Document Outline

• Front Cover
• Safety Information
• Visual Aids
• CONTENTS
• About this Manual
• Related Manuals
• Using This Manual
• Safety Precautions
• 1 MP940 Overview and Features
  • 1.1 Appearance of MP940 Modules
  • 1.2 List of Modules
  • 1.3 Features of the MP940
    • 1.3.1 Single-axis Controller with Enhanced Essential Functions
    • 1.3.2 Total Synchronization between Controller and Servo Amplifier
    • 1.3.3 Reduced Wiring and Compact Size
    • 1.3.4 Wide Range of Motion Controls
    • 1.3.5 High-precision Synchronous Control
    • 1.3.6 Field Networks
• 2 Specifications and Functions
  • 2.1 General Specifications
  • 2.2 Hardware Specifications
  • 2.3 Function Lists
    • 2.3.1 MP940 Motion Control Function Specifications
    • 2.3.2 PLC Function Specifications
    • 2.3.3 Motion Command Descriptions
    • 2.3.4 Ladder Instructions and Standard System Functions
  • 2.4 Main CP-717 Functions
  • 2.5 Function Tree Structure
  • 2.6 SERVOPACK Specifications
    • 2.6.1 Outer Appearance and Nameplate Example
    • 2.6.2 Model Numbers
• 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 Scan Processing
    • 3.3.1 Overview of Scan Processing
    • 3.3.2 S Scan Details
    • 3.3.3 Setting Scan Times
    • 3.3.4 Setting the System Scan Time
    • 3.3.5 Setting Scan Time Definitions
    • 3.3.6 Saving Scan Time Definitions
    • 3.3.7 Completing Scan Time Definitions
  • 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 MP940 Functions
  • 4.1 MP940 Function Configuration
    • 4.1.1 Overview
    • 4.1.2 Simulated MP940 Building Block Configuration
  • 4.2 Serial Communications Function
    • 4.2.1 Overview
    • 4.2.2 System Configuration
    • 4.2.3 Communications Specifications
    • 4.2.4 Connectors
    • 4.2.5 Time Required for Transmission
    • 4.2.6 Serial Communications Protocol
    • 4.2.7 Opening the Serial Definition Window
    • 4.2.8 General-purpose Serial Definitions
    • 4.2.9 Saving General-purpose Serial Definition Data
    • 4.2.10 Deleting General-purpose Serial Definition Data
  • 4.3 LIO Function
    • 4.3.1 Overview
    • 4.3.2 LIO Specifications
    • 4.3.3 Opening the Local I/O Definition Window
    • 4.3.4 LIO Definitions
    • 4.3.5 Saving LIO Definition Data
    • 4.3.6 Deleting LIO Definition Data
  • 4.4 CNTR Function
    • 4.4.1 Overview
    • 4.4.2 Counter Specifications
    • 4.4.3 Counter Function Configuration
    • 4.4.4 Pulse Count Method
    • 4.4.5 Reversible Counter Mode
    • 4.4.6 Coincidence Output and Interrupt Functions
    • 4.4.7 PI Latch Function
    • 4.4.8 Electronic Gear
    • 4.4.9 Opening the Counter Module Definition Window
    • 4.4.10 Defining Counter I/O
    • 4.4.11 Setting I/O Data
    • 4.4.12 Saving Counter I/O Definition Data
    • 4.4.13 Deleting Counter I/O Definition Data
  • 4.5 MECHATROLINK Functions
    • 4.5.1 MECHATROLINK Overview
    • 4.5.2 MECHATROLINK Communications Specifications
    • 4.5.3 Master and Slaves
    • 4.5.4 MECHATROLINK Connections
    • 4.5.5 Opening the MECHATROLINK Window
    • 4.5.6 Setting MECHATROLINK Definitions
