Read MACHIN CONTROLLER MP2100 text version

YASKAWA

MACHINE CONTROLLER MP2100

BOARD TYPE

Certified for ISO9001 and ISO14001

C

EM

C

ER

TIFIE

D

ER

TIFIE

D

ST

GE

Y MENT S

GE

Y MENT S

QUALITY SYSTEM

ENVIRONMENTAL SYSTEM

JQA-0422 JQA-EM0202

ST

MAN

MAN

EM

A

A

Enables PC communications with servo drives.

Pages 6 to 7

Features System Connection Diagram Hardware Specifications General Specifications MP2100 Board I/O Modules for MECHATROLINK-II Dimensions Software Specifications Sequence Control Motion Conrols Motion API MPE720 Engineering Tool

Page 8

4 12 13

With high-speed network communications to servo drives, changing gains and switching the controls for speed, torque, and position can be accomplished online while the machine is running, so you can flexibly control the machine motions.

16

The MP2100 Machine Controller has been developed from the MP910. The PCI is half the size of a standard board. It blends high-accuracy servo control for machine motions with the high speed and large data-processing capacity of a personal computer. Because the MP2100 is a plug-and-play component, the smooth control of servo drives has never been easier. Simply mount the plug-and-play MP2100 board in a personal computer and it is ready for high-speed communications. Total support from design to maintenance is also available. No need to input settings because the MP2100 automatically recognizes the connected optional modules and servo drivers.

Pages 4 to 5

Pages 9 to 11

Using a personal computer to prepare motion programs is very convenient. We have lined up for you 51 models of application program interfaces API for various motion controls that can be used with your personal computer.

An easy-to-use Windows -based editing techniques for programming. Ladder programs for the MP910 can be easily converted for use with the MP2100. Total support for all stages of programming is also available.

Registered trademark of the Microsoft Corporation in the U.S.

2

3

Machine Controller MP2100 Works in Harmony with Personal Computer

Motion API for Easy Programming of Motion Control

MPE720 optional

Personal computer application software Motion API Windows NT/2000 1 General-purpose OS

A wide selection of motion APIs is available so your machine can work in harmony with the personal computer. Motion commands can be input from either the personal computer or the MP2100 depending on the characteristics of your machine.

MP2100 programming software

Personal Computer PC

PCI bus

Main Motion APIs

Motion related API

Device related Servo ON/OFF Positioning JOG feed origin return positioning external positioning and specified time positioning Interpolation Linear interpolation circular interpolation and helical interpolation Torque reference Gear function Latch function Motion operation Modification of motion data and parameters

MP2100

MP2100 application program Ladder program Motion program

MP2100 registers

Motion control system Yaskawa's products Motion control from PC Motion control from MP2100

MECHATROLINK-II

I/O data

Comparison of Motion Control PC and MP2100

Item

Motion Programs Interface with Servo Drives Position/Speed/ Torque Control Electronic Cam and Shaft PLC Function

Not Possible Prepared on MP2100

Ladder language

Motion Control from PC Motion Control from MP2100

Prepared on PC Motion API Prepared on MP2100 Compatible with MP910 Ladder language Motion language

System API

Register operation I/O operation Alarm Information acquisition and alarm clearing System operation Opening closing and switching of object controller Operation calendar

MECHATROLINK-II

Possible Possible

System Configuration for MP2100

Host communication by Ethernet 2, etc. 9 stations max. 1ms 21 stations max. 2ms a number of servo axis 16 axes max. a number of I/O station

MECHATROLINK-II 10Mbps PC MP2100 4 boards can be connected. Motion API MPE720 Engineering Tool AC Servo Drives

SGDS SGDH NS115 SGDS SGDS

Remote I /O

4

1

Registered trademark of the Microsoft Corporation in the U.S.

2

Registered trademark of the Xerox Corporation.

Motion Control from PC for Applications Using Largecapacity Programs

PC

Control Method with PC

Motion programs are written in Microsoft Visual C or C++. A wide variety of motions can be realized with the 51 models of motion APIs.

Note Not applicable for applications using an electronic shaft and cam.

Program for motions ymc Move Circular Center (...) ymc Move Circular Radius (...)

Motion API

PCI bus MP2100

Applications Semiconductor equipment bonders inspecting units parts assembling machines and other similar applications.

The controller's internal S M I and O registers can be accessed from the computer program.

Registers

Motion registers OW8XXX IW8XXX

Ladder program

Motion control system

MECHATROLINK-II

Motion Control from MP2100 for Applications Requiring High-speed, High-speed Synchronous Processing

PC

Control Method with MP2100

Programs are prepared in ladder and motion languages on the MPE720 in the same way as those for any other controller. Simply load the prepared program to the MP2100 for high-speed, synchronous processing for electronic shaft and cam or other applications. The data in the MP2100 can be read and written on the personal computer by using the system API. Applications Coil winding machines capacitor winding machines injection molding machines, and other similar applications.

Monitor Data display

Computer program Reading and writing data

Settings

Motion API Only the system API is used

PCI bus MP2100 Ladder program Motion program Motion program Motion control system The ladder and motion programs are prepared on the MPE720. Refer to Page 9 for details. The motion control is synchronized with high-speed scanning.

