MP940 Machine Controller

MP940 Machine Controller - YAI

Single-axis; 115, 240, 480 Volts

The MP940 Machine Controller is a legacy product and no longer promoted in the Americas. (The retrofit/upgrade to the MP940 is the MP2000iec product family, specifically the MP2600iec is a machine controller module fully integrated in to Yaskawa's latest Sigma-5 Series Amplifier. The MP940 Machine Controller series was a single-axis controller and a member of Yaskawa's MotionSuite family of electronic machine controllers. The modular packaging of the MP940 provides integral mounting with Sigma II drives from 30 watt to 55kW, with voltages of 115, 240 and 480 volts.

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Question	Posted Date
What is a "DWG" (drawing)? Posted Date: 05/02/2001 Answer: "DWG" is an abbreviation of "drawing", which is a thread of ladder logic. Drawings form the ladder program for an MP9xx controller. Each drawing can contain a maximum of 500 steps. There are 3 different types of drawings: 1. DWG.A- Executed only once at power up 2. DWG.H- Executed once every High-Speed scan cycle (this cycle time is set by High-Speed scan time) 3. DWG.L- Executed once every Low-Speed scan cycle (this cycle time is set by Low-Speed scan time) They are organized like a family of three generations. A parent drawing (i.e. 'H') is automatically executed by the CPU. Child generations (i.e. 'H01') are executed by being called by the parent drawing with a 'SEE' instruction. Grandchild generations (i.e. 'H01.01') are called by child drawings in the same way. Only a direct descendant of the same family can be called. A parent drawing can not call a grandchild drawing directly, and a drawing can not call drawings of another family (i.e. DWG.H01 can not call DWG.H02.01). Each drawing family will be executed every scan cycle. If there are too many steps in the family of drawings to execute in the allotted time, an error will occur. Increasing the appropriate scan time will prevent this situation. The attached file shows the structure for calling drawings Attachments: 11KB Product Group/Line: Controllers, MotionWorks Software, MP920 Machine Controller, MP930 Machine Controller, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Document Clarification, Programming, Specifications Document Number: MNEN-5CJMMG Published Date: 05/02/2001 Share \| Rate Rate this article :	05/02/2001
What I/O cable options are there for the MP940? Posted Date: 11/29/2004 Answer: There are three options. Option #3 is NEW in 2001: Use pigtail (flying lead) cables. Part number for this option is JZSP-CKI01-XX(A), where XX is cable length in meters: Lengths available are 01, 02, or 03 meters. This option requires two cables to configure a system; one cable for the 1CN on the SGDH and another for the I/O port on MP940. Use terminal block + connector cable assembly. Part number for this option is JUSP-TA50P. Cable length is 0.5 meters. This option requires two JUSP-TA50P's to configure a system. The terminal blocks make wiring to the host controller quick and easy. Use cable assembly with D-SUB output for 3rd party. Part number for this option is CKI-MP940D-XX (rev 2). Lengths available are 0.5, 01, 02, or 03 meters. This is a NEW option introduced in Sept. of 2001. This cable is configured as a "Y" or "two headed" cable. One leg of the "Y" plugs into the amp's 1CN and the other into the I/O port on the MP940. Both terminate on the other end into a single 50 pin D-SUB connector. All 50 pins of the D-SUB are used when combining the I/O (many conductors are not used when the traditional two cable route is chosen). This D-SUB connector allows the customer to specify a 3rd party terminal block of their choice while cutting wiring time in half vs. the pigtail arrangement. For customers who have access to terminal blocks at a volume discount, this option offers substantial cost savings over the JUSP-TA50P. Specify 500 mm, 1m, 2m, or 3m length. For further information on this cable, refer to the CAD DWG or PDF file below. A partial list of suitable terminal blocks is also provided. Explanation of Attached Files: CKI-MP940D-XX (rev 2).dwg Autocad Drawing of the "Y split cable" CKI-MP940D-XX Fixed.pdf Autocad file in pdf format Suitable 50 pin D-Sub MALE terminal blocks.xls Alternative terminal block part numbers from Wago, Phoenix, Weidmuller, Amphenol MP940_SGDH_IO.xls List of pin/wire descriptions for "Y split cable" from SGDH and MP940 to terminal See additional CAD files by searching the following file names: Ys-15.dwg (Programming cable for MP940) CKI-MP940D-XX (rev 2).dwg (I/O and CN1 Cable) Ys14.dwg (Port 2 interface cable with flying leads). Attachments: 30KB 884KB 447KB Product Group/Line: Controllers, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Hardware, Applications, Wiring Document Number: MNEN-5CJMPJ Published Date: 11/29/2004 Related Files: What I/O cable options are there for the MP940? CAD Drawing: CKI-MP940D-XX: MP940 I/O Cable, D-Sub Output Share \| Rate Rate this article :	11/29/2004
