MP2300 Machine Controller

Basic Module User’s Manual

Model Number: JEPMC-MP2300-Y
Copyright © 2002 YASKAWA ELECTRIC CORPORATION

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system,
or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording,
or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed
with respect to the use of the information contained herein. Moreover, because Yaskawa is con-
stantly striving to improve its high-quality products, the information contained in this manual is
subject to change without notice. Every precaution has been taken in the preparation of this
manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is
any liability assumed for damages resulting from the use of the information contained in this
publication.
Using this Manual

The MP2300 is a compact Machine Controller that contains the power supply, the CPU, I/O,
and the communication functions in one single unit.
Please read this manual to ensure correct usage of the MP2300 system. Keep this manual in
a safe place for future reference.
„ Basic Terms

Unless otherwise specified, the following definitions are used:

• MP2300: MP2300 Machine Controller

• PC: Programmable Logic Controller
• PP: Programming Panel
• MPE720: The Programming Device Software or a Programming Device (i.e., a personal computer) running the Pro-
gramming Device Software

„ Manual Configuration
Read the chapters of this manual as required by the purpose.

Selecting Studying Designing Installation Trial Maintenance

Models and Specifications the System and Wiring Operation and
Chapter
Peripheral and Ratings Inspection
Devices
Chapter 1 √ − − − − −
Overview of the MP2300
Chapter 2 √ − − − − −
System Startup and Sample
Programs
Chapter 3 − − − − √ −
Module Specifications
Chapter 4 √ √ √ √ − −
Mounting and Wiring
Chapter 5 − √ √ √ − −
Outline of Motion Control
Systems
Chapter 6 − − √ − √ −
Motion Parameters
Chapter 7 − − √ − √ −
Motion Commands
Chapter 8 − − √ − √ √
Control Block Diagrams
Chapter 9 − − √ − √ √
Absolute Position Detection
Chapter 10 − − − − − √
Utility Functions
Chapter 11 − − − − √ √
Precautions for Using the
MP2300
Chapter 12 √ − √ − √ √
Maintenance and
Inspection
iii
 ■ Graphic Symbols Used in this Manual
The graphic symbols used in this manual indicate the following type of information.

ΠThis symbol is used to indicate important information that should be memorized or minor precautions,
such as precautions that will result in alarms if not heeded.

■ Indication of Reverse Signals

In this manual, the names of reverse signals (ones that are valid when low) are written with a
forward slash (/) before the signal name, as shown in the following example:
Notation Examples

• S-ON =Å@/S-ON
• P-CON =Å@/P-
CON

„ Related Manuals
The following table lists the manuals relating to the MP2500(M). Refer to these manuals as
required.
Manual Name Manual Number Contents
Machine Controller MP2300 Communication SIEP C880700 04† Describes the functions, specifications, and appli-
Module cation methods of the MP2300 Communication
User’s Manual Modules (217IF, 218IF, 260IF, 261IF).
Machine Controller MP900/MP2000 Series SIEZ-C887-1.2† Describes the instructions used in MP900/
User’s Manual, Ladder Programming MP2000 ladder programming.
Machine Controller MP900/MP2000 Series SIEZ-C887-1.3† Describes the instructions used in MP900/
User’s Manual MP2000 motion programming.
Motion Programming
Machine Controller MP900/MP2000 Series SIEP C880700 05† Describes how to install and operate the MP900/
MPE720 Software for Programming Device MP2000 Series programming system (MPE720).
User’s Manual
Σ Series SGM†/SGD SIEZ-S800-26.3† Describes the Σ Series SERVOPACK models,
User’s Manual specifications, and capacity selection methods.
Σ Series SGM†/SGD SIEZ-S800-26.4† Describes the Σ Series SERVOPACK models,
User’s Manual specifications, and capacity selection methods.
High-speed Field Network
MECHATROLINK-compatible AC Servo Drivers
Σ-II Series SIEP S8000 05† Describes the installation, wiring, trial operation,
SGM†H/SGDM User’s Manual function applications methods, maintenance, and
inspection of the Σ-II Series SERVOPACKs.
Σ-II Series SIEP S8000 15† Describes the installation, wiring, trial operation,
SGM†H/SGDM User’s Manual function applications methods, maintenance, and
inspection of the Σ-II Series SERVOPACKs.
Σ-III Series SGM†H/SGDS SIEP S800000 00† Describes the models, specifications, wiring, trial
User’s Manual operation, adjustment, function application meth-
ods, maintenance, and inspection of the Σ-III
Series SERVOPACKs and Servomotors.
Σ-III Series SGM†S/SGDS Digital Operator TOBEP S800000 Describes the operating methods of the JUSP-
Operating Instructions 01† OP05A Digital Operator.

iv
 Manual Name Manual Number Contents
Σ-III Series SGM†S/SGDS SIEP S800000 11† Describes the models, specifications, wiring, trial
MECHATROLINK-II operation, adjustment, function application meth-
SERVOPACKs with Communication User’s ods, maintenance, inspection, and MECHA-
Manual TROLINK communication of the Σ-III Series
SERVOPACKs and Servomotors.
Machine Controller MP900/MP2000 Series SIEP C880700 06† Describes the connection methods, setting meth-
Linear Servomotor Manual ods, and other information for Linear Servomo-
tors.
Machine Controller MP900/MP2000 Series SIEZ-C887-13.1† Describes the programming instructions of the
New Ladder Editor User’s Manual New Ladder Editor, which assists MP900/
Programming Manual MP2000 Series design and maintenance.
Machine Controller MP900/MP2000 Series SIEZ-C887-13.2† Describes the operating methods of the New Lad-
New Ladder Editor User’s Manual der Editor, which assists MP900/MP2000 Series
Operation design and maintenance.
Machine Controller MP900/MP2000 Series SIEZ-C887-5.1† Describes MECHATROLINK distributed I/O for
User’s Manual, MECHATROLINK System MP900/MP2000 Series Machine Controllers.

„ Copyrights

• DeviceNet is a registered trademark of the ODVA (Open DeviceNet Venders Association).

• PROFIBUS is a trademark of the PROFIBUS User Organization.
• Ethernet is a registered trademark of the Xerox Corporation.
• Microsoft, Windows, Windows NT, and Internet Explorer are registered trademarks of the Microsoft Corporation.
• Pentium is a registered trademark of the Intel Corporation.
• Other product names and company names are the trademarks or registered trademarks of the respective company. “TM”
and the  mark do not appear with product or company names in this manual.

Safety Information

The following conventions are used to indicate precautions in this manual. These precautions are
provided to ensure the safe operation of the MP2500(M) and connected devices. Information marked
as shown below is important for the safety of the user. Always read this information and heed the pre-
cautions that are provided.
The conventions are as follows:

Indicates precautions that, if not heeded, could possibly result in loss of life, serious
WARNING injury, or property damage.

Indicates precautions that, if not heeded, could result in relatively serious or minor
CAUTION injury, or property damage.

If not heeded, even precautions classified under CAUTION can lead to serious results
depending on circumstances.

Indicates prohibited actions. Specific prohibitions are indicated inside .

PROHIBITED
For example, indicates prohibition of open flame.

MANDATORY
Indicates mandatory actions. Specific actions are indicated inside ●.
For example, indicates mandatory grounding.
v
 Safety Precautions

The following precautions are for checking products on delivery, storage, transportation,
installation, wiring, operation, application, inspection, and disposal. These precautions are
important and must be observed.

■ General Precautions

WARNING
• Before connecting the machine and starting operation, ensure that an emergency stop procedure has
been provided and is working correctly.
There is a risk of injury.
• Do not touch anything inside the MP2300.
There is a risk of electrical shock.
• Always keep the front cover attached when power is being supplied.
There is a risk of electrical shock.
• Observe all procedures and precautions given in this manual for trial operation.
Operating mistakes while the servomotor and machine are connected may damage the machine or even cause
accidents resulting in injury or death.
There is a risk of electrical shock.
• Do not remove the front cover, cables, connector, or options while power is being supplied.
There is a risk of electrical shock.
• Do not damage, pull on, apply excessive force to, place heavy objects on, or pinch cables.
There is a risk of electrical shock, operational failure or burning of the MP2300.
• Do not attempt to modify the MP2300 in any way.
There is a risk of injury or device damage.
• Do not approach the machine when there is a momentary interruption to the power supply. When
power is restored, the MP2300 and the device connected to it may start operation suddenly. Provide
safety measures in advance to ensure human safety in the event that operation restarts suddenly.
There is a risk of injury.
• Do not allow installation, disassembly, or repairs to be performed by anyone other than specified per-
sonnel.
There is a risk of electrical shock or injury.

vi
„ Storage and Transportation

CAUTION
• Do not store or install the MP2300 in the following locations.
There is a risk of fire, electrical shock, or device damage.
• Direct sunlight
• Ambient temperature exceeds the storage or operating conditions
• Ambient humidity exceeds the storage or operating conditions
• Rapid changes in temperature or locations subject to condensation
• Corrosive or flammable gas
• Excessive dust, dirt, salt, or metallic powder
• Water, oil, or chemicals
• Vibration or shock
• Do not overload the MP2300 during transportation.
There is a risk of injury or an accident.

„ Installation

CAUTION
• Never use the MP2300 in locations subject to water, corrosive atmospheres, or flammable gas, or
near burnable objects.
There is a risk of electrical shock or fire.
• Do not step on the MP2300 or place heavy objects on the MP2300.
There is a risk of injury.
• Do not block the air exhaust port or allow foreign objects to enter the MP2300.
There is a risk of element deterioration inside, an accident, or fire.
• Always mount the MP2300 in the specified orientation.
There is a risk of an accident.
• Do not subject the MP2300 to strong shock.
There is a risk of an accident.

vii
 „ Wiring

CAUTION
• Check the wiring to be sure it has been performed correctly.
There is a risk of motor run-away, injury, or an accident.
• Always use a power supply of the specified voltage.
There is a risk of burning.
• In places with poor power supply conditions, take all steps necessary to ensure that the input power
supply is within the specified voltage range.
There is a risk of device damage.
• Install breakers and other safety measure to provide protection against shorts in external wiring.
There is a risk of fire.
• Provide sufficient shielding when using the MP2300 in the following locations.
There is a risk of device damage.
• Noise, such as from static electricity
• Strong electromagnetic or magnetic fields
• Radiation
• Near to power lines
• When connecting the battery, connect the polarity correctly.
There is a risk of battery damage or explosion.

„ Selecting, Separating, and Laying External Cables

CAUTION
• Consider the following items when selecting the I/O signal lines (external cables) to connect the
MP2300 to external devices.
• Mechanical strength
• Noise interference
• Wiring distance
• Signal voltage, etc.
• Separate the I/O signal lines from the power lines both inside and outside the control box to reduce
the influence of noise from the power lines.
If the I/O signal lines and power lines are not separated properly, malfunctioning may result.

Example
外部配線の分離例of Separated External Cables
Steel separator
鉄板製のセパレータ

Power General Digital I/O

ディジタル
circuit
動力回路の control
一般制御回路 signal
入出力信号
ケーブル のケーブル ケーブル

viii
„ Maintenance and Inspection Precautions

CAUTION
• Do not attempt to disassemble the MP2300.
There is a risk of electrical shock or injury.
• Do not change wiring while power is being supplied.
There is a risk of electrical shock or injury.
• When replacing the MP2300, restart operation only after transferring the programs and parameters
from the old Module to the new Module.
There is a risk of device damage.

„ Disposal Precautions

CAUTION
• Dispose of the MP2300 as general industrial waste.

ix
x
Variable Tables

„ System Variable Table (Tree View)

The following table lists details on the system variables provided by MPE720 version 6.

Variable Name Register Comments

OnCoil SB000004 Always ON
Clock - Calendar
DayOfWeek SW00019 Calendar:Day of week
HoursMinutes SW00017 Calendar:Hours Minutes
MonthDate SW00016 Calendar:Month Day
Second SW00018 Calendar:Seconds
Year SW00015 Calendar:Year
CPU - Controller
Error - CPU Error Status
Exception SB000413 Exception Error
Failure SB000410 Important Failure
IOError SB000419 I/O Error
ProgramError SB000418 User Calculation Error
Info - CPU Information
MemorySizeAvailable SL00026 Available PRG Memory (BYTE)
MemorySizeTotal SL00028 All Module Memory (BYTE)
SoftwareVersion SW00020 System Program Software Number
Status - CPU Status
Alarm SB000402 ALARM (1=Warning,0=Normal)
BatteryAlarm SB000487 Battery Alarm (1=Alarm)
Error SB000403 ERROR (1=Unusual,0=Normal)
READY (1=Normal,0=Converse/Own
Ready SB000400
Diagnose Unusual)
Running SB000401 RUN (1=Driving,0=Driving Stop)
RUN switch status at power is on
RunSwitch SB00040F
(1=RUN,0=STOP)
Running Stop Require
Stopped SB00040E
(From EWS:1=STOP,0=RUN)
WriteEnable SB000407 WEN (Write:1=Possible,0=Impossible)
WritingToFlash SB000406 FLASH (1=FLASH Driving)
Switches - CPU Switch
Configure SB000482 CNFG (0=ON,1=OFF)
Initialize SB000483 INIT (0=ON,1=OFF)
Stop SB000485 STOP (0=ON,1=OFF)
ErrorHigh - High-Speed Program Error
Code SW00085 High-Speed Program Error Code
Count SW00084 High-Speed Program Error Count
ProgramNumber SW00154 Error Program Number
ReferProgramNumber SW00155 Function Program Number
ReferStep SW00156 Function Program Step Number

xi
 (continued)
Variable Name Register Comments
ErrorInterrupt - Interrupt Program Error
Code SW00083 Interrupt Program Error Code
Count SW00082 Interrupt Program Error Count
ProgramNumber SW00138 Error Program Number
ReferProgramNumber SW00139 Function Program Number
ReferStep SW00140 Function Program Step Number
ErrorIO - I/O Error
Count SW00200 I/O Error Count
InputAddress SW00202 Input Error Address
InputCount SW00201 Input Error Times
OutputAddress SW00204 Output Error Address
OutputCount SW00203 Output Error Times
ErrorLow - Low-Speed Program Error
Code SW00089 Low-Speed Program Error Code
Count SW00088 Low-Speed Program Error Count
ProgramNumber SW00186 Error Program Number
ReferProgramNumber SW00187 Function Program Number
ReferStep SW00189 Function Program Step Number
ErrorStart - Start Program Error
Code SW00081 Start Program Error Code
Count SW00080 Start Program Error Count
ProgramNumber SW00122 Error Program Number
ReferProgramNumber SW00123 Function Program Number
ReferStep SW00124 Function Program Step Number
HighScan - High Scan Relay
FirstScanRunning SB000001 After High Scan Start,Only 1 Scan ON
OnAfter - Start-up Relay
FiveSecond SB00001A After 5.0s,Scan Start-up Relay
OneSecond SB000018 After 1.0s,Scan Start-up Relay
TwoSecond SB000019 After 2.0s,Scan Start-up Relay
PulseEvery - Sampling Relay
HalfSecond SB000014 0.5s Sampling Relay
OneMinute SB000017 60.0s Sampling Relay
OneSecond SB000015 1.0s Sampling Relay
TwoSecond SB000016 2.0s Sampling Relay
SquareWave - Flicker Relay
HalfSecond SB000011 0.5s Flicker Relay
OneScan SB000010 1 Scan Flicker Relay
OneSecond SB000012 1.0s Flicker Relay
TwoSecond SB000013 2.0s Flicker Relay

xii
 (continued)
Variable Name Register Comments
LowScan - Low Scan Relay
FirstScanRunning SB000003 After Low Scan Start,Only 1 Scan ON
OnAfter - Start-up Relay
FiveSecond SB00003A After 5.0s,Scan Start-up Relay
OneSecond SB000038 After 1.0s,Scan Start-up Relay
TwoSecond SB000039 After 2.0s,Scan Start-up Relay
PulseEvery - Sampling Relay
HalfSecond SB000034 0.5s Sampling Relay
OneMinute SB000037 60.0s Sampling Relay
OneSecond SB000035 1.0s Sampling Relay
TwoSecond SB000036 2.0s Sampling Relay
SquareWave - Flicker Relay
HalfSecond SB000031 0.5s Flicker Relay
OneScan SB000030 1 Scan Flicker Relay
OneSecond SB000032 1.0s Flicker Relay
TwoSecond SB000033 2.0s Flicker Relay
ScanTime - Scan Time
ExecutionCurrentValue SW00014 Execution Scan Current Value (0.1ms)
High - High Scan
CurrentValue SW00005 High Scan Current Value (0.1ms)
ExceededCount SW00044 High Scan Over Counter
MaximumValue SW00006 High Scan Maximum Value (0.1ms)
SetValue SW00004 High Scan Set Value (0.1ms)
Low - Low Scan
CurrentValue SW00011 Low Scan Current Value (0.1ms)
MaximumValue SW00012 Low Scan Maximum Value (0.1ms)
SetValue SW00010 Low Scan Set Value (0.1ms)
ExceededCount SW00046 Low Scan Over Counter

xiii
 „ System Variables (Sorted by Register)

Register Variable Name Comments

SB000001 HighScan.FirstScanRunning After High Scan Start,Only 1 Scan ON
SB000003 LowScan.FirstScanRunning After Low Scan Start,Only 1 Scan ON
SB000004 OnCoil Always ON
SB000010 HighScan.SquareWave.OneScan 1 Scan Flicker Relay
SB000011 HighScan.SquareWave.HalfSecond 0.5s Flicker Relay
SB000012 HighScan.SquareWave.OneSecond 1.0s Flicker Relay
SB000013 HighScan.SquareWave.TwoSecond 2.0s Flicker Relay
SB000014 HighScan.PulseEvery.HalfSecond 0.5s Sampling Relay
SB000015 HighScan.PulseEvery.OneSecond 1.0s Sampling Relay
SB000016 HighScan.PulseEvery.TwoSecond 2.0s Sampling Relay
SB000017 HighScan.PulseEvery.OneMinute 60.0s Sampling Relay
SB000018 HighScan.OnAfter.OneSecond After 1.0s,Scan Start-up Relay
SB000019 HighScan.OnAfter.TwoSecond After 2.0s,Scan Start-up Relay
SB00001A HighScan.OnAfter.FiveSecond After 5.0s,Scan Start-up Relay
SB000030 LowScan.SquareWave.OneScan 1 Scan Flicker Relay
SB000031 LowScan.SquareWave.HalfSecond 0.5s Flicker Relay
SB000032 LowScan.SquareWave.OneSecond 1.0s Flicker Relay
SB000033 LowScan.SquareWave.TwoSecond 2.0s Flicker Relay
SB000034 LowScan.PulseEvery.HalfSecond 0.5s Sampling Relay
SB000035 LowScan.PulseEvery.OneSecond 1.0s Sampling Relay
SB000036 LowScan.PulseEvery.TwoSecond 2.0s Sampling Relay
SB000037 LowScan.PulseEvery.OneMinute 60.0s Sampling Relay
SB000038 LowScan.OnAfter.OneSecond After 1.0s,Scan Start-up Relay
SB000039 LowScan.OnAfter.TwoSecond After 2.0s,Scan Start-up Relay
SB00003A LowScan.OnAfter.FiveSecond After 5.0s,Scan Start-up Relay
SW00004 ScanTime.High.SetValue High Scan Set Value (0.1ms)
SW00005 ScanTime.High.CurrentValue High Scan Current Value (0.1ms)
SW00006 ScanTime.High.MaximumValue High Scan Maximum Value (0.1ms)
SW00010 ScanTime.Low.SetValue Low Scan Set Value (0.1ms)
SW00011 ScanTime.Low.CurrentValue Low Scan Current Value (0.1ms)
SW00012 ScanTime.Low.MaximumValue Low Scan Maximum Value (0.1ms)
SW00014 ScanTime.ExecutionCurrentValue Execution Scan Current Value (0.1ms)
SW00015 Clock.Year Calendar:Year
SW00016 Clock.MonthDate Calendar:Month Day
SW00017 Clock.HoursMinutes Calendar:Hours Minutes
SW00018 Clock.Second Calendar:Seconds
SW00019 Clock.DayOfWeek Calendar:Day of week
SW00020 CPU.Info.SoftwareVersion System Program Software Number
SL00026 CPU.Info.MemorySizeAvailable Available PRG Memory (BYTE)
SL00028 CPU.Info.MemorySizeTotal All Module Memory (BYTE)
READY (1=Normal,0=Converse/Own
SB000400 CPU.Status.Ready
Diagnose Unusual)
SB000401 CPU.Status.Running RUN (1=Driving,0=Driving Stop)
SB000402 CPU.Status.Alarm ALARM (1=Warning,0=Normal)
SB000403 CPU.Status.Error ERROR (1=Unusual,0=Normal)
SB000406 CPU.Status.WritingToFlash FLASH (1=FLASH Driving)
SB000407 CPU.Status.WriteEnable WEN (Write:1=Possible,0=Impossible)

xiv
 (continued)
Register Variable Name Comments
Running Stop Require
SB00040E CPU.Status.Stopped
(From EWS:1=STOP,0=RUN)
SB00040F CPU.Status.RunSwitch RUN switch status at power is on (1=RUN,0=STOP)
SB000410 CPU.Error.Failure Important Failure
SB000413 CPU.Error.Exception Exception Error
SB000418 CPU.Error.ProgramError User Calculation Error
SB000419 CPU.Error.IOError I/O Error
SW00044 ScanTime.High.ExceededCount High Scan Over Counter
SW00046 ScanTime.Low.ExceededCount Low Scan Over Counter
SB000482 CPU.Switches.Configure CNFG (0=ON,1=OFF)
SB000483 CPU.Switches.Initialize INIT (0=ON,1=OFF)
SB000485 CPU.Switches.Stop STOP (0=ON,1=OFF)
SB000487 CPU.Status.BatteryAlarm Battery Alarm (1=Alarm)
SW00080 ErrorStart.Count Start Program Error Count
SW00081 ErrorStart.Code Start Program Error Code
SW00082 ErrorInterrupt.Count Interrupt Program Error Count
SW00083 ErrorInterrupt.Code Interrupt Program Error Code
SW00084 ErrorHigh.Count High-Speed Program Error Count
SW00085 ErrorHigh.Code High-Speed Program Error Code
SW00088 ErrorLow.Count Low-Speed Program Error Count
SW00089 ErrorLow.Code Low-Speed Program Error Code
SW00122 ErrorStart.ProgramNumber Error Program Number
SW00123 ErrorStart.ReferProgramNumber Function Program Number
SW00124 ErrorStart.ReferStep Function Program Step Number
SW00138 ErrorInterrupt.ProgramNumber Error Program Number
SW00139 ErrorInterrupt.ReferProgramNumber Function Program Number
SW00140 ErrorInterrupt.ReferStep Function Program Step Number
SW00154 ErrorHigh.ProgramNumber Error Program Number
SW00155 ErrorHigh.ReferProgramNumber Function Program Number
SW00156 ErrorHigh.ReferStep Function Program Step Number
SW00186 ErrorLow.ProgramNumber Error Program Number
SW00187 ErrorLow.ReferProgramNumber Function Program Number
SW00189 ErrorLow.ReferStep Function Program Step Number
SW00200 ErrorIO.Count I/O Error Count
SW00201 ErrorIO.InputCount Input Error Times
SW00202 ErrorIO.InputAddress Input Error Address
SW00203 ErrorIO.OutputCount Output Error Times
SW00204 ErrorIO.OutputAddress Output Error Address

xv
 „ Axis Motion Parameters (Tree View)
The following table lists the axismotion parameters registered for each logical axis.
ΠRegister address IW (IB/IL/IF/IA) xx00 indicates the leading input register address +00.
ΠRegister address OW (OB/OL/OF/OA) xx00 indicates the leading output register address +00.

Variable Name Register Comments

Acceleration Value, units selected by UnitsWord
Acceleration OLxx36
(OWxx03)
Alarm - Alarm
ABSEncoderOverrange IBxx053 Absolute encoder number of rotations exceeded alarm
Active IBxx2C0 Servo status ALM
Code IWxx2D Servo Alarm Code
AllMask ILxx04 Alarm mask
Clear OBxx00F Clears servo alarms.
FilterTimeChanged IBxx04B Filter time constant changed while in motion alarm
FilterTypeChanged IBxx04A Filter type changed while in motion alarm
FollowingError IBxx049 Following error exceeded alarm
HomingWhileMoving IBxx04E Zero point set while in motion alarm
This value determines which of the last 10 alarm
MonitorNumber OWxx4F
codes are returned.
NegativeOvertravel IBxx041 Positive overtravel alarm
NegativeSoftLimit IBxx044 Negative software limit alarm
NegativeSoftLimitN IBxx2CD Servo status N SOT
NetworkServo IBxx040 Servo alarm
NotHomed IBxx04D Zero point not set alarm
OutOfRangeParameter IWxx01 Parameter number that is over range
PositionCompletionTimeOut IBxx046 Positioning timeout alarm
PositionValueOutOfRange IBxx047 Positioning out of range alarm
PositiveOvertravel IBxx042 Negative overtravel alarm
PositiveSoftLimit IBxx043 Positive software limit alarm
PositiveSoftLimitN IBxx2CC Servo status P SOT
ServoCommandTimeout IBxx052 Servo command timeout alarm
ServoCommunication IBxx051 Servo communication alarm
ServoCommunicationTimeout IBxx050 Servo communication synchronization alarm
ServoNotEnabled IBxx045 Servo OFF alarm
ServoParameterOutOfRange IBxx04F Servo parameter alarm
SpeedOutOfRange IBxx048 Speed out of range alarm

xvi
 (continued)
Variable Name Register Comments
Command - Command
Abort OBxx091 Abort command
Busy IBxx090 Servo command busy
Complete IBxx098 Servo command complete
Fail IBxx093 Servo command failed
GetValue IWxx08 Servo command response
Hold IBxx091 Servo command holding
JogRelativeMoveDirection OBxx092 Selects Jog or Step direction.
Pause OBxx090 Pause command
Ready IBxx2C2 Servo status CMDRDY
SetValue OWxx08 SERVOPACK command
The number of the static parameter to be read when
StaticParameterNumber OWxx5C
Command2=5
The value of the fixed parameter read by
StaticParameterValue ILxx56
Command2=5.
Status IWxx09 Servo command status mask
Command2 - Command2
Busy IBxx0B0 Servo Command2 busy
Complete IBxx0B8 Servo Command2 complete
Fail IBxx0B3 Servo Command2 Failed
GetValue IWxx0A Servo Command2 response
SetValue OWxx0A Additional servopack commands
Status IWxx0B Servo Command2 status mask
CommandMask OWxx09 Servo Command options
Deceleration value, units selected by UnitsWord
Deceleration OLxx38
(OWxx03)
Encoder - Encoder
Contains absolute position used in infinite length
Get.AbsolutePositionLS ILxx5E
applications.
Contains absolute position used in infinite length
Get.AbsolutePositionMS ILxx60
applications.
Contains modularized position used in infinite length
Get.ModularPositionLS ILxx62
applications.
Contains modularized position used in infinite length
Get.ModularPositionMS ILxx64
applications.
Used to set the absolute position used in infinite
Set.AbsolutePositionLS OLxx5E
length applications.
Used to set the absolute position used in infinite
Set.AbsolutePositionMS OLxx60
length applications.
Used to set the modularized position used in infinite
Set.ModularPositionLS OLxx62
length applications.
Used to set the modularized position used in infinite
Set.ModularPositionMS OLxx64
length applications.