MECHATROLINK-II

Data register MWXXX OWXXX IWXXX . . . Motion register

OW8XXX IW8XXX . . .

Startup

Startup

5

Advanced Motion Control

MECHATROLINK-II for Online Switching with 4 Control Modes

A MECHATROLINK-II motion network 10Mbps is used with the MP2100 machine controller for control of a flexible and highly precise servo drive. As well as torque, position, and speed control modes that are required for machine control, the MECHATROLINK-II also realizes synchronous phase control, which requires very high accuracy. Also, the controls for speed, torque, position, and synchronous phase can be switched while the machine is running, so you can perfectly control the machine's complex

MECHATROLINK-I

Four Control Modes All-in-one

Synchronous Phase Control

Not applicable for applications using motion control from a PC.

Torque Control

Generates a constant torque, regardless of speed.

Speed control with position compensation electronic shaft or position control with 100 speed feed forward electronic cam . Multi-axis servomotors can be controlled synchronously.

Torque T1 Load Torque T2 Moter Speed

When T1 T2

Time Time

0.3mm dia. mechanical pencil lead does not break.

Time

Position Control

Advances to the target position, and stops or holds.

Speed Control

Turns the motor at the specified speed, with userdefined acceleration/deceleration slopes.

Speed V

S-curve Accel/decel. Linear Accel/decel. t

V

Speed at Movement V

Transmission Transmission Cycle Speed Number of Controlled Axes

4Mbps 2ms (14 axes)

t

Accel. Time t1 Decel. Time t2

Accel. Time t1

Decel. Time t2

Online Switching Control Modes

V

MECHATROLINK-II

Transmission Transmission Cycle Speed Number of Controlled Axes

10Mbps 1ms (9 axes), 2ms (16 axes )

Accel rate changes during acceleration

Synchronized phase control while increasing speed with different accel rates. Switches to torque control during synchronized phase control Phase Control Torque Control Position Control t

Speed Control

Twenty-one stations, including I/O equipment, can be connected.

Switches to synchronized phase control during speed control

Switches to position control during torque control

Applications Injection molding machine From speed control to torque control Packaging machine From synchronous control to position control

Interpolation Functions for Simple Programming

Commands for linear, circular, and helical interpolation are available for easy programming of machine motions.

Linear Interpolation Circular Interpolation

Basic motions, such as rapid traverse positioning, linear interpolation, and circular interpolation, can be easily programmed.

Helical Interpolation

Helical interpolation can be programmed to combine linear and circular interpolation Fig. A. Helical interpolation can also be used by applying to the linear interpolation portion to the rotary axis to trace an arc using normal line control Fig. Circular

interpolation

Linear inerpolation

Positioning Up to 16 axis

Circular interpolation Up to 2 axis Fig. A Helical Interpolation Fig. B Normal Line Control

Linear interpolation Up to 16 axis

6

Electronic Shaft and Electronic Cam for Simplified Mechanism

Not applicable for applications using motion control from a PC. With the MP2100 controller, AC servo drives that are connected to the MECHATROLINK-II can directly control each axis of a machine. Because the mechanical systems for adjusting phases are no longer needed, the machine's mechanism is greatly simplified and the wear on parts is eliminated. No wear means improved repeatability. By using the MP2100 controller, you can also reduce the time for fine adjustments, retooling, and setup for lot changes.

Electronic Shaft and Electronic Cam for Synchronous Phase Control

Conventional Method

Driver Motor for Line Shaft Drive Gear Controller Clutch Phase Matching Differential Gear Cam Motor Change Gear Cam Line Shaft

Working Part Roll 1 Roll 2 Roll3

Synchronized Operation by MP2100

SERVOPACK

MP2100

Servo motor Ball Screw

Working Part Roll 1 Roll 2 Electronic Shaft Roll 3 Electronic Cam

The AC servomotors move the same The AC servomotors move the way as with rollers on the line shaft. same way as with the mechanical cam. Use the cam data generation tool (see below) for easy programming and adjustment.

Cam Data Generation

for Easy Programming integrated in MPE720

Cam curve definition

Set a curve at every block. 20 blocks max. 25 curves

Execution with MP2100

The data list is processed in MP2100. Motions of the machine can be monitored and adjusted with the following graphs. Cam graph displacement Control graph displacement, speed, acceleration, saltation

7

Easy Setup and Customization

Self-configuration function to greatly reduce the setup time

The MP2100 Machine Controller automatically recognizes the configurations of the devices connected to the MECHATROLINK-II, and it sets the required definitions to default values. To run a motor, you only need to do the installation and the wiring, and then you just turn ON the power. The total setup time can be greatly reduced.

For programming

For module configuration definition, I/O assignment, communication parameter settings, servo parameter settings, and other settings.

MP910 MP2100

Setup time

reduced to 10

Automatic setting by Self-configuration function

Start Self-configuration

To make self-configuration available, select it on the order menu of the MPE720 Engineering Tool.

More Information

The definitions saved in the Flash ROM will not be overwritten by the Self-configuration function. The Self-configuration function overwrites only the modified definitions.

