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
	Yaskawa offers a great MP940 / MotionWorks+ (MW+) template program, but it is fairly complex. Is there a simplified version of the template program without all of the bells and whistles? Posted Date: 06/24/2013 Answer: Yes - Please see the attached two zip files: MW+Simple_Template_Prog_05142003.zip Contains the full MW+ template program. MotionWorks+ Simple Template Program.pdf Full text (word document) description of the template. Note: This was created with the following in mind: MotionWorks+ Version 2.83 [SystemLadder 284] or later MP940 Firmware Version B01 SGDH Firmware Version 14 The attached program was created for the Yaskawa MP940 Demonstrator (YEA Part # DEMO4700) units, but it will work for other applications as well. Click here for a more detailed version of the template program Attachments: 162KB 402KB 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-5MJP42 Published Date: 06/24/2013 Share \| Rate Rate this article :	06/24/2013
	Why does the SGDH servopack flash "bb" continuously? Posted Date: 09/06/2004 Answer: 1) The MP-940 24VDC is not connected, or the polarity of the power is reversed 2) The internal protection fuse (FU1) inside the MP-940 has been blown. (Attached please find the fuse specifications, 1.5A required, Cautionary Note: Field replacement of this field could void warranty) 3) The 24VDC power supply could be undersized, and inrush could causes a device to drop out. Keep the following specifications in mind when sizing the power supply: Continuous power consumption: MP-940 control power 0.4A SGDH (400V) control power 1.0A (3.0A surge for 50msec) (DC motor brakes should be powered by a separate supply to reduce noise) 4) If the MP-940 and SGDH are powered up together and successfuly synchronize but the SGDH subsequently loses control power and has it reapplied while the MP-940 24VDC remains constant, bb will blink. 5) If the MP-940 has been without power for over 24 hours without a backup battery attached, or the program is stored in flash. Note: Firmware Version in SGDH: 14, MP-940: A05 A fuse Source: http://www.mouser.com Attachments: 139KB Product Group/Line: Controllers, Servo Products, MP940 Machine Controller, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Alarm, Troubleshooting Document Number: MNEN-5CJMR6 Published Date: 09/06/2004 Share \| Rate Rate this article :	09/06/2004
	When using MotionWorks+, is there a way to tell which version of a project is currently in the RAM memory of the MP940 and the last date it was revised? Posted Date: 07/13/2004 Answer: If revision data is needed, it can be managed by generating three CONSTANTS in the MW+ project file: Year, MonthDay, and RevisionNumber. This technique is a common practice among MW+ programmers to consistently maintain revisions. Constant Definitions: "Year": Assign to the initial value of this constant, the year the project was downloaded. "MonthDay": Assign to the initial value of this constant the month and the day the project was downloaded. If the project was downloaded on March 17th , the constant would be 3.17 "Project": Project Number.Revision level - If project number 176 with a revision level of 4 is in the memory, the constant value would be assigned as 176.004 Assign the appropriate data to the initial value to these three constants. By using the data monitoring feature in MW+, the revision number can be seen. Using this method, it is important to remember to change the revision data manually every time a significant change to the project is made. There is no automatic update. To retain each revision, be sure to save any changes as a new project. Product Group/Line: Controllers, MotionWorks Plus Software, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Applications, Programming Document Number: MNEN-5CJMHU Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	When running into hardware limits, motion is disabled in both directions. How can the axis be jogged off the limit switch? Posted Date: 07/13/2004 Answer: When running into a hardware limit switch with the MP940 controller, the drive decelerates the motor to a stop. The method of stopping depends on Pn001 setting. This also causes an A.9F alarm in MP940, which prevents the motor from moving. To enable and move the motor off the limit switch, the user must reset the alarm by toggling bit 6 of OWC000 in MW (The servo and the motion commands must be off before resetting.) If using MW+, the RESET FAULT icon must be executed. After the reset, the servo can be enabled and moved in the reverse direction of the limit. Product Group/Line: Controllers, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Alarm, Operation, Programming Document Number: AHAR-5KYS2Q Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	When an MP940 with a 17-bit encoder is being operated, does the encoder resolution need to be reduced? Posted