xvii
 (continued)
Variable Name Register Comments
Gain - Gain
IntegralClear OBxx00B Resets position loop integral value.
PhaseFeedForward OWxx31 Add to the speed in 0.01%
Feed Forward adds to the position to increase
PositionFeedForward OWxx30
response
PositionIntegration OWxx32 Time in ms used to integrate the position error
PositionLoop OWxx2E Increase value for more rigid control.
Select OBxx014 Enables second set of servo gain parameters.
SpeedIntegration OWxx34 Time in ms used to integrate the speed error
SpeedLoop OWxx2F Increases value for more rigid dampening.
Closes speed loop using Proportional and Integral
SpeedLoopType OBxx013
control(0) or P control(1).
Home - Home
Speed used in the first or second stage of homing
ApproachSpeed OLxx3E
depending on type
AtHome IBxx0C4 At home position (ZERO)
AtHomeN IBxx2C6 Servo status ZPOINT
Complete IBxx0C5 Home complete
CompleteWindow OWxx3D The window used to set the home complete bit
CreepSpeed OLxx40 Speed used to locate the "c" channel or marker pulse
DecelerationLS OBxx058 Selects homing deceleration LS signal.
Redefine the coordinate system. In position mode, the
Define OLxx48
servo will move when this variable is changed.
Direction OBxx093 Selects home direction.
ForwardLimit OBxx05A Selects homing forward limit signal.
InputSelect OBxx05B Selects homing input signal.
Method OWxx3C The type of homing to perform
Offset OLxx42 Offset distance used at the end of homing
ReverseLimit OBxx059 Selects homing reverse limit signal.
IO - IO
All IWxx2E Servo I_O mask
Brake IBxx2E9 Servo I_O BRK
EXT1 IBxx2E6 Servo I_O EXT1
EXT2 IBxx2E7 Servo I_O EXT2
EXT3 IBxx2E8 Servo I_O EXT3
Home IBxx2E2 Servo I_O DEC
IO12 IBxx2EC Servo I_O IO12
IO13 IBxx2ED Servo I_O IO13
IO14 IBxx2EE Servo I_O IO14
IO15 IBxx2EF Servo I_O IO15
NegativeOvertravel IBxx2E1 Servo I_O N OT
PhaseA IBxx2E3 Servo I_O PA
PhaseB IBxx2E4 Servo I_O PB
PhaseC IBxx2E5 Servo I_O PC
PositiveOvertravel IBxx2E0 Servo I_O P OT

xviii
 (continued)
Variable Name Register Comments
Latch Latch
Complete IBxx0C2 Latch complete (LCOMP)
CompleteN IBxx2CA Servo status L_CMP
Enable OBxx004 Sets bit to activate latch trigger.
Value ILxx18 Latch position (LPOS)
WindowEnable OBxx094 Enables the latch zone.
WindowLowerLimit OLxx2A The lower limit of the latch window
WindowUpperLimit OLxx2C The upper limit of the latch window
ModeMask OWxx01 Various Servo bits packed into a word (mask)
Modulus - Modulus
This will set the number of rotations for a modularized
InitializeTurns OBxx006
axis.
Value used to set the number of turns, or times the
SetTurns OLxx4C
position has rolled over the maximum
Turns ILxx1E POSMAX Number of turns
TurnsInitialized IBxx0C9 Number of turns initialized (TPRSE)
Monitor - Monitor
Monitor2Enable OBxx020 Enables second monitor.
Monitor2Value ILxx30 Monitor2
Monitor3Value ILxx32 Monitor3
Monitor4Value ILxx34 Monitor4
PowerUp SeqDone IBxx000 Motion controller ready
ServoBusy IBxx002 System is busy.
ServoOn IBxx001 Servo is energized.
ServoOnN IBxx2C3 Servo status SVON
ServoReady IBxx003 Servo is ready.
ServoReadyN IBxx2C4 Servo status PON
Selects which value will be returned from the
Type OWxx4E servopack. Bits 4 to 7 set monitor2and bits C to F set
monitor4
TypeResponse IWxx2F Servo monitor information
MonitorMask IWxx00 Drive status mask
MotorType IWxx3F 0=rotary, 1=linear

xix
 (continued)
Variable Name Register Comments
Position - Position
Loads current position with ABS encoder position at
AbsDataRestore OBxx007
last power off.
AbsDataRestored IBxx0C8 Absolute data has been restored (ABSLDE).
Actual ILxx16 Actual (feedback) position (APOS)
Commanded position, incremental or absolute based
Commanded OLxx1C
on MoveType
CommandedPerScan ILxx1C Commanded position per each scan
Error ILxx1A Position error (PERR)
The value (in user units) that triggers a position error
ErrorLimit OLxx22
alarm or warning when exceeded
Sets whether position error will trigger an alarm(0) or
ErrorType OBxx010
warning(1).
IncTarget ILxx0E Commanded position (TPOS)
IncTargetModularized ILxx10 Modularized commanded position per scan (CPOS)
IncTargetModularized2 ILxx12 Commanded position per scan (MPOS)
InPosition IBxx0C1 In position (POSCOMP)
InPosition2 IBxx0C3 Second in position (NEAR)
InPosition2N IBxx2CB Servo status NEAR
Position window that determines when InPosition2
InPosition2Window OLxx20
will be set (when Actual=Commanded ± Window2)
InPositionN IBxx2C7 Servo status PSET
The value (in milliseconds) that triggers a position
InPositionTimeOut OWxx26
complete timeout alarm after the profilier is complete
Position window that determines when InPosition will
InPositionWindow OLxx1E
be set (when Actual=Commanded ± Window)
MoveType OBxx95 Selects positioning. 0=incremental 1=absolete
The offset distance that the motor will travel during
Offset OLxx46 the external positioning command if the external
positioning signal is activated during the move
Position units added to the commanded position in
PhaseCompensation OLxx28
phase control mode.
PhasePositionLoopEnable OBxx051 Closes position loop with OLxx16.
ProfilerComplete IBxx0C0 Profiler complete (DEN)
ProfilerCompleteN IBxx2C8 Servo status DEN
Relative OLxx44 Distance used in the step command
WorkCoordinateOffset OLxx4A Offset for interpolation commands
S_CurveTime OWxx3A Softens acceleration or deceleration.
ServoOn OBxx000 Sets bit to energize servo.
ServoParameter - ServoParameter
GetNumber IWxx36 Requested parameter number (Pn)
GetValue ILxx38 Requested parameter value
The number of the amplifier parameter to be read or
SetNumber OWxx50
set
SetSize OWxx51 The size of the amplifier parameter data
SetValue OLxx52 The value to be set for the amplifier parameter

xx
 (continued)
Variable Name Register Comments
ServoParameter2 - ServoParameter2
GetNumber IWxx37 Second requested parameter number (Pn)
GetValue ILxx3A Second requested parameter value
The number of the second amplifier parameter to be
SetNumber OWxx54
read or set
SetSize OWxx55 The size of the second amplifier parameter data
SetValue OLxx56 The value to be set for the second amplifier parameter
SettingsMask OWxx00 Various Servo bits packed into a word (mask)
SignalSelectionWord OWxx04 Selects latch input signal and offset input signal.
Simulate OBxx001 In simulation mode, servo will not move.
SimulationActive IBxx0C6 Simulation active or machine locked (MLKL)
SimulationActiveN IBxx2C5 Servo status MLOCK
Speed - Speed
Actual ILxx40 Actual motor speed
Commanded OLxx10 Commanded speed in units based on UnitType
CommandedResponse ILxx20 Speed commanded response
The percentage of commanded speed actually
Override OWxx18
achieved 100=1%
TorqueLimit OLxx14 Maximum torque allowed during speed control
StatusMask IWxx0C Status mask
StatusMaskN IWxx2C Servo status mask
Torque - Torque
Enables external forward torque limit set by servo
ActivateFwdLimit OBxx008
parameter.
Enables external reverse torque limit set by servo
ActivateRevLimit OBxx009
parameter.
Actual ILxx42 Actual motor torque
Commanded OLxx0C The commanded motor torque in % of rated 100=1%
Limited IBxx2C9 Servo status T_LIM
SpeedLimit OWxx0E Maximum speed allowed during torque control
BITS 0 to 3, Set speed units 0=Ref/s 1=10n ref/min
UnitsWord OWxx03 2=% BITS 4 to 7, Set acc/dec units 0=Ref/s2 1=ms
BITS 8 to 11, Set acc/dec filter 0=none 1=exponential
2=moving average
Warning - Warning
Active IBxx2C1 Servo status WARNING
AllMask ILxx02 Warning mask
Communication IBxx029 Servo communication warning
DynamicParameterOutOfRange IBxx021 Dynamic parameter out of range warning
FollowingError IBxx020 Following error warning
InvalidCommand IBxx024 Command Setting Error
Mlink IBxx023 Servo warning
NegativeOvertravel IBxx027 Negative overtravel warning
PositiveOvertravel IBxx026 Positive overtravel warning
ServoNotEnabled IBxx028 Servo not energized warning
StaticParameterOutOfRange IBxx022 Static parameter out of range warning

xxi
 „ Axis Motion Parameters (Sorted by Register)

Register Variable Name Comments

IWxx00 MonitorMask Drive status mask
IBxx000 Monitor.PowerUp SeqDone Motion controller ready
IBxx001 Monitor.ServoOn Servo is energized.
IBxx002 Monitor.ServoBusy System is busy.
IBxx003 Monitor.ServoReady Servo is ready.
IWxx01 Alarm.OutOfRangeParameter Parameter number that is over range
ILxx02 Warning.AllMask Warning mask
IBxx020 Warning.FollowingError Following error warning
Warning.DynamicParameterOutOf-
IBxx021 Dynamic parameter out of range warning
Range
IBxx022 Warning.StaticParameterOutOfRange Static parameter out of range warning
IBxx023 Warning.Mlink Servo warning
IBxx024 Warning.InvalidCommand Command Setting Error
IBxx026 Warning.PositiveOvertravel Positive overtravel warning
IBxx027 Warning.NegativeOvertravel Negative overtravel warning
IBxx028 Warning.ServoNotEnabled Servo not energized warning
IBxx029 Warning.Communication Servo communication warning
ILxx04 Alarm.AllMask Alarm mask
IBxx040 Alarm.NetworkServo Servo alarm
IBxx041 Alarm.NegativeOvertravel Positive overtravel alarm
IBxx042 Alarm.PositiveOvertravel Negative overtravel alarm
IBxx043 Alarm.PositiveSoftLimit Positive software limit alarm
IBxx044 Alarm.NegativeSoftLimit Negative software limit alarm
IBxx045 Alarm.ServoNotEnabled Servo OFF alarm
IBxx046 Alarm.PositionCompletionTimeOut Positioning timeout alarm
IBxx047 Alarm.PositionValueOutOfRange Positioning out of range alarm
IBxx048 Alarm.SpeedOutOfRange Speed out of range alarm
IBxx049 Alarm.FollowingError Following error exceeded alarm
IBxx04A Alarm.FilterTypeChanged Filter type changed while in motion alarm
IBxx04B Alarm.FilterTimeChanged Filter time constant changed while in motion alarm
IBxx04D Alarm.NotHomed Zero point not set alarm
IBxx04E Alarm.HomingWhileMoving Zero point set while in motion alarm
IBxx04F Alarm.ServoParameterOutOfRange Servo parameter alarm
IBxx050 Alarm.ServoCommunicationTimeout Servo communication synchronization alarm
IBxx051 Alarm.ServoCommunication Servo communication alarm
IBxx052 Alarm.ServoCommandTimeout Servo command timeout alarm
IBxx053 Alarm.ABSEncoderOverrange Absolute encoder number of rotations exceeded alarm
IWxx08 Command.GetValue Servo command response
IWxx09 Command.Status Servo command status mask
IBxx090 Command.Busy Servo command busy
IBxx091 Command.Hold Servo command holding
IBxx093 Command.Fail Servo command failed
IBxx098 Command.Complete Servo command complete
IWxx0A Command2.GetValue Servo Command2 response
IWxx0B Command2.Status Servo Command2 status mask
IBxx0B0 Command2.Busy Servo Command2 busy
IBxx0B3 Command2.Fail Servo Command2 Failed

xxii
 (continued)
Register Variable Name Comments
IBxx0B8 Command2.Complete Servo Command2 complete
IWxx0C StatusMask Status mask
IBxx0C0 Position.ProfilerComplete Profiler complete (DEN)
IBxx0C1 Position.InPosition In position (POSCOMP)
IBxx0C2 Latch.Complete Latch complete (LCOMP)
IBxx0C3 Position.InPosition2 Second in position (NEAR)
IBxx0C4 Home.AtHome At home position (ZERO)
IBxx0C5 Home.Complete Home complete
IBxx0C6 SimulationActive Simulation active or machine locked (MLKL)
IBxx0C8 Position.AbsDataRestored Absolute data has been restored (ABSLDE).
IBxx0C9 Modulus.TurnsInitialized Number of turns initialized (TPRSE)
ILxx0E Position.IncTarget Commanded position (TPOS)
ILxx10 Position.IncTargetModularized Modularized commanded position per scan (CPOS)
ILxx12 Position.IncTargetModularized2 Commanded position per scan (MPOS)
ILxx16 Position.Actual Actual (feedback) position (APOS)
ILxx18 Latch.Value Latch position (LPOS)
ILxx1A Position.Error Position error (PERR)
ILxx1C Position.CommandedPerScan Commanded position per each scan
ILxx1E Modulus.Turns POSMAX Number of turns
ILxx20 Speed.CommandedResponse Speed commanded response
IWxx2C StatusMaskN Servo status mask
IBxx2C0 Alarm.Active Servo status ALM
IBxx2C1 Warning.Active Servo status WARNING
IBxx2C2 Command.Ready Servo status CMDRDY
IBxx2C3 Monitor.ServoOnN Servo status SVON
IBxx2C4 Monitor.ServoReadyN Servo status PON
IBxx2C5 SimulationActiveN Servo status MLOCK
IBxx2C6 Home.AtHomeN Servo status ZPOINT
IBxx2C7 Position.InPositionN Servo status PSET
IBxx2C8 Position.ProfilerCompleteN Servo status DEN
IBxx2C9 Torque.Limited Servo status T_LIM
IBxx2CA Latch.CompleteN Servo status L_CMP
IBxx2CB Position.InPosition2N Servo status NEAR
IBxx2CC Alarm.PositiveSoftLimitN Servo status P SOT
IWxx2D Alarm.Code Servo Alarm Code
IBxx2CD Alarm.NegativeSoftLimitN Servo status N SOT
IWxx2E IO.All Servo I_O mask
IBxx2E0 IO.PositiveOvertravel Servo I_O P OT
IBxx2E1 IO.NegativeOvertravel Servo I_O N OT
IBxx2E2 IO.Home Servo I_O DEC
IBxx2E3 IO.PhaseA Servo I_O PA
IBxx2E4 IO.PhaseB Servo I_O PB
IBxx2E5 IO.PhaseC Servo I_O PC
IBxx2E6 IO.EXT1 Servo I_O EXT1
IBxx2E7 IO.EXT2 Servo I_O EXT2
IBxx2E8 IO.EXT3 Servo I_O EXT3
IBxx2E9 IO.Brake Servo I_O BRK
IBxx2EC IO.IO12 Servo I_O IO12
IBxx2ED IO.IO13 Servo I_O IO13
xxiii
 (continued)
Register Variable Name Comments
IBxx2EE IO.IO14 Servo I_O IO14
IBxx2EF IO.IO15 Servo I_O IO15
IWxx2F Monitor.TypeResponse Servo monitor information
ILxx30 Monitor.Monitor2Value Monitor2
ILxx32 Monitor.Monitor3Value Monitor3
ILxx34 Monitor.Monitor4Value Monitor4
ILxx38 ServoParameter.GetValue Requested parameter value
IWxx36 ServoParameter.GetNumber Requested parameter number (Pn)
IWxx37 ServoParameter2.GetNumber Second requested parameter number (Pn)
ILxx3A ServoParameter2.GetValue Second requested parameter value
IWxx3F MotorType 0=rotary, 1=linear
ILxx40 Speed.Actual Actual motor speed
ILxx42 Torque.Actual Actual motor torque
ILxx56 Command.StaticParameterValue The value of the fixed parameter read by Command2=5.
Contains absolute position used in infinite length
ILxx5E Encoder.Get.AbsolutePositionLS
applications.
Contains absolute position used in infinite length
ILxx60 Encoder.Get.AbsolutePositionMS
applications.
Contains modularized position used in infinite length
ILxx62 Encoder.Get.ModularPositionLS
applications.
Contains modularized position used in infinite length
ILxx64 Encoder.Get.ModularPositionMS
applications.
OWxx00 SettingsMask Various Servo bits packed into a word (mask)
OBxx000 ServoOn Sets bit to energize servo.
OBxx001 Simulate In simulation mode, servo will not move.
OBxx004 Latch.Enable Sets bit to activate latch trigger.
OBxx006 Modulus.InitializeTurns This will set the number of rotations for a modularized axis.
OBxx007 Position.AbsDataRestore Loads current position with ABS encoder position at last power off.
Enables external forward torque limit set by servo
OBxx008 Torque.ActivateFwdLimit
parameter.
Enables external reverse torque limit set by servo
OBxx009 Torque.ActivateRevLimit
parameter.
OBxx00B Gain.IntegralClear Resets position loop integral value.
OBxx00F Alarm.Clear Clears servo alarms.
OWxx01 ModeMask Various Servo bits packed into a word (mask)
OBxx010 Position.ErrorType Sets whether position error will trigger an alarm(0) or warning(1).
Closes speed loop using Proportional and Integral
OBxx013 Gain.SpeedLoopType
control(0) or P control(1).
OBxx014 Gain.Select Enables second set of servo gain parameters.
OBxx020 Monitor.Monitor2Enable Enables second monitor.
BITS 0 to 3, Set speed units 0=Ref/s 1=10n ref/min 2=% BITS 4 to 7,
OWxx03 UnitsWord Set acc/dec units 0=Ref/s2 1=ms BITS 8 to 11, Set acc/dec filter 0=none
1=exponential 2=moving average
OWxx04 SignalSelectionWord Selects latch input signal and offset input signal.
OBxx051 Position.PhasePositionLoopEnable Closes position loop with OLxx16.
OBxx058 Home.DecelerationLS Selects homing deceleration LS signal.
OBxx059 Home.ReverseLimit Selects homing reverse limit signal.
OBxx05A Home.ForwardLimit Selects homing forward limit signal.
OBxx05B InputSelect Selects homing input signal.
OWxx08 Command.SetValue SERVOPACK command

xxiv
 (continued)
Register Variable Name Comments
OWxx0E Torque.SpeedLimit Maximum speed allowed during torque control
OWxx09 CommandMask Servo Command options
OBxx090 Command.Pause Pause command
OBxx091 Command.Abort Abort command
OBxx092 Command.JogRelativeMoveDirection Selects Jog or Step direction.
OBxx093 Home.Direction Selects home direction.
OBxx094 Latch.WindowEnable Enables the latch zone.
OWxx0A Command2.SetValue Additional servopack commands
OLxx0C Torque.Commanded The commanded motor torque in % of rated 100=1%
OLxx10 Speed.Commanded Commanded speed in units based on UnitType
OLxx14 Speed.TorqueLimit Maximum torque allowed during speed control
OWxx18 Speed.Override The percentage of commanded speed actually achieved 100=1%
OLxx1C Position.Commanded Commanded position, incremental or absolute based on MoveType
Position window that determines when InPosition will be set (when
OLxx1E Position.InPositionWindow
Actual=Commanded ± Window)
Position window that determines when InPosition2
OLxx20 Position.InPosition2Window
will be set (when Actual=Commanded ± Window2)
The value (in user units) that triggers a position error alarm or warning
OLxx22 Position.ErrorLimit
when exceeded
OLxx28 Position.PhaseCompensation Position units added to the commanded position in phase control mode.
The value (in milliseconds) that triggers a position
OWxx26 Position.InPositionTimeOut
complete timeout alarm after the profilier is complete
OLxx2A Latch.WindowLowerLimit The lower limit of the latch window
OLxx2C Latch.WindowUpperLimit The upper limit of the latch window
OWxx2E Gain.PositionLoop Increase value for more rigid control.
OWxx2F Gain.SpeedLoop Increases value for more rigid dampening.
OWxx30 Gain.PositionFeedForward Feed Forward adds to the position to increase response
OWxx31 Gain.PhaseFeedForward Add to the speed in 0.01%
OWxx32 Gain.PositionIntegration Time in ms used to integrate the position error
OWxx34 Gain.SpeedIntegration Time in ms used to integrate the speed error
Acceleration Value, units selected by UnitsWord
OLxx36 Acceleration
(OWxx03)
Deceleration value, units selected by UnitsWord
OLxx38 Deceleration
(OWxx03)
OWxx3A S_CurveTime Softens acceleration or deceleration.
OWxx3C Home.Method The type of homing to perform
OWxx3D Home.CompleteWindow The window used to set the home complete bit
Speed used in the first or second stage of homing
OLxx3E Home.ApproachSpeed
depending on type
OLxx40 Home.CreepSpeed Speed used to locate the "c" channel or marker pulse
OLxx42 Home.Offset Offset distance used at the end of homing
OLxx44 Position.Relative Distance used in the step command
The offset distance that the motor will travel during the external
OLxx46 Position.Offset positioning command if the external positioning signal is activated
during the move
Redefine the coordinate system. In position mode, the servo will move
OLxx48 Home.Define
when this variable is changed.
OLxx4A Position.WorkCoordinateOffset Offset for interpolation commands
Value used to set the number of turns, or times the
OLxx4C Modulus.SetTurns
position has rolled over the maximum

xxv
 (continued)
Register Variable Name Comments
Selects which value will be returned from the servopack. Bits 4 to 7 set
OWxx4E Monitor.Type
monitor2and bits C to F set monitor4
OWxx4F Alarm.MonitorNumber This value determines which of the last 10 alarm codes are returned.
OWxx50 ServoParameter.SetNumber The number of the amplifier parameter to be read or set
OWxx51 ServoParameter.SetSize The size of the amplifier parameter data
OLxx52 ServoParameter.SetValue The value to be set for the amplifier parameter
OWxx54 ServoParameter2.SetNumber The number of the second amplifier parameter to be read or set
OWxx55 ServoParameter2.SetSize The size of the second amplifier parameter data
OLxx56 ServoParameter2.SetValue The value to be set for the second amplifier parameter
OWxx5C Command.StaticParameterNumber The number of the static parameter to be read when Command2=5
Used to set the absolute position used in infinite
OLxx5E Encoder.Set.AbsolutePositionLS
length applications.
Used to set the absolute position used in infinite
OLxx60 Encoder.Set.AbsolutePositionMS
length applications.
Used to set the modularized position used in infinite
OLxx62 Encoder.Set.ModularPositionLS
length applications.
Used to set the modularized position used in infinite
OLxx64 Encoder.Set.ModularPositionMS
length applications.
OBxx95 Position.MoveType Selects positioning. 0=incremental 1=absolete

xxvi
Contents
Using this Manual - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii
Safety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -v
Safety Precautions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vi
Variable Tables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xi

1 Overview of the MP2300

1.1 Features- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.2 MP2300 Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.2.1 Basic Module Appearance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.2.2 MP2300 Modules- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
1.2.3 MP2300 Series Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4

1.3 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6

1.3.1 Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6

1.4 Devices Connectable to MECHATROLINK - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7

1.4.1 SERVOPACKs- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7
1.4.2 Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7

1.5 Cables and Accessories - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8

1.5.1 Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8
1.5.2 Accessories and Options - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9
1.5.3 Software (Programming Tool (Optional))- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9

2 System Startup and Sample Programs

2.1 Model System Startup Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.1.1 Flowchart for Model System Startup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.1.2 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3
2.1.3 Initializing SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
2.1.4 MP2300 Self-configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5
2.1.5 Starting and Preparing MPE720 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7
2.1.6 Reading Sample Programs and Setting and Saving Parameters - - - - - - - - - - - - - - - - - - - - 2-19

2.2 Checking Sample Program Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-36

2.2.1 Operation Check 1: Manual Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-36
2.2.2 Operation Check 2: Position Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-43
2.2.3 Operation Check 3: Phase Control - Electronic Shaft - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-48
2.2.4 Operation Check 4: Phase Control - Electronic Cam - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-52

2.3 System Startup Using Self-Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-59

2.3.1 Starting the System for First Time - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-59
2.3.2 System Startup when Adding Electronic Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-61
2.3.3 System Startup when Replacing Electronic Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-63
xxvii
3 Module Specifications
3.1 General Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
3.1.1 Environmental Conditions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
3.1.2 Function Lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3

3.2 Basic Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6

3.2.1 Outline of Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6
3.2.2 External Appearance, LED Indicators, and Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - - 3-7
3.2.3 Module Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-9
3.2.4 SVR Virtual Motion Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-11

3.3 Motion Modules (Optional) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14

3.3.1 SVB-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
3.3.2 SVA-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-19
3.3.3 External Appearance and LED Indicators - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-20

3.4 I/O Modules (Optional) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-24

3.4.1 LIO-01/LIO-02 Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-24
3.4.2 Counter Functions and Settings of LIO-01/LIO-02 Modules - - - - - - - - - - - - - - - - - - - - - - - - 3-28
3.4.3 LIO-04/LIO-05 Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-44
3.4.4 DO-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-47
3.4.5 AI-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-48

3.5 Communication Modules (Optional) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-51

3.5.1 218IF-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-51
3.5.2 217IF-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-54
3.5.3 260IF-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-57
3.5.4 261IF-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-60

3.6 Dimensional Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-64

3.6.1 Basic Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-64
3.6.2 Optional Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-65

4 Mounting and Wiring

4.1 Handling MP2300 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2
4.1.1 Mounting MP2300 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2
4.1.2 Replacing and Adding Optional Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5

4.2 Basic Module Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-8

4.2.1 Connectors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-8
4.2.2 Power Supply Connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9
4.2.3 MECHATROLINK Connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10
4.2.4 CPU I/O Connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-15

4.3 Motion Module (Optional) Connections- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-19

4.3.1 SVB-01 Module Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-19
4.3.2 SVA-01 Module Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-22

xxviii
 4.4 I/O Module (Optional) Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-27
4.4.1 LIO-01/LIO-02 Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-27
4.4.2 LIO-04/LIO-05 Module Connections- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-34
4.4.3 DO-01 Module Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-46
4.4.4 AI-01 Module Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-53

4.5 Communication Module (Optional) Connections - - - - - - - - - - - - - - - - - - - - - - 4-60

4.5.1 218IF-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-60
4.5.2 217IF-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-64
4.5.3 260IF-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-68
4.5.4 261IF-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-71

5 Outline of Motion Control Systems

5.1 Startup Sequence and Basic Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
5.1.1 DIP Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
5.1.2 Startup Sequence - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3
5.1.3 Startup Sequence Operation Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4
5.1.4 LED Indicator Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5

5.2 User Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6

5.2.1 Ladder Drawings (DWG) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
5.2.2 Execution Control of Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7
5.2.3 Motion Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-10
5.2.4 Motion Programs and MSEE and S Registers- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12
5.2.5 Example of Ladder Programs for Motion Program Control - - - - - - - - - - - - - - - - - - - - - - - - - 5-18
5.2.6 Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-20

5.3 Registers- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-21

5.3.1 Types of Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-21
5.3.2 Data Types and Register Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-24
5.3.3 Using i and j Subscripts - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-25
5.3.4 Register Specification Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-27

5.4 Self-configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-28

5.4.1 Self-configuration Processing Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-28
5.4.2 Execution Procedure for Self-configuration Using the DIP Switch - - - - - - - - - - - - - - - - - - - - 5-29
5.4.3 Execution Procedure for Self-configuration Using MPE720 - - - - - - - - - - - - - - - - - - - - - - - - 5-31

5.5 Definition Data Refreshed by Self-configuration and Allocation Examples - - - - 5-34

5.5.1 MP2300 Basic Module Definition Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-34
5.5.2 SVB-01 Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-36
5.5.3 LIO-01/LIO-02 Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-36
5.5.4 LIO-04/LIO-05 Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-37
5.5.5 DO-01 Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-37
5.5.6 AI-01 Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-37
5.5.7 218IF-01 Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38

xxix
 5.5.8 217IF-01 Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-39
5.5.9 260IF-01 Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-41
5.5.10 261IF-01 Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-42
5.5.11 Examples of Register Allocation by Self-configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-43

6 Motion Parameters
6.1 Motion Parameters Register Numbers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
6.1.1 Motion Parameter Register Numbers for MP2300 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2

6.2 Motion Parameters Setting Window - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4

6.3 Motion Parameter Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6
6.3.1 Fixed Parameter List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6
6.3.2 Setting Parameter List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
6.3.3 Monitoring Parameter List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13

6.4 MP2300 Parameter Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-18

6.4.1 Motion Fixed Parameter Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-18
6.4.2 Setting Parameter List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-24
6.4.3 Motion Monitoring Parameter Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-46

6.5 Example of Setting Motion Parameters for the Machine - - - - - - - - - - - - - - - - - 6-59

6.5.1 Reference Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-59
6.5.2 Electronic Gear - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-59
6.5.3 Axis Type Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-61
6.5.4 Position Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-62
6.5.5 Speed Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-63
6.5.6 Acceleration/Deceleration Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-65
6.5.7 Acceleration/Deceleration Filter Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-67

7 Motion Commands
7.1 Motion Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
7.1.1 Motion Command Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
7.1.2 Motion Commands Supported by SERVOPACK Models - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4

7.2 Motion Command Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-5

7.2.1 Positioning (POSING) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-5
7.2.2 External Positioning (EX_POSING)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-11
7.2.3 Zero Point Return (ZRET) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-16
7.2.4 Interpolation (INTERPOLATE) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-36
7.2.5 Latch (LATCH) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-40
7.2.6 JOG Operation (FEED) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-44
7.2.7 STEP Operation (STEP) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-48
7.2.8 Zero Point Setting (ZSET) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-52
7.2.9 Change Linear Acceleration Time Constant (ACC) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-54
7.2.10 Change Linear Deceleration Time Constant (DCC)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-56

xxx
 7.2.11 Change Filter Time Constant (SCC) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-58
7.2.12 Change Filter Type (CHG_FILTER) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-60
7.2.13 Change Speed Loop Gain (KVS) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-62
7.2.14 Change Position Loop Gain (KPS)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-64
7.2.15 Change Feed Forward (KFS) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-66
7.2.16 Read SERVOPACK Parameter (PRM_RD)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-68
7.2.17 Write SERVOPACK Parameter (PRM_WR) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-70
7.2.18 Monitor SERVOPACK Alarms (ALM_MON) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-72
7.2.19 Monitor SERVOPACK Alarm History (ALM_HIST) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-73
7.2.20 Clear SERVOPACK Alarm History (ALMHIST_CLR) - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-75
7.2.21 Reset Absolute Encoder (ABS_RST) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-77
7.2.22 Speed Reference (VELO) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-80
7.2.23 Torque Reference (TRQ) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-84
7.2.24 Phase References (PHASE) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-89
7.2.25 Change Position Loop Integration Time Constant (KIS) - - - - - - - - - - - - - - - - - - - - - - - - - - 7-93

7.3 Motion Subcommands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-95

7.3.1 Motion Sub-command Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-95
7.3.2 Motion Subcommand Settings- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-95

7.4 Motion Subcommand Details- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-96

7.4.1 No Command (NOP) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-96
7.4.2 Read SERVOPACK Parameter (PRM_RD) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-97
7.4.3 Monitor Status (SMON) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-100
7.4.4 Read Fixed Parameters (FIXPRM_RD) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-102

8 Control Block Diagrams

8.1 Position Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2
8.1.1 Motion Parameters for Position Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2
8.1.2 Control Block Diagram for Position Control- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-4

8.2 Phase Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-6

8.2.1 Motion Parameters for Phase Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-6
8.2.2 Control Block Diagram for Phase Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-8

8.3 Torque Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-10

8.3.1 Motion Parameters for Torque Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-10
8.3.2 Control Block Diagram for Torque Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-12

8.4 Speed Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-14

8.4.1 Motion Parameters for Speed Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-14
8.4.2 Control Block Diagram for Speed Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-16

9 Absolute Position Detection

9.1 Absolute Position Detection Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
9.1.1 Outline of the Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2

xxxi
 9.1.2 Reading Absolute Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-3
9.1.3 Finite Length/Infinite Length Axes and Absolute Position Detection - - - - - - - - - - - - - - - - - - - 9-4

9.2 Setting Procedure of Absolute Position Detection Function - - - - - - - - - - - - - - - 9-5

9.2.1 System Startup Flowchart - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-5
9.2.2 Initializing the Absolute Encoder - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-6

9.3 Absolute Position Detection for Finite Length Axes - - - - - - - - - - - - - - - - - - - - - 9-6

9.3.1 Parameter Settings for Finite Length Axes- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-6
9.3.2 Setting the Zero Point for a Finite Length Axis - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-9
9.3.3 Turning ON the Power after Setting the Zero Point of Machine Coordinate
System - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-13

9.4 Absolute Position Detection for Infinite Length Axes - - - - - - - - - - - - - - - - - - - 9-13

9.4.1 Simple Absolute Infinite Length Position Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-13
9.4.2 Parameter Settings for Simple Absolute Infinite Length Position Control- - - - - - - - - - - - - - - 9-15
9.4.3 Setting the Zero Point and Turning ON Power as Simple Absolute Positions - - - - - - - - - - - 9-19
9.4.4 Turning ON the Power after Setting the Zero Point - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-20
9.4.5 Infinite Length Position Control without Simple Absolute Positions - - - - - - - - - - - - - - - - - - - 9-20

10 Utility Functions
10.1 Controlling Vertical Axes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2
10.1.1 Holding Brake Function of the SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2
10.1.2 Connections to Σ-II/III SGDH or SGDS SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2
10.1.3 Connections to Σ-I Series SGDB SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-4
10.1.4 Connections to Σ-I Series SGD SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-6

10.2 Overtravel Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-8

10.2.1 Connections to Σ-II/III Series SGDH or SGDS SERVOPACK - - - - - - - - - - - - - - - - - - - - - 10-8
10.2.2 Connections to Σ-I Series SGDB or SGD SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - -10-10

10.3 Software Limit Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-12

10.3.1 Fixed Parameter Settings- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -10-12
10.3.2 Effects of the Software Limit Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -10-13
10.3.3 Processing after an Alarm Occurs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -10-13

11 Precautions for Using the MP2300

11.1 Parameters That Are Automatically Updated- - - - - - - - - - - - - - - - - - - - - - - - 11-2
11.1.1 Parameters Updated when a MECHATROLINK Connection Is Established (1)
(User Constants Self-Writing Function Enabled) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -11-2
11.1.2 Parameters Updated when a MECHATROLINK Connection Is Established (2)
(Regardless of the User Constants Self-Writing Function) - - - - - - - - - - - - - - - - - - - - - - - - -11-3
11.1.3 Parameters Updated when a Setting Parameter Is Changed
(MECHATROLINK-II Operating at 10 Mbps in 32-byte Mode with User Constants
Self-Writing Function Enabled) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -11-3

xxxii
 11.1.4 Parameters Updated when a Motion Command Is Executed
(Regardless of User Constants Self-Writing Function Setting and
MECHATROLINK Connection) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-4
11.1.5 Parameters Updated during Self-configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-5

11.2 Precautions When Setting or Changing User Definition Files and Scan Times 11-7
11.2.1 Setting or Changing User Definition Files - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-7
11.2.2 Setting or Changing Module Configuration Definition Files - - - - - - - - - - - - - - - - - - - - - - - - 11-7
11.2.3 Setting and Changing the Scan Time - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-8

11.3 SERVOPACK Parameter Data Flow - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-9

11.3.1 Operations and Parameter Data Flow- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-9
11.3.2 Precautions When Saving SERVOPACK Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - 11-16

12 Maintenance and Inspection

12.1 Inspection Items - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-2
12.1.1 Daily Inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-2
12.1.2 Regular Inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-3

12.2 Replacing the Basic Module Battery- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-4

12.2.1 Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-4

12.3 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-5

12.3.1 Basic Flow of Troubleshooting- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-5
12.3.2 MP2300 Error Check Flowchart - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-6
12.3.3 LED Indicators - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-7

12.4 Troubleshooting System Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-9

12.4.1 Outline of System Errors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-9
12.4.2 Troubleshooting Flowchart for System Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-12
12.4.3 Correcting User Program Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-13
12.4.4 System Register Configuration and Error Status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-14

12.5 Motion Program Alarms - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-21

12.5.1 Motion Program Alarm Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-21
12.5.2 Motion Program Alarm Code List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-21

12.6 Troubleshooting Motion Errors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-22

12.6.1 Overview of Motion Errors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-22
12.6.2 Motion Error Details and Corrections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-23
12.6.3 Servo Driver Status and Servo Driver Error Codes - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-28

Appendix A
A Switching Motion Commands and Subcommands - - - - - - - - - - - - - - - - - - - - - - - A-2
A.1 Motion Command Execution Table- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2
A.2 Motion Subcommand Execution Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-4

xxxiii
Appendix B
B System Registers Lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - B-2
B.1 System Service Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - B-2
B.2 Scan Execution Status and Calendar- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - B-4
B.3 Program Software Numbers and Remaining Program Memory Capacity Name - - - - - - - - - - - - B-4

Appendix C
C Initializing the Absolute Encoder - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - C-2
C.1 Initializing Procedures for Σ-III Series SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - C-2
C.2 Σ-II SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - C-4
C.3 Σ-I SERVOPACK- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - C-7

INDEX

Revision History

xxxiv
 1
Overview of the MP2300

This chapter explains an overview and features of the MP2300 Machine Controller.