Data that can be set by the Self-configuration function

Module configuration definitions I/O register assignment Servo drives servo parameters and parameters connected to the MECHATROLINK-II I/O points connected to the

MECHATROLINK-II

Free from troublesome settings

8

Enhanced Operability with MPE720

The Ladder Works allows you to edit the ladder program in the way you desire.

Windows' editing techniques have been adopted to make the original ladder editor easier to use. You can smoothly edit a ladder program by dragging the corresponding icon. The cut-and-paste feature speeds up editing for ladder programs. Ladder Programming Editor Option

Features Color of circuits, font of letters, and allocation of shortcut keys can be customized. Features The editing object is displayed in one line. Possible connections are displayed to assist your programming. Drag-and-drop and cut-and-paste operations make ladder programming so easy. Complicated relay circuits such as OR circuits can be easily edited with your mouse. Operation instructions and functions are displayed in blocks. The instruction categories are identified by different colors to give a clear image of how the program flows. Drag-and-drop operations make ladder programming so easy with your mouse.

Ladder Programming/Quick Reference

Program Verification

Features Displays registers of different system.

Features Displays program execution results.

Function to Convert MP910 Programs version 4.41 or later .

The ladder and motion program registers used in the MP910 can be converted for use in the MP2100.

Note For some registers and parameters, options must be selected before converting. MP910 MPE720 Ver.4.30 Application Converter Function MPE720 Ver.4.41

Ladder program

Ladder program

Register A conversion

Ladder program by Ladder Works Ladder program by Ladder Works

MP2100

Register B conversion

Motion program, etc. Motion program, etc.

Register C conversion

9

Total Support System for Designing, Adjustment, and Maintenance

Window-based Managers for Easy Setting and Monitoring

Use to manage MP2100

File Manager

Six managers are provided. You can set and monitor the system in these windows File Manager Symbol Manager Engineering Manager Print Manager Communication Manager User Menu Manager

data files, execute security control, and log on to the MP2100.

File Manager Window

Engineering Manager

When used with the Ladder and Motion Editor, it can be used as a programming, monitoring, or debugging tool.

Servo Parameter Adjustment and Monitoring Window

Trace Data Graph Display Window

10

Tips to reduce the program management time

Hierarchy Programming

Programs are managed in drawing unit DWG . The drawings are hierarchically ordered at the parent, child, and grandchild levels, and are grouped according to the program process to clarify the structure of the program. There are three types of drawings startup, high-speed scan process, and low-speed scan process.

Parent Drawing DWG X

Child Drawing DWG X01

Grandchild Drawing DWG X01.01

DWG X01.02 DWG X01.99

Advantages

Programs are standardized as drawings, making reuse possible. Using merge and copy reduce the programming time. Drawings can be managed by grouping them by processes, functions, and designers. Reduces scan time by only executing the programming for a required drawing.

DWG X02

DWG X02.01 DWG X02.02 DWG X02.99

DWG X99

DWG X99.01 DWG X99.02 DWG X99.99

Functions

Standard system functions and user functions are available. The user function allows you to make specialized commands from the programming panel. Functions can be referenced from any drawing.

Advantages

Bit Input Bit Input Numerical Value Input Bit Output Bit Output Numerical Value Output Easily divides programs into sections. Program design and maintenance become easy.

Address Input

Structured Language

By using a structured programming language that includes IF, WHILE, and FOR statements, the programs are compact and easy to understand.

Process

Program

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System Connection Diagram

R S T QF Noise Filter Control Power ON Control Power OFF 1KM 1KM Emergency Stop Servo Servo Power ON Power OFF 1KM 2KM

SUP 2KM SUP

1KM

PC

MP2100 Machine Controller

MECHATROLINK-

Application Module JUSP-NS115 - SGDS SERVOPACK - SGDS SERVOPACK - SGDH SERVOPACK

Application Module JUSP-NS115 - SGDH SERVOPACK

r t

r t

L1C L2C L1 L2

r t

L1C L2C L1 L2 L3

r t

L1C L2C L1 L2

r t

L1C L2C L1 L2 L3

M 2KM

PG

M

PG

M

PG

M

PG

R S T

12

Hardware Specifications

General Specifications

Items

Operating Temperature Storage Temperature Operating Humidity Storage Humidity Corrosive Gas Operating Altitude Environmental Conditions

Specifications

0 to 55

Items

Mechanical Operating Conditions

Specifications

Conforming to JIS B3502 Frequency: 16.7Hz Vibration acceleration: 14.7m/s2 2 hours in each direction (X, Y, and Z) Frequency: 10Hz to 57Hz Vibration amplitude: Single-amplitude of 0.075mm Frequency: 57Hz to 150Hz Vibration acceleration a fixed acceleration of 9.8m/s2 Peak acceleration of 294m/s2(30G) twice for 11ms each in directions X, Y, and Z Ground to 100 or less

Installation Requirements

20 to 85 30 to 95 (non-condensing) 5 to 95 (non-condensing) No combustible or corrosive gas 2,000m above sea level or lower Conforming to JIS B3502 Power supply noise (FT noise): 2kV or larger for 1 min. Radiation noise (FT noise): 2kV or larger for 1 min. Noise Resistance Gland noise (Impulse noise): 1kV or larger for 10 min. Static noise (Aerial discharge): 8kV or larger for 10 times