What are the steps to set up a Mechatrolink or DeviceNet Network on an MP940 with MotionWorks+? Posted Date: 07/13/2004 Answer: The attached technical note outlines the details in assigning and the setup of Master and Slaves in a MP940 Network System using MotionWorks+. Two different network protocols are available for use with the MP940: Yaskawa's deterministic high-speed network called Mechatrolink, and ODVAs open device network called DeviceNet. Mechatrolink is used as the primary example. However, the setup from MW+ is virtually identical when applying DeviceNet. All nodes that are connected in the network must use the same protocol with only one Master (MP940 has the ability to be setup as a Mechatrolink or DeviceNet Network Master). In both cases, the MP940 only supports network I/O in a Polled I/O fashion. Attachments: 380KB Product Group/Line: Controllers, MotionWorks Plus Software, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Network Communications, Procedure - Policy, Start Up - Installation Document Number: MNEN-5CJMFW Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
What are the recommended programming practices when using function blocks? Posted Date: 09/06/2004 Answer: The following are some recommended programming tips when using function blocks: 1. Function Blocks causing motion must be used in the 'H' drawings. 2. When creating 'H' drawings, allocate enough D registers before inserting the function blocks. (Drawing properties) 3. Ensure that function blocks within the same drawing are not sharing D registers. 4. Include RADinit1 and RDAinit2 in the 'A' drawings for every axis commanded by function blocks. 5. Cycle control power after compiling 'A' drawings. 6. In Multi-axis applications, use the AXISEND function block. All axes related function blocks must be inserted between the SVON and AXISEND function blocks. 7. Take into account the function block dependencies, i.e. function blocks that work together: SVON & AXISEND, CHNG_DYN & MOVE blocks, MOD_ENG & CAM, JOG & STOP, etc. 8. Use the ALARMRST function block to reset SVON errors (after eliminating the cause) and to clear the Error ID register (MW**81). Product Group/Line: Controllers, MotionWorks Software, MP920 Machine Controller, MP930 Machine Controller, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Software Document Number: MTN-5WKP9C Published Date: 09/06/2004 Share \| Rate Rate this article :	09/06/2004
What are the possible causes of communication failure between an HMI and a MP9xx controller? Posted Date: 05/03/2001 Answer: Yaskawa has prepared start-up guides for many of the popular HMI products on the market today. These start-up guides are very helpful during startup. The MP products have port communication lights that blink rapidly when the MP product and the HMI are communicating properly. If HMI communications cannot be established, investigate the following possibilities: 1) Ensure that the Memobus driver is installed in the proper directory and selected in the HMI Programming software. 2) Check the cable wiring, testing it pin for pin according to the wiring recommended in the Yaskawa start-up guide. With RS-422/485 communication, terminating resistors may be needed. Try removing the termination resistors if they are part of the circuit, or adding them if they were not. The success of terminating resistors sometimes depends on the characteristics of the cables used. 3) Check the digital ground and field ground (shield) connections. Make sure that the digital and field ground are separated. Follow the grounding/shielding recommendations in the start-up guide. 4) Check the communications protocol setting in both the HMI and the MP product (typically port 2). Select 19.2kBaud, Even Parity, 8 data bits, 2 stop bit, Memobus RTU transmission mode. 5) Make certain that the slave address is set properly. 6) Make sure the right MP series controller is selected. Some HMI products require this selection. 7) Verify that the active page on the HMI actually monitors/sets a valid MP register (any register MW/MB/MF/ML register within MW00000 thru MW32767). For more information regarding specific startup and setup information, please click on this FAQ link FAQ. Product Group/Line: Controllers, MP920 Machine Controller, MP930 Machine Controller, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Troubleshooting, Wiring Document Number: MNEN-5CJMML Published Date: 05/03/2001 Share \| Rate Rate this article :	05/03/2001