1.1 Features .................................................................................. 1-2

1.2 MP2300 Configuration ............................................................. 1-3
1.2.1 Basic Module Appearance ..................................................................... 1-3
1.2.2 MP2300 Modules ................................................................................... 1-4
1.2.3 MP2300 Series Models ......................................................................... 1-4

1.3 System Configuration .............................................................. 1-6

1.3.1 Example ................................................................................................. 1-6

1.4 Devices Connectable to MECHATROLINK ............................. 1-7

1.4.1 SERVOPACKs ....................................................................................... 1-7
1.4.2 Modules ................................................................................................. 1-7

1.5 Cables and Accessories .......................................................... 1-8

1.5.1 Cables ................................................................................................... 1-8
1.5.2 Accessories and Options ....................................................................... 1-9
1.5.3 Software (Programming Tool (Optional)) ............................................... 1-9

1-1
1 Overview of the MP2300

1.1 Features
The MP2300 is an all-in-one, compact Machine Controller that combines power supply,
CPU, SVB, I/O, and communication functions in one system. The MP2300 consists of a
Basic Module that performs motion control and sequence control and Optional Modules that
perform I/O and communication functions.
The MP2300 has the following features:
• Flexibility
• High performance, and
• Easy use

„ Flexibility
Optional Modules can be inserted into any of the three slots, so the optimum system can be built for
your machine.

„ High Performance
• High control characteristics have been realized by increasing the CPU and Motion Network
(MECHATROLINK-II) speed.
• MECHATROLINK-II baud rate: 2.5 times faster
• CPU processing speed: 1.4 times faster than MP930
• MECHATROLINK-II enables position control, speed control, and torque control and makes
precise synchronous control possible. The control mode can also be changed while online,
facilitating complicated machine operations.
• Select the appropriate Communication Module to use the following open networks.
• Ethernet
• DeviceNet
• PROFIBUS

„ Easy to Use
• The time of machine development can be greatly reduced by using the self-configuration function
that automatically detects devices connected to MECHATROLINK and automatically sets the
required parameters.
• The application program converter can utilize your previous software assets with their
accumulated databanks of specific knowledge to improve the system further.

1-2
 1.2 MP2300 Configuration

1.2 MP2300 Configuration

The MP2300 is configured with one Basic Module and up to three Optional Modules.

1.2.1 Basic Module Appearance

The following figure shows the external appearance of the Basic Module.

LED indicators

MP2300
Switches YASKAWA RDY RUN
ALM ERR
TX BAT

Battery holder STOP

SUP
INIT
CNFG
MON
SW1
MECHATROLINK TEST
OFF‫ޓޓޓ‬
ON
connector

Option
Option

Option
M-I/II

BATTERY

Power supply connector

CPU‫ޓ‬I/O

DC24V
I/O connector
DC 0V

POWER

1-3
1 Overview of the MP2300
1.2.2 MP2300 Modules

1.2.2 MP2300 Modules

The following table shows the names and descriptions of the Basic Module and Optional Modules.
Group Name Description Model Remarks
MECHATROLINK-I,
Basic Module Basic Module MP2300 JAPMC-MP2300 MECHATROLINK-II
8 input, 4 outputs
MECHATROLINK-II
SVB-01 JAPMC-MC2310 MECHATROLINK-I, -II, 16 axes maximum
Motion Motion-control Module
Modules Analog Output Motion-
SVA-01 JAPMC-MC2300 Analog output, 2 axes maximum
control Module
16 inputs, 16 outputs (sink mode output)
I/O Module LIO-01 JAPMC-IO2300
1 pulse input
16 inputs, 16 outputs (source mode output)
I/O Module LIO-02 JAPMC-IO2301
1 pulse input
I/O Modules
I/O Module LIO-04 JAPMC-IO2303 32 inputs, 32 outputs (sink mode output)
I/O Module LIO-05 JAPMC-IO2304 32 inputs, 32 outputs (source mode output)
Analog Input Module AI-01 JAPMC-AN2300 Analog input
Optional
Output Module DO-01 JAPMC-DO2300 64 outputs (sink mode output)
Modules
Ethernet
Communication 218IF-01 JAPMC-CM2300 RS-232C and Ethernet communication
Module
General-purpose Serial
Communication 217IF-01 JAPMC-CM2310 RS-232C and RS422/485 communication
Communica-
Module
tion
Modules DeviceNet
Communication 260IF-01 JAPMC-CM2320 RS-232C and DeviceNet communication
Module
PROFIBUS
Communication 261IF-01 JAPMC-CM2330 RS-232C and PROFIBUS communication
Module

1.2.3 MP2300 Series Models

The following table shows the possible combinations of the MP2300 Basic Module with the PS, the
CPU, and the MB, and Optional Modules.

No. Model Combination of Modules

Basic
Module

1 JEPMC-MP2300

Basic 217 218 LIO

Module IF IF 01

2 JEPMC-MP2300-Y1

Basic 218 LIO LIO

Module IF 01 01

3 JEPMC-MP2300-Y2

1-4
 1.2 MP2300 Configuration

(cont’d)
No. Model Combination of Modules
4 Reserved

Basic 217 218 LIO

Module IF IF 02

5 JEPMC-MP2300-Y4

Basic 218 LIO LIO

Module IF 02 02

6 JEPMC-MP2300-Y5

7 Reserved

Basic 217 217 LIO

Module IF IF 01

8 JEPMC-MP2300-Y7

Basic 217 LIO LIO

Module IF 01 01

9 JEPMC-MP2300-Y8

10 Reserved

Basic 217 217 LIO

Module IF IF 02

11 JEPMC-MP2300-Y10

Basic 217 LIO LIO

Module IF 01 02

12 JEPMC-MP2300-Y11

1-5
1 Overview of the MP2300
1.3.1 Example

1.3 System Configuration

1.3.1 Example
The following diagram shows an example of system configuration.

MP2300 Optional Modules

Motion Modules

MECHATROLINK
SVB-01 Servo

24-VDC Analog
SVA-01 Servo
power supply

I/O Modules

External I/O LIO-01 External I/O device

MECHATROLINK-II LIO-02 External I/O device

LIO-04 External I/O device

PL2900
PL2910

IO2310

SGDS
SGDH
NS115

LIO-05 External I/O device

DO-01 External input device

M M
AI-01 External analog output
device
I/O Modules for Servos
MECHATROLINK
Communication Modules

218IF-01 Ethernet

217IF-01 RS422/485

260IF-01 DeviceNet

261IF-01 PROFIBUS

RS-232C

ΠFor the details on the system configuration example, refer to 2.1.2 System Configuration on
page 2-3.
ΠUse the connecting cables and connectors recommended by Yaskawa. Always check the
device to be used and select the correct cable for the device.
ΠDifferent SERVOPACKs are connected to MECHATROLINK-I (4 Mbps) and MECHA-
TROLINK-II (10 Mbps). Refer to 1.4.1 SERVOPACKs on page 1-7 and select the appropri-
ate SERVOPACKs.
ΠIf devices compatible with MECHATROLINK-I and MECHATROLINK-II are used together,
make the settings for MECHATROLINK-I.
ΠThe user must supply the 24-VDC power supply.
ΠWhen connecting SERVOPACKs via MECHATROLINK, connect the overtravel, zero point
return deceleration limit switch, and external latch signals to the SERVOPACKs. For con-
nection, refer to the SERVOPACK’s manual.

1-6
 1.4 Devices Connectable to MECHATROLINK

1.4 Devices Connectable to MECHATROLINK

The devices that are compatible with MECHATROLINK and can be connected to the
MP2300 and the SVB-01 Module are listed below.

1.4.1 SERVOPACKs
Model Number Details MECHATROLINK-I MECHATROLINK-II
SGDS-†††1†† SGDS SERVOPACK Yes Yes
SGDH-†††E SGDH SERVOPACK
Yes Yes
JUSP-NS115 NS115 MECHATROLINK-II Interface Unit
SGDH-†††E SGDH SERVOPACK
Yes No
JUSP-NS100 NS110 MECHATROLINK-I Interface Units
SGD-†††N MECHATROLINK compatible AC SERVO-
Yes No
SGDB-††AN PACKs

1.4.2 Modules
Model Number Details MECHATROLINK-I MECHATROLINK-II
64-point I/O Module
JEPMC-IO2310 24 VDC, 64 inputs, 64 outputs (sink mode Yes Yes
output)
64-point I/O Module
JEPMC-IO2330 24 VDC, 64 inputs, 64 outputs (source Yes Yes
mode output)
Counter Module
JEPMC-PL2900 Yes Yes
Reversible counter, 2 channels
Pulse Output Module
JEPMC-PL2910 Yes Yes
Pulse output, 2 channels
A/D Module
JEPMC-AN2900 Yes Yes
Analog inputs, −10 to 10 V, 4 channels
D/A Module
JEPMC-AN2910 Yes Yes
Analog outputs, −10 to 10 V, 2 channels
64-point I/O Module
JEPMC-IO350 Yes No
24 VDC, 64 inputs, 64 outputs
DC Input Module
JAMSC-120DDI34330 Yes No
12/24 VDC, 16 inputs
DC Output Module
JAMSC-120DDO34340 Yes No
12/24 VDC, 16 outputs
AC Input Module
JAMSC-120DAI53330 Yes No
100 VAC, 8 inputs
AC Input Module
JAMSC-120DAI73330 Yes No
200 VAC, 8 inputs
AC Output Module
JAMSC-120DAO83330 Yes No
100/200 VAC, 8 outputs
Relay Module
JAMSC-120DRA83030 Wide voltage range relay contacts, Yes No
8 contact outputs
A/D Module
JAMSC-120AVI02030 Yes No
Analog inputs, −10 to 10 V, 4 channels
D/A Module
JAMSC-120AVO01030 Yes No
Analog outputs, −10 to 10 V, 2 channels
Counter Module
JAMSC-120EHC21140 Yes No
Reversible counter, 2 channels
Pulse Output Module
JAMSC-120MMB20230 Yes No
Pulse output, 2 channels
JEPMC-REP2000 MECHATROLINK-II Repeater No Yes
JEVSA-YV250 MYVIS (image processing device) Yes Yes

1-7
1 Overview of the MP2300
1.5.1 Cables

1.5 Cables and Accessories

1.5.1 Cables
The following table shows the cables that can be connected to the MP2300 Basic Module and
Optional Modules.

Connector
Module Application Model Specifications
Name
Used between
CPU I/O External I/O JEPMC-W2060-††
CPU I/O and External I/O
JEPMC-W6002-††
*with MECHATROLINK Used between the devices listed below
connectors on both ends SVB-01 and I/O Unit,
MP2300 Basic JEPMC-W6003-†† SVB-01 and SGDH-††E+NS100
Module and MECHATROLINK-I， *with MECHATROLINK SVB-01 and SGDH-††E+NS115
SVB-01 M-I/II MECHATROLINK-II connectors on both ends SVB-01 and SGDS-†††1††
cable *with ferrite core
JEPMC-W6011-†† Used between the devices listed below
*with a MECHATROLINK SVB-01 and SGD-†††N
connector and loose wires SVB-01 and SGDB-††AN
JEPMC-W6022 Terminator
Used between the devices listed below
CN/1 Cable for analog reference SVA-01 and SGDM/SGDH
SVA-01 JEPMC-W2040-††
CN/2 input SERVOPACK SVA-01 and SGDS-†††01†
SVA-01 and SGDS-†††02†
LIO-01 JEPMC-W2061-†† Used between
I/O External I/O
LIO-02 *Loose wires on one end LIO-01/02 and External I/O device
LIO-04 JEPMC-W6060-†† Used between
CN/1, CN/2 External I/O
LIO-05 *Loose wires on one end LIO-04/05 and External I/O device
JEPMC-W6060-†† Used between
DO-01 CN/1, CN/2 External outputs
*Loose wires on one end DO-01 and External I/O device
JEPMC-W6080-†† Used between
AI-01 CN/1, CN/2 Analog external outputs
*Loose wires on one end AI-01 and Analog external output device
Used between
PORT JEPMC-W5310-†† RS-232C port and 25-pin male D-sub
Communication (Common to all RS-232C communication connector
Module communication cable
modules) Used between
JEPMC-W5311-††
RS-232C port and DOS/V
Ethernet communication
218IF-01 10Base-T Cross cable (Category 3 min.)
cable
Module-side connector:
1010214-52A2JL (manufactured by
Sumitomo 3M)
RS422/485 communication Cable-side connector:
217IF-01 RS422/485
cable 10114-3000VE (manufactured by
Use a commercially Sumitomo 3M)
available cable. Shell: 10314-52A0-008 (manufactured
by Sumitomo 3M)
Module-side connector:
DeviceNet communication
260IF-01 DeviceNet MSTB2-5/5-GF-5.08AM
cable
(manufactured by Phoenix Contact K.K.)
Module-side connector:
PROFIBUS communication
261IF-01 PROFIBUS 17LE-13090-27(D33C) (manufactured
cable
by DDK Ltd.)

1-8
 1.5 Cables and Accessories

1.5.2 Accessories and Options

Name Accessory/Optional Model Remarks
ER3VC + exclusive use connector
Battery Accessory JZSP-BA01
(BA000517)
Power Supply Connector Accessory 721-203/026 Cable side
DIN Rail Mounting Parts Optional JEPMC-OP300 2 parts for 1 set
Option Slot Cover Optional JEPMC-OP2300 Front cover for empty slot

1.5.3 Software (Programming Tool (Optional))

The MPE720, programming tool for MP2300, is available.
Name Model Remarks
MPE720 CPMC-MPE720 (Ver. 4.41A or later) CD-ROM (1 disk)

1-9
 1 Overview of the MP2300

MEMO

1-10
 2
System Startup and Sample Programs

This chapter describes the procedure for starting the MP2300 system and sample
programs for typical operation and control.

2.1 Model System Startup Procedure ............................................ 2-2

2.1.1 Flowchart for Model System Startup ...................................................... 2-2
2.1.2 System Configuration ............................................................................ 2-3
2.1.3 Initializing SERVOPACKs ...................................................................... 2-4
2.1.4 MP2300 Self-configuration .................................................................... 2-5
2.1.5 Starting and Preparing MPE720 ............................................................ 2-7
2.1.6 Reading Sample Programs and Setting and Saving Parameters ........ 2-19

2.2 Checking Sample Program Operation ................................... 2-36

2.2.1 Operation Check 1: Manual Operation ................................................ 2-36
2.2.2 Operation Check 2: Position Control ................................................... 2-43
2.2.3 Operation Check 3: Phase Control - Electronic Shaft .......................... 2-48
2.2.4 Operation Check 4: Phase Control - Electronic Cam .......................... 2-52

2.3 System Startup Using Self-Configuration .............................. 2-59

2.3.1 Starting the System for First Time ....................................................... 2-59
2.3.2 System Startup when Adding Electronic Devices ................................ 2-61
2.3.3 System Startup when Replacing Electronic Devices ........................... 2-63

2-1
2 System Startup and Sample Programs
2.1.1 Flowchart for Model System Startup

2.1 Model System Startup Procedure

This section describes the procedure for starting the Model System and using the sample
programs of the MPE720 Programming Tool (on the MPE720 installation disk). The
procedure for designing machine systems is omitted here.

2.1.1 Flowchart for Model System Startup

An outline of the procedure for system startup is provided below.
Refer to the reference material for each procedure, indicated in the right-hand column.

1. Preparation of Devices
→ 2.1.2 System Configuration on page 2-3
Prepare and connect the devices required for testing.

2. Mounting Modules → 4.1.2 Replacing and Adding Optional Modules on page

Mount the 218IF-01 to the Basic Module. 4-5

3. Connecting and Wiring the System

Connect the MPE720 installed personal computer, and wire → 2.1.2 System Configuration on page 2-3
the Servomotors and SERVOPACKs.

4. Initializing the SERVOPACKs

→ 2.1.3 Initializing SERVOPACKs on page 2-4
Initialize the SERVOPACKs.

5. MP2300 Self-configuration
→ 2.1.4 MP2300 Self-configuration on page 2-5
The connected devices are automatically confirmed.

6. Starting and Preparing the MPE720

Start the MPE720 and create a folder for storing sample → 2.1.5 Starting and Preparing MPE720
programs.

7. Reading, Transferring, and Saving Sample Programs

Read the sample program to the MPE720, transfer it to the → 2.1.6 Reading Sample Programs and Setting and Saving
MP2300. Then, set the parameters such as fixed parame- Parameters on page 2-19
ters, and save the configuration definitions to flash memory.

8. Checking Operation
→ 2.2 Checking Sample Program Operation on page 2-36
Execute the program and check the test operation.

2-2
 2.1 Model System Startup Procedure

2.1.2 System Configuration

This section describes the system configuration shown in the following diagram. Prepare each
devices and connect as diagram.

24 VDC
power MECHATROLINK cable (see (1).)
(see (4).)
SERVOPACK (see (3).) SERVOPACK (see (3).)
YASKAWA SERVOPACK 200V YASKAWA SERVOPACK 200V
MP2300 218IF-01 SGDS-01A12A SGDS-01A12A
YASKAWA RDY
ALM
RUN
ERR
RUN

STRX
ERR

COL
Terminator
SW1 SW1
TX BAT TX RX
C
N
MECHATROLINK C
N
(see (1).)
STOP
SUP
INT
INIT
TEST
CHARGE 6
A/B cable (see (1).) CHARGE 6
A/B
CNFG OFF ON
MON
TEST ‫ޓ‬ SW1
L1 L1
PORT
OFF‫ޓ‬ON
L2 L2
M-I/II L1C C L1C C

L2C
N
3 L2C
N
3
Digital
Option
Option

BATTERY B1/ B1/ operator

B2 B2
(see (3).)
CPU‫ޓ‬
I/O C C
U N U N SVON COIN
VCMP
TGON REF CHARGE
DC24V 10Base-T 1 1
V V
DC 0V
W W
YASKAWA
C C
N N ALARM SCROLL MODE/SET
2 2 RESET

C C JOG
DATA
SVON
N N
4 4

Controller (see (1).) SERVO

READ WRITE

DIGITAL OPERATOR JUSP-OP05A

SERVO

200 VAC *Connect when setting

parameters.

PP cable Encoder cable Motor cable

(see (2).) (see (3).) (see (3).)

MPE720 installed personal computer Servomotor Servomotor

(see (2).) (see (3).) (see (3).)

For details on equipment for the controller, programming device, servodrive, and the power supply, refer to
the following descriptions.

( 1 ) Controller-related Equipment
Name Model Quantity
MP2300 JEPMC-MP2300 1
218IF-01 JAPMC-CM2300 1
MECHATOROLINK Cables (1 m) JEPMC-W6002-01 2
Terminator JEPMC-W6022 1

ΠFor mounting the 218IF-01 Module to the MP2300, refer to 4.1.2 Replacing and Adding Optional
Modules on page 4-5.

2-3
2 System Startup and Sample Programs
2.1.3 Initializing SERVOPACKs

( 2 ) Programming Device-related Equipment

Name Model Quantity
MPE720 CPMC-MPE720 version 4.41A or later 1
PP Cable (for RS-232C connection) JEPMC-W5311-03 1
PP Cable (for Ethernet connection) Commercially-available cross cable 1
Computer Commercially-available product 1

ΠAbove equipments can connect to the MP2300 with either RS-232C or Ethernet.

( 3 ) Servodrive-related Equipment
Name Model Quantity
Σ-III SERVOPACKs SGDS-01A12A 2
Σ-III Servomotors SGMAS-01ACA21 2
Motor Cables (3 m) JZSP-CSM01-03 2
Encoder Cables (3 m) JZSP-CSP01-03 2
Digital Operator JUSP-OP05A 1

ΠThe sample program settings control operation for station 1 and 2 axes, so the MECHATROLINK
station numbers must be set to 1 and 2 on the SERVOPACK rotary switches.
ΠOpen the front cover of the SERVOPACK and set the DIP switch inside as follows: Pin 1: ON; Pin
2: ON; Pin 3: OFF; Pin 4: OFF.
ΠWhen making SERVOPACK settings, the Digital Operator is connected to the SERVOPACK for
which settings are to be made.

( 4 ) Other Required Equipment

Name Specification Quantity
24-VDC power supply Current capacity of 2 A or larger 1

2.1.3 Initializing SERVOPACKs

This section describes the procedure for initializing Σ-III SERVOPACKs using the Digital Operator.
Always initialize SERVOPACKs that have been transferred from other systems. SERVOPACKs that
are being used for the first time do not need to be initialized.

1. Check that the SERVOPACK power is OFF and then insert the Digital Operation
connection plug into the CN3 connector on the SERVOPACK.

2. Turn ON the SERVOPACK control power and main power.

3. Turn ON the Digital Operator power.

2-4
 2.1 Model System Startup Procedure

4. Press the Key on the Digital Operator to display the Auxiliary Function Mode

main menu, and use the Keys to select Fn005.

5. Press the Key to switch to the Fn005 parameter initialization execution

display.
* If the display does not change and “NO-OP” is displayed on the status display, a Write
Prohibited password has been set using Fn010 and the user settings cannot be initialized.
Clear the write protection and execute the operation again.

6. Press the Key again and execute Fn005.

“Parameter Init” will flash during initialization.

The flashing will stop when initialization has been completed and the status display will
change from BB to Done to A.941.

ΠTo cancel initialization, press the Key before pressing the Key. The display
returns to the Auxiliary Function Mode main menu.

7. Turn the SERVOPACK control and main power supplies from OFF to ON to enable the
initialization.

2.1.4 MP2300 Self-configuration

Execute self-configuration to automatically configure the Optional Modules mounted to the Basic
Module and the devices connected to the MECHATROLINK.
This section explains the method for self-configuration.

1. Check that the power supply of the Σ-III SERVOPACK is ON.

2. Turn OFF the 24-VDC power supply to the MP2300.

2-5
2 System Startup and Sample Programs
2.1.4 MP2300 Self-configuration

3. Turn ON the INIT and CNFG switches on the DIP switch (SW1) on the MP2300 Basic
Module.

STOP
SUP
INIT
CNFG
MON
TEST
SW1

OFF ON

4. Turn ON the 24-VDC power supply to the MP2300.

Check that the LED indicators on the MP2300 Basic Module change as the following
illustration.

RDY RUN RDY RUN RDY RUN

ALM ERR ALM ERR ALM ERR
TX BAT TX BAT TX BAT
: Lit : Not lit : Blinking

5. Turn OFF the INIT and CNFG switches on the DIP switch (SW1) on the MP2300 Basic
Module.

STOP
SUP
INIT
CNFG
MON
TEST
SW1

OFF ON

This completes the self-configuration, and the information of Optiotional Modules and MECHA-
TROLINK slave devices are read in the definition information file.

„ INIT switch and RAM data

If the INIT switch on the DIP switch on the Basic Module is turned ON and the power is turned ON, RAM
data will be cleared.
Flash memory data is read when the INIT switch is turned OFF and the power is turned ON. Therefore,
always save data to the MP2300 flash memory before turning OFF the power when writing or editing
programs.
For information on how to save data to flash memory, refer to 2.1.5 Starting and Preparing MPE720 on
page 2-7.
„ Turning OFF Power after Executing Self-configuration
Do not turn OFF the 24-VDC power supply to the MP2300 after executing self-configuration until the
definitions data has been saved to flash memory in the MP2300. If the power is turned OFF somehow
before the data is saved to flash memory, execute self-configuration again.

2-6
 2.1 Model System Startup Procedure

2.1.5 Starting and Preparing MPE720

This section describes the preparation for connecting the MPE720 (motion programming software,
optional) to the MP2300 and the method for installing the sample program for the MP2300.
The explanation is given assuming that the MPE720 has been installed on your personal computer.
ΠRefer to Machine Controller MP900/MP2000 Series MPE720 Software for Programming Device
User’s Manual (Manual No. SIEP C880700 05 ) for the installation method of MPE720.

The reference sections for the MPE720 startup procedure and each operation as follows.

1. Starting the MPE720 → 2.1.5 ( 1 ) Starting the MPE720 on page 2-8

Communication process settings

2. → 2.1.5 ( 2 ) Setting and Saving Communication Process on page 2-9
Define the communication with MP2300.

Create a group folder

3. → 2.1.5 ( 3 ) Creating Group Folders (Option) on page 2-15
Create a Group Folder to save Order Folders.

Create an order folder

4. → 2.1.5 ( 4 ) Creating Order Folders (Required) on page 2-16
Create an Order Folder to save Controller Folders.

Create a controller folder

5. → 2.1.5 ( 5 ) Creating Controller Folders (Required) on page 2-17
Create a Controller Folder to save programs.

2-7
2 System Startup and Sample Programs
2.1.5 Starting and Preparing MPE720

( 1 ) Starting the MPE720

Start the MPE720 using the following procedure.

1. Open the YE_Applications Folder and double-click the MPE720 icon.

Or, select Start - All Programs - YE_Application - MPE720.
ΠThe operation to start the MPE720 depends on the OS version number of the personal
computer.

The MPE720 starts up and the File Manager Window appears.

2-8
 2.1 Model System Startup Procedure

( 2 ) Setting and Saving Communication Process

Make communication settings for connecting the MPE720 and the MP2300 using the following
procedure. These settings are not required if the communication settings have already been made.

1. When the MPE720 is started, the Communication Process icon will be displayed on
the task tray at the right bottom of the screen. Click the Communication Process
icon to open the Communication Process Window.

Communication Process icon

In this section, Logical PT number 1 is assigned for RS-232C connection and 2 for Ethernet
connection in the Communication Process Window.

z Settings for RS-232C Connection

2. Double-click Logical PT number 1 in the Communication Process Window to display
the Logical Port Setting Window.

The Logical Port Setting Window appears.

3. For RS-232C connections, select Serial under Port Kind and then click Detail Button
in the Logical Port Setting Dialog Box.

The Serial Port Setting Dialog Box appears.

2-9
2 System Startup and Sample Programs
2.1.5 Starting and Preparing MPE720

4. Match the settings under Physical Port to the computer’s serial communication port.
Leave the other items on the default settings. Once the settings have been completed
and checked, click the OK Button to close the Logical Port Setting Dialog Box.

5. The Logical Port Setting Window appears. Click the OK Button again. The screen
will return to the Communication Process Window. Check that Serial has been
allocated to Logical PT number 1.

z Settings for Ethernet Connection

Prior to make settings for Ethernet connection, the IP address of the personal computer must be set.
Use the following procedure to set the IP address and make settings for Ethernet connection.
ΠMake the following settings with the LAN cable connected.

6. Click Start - Settings - Control Panel - Internet.

The Internet Properties Window appears.

2-10
 2.1 Model System Startup Procedure

7. Click Connection Tab to display the page. Click LAN settings.

The Local Area Network (LAN) Settings Dialog Box appears.

8. Check if the Automatically detect the settings check box is cleared and click the OK
Button to close the dialog box.

9. For a computer running Windows 2000 OS, click the Start Button and select Settings
- Control Panel - Network and dial-up connection (N).
For a computer running Windows XP OS, click the Start Button and select Settings -
Control Panel - Network connection (N).
On the computer running Windows 2000 OS, the Network and dial-up connection Window
will be displayed, and on the computer running Windows XP OS, the Network connection
Window.

2-11
2 System Startup and Sample Programs
2.1.5 Starting and Preparing MPE720

10. For the computer running Windows 2000 OS, double-click the Local area connection
icon.
For the computer running Windows XP OS, select Local area connection and click
Change the settings of connection in the Network Task field.
＜ Windows 2000 running computer ＞ ＜ Windows XP running computer ＞

The Property for Local area connection Dialog Box appears.

11. Click the Properties Button.
The Local Area Connection Properties Dialog Box appears.

12. Select Internet Protocol (TCP/IP) and click the Properties Button.

The Property for Internet protocol (TCP/IP) Dialog Box appears.

2-12
 2.1 Model System Startup Procedure

13. Click the Using the following IP address Option Button and enter 192 168 1 2 under
IP Address and 255 255 255 0 under Subnet Mask. Click the OK Button to close the
dialog box.

14. Double-click Logical Port No. 2 in the Communication Process Window to display
the Logical Port Setting Dialog Box.

15. Select CP-218 under Port Kind in the Logical Port Setting Dialog Box and click the
Detail Button.

The CP-218 Port Setting Dialog Box appears.

2-13
2 System Startup and Sample Programs
2.1.5 Starting and Preparing MPE720

16. Enter the IP address of computer and click OFF for Default. Leave the other items on
their default settings. Click the OK Button to close the dialog box.

17. Click the OK Button in the Logical Port Setting Dialog Box to return to the Communi-
cation Process Window. Check to see if the CP-218 (Ethernet connection ) is
assigned to the Logical Port No. 2.

z Saving the Communication Port Settings and Restarting Communication

Process Window

18. Click File - Save. A save confirmation window will be displayed. Click the Yes Button
to save the communication port settings.

These settings will be used as the communication port information whenever the communica-
tion process is started.

19. Exit the Communication Process Window and restart to validate the settings.
Select File - Exit to close the Communication Process Window. The confirmation
message will be displayed. Click the Yes Button to close the Communication Pro-

2-14
 2.1 Model System Startup Procedure

cess Window.

20. Double-click the Communication Manager icon in the YE_Application Folder to

reopen the Communication Process Window.

Double-click

( 3 ) Creating Group Folders (Option)

In the File Manager Window, create a group folder for storing order folders.
ΠRefer to Group Folders, Order Folders, Controller folders at the bottom of this page for more
information about these folders.

1. Right-click (root) and select New - Group Folder from the pop-up menu.

The Make New Folder Dialog Box will be displayed.