Vibration Resistance

Electrical Operating Conditions

Shock Resistance Ground

Cooling Method Natural cooling

MP2100 Board

Items Power Supply Dimensions Specifications Input supply voltage: 5VDC 5% 106.68x174.63mm Half the size of a standard PCI One circuit for MECHATROLINK- : Twenty-one stations, including servo drives and I/O equipment, can be connected. (16 axes for servo drives) Transmission speed: 10Mbps (MECHATROLINK- ) Maximum segment length: 50m Direct input: 5 points (One point can be used for interrupts), 24VDC, 4mA, and source mode or sink mode input Direct output: 4 points, 24VDC, 100mA, open collector, and sink mode output Radiation noise (FT noise): 1kV or more for 1 min. Static noise (contact discharging method): 6kV or more for 10 times Other noise: Not specified Not specified Not specified Follows the personal computer's requirements Same as the general specifications

Motion Network

Model JAPMC-MC2100 Approx. Mass 135

I/O Signals Electrical Noise Operating Resistance Conditions Mechanical Operating Vibration Resistance Conditions Shock Resistance Installation Requirements Ground Environmental Conditions

Host Computer Specifications

Items Model CPU Hardware Memory Capacity Hard Disk Drive Capacity Display Resolution Expansion Slot Interrupts I/O Memory Software OS Web Browser Language Specifications PC/AT compatible Pentium 200 MHz or more (Pentium 400 MHz or more recommended) 64 MB or more Free space 500 MB or more 800x600 or more (1024x768 recommended) Half the size of a standard PCI slot First-level use (IRQ sharing is possible) 32 kB shared memory used Windows NT 4.0 Workstation SP5 or later Windows 2000 Professional SP1 or later Microsoft IE 5.5 SP2 or later Microsoft Visual C/C++ 6.0 SP5 or later

: These specifications are applicable if using one set of MP2100s. If using two or more sets in the same host personal computer, the resources to which the number of sets was applied are needed for the fore mentioned specifications. Notes: 1 If using the MP2100 with Windows 2000, the operations of a standard PC are ensured if the programs are added to the Start Menu in this order: control panel-system-hardware-device manager-system device-computer. 2 Pentium is a registered trademark of the Intel Corporaiton. Windows NT and Windows 2000 are registered trademarks of Microsoft Corporation in the U.S.A.

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Hardware Specifications

Hardware Specifications

I/O Modules for MECHATROLINK64-Point I/O Module (IO2310)

Items Specifications

Input: 64 points 24VDC, 5mA, sink/source mode input I/O Signals Output: 64 points 24VDC, 50mA when all points ON , sink mode output Signal connection method: Connector (FCN360 series) Module Power Model JEPMC-IO2310 Approx. Mass 590 Supply 24VDC (20.4V to 28.8V) Rated current: 0.5A, Inrush current: 1A

+24V +24V

I/O Circuit Diagram

+24V

CON IN 4.7k

024V

IN 4.7k

The max. rating is 100mA per point.

Fuse

OUT

Fuse 024V

OUT 024V Fuse

Blown Fuse Detection Circuit

Counter Module (PL2900)

Items

Number of Input Channels Functions Pulse Input Method

Specifications

2 Pulse counter, notch output Sign pulse (1/2 multipliers), A/B pulse (1/2/4 multipliers) , Addition/subtraction (1/2 multipliers) DO Circuit Diagram

+5V

Model JEPMC-PL2900 Approx. Mass 300

Max. Counter Speed 1200kpps (4 multipliers) Pulse Input Voltage External Power Supply 3/5/12/24VDC For input signal 24VDC For driving load 24VDC For module 24VDC (20.4V to 26.4V) 120mA or less Pulse Input Circuit Diagram

24VDC +24V 4 3 PHA1+ PHA1180 4.7k Photocoupler 2 PHA1 2.7k

Notch Output Display

Photocoupler

N1

9

External Notch Output 1

L

Load

Internal Circuit

Photocoupler

N2

13

External Notch Output 2

L

OUT- 11

Output Common

+

12/24VDC

DI Circuit Diagram

+5V

0V 12VDC +12V 2.2k 2 4 3 PHA1 PHA1+ PHA12.7k 180 4.7k Photocoupler

Status Display

Counter 1 External Latch

8

L1

4.7k 620

1000P Photocoupler

0V 5VDC +5V 330 2 4 3 PHA1 PHA1+ PHA12.7k 180 4.7k Photocoupler

620

Counter 2 External Latch 14

L2

4.7k 620 4.7k 620

1000P Photocoupler

Counter 2 External Current 15 RST2 Value Reset External Input

+ - Common +

1000P Photocoupler

12

IN-

0V Differential Voltage Output 2 +12V 4 3 0V PHA1+ PHA1180 4.7k Photocoupler PHA1 2.7k

24VDC

+5V

22

0V

-

+

23 +24V

Isolated DC/DC Converter

External Main Power Supply 24VDC

0V

14

Internal Circuit

Counter 1 External Current 10 RST1 Value Reset

4.7k

1000P Photocoupler

Pulse Output Module (PL2910)

Items

Number of Output Channels Functions Pulse Output Method Max. Output Speed

Circuit Diagram (Pulse Output, DI, DO)