Date: 04/27/2001 Answer: A motor with a 17-bit encoder is capable of producing 131,072 post-quadrature pulses. However, the SGDH amplifier cannot physically reproduce the encoder output pulses at this rate. Therefore, when using a 17-bit encoder with an SGDH amplifier with a wired motion controller (such as the SMC-2000 or a non-Yaskawa controller), the amplifier can output a maximum of 65,536 pulses per revolution to the controller. This value is set with parameter Pn201 as a pre-quadrature value. When an MP940 controller is used in conjunction with the SGDH amplifier, there are no actual "pulses" sent to the controller. Instead, an encoder value is set in a Dual Port RAM register which is read by the MP940. Therefore, there is no reason to reduce the number of pulses that can be used by the MP940 controller. When an MP940 controller is used with an SGDH amplifier, the full 131,072 pulses per revolution can be used. Product Group/Line: Controllers, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Document Clarification, Programming, Specifications Document Number: MNEN-5CJMM6 Published Date: 04/27/2001 Share \| Rate Rate this article :	04/27/2001
	What version of Sigma II fimware is required if using an option card such as the MP940? Posted Date: 04/04/2002 Answer: Version 5 or greater firmware is required in the Sigma II if using an MP940. Product Group/Line: Controllers, Servo Products, MP940 Machine Controller, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Start Up - Installation, Upgrade (Software - Firmware) Document Number: MNEN-5CJMPC Published Date: 04/04/2002 Share \| Rate Rate this article :	04/04/2002
	Whats the maximum number of User Function blocks that can be used in the MP900 series controllers? Posted Date: 03/06/2002 Answer: Maximum number of Unique User Function blocks that can be defined is as follows: MP920 = 500 MP930 = 200 MP940 = 32 Within a project, unlimited number of those defined function blocks can be used and called within drawings, bound by the programming memory. 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-5CJMKU Published Date: 03/06/2002 Share \| Rate Rate this article :	03/06/2002
	What is the reason for the long deceleration when using a Direct Drive Motor system with a Sigma 2 Servopack (SGDH) and MP940? What are the steps to properly tune such a system? Posted Date: 07/25/2005 Answer: The default parameters in the MP940 and Sigma 2 Servopack (SGDH) may cause longer deceleration times than what is programmed. The attached .JPG file is a screen shot of a profile of a Direct Drive servomotor controlled with an MP940. A quick 20mS move was set for acceleration and deceleration. The SGDH speed loop gains and MP940 position loop gain are too low for the Direct Drive Servomotor system. Once the MP940 memory is cleared, and both the Servopack and controller are re-powered, the MP940 turns off 'adaptive auto tuning'. The MP940 does this by setting Pn110.0 = 2. Speed loop Gains: Pn103 (Inertia ratio) in the SGDH is still set to Factory default of 0. In this condition, the speed loop gains in the SGDH (Pn100, Pn101) are very small relative to the high encoder resolution and large inertias of both motor and load. Calculate the inertia of the load and enter the Load to Motor ratio in units of 0.01% into Servopack Parameter Pn103. The factory defaults on the other two gains (Pn100 and Pn101) are a fine starting point for a Direct Drive Servomotor and load. Since the load is direct drive, speed loop gain tuning should be started from a rigidity setting of 8. If there is too much vibration during an initial move, then it should be decreased, and a test move made again. Please refer to section 6.3.2 in the Sigma 2 manual for adjusting the gain levels for specific rigidity. Position Loop Gains: The Position Loop gain and the Position Loop Feed Forward are of equal importance. Both are located in the MP940 controller. The Motion Works+ software package includes the Position Loop Gain as System Variable 'pGain_PositionLoop'. In MPE720/MotionWorks it is register OWC010, or Set Up Parameter 17 in the SVA module configuration. Values for Position Loop Gain can vary, but a good starting point for a Direct Drive Servomotor is 50. Increase the gain for improved deceleration performance. When the system starts to oscillate or overshoot slightly, reduce the value about 25~35%. Once the Position Loop Gain is set, raise the Position Loop Feed Forward. Starting at zero, increase the value until oscillation, and then reduce slightly. Feed Forward is labeled "pGain_FeedForward" in the MotionWorks+ Software package. In MPE720/MotionWorks it is register OWC011, or Set Up Parameter 18 in the SVA module configuration. If the system performs well without Feed Forward, then leave the feed forward at zero Using Adaptive Auto Tuning to calculate inertia: In order to use Adaptive Auto Tuning and have the Servopack calculate