2-15
2 System Startup and Sample Programs
2.1.5 Starting and Preparing MPE720

2. Enter a group folder name of up to 8 characters and click the OK Button.

A new group folder will be created. Double-click (root) or click to display the entered
group folder name.

■ Group, Order, and PLC folders

Group folders, order folders, and PLC folders form part
of a directory tree, as shown in the figure to the left.
Group
folders Programs created using MPE720 are saved to PLC
folders.
MPE720 cannot create programs if no PLC folder
Order exists. PLC folders cannot be created if no order folder
folders
exists. For this reason, always create an order folder and
PLC folder. Creating group folders is optional.
Controller
folders

( 4 ) Creating Order Folders (Required)

In the File Manager Window, create an Order Folder for storing Controller Folders.

1. Right-click (root) or the Group Folder in which the Order Folder is to be created and
select New - Order Folder from the pop-up menu.

The Make New Folder Dialog Box will appear.

2-16
 2.1 Model System Startup Procedure

2. Enter an Order Folder name of up to 8 characters and click the OK Button.

A new Order Folder will be created. Click the group folder or to display the entered Order
Folder name.

( 5 ) Creating Controller Folders (Required)

In the File Manager Window, create a Controller Folder for storing programs.

1. Right-click the Order Folder in which the Controller Folder is to be created and select
Create New Folder - Controller Folder from the pop-up menu.

The Controller Configuration Dialog Box will be displayed.

2. Enter a Controller Folder name of up to 8 characters under Controller Name, select

MP2300 under Controller Type, and click the OK Button.

A new Controller Folder will be created. Click the Order Folder or to display the entered
Controller Folder name.

2-17
2 System Startup and Sample Programs
2.1.5 Starting and Preparing MPE720

2-18
 2.1 Model System Startup Procedure

2.1.6 Reading Sample Programs and Setting and Saving Parameters

This section use sample programs to explain how to log on after being connected to the MP2300,
transfer programs, set motion fixed parameters, and log off. The following flowchart outlines the
order of the explanations.

Log On Online
1. → 2.1.6 ( 1 ) Logging On Online on page 2-19
Connect to MP2300 and log on to MPE720.

Load Sample Programs → 2.1.6 ( 2 ) Loading the Sample Programs on page

2.
Load sample programs from MPE720 system CD-ROM. 2-23

Transfer Individual Sample Programs → 2.1.6 ( 3 ) Transfer Individual Programs on page

3.
Select a sample program to be transferred and transfer to MP2300. 2-25

Set the Motion Fixed Parameters → 2.1.6 ( 4 ) Set and Save Motion Fixed Parameters
4.
Set the motion fixed parameters to match the sample program. on page 2-28

Adjust the Servo and Save the SERVOPACK Parameters

→ 2.1.6 ( 5 ) Making Servo Adjustments and Saving
5. Make Servo adjustments and save the SERVOPACK parameters for
SERVOPACK Parameters on page 2-30
each axis.

Save to Flash Memory

6. → 2.1.6 ( 6 ) Saving to Flash Memory on page 2-31
Save the sample program to the MP2300 flash memory.

Transfer All Files to Hard Disk

7. Save the MP2300 data in the hard disk of the personal computer for → 2.1.6 ( 7 ) Dumping All Data on page 2-33
backup.

( 1 ) Logging On Online
Use the following procedure to connect to the MP2300 and log on online to the MPE720 to transfer
programs.

1. Right-click on the Controller Folder that has been created and select Online from the
pop-up menu that is displayed.

A confirmation dialog box will be displayed. Click the Yes Button to switch to online mode.
ΠThe communication mode cannot be changed while logging on to the Controller folder is

2-19
2 System Startup and Sample Programs
2.1.6 Reading Sample Programs and Setting and Saving Parameters

performed when using MPE720. If a Cannot change to CPU while logged on message is
displayed when Online is selected, refer to 2.1.6 ( 9 ) Logging Off on page 2-35 and log off
from the Controller folder.

2. Right-click on the Controller Folder that was selected in step 1 and select Properties
from the pop-up menu that is displayed. Check that a check mark appears to the left of
Online and Online is displayed in the data area at the bottom right of the window.

The Controller Configuration Dialog Box will appear.

3. Select the Network Tab Page and check that OnLine is set to Yes. Under Logical Port
No. (Device Type), select the logical port number to be used, from the logical ports set
using the communication process. The contents displayed on the tab page changes
according to the selected port number.

ΠCP217 represents the RS-232C connection (serial port), and CP218 represents the Ethernet
connection.

2-20
 2.1 Model System Startup Procedure

4. < For RS-232C Connection >

Leave the values other than the Logical Port No on their default settings, and click OK
Button.

<For Ethernet Connection >

Enter the IP address of the personal computer, and click OK Button.

5. Click the Yes Button in the dialog box that is displayed next to complete selection of
the logical port.

2-21
2 System Startup and Sample Programs
2.1.6 Reading Sample Programs and Setting and Saving Parameters

z Logging On Online
ΠWhen using MPE720, logging on is performed for each Controller Folder. Controller Folders
that have not been logged onto cannot use the MPE720 functions.

6. Right-click on the Controller Folder that was selected in step 1 and select Log On from
the pop-up menu that is displayed.

The CPU Log On Dialog Box will appear.

7. Enter USER-A (default) under User Name and Password, and click the OK Button.

Logon will be executed for the selected Controller folder, and the dialog box will close.

ΠThe user name and password may have already been changed. Ask the system
administrator beforehand.
ΠThe user name and password are changed from the File menu in the File Manager Window.
Refer to Machine Controller MP900/MP2000 Series User’s Manual MPE720 Software for
Programming Device (Manual No. SIEPC8807005 ) for details.

2-22
 2.1 Model System Startup Procedure

( 2 ) Loading the Sample Programs

The sample programs on the MPE720 system CD-ROM will be decompressed on the personal com-
puter and loaded to the Controller Folder. Set the MPE720 system CD-ROM in the CD-ROM drive
of the personal computer.

1. Use Explorer to open the SAMPLE - Eng folders and double-click the
2300SMPL_E.EXE icon.

A dialog box for specifying where to unpack the file will appear.

2. Specify the destination path (a path other than File Manager) and click the
Decompress Button.

The sample program will be unpacked and saved to the specified path and a folder called
2300SMPL_E will be created.

3. Right-click on the Controller folder where the sample program is to be saved in File
Manager Window and select Transfer (T) - All Files (A) - From MPE720 to Another
Drive (R) in the pop-up menu that is displayed.

An execution confirmation dialog box will appear.

2-23
2 System Startup and Sample Programs
2.1.6 Reading Sample Programs and Setting and Saving Parameters

4. Deselect Compression transmission. Check the Destination. If the Destination is different to

the unpack destination folder, click the Change Button and continue to step 5. If the
Destination is correct, move to step 6.

5. The Change Transfer Drive Dialog Box will be displayed. Click the Detail Button to
open the Select the Folder Dialog Box.

6. Three sub-folders under the 2300SMPL_E folder will be displayed. Click the Select
Button to close the dialog box.

7. The Execute Dialog Box will appear. Click the OK Button.

The Execution Status Dialog Box will appear. Once the transfer has been completed, a confir-
mation dialog box will be displayed. Click the OK Button.

2-24
 2.1 Model System Startup Procedure

8. The All Media to

MPE720 Window will appear. Select File - Exit to end reading files to the MPE720.

( 3 ) Transfer Individual Programs

Transfer the programs that have been read to the MPE720 individually to the MP2300.

1. Right-click on the Controller Folder that has been logged onto online and select
Transfer - Selected Files - From MPE720 to Controller from the pop-up menu that
is displayed.

The Individual Load Window will appear.

2-25
2 System Startup and Sample Programs
2.1.6 Reading Sample Programs and Setting and Saving Parameters

2. Select the programs to be transferred. For programs with a Details Button next to
them, click the Details Button and select the individual function programs for the
program listed in the Set Details Dialog Box that is displayed.
In this example, DWG, Scan Time, Data Trace, Group Definition, and Motion Main Pro-
gram are selected, and detailed settings are made for DWG and Motion Main Pro-
gram.

a) Set Drawing Details Dialog Box

The details for the DWG sample program are shown below. Select the programs to be
transferred and click the OK Button. If Select All is selected, all programs for the DWG
program will be selected. In this example, select Select All and click the OK Button to
return to the Individual Load Window.

2-26
 2.1 Model System Startup Procedure

b) Motion Main Program Detail Set Dialog Box

The details for the Motion Main Program of sample program are shown below.
In this example, select Select All and click the OK Button to return to the Individual Load
Window.

3. Select File (F) - Execute (S).

Click the Yes Button in the confirmation dialog box to start the file transfer. When the transfer
has been completed, a confirmation dialog box will be displayed again. Click the OK Button.

4. Select File - Exit in the Individual Load Window to exit the transfer.

2-27
2 System Startup and Sample Programs
2.1.6 Reading Sample Programs and Setting and Saving Parameters

( 4 ) Set and Save Motion Fixed Parameters

This section describes the procedure for setting motion fixed parameters for axes 1 and 2 to match the
sample program .
ΠWhen using a program, set the fixed parameters to match the devices being used. Refer to 6.4.1
Motion Fixed Parameter Details on page 6-18.

1. Double-click the 2300SMPL Controller Folder - Definition Folder in the File Manager
Window to display the five folders contained within it. Double-click the Module Con-
figuration Folder.

The Engineering Manager Window will open and the Module Configuration Window will
appear.

2. Point to 00 in the Controller area and double-click the 3 in the Module Details area in
the Module Configuration Window.

The SVB Definition Window with Fixed Parameter Tab Page will appear.

2-28
 2.1 Model System Startup Procedure

3. Set the fixed parameters for axis 1.

Select Axis 1 from the axis selection box at the top-left of the window and select mm under No.
4 Reference unit selection on the Fixed Parameter Tab Page.

4. In the Engineering Manager Window, select File (F) - Save (S) to save the settings for
axis 1 fixed parameters.

5. Refer to steps 3 and 4 to set and save the fixed parameters for axis 2 using the same
procedure as for axis 1.
The process for saving fixed parameter settings has now been completed. Next, save the SERVO-
PACK parameters.

2-29
2 System Startup and Sample Programs
2.1.6 Reading Sample Programs and Setting and Saving Parameters

( 5 ) Making Servo Adjustments and Saving SERVOPACK Parameters

This section describes how to make Servo adjustments and save the SERVOPACK parameters for
each axis to the MP2300.

1. Execute servo gain and other adjustments for each Servo.

ΠRefer to each SERVOPACK manual for information on the Servo adjustments.

2. Select the axis in the SVB Definition Window, then click the SERVOPACK Tab to
display the SERVOPACK Tab Page.

3. Select Edit - Copy Current Value.

A confirmation dialog box will appear.

ΠThe data in the Input Data column is the SERVOPACK data saved to the MP2300 and the
data in the Current Value column is the data set to the SERVOPACK.
ΠRefer to 11.3 SERVOPACK Parameter Data Flow on page 11-9 for information on the
relationship between Current Value and Unit.

4. Click the OK Button in the confirmation dialog box to write the SERVOPACK data
(current position) as the MP2300 settings data.

2-30
 2.1 Model System Startup Procedure

5. Select File (F) - Save (S) to save the SERVOPACK settings for axis 1 to the MP2300.

6. Refer to steps 2 to 5 to write and save the SERVOPACK current position for axis 2 as
settings data, using the same procedure as for axis 1.

7. Select File - Exit to exit the setting and saving process in the Engineering Manger
Window.

( 6 ) Saving to Flash Memory

Save sample programs that have been transferred individually to the MP2300 to the MP2300 flash
memory using the procedure below.

1. Right-click the Controller Folder in which the sample programs have been saved and
select Transfer - Other - Save to Flash from the pop-up menu that is displayed.

The Save Flash Memory Content Window will appear.

2-31
2 System Startup and Sample Programs
2.1.6 Reading Sample Programs and Setting and Saving Parameters

2. Select File - Execute.

3. Click the Yes Button in the displayed confirmation dialog box, and then click the Yes
Button in the TrnSys Dialog Box that is displayed.

4. Another confirmation dialog box will be displayed. Click the Yes Button. The data will
be saved to flash memory. When saving to flash memory has been completed, a
dialog box to confirm that the CPU is to be run will be displayed. Click the Yes Button.
Then the display will automatically return to the Save Flash Memory Content
Window.

5. Select File - Exit to exit saving to flash memory.

2-32
 2.1 Model System Startup Procedure

( 7 ) Dumping All Data

Execute All Program File Dump to back up to a personal computer the module configuration defini-
tions automatically detected by the MP2300 during self-configuration and edited programs. The
MP2300 program data and the program data in the personal computer hard disk are synchronized
when all programs are dumped.

1. Right-click the Controller Folder in which the sample programs have been saved, and
select Transfer - All File Transfer - All Program File Dump [CPUÆMPE720 (D)]
from the pop-up menu that is displayed.

An execution confirmation dialog box will appear.

2. Check the details and click the OK Button.

The file transfer will start. A notification dialog box will be displayed when the transfer has
been completed. Click the OK Button in the dialog box to display the All Dump Window.

2-33
2 System Startup and Sample Programs
2.1.6 Reading Sample Programs and Setting and Saving Parameters

3. Select File - Exit to stop the dumping of all data.

( 8 ) CPU RUN Settings

If the CPU STOP status is not cleared after executing processes such as saving to flash memory, use
the following procedure to return to RUN status.

1. Right-click on the Controller Folder where sample programs are saved and select
Controller Operation from the pop-up menu that is displayed.

The Controller Running Status Dialog Box will appear.

2. Click the Run Button.

ΠTo stop the CPU, for example to verify errors, click the STOP Button displayed here.

2-34
 2.1 Model System Startup Procedure

3. Change confirmation dialog box will be displayed. Click the Yes Button to return to the
Controller Running Status Dialog Box. Check that the RUN LED indicator is lit.

4. Click the CLOSE Button in the Controller Running Status Dialog Box to exit RUN
settings.

( 9 ) Logging Off
Log off once the work using MPE720 (Embedded) has been completed.

1. Right-click on the Controller Folder where sample programs are saved and select Log
Off from the pop-up menu that is displayed.

2. Click the Yes Button in the displayed dialog box to complete the logoff process.

2-35
2 System Startup and Sample Programs
2.2.1 Operation Check 1: Manual Operation

2.2 Checking Sample Program Operation

This section describes how to check three operations in the model system by using the Tuning Panel
Window for sample programs.

2.2.1 Operation Check 1: Manual Operation

( 1 ) Program Outline
This section describes how to execute JOG and STEP operations for Servomotor 1 or 2 (axis 1 or 2)
using a ladder program such as the one shown below.

Parent Drawing

H Drawing Child Drawings

SEE H01 Drawing

Name H01
• SERVO ON
• Alarm Reset
• Parameter settings

END

SEE H02 Drawing

Name H02 Grandchild Drawings

SEE H02.01 Drawing

Name H02.01
• Axis 1 JOG
• Axis 1 STEP

END

SEE H02.02 Drawing

Name H02.02
• Axis 2 JOG
• Axis 2 STEP

END END END

igh-speed scan

ΠRefer to 2.2.1 ( 4 ) Sample Program Details on page 2-39 for details of each program (drawing).
ΠA simple device is used in this example to describe the MP2300 system startup.
ΠThis device has no power OFF circuit for the SERVOPACK in the event of emergency stops or
overtravel. Include a proper emergency stop circuit in actual devices.

2-36
 2.2 Checking Sample Program Operation

( 2 ) Displaying the H02 Drawing Tuning Panel

Use the following procedure to display the H02 Drawing Tuning Panel.

1. Log on online, open the Programs folder, and then open the High Scan Programs
folder in the PLC folder where the sample programs are saved in the File Manager
Window.

2. Right-click the H02 Drawing in the High Scan Programs folder and select Open -
Tuning Panel from the pop-up menu that is displayed.

Engineering Manager will start and the following Tuning Panel Window for the H02 Drawing
will be displayed.

Model system operation can be controlled by writing the current values for Common Operation
and Manual Operation and Setting from the Tuning Panel.

2-37
2 System Startup and Sample Programs
2.2.1 Operation Check 1: Manual Operation

( 3 ) Procedure
Use the following procedure to confirm operation.

Servo ON

Start JOG or STEP operation.

Confirm operation.

The following table gives an outline of the operation when the Tuning Panel window is used.

Current Value
Data Name Operation Outline
Operation
Current value OFF →
The Servomotor will turn ON and the Servo will be clamped.
ON
Servo ON PB
Current value ON →
Servo turned OFF.
OFF
Current value OFF →
Axis 1 rotates forward.
ON
Axis 1 Forward Jog
Current value ON →
Axis 1 stops.
OFF
Current value OFF →
Axis 1 rotates in reverse direction.
ON
Axis 1 Reverse Jog
Current value ON →
Axis 1 stops.
OFF
Current value OFF →
Axis 2 rotates forward.
ON
Axis 2 Forward Jog
Current value ON →
Axis 2 stops.
OFF
Current value OFF →
Axis 2 rotates in reverse direction.
ON
Axis 2 Reverse Jog
Current value ON →
Axis 2 stops.
OFF
Current value OFF → Axis 1 starts rotating forward for the moving amount set under Axis 1 STEP
ON moving amount.
Axis 1 Forward Step
Current value ON →
STEP operation stops. Always stop after executing stepping.
OFF
Current value OFF → Axis 1 starts rotating in reverse for the moving amount set under Axis 1 STEP
ON moving amount.
Axis 1 Reverse Step
Current value ON →
STEP operation stops. Always stop after executing stepping.
OFF
Current value OFF → Axis 2 starts rotating forward for the moving amount set under Axis 2 STEP
ON moving amount.
Axis 2 Forward Step
Current value ON →
STEP operation stops. Always stop after executing stepping.
OFF
Current value OFF → Axis 2 starts rotating in reverse for the moving amount set under Axis 2 STEP
ON moving amount.
Axis 2 Reverse Step
Current value ON →
STEP operation stops. Always stop after executing stepping.
OFF
Axis 1 STEP
Enter any value. Sets the STEP moving amount for axis 1.
Moving Amount
Axis 2 STEP
Enter any value. Sets the STEP moving amount for axis 2.
Moving Amount

ΠIt is necessary to create routines within the actual application program in order to monitor and
control the registers corresponding to the signals and data listed in the table above.

2-38
 2.2 Checking Sample Program Operation

( 4 ) Sample Program Details

[ a ] H Drawing
The H parent drawing controls the overall sample program.
H Main Program: High-speed Main Program
High-speed main program

Servo ON and Alarm reset

Servo ON, alarm reset
SEE
Name H01
JOG and STEP
JOG, STEP
SEE
Name H02
Positioning
Positioning
SEE
Name H04
Phase Control
Electronic cam
SEE
Name H06

END

[ b ] H01 Drawing
The H01 child drawing turns ON the Servo, resets alarms, and sets common parameters.
rawing - (1)
H01 Main Program: Axis Common Settings
########## Action Common Settings ##########
########## Motion Command Detection ##########
xis 1 motion command 0 detection
Axis 1 motion command
MB300010
=
SourceA IW8008
SourceB 00000

Axis 2 motion command 0 detection

Axis 2 motion command
MB300018
=
SourceA IW8088
SourceB 00000

########## Servo ON Command ##########

Axis 1 Servo ON
Servo ON PB Axis 1 SVC_RDY Axis 1 SV_ON
MB300000 IB80000 OB80000

Axis 1 SYS_BUSY
IB80002

Axis 2 Servo ON
Servo ON PB Axis 2 SVC_RDY Axis 2 SV_ON
MB300000 IB80800 OB80800

Axis 2 SYS_BUSY
IB80802

########## Alarm Reset ##########

Axis 1 alarm reset
Alarm reset PB Axis 1 ALM_RST
MB300001 OB8000F

Axis 2 alarm reset

Alarm reset PB Axis 2 ALM_RST
MB300001 OB8080F

2-39
2 System Startup and Sample Programs
2.2.1 Operation Check 1: Manual Operation

H01 Drawing - (2)

########## Speed Unit and Acceleration/Deceleration Unit Selection ##########

Bits 0 to 3: Speed Unit Selection (0: Reference unit/s; 1: Reference unit/min.; 2: Percentage)
Bits 4 to 7: Acceleration/Deceleration Unit Selection (0: Reference unit/s; 1: ms)
Axis 1 Function Settings 1 (unit)

Axis 1 Function Settings 1 work

0006 AND
0014
NL-1 SourceA OW8003

SourceB H0F00

Dest DW00010

Axis 1 Function Settings 1

0007 OR
0015
NL-1 SourceA DW00010

SourceB H0011

Dest OW8003

Axis 2 Function Settings 1 (Unit)

Axis 2 Function Settings 1 work

0008 AND
0016
NL-1 SourceA OW8083

SourceB H0F00

Dest DW00012

Axis 2 Function Settings 1

0009 OR
0017
NL-1 SourceA DW00012

SourceB H0011

Dest OW8083

##########Linear Acceleration/Deceleration Setting##########

Axis 1 and 2 linear acceleration/deceleration setting

MPM running
MB30020 Linear acceleration/deceleration setting

0010 EXPRESSION
0018
NL-1 OL8036= 100;
OL8038= 100;
OL80B6= 100;
OL80B8= 100;

0011 END
0020
NL-1

[ c ] H02 Drawing
The H02 child drawing controls JOG and STEP operation.

Main Program: Manual Operation Main Processing

P00105 H02
##########Manual Operation Main Processing##########

0000 SEE
0000
NL-1 Name H02. 01

0001 SEE
0001
NL-1 Name H02. 02

0002 END
0002
NL-1

2-40
 2.2 Checking Sample Program Operation

[ d ] H02.01 Drawing
The H02.01 grandchild drawing controls JOG and STEP operation for axis 1.

##########Axis 1 Manual operation (JOG and STEP)##########

##########JOG##########
Axis 1 JOG
Axis 1 forward jog Axis 1 reverse jog Axis 1 SV_ON Axis 1 jog command
DB000010 DB000011 IB80001 DB000000
0000
0000
NL-1 Axis 1 forward jog Axis 1 reverse jog
DB000010 DB000011

Axis 1 jog command WORK Axis 1 motion command 0 Axis 1 jog start
DB000000 DB000050 MB300010 DB000001
0001
0006
NL-1
Axis 1 jog command WORK Axis 1 jog stop
DB000000 DB000051 DB000002
0002
0010
NL-1 Axis 1 jog start
DB000001 Axis 1 speed command setting
0003 STORE
0013
NL-1 Source 0000001000

Dest OL8010

Axis 1 jog start

DB000001 Axis 1 motion command
0004 STORE
0015 Source 00007
NL-1
Dest OW8008

Axis 1 jog stop

DB000002 Axis 1 motion command
0005 STORE
0017
NL-1 Source 00000

Dest OW8008

##########STEP##########
Axis 1 STEP
Axis 1 forward step Axis 1 reverse step Axis 1 SV_ON Axis 1 step command
DB000012 DB000013 IB80001 DB000008
0006
0019
NL-1
Axis 1 forward step Axis 1 reverse step
DB000012 DB000013

Axis 1 step command WORK Axis 1 motion command 0 Axis 1 step start
DB000008 DB000058 MB300010 DB000009
0007
0025
NL-1
Axis 1 step command WORK Axis 1 step stop
DB000008 DB000059 DB00000A
0008
0029
NL-1
Axis 1 step start
DB00009 Axis 1 step speed and moving amount
0009 EXPRESSION
0032
NL-1 OL8010=1000;
OL8044=DL00010;

Axis 1 step start

DB000009 Axis 1 motion command
0010 STORE
0034 Source 00008
NL-1
Dest OW8008

Axis 1 step stop

DB00000A Axis 1 motion command
00011 STORE
0036
NL-1 Source 00000

Dest OW8008

##########Reverse Rotation Selection##########

Axs 1 jog command Axis 1 reverse jog Axis 1 reverse step
DB000000 DB000011 OB80092
0012
0038
NL-1 Axis 1 reverse step
Axis 1 jog command
DB000008 DB000013

0013
0043 END
NL-1

2-41
2 System Startup and Sample Programs
2.2.1 Operation Check 1: Manual Operation

[ e ] H02.02 Drawing
The H02.02 grandchild drawing controls JOG and STEP operation for axis 2.
##########JOG########## ##########Axis 2 Manual operation (JOG and STEP)##########
Axis 2 JOG
Axis 2 forward jog Axis 2 reverse jog Axis 2 SV_ON Axis 2 jog command
DB000010 DB000011 IB80801 DB000000
0000
0000
NL-1 Axis 2 forward jog Axis 2 reverse jog
DB000010 DB000011

Axis 2 jog command WORK Axis 2 motion command 0 Axis 2 jog start
DB000000 DB000050 MB300018 DB000001
0001
0006
NL-1
Axis 2 jog command WORK Axis 2 jog stop
DB000000 DB000051 DB000002
0002
0010
NL-1
Axis 2 jog start
DB000001 Axis 2 speed command setting
0003 STORE
0013
NL-1 Source 0000001000

Dest OL8090

Axis 2 jog step

DB000001 Axis 2 motion command

0004 STORE
0015 Source 00007
NL-1
Dest OW8088

Axis 2 jog step

DB000002 Axis 2 motion command
0005 STORE
0017 Source 00000
NL-1
Dest OW8088

##########STEP##########
Axis 2 STEP
Axis 2 forward step Axis 2 reverse step Axis 2 SV_ON Axis 2 step command
DB000012 DB000013 IB80801 DB000008
0006
0019
NL-1
Axis 2 forward step Axis 2 reverse step
DB000012 DB000013

Axis 2 step command WORK Axis 2 motion command 0 Axis 2 step start
DB000008 DB000058 DB300018 DB000009
0007
0025
NL-1
Axis 2 step command WORK Axis 2 step stop
DB000008 DB000059 DB00000A
0008
0029
NL-1
Axis 2 step start
DB000009 Axis 2 step speed and moving amount
0009 EXPRESSION
0032
NL-1 OL8090=1000;
OL80C4=DL00010;

Axis 2 motion command

0010 STORE
0034 Source 00008
NL-1
Dest OW8088

Axis 2 step stop

DB00000A Axis 2 motion command
00011 STORE
0036
NL-1 Source 00000

Dest OW8088

##########Reverse Rotation Selection##########

Axis 2 jog command Axis 2 reverse jog Axis 2 reverse
DB000000 DB000011 DB80892
0012
0038
Axis 2 step command Axis 2 reverse step
DB000008 DB000013

0013
0043 END
NL-1

2-42
 2.2 Checking Sample Program Operation

2.2.2 Operation Check 2: Position Control

( 1 ) Operation Outline
In this example, an X-Y plotter like the one shown in the figure is operated by ladder and motion pro-
grams.

Servomotor

X-Y plotter

( 2 ) Program Outline
A ladder program (H04 Drawing) and three prepared sample programs (MPM001, MPM002, and
MPM003) are used to check the operation, as shown in the figure.
Programs MPM001 to MPM003 perform the following operations.
• MPM001: Zero point return using Servomotor phase-C
• MPM002: Axis 2 positioning and interpolation (with interval timer)
• MPM003: Axis 2 positioning and interpolation (without interval timer)
Motion programs are written in text format, and the listed commands and operations are executed in
listed order.
Parent Drawing Child Drawings Motion Programs

H Drawing H04 Drawing MPM003

Motion
MPM002
program
startup MPM001
SEE MSEE
Name H04 Program No. 001 0W803C=3;
Data DA00020 0W80BC=3;
VEL[X]100[Y]100;
END END ACC[X]100[Y]100;
࡮
࡮

peed scan
ΠRefer to 2.2.2 ( 5 ) Sample Program Details on page 2-46 for details of each program.
ΠA simple device is used in this example to describe the MP2300 system startup.
ΠThis device has no power OFF circuit for the SERVOPACK in the event of emergency stops or
overtravel. Include a proper emergency stop circuit in actual devices.

2-43
2 System Startup and Sample Programs
2.2.2 Operation Check 2: Position Control

( 3 ) Display Tuning Panel for H04 Drawing

1. Use the same procedure as 2.2.1 ( 2 ). Right-click the H04 Drawing in the High Scan
Programs folder in the File Manager Window and select Open - Tuning Panel from
the pop-up menu that is displayed.

Engineering Manager will start and the following Tuning Panel Window for the H04 Drawing
will be displayed.
Model system operation can be controlled by writing the current values for Common Operation
and Positioning Operation and Settings from the Tuning Panel.

2-44
 2.2 Checking Sample Program Operation

( 4 ) Procedure
Use the following procedure to operate the Tuning Panel and check operation.

1. Servo ON
Change the Servo ON PB current value from OFF to ON.
The Servomotor will turn ON and the Servo will be clamped.

2. Motion program No. setting

Enter a value from 1 to 3 as the current value for the Motion Program No. setting to specify the
motion program to be executed.
001 (=PMP001): Program for executing zero point return using Servomotor phase-
C. When this program is executed, X axis (axis 1) and Y axis
(axis 2) rotate a set distance once a phase-C pulse has been
input, and then return home.
002 (= PMP002): Repeats the following two operations with an interval time.
1.) Moves to target position 1 in incremental mode, performs lin-
ear interpolation to target position 2, and then repeats this opera-
tion 5 times.
2.) In absolute mode, performs counterclockwise circular interpo-
lation from current position to home (0,0) (once).
003 (= PMP003): Repeats the same operation as PMP002, but without an interval
time.
ΠNo programs have been created for numbers 004 and higher. An MPM alarm will occur if
004 or higher numbers are entered and operation is started.

3. Set Target Position 1 and Target Position 2

Enter any value for the following settings. These settings determine the target position for posi-
tioning when Motion Program No. 2 and No. 3 are executed.
1st target position (X axis)
1st target position (Y axis)
2nd target position (X axis)
2nd target position (Y axis)

4. Positioning, start
Change the current value for Positioning, start from OFF to ON.
The program will be executed and the model system will operate according to the motion pro-
gram set in step 2. Once the operation has been checked, enter OFF and stop the system.
When a motion program starts, the current value for MPM running will change to ON. Also,
when the Servo axis rotates, all Current Values will change.

ΠIf an error occurs during motion program execution, the current value for MPM alarm in the Tuning
Panel will change to ON. Use the following procedure to clear alarms.
Π1. Set the current value for Positioning, abort to ON then OFF.
Π2. Set the current value for Alarm reset PB to ON then OFF.
ΠIt is necessary to create routines within the actual application program in order to monitor and
control the registers corresponding to the signals and data listed in the table above.
ΠThe register numbers that correspond to the signals used in this sample program will be the
register numbers displayed under REG-No. next to DWG at the right of the Tuning Panel window.