Output Circuit Internal Circuit +5V CW 3 CW

Specifications

2 Pulse positioning, JOG run, zero-point return CW, CCW pulse, sign pulse 500kpps Open collector output 5VDC 10mA/circuit Digital input : 8 points/module

+5V CCW 5 CCW

C-OFF Internal Circuit

7

Output Power OFF

Pulse Output Voltage 5VDC Model JEPMC-PL2910 Approx. Mass 300 Pulse Interface Circuit

B-FREE

9

Magnetic Brake Release

0V 5V +5V +5V Internal Circuit OUT

14 15 17

External Power Supply 0V +5V External Power Supply +5V General-purpose Output

5VDC External Control Signal 24VDC 5VDC 24VDC

4 points 4 points 4 points 2 points

0 24V +24V +24V

22 23

External Power Supply 0V +24V External Power Supply +24V

Digital output : 6 points/module

Input Circuit

5V Internal Circuit OVER

15 11

+5V Over Heating Input

TIMING 24V

13 23 19

Excitation Timing Input +24V Zero-point Input

ZERO

IN

21

General-purpose Input

Dimensions Units mm

MP2100 Board Half the size of a standard PCI

174.63

64-point I/O Module

4.5 4.5 120 111 20 4.5 108

Counter Module, Pulse Output Module

4.5 152

89.8 79

106.68

RUN TX

1

2

3

4

5

6

7

8

120

DDI

343

30

130

121

4.5 4.5

RUN TX 1 2

161 152

3 4 5 6 7 8 120 DDI 343 30

44

C N 1 C N 2

15

Hardware Specifications

Internal Circuit

Software Specifications

Sequence Controls

Items

Program Capacity Control Method Programming Language Scanning

Specifications

120k steps max. only with ladder program. Varies according to the size of the motion program used. For example, the ladder program has 40k steps when the motion program has 16k lines. Sequence: High-speed and low-speed scan methods Ladder program: Relay circuit Textual language: Numerical operations, logic operations, etc. 2 scan levels : High-speed scan and low-speed scan High-speed scan time setting : 1.0ms to 32ms (Integral multiple of a MECHATROLINK- communication cycle) Low-speed scan time setting : 2.0ms to 300ms (Integral multiple of a MECHATROLINK- communication cycle) Startup drawings (DWG.A) : 64 drawings max. Up to 3 hierarchical drawing levels High-speed scan process drawings (DWG.H) : 200 drawings max. Up to 3 hierarchical drawing levels Low-speed scan process drawings (DWG.L) : 500 drawings max. Up to 3 hierarchical drawing levels Interrupt processing drawings (DWG.I) : 64 drawings max. Up to 3 hierarchical drawing levels Number of steps : Up to 1000 steps/drawing User functions : Up to 500 functions Motion programs : Up to 256 Revision history of drawings and motion programs Security functions of drawings and motion programs Common data (M) registers : 64k words System (S) registers : 4k words Drawing local (D) registers : Up to 16k words/drawing Drawing constant (#) registers : Up to 16k words/drawing Input (I) registers : 5k words (including internal input registers) Output (O) registers : 5k words (including internal output registers) Constant (C) registers :16k words Data trace : 128k words (32k words 4 groups), 16 items/group defined Program memory : Flash memory (Battery backup for M registers) Bit (relay) : ON/OFF Integer : 32768 to 32767 Double-length integer : 2147483648 to 2147483647 Real number : (1.175E 38 to 3.402E 38) Register number : Direct designation of register number Symbolic designation : Up to 8 alphanumeric characters (up to 200 symbols/drawing) With automatic number or symbol assignment

User Drawings, Functions, and Motion Programs

Data Memory

Trace Memory Memory Backup Data Types

Register Designation Method

Motion Controls

Items Number of Controlled Axes PTP Control Control Specifications Specifications 1 to 16 axes

Items

Linear, rotary, infinite-length Up to 16 linear axes, 2 circular axes, Interpolation and 3 helical axes Speed Reference Output Up to 16 axes Torque Reference Output Up to 16 axes Positioning, external positioning, zero-point return, interpolation, Position Control interpolation with position detection function, fixed-speed feed, fixed-length feed Phase Control Up to 16 axes Reference Unit mm, inch, deg, pulse Reference Unit 1, 0.1, 0.01, 0.001, 0.0001, 0.00001 Minimum Setting Maximum 2147483648 to 2147483647 Programmable Value (signed 32-bit value) mm/min, inch/min, deg/min, pulse/min, Speed Reference Unit mm/s, inch/s, deg/s, pulse/s Acceleration/Deceleration Type Linear, asymmetric, S-curve Positioning: 0.01% to 327.67% by axis Override Function Interpolation: 0.01% to 327.67% by group

When using 2ms of a MECHATROLINK- communication cycle. 9 axes max. when using 1ms of a MECHATROLINK- communication cycle.

