MP940 Machine Controller

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
	In a vertical axis application, the motor trips the overtravel switch and coasts to the hard stop. What might be the cause? Posted Date: 07/23/2001 Answer: The SGDH servopack has the ability to control the stop mode when an overtravel is tripped (if overtravel switches are wired into the SGDH as recommended). The default method of stopping is to disable the motor and allow the dynamic brake to stop the motor. This method works very well in most horizontal applications, but vertical applications require a different method. When using an MP940, the SGDH overtravel function will disable the motor, even if the MP940 did not execute the disable servomotor block. In this mode, the motor will then continue to coast, and the MP940 is not able to apply torque to stop the motor (because it is not enabled). In this example, it is better to change the overtravel method to keep the motor enabled when an overtravel is tripped. This can be done by setting the overtravel stop mode Pn001.1 to 1 (default is 0). This change allows the MP940 to bring the motor to a controlled stop. Product Group/Line: Controllers, Servo Products, MP940 Machine Controller, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Operation, Start Up - Installation, Troubleshooting Document Number: MNEN-5CJMQ2 Published Date: 07/23/2001 Share \| Rate Rate this article :	07/23/2001
	How many registers are there for each data type (bit, word, long, float), and how are the LONG and REAL data types referenced? Posted Date: 07/13/2004 Answer: There are 32768 global M-registers, addressed from 0 to 32767. All bit, word, long & floats exist in the same area. They are freely allocated as bit, word, long, or float by the programmer. The LONG and REAL data types are referenced as one word and the second word is implicitly used. For this reason, when specifying LONG and REAL, it is good practice to address them using even numbered registers. For example, ML00000, MF00002, ML00004. For more information regarding register allocation recommendations, please refer to this other FAQ LINK. Product Group/Line: Controllers, MotionWorks Software, MP920 Machine Controller, MP930 Machine Controller, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Programming, Specifications Document Number: MNEN-5CJMKN Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	How is the MP940 analog input used? Posted Date: 04/20/2001 Answer: The MP940 analog input is actually wired into the SGDH amplifier [1CN pin 5 (VREF) and pin 6 (SG)], but there are registers available in the MP940 to read the value of that input. These I/O variables are listed in MW+ as "Sigma_Analog_Input" (also available in MotionWorks at address IW0001) and "Sigma_Analog_Input_Voltage". "Sigma_Analog_Input" is an integer word that has a value between -32768 and 32767, while "Sigma_Analog_Input_Voltage" is scaled as a floating point number to reflect the actual input voltage (-12.0 to +12.0). A voltage reference exceeding 12V will cause "Sigma_Analog_Input_Voltage" to be a value of 12.0 volts. Example usage: A customer wants to control the jog speed of his motor with the analog input. The jog speed should vary from -MaxSpeed to +MaxSpeed (MaxSpeed is a variable). To accomplish this, set the jog block's speed property as "Sigma_Analog_Input / 32768 * MaxSpeed". The first half of this expression (Sigma_Analog_Input / 32768) will scale the voltage so it returns a value of -1 to 1, and multiplying this result by MaxSpeed will make the jog speed vary from -MaxSpeed to +MaxSpeed as desired. Note: The analog input can actually accept a signal up to 15VDC, but the analog-to-digital conversion is linear only to -12 to +12 volts. The following document explains this further. Attachments: 3KB Product Group/Line: Controllers, MotionWorks Plus Software, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Applications, Hardware, Programming Document Number: MNEN-5CJMLW Published Date: 04/20/2001 Share \| Rate Rate this article :	04/20/2001