2-45
2 System Startup and Sample Programs
2.2.2 Operation Check 2: Position Control

( 5 ) Sample Program Details

[ a ] H04 Drawing
The H04 child drawing contains the ladder program for managing and controlling MPM motion pro-
grams.
########## Positioning Main Processing ##########
位置決め動作ﾒｲﾝ処理
########## ﾓｰｼｮﾝﾌﾟﾛｸﾞﾗﾑ起動ｼｰｹﾝｽ
##########Motion ##########
Program Startup Sequence##########
Start
動作開始 WORK Axis 1 Motion Command 0
1軸目ﾓｰｼｮﾝｺﾏﾝﾄﾞ0 Axis 2 Motion Command 0
2軸目ﾓｰｼｮﾝｺﾏﾝﾄﾞ0 Start Request
開始要求
DB000010 DB000050 MB300010 MB300018 DB000210
0000
0000
NL-1

Hold
一時停止 Hold Request
一時停止要求
DB000011 DB000211
0001
0005
NL-1

Abort
動作解除 Abort
解除要求 request
DB000012 DB000212
0002
0007
NL-1

Alarm reset PB
ｱﾗｰﾑﾘｾｯﾄPB Alarm reset request
ｱﾗｰﾑﾘｾｯﾄ要求
MB300001 DB000215
0003
0009
NL-1

MPM number
MPM番号
0004 STORE
0011 Source DW00030
NL-1
Dest DW00025

MPM Interpolation overdrive

MPM補間ｵｰﾊﾞライド
0005 STORE
0012
NL-1 Source 10000

Dest DW00022

$ON COIL
SB000004 Travel data setting
移動ﾃﾞｰﾀ設定
0006 EXPRESSION
0013
NL-1 ML30100= DL10;
ML30102= DL12;
ML30110= DL14;
ML30112= DL16;
ML30114= 3000000;

$ON COIL
SB000004 MPM*** execution
MPM***実行
0007 MSEE
0015
NL-1 Program DW00025
Dest DA00020

MPM running MPM running

MPM運転中 MPM運転中
DB000200 MB300020
0008
0017
NL-1

MPM alarm MPM alarm

MPMｱﾗｰﾑ発生中
MPMｱﾗｰﾑ発生中
DB000208 MB300028
0009
0019
NL-1

0010 END
0021
NL-1

2-46
 2.2 Checking Sample Program Operation

[ b ] Motion Program MPM001

The MPM001 motion program uses the Servomotor phase-C pulse to perform home return.

00001 "MPM001";
00002 OW803C=3; "X axis home return method selection (3: Phase C)"
00003 OW80BC=3; "Y axis home return type selection (3: Phase C)"
00004 VEL [X]1000 [Y]1000; "Travel speed setting for positioning command"
00005 ACC[X]100[Y]100; "Acceleration time setting"
00006 DCC[X]100[Y]100; "Deceleration time setting"
00007 OW803E=100; "X axis approach speed (mm/min)"
00008 OW8040=50; "X axis creep speed (mm/min)"
00009 OL8042=10000; "X axis final travel distance (0.001 mm)"
00010 OW80BE=100; "Y axis approach speed (mm/min)"
00011 OW80C0=50; "Y axis creep speed (mm/min)"
00012 OL80C2=10000; "Y axis final travel speed (0.001 mm)"
00013 ZRN[X]00[Y]00; "Home return command"
00014 END;

[ c ] Motion Programs MPM002 and MPM003

Motion programs MPM002 and MPM003 perform positioning, linear interpolation, and circular
interpolation for axis 2.
MPM002 inserts a timer command between each travel command to indicate operation divisions.
MPM003 continuously executes travel commands, without the timer commands of MPM002, as
shown in the following figure.

00001 "MPM002";
00002 "Data Setting";
00003 VEL [X]1000 [Y]1000; "Travel speed setting for positioning command"
00004 FMX T50000000; "Composite speed upper limit setting for interpola-
tion command"
00005 IAC T500; "Acceleration time setting for interpolation com-
mand"
00006 IDC T500; "Deceleration time setting for interpolation com-
mand"
00007 PLN [X][Y]; "Plane specification for circular interpolation com-
mand"
00008 INC; "Increment position command setting"
00009 TIM T100;
00010 "Repeat Operation"
00011 DW10 =0;
00012 WHILE DW10 <5; "No. repeats = 5"
00013 MOV [X]ML30100 [Y]ML30102 ; "Positioning command"
00014 TIM T100;
00015 MVS [X]ML30110 [Y]ML30112 FML30114; "Linear interpolation command"
00016 TIM T100;
00017 ABS; "Absolute positioning command setting"
00018 MCC [X]0 [Y]0 R1000.0 FML30114; "Circular interpolation command"
00019 TIM T100;
00020 DW10 =DW10 +1;
00021 WEND;
00022 "End Repeat Operation";
00023 END;

2-47
2 System Startup and Sample Programs
2.2.3 Operation Check 3: Phase Control - Electronic Shaft

2.2.3 Operation Check 3: Phase Control - Electronic Shaft

( 1 ) Machine Outline
As shown in the following figure, the Servomotor performs the same operation as rolls No. 1 and No.
2 connected to the line shaft. No phase matching, however, is used.

Existing Type New Type

Controller Line shaft drive motor

Line shaft

MP2300
Gear
Driver
Clutch

Differential gear SERVO-

Phase matcher PACK

Servo-
motor
Motor

Operating
section

No. 1 Roll No. 2 Roll

( 2 ) Program Overview
Use the ladder program (H06.01 Drawing) to check the above operation. The two axes synchronize
to a virtual master axis according to the entered speed settings, and axis 1 and axis 2 rotate in exactly
the same way.

Parent Drawing Child Drawings Grandchild Drawings

H Drawing H06 Drawing H06.01 Drawing

Position control
Electronic shaft
SEE SEE
• Axis 1
Name H06 Name H06.01
• Axis 2

END END END

High-speed scan

ΠRefer to 2.2.3 ( 5 ) Sample Program Details on page 2-50 for details of H06.01 Drawing.
ΠA simple device is used in this example to describe the MP2300 system startup.
ΠThis device has no power OFF circuit for the SERVOPACK in the event of emergency stops or
overtravel. Include a proper emergency stop circuit in actual devices.

2-48
 2.2 Checking Sample Program Operation

( 3 ) Display Tuning Panel for H06 Drawing

1. Use the same procedure as 2.2.1 ( 2 ). Right-click the H06 Drawing in the High Scan
Programs folder in the File Manager Window and select Open - Tuning Panel from
the pop-up menu that is displayed.

Engineering Manager will start and the following Tuning Panel Window for the H06 Drawing
will be displayed.

Model system operation can be controlled by writing the current values for Common operation
and Phase control (electric shaft) from the Tuning Panel.

2-49
2 System Startup and Sample Programs
2.2.3 Operation Check 3: Phase Control - Electronic Shaft

( 4 ) Procedure
Use the following procedure to operate the Tuning Panel and check operation.

1. Servo ON
Change the Servo ON PB current value from OFF to ON.
The Servomotor will turn ON and the Servo will be clamped.

2. Electronic Shaft Start

Change the Electric shaft start current value from OFF to ON.
The mode will change to the phase control (electronic shaft) mode. Enter OFF to exit position
control (electric shaft) mode.

3. Enter Speed Settings

Enter any value within the setting range (0 to 30000) as the current value of Speed setting
(motor rated speed 30,000 mm/min).
This operation synchronizes the speed for both axes to the speed of the virtual master axis and
operation starts.
Change the Electric shaft start current value from ON to OFF when the check operation has
been completed.
ΠIt is necessary to create routines within the actual application program in order to monitor and
control the registers corresponding to the signals and data listed in the table above.
ΠThe register numbers that correspond to the signals used in this sample program will be the
register numbers displayed under REG-No. next to DWG at the right of the Tuning Panel window.

( 5 ) Sample Program Details

[ a ] H06.01 Drawing
The H6.01 grandchild drawing shows the ladder program for controlling phase control (electronic
shaft) operation.

H06.01 Drawing - (1)

########## Phase Control 1 (Electronic Shaft) ##########
########## Electronic Shaft Operation Command ##########
Electronic shaft startup PB Axis 1 SV_ON Axis 2 SV_ON Electronic shaft operation command
DB000010 IB80001 IB80801 DB000000
0000
0000
NL-1
Electronic shaft
operation command WORK Axis 1 motion command 0 Axis 1 motion command 0 Electronic shaft start
DB000000 DB000050 DB000010 DB000018 DB000001
0001
0004
NL-1
Electronic shaft
operation command Zero speed WORK Electronic shaft stop
DB000000 DB000003 DB000050 DB000002
0002
0009
NL-1

########## Motion Command Issued ##########

Motion command 25 (phase control) setting
Electronic shaft start
DB000001 Axis 1 motion command
0003 STORE
0013
NL-1 Source 00025

Dest OW8008

Electronic shaft start

DB000001 Axis 2 motion command
0004 STORE
0015 Source 00025
NL-1
Dest OW8088

2-50
 2.2 Checking Sample Program Operation

H06.01 Drawing - (2)

Motion command 0 (NOP) setting
Electronic shaft stop
DB000002 Axis 1 motion command
0005 STORE
0017
NL-1 Source 00000

Dest OW8008

Electronic shaft stop

DB000002 Axis 2 motion command
0006 STORE
0019 Source 00000
NL-1
Dest OW8088

S-curve Acceleration/deceleration Setting

S-curve accelerator/decelerator input

0007 EXPRESSION
0021
NL-1 DB000200 =true;
DB000201 =true;
DB00022 =30000.0;
DB00024 =0.1;
DB00026 =0.1;
DB00030 =0.01;
DB00032 =0.01;
Electronic Shaft Operation Speed Setting Switching Sequence
A double-length integer register is used for speed reference unit. Therefore, a real number is used for the linear accelerator/decelerator 2 (SLAU: S-curve accelerator/decelerator) instruction.
Electronic shaft speed setting
Electronic shaft operation command
S-curve accelerator/decelerator input
DB000000
0008 STORE
0022
NL-1 Source DL00010

Dest DF00012

Electronic shaft
operation command
DB000000 S-curve accelerator/decelerator input
0009 STORE
0024
NL-1 Source 0.000000E+000
Dest DF00012

S-curve accelerator/decelerator gear output

0010 SLAU
0026
NL-1 Input DF00012
Parameter DA00020
Output DF00040

Axis 1 and Axis 2 Speed Command Settings

Electronic Shaft Operation Command
DB000000 Axis 1 and axis 2 speed command settings
0011 EXPRESION
0027
NL-1 Zero speed OL8010 = DF00040;
DB000003 OL8090 = DF00040*-1;

Zero speed Zero speed

DB00020A DB000003
0012
0030
NL-1

##########Monitor for Deviation between Axes##########

0013 ADD
0032
NL-1 SourceA IL8016
SourceB IL8096
Dest DL00090

0014 END
0033
NL-1

2-51
2 System Startup and Sample Programs
2.2.4 Operation Check 4: Phase Control - Electronic Cam

2.2.4 Operation Check 4: Phase Control - Electronic Cam

( 1 ) Machine Outline
As shown in the following figure, the Servomotor performs the same operation as the mechanical
cam synchronized to a roller connected to the line shaft. No phase matching is used.

Existing Type New Type

Controller Line shaft drive motor

Line shaft
MP2300
Gea
Driver
Clutch
Differential
gear
SERVO-
Phase matcher
PACK
Transmission

Cam Servo-
motor
Motor

Ball
screw
Operating section

( 2 ) Program Overview
Use the ladder program (H06.02 Drawing) to check the above operation.
The two axes rotate synchronized with the input speed setting. Axis 1 is the roll axis (Master axis)
and axis 2 is the cam axis (Slave axis, which moves in COS cam pattern against Master axis).
Cam pattern data is created using a ladder program (L06 Drawing).

Parent Drawing Child Drawings Grandchild Drawings

H Drawing H06 Drawing H06.02 Drawing

Phase control
SEE SEE Electronic shaft
Name H06 Name H06.02 • Axis 1
Electronic cam
• Axis 2

END END END

High-speed scan

ΠRefer to 2.2.4 ( 5 ) Sample Program Details on page 2-55 for details of H06.01 Drawing.
ΠA simple device is used in this example to describe the MP2300 system startup. Caution is
required because actual applications will be different.
ΠThis device has no power OFF circuit for the SERVOPACK in the event of emergency stops or
overtravel. Include a proper emergency stop circuit in actual applications.

2-52
 2.2 Checking Sample Program Operation

( 3 ) Display Tuning Panel for H06 Drawing

1. Use the same procedure as 2.2.1 ( 2 ). Right-click the H06 Drawing in the High Scan
Programs folder in the File Manager Window and select Open - Tuning Panel from
the pop-up menu that is displayed.

Engineering Manager will start and the following Tuning Panel Window for the H06 Drawing
will be displayed.

Model system operation can be controlled by writing the current values for Common operation
and Phase control (electric shaft) from the Tuning Panel.

2-53
2 System Startup and Sample Programs
2.2.4 Operation Check 4: Phase Control - Electronic Cam

( 4 ) Procedure

1. Servo ON
Change the Servo ON PB current value from OFF to ON.
The Servomotor will turn ON and the Servo will be clamped.

2. Enter Cam Data

Enter any value within the setting range to Cam axis: amplitude setting (double amplitude) and
Cam axis: main axis moving amount per cycle. These settings create the cam pattern.
• Cam axis: amplitude setting (double amplitude), Setting range: 0 to 999.999
• Cam axis: main axis moving per cycle, Setting range: 0 to 50000.000
Cam pattern data is not changed when Electric cam start is set to ON.

3. Start Electronic Cam Operation

Change the Electric cam start current value from OFF to ON.
Axis 2 will change to phase control (electric cam) mode. Enter OFF to exit phase control
(electric cam) mode.

4. Enter Main Axis Speed Settings

Enter any value within the setting range (−30000 to 30000) as the current value for Main axis
speed setting.
This operation sets the master axis speed and starts operation.
Change the Electric cam start current value from ON to OFF when the check operation has
been completed.
ΠIt is necessary to create routines within the actual application program in order to monitor and
control the registers corresponding to the signals and data listed in the table above.
ΠThe register numbers that correspond to the signals used in this sample program will be the
register numbers displayed under REG-No. next to DWG at the right of the Tuning Panel window.

2-54
 2.2 Checking Sample Program Operation

( 5 ) Sample Program Details

[ a ] H06.02 Drawing
The H06.02 grandchild drawing controls phase control (electronic cam) operation.
H06.02 Drawing - (1)
P00121 H06.02 Main Program: Phase Control 2 (Electronic Cam)
########## Phase Control 2 (Electronic Cam) ##########
########## Description ##########
Axis 1: Master axis = Phase control (electronic shaft)
Axis 2: Slave axis = Phase control (electronic cam)
########## Phase Control Operation Command ##########
Startup PB Axis 1 SV_ON Axis 2 SV_ON Operation command
DB000010 IB80001 IB80801 DB000000
0000
0000
NL-1
Operation command WORK Axis 1 motion command 0 Axis 1 motion command 0 Electronic cam start
DB000000 DB000050 MB300010 MB300018 DB000001
0001
0004
NL-1
Operation command Zero speed WORK Electronic cam stop
DB000000 DB000003 DB000051 DB000002
0002
0009
NL-1
########## Motion Command Issue ##########
Motion command 25 (phase control) setting
Electronic cam start
DB000001 Axis 1 motion command
0003 STORE
0013
NL-1 Source 00025

Dest OW8008

Electronic cam start

DB000001 Axis 2 motion command
0004 STORE
0015 Source 00025
NL-1
Dest OW8088

Motion command 0 (NOP) setting

Electronic cam stop
DB000002 Axis 1 motion command
0005 STORE
0017
NL-1 Source 00000

Dest OW8008

Electronic cam stop

DB000002 Axis 2 motion command
0006 STORE
0019 Source 00000
NL-1
Dest OW8088

########## Slave Axis Phase Generation Operation Disabled (Electronic Cam Mode) ##########
Operation command Axis 2 phase generation disabled
DB000000 OB80851
0007
0021
NL-1
Zero speed Cam operation command
DB000003 MB300008

########## Master Axis Speed Command Generation ##########

Master axis linear acceleration/deceleration parameter setting
Linear acceleration/deceleration parameter setting

0008 EXPRESSION
0025
NL-1 DB000200 =true;
DB000201 =true;
DF00022 =30000.0;
DF00024 =10.0;
DF00026 =10.0;

Master axis speed setting

Operation command
DB000000 Linear accelerator/decelerator input

0009 STORE
0026
NL-1 Source DL00010
Dest DF00012

2-55
2 System Startup and Sample Programs
2.2.4 Operation Check 4: Phase Control - Electronic Cam

H06.02 Drawing - (2)

P00122 H06.02
Main Program: Phase Control 2 (Electronic Cam)
Operation command
DB000000 Linear accelerator/decelerator input
0010 STORE
0028
NL-1 Source 0.000000E+000

Dest DF00012

Linear accelerator/decelerator input

0011 LAU
0030
NL-1 Input DF00012
Parameter DA00020
Output DF00040

Operation command
DB000000 Axis 1 speed command setting
0012 STORE
0031
NL-1 Zero speed Source DF00040
DB000003
Dest OL8010

Zero speed Zero speed

DB00020A DB000003
0013
0034
NL-1

########## Slave Axis Control Circuit ##########

########## Electronic Cam Phase Generated ##########
Cam operation command Electronic cam phase
MB300008
0014 STORE
0036 Source 00000
NL-1
Dest DL00066

Master axis position FB (this scan)

0015 STORE
0038
NL-1 Source IL8016

Dest DL00060

Incremental value for master axis per scan

0016 SUBX
0039 SourceA DL00060
NL-1
SourceB DL00062
Dest DL00064

Master axis position FB (previous scan)

0017 STORE
0040
NL-1 Source DL00060

Dest DL00062

Addition of master axis increment

Electronic cam phase

0018 ADDX
0041
NL-1 SourceA DL00064
SourceB DL00066
Dest DL00066

Cycle detection
0019 EXPRESSION
0042
NL-1 DB000008 = DL00066>=ML30202;
DB000009 = DL00066<0;

2-56
 2.2 Checking Sample Program Operation

H06.02 Drawing - (3)

P00123 H06.02 Main Program Phase

メインプログラム Control 2 (Electronic Shaft)
位置制御２（電子ｶﾑ）処理

Detection in forward
direction
正方向検出
DB000008 Electronic cam phase
電子ｶﾑ位相
0020 SUBX
0043
NL-1 SourceA DL00066

SourceB ML30202

Dest DL00066

Detection in negative
direction
負方向検出
DB000009 Electronic cam phase
電子ｶﾑ位相
0021 ADDX
0045
NL-1 SourceA DL00066

SourceB ML30202

Dest DL00066

Electronic cam phase

電子ｶﾑ位相
Electronic cam phase
電子ｶﾑ位相
0022 STORE
0047
NL-1 Source DL00066

Dest DL00068

Slave axisｶﾑ変位生成
ｽﾚｰﾌﾞ軸 cam displacement generation

$ON COIL
SB000004 Slave axis
ｽﾚｰﾌﾞ軸 cam displacement
ｶﾑ変位
0023 FGN
0048
NL-1 Input DL00068

Parameter MA31000
Output DL00070

Camｶﾑ運転指令中
operation command
MB300008 Axis
2軸2 位相補正設定
phase compensation setting

0024 STORE
0050
NL-1 Source DL00070

Dest OL80A8

Camｶﾑ運転指令中
operation command
MB300008 Axis
2軸2 位相補正設定
phase compensation setting

0025 STORE
0052
NL-1 Source DL0000000000

Dest OL80A8

##########Slave Axis Command

########## ｽﾚｰﾌﾞ軸 指令速度発生 Speed Generation##########
##########
Incremental Value for Slave Axis per Scan
ｽﾚｰﾌﾞ軸1ｽｷｬﾝ増分値
0026 SUBX
0054
NL-1 SourceA DL00070

SourceB DL00072

Dest DL00074

Slave axis cam displacement (previous scan)

ｽﾚｰﾌﾞ軸ｶﾑ変位(前回）
0027 STORE
0055
NL-1 Source DL00070

Dest DL00072

Cam ｶﾑ運転指令中
operation command
Cam speed calculation and setting
ｶﾑ速度演算&設定
MB300008
0028 EXPRESSION
0056
NL-1 DL00076 =DL00074*10000/SW0004
DL00078 = DL00076*60/1000;
OL8090 =DL00078*10000/10000;

0029 END
0058
NL-1

2-57
2 System Startup and Sample Programs
2.2.4 Operation Check 4: Phase Control - Electronic Cam

[ b ] L Drawing
The L parent drawing manages the low-speed scan that controls the overall sample program.
P00125 L Main Program: Low-speed
メインプログラム 低速ﾒｲﾝﾌﾟﾛｸﾞﾗﾑMain Program
##########Low-speed Main Program##########
低速ﾒｲﾝﾌﾟﾛｸﾞﾗﾑ

##########Electronic
########## Cam Table Data Generation##########
電子ｶﾑﾃｰﾌﾞﾙﾃﾞｰﾀ生成 ##########

0000 SEE
0000
NL-1 Name L06

0001 END
0001
NL-1

[ c ] L06 Drawing
The L06 child drawing creates cam pattern data for phase control (electronic cam).

P00126 L06 Main Program: Electronic Cam Table Data Generation

##########Electronic Cam Table Data Generation##########
##########Cam Table Data Generation (Leading Data)##########
Cam operation command
MB300008 Cam table (leading data)
0000 EXPRESSION
0000
NL-1 DL00010 =ML30200;
DL00012 =ML30202;
ML30210 =DL00010;
ML30212 =DL00012;
MW31000 =361;
MW31001 =0;
DF00030 =0;

##########Cam Table Generation (following data)##########

Cam displacement calculation

0001 FOR
0002
NL-1 Variable I

Init 00000

Max 00360

Step 00001

Phase (deg.)
0002 STORE
0003
NL-1 Source I

Dest DF00030

Displacement calculation work

0003 COS
0004
NL-1 Source DF00030

Dest DF00032

Cam displacement calculation and table setting

0004 EXPRESSION
0005
NL-1 J =I*4;
ML31002j =DF00030*DL00012/360.
DF00034 =DL00010/2*(1-DF00032)
ML31004j =DF00034;

0005 END_FOR
0006
NL-1

0006 END
0007
NL-1

2-58
 2.3 System Startup Using Self-Configuration

2.3 System Startup Using Self-Configuration

System startup time can be reduced by using self-configuration.
This section describes system startup using self-configuration, in the following three circumstances.
• Starting the system for first time
• Adding an electronic device (e.g., SERVOPACK or Distributed I/O Module)
• Replacing electronic devices

2.3.1 Starting the System for First Time

Use the following procedure to startup a new system.

1. Wire and Connect Electronic Devices.

Correctly wire and connect all electronic devices to be used.

2. Make Switch Settings for MECHATROLINK Slaves.

Set the MECHATROLINK communication specifications using the DIP switch and the station
address on the rotary switch on each MECHATROLINK slaves.
Example SERVOPACK Settings (SGDS-†††1††)

SW1 Name Setting Contents Default

OFF 4 Mbps
Bit 1 Baud rate ON
ON 10 Mbps
No. of transmission OFF 17
Bit 2 ON
bytes ON 32 SW2 (default setting)

Station address =
OFF
40H+SW1
Bit 3 Station address OFF
Station address =
ON
50H+SW1
SW1 (default setting)
Reserved (Reserved by
Bit 4 OFF － OFF
the system.)
ΠRefer to each slaves manual for information on the setting details.

3. Start Up MECHATROLINK Slaves.

Turn ON the power to the MECHATROLINK slaves and check that the electronic devices start
up normally.
ΠIf using a new Absolute Encoder, the Absolute Encoder will need to be initialized. Refer to
9.2.2 Initializing the Absolute Encoder on page 9-6 for details.
ΠThe servo adjustment can be performed either in this step or after the self-configuration.

4. Set the Switches on MP2300/Optional Module

Set the switches of SW1 on MP2300 as shown below.

STOP
SUP
INIT
CNFG
MON
TEST
SW1

OFF ON

Make switch settings for communication and station address on each Optional Module
mounted on the MP2300 as required.
2-59
2 System Startup and Sample Programs
2.3.1 Starting the System for First Time

5. Execute Self-configuration.
Check that all MECHATROLINK slaves have started up normally, then turn ON the power to
the MP2300 to start self-configuration.
The LED indicators on the MP2300 Basic Module change as shown below.
RDY RUN RDY RUN RDY RUN
ALM ERR ALM ERR ALM ERR
TX BAT TX BAT TX BAT
: Lit : Not lit : Blinking

When self-configuration is executed, the MP2300 will detect connected MECHATROLINK

slaves, make I/O register allocations for them, and automatically set motion parameters to
enable minimum operation.
ΠRefer to 6.1.1 Motion Parameter Register Numbers for MP2300 on page 6-2 for the I/O reg-
ister number, circuit number, motion register number allocated to each Module by self-config-
uration.

ΠSelf-configuration is designed to immediately enable operation to the Servo. Therefore, the SERVOPACK
overtravel function (refer to 10.2 Overtravel Function on page 10-8) is disabled. When actually operating
machinery, overtravel must be enabled each SERVOPACK.

6. Make Parameter Settings to Match the Machinery.

Start MPE720 and log on online, then set and save fixed parameters relating to reference units
(fixed parameters 4, 5, 6, 8, and 9).
ΠRefer to 2.1.5 Starting and Preparing MPE720 on page 2-7 for the procedure to start
MPE720 and 2.1.6 Reading Sample Programs and Setting and Saving Parameters on page
2-19 for details on how to set and save fixed parameters.
ΠRefer to 6.3.1 Fixed Parameter List on page 6-6 for details on fixed parameters, and 6.5
Example of Setting Motion Parameters for the Machine on page 6-59 for information on set-
ting parameters for machinery.
ΠRefer to each SERVOPACK manual for information on the Servo adjustment.

7. Make Servo Adjustment and Save SERVOPACK Parameters.

Adjust the SERVOPACK gain and other parameters for each SERVOPACK and save the
SERVOPACK parameters for each axis to the MP2300.
a) Select the axis in the SVB Definition Window (refer to 2.1.6 ( 4 ) Set and Save Motion
Fixed Parameters on page 2-28) , then click the SERVOPACK Tab to display the SERVO-
PACK Tab Page.

2-60
 2.3 System Startup Using Self-Configuration

b) Select Edit - Copy Current Value.

ΠThe data in the Input Data column in the SERVOPACK data saved to the MP2300 and the
data in the Current Value column is the data set to the SERVOPACK.
ΠRefer to 11.3 SERVOPACK Parameter Data Flow on page 11-9 for information on the rela-
tionship between Current Value and Input Data.
c) Select File - Save to save the SERVOPACK settings for the axis to the MP2300.

8. Save MP2300 Data to Flash Memory.

Return to the MPE720 File Manager Window and save to flash memory.
ΠRefer to 2.1.6 ( 6 ) Saving to Flash Memory on page 2-31 page for information on how to
save to flash memory.

9. Save Ladder Programs and Restart MP2300

Transfer the ladder program to the MP2300 and save to flash memory, and then turn the power
from OFF to ON to restart the MP2300.
ΠRefer to 2.1.6 ( 3 ) Transfer Individual Programs on page 2-25 for information on transferring
ladder programs.

This completes the system startup procedure.

ΠAlways save to flash memory when applications have been changed, e.g., the ladder program changed or
parameters set. The added information will be lost if not saved to flash memory and the power is turned OFF.
If the information is lost, load the application remaining on the hard disk of the personal computer to the
MP2300 and save to flash memory.
ΠIt is recommended that applications are backed up at appropriate times. Applications can be backed up by
logging on online to the application using MPE720 and selecting Transfer - All Files - From Controller to
MPE720. Refer to 2.1.6 ( 7 ) Dumping All Data on page 2-33 for information on how to dump all files.

2.3.2 System Startup when Adding Electronic Devices

Use the following procedure to start the system when adding SERVOPACKs, Optional Modules, and
other electronic devices.

1. Back Up Applications.
Before adding the electronic devices, log on to the MP2300 online using MPE720 and select
Transfer - All Files - From Controller to MPE720 to create a backup of the application.
ΠFor information on how to dump all files, refer to 2.1.6 ( 7 ) Dumping All Data on page 2-33.

2. Turn OFF the MP2300.

Once the application has been backed up, log off from the MP2300 and turn OFF the MP2300
power.

2-61
2 System Startup and Sample Programs
2.3.2 System Startup when Adding Electronic Devices

3. Start the Electronic Device to Be Added.

Make the DIP and rotary switch settings for the device to be added, then turn ON the power to
that device only. Check that it starts up normally. Once normal startup has been confirmed, turn
OFF the power supply.

4. Connect the Electronic Device.

Connect the electronic device to the MP2300 and turn ON the power to all the MECHA-
TROLINK slaves.

5. Execute Self-configuration.

Turn ON the power to the MP2300, log on to the MP2300 using MPE720, then select Order -
Self Configure All Modules to execute self-configuration for the added Optional Module or
the SERVOPACK connected SVB Module.

ΠRefer to 5.4.3 ( 2 ) Self Configuration of Each Module on page 5-33 for information on self-
configuration of MP2300 Modules.
ΠIf Self Configure All Modules is executed when MP2300 is selected, all the modules will be
self-configured.
ΠWith the self-configuration function, existing definitions for SERVOPACKs are not refreshed
and existing parameters are saved. However, SERVOPACKs need to be started up normally
for self-configuration to be used..

ΠIf I/O addresses are changed for an existing application using MPE720 after the initial self-configuration has
been executed, the I/O addresses are updated when self-configuration is subsequently executed. If SVR is
set to disabled, the setting will return to enabled. It is recommended that settings are checked again,
including settings for existing electronic devices, after self-configuration has been executed.

Refer to steps 6 to 9 under 2.3.1 Starting the System for First Time on page 2-59 for details of the rest
of this procedure (steps 6 to 9).

6. Make Parameter Settings to Match Machinery.

7. Save SERVOPACK Parameters.

8. Save MP2300 Data to Flash Memory.

9. Save Ladder Programs and Restart MP2300.

This completes the system startup procedure when electronic devices have been added.

2-62
 2.3 System Startup Using Self-Configuration

2.3.3 System Startup when Replacing Electronic Devices

Use the following procedure to start the system when replacing SERVOPACKs, Optional Modules,
and other electronic devices due to malfunctions and other causes.

1. Back Up Applications.
Before replacing the electronic devices, log on to the MP2300 online using MPE720 and select
Transfer - All Files - From Controller to MPE720 to create a backup of the application.
ΠRefer to 2.1.6 ( 7 ) Dumping All Data on page 2-33 for information on how to dump all files.

2. Turn OFF the MP2300.

Log off from the MP2300 and turn OFF the MP2300 power.

3. Start the Electronic Device to Be Added.

Make the DIP and rotary switch and other settings for the new electronic device.
For MECHATROLINK slaves, make the switch settings, turn ON the power to the slave, and
check that it starts up normally. Once normal startup has been confirmed, turn OFF the power
supply.

4. Replace the Electronic Device.

Remove the electronic device to be replaced, connect the new device to the MP2300, and turn
ON the power to all MECHATROLINK slaves.

5. Turn ON the MP2300.

Turn ON the MP2300 power.

6. Save SERVOPACK Parameters.

If a SERVOPACK has been replaced, use the following procedure to write the SERVOPACK
parameters saved to the MP2300 to the new SERVOPACK.
a) Select the axis, then select the SERVOPACK Tab Page on the SVB Definition Window
(refer to 2.1.6 ( 4 ) Set and Save Motion Fixed Parameters on page 2-28) to display the
SERVOPACK Tab Page.

b) Click File - Save to write the SERVOPACK settings to the SERVOPACK.

ΠThe MP2300 SERVOPACK settings data is written to all SERVOPACKs when Save is
executed, and the settings data is also written in the MP2300 Current Value data column.

2-63
2 System Startup and Sample Programs
2.3.3 System Startup when Replacing Electronic Devices

7. Turn ON the MP2300 and SERVOPACKs

Turn ON (OFF to ON) the power to the MP2300 and SERVOPACKs and then enable the
parameters written to the SERVOPACKs.

This completes the system startup procedure when electric devices have been replaced.

2-64
 3
Module Specifications

This chapter explains detailed specifications for the Basic Module and Optional
Modules of the MP2300.