Specifications Coordinate System Rectangular coordinates DEC1 C ZERO DEC1 ZERO C DEC2 ZERO Zero-point Return DEC1 LMT ZERO (17types) DEC2 C DEC1 LMT C C pulse only POT & C pulse POT only HOME LS & C pulse HOME only NOT & C pulse NOT only INPUT & C pulse INPUT only Language Special motion language: Ladder No limitations. Number of Tasks Equal to the number of tasks that the ladder instruction, MSEE, can execute at the same time. Number of Programs Up to 256 24k lines (1.2M characters) when the ladder program has 4k steps. Program Varies according to the size of the motion program used. Capacity For example, the motion program has 16k lines (800k characters) when the ladder program has 40k steps.

16

Programs

Motion API

Motion related API

Classifications Commands

All clear for axis definition Clear for axis definition Clear for device Device Device definition Axis definition Acquisition of axis handle information Conversion: command unit to floating decimal point Unit Conversion Conversion: floating decimal point to command unit Acquisition of motion parameter Parameter-related Setting for motion parameter Operations Setting for current position Positioning JOG feeding JOG feeding disable Positioning Origin return operation Positioning with specified time External positioning Positioning for driver

Functions

ymcClearAllAxes ymcClearAxis ymcClearDevice ymcDeclareDevice ymcDeclareAxis ymcGetAxisHandles ymcConvertFix2Float ymcConvertFix2Fix ymcGetMotionParameter Value ymcSetMotionParameter Value ymcDefinePosition ymcMovePositioning ymcMoveJOG ymcStopJOG ymcMoveHomePosition ymcMoveIntimePositioning ymcMoveExternalPositioning ymcMoveDriverPositioning

Classifications

Commands

Direct interpolation Circular interpolation (specified main coordinate) Circular interpolation (specified radius) Helical interpolation (specified main coordinate) Helical interpolation (specified radius) Torque reference Disable gear control Enable gear control Setting for gear ratio Compensation: positioning Change motion data Disable axial execution Servo ON/OFF setting Disable latch Enable latch Latch on standby

Functions

ymcMoveLinear ymcMoveCircularCenter ymcMoveCircularRadius ymcMoveHelicalCenter ymcMoveHelicalRadius ymcMoveTorque ymcDisableGear ymcEnableGear ymcSetGearRatio ymcPositionOffset ymcChangeDynamics ymcStopMotion ymcServoControl ymcDisableLatch ymcEnableLatch ymcWaitTime

Interpolation

Torque Reference Gears Compensation Motion-related Operations Driver-related Operations Others

System API

Classifications Commands

Setting for bit Setting for data Data-related Acquisition of data Setting for register data value Operations Acquisition of register data value Acquisition of register data handle Acquisition of alarm information System-related Clear alarm Information Clear system alarm

Functions

ymcSetloDataBit ymcSetloDataValue ymcGetloDataValue ymcSetRegisterData ymcGetRegisterData ymcGetRegisterDataHandle ymcGetAlarm ymcClearAlarm ymcClearServoAlarm

Classifications Commands

Specification of controller Release of specified controller System-related Change of controller Operations Acquisition of controller Acquisition of information on last error for the performed function Calendar-related Acquisition of controller calendar Operations Setting of controller calendar Others Detection time setting of API timeout

Functions

ymcOpenController ymcCloseController ymcSetController ymcGetController ymcGetLastError ymcGetCalendar ymcSetCalendar ymcSetAPITimeoutValue

Engineering Tool MPE 720

Items

Model

Specifications

File Manager

CPMC-MPE720 File management, User management, File transfer, Command start up Command execution, Definition setting, Ladder program (ladder mode by Ladder Works), Engineering Manager Tool (ladder mode only for disable coil list), C register, Graph data definition, Motion program User Menu Manager Short cut (ladder mode only) Symbol Data base management by symbol manager (ladder mode by Ladder Works) Command/operation help (ladder mode by Ladder Works), Version information Functions Help Communication Process Communication setting Printing Preview (ladder mode by Ladder Works), Print, Cross reference Register List Register display Cam Tool Electronic cam data generation Customized Functions Editor (ladder mode by Ladder Works), File manager, Toolbar Simple Operations Setup wizard, Quick reference PC/AT compatible, Model Pentium 200MHz or more (400MHz or more recommended) Memory 64MB or more (128MB recommended) Basic Resolution 800 600 or more, High Color (16 bits) Hardware Hardware Disk Capacity 200MB CD Drive 1 (only for installation) Pointing Device PS/2 interface Communication Port RS-232C 57.6kbps or Ethernet Windows95/ 98/ NT4.0 (SP5 or more) Basic OS Basic Windows2000 (SP1 or more), WindowsXP (Available soon) Software Web Browser Internet Explorer 5.5 or later (for help window display)

Pentium is a registered trademark of the Intel Corporation. Windows 95/98/NT/2000/XP, and Internet Explorer are registered trademarks of the Microsoft Corporation in the U.S.