    • 4.5.7 Saving MECHATROLINK Definitions
    • 4.5.8 Deleting MECHATROLINK Definitions
    • 4.5.9 Ending MECHATROLINK Definitions
  • 4.6 DeviceNet Functions
    • 4.6.1 System Configuration
    • 4.6.2 I/O Communications Function
    • 4.6.3 Communications Specifications
    • 4.6.4 260IF Module Setup
  • 4.7 SVA Function
    • 4.7.1 Overview
    • 4.7.2 Separate and One-unit Systems
    • 4.7.3 MP940 Servo Control Function
    • 4.7.4 Setting Parameters of the SGDH SERVOPACK
  • 4.8 Flash Memory Operation
    • 4.8.1 Overview
    • 4.8.2 Saving to Flash
    • 4.8.3 Starting Flash Memory
• 5 System Startup
  • 5.1 Handling the SERVOPACK
  • 5.2 Part Names
    • 5.2.1 MP940 Module
    • 5.2.2 Accessories and Options
  • 5.3 Connection Methods
    • 5.3.1 Connectors
    • 5.3.2 Connector Specifications
    • 5.3.3 Serial Port Connector Pin Arrangements and I/O Circuits
    • 5.3.4 I/O Connector Pin Arrangement and I/O Circuits
    • 5.3.5 Power Supply Connector Cable
    • 5.3.6 MECHATROLINK Cable
  • 5.4 Connecting Peripheral Devices
    • 5.4.1 Single Phase Power Supply Specifications
    • 5.4.2 Three-phase Power Supply Specifications
    • 5.4.3 Standard Cable Table
  • 5.5 SERVOPACK Main Circuit Connection
    • 5.5.1 Names and Descriptions of Main Circuit Terminals
    • 5.5.2 Typical Main Circuit Wiring
    • 5.5.3 Wiring Main Circuit Terminal Blocks
  • 5.6 SERVOPACK I/O Signals
    • 5.6.1 Examples of I/O Signal Connections
    • 5.6.2 List of CN1 Terminals
    • 5.6.3 I/O Signal Names and Functions
    • 5.6.4 Interface Circuits
  • 5.7 Wiring Encoders
    • 5.7.1 Connecting an Encoder (CN2) and Output Signals from the SERVOPACK (CN1)
    • 5.7.2 CN2 Encoder Connector Terminal Layout and Types
  • 5.8 System Startup
    • 5.8.1 Overview of the Startup Procedure
    • 5.8.2 Test System Configuration
    • 5.8.3 Test System Outline
    • 5.8.4 Equipment Preparations
    • 5.8.5 Mounting the MP940 Module
    • 5.8.6 Mounting the Battery Holder
    • 5.8.7 Connections and Wiring
    • 5.8.8 MP940 Initialization
    • 5.8.9 Starting the CP-717
• 6 Parameters
  • 6.1 Parameter Classifications
  • 6.2 Motion Setting Parameters
    • 6.2.1 Opening the Motion Parameters Window
    • 6.2.2 Setting Motion Parameters
    • 6.2.3 Deleting Motion Parameters
    • 6.2.4 Saving Motion Parameters
  • 6.3 SVA Parameter Details
    • 6.3.1 Motion Fixed Parameter Details
    • 6.3.2 Motion Setting Parameter Details
    • 6.3.3 Motion Monitoring Parameter Details
  • 6.4 Parameters for SGDH SERVOPACK
    • 6.4.1 Parameter Configurations
    • 6.4.2 Function Selection Constants
    • 6.4.3 Gain-related Parameters
    • 6.4.4 Position-related Parameters
    • 6.4.5 Speed-related Parameters
    • 6.4.6 Torque-related Parameters
    • 6.4.7 Sequence-related Parameters
    • 6.4.8 Other Parameters
• 7 Absolute Position Detection
  • 7.1 Structure of the Absolute Position Detection Function
    • 7.1.1 Description of the Function
    • 7.1.2 Structure of Absolute Position Detection