3.1 General Specifications ............................................................. 3-2

3.1.1 Environmental Conditions ...................................................................... 3-2
3.1.2 Function Lists ......................................................................................... 3-3

3.2 Basic Module ........................................................................... 3-6

3.2.1 Outline of Functions ............................................................................... 3-6
3.2.2 External Appearance, LED Indicators, and Switch Settings .................. 3-7
3.2.3 Module Specifications ............................................................................ 3-9
3.2.4 SVR Virtual Motion Module .................................................................. 3-11

3.3 Motion Modules (Optional) .................................................... 3-14

3.3.1 SVB-01 Module ................................................................................... 3-14
3.3.2 SVA-01 Module .................................................................................... 3-19

3.4 I/O Modules (Optional) .......................................................... 3-24

3.4.1 LIO-01/LIO-02 Modules ....................................................................... 3-24
3.4.2 Counter Functions and Settings of LIO-01/LIO-02 Modules ................ 3-28
3.4.3 LIO-04/LIO-05 Modules ....................................................................... 3-44
3.4.4 DO-01 Module ..................................................................................... 3-47
3.4.5 AI-01 Module ....................................................................................... 3-48

3.5 Communication Modules (Optional) ...................................... 3-51

3.5.1 218IF-01 Module ................................................................................. 3-51
3.5.2 217IF-01 Module ................................................................................. 3-54
3.5.3 260IF-01 Module ................................................................................. 3-57
3.5.4 261IF-01 Module ................................................................................. 3-60

3.6 Dimensional Drawings ........................................................... 3-64

3.6.1 Basic Module ....................................................................................... 3-64
3.6.2 Optional Modules ................................................................................. 3-65

3-1
3 Module Specifications
3.1.1 Environmental Conditions

3.1 General Specifications

This section describes the environmental conditions and functions of the MP2300.

3.1.1 Environmental Conditions

Item Specifications
Ambient
Operating 0°C to 55°C
Temperature
Ambient Storage
-25°C to 85°C
Temperature
Ambient
Environmental Operating 30% to 95% (with no condensation)
Conditions Humidity
Ambient Storage
5% to 95% (with no condensation)
Humidity
Pollution Level Pollution level 1 (conforming to JIS B 3501)
Corrosive Gas There must be no combustible or corrosive gas.
Operating
2,000 m above sea level or lower
Altitude
Conforming to JIS B 3502:
• 10 to 57 Hz with single-amplitude of 0.075 mm
Vibration
Resistance • 57 to 150 Hz with fixed acceleration of 9.8 m/s2
Mechanical
Operating • 10 sweeps each in X, Y, and Z directions
Conditions (sweep time: 1 octave/min)
Conforming to JIS B 3502:
Shock Resistance Peak acceleration of 147 m/s2 (15 G) twice for 11 ms each in the X, Y, and Z
directions

Electrical Conforming to EN 61000-6-2, EN 55011 (Group 1, Class A)

Operating Noise Resistance Power supply noise (FT noise): 2 Kv min., for one minute
Conditions Radiation noise (FT noise): 1 Kv min., for one minute

Installation Ground Ground to 100 Ω max.

Requirements
Cooling Method Natural cooling

3-2
 3.1 General Specifications

3.1.2 Function Lists

( 1 ) PLC Function Specifications

The following table shows the PLC function specifications.
Item Specifications
Control Method Sequence: High-speed and low-speed scan methods
Programming Ladder diagram: Relay circuit
Language Text-type language:Numeric operations, logic operations, etc.
Two scan levels: High-speed scan and low-speed scan
High-speed scan time setting: 1 to 32 ms (Integral multiple of MECHATROLINK
Scanning communication cycle)
Low-speed scan time setting: 2 to 300 ms (Integral multiple of MECHATROLINK
communication cycle)
Startup drawings (DWG.A): 64 drawings max. Up to three hierarchical drawing
levels
Interrupt processing drawings 64 drawings max. Up to three hierarchical drawing
(DWG.I): levels
User Drawings, High-speed scan process drawings 200 drawings max. Up to three hierarchical drawing
Functions and Motion (DWG.H): levels
Programs Low-speed scan process drawings 500 drawings max. Up to three hierarchical drawing
(DWG.L): levels
Number of steps: Up to 1,000 steps per drawing
User functions: Up to 500 functions
Motion programs: Up to 256
Revision history of drawings and motion programs
Security function for drawings and motion programs
Common data (M) registers: 64 Kwords
System (S) registers: 8 Kwords
Drawing local (D) registers: Up to 16 Kwords per drawing
Data Memory Drawing constant (#) registers: Up to 16 Kwords per drawing
Input (I) registers: 32 Kwords (including internal input registers)
Output (O) registers: 32 Kwords (including internal output registers)
Constant (C) registers: 16 Kwords
Trace Memory Data trace: 128 Kwords (32 Kwords × 4 groups), 16 points defined
Program memory: Flash memory: 8 MBytes (User area: 5.5 MBytes) definition files,
ladder programs, motion programs, etc.
Memory Backup
Data other than battery backup data
Data memory: Battery backup: 256 Kbytes, M registers, S registers, alarm history, trace data
Bit (relay): ON/OFF
Integer: −32768 to +32767
Data Types
Double-length integer: −2147483648 to +2147483647
Real number: ± (1.175E-38 to 3.402E+38)
Register number: Direct designation of register number
Register Designation
Symbolic designation: Up to 8 alphanumeric characters (up to 200 symbols per drawing)
Method
With automatic number or symbol assignment
Program control instructions: 14 instructions
Direct I/O instructions: 2 instructions
Relay circuit instructions: 14 instructions (including set and reset coils)
Logic operation instructions: 3 instructions
Numeric operation instructions: 16 instructions
Numeric conversion instructions: 9 instructions
Instructions
Numeric comparison instructions: 7 instructions
Data manipulation instructions: 14 instructions
Basic function instructions: 10 instructions
Table data manipulation instructions: 11 instructions
DDC instructions: 13 instructions
System functions: 9 instructions

3-3
3 Module Specifications
3.1.2 Function Lists

( 2 ) Motion Control Function Specifications

The following table lists the motion control function specifications for the MP2300.
Item Specifications
Interface MECHATROLINK-I, MECHATROLINK-II
Number of Controlled Axes/Module Up to 16 axes (up to 48 axes when two SVB Modules are mounted)
PTP Control Linear, rotary, and infinite-length
Interpolation Up to 16 linear axes, 2 circular axes, and 3 helical axes
Yes
Speed Reference Output
(Only with MECHATROLINK-II)
Yes
Torque Reference Output
(Only with MECHATROLINK-II)
Yes
Phase Control
(Only with MECHATROLINK-II)
Positioning Yes
Control
Specificat External positioning Yes
ions Zero point return Yes
Interpolation Yes
Interpolation with
Position position detection Yes
Control function
JOG operation Yes
STEP operation Yes
Parameter changes
Yes
during motion
(Only with MECHATROLINK-II in 32-byte mode)
command execution
Reference Unit mm, inch, deg, or pulse
Reference Unit Minimum Setting 1, 0.1, 0.01, 0.001, 0.0001, 0.00001
Maximum Programmable Value −2147483648 to +2147483647 (signed 32-bit value)
Reference unit/s designation: mm/s, inch/s, deg/s, pulse/s
Speed Reference Unit Reference unit/min. designation: mm/min, inch/ min, deg/min, pulse/min
Percentage designation: Percentage of rated speed

3-4
 3.1 General Specifications

Item Specifications
Acceleration/Deceleration Type Linear, asymmetric, S-curve, exponent

Acceleration/Deceleration Reference Unit Reference unit/s2 designation: mm/s2, inch/s2, deg/s2, pulse/s2
Acceleration/deceleration time constant: Time from 0 to rated speed (ms)
Override Function Positioning: 0.01% to 327.67% by axis
Coordinate System Rectangular coordinates
DEC1+ Phase-C pulse Yes
ZERO signal Yes
DEC1+ ZERO signal Yes
Phase-C pulse Yes
Only Phase-C pulse Yes
POT and Phase-C pulse Yes
Zero
POT Yes
Point
Return Home limit switch and Phase-C
Yes
pulse
HOME Yes
NOT and Phase-C pulse Yes
NOT Yes
INPUT and Phase-C pulse Yes
INPUT Yes
■ MECHATROLINK-I ■ MECHATROLINK-II
• SERVOPACKs • SERVOPACKs
SGD-†††N SGDH-†††E ＋ NS115
SGDB-††AN SGDS-†††1††
Applicable SERVOPACKs
SGDH-†††E ＋ NS100
SGDS-†††1††
• Inverter
VS-616G5 (216IF card is needed)
• Incremental Encoder
Encoders
• Yaskawa Absolute Encoder

3-5
3 Module Specifications
3.2.1 Outline of Functions

3.2 Basic Module

This section describes the functions, the external appearance, the LED indicators, the setting
switches, and the hardware specifications of the MP2300 Basic Module and also describes the virtual
motion module SVR.

3.2.1 Outline of Functions

The Basic Module is an all-in-one, compact module that combines power supply, CPU, and I/O in
one module. The Basic Module has both motion control and sequence control functions. With the 3-
slot option slot configuration, Optional Modules can be selected freely and the optimum system can
be built for your machine. An outline of the Basic Module functions is shown in the following
diagram.

Interrupt
input 8
points

CPU/IO
Input Input port
processing

Motion control
System bus

processing

Ladder
(DWG.H)
Application
execution

MECHATROLINK I/II
processing
Ladder
(DWG.L)
4
points
Output
Output port
processing

: Started at fixed intervals

3-6
 3.2 Basic Module

3.2.2 External Appearance, LED Indicators, and Switch Settings

( 1 ) External Appearance

LED indicators

MP2300
Switch
YASKAWA RDY RUN
ALM ERR
TX BAT

Battery holder
STOP
SUP
INIT
CNFG
MON
SW1
TEST
MECHATROLINK OFF‫ޓޓޓ‬
ON
connector

Option
Option

Option
M-I/II

BATTERY

Power supply connector

CPU‫ޓ‬I/O

DC24V
I/O connector
DC 0V

POWER

( 2 ) Indicators
The following table shows the indicators that show the operating status of the Basic Module and error
information.
Indicator Color Status
RDY Green Lit during normal operation.
RUN Green Lit during execution of user program.
RDY RUN Red
ALM Lit/blinking when warning occurs.
ERR ALM ERR Red Lit/blinking when malfunction occurs.
TRX BAT Lit during transmission of
TX Green
MECHATROLINK I/II data.
BAT Red Lit during battery alarm.

ΠFor details on indicator meanings, refer to 12.3.3 ( 2 ) LED Indicator Meanings on page 12-7.

3-7
3 Module Specifications
3.2.2 External Appearance, LED Indicators, and Switch Settings

( 3 ) Switch Settings
The DIP switch sets the operating conditions for the Basic Module when the power is turned ON.

STOP 6
SUP 5
INIT 4
CNFG 3
MON 2
1 SW1
TEST
OFF‫ޓޓޓ‬
ON

Default
No. Name Setting Operating Mode Details
Setting
ON User program stopped Stops the user program execution. Enabled only
6 STOP OFF
OFF User program running when the power is turned ON.
ON System use
5 SUP OFF Always leave set to OFF.
OFF Normal operation
ON Memory clear Set to ON to clear the memory. If this switch is set
4 INIT OFF to OFF, the program stored in flash memory will
OFF Normal operation be executed.
ON Configuration mode Set to ON to execute self-configuration for
3 CNFG OFF
OFF Normal operation connected devices.
ON System use
2 MON OFF Always leave set to OFF.
OFF Normal operation
ON System use
1 TEST OFF Always leave set to OFF.
OFF Normal operation

3-8
 3.2 Basic Module

3.2.3 Module Specifications

( 1 ) Basic Module Hardware Specifications

The following table shows the hardware specifications of the Basic Module.
Item Specifications
Classification Basic Module
Name MP2300
Model Number JEPMC-MP2300
Flash Memory 8 MBytes (User area 5.5 MBytes)
SDRAM 16 MBytes
SRAM 256 kBytes: M registers, S registers, trace memory, alarm history (battery backup)
Motion network 1 channel
Motion Network SERVOPACK and I/O for up to 21 stations connectable (SERVOPACK for up to 16
MECHATROLINK axes)
Baud rate: 4 Mbps (MECHATROLINK-I) or 10 Mbps (MECHATROLINK-II)
8 digital inputs (1 input also used as an interrupt input)
24 VDC, 4.1 mA (TYP) source mode/sink mode inputs
I/O Signal
4 digital outputs
24 VDC, 100 mA (TYP) open-collector sink mode outputs
Seconds to year timer
Calendar
(Battery backup)
POWER: Power supply connector
Connectors M-I/II: MECHATROLINK connector
CPU I/O: I/O connector
RDY (green)
RUN (green)
ALM (red)
Indicators
ERR (red)
TX (green)
BAT (red)
STOP
SUP
INIT
Switches
CNFG
MON
TEST
Current Consumption 1A max.
Dimensions (mm) 120 × 130 × 105 (W × H × D)
Mass 450 g

3-9
3 Module Specifications
3.2.3 Module Specifications

( 2 ) Basic Module Functional Specifications (Built-in SVB)

The SVB is a MECHATROLINK interface built in the MP2300 Basic Module.
The specifications of the built-in SVB are as follows.

[ a ] MECHATROLINK Communication Specifications

Item MECHATROLINK-I MECHATROLINK-II
Topology Bus Bus
Transmission Path Electric bus Electric bus
50 m 50 m
Transmission Distance (Can be extended up to 100m by (Can be extended up to 100m by
connecting repeaters*.) connecting repeaters*)
Baud Rate 4 Mbps 10 Mbps
Communication Cycle 2 ms 1 ms, 2 ms
Maximum Number of
14 21
Connectable Stations
Communication Control Method Cyclic Cyclic
Media Access Control Method 1:N 1:N (2:N when using SigmaWin+)
Communication Mode Control communication Control communication
Error Detection Control CRC check CRC check

* Applicable repeater model: JEPMC-REP2000

[ b ] MECHATROLINK Communication Settings and Max. Number of Slaves

MECHATROLINK Communication Settings

Max. Number of Slaves
Communication Method Baud Rate Communication Cycle
MECHATROLINK-I 4Mbps 2 ms 14
MECHATROLINK-II
10Mbps 1 ms 15
(17-byte mode)
1 ms 9
MECHATROLINK-II
10Mbps 1.5 ms 15
(32-byte mode)
2 ms 21 (16 axes max. for Servos)

ΠRefer to 8.8.6 MECHATROLINK Definition of Machine Controller MP900/MP2000 Series MPE720

Software for Programming Device User’s Manual (Manual No. SIEP C880700 05 ) for
information on MECHATROLINK commnication settings.

[ c ] Transmission Distance and Max. Number of Slaves

Transmission Distance
Communication Method Max. Number of Slaves
(Total Network Length)
MECHATROLINK-I 50 m 14
30 m
(Can be extended up to 100m by connecting 16 (21)*
repeaters)
MECHATROLINK-II
50 m
(Can be extended up to 100m by connecting 15 (21)*
repeaters)

* The max. number of slaves in parentheses are when repeaters (JEPMC-REP2000) are used. For
MECHATROLINK-II communication, repeaters (JEPMC-REP2000) are required to connect more
than 16 slave stations.

3-10
 3.2 Basic Module

3.2.4 SVR Virtual Motion Module

( 1 ) Outline
The Virtual Motion Module is a software module provided as a standard feature with the MP2300. It
is not connected to a motor, but provides a virtual axis interface.
The SVR is configured in the same way as the MP2300 built-in SVB with fixed parameters, setting
parameters, and monitoring parameters, and can be accessed from application programs using I/O
registers.
ΠRefer to items marked with R in Chapter 6 Motion Parameters for information on SVR motion
parameters.
ΠRefer to Chapter 7 Motion Commands for information on how to use SVR motion commands.
The SVR can be used to control up to 16 virtual axes in the high-speed scan control cycle.
In the MP2300 Basic Module, slot 4 in the default Module Configuration Window is for SVR.

ΠIf the SVR is not used, MP2300 processing time can be reduced by setting the Module Type for
SVR to UNDEFINED in the Module Configuration Window.

3-11
3 Module Specifications
3.2.4 SVR Virtual Motion Module

( 2 ) Example SVR Usage

The SVR is used in the following two applications.
• Program testing: Results are easily obtained without mounting a motor.
• Generating commands: If the SVR is used in applications where motion modules are
required only for generating commands, such as master axis for phase control or multi-axis
synchronous control, then Motion Modules on real axes are no longer required.

The following table lists application examples of the SVR.

Slot
Application Example Application Method
Number
Electronic cam or shaft operation can be achieved by using the SVR for the virtual
1 Master axis for phase control
master axis.
Multi-axis synchronous control can be achieved by controlling the SVR from a
Multi-axis synchronous
2 motion program and then using the ladder program to copy position commands of the
control
SVR to other axes.
If the motion program is used to perform circular interpolation with the SVR, the axis
3 Sine curve commands
will operate with a sine curve command.
ΠThe software limit function and machine lock function cannot be used with the SVR. The position
error will always be 0.

( 3 ) System Configuration Example

The following figure shows an example system configuration using SVR.

MP2300

CPU Virtual motion

module (SVR)
Parameter
Motion

High-speed scan
Virtual Servo axes

High-speed scan

Ladder program SERVOPACK

YASKAWA SERVOPACK 200V

SGDS-01A12A

SW1
C

Motion module
N
CHARGE 6
A/B
MECHATROLINK

(Built-in SVB)
L1
L2
L1C C
Parameter

N
L2C 3
Motion

B1/
B2

C
U N
1
V
W
C
N
2
C
N
4

High-speed scan
Real Servo axes

Motion program

Servomotor
Optional modules
SERVOPACK
YASKAWA SERVOPACK 200V

SGDS-01A12A

SW1
C

Motion module
N
CHARGE 6
A/B
MECHATROLINK

(SVB-01)
L1
L2
L1C C
N
L2C 3
Parameter

B1/
Motion

B2

C
U N
1
V
W
C
N
2
C
N
4

High-speed scan

Servomotor

3-12
 3.2 Basic Module

( 4 ) SVR Operation

[ a ] SVR Execution Timing

The SVR is processed at the beginning of the high-speed scan. SVR processing is performed in the
next scan after specifying and the processing results are reflected in the monitoring parameters.

Reference set SVR processing Reflected in monitor

parameters

SVR H Drawing SVR H Drawing SVR H Drawing

High-speed scan

Results of commands in the H SVR processing result

drawing are used in SVR can be monitored in th
processing the next scan. drawing of the same s

[ b ] Processing Time
When fixed parameter 0 (Run Mode) is set to 0 (Normal Running), services are started for each of the
16 SVR module virtual axes.
ΠThe default for the Run Mode parameter is 1 (Axis Unused).

The following table gives guidelines for the processing time required for each SVR axis.

Command MP2300
NOP 35 +14 × Number of axes (µs)
POSING 35 +36 × Number of axes (µs)

ΠNumber of axes: The number of axes (1 to 16) when Run Mode (fixed parameter 0) is set to
Normal Running (0). The formula listed above do not apply when the number of axes is 0.

„ Differences from SVB Simulation Mode

Simulation mode does not have a positioning function, so the position data is refreshed in one scan to
the final target position. The SVR has its own positioning function that performs distribution, so like a
real module, position data is refreshed each scan for the final target position.

3-13
3 Module Specifications
3.3.1 SVB-01 Module

3.3 Motion Modules (Optional)

This section describes two models of Motion Module that can be mounted to MP2300 as Optional
Module:
SVB-01 Module and SBA-01 Module.

3.3.1 SVB-01 Module

( 1 ) Overview and Features

The SVB-01 Module is a Motion Module with a MECHATROLINK-II-compatible interface.
The use of MECHATROLINK enables control of multiple axes with reduced wiring. MECHA-
TROLINK-II compatibility also enables position control, speed control, torque control, and
phase control, and makes precise synchronous control possible. The control mode can also be
changed during axis operation, facilitating complicated machine operations.

MP2300 CPU SVB-01

MECHATROLINK SERVOPACK
User application
Position reference
Position control
Ladder/motion
program Speed reference
Speed control

Torque control SERVOPACK

Torque reference

Phase control
Phase reference

＜ Features ＞
• Up to 21 slave stations can be connected to a single Module (the SERVOPACKs can be connected
up to 16 axes).
• Synchronization between Modules is also supported, making it suitable for both synchronous con-
trol and interpolation across Modules.
• An SVB-01 Module used as a slave can be connected to a host controller equipped with
MECHATROLINK communication functions.
• Self-configuration enables automatic allocation of setting data for the slave device that is
connected to MECHATROLINK.
• SERVOPACK parameters can be managed over networks.
ΠFor information on MECHATROLINK devices that can be connected, refer to 1.4 Devices Connect-
able to MECHATROLINK on page 1-7.

3-14
 3.3 Motion Modules (Optional)

( 2 ) External Appearance, LED Indicators, and Switch Settings

[ a ] External Appearance
The following figure shows the SVB-01 Module external appearance.
LED indicators

DIP switch SVB-01

RUN ERR

Rotary switches TX

(Station address
setting)
M/S
SIZE
SPD
OFF ON
10

MECHATROLINK
connector M-I/II

CN1

MECHATROLINK
connector

CN2

[ b ] LED Indicators
The following table shows the SVB-01 Module status when each LED indicator is lit or unlit.
Indicator Color Status When Lit Status When Unlit
RDY RUN RUN Green Normal operation Error occurrence
ERR ALM ERR Red Failure (lights/blinks) Normal operation
TRX BAT MECHATROLINK transmission in
TX Green No data being transmitted
progress

[ c ] Switch Settings
Both the DIP switch and rotary switches set the operating conditions for the SVB-01 Module.
Use the default settings when using the Module in Master Mode.

„ DIP Switch
SIZE and SPD are valid only in Slave Mode. They will be ignored in Master Mode.
Default
Name Status Operating Mode Details
Setting
ON Reserved.
− OFF Keep turned OFF.
M/S OFF Reserved.
SIZE ON Slave Mode
SPD M/S OFF Select Master or Slave Mode.
OFF Master Mode
OFF ON
ON 17 bytes
SIZE OFF Select the number of send bytes.
OFF 32 bytes
ON 4 Mbps
SPD OFF Select the baud rate.
OFF 10 Mbps

„ Rotary Switches
Default
Name Status Operating Mode Details
Setting
10
Local station address when in Sets the 10s digit of the local
×10 0 to 9 0
Slave Mode (10s digit) slave address.
1
Local station address when in Sets the 1s digit of the local
×1 0 to 9 1
Slave Mode (1s digit) slave address.

3-15
3 Module Specifications
3.3.1 SVB-01 Module

( 3 ) Specifications
The specifications of SVB-01 Module are as follows.

[ a ] Hardware Specifications
Item Specifications
Classification Motion Module
Name SVB-01
Model Number JAPMC-MC2310
Motion network: 1 channel
Communication ports: 2 ports
MECHATROLINK Motion SERVOPACK and I/O:
Network Up to 21 stations connectable (SERVOPACK for up to 16 axes)
Baud rate:
4 Mbps (MECHATROLINK-I) or 10 Mbps (MECHATROLINK-II)
RUN (green)
LED Indicators ERR (red)
TX (green)
CN1: MECHATROLINK connector
Connectors
CN2: MECHATROLINK connector
−
M/S (Master/Slave)
SIZE (Number of transfer bytes)
Switches
SPD (Baud rate)
×1 (slave address)
×10 (slave address)
Current Consumption 1 A max.
Dimensions (mm) 125 × 95 (H×D)
Mass 80 g

[ b ] Motion Control Function Specifications

Item Specifications
Number of Communication
1 line
Lines
Number of Communication
2 ports
Ports (Connectors)
Terminator JEPMC-W6022 Terminator must be purchased separately.
• MECHATROLINK-II
Minimum distance between stations: 0.5 m
MECHATROLINK Communication

Total Network length: 50 m (can be extended up to 100 m by connecting repeaters)

Transmission Distance
• MECHATROLINK-I
Minimum distance between stations: 0.3 m
Total Network length: 50 m (can be extended up to 100 m by connecting repeaters)
Communication Interface MECHATROLINK-II (2:N synchronous) MECHATROLINK-I (1:N synchronous)
Baud Rate 10 Mbps 4 Mbps
Transmission Cycle 0.5 ms, 1 ms, 1.5 ms, 2 ms 2 ms
Number of Link
Master Functions

17 bytes or 32 bytes 17 bytes

Communication Bytes
Number of Connectable Up to 21 stations (SERVOPACKs for up
Up to 14 stations
Stations to 16 axes)
C1 Messaging (Master
Provided (selectable) Not provided
Function)
C2 Messaging (Allocations) Provided (selectable) Not provided
Retry Function Provided (selectable) Not provided
Supported Slave Devices Refer to 1.4 Devices Connectable to MECHATROLINK on page 1-7.

3-16
 3.3 Motion Modules (Optional)

Item Specifications
Communication Interface MECHATROLINK-II MECHATROLINK-I

Slave Functions
Baud Rate 10 Mbps 4 Mbps
Transmission Cycle 0.5 ms, 1 ms, 1.5 ms, 2 ms 2 ms
Number of Link
17 bytes or 32 bytes 17 bytes
Communication Bytes
Messaging
Provided Not provided
(Slave Function)
Single-send (communication cycle = transmission cycle) synchronous communication
Transmission/communication error detection (hardware) provided.
Communication Method
MECHATROLINK Communication (continued)

Synchronous communication error detection (software) provided.

Automatic recovery function not provided (recovery when alarm cleared).
I/O Registers Input/output using motion registers (synchronized on high-speed scan)
Command Mode Motion Command Mode/MECHATROLINK Transparent Command Mode
Applicable Servomotors Standard rotary motors, linear motors, and direct drive motors
Control Types Position control, speed control, torque control, and phase control
Positioning, external positioning, zero point return, interpolation, interpolation with
Motion Commands position detection function, JOG feed, STEP feed, speed reference*, torque reference*,
and phase reference*, etc.
Acceleration/Deceleration One-step asymmetric trapezoidal acceleration/deceleration, exponential acceleration/
Method deceleration filter, moving average filter
Position Unit pulse, mm, inch, degree
Speed Unit Reference units/s, 10n reference units/min, percentage of rated speed
Acceleration Unit Reference units/s2, ms (acceleration time from 0 to rated speed)
Torque Unit Percentage of rated torque
Electronic Gear Provided
Finite length position control, infinite length position control, absolute system infinite
Position Control Methods
length position control, and simple absolute system infinite length position control
Software Limit Positive/negative direction for each point
Zero Point Return Methods 13 types
SERVOPACK Parameter
Parameters can be managed in the MPE720’s SERVOPACK Parameter Window.
Management
Single-send (communication cycle = transmission cycle) asynchronous
communication
Communication Method Transmission/communication error detection (hardware) provided.
Inverter Control

Synchronous communication error detection (software) not provided.

Automatic recovery function not provided (recovery by clearing alarm).
I/O Registers Input/output using motion registers (synchronized on high-speed scan)
Command Mode Motion Command Mode/MECHATROLINK Transparent Command Mode
Control Type Speed control only (V/f, vector control and other control methods use interter settings.)
Motion Commands Inverter I/O control, etc.
Speed Unit The speed unit depends on the inverter settings.
Single-send (communication cycle = transmission cycle) asynchronous
communication
I/O Control

Communication Method Transmission/communication error detection (hardware) provided.

Synchronous communication error detection not provided.
Automatic recovery function not provided.
Input/output using I/O registers and synchronized on the high-speed scan or low-speed
I/O Registers
scan (selectable).
Self-configuration Function Module and slave devices can be automatically allocated.
Synchronization supported (enabled when power is cycled) when high-speed scan
Synchronization between Modules
cycle = communication cycle times n .
* Only with MECHATROLINK-II

3-17
3 Module Specifications
3.3.1 SVB-01 Module

[ c ] MECHATROLINK Communication Specifications

Item MECHATROLINK-I MECHATROLINK-II
Topology Bus Bus
Transmission Media Twisted-pair cable Twisted-pair cable
Transmission Distance 50 m max. 50 m max.
Minimum Distance
0.3 m 0.5 m
between Stations
Baud Rate 4 Mbps 10 Mbps
Communication Cycle 2 ms 0.5 ms, 1 ms, 1.5 ms, or 2 ms
Number of Connectable
Stations
Up to 14 stations Up to 21 stations * (SERVOPACK for up to 16 axes)
Communication Control
Cyclic Cyclic
Method
Media Access Control
1:N 1:N (2:N when using SigmaWin+)
Method
Communication Mode Control communication Control communication
Error Control CRC check CRC check

* Up to 16 stations can be connected if a JEPMC-REP2000 MECHATROLINK-II Repeater is not

used. Refer to Chapter 8 MECHATROLINK-II Repeater of the Machine Controller MP900/MP2000
Series User's Manual MECHATROLINK System (Manual No. SIEZ-887-5.1 ) for details.

[ d ] Maximum Number of Slave Stations

The maximum numbers of slave stations that can be connected to a SVB-01 Module SVB-01 are
listed below.

• MECHATROLINK Communication Setting and Maximum No. of Slave Stations

MECHATROLINK Communication Setting
Communication Maximum Number of Slave Stations
Communication Method Baud Rate
Cycle
MECHATROLINK-I 4 Mbps 2 ms 14
MECHATROLINK-II 0.5 ms 6
10 Mbps
(17-byte Mode) 1 ms 15
0.5 ms 4
MECHATROLINK-II 1 ms 9
10 Mbps
(32-byte Mode) 1.5 ms 15
2 ms 21 (SERVOPACK for up to 16 axes)

ΠRefer to Section 8.8 MECHATROLINK Definition of Machine Controller MP900/MP2000 Series

MPE720 Software for Programming User’s Manual (Manual No. SIEPC88070005 ) for
information on MECHATROLINC communication settings.

3-18
 3.3 Motion Modules (Optional)

„ Transmission Distance and Maximum No. of Slave Stations

Transmission Distance Maximum No. of
Communication Method
(Total Network Length) Slave Stations
50 m
MECHATROLINK-I 14
(Can be extended up to 100 m by connecting repeaters.)
30 m
(Can be extended up to 100 m by connecting repeaters.) 16 (21)*
MECHATROLINK-II
50 m
(Can be extended up to 100 m by connecting repeaters.) 15 (21)*

* The values in parentheses apply when a JEPMC-REP2000 Repeater is used.

A JEPMC-REP2000 Repeater must be used if 17 or more slave stations are connected when
using MECHATROLINK-II communication.

3.3.2 SVA-01 Module

( 1 ) Overview and Features

The SVA-01 Module is a motion control module with analog outputs. Each Module can control
Servos or Inverters for up to 2 axes.
The Module has two connectors (CN1 and CN2) for connecting SERVOPACKs and external I/
O. Each connector provides analog outputs for speed references and torque references, analog
inputs for feedback speed monitoring and torque monitoring, pulse input phases A, B, and C (5-
V differential), and general-purpose digital I/O.
The control cycle is fixed at 500 µs, enabling high-precision control without being affected by
the high-speed scan cycle.

2 analog outputs: Speed reference CN1

Servo Controls Torque reference
• Speed references
2 analog inputs: Speed monitor

Servo connector
• Position control
• Torque references Torque (thrust) reference
monitor
• Phase control
• Zero point returns Pulse inputs: Phase A/B/C (5-V differential)
Monitor Functions 6 general-purpose digital inputs (of which 2 are latch inputs)

6 general-purpose digital outputs

System bus connector

Sensor ON output, 5 V/24 V

CN2
Same
System bus interface Same as above as
SERVOPACK parameters above

OW CN3
IW

＜ Features ＞
• Two analog outputs for Servos for 2 axes
• Position control, speed reference outputs, torque reference outputs, or phase control can be
performed independently for each axis.