	How is External Positioning (latch target) setup in an MP920/930 SVB mode over mechatrolink? Posted Date: 07/13/2004 Answer: External Positioning (EX_POSING) is essentially the same as what is commonly known as latch target. In this mode, the axis is commanded to make a move to an absolute distance. If it is interrupted by a latch signal, the axis will move a defined distance after the latch position. Example using an MP920: Assume the following: - Control is via mechatrolink with SVB-01 module - SGDH with NS100 module - SGMAH motor with 13 bit encoder - Using Axis #1 - Fixed parameter #8 = 2048 ppr (encoder resolution prequad) - Fixed parameter #17 = 0013H (cmd unit in inches, elec gearing enabled) - Fixed parameter #18 = 3 (three decimal places) - Fixed parameter #19 = 5890 (5.890" per rev) - Fixed parameter #21 = 3 (3:1 gear box) - Fixed parameter #22 = 1 - Latch is wired into SGDH 1CN, +24VDC pin 47 (+24VIN), latch switch sink to common pin 44 (EXT1) Note: OLC012 = Absolute default move distance to move if latch is not received, in user units. Suppose the user would like to set the default move distance to move 1 rev of the final output shaft. This value would get set to 5890 (5.890" with 3 decimal places). OLC024 = Latch distance to move after latch is received, in post quad pulses. Suppose the user would like to set the distance after latch to 1 rev of the output shaft. This value would get set to 24576 (2048ppr43) ILC008 = actual position feedback in user units ILC006 = last latch position in user units Sequence: Check that system is ready and servo is enabled Set OLC024 = 24576 Set OLC022 (speed) Set OWC020=2 (Ext_Posing mode) AND OLC012=9000 at the same time (in the same scan) If latch is not received, the position traveled should verify 9000 user units (ILC008) If latch is received, the position traveled should verify 24576 pulses AFTER the latch position meaning: ILC008-ILC006 should be equal to 5890 user units, and the output shaft should have turned 1 rev (24576 pulse) * (1rev/20484pulse) (1rev_out/3rev_in) * (5890usr_units/rev) = 5890 user units A similar approach can be used when applying to an MP930 See attached .JPG below for a speed/distance chart. Attachments: 16KB Product Group/Line: Controllers, MP920 Machine Controller, MP930 Machine Controller, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Applications, Programming, Start Up - Installation Document Number: MNEN-5CJMK8 Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	How can the software limits in the MP controllers be configured? Posted Date: 08/19/2004 Answer: For the answer, please see the attached .JPG file. Attachments: 165KB Product Group/Line: Controllers, MP920 Machine Controller, MP930 Machine Controller, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Operation, Programming, Start Up - Installation Document Number: AHAR-5K8HNN Published Date: 08/19/2004 Share \| Rate Rate this article :	08/19/2004
	How can a defective ServoPack (SGDH) be replaced in the field when a working MP940 is connected? Posted Date: 10/11/2002 Answer: The attached document describes the replacement of a defective ServoPack (SGDH) in the field, while keeping the existing MP-940 for the new ServoPack. If the MP940 was properly configured, it can be used as a tool to set-up and configure the parameters of the new ServoPack without a computer. Attachments: 248KB Product Group/Line: Controllers, Servo Products, MP940 Machine Controller, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Maintenance, Parts or Replacement, Troubleshooting Document Number: MMIR-5ETTMM Published Date: 10/11/2002 Share \| Rate Rate this article :	10/11/2002
	How are registers in the MP9xx controller monitored from the PC? Posted Date: 09/06/2004 Answer: There are several ways to monitor registers in the MP940, MP930, or MP920 products. 1) MotionWorks+: If the original program was written in MotionWorks+, the "Data Monitoring" feature can be used to monitor the value of any user or system variable, including I/O monitoring. 2) MotionWorks Register List: MotionWorks ladder-based software has a Register List utility that allows the user to set or monitor groups of registers simply. 3) MotionWorks Tuning Panel: MotionWorks also has a utility called 'Tuning Panel', which allows you to set or monitor many individual registers. 4) HMI: Most major brands of HMI interfaces have Memobus drivers available for communication with Yaskawa MP Series controllers. 5) CamTool: CamTool allows tables of data (in the form of a generated cam table) to be sent to the controllers. (Requires MotionWorks or MotionWorks+ to be installed.) 6) CSVTool: A separate run-time software tool called 'CSVTool' allows CSV (Comma Separated Variable) files to be uploaded to or downloaded from the controller. (Requires MotionWorks or MotionWorks+ to be installed.) CLICK HERE for more information. 7) EXCELTool: This Microsoft Excel spreadsheet macro allows contents of specific cells to be changed by hand and sent to the controller. Registers can also be read from the controller. (Requires MotionWorks or MotionWorks+ to be installed.) 