FAQ: What are the steps to commissioning an MP930 Machine Control System?
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MP930 Control System Component Examples:
MP930
Any Mechatrolink I/O Module
Sigma II Servos with NS100 Mechatrolink Comm Cards
Absolute or Incremental Encoder Motors
Pre-Startup:
Some common mistakes can be avoided with a thorough review of the following:
1) Encoder wiring.
2) Swapping motor power and encoder between two axes.
3) Swapping motor phases.
4) Mechatrolink wiring & termination errors.
5) Improper grounding.
For further details, refer to the FAQ Database regarding Mechatrolink Wiring Suggestions
Startup/Commissioning Procedure:
Step 1 (SGDH Servopack and SGMxH Motor)
- It is important to first perform a commissioning procedure on each Sigma II servo axis individually without the NS100. Search the FAQ database for the Sigma II Start-up (commissioning) procedure. Common errors often found here are A.C9 (due to encoder disconnection or noise), and A.81 (absolute encoder initialization alarm).
Servo Amp/Motor Commissioning Summary:
- Verify the Servopack is Cleared and Reset to Factory Default settings (Fn-005, Fn006, Fn014)
- Verify Main power is on, and no errors exist (display should read .bb or POT/NOT)
- Verify that 'servo enable' works properly and position loop is closed in jog mode via Fn002
(The shaft should resist movement)
- Test Jog the motor without the load (only shaft) via Fn002
- Test Jog the motor with the load connected, adjust and record speed & position loop gains and torque levels
- Connect 1CN cable (if needed), Verify Input signals via Un005, and Verify encoder signal via Un00D
Step 2 (NS100 Cards)
- With the systems control power off, carefully connect each NS100 Mechatrolink communication card to each Servopack.
(Be sure to attach the NS100s ground wire and ground extender stud to the SGDH ground terminals)
- Connect all Mechatrolink cables and terminators in the system, and set hardware address switch to a unique address.
- Apply system control power (all within 3 seconds of each other).
(At this point, the MP930 is not initialized, the SGDH displays should indicate '.bb', and the NS100 red Network light should be on).
Step 3 (MotionWorks Configuration)
- Log-on to the MP930 controller OFF-LINE (set up the system off line first).
- Setup the Module configuration. Click on each module, make necessary adjustments, and save.
- Adjust System Configuration as necessary, and save.
- Adjust Scan Time settings, and save (Typical settings are H=2msec, L=10 to 20msec).
- Set up Group Definition (assign axis to groups), and save.
- Verify Motion Parameter settings for each axis, and save.
Step 4 (MP930 Configuration)
- Perform Memory Clear operation (DipSW 3,4 on, cycle control power. Then DipSW 2 on, cycle power).
- Log-on to the MP930 controller ONLINE and verify proper communications.
- Perform an ALL FILE TRANSFER from the PC Hard Drive to the MP930 CPU.
- Cycle control power on the system. NS100 green Network light should be on.
- From Motion Parameters Servopack Tab, click on save for EACH individual axis. This will transfer all Servopack setup data to each Servopack individually. Note that it may be necessary to override and mask the Over Travel signals.
- Cycle control power on the system for the Servopack parameters to take affect.
Step 5 (Motion Test from MP930 Controller)
- Disable the H drawing, and L drawing to insure the program does not interfere with manual jog testing.
- Before Jogging the motor, first check to make sure the system is safe to move continuously. If not, it is recommended that the motor be disconnected from the load to verify complete jog operation.
- It is now possible to Servo Enable and test jog each axis in the system from the Setup Parameters Tab
(for more information on control registers, search FAQ Database for MP930 Programming Register Quick Reference).
Axis#1
- Note: the following can be adjusted from the Setup Parameters Tab
- Verify System is ready with IBC0007.
- Enable the servo with OBC0010. Verify with IBC0014 and IBC0008. Verify shaft torque closed loop.
- Set OLC022 Jog speed actual setting (10^n cmd units/min).
- Set OWC020 to 7 (Jog Mode), verify motor movement and speed.
(Speed can be checked via SGDH LED Un000 rpm or
via ILC028 post-quad pulse/sec by setting OWC02D = H8000).
- Tip1: when switching between Setup and the Monitor Tab, save current settings to keep synchronization.
- Tip2: when done testing, return values back to original and save
Axis#N
- Use the same procedure as above, but offset each register by 40Hex
Commissioning Complete!
SAFETY PRECAUTIONS AND INSTRUCTIONS FOR USE OF FAQ INFORMATION!
Please read and understand the product instruction manual before installing, servicing or operating Yaskawa products. FAQ content and illustrations are provided as technical advice to augment the information in manual, not supersede it. It is not possible to give detailed instructions for all types of installation or support activities. The information described in the FAQs are subject to change without notice to improve the product or FAQ. Yaskawa assumes no responsibility for errors or omissions or damages resulting from the use of the information contained in any FAQ. All warnings, cautions and product instruction for product use must be followed. Installation, operation and maintenance should be carried out by qualified personnel. Failure to observe these and other precautions highlighted in the product manuals will expose the user to high voltages resulting in, serious injury or death. Qualified personnel are defined as individuals who are familiar with the installation, starting, operation and maintenance of Yaskawa products of the type described and have proper qualifications to perform the work.
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If you have an urgent request, please call: 1-800-YASKAWA (927-5292) or 1-847-887-7000.Electronically
To contact us electronically, please select your type of request and complete the form.Yaskawa America, Inc. - Drives & Motion Division
2121 Norman Drive South
Waukegan, IL 60085