • 4.4.9 Zero Point Setting (ZSET)
• 5 Modules
  • 5.1 Power Supply Modules
    • 5.1.1 PS-03 Module
    • 5.1.2 PS-01 Module
  • 5.2 CPU Modules
    • 5.2.1 CPU-01 Module
    • 5.2.2 CPU-02 Module
  • 5.3 I/O Modules
    • 5.3.1 DI-01 Input Module
    • 5.3.2 DO-01 Output Module
    • 5.3.3 LIO-01 I/O Module
    • 5.3.4 CNTR-01 Counter Module
  • 5.4 Analog Modules
    • 5.4.1 AI-01 Analog Input Module
    • 5.4.2 AO-01 Analog Output Module
  • 5.5 Motion Modules
    • 5.5.1 Servo Module (4-axis)
    • 5.5.2 Servo Module (2-axis)
    • 5.5.3 MECHATROLINK Interface Module (SVB-01)
    • 5.5.4 Pulse Output Module (PO-01)
  • 5.6 Communications Modules
    • 5.6.1 218 I/F Communications Module (218IFA)
    • 5.6.2 217 I/F Communications Module (217IF)
    • 5.6.3 215IF Communications Module (215IF)
    • 5.6.4 DeviceNet Interface Module (260IF)
  • 5.7 Expansion Module
    • 5.7.1 Expansion Interface Module (EXIOIF)
    • 5.7.2 Mounting Base
• 6 System Startup
  • 6.1 Overview
    • 6.1.1 Overview of the Startup Procedure
    • 6.1.2 Test System Configuration
    • 6.1.3 Equipment Preparations
  • 6.2 System Startup Procedure
    • 6.2.1 Installing the Modules
    • 6.2.2 Connecting Devices
    • 6.2.3 Starting the MPE720
    • 6.2.4 Creating and Saving Motion Programs
    • 6.2.5 Ladder Logic Programs
    • 6.2.6 Transferring Definitions, Parameters, and Programs
    • 6.2.7 Checking Operations
• 7 Parameters
  • 7.1 Description of Parameters
    • 7.1.1 Parameter Classifications
    • 7.1.2 Module Numbers and Motion Parameter Register Numbers
  • 7.2 Parameters for Each Motion Module
    • 7.2.1 Motion Fixed Parameters
    • 7.2.2 Motion Setting Parameters
    • 7.2.3 Motion Monitoring Parameter
• 8 Controlled Axis Support Functions
  • 8.1 Reference Unit
  • 8.2 Electronic Gear
  • 8.3 Override Function
  • 8.4 Infinite Length Positioning
  • 8.5 Software Limit Function
• 9 Multi-CPU System
  • 9.1 Overview
    • 9.1.1 Features
    • 9.1.2 Operation
  • 9.2 Setting Up a Multi-CPU System
    • 9.2.1 Hardware Settings
    • 9.2.2 Setup Procedure Using the MPE720
• 10 Absolute Position Detection
  • 10.1 Structure of the Absolute Position Detection Function
    • 10.1.1 Description of the Function
    • 10.1.2 Structure of Absolute Position Detection
  • 10.2 Starting the Absolute Position Detection Function
    • 10.2.1 System Startup Procedure
    • 10.2.2 Setting Related Parameters
    • 10.2.3 Initializing the Absolute Encoder
  • 10.3 Using an Absolute Encoder
    • 10.3.1 Finite Length Mode Axis
    • 10.3.2 Infinite Length Mode Axis
• 11 Maintenance and Inspection
  • 11.1 Inspection Items
    • 11.1.1 Daily Inspections
    • 11.1.2 Regular Inspections
  • 11.2 CPU Module Battery
    • 11.2.1 Battery Life
    • 11.2.2 Battery Replacement
  • 11.3 Absolute Encoder Battery
    • 11.3.1 Appearance of the Battery Module
    • 11.3.2 General Specifications
    • 11.3.3 Specifications of Battery Module
    • 11.3.4 Functions of Battery Module
    • 11.3.5 Connecting to SVA-01A Module
    • 11.3.6 Replacing the Battery
• 12 Troubleshooting
  • 12.1 Overview of Troubleshooting
    • 12.1.1 Troubleshooting Methods
    • 12.1.2 Basic Troubleshooting Flow
    • 12.1.3 Indicator Errors
  • 12.2 System Errors
    • 12.2.1 Overview of System Errors
    • 12.2.2 Processing Flow When a System Error Occurs
    • 12.2.3 Processing Flow When a User Program Error Occurs
    • 12.2.4 System Register Configuration
  • 12.3 Motion Errors
    • 12.3.1 Description of Motion Errors
    • 12.3.2 Processing Flow When a Motion Error Occurs
    • 12.3.3 Processing Performed When an SVA Module Error Occurs
• Appendix A
  • A.1 Module Dimensional Drawings
    • A.1.1 Two-slot Modules
    • A.1.2 One-slot Modules
    • A.1.3 Mounting Bases
  • A.2 Motion Commands, Ladder Instructions, and Standard System Functions
    • A.2.1 Ladder Instruction List
    • A.2.2 Motion Command List
  • A.3 Parameter List
    • A.3.1 Motion Fixed Parameters
    • A.3.2 Motion Setting Parameters
    • A.3.3 Motion Monitor Parameters
  • A.4 Monitoring Parameter Alarms
    • A.4.1 Setting Errors in Fixed and Setting Parameters
    • A.4.2 Monitoring Parameter Number 23 Alarms
  • A.5 List of System Registers
    • A.5.1 System (S) Register Allocation
    • A.5.2 System Service Registers
    • A.5.3 Scan Execution Status and Calendar
    • A.5.4 System Program Software Numbers and Remaining Program Memory Capacity
  • A.6 Connection between Sigma-II Series SERVOPACKs and MP920 Modules
• INDEX
  • Numerics
  • A
  • B
  • C
  • D
  • E
  • F
  • G
  • H
  • I
  • L
  • M
  • N
  • O
  • P
  • R
  • S
  • T
  • U
  • W
  • Z
• Revision History
• Back Cover