8) Visual Basic: Yaskawa has developed a sample application in Visual Basic utilizing a readily available Modbus driver. The demo program shows how to use this Modbus driver to retrieve (M) registers from the MP9xx controllers via Memobus. It allows up to three "M" registers in the MP9xx to be read and one to be written at a time. The Visual Basic program does all the data manipulation necessary to use the Modbus driver as a Memobus communication tool (required for MP9xx). Both the compiled program and the source code are available. Attachments: 3.0MB 2KB Product Group/Line: Controllers, MP920 Machine Controller, MP930 Machine Controller, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Maintenance, Applications, Programming, Troubleshooting Document Number: MNEN-5CJMME Published Date: 09/06/2004 Share \| Rate Rate this article :	09/06/2004
	How are pLimit_PositioningError and sPosition_CompletionWindow used to control positioning accuracy? Posted Date: 05/21/2001 Answer: The goal in a positioning system is to get from Point A to Point B (see attached SmplMove.pdf). But how close to Point B must the system be? Also, how much deviation is allowed on the way to point B? MotionWorks+ has a couple of system parameters that can help the programmer manage this. As with all of the system parameters, these are described in the "Programming Concept" section in your MotionWorks+ software manual. pLimit_PositioningError: This parameter is the maximum allowable following error that the servo will be allowed to accumulate before an alarm is generated. This can occur during any part of the move. Usually, the maximum following error occurs during acceleration. If the following error exceeds this value, an A.9F alarm will be generated, and the system bit mPosition_Error_Exceeded will be set to "1". Even if a system needs to be very precise at the end of the move, the maximum error during the move will be much higher in most instances, depending on the acceleration. Remember to set the value of pLimit_PositioningError sufficiently high. This value will have NO EFFECT on the final position precision. sPosition_CompletionWindow: This parameter defines the maximum distance allowed between the final target and the servo for a move to be considered complete. If an index move with the "wait for completion" property set to "true" is used, program execution will be stalled until the position of the motor is at the commanded position, plus or minus this window. Setting this value larger just means that the final target need not be as close to the target before execution continues. The default value of sPosition_CompletionWindow is 0.0 user units, meaning that the motor has to be EXACTLY at position before execution can continue. With the default tuning gains in the amplifier being so low, it is often difficult to achieve this level of precision, and the program will appear to "freeze" on the index block. In reality, the program is waiting for the position to get within the window, something that the tuning gains are not high enough to accomplish. You may even find that a small push into position will cause the move to complete and the program to continue. Neither of these parameters will determine how closely a system will follow the command, only how the system will react to the error. The following error during the move and the precision at the end of the move are always determined by the tuning of the system. If the system is generating A.9F errors due to excessive position error, or if the program is hanging while waiting for a move to complete, then these are the parameters to check. If these parameters are set appropriately, then the tuning needs to be improved. Attachments: 9KB Product Group/Line: Controllers, MotionWorks Plus Software, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Alarm, Programming, Specifications, Troubleshooting Document Number: MNEN-5CJMN2 Published Date: 05/21/2001 Share \| Rate Rate this article :	05/21/2001
	How are cam tables organized? Posted Date: 05/21/2001 Answer: The first point in the cam table is the number of master/follower pairs in the table. The subsequent points are the master and follower data points. If any master position is not found in the data table, the value will be interpolated from the nearest points. This interpolation is linear, so any "curved" sections of the cam table are actually made up from several small "straight-line" segments. The attached document, CamTable.pdf, will explain this function further. Attachments: 10KB Product Group/Line: Controllers, MotionWorks Software, MotionWorks Plus Software, MP920 Machine Controller, MP930 Machine Controller, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Applications, Programming Document Number: MNEN-5CJMNA Published Date: 05/21/2001 Share \| Rate Rate this article :	05/21/2001