the inertia, the feature must be re-enabled. See section 6 of the Servopack manual for details. Step 1: With the load is attached, Set Pn110.0=0. This will enable the adaptive auto-tuning algorithm after power is cycled. Step 2: The Servopack will calculate the inertia durning the first few moves. Step 3: Use function (Fn-007) to copy the inertia ratio to the EE-prom. Step 4: Disable auto tuning by setting Pn110.0=2, then cycle power again. Step 5: (Optional) Perform manual tuning by commanding open loop speed to the Servopack. This can be done via 'Speed mode' when programming an MP940 in MP720/MotionWorks. A JOG operation in MotionWorks+ is an open loop speed command. Step 6: Increase the Position Loop Gain OWC010 (pGain_PositionLoop) until it oscillates or overshoots slightly, then reduce by about 25~35% of the gain value. It may be necessary to raise the Feed Forward gain OWC011 until it overshoots then back it off a bit. Regardless of the method used. Be sure to record and save the parameter setting in both the software and machine documentation. Attachments: 155KB Product Group/Line: Controllers, Servo Products, MP940 Machine Controller, SGMCS Direct Drive Topic/Sub Topic: Ask a Technical Question, Adjustments, Application Example, Parameters, Troubleshooting, Tuning Document Number: MTN-5WZJZ7 Published Date: 07/25/2005 Share \| Rate Rate this article :	07/25/2005
	What is the procedure to setup a rotary axis in MP controllers using MotionWorks? Posted Date: 08/19/2004 Answer: A rotary axis can be selected by setting bit 5 in the Fixed Parameter 17, Axis Selection. The axis machine cycle is set by the Fixed Parameter 23, Infinite Length Axis Reset Position (POSMAX). As the axis rotates, the actual position register, ILxx08, is reset back to zero every time the POSMAX value is exceeded. It is important to note that the position reference register, OLxx12, is not affected by the rotary axis selection. If positioning motion command is selected, OWxx20=1, the user must keep track of the number of cycle turns and include them in the position reference register. For example, if POSMAX=8192cts, in order to move the axis 2.5 machine cycles, a position command of 20480cts must be issued. After the position is reached the actual position register, ILxx08, will read 4096cts. Related Registers: 1. POSMAX Monitor, ILC01C register, contains the axis infinite length value. 2. The Number of POSMAX turns is shown in ILC01E register and can be reset to the number of turns assigned by register OLC030 when setting bit 1 in OWC02D, Position Control Flags Register. Attachments: 15KB Product Group/Line: Controllers, MotionWorks Software, MP920 Machine Controller, MP930 Machine Controller, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Operation, Programming, Start Up - Installation Document Number: AHAR-5K8HM3 Published Date: 08/19/2004 Share \| Rate Rate this article :	08/19/2004
	What is the power-up sequence for the MP940? Posted Date: 07/13/2004 Answer: The 24VDC power for the MP940 should turn on within 3 seconds of the control power for the servopack. After they are both powered up, control power should remain ON for both products until the entire machine control system is to be powered down. If either product loses control power, an A.E2 (watchdog timer) alarm will occur indicating loss of communication between the servopack and the option card. It will be necessary to cycle control power on both units to reset this alarm. NOTE: In the case of Emergancy Stop, it is not necessary to remove control power from either the servopack or the MP940. (Only remove power from primary movers - such as Servopack main power or 24VDC power to isolated I/O). Product Group/Line: Controllers, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Start Up - Installation, Troubleshooting Document Number: MNEN-5CJMMA Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	What is the most common solution to communication errors in a Mechatrolink Network? Posted Date: 06/24/2013 Answer: The most common solution is prevention - proper grounding, shielding, and termination techniques will lead to a successful and robust Network Installation. Here are some recommendations: Termination: - MP940 Master: A network Terminator (120 ohm) must be inserted at both ends. Use part# JEPMC-W6020. - MP930 Master: A network Terminator (120 ohm) must be inserted at last node only (MP930 terminated internally). Use part # JEPMC-W6020, If the last node is a Sigma I servopack, then an MR connector must be used. - MP920 Master with SVB Module: A network Terminator (120 ohm) must be inserted at both ends. Use part # JEPMC-W6020, If the last node is a Sigma I servopack, then an MR connector must be used. Connector Notes: - USB Type Mating Connector made by DDK - DUSB-APA41-B1-C50. Connects to the following products: MP940, MP930, MP920 SVB Module, All Mechatrolink I/O Modules, NS100 card. If