What are the differences between single-axis and multi-axis function blocks? Posted Date: 09/21/2004 Answer: To see the main differences between single-axis and multi-axis function blocks, please download the attached .PDF file with further information and illustrations. Attachments: 31KB Product Group/Line: Controllers, MotionWorks Software, MP920 Machine Controller, MP930 Machine Controller, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Programming Document Number: MTN-5WKPTA Published Date: 09/21/2004 Share \| Rate Rate this article :	09/21/2004
What are some potential causes of an A.E2 alarm? Posted Date: 06/24/2013 Answer: An A.E2 alarm is a watchdog timer alarm, caused by either an MP940 processor time-out or an MP940-SGDH communications synchronization error. Below are some remedies. 1. Excessive system noise - Be sure that the MP940 is grounded to the SGDH (MP940 FG connection on power connector to the SGDH screw terminal on the front side of heat sink with a 16awg short ground wire), and the SGDH is connected directly to the field ground ground bar in the cabinet. Verify that the SGDH is properly grounded. Verify that the subpanel / ground terminal is properly grounded. Make sure that the machine is properly grounded to a sufficient building ground. 2. SGDH Comm Synch Error (Insufficient 24VDC power or bad wire connection) 1) Control power on SGDH and MP940 must power ON within 3 sec of each other 2) Check Dual Port Ram connection between SGDH and MP940 3) Check the 24VDC power supply capacity (if it dips below 21VDC for the unit will automatically watchdog trip as a safety precaution and generate an A.E2 alarm to indicate to user that there is a power supply issue). If the error occurs at the same point in the program all the time, chances are that the program is controlling an output point that draws more current than the power supply is capable of. 4) Verify that all terminal screws that bond wires are securly tightened, sometimes an intermittent connection in the power supply can be caused by loose wires after shipping or moving a machine (vibration of the machine may also cause screws to loosen). 3. MP940 Processor Time-Out - Typically caused when actual H or L scan 'time' exceeds H or L scan 'setting' respectively. The H scan will deterministically execute the entire H program/drawing and sub programs/drawings every H scan setting time cycle. Higher priority background tasks will interrupt the execution, but the H execution must occur in its entirety within the H scan setting. Otherwise, an error will occur. Any remaining time is left over to perform lower priority tasks. Likewise, the L scan will also deterministically execute the entire L program/drawing and sub programs/drawings every L scan setting time cycle. Higher priority tasks will interrupt its execution (such as the H scan), but the L execution must occur within the L scan setting. Otherwise, an error will occur. Hence, if too much time is spent in the H scan, the L scan will be starved of time! As a program grows in size during development, and if this error occurs, most commonly the H scan time will need to be increased. In MW+, it will be necessary to perform a full compile/download for the new values to take effect and maintain after a power cycle. Troubleshooting a Processor time-out - Verify that mProgram_HighScan_Current (SW00005, units of ms/100) and mProgram_HighScan_Maximum (SW00006, units of ms/100) does not exceed the High Scan setting (an MP940 Property attribute in MW+). Note that due to programming differences, various sections of code may not be run under certain conditions. Therefore, it will be necessary to test all conditions so that the maximum scan value can be determined. Example: If mProgram_HighScan_Maximum starts to exceed 70 (0.7 ms) when the high scan setting is 1msec, it would be advisable to increase the high scan setting to 2msec or more as needed. 1) If that does not work, verify that mProgram_LowScan_Current (SW00011, units of ms/100) and mProgram_LowScan_Maximum (SW00012, units of ms/100) do not exceeded the Low scan setting). 2) Another method is prevention. Place critical tasks under high scan setting programs or drawings, and non-critical tasks under low scan programs or drawings. This logical separation also lends itself to good programming practices. View our MP940/MW+ Program Template for an example by viewing FAQ # MMIR-5CM5LM Product Group/Line: Controllers, Servo Products, MP940 Machine Controller, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Alarm, Troubleshooting Document Number: MNEN-5CJMG6 Published Date: 06/24/2013 Share \| Rate Rate this article :	06/24/2013