	Does Yaskawa supply an EDS file for the MP940D (DeviceNet)? Posted Date: 07/13/2004 Answer: Yes. However, the MP940D DeviceNet I/O is fully configurable (from one byte to 256 bytes in & one byte to 256 bytes out), and is considered a "communications adapter." An EDS file is not really necessary, because the MP940D does not have fixed I/O configuration, nor does it require explicit messaging for set-up. There are three example EDS files attached in the zip file. The first is the "official" EDS file that contains no data regarding I/O configuration. This is the file the ODVA certified file for the MP940D. The I/O must be configured properly in the MP940D and the attached Master (or slaves if the MP940D is the master). The second and third files were created as examples with Rockwell's DeviceNet manager software as stub files for the MP940D as a DeviceNet slave, with 8 bytes in/8 bytes out and 16 bytes in/16 bytes out, respectively. Again, the MP940D can be configured for any number of bytes in/out from one to 256. 1) MP940DNET.eds - Original EDS file for MP940/260-IF 2) mp940d_8bytes.eds - EDS stub that was created for 8 bytes in / 8 bytes out 3) mp940d_16bytes.eds - EDS stub that was created for 16 bytes in / 16 bytes out The MP940D supports Polled and Strobed I/O. Explicit Messaging is also available. However, some additional ladder code must be written to take advantage of this. Please refer to the MP940 Hardware manual [YEA-SIA-C887-4.1] for further configuration information. Currently, MotionWorks supports all of the above modes of operation. MotionWorks+ [Version 2.56] supports the above with two exceptions; 1) No Strobed I/O support, 2) No Explicit Messaging Support. Attachments: 2KB Product Group/Line: Controllers, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Integration, Network Communications, Specifications, Start Up - Installation Document Number: MNEN-5CJMRY Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	Does Yaskawa offer a template program for the MP940 when using MotionWorks+? Posted Date: 06/24/2013 Answer: Yes - Please see attached two zip files: MW+ Template Prog_02282002.zip Contains full MW+ example program. MotionWorks+ Template Program.pdf Full text (word document) description of above program. The template was created with the following equipment: MotionWorks+ Version 2.56 [SystemLadder 224] or later MP940 Firmware Version A05 SGDH Firmware Version 14 The attached program was created for the Yaskawa MP940 Demonstrator units. (YEA Part # DEMO4700) This template offers full capability and demonstrates the use of many features. Attachments: 410KB 147KB Product Group/Line: Controllers, MotionWorks Plus Software, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Application Example, Programming, Software, Start Up - Installation Document Number: MMIR-5CM5LM Published Date: 06/24/2013 Share \| Rate Rate this article :	06/24/2013
	Does the torque limit (sLimit_Torque) need to be set on the MP940? Posted Date: 05/02/2001 Answer: Properly setting the torque limit is a very important step in commissioning an MP940 system. The MP940 requires this information to be set to match the data set in the servopack controller. If the torque limit is not properly set (ie - if the values in servopack and MP940 do not match), the MP940 will indicate an error displaying an A.9F alarm. This condition can be diagnosed by observing two error parameters from within MotionWorks+: "mError_Parameter_Settable" variable bit in the MP940 will be on, and "mError_Parameter_Number" will be 3, that indicates the torque limit is set out of range. The proper torque limit can be calculated by using either "Sigma II Series Servo System User's Manual" or "Sigma II Servo System Product Catalog Supplement" to obtain the peak torque and rated torque values for the motor. Divide the peak torque value by the rated torque, and then multiply that quotient by -10000. This is the setting for "sLimit_Torque" (it must be entered as a negative number). (For MotionWorks users, sLimit_Torque is the same as OWC002 register.) EXAMPLE: Motor SGMGH-20ACA61 motor has a peak torque of 254 in-lb and a rated torque of 102 in-lb. If you divide 254 by 102, the result is 2.49. Multiply this value by -10000 and the result is -24900. In MotionWorks+, enter a value of -24900 for the system variable "sTorque_Limit". When using the MP940 with a servopack, this value will always be a negative number. The following table can be used for reference: Attachments: 924KB Product Group/Line: Controllers, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Alarm, Specifications, Start Up - Installation, Troubleshooting Document Number: MNEN-5CJMMC Published Date: 05/02/2001 Share \| Rate Rate this article :	05/02/2001