constructing custome cables, it is important to use the crimp tool specified by DDK. - MR Type Mating Connector made by HONDA - MR-8L (connector kit from Yaskawa includes shell and 8-pin mating: DE9411357). Connects to the following products: SGDB-AN, SGD-N Wiring Precautions: - Mechatrolink is a field tested and reliable copper network. However, if the cable is shorter than 1ft or longer than 50 Meters, signal reflection can cause communication errors. Yaskawa supplies an inexpensive, twisted pair shielded cable that has been both product and time-tested. This cable is recommended to insure the transmission line characteristic impedance is best suited for Mechatrolink Network in Industrial Installations. - Network Wire: Part No.DE9411358- - Mechatrolink minimum length between nodes is 1 foot - Mechatrolink maximum length between first and last node is 50 meters (164 ft) Grounding & Shielding: - Any copper network that has a server [master] or client [slave] that is poorly grounded, can have handshaking and communication problems at any point along that network. If proper industrial grounding techniques are practiced, no problems with Mechatrolink will arise. - Servopack: A detailed installation recommendation is available in the Sigma II Product User's Manual YEA-SIA-S800-32.2B section 5.8 (Wiring). Here each servopack ground is brought back to a single point (star ground configuration), AC line filtering is placed at the AC input, encoder cable is properly shielded and terminated, servomotor is grounded at the machine and servomotor power cable is shielded and properly terminated. - Controller: Star grounding should be practiced for controller FG points. In the case of the MP940, its important to tie the MP940 FG to the SGDH FG screw terminal with a short wire to shunt any noise from the Dual Ported Ram. - Network: The attached drawings below show shielding requirements for use with all Mechatrolink Products. If constructing custom cables, it is important to insure that the shield is properly terminated. In the case of USB type connectors from DDK the shield termination is provided on the aluminum shield piece of the connectors internal body. Proper termination can be insured if copper tape is wrapped over the cable shield (see attached .PDF file). This insures a low impedence path for high frequency noise components that travel on the skin of a wire. Possible Errors or Indication: In general, it is necessary that the hardware address settings match up with the software module setup. MP940 Master: If a node is not communicating, an A9F will display on the SGDH LED which can be easily decoded (see document or FAQ on A9F with MP940 product) MP930: Alarm light indication, or "Invalid System Request" when clicking on servopack module MP920 with SVB Module: Will indicate a "J" on the display if poor communications exist, or "Invalid System Request" when clicking on servopack module See attached .PDF file for illustrations and photos. Attachments: 456KB Product Group/Line: Controllers, MP920 Machine Controller, MP930 Machine Controller, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Network Communications, Troubleshooting, Wiring Document Number: MNEN-5CJMFN Published Date: 06/24/2013 Share \| Rate Rate this article :	06/24/2013
	What is the maximum number of cam data points that can be stored in a cam table? Posted Date: 07/13/2004 Answer: The Cam Tool software allows a maximum size of 4096 calculated data points for any given cam table. However, there are a total of 32768 16-bit words available in the 'C' registers and 'M' registers of the MP900 series controllers. Cam data are typically stored as long integer numbers (which are 32-bit words). Therefore it takes 2 words for each master or slave position. It takes 4 words to make a single master-slave pair (a single point on the cam table). Dividing 32768 by 4 yields 8191 position pairs that can be stored in a single cam table. (Because 2 words are used as the table header that defines the number of cam points in the table.) If an application requires multiple cam tables that would exceed the memory available, the cam table can be calculated from within the application program or downloaded from an HMI or PC. Product Group/Line: Controllers, MotionWorks Plus Software, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Programming, Specifications Document Number: MNEN-5CJMM4 Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	What is the format of the Floating Point data structure in the MP920, MP930, MP940 series products? Posted Date: 07/13/2004 Answer: The Format is "The IEEE standard for floating point, single precision (32-bit) arithmetic" The most significant bit is the sign, while the rest is the data area. This is described very well and in significant detail at the sight below: http://www.psc.edu/general/software/packages/ieee/ieee.html If a programmer specifies a Floating