Note

Operating conditions

17

Software Specifications

Software Specifications

Engineering Tool MPE720 (cont'd)

Ladder Instructions

Classifications Classifications Classifications

Instructions

SEE MSEE FUNC XCALL FOR END_FOR WHILE END_WHILE IF END_IF EXPRESSION

Functions

Child drawing call Motion program call Function call Extension program call For structure While structure If structure Expression structure Direct input Direct output NO contact NC contact Rising pulse Falling pulse 10ms on-delay timer 10ms off-delay timer 1s on-delay timer 1s off-delay timer Coil Set coil Reset coil Conjunction Logical sum Exclusive OR

Instructions

ADD SUB ADDX SUBX STORE MUL DIV INC DEC MOD REM TMADO TMSUB SPEND INV COM ABS BIN BCD PARITY ASCII BINASC ASCBIN

Functions

Addition Subtraction Extended addition Extended subtraction Store Multiplication Division Increment Decrement Integer remainder Real number remainder Add time Subtract time Spend time Sign inversion 1's complement Absolute value conversion Binary conversion BCD conversion Parity conversion ASCII conversion 1 ASCII conversion 2 ASCII conversion 3

Instructions

SQRT SIN COS TAN ASIN ACOS ATAN EXP LN LOG DZA DZB LIMIT PI PD PID LAG LLAG FGN IFGN LAU SLAU PWM

Functions

Square root Sine Cosine Tangent Arc sine Arc cosine Arc tangent Exponent Natural logarithm Common logarithm Dead zone A Dead zone B Upper/lower limit PI control PD control PID control First-order lag Phase lead/lag Function generator Inverse function generator Linear accelerator S-curve accelerator Pulse width modulation Table read Table write Row search Column search Table clear Table block transfer Queue table read Queue table write Queue table write pointer clear Counter First-in/first-out Trace Data trace read Failure trace read Inverter trace read Send message Receive message Inverter constant write Inverter constant read

Program Control Instructions

Direct I/O Instructions

INS OUTS NOC NCC ON-PLS OFF-PLS

Numeric Operation Instructions

Relay Circuit Instructions

TON[10ms] TOFF[10ms] TON[1s] TOFF[1s] COIL S-COIL R-COIL AND OR XOR

Numeric Conversion Instructions

DDC Instructions Table Data Operation Instructions System Functions

Basic Function Instructions

TBLBR TBLBW TBLSRL TBLSRC TBLCL TBLMV QTBLR,QTBLRI QTBLW,QTBLWI QTBLCL COUNTER FINFOUT TRACE DTRC-RD FTRC-RD ITRC-RD MSG-SND MSG-RCV ICNS-WR ICNS-RD

Logic Operation Instructions

Numeric Comparison Instructions RCHK ROTL ROTR MOVB MOVW XCHG SETW BEXTD BPRESS BSRCH SORT SHFTL SHFTR COPYW BSWAP

Range check Bit left rotation Bit right rotation Bit transfer Word transfer Exchange transfer Table initialization Byte-to-word expansion Word-to-byte compression Binary search Sort Bit left shift Bit right shift Word copy Byte swap

18

Data Operation Instructions

Motion Commands

Classifications

Commands

MOV MVS MCC

Functions

Positioning Linear interpolation Circular interpolation, Helical circular interpolation (clockwise) Circular interpolation, Helical circular interpolation (counter clockwise) Zero-point return Skip Set time positioning External positioning Absolute mode Incremental mode Current position set Coordinate plane setting Move on machine coordinate Program current position update Acceleration time change S-curve time constant change Set velocity Interpolation acceleration time change Interpolation deceleration time change Interpolation feed speed ratio setting Maximum interpolation feed speed setting In-position check Second in-position check Ignore single block signal User function call

Classifications

MCW ZRN SKP MVT EXM ABS INC POS PLN MVM PLD ACC SCC VEL IAC IDC IFP FMX PFN INP SNG UFC

High-level Control Commands

Numeric comparison commands Data operation Others

Electronic Cam Data Generation Tool

Items

Data Generation

Specifications

Cam curves can be selected from:

Straight line, parabolic, simple harmonic, cycloid, modified trapezoid, modified sine, modified constant velocity, asymmetrical cycloid, asymmetrical modified trapezoid, trapecloid, single-dwell cycloid m=1, single-dwell cycloid m=2/3, single-dwell modified trapezoid m=1, single-dwell ferguson trapezoid, single-dwell modified trapezoid m=2/3, single-dwell modified sine, single-dwell trapecloid, no-dwell simple harmonic, no-dwell modified trapezoid, no-dwell modified constant velocity, NC2 curve, Free-form curve, inverted, paired strings, and inverted paired strings

Data Editing Data Transfer

Data graph: Parameter setting, style setting, graph data editing Data list: Insert, delete, etc. Control graph display: Displacement data, speed data, acceleration data, saltation data, graph comparison Cam data file is transferred to MP2100 registers (M or C)

Ordering Reference for MP2100

Board and Support Tools

Classifications Products

Board API Engineering Tool MP2100 board Motion API for MP2100 MPE720

Model Name

MP2100 Motion API

Model

JAPMC-MC2100

Specifications

MECHATROLINK- and MECHATROLINK- communication 5-point input, 4-point output Dynamic library Library Header file Screwdriver CPMC-MPA700 Manual The programming software to support you from system design to maintenance. CPMC-MPE720 Intuitive ladder programming and editing functions. (Ver.4.41 or later) The Windows-based (Windows 95/98/NT4.0/2000) cam data generation.