	Can the decimal or binary value of multiple inputs be read and compared? Posted Date: 07/13/2004 Answer: There are eight local inputs in an MP940 system. In addition to viewing and using these bits individually, they can also be utilized using the I/O variable "Local_Input_Bank" for MotionWorks+ and the input word (IW00000 by default) for MotionWorks. This variable returns an integer value that corresponds to the bits that have been turned on. For instance, if bits 1, 3, 5, and 7 are on and all others off, then the register that holds these values is 10101010 in binary, which is 170 in decimal. Therefore, Local_Input_Bank=170 in that case. Armed with this knowledge, special "tricks" can be used to isolate a smaller group of inputs for our use. To do this, the "Bitwise AND" comparator is used. The Bitwise AND comparison (MW+ uses '&' for this) converts integers to their binary equivalent and compares each bit individually. This requires using a mask to choose which bits to look at and which to ignore. For instance, if the program requires the use of bits 3, 4, and 5 to choose one of eight index lengths, take the Local_Input_Bank variable and bitwise AND it with the mask 00111000 (bits 3-5 on, all others off). The result for bits 3, 4, and 5 will be whatever the input is for that bit, and the other bits will all be zero (anything ANDed with zero results in zero). Result = ???????? & 00111000 = 00???000 For an example and more info see the attached .PDF document Attachments: 13KB Product Group/Line: Controllers, MotionWorks Plus Software, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Applications, Programming Document Number: MNEN-5CJMMW Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	Can subroutines be called from "L" or "H" drawings? Posted Date: 03/05/2002 Answer: Subroutines, as called in the above question, are better described as sub-drawings. They exist in both H "High speed" and L "Low Speed" type. Each H or L drawing can have its own respective set of hierarchical levels (Parent, Child, Grandchild), there are three levels available. H = parent, H.01 = child, H.01.01 = grandchild. The total number of drawings available depend on the controller type MP920 - 64 A drawings, 200 H drawings, 500 L drawings, 64 I drawings MP930 - 64 A drawings, 100 H drawings, 100 L drawings MP940 - 4 A drawings, 16 H drawings, 32 L drawings, 8 I drawings The primary reason for this is to keep the Ladder Code organized for easier monitoring and debugging. High speed is commonly used for code related to motion and fast I/O response. Low speed is commonly reserved for background operation. An example of a "drawing tree," is attached. Attachments: 13KB Product Group/Line: Controllers, MP920 Machine Controller, MP930 Machine Controller, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Document Clarification, Programming, Specifications Document Number: MNEN-5CJMKQ Published Date: 03/05/2002 Share \| Rate Rate this article :	03/05/2002
	Are there any tools to monitor or troubleshoot MP920 and MP940 function blocks operation? Posted Date: 02/22/2005 Answer: Yes, there are several tools available to monitor and troubleshoot the operation of the function blocks. The function block operation is mainly monitored via RDA area (MW00100-MW03199, 100 offset per axis, or MW03200-MW03999, 50 offset per Master/Slave area). See the attached .PDF file for charts and further information. Attachments: 117KB Product Group/Line: Controllers, MotionWorks Plus Software, MP920 Machine Controller, MP930 Machine Controller, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Troubleshooting Document Number: MTN-5WKP33 Published Date: 02/22/2005 Share \| Rate Rate this article :	02/22/2005
	Are there any third party HMI Manufacturers that have written Memobus Drivers for the Yaskawa MP9xx products? Posted Date: 04/11/2006 Answer: Most of the major HMI manufacturers, including Exor, Red Lion, Cimrex, Eason, and TCP, make HMI products with drivers for the MP9xx product line. In general, we recommend calling the manufacturer directly (or visit their website) to see if the Memobus driver (for communication to the MP940, MP930 and MP920 products) is available. See the attached .PDF file for a list of HMI Manufacturers that are known to support the Memobus protocol, and have been tested at Yaskawa. Attachments: 21KB Product Group/Line: Controllers, MP920 Machine Controller, MP930 Machine Controller, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Integration Document Number: MNEN-5CJMPN Published Date: 04/11/2006 Share \| Rate Rate this article :	04/11/2006