3-19
3 Module Specifications
3.3.3 External Appearance and LED Indicators

• Self-configuration enables automatic allocation for the Module.

SVA-01 Up to 16 Modules Speed, Position, and Phase Control

• Inverters
SVA-01 SERVOPACK
• Analog Servos D/A
Speed reference
SGDA Torque limit M
D/A
SGDB
SGDM Speed monitor PG
A/D
SGDH A/D
Torque monitor
SGDS Encoder pulses
Counter

Torque Control
SVA-01 SERVOPACK
Torque reference
D/A
Speed limit M
D/A

M M Speed monitor
A/D PG
Torque monitor
A/D
Encoder pulses
Counter

3.3.3 External Appearance and LED Indicators

[ a ] External Appearance
The following figure shows the SVA-01 Module external appearance.

LED indicators
SVA-01
RUN ERR

CH1

Servo connectors

CH2

24-V input connector

+24V
ON

DC IN

[ b ] LED Indicators
The following table shows the SVA-01 Module status when each LED indicator is lit or unlit.
Indicator Color Status When Lit Status When Unlit

RUN Green Normal operation Error occurrence

RUN ERR
ERR Red Failure (lights/blinks) Normal operation

3-20
 3.3 Motion Modules (Optional)

( 1 ) Specifications
The specifications of SVA-01 Module are as follows.

[ a ] Hardware Specifications

Item Specifications
Classification Motion Module
Name SVA-01
Model Number JAPMC-MC2300
6 inputs × 2 channels (source mode/sink mode inputs, 24 V/4.3 mA)
DI_0: General-purpose input (ALM)
DI_1: General-purpose input (RDY)
Digital Inputs DI_2: General-purpose input (ZERO: External latch signal input)
DI_3: General-purpose input
DI_4: General-purpose input
DI_5: General-purpose input (EXT: External latch signal input)
6 outputs × 2 channels (sink mode outputs, 24 V/100 mA)
DO_0: General-purpose output (SV_ON)
DO_1: General-purpose output (ALM_RST)
Servo Interface DO_2: General-purpose output (PCON): Used as the C-SEL (control mode
Digital Outputs
select) signal.
DO_3: General-purpose output
DO_4: General-purpose output
DO_5:General-purpose output (SEN signal): 5-V and 24-V outputs
1 input × 2 channels, phases A/B/C, 5-V differential input,
Pulse Inputs
pulse rate: 4 Mpps (16 Mpps for × 4)
Analog Outputs 2 outputs × 2 channels, −10 V to 10 V, D/A 16 bits
2 inputs × 2 channels, −10 V to 10 V (applicable: −9.9 V to 9.9 V),
Analog Inputs
A/D 16 bits
CN1: Servo connector
Connectors CN2: Servo connector
CN3: 24-V input
RUN (green)
Indicators
ERR (red)
Current Consumption 1 A max.
Dimensions (mm) 125 × 95 (H × D)
Mass 80 g

3-21
3 Module Specifications
3.3.3 External Appearance and LED Indicators

[ b ] Motion Control Function Specifications.

Item Details
Torque Reference According to the torque unit selection parameter.
Torque Reference
(Open Loop) Speed Limit at Torque
Rated speed percentage designation [0.01%]
Reference
Speed Reference According to the speed unit selection parameter.
Acceleration According to the acceleration unit selection parameter.
Deceleration According to the acceleration unit selection parameter.
Speed Reference Moving Average Filter
ms
(Open Loop) Time Constant Setting
Torque Limits According to the torque unit selection parameter.
Positive Speed Limit Rated speed percentage designation [0.01%]
Negative Speed Limit Rated speed percentage designation [0.01%]
Position References mm, inch, deg, pulse
Speed References According to the speed unit selection parameter.
Acceleration According to the acceleration unit selection parameter.
Deceleration According to the acceleration unit selection parameter.
Filter Type Moving average or exponential acceleration/deceleration
Filter Time Constant ms
Control functions

Position Compensation mm, inch, deg, pulse

Speed Compensation According to the speed unit selection parameter.
Position Control Position Loop Gain 1/s
Position Loop Integration
ms
Time Constant
Speed Feed Forward Gain Position derivative percentage designation [0.01%]
Primary Delay Time
ms
Constant
Torque Limit Rated torque percentage designation [0.01%]
Positive Speed Limit Rated speed percentage designation [0.01%]
Negative Speed Limit Rated speed percentage designation [0.01%]
Speed References According to the speed unit selection parameter.
Speed Compensation According to the speed unit selection parameter.
Phase Compensation mm, inch, deg, pulse
Phase Control Proportional
Same as position loop gain parameter.
Gain
Phase Control
Phase Control Integral Time
Same as position loop integral time constant parameter.
Constant
Torque Limit Rated torque percentage designation [0.01%]
Positive Speed Limit Rated speed percentage designation [0.01%]
Negative Speed Limit Rated speed percentage designation [0.01%]

3-22
 3.3 Motion Modules (Optional)

Item Details
Positioning, external positioning, zero point return, interpolation, interpolation with position
Motion Commands detection function, JOG operation, STEP operation, speed references, torque references, phase
control, etc.
Acceleration/ 1-step asymmetrical trapezoidal acceleration/deceleration, exponential acceleration/
Deceleration Method deceleration filter, moving average filter
Position Units pulse, mm, inch, degree
Motion Functions

Speed Units Reference unit/s, 10n reference unit/min, rated speed percentage designation
Acceleration Units Reference unit/s2, ms (acceleration time from 0 to rated speed)
Torque Units Rated torque percentage designation
Electronic Gear Supported
Position Control Finite length position control, infinite length position control, absolute infinite length position
Methods control, simple absolute infinite length position control
Software Limits 1 each in forward and reverse directions
Zero Point Return
17
Types
Latch Function Phase-C latch, external signal input latch
Self-configuration Function Automatic allocation by Module is supported.

[ c ] Performance Specifications

Item Contents Remarks

Control Cycle 500 µs
Resolution 16 bits PWM output
Output Delay 1 ms (*) * When changing full-scale from −10 V to 10 V
D/A
Accuracy 100 mV max.
Temperature Drift 100 µV/°C max.
Resolution 16 bits
Input Delay 250 µs
A/D
Accuracy 100 mV max.
Temperature Drift 100 µV/°C max.
OFF→ON 1 µs
DO
ON→OFF 1 µs
OFF→ON 30 µs
DI
ON→OFF 600 µs
Pulse Input Rate 4 Mpps 16 Mpps for input pulse multiplier of 4

3-23
3 Module Specifications
3.4.1 LIO-01/LIO-02 Modules

3.4 I/O Modules (Optional)

The I/O Modules that can be mounted to the MP2300 are LIO-01, LIO-02, LIO-04, LIO-05, DO-01
and AI-01 Modules.

3.4.1 LIO-01/LIO-02 Modules

( 1 ) Outline of Functions
The LIO-01 and LIO-02 Modules have digital I/O and pulse counter functions. There are 16 digital
inputs (DI) and 16 digital outputs (DO) (LIO-01: sink mode outputs, LIO-02: source mode outputs)
for the digital I/O function. There is also 1 pulse input (PI) channel for the pulse counter function. I/
O is refreshed on a fixed cycle for the digital I/O and pulse counter functions, occurring every
MP2300 high-speed and low-speed scan. The following diagram gives an outline of the LIO-01 and
LIO-02 Module functions.

Interrupt
input
16 points
DI-00
Input port
Input processing (Isolated DI)
DI-01
Latch 5-V/12-V

I/O connector
System bus

input Z input
Pulse input
processing 5-V differential
Coincidence A/B input
output
Coincidence
interrupt
DO-00
16 points
Output port
Output processing (Isolated DI)
(Sink mode output)

3-24
 3.4 I/O Modules (Optional)

( 2 ) External Appearance
[ a ] LIO-01 Module [ b ] LIO-02 Module

LED indicators LED indicators

LIO-01 LIO-02
Switch LD1 LD5
Switch LD1 LD5

LD2 LD6 LD2 LD6

LD3 LD7 LD3 LD7

LD4 LD8 LD4 LD8

MODE MODE

I/O I/O
I/O connector I/O connector

3-25
3 Module Specifications
3.4.1 LIO-01/LIO-02 Modules

[ c ] LED Indicators and Switch Settings

The LIO-01 and LIO-02 Module status display LED indicators (LD1 to LD8) change based on the
SW1 rotary switch settings (setting range: 0 to 5). The following table shows the indicator display for
DI and DO status according to the SW1 setting.

LED
SW1 Status When Lit LED No. Status When Lit
No.
LD1 Normal (Error when not lit) LD5 Normal (Error when not lit)
0
LD2 One of the inputs D1_00 to DI_07 is ON. LD6 One of the inputs DI_08 to DI_15 is ON.
(Board Status
LD3 One of the outputs DO_00 to DO_07 is ON. LD7 One of the outputs DO_08 to DO_15 is ON.
Indicator)
LD4 Pulse A/B input. The Phase A/B is ON. LD8 Pulse Z input. The Phase Z is ON.
LD1 DI_00 is ON. LD5 DI_04 is ON.
1
LD2 DI_01 is ON. LD6 DI_05 is ON.
(DI Input
LD3 DI_02 is ON. LD7 DI_06 is ON.
Indicator 1)
LD4 DI_03 is ON. LD8 DI_07 is ON.
LD1 DI_08 is ON. LD5 DI_12 is ON.
2
LD2 DI_09 is ON. LD6 DI_13 is ON.
（DI Input
LD3 DI_10 is ON. LD7 DI_14 is ON.
Indicator 2)
LD4 DI_11 is ON. LD8 DI_15 is ON.
LD1 DO_00 is ON. LD5 DO_04 is ON.
3
LD2 DO_01 is ON. LD6 DO_05 is ON.
（DO Output
LD3 DO_02 is ON. LD7 DO_06 is ON.
Indicator 1)
LD4 DO_03 is ON. LD8 DO_07 is ON.
LD1 DO_08 is ON. LD5 DO_12 is ON.
4
LD2 DO_09 is ON. LD6 DO_13 is ON.
（DO Output
LD3 DO_10 is ON. LD7 DO_14 is ON.
Indicator 2)
LD4 DO_11 is ON. LD8 DO_15 is ON.
LD1 Pulse A input LD5 Coincidence detection
5
LD2 Pulse B input LD6 Phase-Z latch
(PI Input
LD3 Pulse Z input LD7 DI latch
Indicator)
LD4 － LD8 －

.
LD1 LD5 7 8
9
6

LD2 LD6
0
5

LD3 LD7
1

3
4

LD4 LD8 2

Indicators SW1

3-26
 3.4 I/O Modules (Optional)

( 3 ) Hardware Specifications
Item Specifications
Classification I/O Module
Name LIO-01 LIO-02
Model JAPMC-IO2300 JAPMC-IO2301
16 inputs
Digital Input 24 VDC, 4.1 mA, combined sink mode/source mode inputs
(DI-00 also used for interrupts, DI-01 also used for pulse latch inputs)
16 outputs 16 outputs
24 VDC transistor open-collector outputs, 24 VDC transistor open-collector outputs,
Digital Output
sink mode outputs source mode outputs
(DO-00 also used for coincidence outputs) (DO-00 also used for coincidence outputs)
Phase A/B/Z inputs
Phase AB: 5-V differential input, not isolated, max. frequency: 4 MHz
Pulse Input Phase Z: 5-V/12-V photocoupler input, max. frequency: 500 kHz
Latch input
Pulse latch for phase Z or DI-01.
Connector I/O: I/O connector
LD1 (green)
LD2 (green)
LD3 (green)
LD4 (green)
Indicators
LD5 (green)
LD6 (green)
LD7 (green)
LD8 (green)
Switch Rotary switch (SW1)
Current Consumption 500mA max.
Dimensions (mm) 125 × 95 (H × D)
Mass 80 g

3-27
3 Module Specifications
3.4.2 Counter Functions and Settings of LIO-01/LIO-02 Modules

3.4.2 Counter Functions and Settings of LIO-01/LIO-02 Modules

( 1 ) Outline of Counter Functions

For the counter function, the command is selected in the counter fixed parameters and counter setting
parameters, and the status and counter value are stored in counter monitor parameters.
The following diagram shows the data flow for the counter function.

MP2300 LIO-01 or LIO-02 Module

Information to MP2300 from

Counter Monitor LIO-01 or LIO-02 Module I/O
Parameters (32 words) connector

・ Operation status
・ Incremental pulse 5-V
・ Current counter value differential
・ Latch data, etc. interface

Pulse input
processor
Pulse input

Counter Setting
Commands from MP2300 Parameters (32 words)
to LIO-01 or LIO-02 Module
・ Operation mode Phase-Z 5-V/
・ Counting preset data 12-V voltage
・ Coincidence interface
detection setting, etc.
Latch input DI-01
Coincidence detection
output DO-00
Interrupt input DI-00

Counter Fixed Parameters

Condition settings
for counter function
use
・ Pulse A/B signal polarity
selection
・ Pulse counting mode
・ Other function selections

ΠIn this section, the fixed parameters mean the counter fixed parameters if not otherwise
mentioned.

3-28
 3.4 I/O Modules (Optional)

( 2 ) Setting Counter Fixed Parameters

[ a ] Opening the Fixed Parameter Setting Tab Page

Set the fixed parameters for the counter function in the Fixed Parameter Tab Page in the Counter
Module Window. Use the following procedure to open the Counter Module Window.

1. Double-click the Module Configuration Folder under the Definition Folder in the File
Manager Window.

The Engineering Manager will start and the Module Configuration Window will appear.

2. Select LIO-01 or LIO-02 in the Module Type column of the Controller section.
Select CNTR in the Module Type column of the Module Details section, and then
double-click the number cell of the slot where CNTR is assigned.

The Counter Module Window will appear.

ΠWhen the counter function of LIO-01 or LIO-02 Module is not used, select UNDEFINED in
place of CNTR.

3-29
3 Module Specifications
3.4.2 Counter Functions and Settings of LIO-01/LIO-02 Modules

3. Select the Fix Parameter Set Tab.

Fig. 3.1 Fixed Parameter Tab Page in Counter Module Window

Set the fixed parameters in the above Fix Parameter Set Tab Page.

[ b ] Counter Fixed Parameters

No. Name Description Size Default

Select an MP2300 scan cycle to update the I/O data of
Synchronous Scan Selection High
counter function: High-speed scan or Low-speed scan
Displays the leading register number that corresponds to the
Leading Register Number 1 word
parameter.
Fixed to +5V
Pulse A/B Signal Form Set the signal form of phases A and B. For the MP2300, the
01 1 word (differential
Selection signal form is fixed and to a +5V differential input.
input)
Pulse A/B Signal Polarity Select either positive set or negative logic for the signal
02 1 words Positive logic
Selection ＊１ polarity of phases A and B.
Specify the pulse count mode*1.
・0: Sign mode × 1
・1: Sign mode × 2
Pulse Counting Mode ・2: Up/Down mode × 1 6 (Pulse A/B
03 1 word
Selection*1 ・3: Up/Down mode × 2 mode × 4)
・4: Pulse A/B mode × 1
・5: Pulse A/B mode × 2
・6: Pulse A/B mode × 4
Fixed to
Set the counter mode. For the MP2300, the counter mode is
04 Counter Mode Selection 1 word Reversible
fixed and set to Reversible Counter.
Counter
Coincidence Detection
05 Set whether or not the coincidence detection *2 is to be used. 1 word Not use
Function Selection

3-30
 3.4 I/O Modules (Optional)

No. Name Description Size Default

*2
Coincidence Interrupt Set whether or not the coincidence interrupt function is to
06 be used. 1 word Not use
Function Selection
(Valid only when the coincidence detection function is set.)
Finite length
07 Axis Type Selection Set the axis type*3: Finite or infinite length axis. 1 word
axis
Specify the reference unit. If pulse is selected, an electronic
gear is not to be used; If a unit other than pulse is selected,
an electronic gear is to be used.
08 Reference Unit Selection ・pulse 1 word pulse
・mm
・deg
・inch
Set the number of digits 0 to 5 below the decimal point *4
for the minimum reference unit.
Number of Digits Below Example:
09 1 word 3
Decimal Point If the minimum reference unit is 1 µm (10−3mm):
Reference unit selection : mm, and
Number of digits below decimal point: 3
Moving Amount Per Machine Set the load moving amount per load axis rotation.
10 2 words 10000
Rotation*4, *5 Setting range: 1 to 2147483647 (reference unit)
Set the value m so that the encoder axis rotates m times when the
11 Encoder Gear Ratio*4, *5 load axis rotates n times. 1 word 1
Setting range: 1 to 65535
Set the value n so that the encoder axis rotates m times when
12 Machine Gear Ratio*4, *5 the load axis rotates n times. 1 word 1
Setting range: 1 to 65535

Infinite Length Axis Reset If the infinite Length Axis was selected for fixed parameter
13 No.7, specify the number of rotations (1 to 2147483647) 2 words 360000
Position (POSMAX)*3
after which the axis will be reset.
Number of Pulses Per
Set the number of input pulses per encoder rotation/
14 Encoder Rotation 2 words 2048
Setting range: 1 to 2147483647 (pulse/rev)
(before Multiplication)

* 1. For details, refer to 3.4.2「[ a ] Counter Function Details」( 4 ) [ a ] Pulse Counting Modes on page
3-35.
* 2. For details, refer to 3.4.2 ( 4 ) [ c ] Coincidence Output and Coincidence Interrupt Functions on
page 3-38.
* 3. For details, refer to 3.4.2 ( 4 ) [ e ] Axis Type Selection on page 3-40.
* 4. For details, refer to 3.4.2 ( 5 ) Electronic Gear Function on page 3-40.
* 5. If pulse is selected for the parameter No. 08, parameters No. 10 to 13 are ignored.

3-31
3 Module Specifications
3.4.2 Counter Functions and Settings of LIO-01/LIO-02 Modules

( 3 ) I/O Data Settings

[ a ] Opening the I/O Data Setting Tag Page

Set the I/O data in the I/O Data Tab Page in the Counter Module Window.

Fig. 3.2 I/O Data Tab Page in Counter Module Window

ΠThe channel number is fixed to CH1.
The details on the status and I/O data that can be monitored in the I/O Data Tab Page are described
below.

[ b ] In (Input) Data Details

„ Status Details
The status of each bit of the register is indicated: ● : ON, ○ : OFF. In offline, this area is displayed
in gray.
Name Bit No. Meaning Remarks
Error Setting the Data 0 1 (ON): Data setting error −
Fixed Parameter Error 1 1 (ON): Fixed parameter setting error −
Preset Count Completed 2 1 (ON): Count value preset completed −
PI Latch Completed 3 1 (ON): PI latch completed −
A/B Pulse 0 4 1 (ON): Feedback pulse is ±1 or less −
1 (ON): Coincidence detection ON (in
Coincidence Detection 5 Detected in pulse units.
pulse units)
A-Pulse Status Monitor 6 1 (ON): High −
B-Pulse Status Monitor 7 1 (ON): High −
Fixed Parameter Write 9 1 (ON): Writing parameter online ON only during write.
A-Pulse Disconnection A 1 (ON): Phase A disconnected −
B-Pulse Disconnection B 1 (ON): Phase B disconnected −
POSMAX Preset C 1 (ON): Completed −
1 (ON): Counter processing being
Module Ready F −
executed

3-32
 3.4 I/O Modules (Optional)

„ Input Data Details

The following table shows the contents displayed in the Input Data area.
No. Name Register No. Range Remarks
Refer to the previous section „ Status
00 Status (RUNSTS) IL††††*1+0†00 Bit settings
Details.
Indicates the difference between the
Incremental Pulses −2147483648 to
01 IL††††+0†02 pulse count value at previous scan and
(PDV) 2147483647 (pulse)
that at present scan.
Counter Value −2147483648 to Indicates the pulse count value of each
02 IL††††+0†04
(PFB) 2147483647 (pulse) scan.
PI Latch Value −2147483648 to Indicates the current value of the counter
03 IL††††+0†06
(FREQ) 2147483647 (pulse) when an external signal is input.
Indicates the number of incremental
pulses converted to a value in the
−2147483648 to
After Convert Increment Pulse reference unit. Indicates the same value
04 IL††††+0†08 2147483647 (refer-
(PDVG) as the number of incremental pulses if
ence unit)
pulse is selected for the fixed parameter
No. 08 “Reference Unit Selection.”
Indicates the current value of the counter
converted to a value in the reference
Current Count Value After −2147483648 to
unit. Indicates the same value as the
05 Converts IL††††+0†0A 2147483647 (refer-
counter current value when pulse is
(PFBG) ence unit)
selected for the fixed parameter No. 08
“Reference Unit Selection.”
Indicates the PI latch data converted to a
−2147483648 to value in the reference unit. Shows the
PI Latch Value After Converts
06 IL††††+0†0C 2147483647 (refer- same value as the PI latch data when
(FREQG)
ence unit) pulse is selected for the fixed parameter
No. 08 “Reference Unit Selection.”
−2147483648 to Indicates the number of rotations that
07 Number of POSMAX Turns IL††††+0†0E 2147483647 (rota- have been made when Infinite Length
tion) Axis is selected as the Axis Type.
−2147483648 to
If the electronic gear*3 is not used, the
08 Feedback Speed*2 IL††††+0†10 2147483647 (refer-
ence unit/s) unit is pulse/sec.

−2147483648 to
09 System Monitor IL††††+0†1E 2147483647 (refer- For system use
ence unit)

* 1. †††† indicates a register number. Refer to 5.3 Registers on page 5-21 for information on regis-
ter numbers.
* 2. The Feedback Speed is the moving average of the results of the following calculation for 32
scans.
ΠWithout Electronic Gear (Reference unit: pulse)
Feedback Speed (pulse/s) = No. of incremental pulses × 1000)/Ts
ΠWith Electronic Gear (Reference unit: unit other than pulse)
Feedback Speed (reference unit/s) = No. of incremental pulses after conversion × 1000)/Ts
TS: Scan time (ms) for counter synchronized scan.
* 3. Refer to 3.4.2 ( 5 ) Electronic Gear Function on page 3-40.

3-33
3 Module Specifications
3.4.2 Counter Functions and Settings of LIO-01/LIO-02 Modules

[ c ] Out (Output) Data Details

„ Operation Mode Details

Name Bit No. Meaning Default
1: Count prohibited
Count Disable 0 0 (permitted)
Prevents counting.
1: Preset request
Calculating Preset 1 0 (Not preset)
Resets the count to its preset value

PI Latch Detect Demand 2 1: Latch detection request *1 0 (Not detect)

Stores the counter value at the moment an external signal is input.
1: Coincidence detection request*2
Coincidence Detection 3 Sends a coincidence signal if the values of the counter and the 0 (Not detect)
coincidence detection setting match.
1: Preset request
POSMAX Presetting 4 0 (Not preset)
Resets the number of POSMAX turns to its preset value.

* 1. Refer to 3.4.2 ( 4 ) [ d ] PI Latch Function on page 3-39.

* 2. Refer to 3.4.2 ( 4 ) [ c ] Coincidence Output and Coincidence Interrupt Functions on page 3-38.

„ Set Function Details

Name Register No. Description
Select the external signal to be used for the PI latch signal.
Latch Detection Signal OW††††+0†01 ・0000H: DI latch (Discrete input)
・0002H: Z latch (Phase-Z input)

„ Output Data Details

Name Register No. Size Setting Range Remarks
Command Setting
OW††††+0†00 1 word Bit settings Refer to „ Operation Mode Details.
(RUNMOD)
Set Function OW††††+0†01 1 word Bit settings Refer to „ Set Function Details.
−2147483648 to Resets the present value of the counter to
Count Presetting Data
OL††††+0†02 2 words 2147483647 this value after a Count Preset Request is
(PRSDAT)
(reference unit) received.
Sends a coincidence detection signal if
the current value of the counter is the
Agreed Detection Value −2147483648 to
value set in this parameter at the moment
OL††††+0†04 2 words 2147483647
（COINDAT） that the Coincidence Detection Request
(reference unit)
is sent, and sends an interrupt signal to
the MP2300.
Resets the number of POSMAX turns to
Preset Data of POSMAX −2147483648 to
OL††††+0†06 2 words this value after a POSMAX Turn Num-
Turns 2147483647 (rotation)
ber Presetting Demand is received.
−2147483648 to
System Monitor OL††††+0†1E − For system use.
2147483647

3-34
 3.4 I/O Modules (Optional)

( 4 ) Counter Function Details

[ a ] Pulse Counting Modes

The following pulse counting modes can be selected by setting the counter fixed parameter No.2
“Pulse A/B Signal Polarity Selection” and No. 3 “ Pulse Counting Mode Selection”.
Pulse Counting Mode Polarity Up Count (Forward) Down Count (Reverse)

Positive Pulse
Aパルス A Pulse
Aパルス A
logic Pulse
Bパルス B LOW Pulse
Bパルス B
HIGH

×1
Pulse
Aパルス A Pulse A
Aパルス
Negative
logic Pulse B HIGH Pulse B LOW
Bパルス Bパルス

Sign
Positive Pulse
Aパルス A Pulse
Aパルス A
logic LOW HIGH
Pulse B Pulse
Bパルス B
Bパルス

×2
Pulse
Aパルス A Pulse
Aパルス A
Negative
logic LOW Pulse B LOW
Pulse
Bパルス B Bパルス

Positive Pulse
Aパルス A Pulse
Aパルス A Fixed at low or high
LOWまたはHIGHに固定

logic Pulse B Fixed at low or high Pulse

Bパルス B
Bパルス LOWまたはHIGHに固定

×1
Pulse A Pulse
Aパルス A Fixed at low or high
LOWまたはHIGHに固定
Negative Aパルス
logic Pulse B Fixed at low or high Pulse
Bパルス B
Bパルス LOWまたはHIGHに固定

UP/DOWN

Positive Pulse
Aパルス A Pulse
Aパルス A Fixed at low or high
LOWまたはHIGHに固定

logic Pulse B Fixed at low or high Pulse

Bパルス B
Bパルス LOWまたはHIGHに固定

×2
Pulse A Pulse
Aパルス A Fixed at low or high
LOWまたはHIGHに固定
Negative Aパルス
logic Pulse
Bパルス B Fixed at low or high
LOWまたはHIGHに固定
Pulse
Bパルス B

3-35
3 Module Specifications
3.4.2 Counter Functions and Settings of LIO-01/LIO-02 Modules

Pulse Counting Mode Polarity Up Count (Forward) Down Count (Reverse)

Positive Pulse
Aパルス A Pulse
Aパルス A
logic Pulse B Pulse B
Bパルス Bパルス
×1
Pulse
Aパルス A Pulse
Aパルス A
Negative
logic Pulse
Bパルス B Pulse
Bパルス B

Positive Pulse
Aパルス A Pulse
Aパルス A
logic Pulse B Pulse B
Bパルス Bパルス
A/B ×2
Pulse
Aパルス A Pulse
Aパルス A
Negative
logic Pulse
Bパルス B Pulse
Bパルス B

Positive Pulse
Aパルス A Pulse
Aパルス A
logic Pulse
Bパルス B Pulse B
Bパルス
×4
Pulse
Aパルス A Pulse
Aパルス A
Negative
logic Pulse
Bパルス B Pulse
Bパルス B

3-36
 3.4 I/O Modules (Optional)

[ b ] Pulse Count Function

The Pulse Count Function reads A/B pulse input signals to increment (forward run) or decrement
(reverse run) the count.
The following graph shows changes in the pulse count for each run mode.

p3 p6
2147483647㧔MAX㧕
p2
㧔㧗㧕 Count preset (1) p7
n3
Count preset (2)
n2
p1
Counter
count p8
register 0
n6
value Cancel count prohibit
Count prohibit
n1 n7
Count prohibit

n4 Cancel count prohibit

㧔㧙㧕 n5

2147483648㧔MIN㧕
Time (s) p4 p5

Ts
Counter current
value display n1 n2 n3 n4 n5 n6 n7

Ts 㧩 Scan time (s)

<Explanation>
Counter current value
The values of n1 to n7 (counter value at each scan) is displayed sequentially in Counter
Current Value (IL +4).
Count preset (1)
Executing the Count preset at the position p1 forces the counter value to change to the pre-
set value (p2 value).
MAX overflow
When the counter value increases to the value MAX (p3), the counter value will be auto-
matically reset to the value MIN (p4).
MIN overflow
When the counter value decreases to the value MIN (p5), the counter value will be auto-
matically reset to the value MAX (p6).
Count preset (2)
Executing the Count preset at the position p7 forces the counter value to change to the pre-
set value (p8 value).

3-37
3 Module Specifications
3.4.2 Counter Functions and Settings of LIO-01/LIO-02 Modules

[ c ] Coincidence Output and Coincidence Interrupt Functions

The Coincidence Output and Coincidence Interrupt Functions output an external output signal
(coincidence detection signal) and output an interrupt signal to the MP2300 when the current counter
value and a preset counter setting parameter (Coincidence Detection Setting: OL††††+4) match.
The Coincidence Output Request is enabled when “Use” is set to the counter fixed parameter No. 5
(Coincidence Detection Function Selection).
The Coincidence Interrupt Request is enabled if “Use” is set to the counter fixed parameter No. 6
(Coincidence Interrupt Function Selection).
The following graph shows the changes.

Coincidence point

Coincidence detection
set value
Counter 0
current
value

Time (s)

Coincidence
detection request

Coincidence
output signal

Interrupt request T0
signal

T1
Interrupt
received

ΠT0: Maximum time from when the MP2300 receives the interrupt request signal to when
interrupt processing is started (70 to 120 µs).
ΠTI: Time from when interrupt request signal is received until DWG.I (interrupt process
drawing) execution starts.

Normal program execution: Approx. 90 to 170 µs

I/O command executed directly: Approx. 90 to (1,460 + 40 + N) µs
N = No. of direct I/O words (Max. 8)

ΠDO-00 is used as a coincidence output signal.

When the counter fixed parameter No. 05 (Coincidence Detection Function Selection) is set
to “Use”, DO-00 will be masked. So, when setting a register, which is allocated to DO-00,
using a ladder program to ON or OFF, the setting of this register will not be valid because the
other setting has priority.
ΠTo monitor the coincidence detection signal, use Coincidence Detection in the Status of In
Data.

3-38
 3.4 I/O Modules (Optional)

[ d ] PI Latch Function
The PI latch function saves (latches) the current value to a memory register (IL +06) on the
rising edge of an external signal.
Select either phase-Z or a discrete input as the external signal.
The following graph shows the number of occurrences from when PI latch signal is output to when PI
latch data is displayed.

External signal rising edge

detected point

Counter PI latch data

current 0
value

Hardware latch

Time (s)

PI latch detection
request signal
1 µs min.
External input signal
(either a discrete
signal or phase-Z)

PI latch completed
signal
PI latch register PINT PI latch data
display
ΠWhen using a discrete input signal (DI latch), set the signal so that the signal remains ON for
5 to 60 µs.

3-39
3 Module Specifications
3.4.2 Counter Functions and Settings of LIO-01/LIO-02 Modules

[ e ] Axis Type Selection

There are two types of axis: An infinite length axis that resets the current value with a specified
value, and a finite length axis that does not reset the current value.
The finite length axis is used for rotation in one direction only, where the current value data is not
reset after rotation, and for return and other operations are performed only within a specified range.
The infinite length axis is used for applications such as resetting the current value data for a conveyor
belt or other device to 0 after one rotation.
If infinite length axis is set, the counter current value after conversion and the PI latch data after con-
version is stored in the range 0 to infinite length axis reset position − 1.
Set the reset position in the counter fixed parameter No. 13 (Infinite Length Axis Reset Position
(POSMAX)).