Cables and Connectors

Name

I/O Cable for MP2100 Extension Cable for Battery

Model

JEPMC-W2062-A5 JEPMC-W2062-01 JEPMC-W2062-03 JEPMC-W2090-01

Length m Specifications

0.5 1.0 3.0 1.0 With connector on the MP2100 side With connectors on both sides

Note: Refer to the Machine Controller MP2300 (Literature No.KAEPC88070002) for more information about cables, I/O modules, and servo drives other than the above.

19

Software Specifications

Commands MSEE TIM IOW END RET EOX IF, ELSE, IEND WHILE, WEND PFORK, JOINTO, PJOINT SFORK, JOINTO, SJOINT = , , , , MOD , ^, &, ! SIN, COS, TAN, ASN, ACS, ATN, SQRT, BIN, BCD ==, , , , =, = SFR, SFL, BLK, CLR , S{}, R{}

Axis Move Commands

Functions Subprogram call Dwell time I/O wait Program end Subprogram end One scan wait Branching commands Repeat commands Parallel execution commands

Basic Control Commands

Sequence Commands

Control Commands

Selective execution commands Substitution Arithmetic operations Logic operations

Speed and Acceleration/ Deceleration Commands

Function commands

MACHINE CONTROLLER MP2100

IRUMA BUSINESS CENTER

480, Kamifujisawa, Iruma, Saitama 358-8555, Japan Phone 81-42-962-5696 Fax 81-42-962-6138

YASKAWA ELECTRIC AMERICA, INC.

2121 Norman Drive South, Waukegan, IL 60085, U.S.A. Phone 1-847-887-7000 Fax 1-847-887-7370

MOTOMAN INC. HEADQUARTERS

805 Liberty Lane West Carrollton, OH 45449, U.S.A. Phone 1-937-847-6200 Fax 1-937-847-6277

YASKAWA ELETRICO DO BRASIL COMERCIO LTD.A.

Avenida Fagundes Filho, 620 Bairro Saude-Sao Paulo-SP, Brazil Phone 55-11-5071-2552 Fax 55-11-5581-8795 CEP: 04304-000

YASKAWA ELECTRIC EUROPE GmbH

Am Kronberger Hang 2, 65824 Schwalbach, Germany Phone 49-6196-569-300 Fax 49-6196-569-398

Motoman Robotics Europe AB

Box 504 S38525 Torsas, Sweden Phone 46-486-48800 Fax 46-486-41410

Motoman Robotec GmbH

Kammerfeldstra e1, 85391 Allershausen, Germany Phone 49-8166-90-100 Fax 49-8166-90-103

YASKAWA ELECTRIC UK LTD.

1 Hunt Hill Orchardton Woods Cumbernauld, G68 9LF, United Kingdom Phone 44-1236-735000 Fax 44-1236-458182

YASKAWA ELECTRIC KOREA CORPORATION

Kfpa Bldg #1201, 35-4 Youido-dong, Yeongdungpo-Ku, Seoul 150-010, Korea Phone 82-2-784-7844 Fax 82-2-784-8495

YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.

151 Lorong Chuan, #04-01, New Tech Park Singapore 556741, Singapore Phone 65-6282-3003 Fax 65-6289-3003

YASKAWA ELECTRIC (SHANGHAI) CO., LTD.

No.18 Xizang Zhong Road. Room 1805, Harbour Ring Plaza Shanghai 20000, China Phone 86-21-5385-2200 Fax 86-21-5385-3299

YATEC ENGINEERING CORPORATION

4F., No.49 Wu Kong 6 Rd, Wu-Ku Industrial Park, Taipei, Taiwan Phone 886-2-2298-3676 Fax 886-2-2298-3677

YASKAWA ELECTRIC (HK) COMPANY LIMITED

Rm. 2909-10, Hong Kong Plaza, 186-191 Connaught Road West, Hong Kong Phone 852-2803-2385 Fax 852-2547-5773

BEIJING OFFICE

Room No. 301 Office Building of Beijing International Club, 21 Jianguomenwai Avenue, Beijing 100020, China Phone 86-10-6532-1850 Fax 86-10-6532-1851

TAIPEI OFFICE

9F, 16, Nanking E. Rd., Sec. 3, Taipei, Taiwan Phone 886-2-2502-5003 Fax 886-2-2505-1280

SHANGHAI YASKAWA-TONGJI M & E CO., LTD.

27 Hui He Road Shanghai China 200437 Phone 86-21-6553-6060 Fax 86-21-5588-1190

BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO., LTD.

30 Xue Yuan Road, Haidian, Beijing P.R. China Post Code: 100083 Phone 86-10-6233-2782 Fax 86-10-6232-1536

SHOUGANG MOTOMAN ROBOT CO., LTD.

7, Yongchang-North Street, Beijing Economic Technological Investment & Development Area, Beijing 100076, P.R. China Phone 86-10-6788-0551 Fax 86-10-6788-2878

YASKAWA ELECTRIC CORPORATION

YASKAWA

In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof, the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations. Therefore, be sure to follow all procedures and submit all relevant documentation according to any and all rules, regulations and laws that may apply. Specifications are subject to change without notice for ongoing product modifications and improvements. © 2003 YASKAWA ELECTRIC CORPORATION. All rights reserved.

LITERATURE NO. KAEPC88070001A

© Printed in Japan May 2003 03-5 03-4

Information

MACHIN CONTROLLER MP2100

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