What are some issues that would cause a web application to drift when using camming with registration, and what are some remedies to this condition? Posted Date: 07/13/2004 Answer: The slave (SGDH motor) on a web handling or similar system may drift for the following reasons: 1) Slave has a non-integer based machine cycle. 2) Master has a non-integer based machine cycle. 3) Cam calculations are flawed. Please see the attached Word file for detailed information about these conditions. Attachments: 16KB 105KB Product Group/Line: Controllers, MotionWorks Plus Software, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Application Example, Programming, Software, Troubleshooting Document Number: KHUL-5DUSAN Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
Product Demo Documentation: MP940 Posted Date: 06/26/2013 Answer: This FAQ contains links to the supporting files for the MP940 demo. Search the document numbers below to locate your files. Vital Statistics* General: Demo Vital Statistics - Product and Tradeshow (Doc # GG.MCD.07.008) Demo Program Example Code: MP940 - MW+ Template Program (Doc # EC.MCD.03.514) Example Code Manual: MP940 - MW+ Template Program (Doc # EM.MCD.03.514) Schematics None available at this time. *Requires partner login Product Group/Line: Controllers, MotionWorks Plus Software, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Product Demo Document Number: MTN-6VYLY9 Published Date: 06/26/2013 Related Files: Example Code Manual: MP940 - MW+ Template Program Share \| Rate Rate this article :	06/26/2013
Many new computers do not offer serial communication ports. How is communication possible to Yaskawa products if no serial port is available? Posted Date: 06/25/2013 Answer: Currently most Yaskawa products require serial communication; some do offer Ethernet as an alternative. However, if neither method of communication is available, most computers offer USB (Universal Serial Bus). A USB to serial adaptor device may be used to establish communication. These adaptors are widely available on the Internet and at electronics stores. All current Yaskawa software will work with a USB to serial port adaptor (provided the operating system supports it). Yaskawa has used the following inexpensive model successfully with current generation products and software (SGDH, SMC-2000, SMC-3010, SMC-4000, MP-940, MP-930, MP-920, NS-600, NS-500, NS-300, SigmaWin100, SigmaWin+, YTerm, MotionWorks, MotionWorks+, IndexWorks, NS-XXX): http://www.cablestogo.com/product.asp?cat%5Fid=101&sku=26886 USB to serial adaptors can be purchased from many different vendors, including many PC vendors. The results from google search yielded a cost effective unit available, the link is listed below: Some sources for USB-to-Serial adapters: - CBW: manufactured by Zonet and is their Model # ZUC3100. SKU# 830762001706 - Cable America: http://www.cablestogo.com/product.asp?cat%5Fid=101&sku=26886 See attached. JPG file for photo example of cable. Attachments: 8KB Product Group/Line: Servo Products, Controllers, CACR-HR, IndexWorks Software, MotionWorks Software, MotionWorks Plus Software, MP920 Machine Controller, MP930 Machine Controller, MP940 Machine Controller, NS600 Indexer, NSxxx Software, SGDA, SGDB, SGDC, SGDH Sigma II, SigmaWin100-200 Software, SMC-2000, SMC-3010 LEGEND-MC, YTerm Software Topic/Sub Topic: Ask a Technical Question, Environment, Maintenance, Programming Document Number: MTN-5VDNR9 Published Date: 06/25/2013 Share \| Rate Rate this article :	06/25/2013
Is there information regarding DeviceNet Troubleshooting for the MP series products? Posted Date: 10/30/2001 Answer: The attached document shows different error codes for the Module Status and Network status LEDs with possible remedies and error codes indicated in the MotionWorks Screens with possible remedies. Attachments: 354KB Product Group/Line: Controllers, MP920 Machine Controller, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Network Communications, Troubleshooting Document Number: MNEN-5CJMGW Published Date: 10/30/2001 Share \| Rate Rate this article :	10/30/2001
Is there a wiring example of an MP940 following a Sigma II SGDH servo master? Posted Date: 07/13/2004 Answer: Yes. Attached Below is an example wiring of a Sigma II SGDH servo system as a master, wired to the external encoder input of the MP940 system. In this case the SGDH motors encoder is output on the 1CN connector as simulated encoder. The Encoder Output resolution from the SGDH can be changed or divided out by adjusting the PG Dividing Ration Parameter (Pn201). For more information on wiring connections and wiring techniques, please refer to the Sigma II Users manual and the attached MP940 I/O connection diagram. Attachments: 110KB 22KB Product Group/Line: Controllers, Servo Products, MP940 Machine Controller, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Applications, Integration, Wiring Document Number: MNEN-5CJMKL Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