  • 7.2 Starting the Absolute Position Detection Function
    • 7.2.1 System Startup Procedure
    • 7.2.2 Setting Related Parameters
    • 7.2.3 Initializing the Absolute Encoder
    • 7.2.4 Multi-turn Limit Setting
  • 7.3 Using an Absolute Encoder
    • 7.3.1 Finite Length Mode Axis
    • 7.3.2 Infinite Length Mode Axis
• 8 Maintenance and Inspection
  • 8.1 Inspection Items
    • 8.1.1 Daily Inspections
    • 8.1.2 Regular Inspections
  • 8.2 MP940 Module Battery
    • 8.2.1 Battery Life
    • 8.2.2 Battery Replacement
• 9 Troubleshooting
  • 9.1 Overview of Troubleshooting
    • 9.1.1 Troubleshooting Methods
    • 9.1.2 Basic Troubleshooting Flow
    • 9.1.3 Indicator Errors
  • 9.2 System Errors
    • 9.2.1 Overview of System Errors
    • 9.2.2 Processing Flow When a System Error Occurs
    • 9.2.3 Processing Flow When a User Program Error Occurs
    • 9.2.4 System Register Configuration
  • 9.3 Motion Errors
    • 9.3.1 Description of Motion Errors
    • 9.3.2 Processing Flow When a Motion Error Occurs
• 10 SERVOPACK Inspection, Maintenance, and Troubleshooting
  • 10.1 Servodrive Inspection and Maintenance
    • 10.1.1 Servomotor Inspection
    • 10.1.2 SERVOPACK Inspection
    • 10.1.3 Replacing Battery for Absolute Encoder
  • 10.2 Troubleshooting
    • 10.2.1 Troubleshooting Problems with Alarm Displays
    • 10.2.2 Troubleshooting Problems with No Alarm Display
    • 10.2.3 Alarm Display Table
• 11 Motion Control
  • 11.1 Overview of Motion Control
    • 11.1.1 Motion Control for the MP940
    • 11.1.2 Motion Control Methods
    • 11.1.3 Examples of Motion Control Applications
  • 11.2 Control Modes
    • 11.2.1 Overview of Control Modes
    • 11.2.2 Speed Control Mode
    • 11.2.3 Torque Control Mode
    • 11.2.4 Phase Control Mode
    • 11.2.5 Zero Point Return Mode
  • 11.3 Position Control
    • 11.3.1 Prerequisites for Position Control
    • 11.3.2 Precautions in Changing to Position Control Mode
    • 11.3.3 Position Control without Using Motion Commands
  • 11.4 Position Control Using Motion Commands
    • 11.4.1 Overview of Motion Commands
    • 11.4.2 Positioning (POSING)
    • 11.4.3 External Positioning (EX_POSING)
    • 11.4.4 Zero Point Return (ZRET)
    • 11.4.5 Interpolation (INTERPOLATE)
    • 11.4.6 Interpolation with Position Detection (LATCH)
    • 11.4.7 Fixed Speed Feed (FEED)
    • 11.4.8 Fixed Length Feed (STEP)
    • 11.4.9 Zero Point Setting (ZSET)
• A Dimensions
  • A.1 External of MP940 Module
  • A.2 Dimensions of MP940D
• B Lists of Parameters
  • B.1 Classification of Parameters
  • B.2 Parameters
  • B.3 Switches
  • B.4 Input Signal Selections
  • B.5 Output Signal Selections
  • B.6 Auxiliary Functions
  • B.7 Monitor Modes
• C Motion Parameter Tables
  • C.1 Motion Fixed Parameters
  • C.2 Motion Setting Parameters
  • C.3 Motion Monitoring Parameters
• D Lists of System Registers
  • D.1 System (S) Register Allocations
  • D.2 System Service Registers
  • D.3 Scan Execution Status and Calendar
  • D.4 System Program Software Number and Available Program Memory
• Revision History
• Back Cover