Point number as "MF10000", the data structure in the MP memory is attached in the .PDF file below for reference. Attachments: 14KB 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-5CJMLA Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	What is the difference between Z registers and A registers when used in Function Blocks? Posted Date: 04/30/2002 Answer: Z and A registers are both working registers that are used inside function blocks Z registers are Global Internal Function Block registers consisting of 64 words of shared memory space within the CPU (Internal refers to internal to the function block). These registers can be represented in bit, 16-bit word, long word, and floating point, and are working registers available for use specifically within function blocks. Since they are global, several function blocks have access and can modify the stored value. A registers are Local External Function Block registers (External refers to registers used inside the function block, but register space that is reserved outside of the function block). When a function block is defined, a block of memory is reserved by defining the starting address and the data size. This block of memory can be defined as General Global register space (M registers) or Local Drawing register space (D registers). Example: If a function block is defined at address DA00010, and to utilize 10 registers, then registers DW00010 thru DW00019 should be reserved by the programmer for the use of that specific function block. In this case, AW00000 would be mapped directly to DW00010 each scan. When the function block is being used in a drawing, to monitor an internal working register such as AW00000 in this example one would monitor DW00010. - If D registers are used, then A registers are limited to the D register limit for local drawings - quantity of 16383 per drawing. D registers consume programming memory and expand according to need (limited to programming memory available and number of drawings). - If M registers are used, then A registers are limited to the M register limit globally for the controller - quantity of 32767. M registers have a fixed memory space. For more information refer to the Ladder Users Manual 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-5CJMLE Published Date: 04/30/2002 Share \| Rate Rate this article :	04/30/2002
	What is the difference between the I/O on the Sigma II and the MP940? Do both need to be used? Posted Date: 04/26/2001 Answer: There is a difference between the two I/O ports and in most cases both will be used, and is recommended. The Sigma II I/O (CN1 connector) is mostly dedicated I/O with some user defined I/O. The MP940 (I/O connector) is all user defined. Below is an explanation of the inputs and outputs for each device: I/O (MP940): - 8 digital inputs (programmable, isolated 24VDC) - 1 high speed latch input (for external encoder position latching), DC Voltage: 24, 12, or 5 VDC - 1 external encoder input (must be 5 VDC) - 8 digital outputs (programmable, isolated 24VDC) - 1 Analog Output (+/- 10.75VDC, 16-bit resolution, 328uV/bit) CN1 (Servopack): - 4 digital inputs (programmable, isolated 24VDC) - 1 high speed latch input (for motor encoder position latching, can be used as programmable input if latch is not necessary, 24VDC) - 2 overtravel inputs (can be used as programmable inputs if overtravel switches are not necessary, 24VDC) - 1 analog input (+/- 12VDC, 16-bit resolution) - 3 digital alarm code outputs (open collector) - 1 digital servo alarm output (This output will only indicate Servopack alarms, some MP940 alarms will not activate this output.) - 3 digital semi-programmable outputs (These can be configured for various functions which the Servopack activates. For example, one of these must be used to control the brake if a servomotor with a brake is used. 24VDC) - 1 motor encoder output If the system requires I/O from both the MP940 and the Servopack than two breakout cables will be needed. Yaskawa recommends using the standardized I/O (such as Overtravel, SON, and Brake Control) to maintain consistency and system robustness. Product Group/Line: Controllers, Servo Products, MP940 Machine Controller, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Specifications, Start Up - Installation, Wiring Document Number: MNEN-5CJMM2 Published Date: 04/26/2001 Share \| Rate Rate this article :	04/26/2001