Is there a Register Quick Reference Guide for the MP940 Controller? Posted Date: 11/04/2003 Answer: Attached is an excel spreadsheet that outlines commonly used registers used in the MotionWorks MPE720 programming environment. This can be used as a supplemental quick reference to the Users Manual. Attachments: 32KB Product Group/Line: Controllers, MotionWorks Software, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Programming, Troubleshooting Document Number: MTN-5PZSTF Published Date: 11/04/2003 Share \| Rate Rate this article :	11/04/2003
Is there a procedure outlining the start-up of an MP940 Controller System? Posted Date: 02/15/2006 Answer: The attached document takes the user through a step-by-step start-up procedure for the MP940 product using either MotionWorks or MotionWorks+ environments. There are two separate files attached. Be sure to verify the software and hardware versions of your equipment to determine which file to reference. Tools you will need are as follows: MP940 connected to an SGDH Amplifier YS-15 communications cable (PC to Port#1 on MP940) PC running MotionWorks or MotionWorks Plus, with Communications Process configured with the proper COM port # @ 19.2kbaud, 8 bits, even, 1 stop MP940StartUpProcedure_RevC.pdf: MP940: A05 and HIGHER SGDH: 000E and higher MW: 3.53A and higher MW+: 2.05 and higher MP940StartUpProcedure_RevA.pdf: MP940: A03 and LOWER SGDH: 000E and higher MW: 3.51 and Lower MW+: 1.62 and Lower MP940_TorqueLimitSetTable.pdf Required file to set Torque Limit Values inside MW+ Attachments: 1.0MB 514KB 494KB Product Group/Line: Controllers, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Document Clarification, Procedure - Policy, Start Up - Installation Document Number: MNEN-5CJMH4 Published Date: 02/15/2006 Share \| Rate Rate this article :	02/15/2006
Is there a procedure for starting up an MP940 with an absolute encoder? Posted Date: 07/13/2004 Answer: Yes, the following is a step by step procedure to commission an MP940 with an absolute encoder (clears an A.81, A81 alarm). Absolute Encoder setup with MP940 and MotionWorks + 1) Plug in absolute encoder motor and absolute encoder backup battery to Sigma II amplifier. Use Yaskawa part number JZSP-BA01 battery (Toshiba, ER3 V, 3.6V). 2) Turn power On and drive error "A81" will appear on drive display. 3) Open Sigma II user's manual, troubleshooting page 9-19. 4) The solution in the manual shows to follow the absolute encoder setup in the Sigma II user's manual. 5) Follow the absolute encoder setup procedure in section 5.7.4 in Sigma II user's manual (see attached file below). 6) Cycle power, the drive error "A81" will be gone and "bb" will show on drive display. 7) Start MotionWorks +. Open a new project and open Tools / Machine Unit Configuration window from the main menu bar. 8) Enter a value of "16384" in the Encoder pulse / rev data field. 9) Set Encoder Type to "Absolute". Click "OK" to close the window. 10) Open Project / Data / System Variable Definition window from the main menu bar. Enter a value of 0.0 in the sHome_Offset data field. Click on "Save Values To Hard Disk", then click on "Close" to close the window. 11) Save project, go online, compile and download. 12) Open Project / Monitoring / Variable Watch window from the main menu bar and monitor mPosition_Actual. Record this actual position value. 13) Reopen the Project / Data / System Variable Definition window and enter the negative value of the value monitored in mPosition_Actual into the value for sHome_Offset. Press enter, then click on "Save Values To Hard Disk", then click on "Close" - to close the window. 14) Save project, compile and download. This sets the current actual position to be 0.0. 15) Open Variable Watch window and monitor mPosition_Actual. It should be 0.0. 16) Setup completed. Note: When absolute encoder is used, the range of the number of encoder turns is from -32768 to +32767. Attachments: 178KB Product Group/Line: Controllers, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Procedure - Policy, Start Up - Installation Document Number: MNEN-5CJMGN Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