	Are there any examples of a "flying shear" or "rotary placer" program using MW+? Posted Date: 07/22/2002 Answer: Yes. The attached files highlight the core of a flying shear application that is the cam calculations used to smoothly adjust the motor from one cut to the next, providing the optimum profile for the fastest possible machine speed. The key is the Recalc subroutine, which calculates the straight-line profile based on the machine system properties, and superimposes an S Curve profile on the straight line in the portion of the move where the cutter is not in contact with the product. The Excel file provides a quick way to understand the motion profile based on the values entered for the application. By setting these same values in MW+, a wide range of scenarios can be accommodated. It is possible to change the machine cycle (product length) at run time and recalculate the profile for a new product. If the application requires adjustment based on product registration, use the CAM SHIFT or SLAVE OFFSET block for on the fly adjustement. Attachments: 163KB 30KB Product Group/Line: Controllers, MotionWorks Plus Software, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Application Example, Applications, Programming Document Number: MNEN-5CJMT4 Published Date: 07/22/2002 Share \| Rate Rate this article :	07/22/2002
	Are there any documents available to help with an EXOR/Yaskawa system start-up? Posted Date: 06/24/2013 Answer: EXOR's UniOp HMI Product Installation Guide for Yaskawa provides information regarding installation of the hardware, options, and accessories. a) HMI products: MD00R-02, CP10/11G-04, eTOP12/11/10/30. b) HMI Options: TCM10/08/03, SCM-03, UIM-03, MEM-08/16. c) HMI Accessories: cable wiring diagrams for MP920/930/940, SMC-2000, SGDH, NS600 indexer. EXOR's Electronic Help File includes: Startup help, performance data, wiring diagrams, and system troubleshooting procedures. View the latest EXOR HMI Driver by viewing FAQ # MNEN-5CJMJ8. Attachments: 978KB Product Group/Line: Controllers, Servo Products, MP920 Machine Controller, MP930 Machine Controller, MP940 Machine Controller, SGDH Sigma II, SMC-2000, SMC-3010 LEGEND-MC Topic/Sub Topic: Ask a Technical Question, Document Clarification, Integration, Start Up - Installation, Wiring Document Number: MNEN-5CJMEG Published Date: 06/24/2013 Share \| Rate Rate this article :	06/24/2013
	Are example application programs available for the EXOR HMI when using an MP940 Machine Controller? Posted Date: 02/13/2014 Answer: The EXOR Designer/HMI and MotionWorks+/MP940 example programs below are designed for simple plug-and-play use with the MP940 hardware demo units offered through Yaskawa (DEMO4700 and DEMO4701). These programs can also be used as program templates with only a few minor adjustments. Advantages of using these programs include reduced start-up & debug time, faster integration, simple operation testing, and improved programming structure. There is an HMI program example available for each of the following EXOR HMI units: MD00R-02, CP10G-04, CP11G-04, eTOP12, eTOP11, eTOP12, eTOP30 The MotionWorks+ example program below is designed to work with the MP940 demo components and any of the EXOR HMI products listed above. The EXOR HMI should be configured with the "Yaskawa MP/CP Memobus Driver" communicating at 19.2 kbps. Some parameters may need to be changed when applying this example program to a different machine, including: motor base speed, speed limits, gain settings, torque limits, gear ratios, feed constants, machine cycles, and others. When using one of the MP940 demo units, the components will be: SGMAH-01* (8192ppr incremental encoder, 3000 RPM rated speed, 5000 rpm maximum speed), 400ppr external encoder. Please see FAQ # MNEN-5CJMJ8 to download the latest EXOR HMI Driver. Attachments: 2KB 2KB 36KB 30KB 3KB 131KB 2KB 30KB Product Group/Line: Controllers, MotionWorks Plus Software, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Application Example, Programming, Software, Start Up - Installation Document Number: MNEN-5CJMEE Published Date: 02/13/2014 Share \| Rate Rate this article :	02/13/2014

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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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