	What is the difference between MODBUS and Memobus? Posted Date: 04/26/2001 Answer: The Memobus protocol is almost identical to the Modbus protocol. All of the function code calls are the same. The difference between the two protocols lies in the way the data is organized in the registers. 16-bit words are handled the same in both protocols, but addressing individual bits in a 16-bit word is accomplished differently. 32-bit long integer and floating point numbers are also handled differently by the two protocols. The attached document provides a more in-depth comparison between the two protocols. If a complete specification is needed, it can be obtained by calling Yaskawa at (800) YASKAWA option 42 (Publication: SIE-C815-13.60E). Attachments: 37KB Product Group/Line: Controllers, MP920 Machine Controller, MP930 Machine Controller, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Applications, Document Clarification, Network Communications, Specifications Document Number: MNEN-5CJMLY Published Date: 04/26/2001 Share \| Rate Rate this article :	04/26/2001
	What is the difference between JEPMC-W6060 and JZSP-CKI01 cables? Posted Date: 06/25/2014 Answer: Both cables are 50 pin with 3M connectors at one end and pigtails at the other end, and are interchangable with each other. JEPMC-W6060-xx cable: 1. This cable is typically selected when specifying MP920 amd MP2x00 System Components, when connecting external I/O to a module. (SVA-01 CN5, DO-01/DI-01/PO-01/CNTR-01 CN1 & CN2 / LIO-05 and LIO-05) 2. "xx" indicates the cable length (05=0.5m, 10=1.0m, 30=3.0m) 3. The wire color code for the cable is attached below (JEPMC-W6060-xx Pinout and Color Code .pdf) 4. The JUSP-WA50P-xx cable may also serve as a substitute cable JZSP-CKI01-x(A) cable: 1. This cable is typically selected when specifying SGDH, MP940, NS300, NS500, NS600, NS100 cable components. a. SGDH/NS300/NS500/NS600/NS100: 1CN I/O connector b. MP940: I/O connector. 2. "x" indicates the cable length (1=1m, 2=2m, 3=3m) 3. "A" indicates the revision level 4. The wire color code for the cable is attached below (JZSP-CKI01-XX.dwg) 5. For wire function on SGDH/NS300/NS500/NS600, see dwg below 6. For wire function on MP940, (See FAQ # MNEN-5CJMPJ) This same type of cable is available with a D-Sub connector in place of pigtails, click this link for more information on the JZSP-CKI0D cable option. Attachments: 375KB 11KB Product Group/Line: Controllers, Servo Products, MP920 Machine Controller, MP940 Machine Controller, NS300 DeviceNet, NS500 Profibus, NS600 Indexer, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Hardware, Parts or Replacement, Wiring Document Number: MTN-5T7MNG Published Date: 06/25/2014 Share \| Rate Rate this article :	06/25/2014
	What is the difference between a YS-13 and YS-15 cable? Posted Date: 07/13/2004 Answer: The YS-15 Cable is recommended when using the MP940. The YS-15 cable, also known as a Programming Cable, is currently used to connect between a PC and the MP940 via RS232 (port#1 on the MP940). The YS-15 cable supports all revisions of the MP940 product. The YS-13 cable is an older style cable which was used on MP940 versions A03 and lower (it is not possible to communicate to an MP940 versions A05 or greater using a YS-13 cable). Firmware Versions A03 (of the MP940) and lower only supported two wirre RS422/485. Firmware versions A05 and above now support both two and four wire. Hence, CTS and RTS are lines now supported in the MP940. The YS-15 cable loops back these lines to allow communications when the PC does not use the CTS/RTS lines. A diagram showing the differences between the YS15 and YS13 cables is shown below. Attachments: 62KB Product Group/Line: Controllers, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Wiring Document Number: MNEN-5CJMG2 Published Date: 07/13/2004 Share \| Rate Rate this article :	07/13/2004
	What is an SVA module? Posted Date: 06/25/2013 Answer: The SVA module is the name of the analog servo interface for Yaskawa's MP900 and MP2000 series products. See the attached .PDF file for diagrams and further information. Attachments: 25KB Product Group/Line: Controllers, MotionWorks Software, MP920 Machine Controller, MP940 Machine Controller Topic/Sub Topic: Ask a Technical Question, Applications, Hardware, Operation Document Number: MTN-5WZKUT Published Date: 06/25/2013 Share \| Rate Rate this article :	06/25/2013
	What is an A.9F alarm? Posted Date: 09/12/2000 Answer: The MP940 uses the A.9F (A9F) alarm as a general warning for several conditions. The conditions include: 1) Excessive positioning error 2) Local I/O error 3) External Encoder disconnected 4) Network communication error 5) Divide by zero or parameter setting error To help isolate the problem causing an A.9F warning, please see the documents below. It should also be noted that an A.9F warning does not necessarily prevent the MP940 program from executing. Key words: A9F, A.9F, alarm, error Attachments: 27KB 25KB Product Group/Line: Controllers, Servo Products, MP940 Machine Controller, SGDH Sigma II Topic/Sub Topic: Ask a Technical Question, Alarm, Troubleshooting Document Number: MNEN-5CJMEC Published Date: 09/12/2000 Share \| Rate Rate this article :	09/12/2000
	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

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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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