Is there any information available about a free software to use for opening Yaskawa 2D drawings such as dwg and dxf? Posted Date: 05/15/2014 Answer: To open and edit 2D dwg and dxf drawings; use DraftSight which can be downloaded from its website. Search for DraftSight on the web. Product Group/Line: Servo Products, SGDG LEGEND, SGDH Sigma II, SGDS, SGLF Series, SGLG Series, SGLT Series, SGMAH Sigma II, SGMAV Sigma-5, SGMBH Sigma II, SGMCS Direct Drive, SGMGH Sigma II, SGMGV Sigma-5, SGMJV Sigma-5, SGMM Sigma Mini, SGMPH Sigma II, SGMSH Sigma II, SGMSV Sigma-5, SGMUH Sigma II, Sigma FSP, Sigma Trac, SGT Sigma Trac, STF Sigma Trac, SJDE Junma, SJME Junma, Controllers, JAMSC-Network IO, JUSP-FC100 Full Closed IF Unit, MotionWorks IEC, MotionWorks Plus Software, MP2000 Series (MP2300-MP2200), MP2000iec Series, MP2100, MP2200, MP2300, MP2300Siec, MP2310iec, MP2600iec, MP3200, MP3200iec, MP920 Machine Controller, MP930 Machine Controller, MP940 Machine Controller, NS100 Mechatrolink, NS115 Mechatrolink II, NS300 DeviceNet, NS500 Profibus, NS600 Indexer, NT001, SMC-2000, SMC-3010 LEGEND-MC, SMC-4000, YTerm Software, SGDV Analog, SGDV EtherCAT, SGDV Indexer, SGDV MECHATROLINK-II, SGDV MECHATROLINK-III, SGDV MP2600iec, SGDV SigmaLogic, Network-Comm-EtherCAT, Network-Comm-MECHATROLINK-II, Network-Comm-Options Topic/Sub Topic: Ask a Technical Question, Dimensions Document Number: MTN-9G4SB7 Published Date: 05/15/2014 Share \| Rate Rate this article :	05/15/2014
Is there an example showing an MP940 as a DeviceNet Master controlling NS300's as slave devices? Posted Date: 09/06/2001 Answer: Yes, please see the attached Word document for how to setup a DeviceNet network using MP940 as a master and NS300's as slaves. The document describes the fixed 8 byte packet the NS300 uses for DeviceNet communication and how to manipulate the packet using MotionWorks+ to get the desired motion. The attached ZIP file includes the NS300 configuration files and the MotionWorks+ application used in the MP940. Attachments: 411KB 233KB Product Group/Line: Controllers, MP940 Machine Controller, NS300 DeviceNet Topic/Sub Topic: Ask a Technical Question, Application Example, Applications, Integration, Programming Document Number: MNEN-5CJMR2 Published Date: 09/06/2001 Share \| Rate Rate this article :	09/06/2001
Is there a list of User's Manuals for the MP900 Series Products? Posted Date: 10/20/2006 Answer: Many of these manuals can be ordered from Yaskawa Literature department. Most are available in PDF format for download from our Download Center <- Click Here MPE720 MotionWorks Software Manuals for MP Controllers - YEA-SIA-887-2.1 LadderWorks Ladder Editor Programming Manual - YEA-SIA-887-2.3 LadderWorks Ladder Editor Operation Manual - SIEZ-C887-1.3 Motion Programming Users Manual - SIEPC88070005 MPE720 Software Users Manual Mechatrolink Users Manuals - SIEZ-C887-5.1 Mechatrolink System Users Manual (for NS100 & I/O) - SIE-C718-4 NS100 Mechatrolink Option Module Users Manual MP920 - Modular Machine Controller - SIEZ-C887-2.1 MP920 Design and Maintenance Manual - KAE-S887-2 MP920 Module Selection Guide and Brochure (47 pages) - SIEZ-C887-2.5 Motion Module Users Manual (SVA and SVB) - SIEZ-C887-2.6 Communications Module Users Manual (215IF - High Speed Token-ring Network for Controller-to-Controller) (217IF - RS232/RS485/RS422, Memobus Protocol) (218IF - Ethernet Module, Memobus/Modbus Protocol) - SIEZ-C887-5.2 Devicenet Users Manual (260IF) MP930 - Modular Machine Controller - SIEZ-C887-1.1 MP930 Design and Maintenance Manual MP940 - Modular Machine Controller - SIEZ-C887-4.1 MP940 Design and Maintenance Manual - YEA-SIA-C887-4.1 MP940 Hardware Manual Other Useful Manuals: - SIE-C887-17.6 CAM Tool Operations Manual - SIE-C815-13.60E Memobus Descriptive Manual Product Group/Line: Controllers, MotionWorks Software, MP920 Machine Controller, MP930 Machine Controller, MP940 Machine Controller, NS100 Mechatrolink Topic/Sub Topic: Ask a Technical Question, Specifications Document Number: MTN-5UYSRS Published Date: 10/20/2006 Share \| Rate Rate this article :	10/20/2006
Is there a list of technical recommendations for safe guarding an MP940 Servo Control System against overspeed conditions? Posted Date: 08/29/2005 Answer: Yes, below is an example written up for an MP940 Indexing System with a Direct Drive Motor, but can also be applied to various other applications: Product Description Ordering Part Number Direct Drive Motor: SGMCS-2ZN*** Sigma II Amplifier: SGDH-30AE MP940 Machine Controller: JEPMC-MC400 MotionWorks Software: MPE720 The Yaskawa 3kW Direct Drive Servo, SGDH Sigma II Servo Amplifier, MP940 Machine Controller, and MPE720 MotionWorks Software is a programmable system capable of operating the motor in various applications such as absolute rotary motion indexing. To insure that the system controls the motor in the way the machine designer expects, the system design specifics should be considered. Since the Yaskawa system is scalable, it allows the designer to add modules for increased ability and flexibility to suit the needs of various applications, including segmented variations of indexing applications. The description below describes some features of how each module monitors and handles speed concerns. 1) Motor: SGDH servo amplifier has a feature that will auto-id the SGMCS-2ZN direct drive motor through the serial encoder, and identify that it has a max speed of 250 rpm. If the encoder wire is unplugged, or if the serial communications data becomes compromised due to electrical noise, the system will automatically detect it, and fault out on an A.C* alarm. There is more information about these alarms in the manual or in our faq site, faq.yaskawa.com. 2) Amplifier: SGDH servo amplifier has a feature that will fault out on overspeed A.51 alarm if the motor exceeds 250 rpm by an amount. Alarm detection occurs within about 1msec of when the servo amplifier calculates that the speed has reached 20% above max speed. Once the alarm is detected, the amplifier faults out on overspeed, and annunciates the alarm. The motor will stop according to stop condition parameter settings (coast or dynamic brake, see Pn001). - The alarm output of the SGDH amplifier should be wired in series with the E-Stop circuit to insure main power gets dropped out in the event of a Servo Amplifier Alarm. Refer to section 5.5.2 in the MP940 Design and Maintenance Users Manual, SIEZ-C887-4.1. - The Servo Amplifier has a feature that allows the servo to be jogged regardless of the state of the controller, overriding the controller. This is available for startup and testing purposes, and ease of use. When the machine is commissioned for production, it is recommended that this feature as well as access to any parameter be locked out. SGDH Parameter access through the front panel can be locked out by setting Fn010=1. Refer to section 7.2.12 in Sigma II Servo User Manual, YEA-SIA-S800-32.2. 3) Controller: MP940 controls the servo amplifier via Dual Port Ram interface connection, and should be used to enable/disable the servo, as well as supply the control reference signal. This interface is completely digital, and handshakes communication on a watch dog timer. If the CPU faults out on a serious error it will cause a watch dog error, and the amplifier will automatically fault out on an A.E2 alarm, disabling the servo. - It is recommended that all low power control signals be wired to the MP940 I/O connector with exception to the following which wire to the 1CN connector: Positive and Negative over travels inputs, Home Latch or Motor Position Latch input, and Pulse Generator output. All 1CN inputs can be used as programmable inputs monitored via register IWC025. 4) Software Setup: MPE720 MotionWorks software programming environment is used to setup, program, and monitor the MP940 and servo system. Fixed parameters and setup parameters are available for flexibility and assurance of control. Proper setup of these parameters as recommended in the users manual will insure the direct drive servo positions accurately and as expected. It is recommended that all adjustments to the setup and parameters be made from this software. OWC004/OWC005 are also available parameters that can be set to limit speed (refer to manual section 11.3, SIEZ-C887-4.1 position mode preparation info when motion command is used, see control mode block diagram 11.21). - During software setup, its important to characterize a complete set of tuning gains for the mechanical system, first without the load, and finally with the load (Primarily parameters: Pn100, Pn101, Pn103, OWC010, OWC011, OWC035, and all low pass or notch filtering). See section 6.4.3 for a complete set of gain-related parameters. Taking measurements of torque and speed profile during a positioning move cycle, and recording this information is called 'servo gain baselining'. Documenting this is recommended for future reference when troubleshooting a system. Guidelines on Tuning can also be found in Example FAQs on faq.yaskawa.com: BFAR-5DHHXL, MTN-5WZJZ7. - Any constant or variable values that are considered default parameter settings for the machine installation, should be hard coded into the Startup A drawing, so that the A drawing will store the hard coded values into the register which is used in the application program. This insures that all default values are stored in the program in the event that an MP940 controller is swapped out. Parameter set changes during machine operation can be set by downloading recipes from an HMI, or tweaked from the HMI. 5) Software Programming: There are several ways to program the system because of the variety of applications, including indexing. If the chosen method to position is by setting the Motion Command Code to positioning (OWC020=1), then the final position command should be conditioned and checked, then sent to the Command Register (OWC012). Good practice for coding in ladder would also include interlocking code to protect the overall control of the system such as: servo ready/fault check, over travel check, safety I/O check, speed command verification and limit checking, actual speed calculation check, etc. - It is also recommended that a general purpose output be dedicated to interlock in series with the hardwired E-Stop circuit, preventing the E-Stop circuit from engaging main power until the MP940 code is running and controlling the output. If software safety check code detects abnormalities, it should set the output to off, causing dropout of E-Stop power. This is possible because the MP940 and SGDH amplifier control power is separate from the servomotor main power. - In instances where load will be changing, changing gains on the fly should be considered. If the system is rigid enough, it may be possible to linearly scale the gains using Pn103, otherwise, gain relationships may need to be adjusted. This can be determined through testing. - Software application code can be secured by password protecting through the user management section. Seven levels of read and write access protection are available. 6) Software Testing and Verification: Good practice for machine commissioning is to validate program functions through sign-off testing. This is often performed with the help of a checklist that shows columns for: Test item, verification test, acceptance criteria, and a place for the tester to sign and date. 7) Software Maintenance: Once the program and system has been tested, the application program should be baselined by assigning a production version, and should be backed up. In addition, the critical control software modules should be secured with password protection to support authorized changes only through an 'application software version control process'. 8) External Devices: HMI variable settings should be limited to insure the system does not operate as unexpected when the operator (or external device) enters set values outside of the expected range. If needed, an external speed monitor with independent circuitry could be connected, and hardwired to provide a final layer of independent overspeed protection. 9) System Level: Layered protection at each level (motor, amplifier, controller, setup, programming, testing, maintenance, external devices) will insure mitigation as well as contingency execution in the event that any particular safety element is compromised by mistake (example, if someone changes a programmable value accidentally, or by-passes a wired protection). Ultimately each application is different, and demands a varying level of protection against anomalies based on a balance of safety requirement and feasibility of cost. These are all at the discretion of the installer. It should also be recognized that the operators or users of this machine may alter the system at any point based on the ease of access to bypass functions or features. For this reason, it is also recommended that lock-out tag-out hardware be installed on the control enclosure, as well as a maintenance safety procedure be written to support that. In any of these cases, the Direct Drive motor, SGDH amplifier, MP940 controller, and MPE720 software is designed to operate together, and if wired, installed, setup, programmed, and maintained in accordance to the respective product users manual, and utilizing best practices, the motor will position as expected. Resources: - MPE720 Software Users Manual# SIEPC88070005A - MP940 Users Manual# SIEZ-C887-4.1 - Sigma II Users Manual# YEA-SIA-S800-32.2 - Sigma II Servo Tuning FAQ# BFAR-5DHHXL - Tuning Tips for Direct Drive Servo FAQ# MTN-5WZJZ7 Product Group/Line: Controllers, Servo Products, MP940 Machine Controller, SGDH Sigma II, SGMCS Direct Drive Topic/Sub Topic: Ask a Technical Question, Procedure - Policy Document Number: MTN-6FJT79 Published Date: 08/29/2005 Share \| Rate Rate this article :	08/29/2005
Is there a list of Ladder Instructions that can be used in the MP900 series products? Posted Date: 03/08/2002 Answer: Attached is a help file for the MotionWorks ladder editor (LadderWorks). Attachments: 1.1MB Product Group/Line: Controllers, MotionWorks Software, MP920 Machine Controller, MP930 Machine Controller, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Document Clarification, Programming, Specifications Document Number: MNEN-5CJMKW Published Date: 03/08/2002 Share \| Rate Rate this article :	03/08/2002

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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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