POSMAX

( 5 ) Electronic Gear Function

The Electronic Gear Function can be used when other than 0 (pulse) is set to the counter fixed
parameter No. 08 (Reference Unit Selection).

[ a ] Outline
The Electronic Gear Function is used to set the workpiece travel distance per pulse input to the LIO
Module counter to any value.
The following example describes differences in operations to move a workpiece 10mm using the
equipment shown below with and without electronic gear function. When using the electronic gear
function, simply input the reference value calculated for the travel distance regardless of the number
of pulses to move a workpiece for a specified travel distance.

Workpiece
No. of encoder pulses:
8192
Ball screw pitch: 6mm

When the Electronic Gear is Not Used When the Electronic Gear is Used
To move a workpiece 10mm: To move a workpiece 10mm:
1 revolution is 6 mm. Therefore, Mechanical conditions and minimum reference unit are
10 ÷ 6 ＝ 1.666 revolutions defined with electronic gear.
2048 ×４ pulses is 1 revolution. Therefore, To move a workpiece 10mm, the minimum reference unit is
1.666 × 8092 ＝ 13653 pulses set to 1μm. Therefore,
13653 pulses are input as reference pulses. The equation 10(mm) ÷ 1(μm) ＝ 10000
must be calculated at the host controller. 10000 is input as reference value.

3-40
 3.4 I/O Modules (Optional)

[ b ] Settings
Use steps 1 to 5 in the following procedure to make the settings.

1. Confirm the machine specifications.

Elements relating to the

Electronic Gear
• Gear ratio
Ball screw pitch
• Ball screw pitch
• Pulley diameter, etc. Gear ratio

2. Check the number of encoder pulses displayed in Counter Current Value, and set this
value to the counter fixed parameter No. 14 (Number of Pulses Per Encoder Rotation)

3. Set the reference unit (the smallest reference unit for the reference data to move a
load) according to the settings in the counter fixed parameter No. 08 (Reference Unit
Selection) and No. 09 (Number of Digits Below Decimal Point).

Reference to move a table in

units of 0.001 mm.
Reference unit: 0.001 mm

Consider the machine specifications and

positioning precision when setting the
reference unit.

Œ When reference unit is 1 µm:

When 50,000 reference pulses are input, the workpiece will be moved by 50,000 × 1 µm =
50 mm.

3-41
3 Module Specifications
3.4.2 Counter Functions and Settings of LIO-01/LIO-02 Modules

4. Find the load travel distance for each rotation of the load axis using the reference unit
and set this distance to the counter fixed parameter No. 18 (Moving Amount Per
Machine Rotation).

Load travel distance per rotation of Load travel distance per load axis rotation reference unit
=
load axis (reference unit) Reference unit

EXAMPLE • Calculation Examples

• For a ball screw pitch of 5 mm and a reference unit of 0.001 mm:

5 - = 5000
------------ (Reference unit)
0.001

Ball screw Round table Belt + pulley

Load axis πD
Load axis P
D
P: Pitch Load axis D: Pulley diameter
One P One 360° πD
One
rotation = Reference unit rotation = Reference unit =
rotation Reference unit

5. Set the Encoder Gear Ratio and the Machine Gear Ratio in the counter fixed
parameters No. 11 and No.12.
When the encoder axis has rotated m times and the mechanical configuration allows the load
axis to rotate n times, set the following values:
No. 11 (Encoder Gear Ratio) = m rotations
No. 12 (Machine Gear Ratio) = n rotations
Setting range: 1 to 65,535 [rotations]

<Setting Example>
For the configuration shown in the diagram:

4 rotations
4回転
7 rotations
7回転

Encoder axis
エンコーダ軸 Load負荷軸
axis nn回転
rotations
m rotations
m回転

9 rotations
9回転
3 rotations
3回転

Gear ratio = n/m = (3/7) × (4/9) = 4/21

Therefore, set the following values:
No.11 (Encoder Gear Ratio) = 4 (rotations)
No. 12 (Machine Gear Ratio) = 21 (rotations)

3-42
 3.4 I/O Modules (Optional)

( 6 ) Electronic Gear Setting Examples

The following are setting examples for each kind of load mechanical configuration.

[ a ] Example A: Ball Screw

m 7 rotations

Encoder

Ball screw pitch

n 5 rotations P 6mm/rotation

In the above machine system, if the reference unit = 0.001 mm, the setting of each parameter will be
as follows:
• Moving Amount Per Machine Rotation = 6 mm/0.001 mm = 6000
• Counter fixed parameter No. 11 (Encoder Gear Ratio) = 7 (rotations)
• Counter fixed parameter No. 12 (Machine Gear Ratio) = 5 (rotations)

[ b ] Example B: Rotating Load

m 30 rotations

Encoder

n 10 rotations Rotating load

360°/rotation

In the above machine system, if the reference unit = 0.1°, the setting of each parameter will be as
follows:
• Moving Amount Per Machine Rotation = 360°/0.1° = 3600
• Counter fixed parameter No. 11 (Encoder Gear Ratio) = 3 (rotations)
• Counter fixed parameter No. 12 (Machine Gear Ratio) = 1 (rotation)

3-43
3 Module Specifications
3.4.3 LIO-04/LIO-05 Modules

3.4.3 LIO-04/LIO-05 Modules

( 1 ) Outline of Functions
The LIO-04/LIO-05 Module is equipped with the following digital I/O functions.
LIO-04: 32 digital inputs (DI) and 32 digital outputs (DO) (sink mode output)
LIO-05: 32 digital inputs (DI) and 32 digital outputs (DO) (source mode output)
The following diagram outlines the functions of LIO-04/LIO-05 Module.

LE D
DI 16

CN1
Photocoupler
DO 16

Fuse blowout
detection

DI 16

CN2
DO 16

Fuse blowout
detection

ID register BUS interface

MOD register FPGA

BUS connector CN3

( 2 ) External Appearance and LED Indicators

[ a ] LIO-04 Module External Appearance [ b ] LIO-05 Module External Appearance

LED indicators LED indicators

LIO-04 LIO-05
RUN FU RUN FU

CN1 CN1

I/O connector 1 I/O connector 1

I/O connector 2 I/O connector 2

CN2 CN2

3-44
 3.4 I/O Modules (Optional)

[ c ] LED Indicators
The following table shows the LIO-04/LIO-05 status when the each indicator lamp is lit or unlit.

Indicator Color Status When Lit Status When Unlit

RUN Green Normal operation Error occurrence

RUN FUSE
One or some of the output protection All the output protection fuses are
FUSE Red
fuses is blown out. normal.

( 3 ) Specifications
The hardware specifications and temperature characteristics of LIO-04/LIO-05 Module are as fol-
lows.

[ a ] Hardware Specifications
Item Specifications
Classification I/O Module
Name LIO-04 LIO-05
Model JAPMC-IO2303 JAPMC-IO2304
32 inputs
24-VDC±20% (+19.2V to +28.8V), 4.1 mA (TYP),
combined sink mode/source mode inputs (DI-00, -01, -16, and -17 also used for interrupts)
Digital Input Number of simultaneously ON inputs: 16 (8/connector with 24 VDC),
10 (5/connector with 28.8 VDC)
*For details, refer to [ b ] Number of Simultaneously ON
Inputs - Ambient Temperature Characteristics.
32 outputs 32 outputs
24-VDC±20% (+19.2V to +28.8V), 24-VDC±20% (+19.2V to +28.8V),
Digital Output
100 mA max., 100 mA max.,
transistor outputs, sink mode outputs transistor outputs, source mode outputs
RUN (green)
LED Indicators
FUSE (red)
CN1: I/O connector
Connectors
CN2: I/O connector
Current Consumption 500mA max.
Dimensions (mm) 125 × 95 (H× D)
Mass 80 g

3-45
3 Module Specifications
3.4.3 LIO-04/LIO-05 Modules

[ b ] Number of Simultaneously ON Inputs - Ambient Temperature Characteristics

The following graph shows the number of inputs that can be simultaneously ON depending on the
ambient temperature.
(32 inputs
at 28͠㧕 (32 inputs at 41͠㧕
(Number of inputs)
35
(Input voltage: 24 VDC)
30
(Input voltage: 24 VDC)
25

Number of 20
Simultaneously (16 inputs at 55͠㧕
ON Inputs
15

(10 inputs at 55͠㧕

10

0
0 10 20 30 40 50 60 㧔͠㧕
Ambient Temperature

3-46
 3.4 I/O Modules (Optional)

3.4.4 DO-01 Module

( 1 ) Outline of Functions
The DO-01 Module is equipped with the following digital output functions:
64 digital outputs (DO) (sink mode output)
The following diagram outlines the DO-01 Module functions.

LED
DO 16
Fuse blowout
detection

CN1
DO 16

Photocoupler
Fuse blowout
detection

DO 16

Fuse blowout
detection

CN2
DO 16
Fuse blowout
detection

ID register BUS interface

MOD register FPGA

BUS connector CN3

( 2 ) External Appearance and LED Indicators

[ a ] External Appearance

LED indicators

Output connector 1

Output connector 2

3-47
3 Module Specifications
3.4.5 AI-01 Module

[ a ] LED Indicators
The following table shows the DO-01 status when the each indicator lamp is lit or unlit.
Indicator Color Status When Lit Status When Unlit

RUN Green Normal operation Error occurrence

RUN FUSE
One or some of the output protection All the output protection fuses are
FUSE Red
fuses is blown out. normal.

( 3 ) Hardware Specifications
The following table shows the DO-01 Module hardware specifications.
Item Specifications
Classification I/O Module
Name DO-01
Model JAPMC-DO2300
64 outputs
Digital Output External power supply voltage: 24-VDC±20% (+19.2V to +28.8V)
Output current: 100 mA max.
CN1: Output connector
Connectors
CN2: Output connector
RUN (green)
Indicators
FUSE (red)
Current Consumption 500mA max.
Dimensions (mm) 125 × 95 (H× D)
Mass 80 g

3.4.5 AI-01 Module

( 1 ) Outline of Functions
The AI-01 Module is a analog input module with 8 channels. The following three analog input range
can be selected:
−10 to +10V voltage mode, 0 to +10V voltage mode, 0 to 20 mA current mode
Up to two AI-01 Modules can be mounted in MP2300 optional slots.

( 2 ) External Appearance and LED Indicators

■ External Appearance ■ LED Indicators

AI-01 Status AI-01 Status

Indicator Color
AI-01 When Lit When Unlit
RUN
RUN
RUN Green Normal operation Being stopped

CN1

CN2

3-48
 3.4 I/O Modules (Optional)

( 3 ) Hardware Specifications
The following table shows the AI-01 Module hardware specifications.

Item Specifications
Classification I/O Module
Name AI-01
Model JAPMC-AN2300
Analog Input Range −10 to +10 V 0 to +10 V 0 to 20 mA
Number of Channels 8 ((4/ connector) × 2)
Number of Channels to be Used Any number from 1 to 8
Between channels: Not insulated
Insulation
Between input connector and system power supply: Photocoupler insulation
Max. Rated Input ±15 V ±30 mA
Analog Input Impedance 20 kΩ 250 kΩ
Input
16-bit （−31276 to
Resolution 15-bit（0 to +31276）
+31276）
Absolute Accuracy 100 mV max.*1 0.3 mA max.
25 ℃ *2 ±0.1% (±10 mV) ±0.1%(±0.02 mA)
Accuracy
0 to 55 ℃ ±0.3% (±30 mV) ±0.3% (±0.06 mA)
Input Conversion Time *3 1.4 msec max.
CN1: Input connector
Connectors
CN2: Input connector
LED Indicator RUN (green)
Current Consumption 500 mA max.
Dimensions 125 × 95 (H× D)
Mass 100 g
* 1. Before the offset and gain adjustment using MPE720
* 2. After the offset and gain adjustment using MPE720
* 3. Input Conversion Time = Delay time caused by input filter (1 ms max.)** + (50 µs × Number of
channels in use)
**: The delay time when using an input filter becomes its maximum value 1 ms when −10V →
+10V.

( 4 ) Input Characteristics
Input characteristics of AI-01 Module are described below.

[ a ] Analog Input Characteristics in Each Input Mode

Voltage Mode 1 Voltage Mode 2 Current Mode
Analog Input Value
−10 to +10 V 0 to +10 V 0 to 20 mA
−10.5V −32768 － －
−10.0V −31276 － －
−5.0V −15638 － －
0.0V (0.0mA) 0 0 0
+5.0V (10mA) 15638 15638 15638
+10.0V (20mA) 31276 31276 31276
+10.5V (21mA) 32767 32767 32767

3-49
3 Module Specifications
3.4.5 AI-01 Module

[ b ] Analog Input Characteristics in −10 V to +10 V Voltage Mode 1

32767
31276

Input
register
value

-10.5 V
-10 V
0
0V Analog input value
10 V
10.5 V

-31276
-32768

[ c ] Analog Input Characteristics in −10 V to +10 V Voltage Mode 2 and 0 mA to 20 mA Current Input
Mode

32767
31276

Input
register
value

10.5 V
(21 mA)

0
0 V Analog input value
10 V
(20 mA)

3-50
 3.5 Communication Modules (Optional)

3.5 Communication Modules (Optional)

The following Communication Modules can be mounted to the MP2300: the 218IF-01, the 217IF-01,
the 260IF-01, and the 261IF-01 Modules.

3.5.1 218IF-01 Module

( 1 ) External Appearance and Outline of Functions

The 218IF-01 Module has an RS-232C serial interface and an
Ethernet interface mounted in it. Personal computers, HMI
LED indicators
devices, and controllers manufactured by other companies can
218IF-01
RUN ERR
be connected to the 218IF-01 Module via the PORT or
Switch STRX COL
10Base-T connectors.
TX RX

For details, refer to the MP2300 Machine Controller

INIT
TEST
Communication Module User’s Manual (Manual No.
OFF ON
SIEPC8807004 ).
Serial connector PORT

(RS-232C)

Ethernet connector
10Base-T
10Base-T

( 2 ) LED Indicators and Switch Settings

[ a ] LED Indicators
The following table shows the 218IF-01 Module status when each LED indicator is lit or unlit.

Indicator Color Status When Lit Status When Unlit

RUN Green Normal operation Error occurrence
ERR Red Malfunction (lights/blinks) Normal operation
RUN ERR
Transmitting or receiving RS-232C
STRX Green No data being transmitted or received
STRX COL data
Ethernet collision status Ethernet collision status
TX RX COL Red
: Collision : No collision
Transmitting Ethernet transmission sta-
TX Green No data being transmitted
tus
RX Green Receiving Ethernet receiving status No data being received

3-51
3 Module Specifications
3.5.1 218IF-01 Module

[ b ] Switch Settings
The following table shows the 218IF-01 Module switch settings.
Factory
Switch Name Setting Function
Setting
For engineering communications. Starts the
Module using the default parameters except setting
ON of automatic reception functions. Given higher
INIT INIT Initial Startup priority than the Basic Module Flash Startup and OFF
TEST Self-configuration Startup.
OFF ON Set to OFF for Basic Module Flash Startup and
OFF
Self-configuration Startup.
ON System use
TEST TEST OFF
OFF Normal operation (Always leave set to OFF.)

[ c ] Offline Self-diagnostic Test

Turn the TEST switch ON and the INIT switch OFF, and then turn ON the power supply to execute
the Offline Self-diagnostic Test. The following table shows the status of the LED indicators when the
218IF-01 Module detects a malfunction.
LED Indicators
Item Details
RUN ERR TX RX
Flash Checksum A flash memory checksum error has been Blinking
Error detected. (twice)∗
Blinking
SRAM Error A SRAM hardware error has been detected. Not lit Not lit
(3 times)∗
A CPU data transmission error has been Blinking
CPU Interface Error Not lit
detected. (5 times)∗
Communication Blinking
A communication error has been detected. Depends on status.
Error (4 times)∗
Blinking
Watchdog Error A watchdog timeout error has been detected. Depends on status.
(15 times)∗

* Indicates the number of blinking.

( 3 ) Specifications
The specifications of 218IF-01 Module are as follows.

[ a ] Hardware Specifications.
Item Specifications
Classification Communication Module
Name 218IF-01
Model JAPMC-CM2300
RS-232C 1 port（PORT）
Communication Ports
Ethernet 1 port（10Base-T）
Module status LED indicators
RUN (green)
ERR (red)
Indicators STRX (green)
COL (red)
TX (green)
RX (green)

3-52
 3.5 Communication Modules (Optional)

Item Specifications
INIT
Switches
TEST
Current Consumption 500 mA
Dimensions (mm) 125 × 95 (H × D)
Mass 85 g

[ b ] Communication Specifications

„ RS-232C Communication Specifications.

Item Specifications
Connectors 9-pin D-sub (female)
Transmission Distance 15 m max.
Baud Rate 9,600 or 19,200 bps
Access Mode Asynchronous (start-stop synchronization)
Communication Modes Message communication, engineering communication
Communication Protocols MEMOBUS, MELSEC, OMRON, Non-procedure
Media Access Control
1:1
Method
Data length: 7 or 8 bits
Transmission Format
Stop bits: 1 or 2 bits
(Can be set)
Parity: Odd, even, or none

„ Ethernet Communication Specifications

Item Specifications
Interface 10Base-T: RJ-45
Insulation Method Transformer coupled
100 m/segment
Transmission Distance
Total length: 500 m (when 4 repeaters are connected)
Baud Rate 10 Mbps
Access Mode IEEE802.3 CSMA/CD
Frames Ethernet, Ver.2 (DIX specifications)
Connections TCP/UDP/IP/ARP
Max. Number of Nodes 10Base-T: 2/segment
Communication Modes Message communication, engineering communication
Max. Number of Transmission
512 words (1,024 Bytes)
Words
MEMOBUS (slave), Extended MEMOBUS, MELSEC,
Communication Protocols
MODBUS/TCP, Non-procedure, MODBUS/TCP
Max. Number of Segments 5

3-53
3 Module Specifications
3.5.2 217IF-01 Module

3.5.2 217IF-01 Module

( 1 ) External Appearance and Outline of Functions

The 217IF-01 Module has RS-232C and RS422/485 serial

interfaces mounted in it. Personal computers, HMI devices, and
LED indicators
217IF-01
controllers manufactured by other companies can be connected
RUN ERR to the 217IF-01 Module via the PORT or RS422/485
Switch STRX TRX
connectors. For details, refer to the MP2300 Machine
485
Controller Communication Module User’s Manual (Manual
INIT
TEST
OFF ON
No. SIEPC8807004 ).
ON

Serial connector PORT

(RS-232C)

Serial connector RS422/485

(RS422/485)

( 2 ) LED Indicators and Switch Settings

[ a ] Indicators

The following table shows the 217IF-01 Module status when each LED indicator is lit or unlit.

Indicator Color Status When Lit Status When Unlit

RUN Green Normal operation Error occurrence

RUN ERR
ERR Red Malfunction (lights/blinks) Normal operation
STRX TRX
Transmitting or receiving RS-232C (PORT) No data being transmitted or
STRX Green
data received
TRX Green Transmitting RS-422/485 (RS422/485) data No data being transmitted

3-54
 3.5 Communication Modules (Optional)

[ b ] Switch Settings
The following table shows the 217IF-01 Module switch settings.
Factory
Switch Name Setting Function
Setting
− Reserved − Always leave set to OFF. OFF
ON Uses the RS422/485 port as an RS485.
485 485 Mode OFF
OFF Uses the RS422/485 port as an RS422.
For engineering communications. Starts the RS-
232C (PORT) using default parameters except set-
485
INIT
ting of automatic reception functions. The RS422/
ON
TEST 485 port is disabled. Given higher priority than
INIT Initial Startup OFF
CPU Module Flash Startup and Self-configuration
OFF ON Startup.
Set to OFF for CPU Module Flash Startup and Self-
OFF
configuration Startup.
ON System use
TEST TEST OFF
OFF Normal operation (Always leave set to OFF.)

[ c ] Offline Self-diagnostic Test

Turn the TEST switch ON and the INIT switch OFF, and then turn ON the power supply to execute
the Offline Self-diagnostic Test. The following table shows the status of the LED indicators when the
217IF-01 Module detects a malfunction.
LED Indicators
Item Details
RUN ERR STRX TRX
Flash Checksum A flash memory checksum error has been
Error Blinking (once)∗
detected.
Blinking
SRAM Error An SRAM hardware error has been detected.
(twice)∗
Blinking
DPRAM Error A DPRAM hardware error has been detected.
(3 times)∗ Depends
Not lit Not lit
Communication Blinking on status.
A communication error has been detected.
Error (4 times)∗
Blinking
RS-232C Error An RS-232C loopback error has been detected.
(5 times)∗
Blinking
Watchdog Error A watchdog timeout error has been detected.
(15 times)∗

* Indicates the number of blinking.

3-55
3 Module Specifications
3.5.2 217IF-01 Module

( 3 ) Specifications
The specifications of 217IF-01 Module are as follows.

[ a ] Hardware Specifications
Item Specifications
Classification Communication Module
Name 217IF-01
Model JAPMC-CM2310
RS-232C 1 port (PORT)
Communication Ports
RS422/485 1 port (RS422/485)
Module status LED indicators
RUN (green)
Indicators ERR (red)
STRX (green)
TRX (green)
−
485
Setting Switches
INIT
TEST
Current Consumption 500 mA max.
Dimensions (mm) 125 × 95 (H × D)
Mass 90 g

[ b ] Communication Specifications

„ RS-232C Communication Specifications

Item Specifications
Interface 1 port (PORT)
Connectors 9-pin D-sub (female)
Transmission Distance 15 m max.
Baud Rate* 9.6/14.4/19.2/28.8/38.4/48.0/57.6/76.8 Kbps
Access Mode Asynchronous (start-stop synchronization)
Communication Modes Message communication, engineering communication
Communication Protocols MEMOBUS, MELSEC, OMRON, Non-procedure
Media Access Control
1:1
Method
Data length: 7 or 8 bits
Transmission Format
Stop bits: 1 or 2 bits
(Can be set)
Parity: Odd, even, or none

* The baud rate depends on the connected devices.

3-56
 3.5 Communication Modules (Optional)

„ RS422/485 Communication Specifications

Item Specifications
Interface 1 port (RS422/485)
Connectors MDR14 pin (female)
Transmission Distance 300 m max.
Baud Rate 9.6/14.4/19.2/28.8/38.4/48.0/57.6/76.8 Kbps
Synchronization Mode Asynchronous (start-stop synchronization)
Communication Protocols MEMOBUS, MELSEC, OMRON, Non-procedure
Media Access Control 1:1 (RS422)
Method 1:N (RS485)
Data length: 7 or 8 bits
Transmission Format
Stop bits: 1 or 2 bits
(Can be set)
Parity: Odd, even, or none

3.5.3 260IF-01 Module

( 1 ) External Appearance and Outline of Functions

The 260IF-01 Module has an RS-232C serial interface and a

DeviceNet interface mounted in it. Personal computers, HMI
LED indicators
260IF-01 devices, and controllers manufactured by other companies can
MS NS
be connected to the 260IF-01 Module via the PORT or
DR0

Switch DR1
1
2
DeviceNet connectors.
INIT
TEST
OFF ON
For details, refer to the MP2300 Machine Controller
10
Communication Module User’s Manual (Manual No.
Serial connector PORT
1
S
T
SIEPC8807004 ).
R
X
(RS-232C)

DeviceNet

DeviceNet connector

3-57
3 Module Specifications
3.5.3 260IF-01 Module

( 2 ) LED Indicators and Switch Settings

[ a ] Indicators
The following table shows the status of the 260IF-01 Module LED indicators.
Indicator Display Status
Green Normal operation
MS
Red Module error
(2-color LED)
Not lit Module power supply disconnected
Green Normal operation
MS NS
Green blinking No I/O allocation, connection being established
NS Red Error (Bus OFF, duplicated MAC ID)
(2-color LED) Red blinking Communication error
STRX
Communication power supply disconnected, checking
Not lit
for duplicated MAC ID
STRX Green lit/blinking Transmitting or receiving RS-232C data
(mounted on PCB) Not lit No RS-232C data transmission or reception

[ b ] Switch Settings
The following table shows the 260IF-01 Module switch settings.
Status/Set- Defaul
Switch Name Function
ting Range t
Baud Rate
DR0 OFF
Setting 0 The following baud rates can be selected by the combination of
Baud Rate ON/OFF settings of DR0 and DR1.
DR1 OFF
Setting 1

DR0 OFF OFF ON ON

DR1 OFF ON OFF ON
Communica-
Baud Rate 125 kbps 250 kbps 500 kbps tion not possi-
DR0 ble
DR1
1 ×1 ON Used in master mode.
Master/Slave
2 OFF
Mode OFF Used in slave mode.
INIT
TEST Executes DeviceNet self-diagnosis when turned
×2 ON
OFF ON Self-diagnosis ON the power supply.
OFF
(DeviceNet) Does not execute self-diagnosis. Normally,
10 OFF
always leave turned OFF.
For engineering communications. Starts RS-
1
232C (PORT) using default parameters except
INIT ON setting of automatic reception functions. Given
Initial Startup higher priority than Basic Module Flash Startup OFF
and Self-configuration Startup.
Set to OFF for Basic Module Flash Startup and
OFF
Self-configuration Startup.
TEST ON System use
TEST OFF
OFF Normal operation (Always leave set to OFF.)
Node Address
× 10 0 to 6 0
10s Digit Setting Set the node address in the range from 1 to 64.
Node Address 1s (Rotary decimal switch)
×1 0 to 9 1
Digit Setting

3-58
 3.5 Communication Modules (Optional)

( 3 ) Specifications
The specifications of 260IF-01 Module are as follows.

[ a ] Hardware Specifications
Item Specifications
Classification Communication Module
Name 260IF-01
Model JAPMC-CM2320
RS-232C 1 port (PORT)
Communication Ports
DeviceNet 1 port (DeviceNet)
Module status LED indicators
Indicators MS (green, red)
NS (green, red)
DR0
DR1
×1
×2
Setting Switches
INIT
TEST
×10
×1
Current Consumption 500 mA max.
Dimensions (mm) 125 × 95 (H × D)
Mass 85ｇ

[ b ] Communication Specifications

„ RS-232C Communication Specifications

Item Specifications
Connectors 9-pin D-sub (female)
Transmission Distance 15 m max.
Baud Rate 9,600 or 19,200 bps
Access Mode Asynchronous (start-stop synchronization)
Communication Modes Message communication, engineering communication
Communication Protocols MEMOBUS, MELSEC, OMRON, Non-procedure
Media Access Control
1:1
Method
Data length: 7 or 8 bits
Transmission Format (Can
Stop bits: 1 or 2 bits
be set)
Parity: Odd, even, or none

3-59
3 Module Specifications
3.5.4 261IF-01 Module

„ DeviceNet Communication Specifications

Item Specifications
Number of Lines 1
• I/O communication functions (Polled, Bit Strobed)
Supported Communication Methods
• Explicit messages (Support only for master function)
Max. Number of Slaves 63
I/O Communication
Max. Number of I/O Bytes 2,048 bytes, 256 bytes/node for max. number of I/O bytes.
Max. Number of Nodes for
63 nodes
Message Message
Max. number of nodes for simultaneous communication: 8
Communication Communication
(Only for Masters) Max. Message Length 256 bytes
Function for Execution MSG-SND function
2 rotary switches on front panel: Node address
Settings DIP switch on front panel: Band rate
Master/Slave mode
Indicators 2 LEDs: MS, NS
Power Supply Voltage for Communication 24 VDC±10% (supplied by special cable)
Communication power supply: 45 mA max. (supplied from
Current Consumption communication connector).
Internal circuit power supply (supplied from Basic Module).

3.5.4 261IF-01 Module

( 1 ) External Appearance and Outline of Functions

The 261IF-01 Module has an RS-232C serial interface and a

LED indicators PROFIBUS interface mounted in it. Personal computers, HMI
261IF-01
devices, and controllers manufactured by other companies can
RUN ERR

STRX TRX be connected to the 261IF-01 Module via the PORT or

Switches
INIT
PROFIBUS connectors.
TEST
OFF

10
ON
For details, refer to the MP2300 Machine Controller
1 Communication Module User’s Manual (Manual No.
Serial connector PORT

RS-232C SIEPC8807004 ).

PROFIBUS

PROFIBUS connector

3-60
 3.5 Communication Modules (Optional)

( 2 ) LED Indicators and Switch Settings

[ a ] Indicators

The following table shows the 261IF-01 Module status when each LED indicator is lit or unlit.

Indicator Color Status When Lit Status When Unlit

RUN Green Normal operation Error occurrence

RUN ERR ERR Red Malfunction (lights/blinks) Normal operation

STRX TRX Transmitting or receiving RS-232C
STRX Green No data being transmitted or received
(PORT) data
Transmitting or receiving PROFIBUS
TRX Green No data being transmitted or received
data

[ b ] Switch Settings

The following table shows the 261IF-01 Module switch settings.

Status/
Factory
Switch Name Setting Function
Setting
Range
− Reserved −
Always leave set to OFF. OFF
− Reserved −
For engineering communications. Starts the serial
communication using the default parameters
ON except setting of automatic reception functions.
INIT INIT Initial Startup Given higher priority than the Basic Module Flash OFF
TEST Startup and Self-configuration Startup.
OFF ON
Set to OFF for Basic Module Flash Startup and
OFF
10 Self-configuration Startup.
ON System use
TEST TEST OFF
1 OFF Normal operation. (Always leave turned OFF.)
Node Address 10s
× 10 0 to 6 0
Digit Setting Sets the node address in the range from 1 to 64.
Node Address (Rotary decimal switch).
×1 0 to 9 1
1s Digit Setting

3-61
3 Module Specifications
3.5.4 261IF-01 Module

[ c ] Offline Self-diagnostic Test

Turn the TEST switch ON and the INIT switch OFF, and then turn ON the power supply to execute
the Offline Self-diagnostic Test. The following table shows the status of the LED indicators when the
261IF-01 Module detects a malfunction.
LED Indicators
Item Details
RUN ERR STRX TRX
Flash Checksum A flash memory checksum error has been
Blinking (once)
Error detected.
Blinking
SRAM Error An SRAM hardware error has been detected.
(twice)
Blinking
DPRAM Error A DPRAM hardware error has been detected.
(3 times) Depends
Not lit Not lit
Blinking on status.
RS-232C Error An RS-232C loopback error has been detected.
(5 times)
A PROFIBUS station number error has been Blinking
Station Number Error
detected. (6 times)
Blinking
Watchdog Error A watchdog timeout error has been detected.
(15 times)

* Indicates the number of blinking.

( 3 ) Specifications
The specifications of 261IF-01 Module are as follows.

[ a ] Hardware Specifications
Item Specifications
Classification Communication Module
Name 261IF-01
Model JAPMC-CM2330
RS-232C 1 port (PORT)
Communication Ports
PROFIBUS 1 port (PROFIBUS)
Module status LED indicators
RUN (green)
ERR (red)
Indicators
STRX (green)
TRX (green)
BAT (red)
INIT
TEST
Setting Switches
×10
×1
Current Consumption 500 mA max.
Dimensions (mm) 125 × 95 (H × D)
Mass 90ｇ

3-62
 3.5 Communication Modules (Optional)

[ b ] Communication Specifications

„ RS-232C Communication Specifications.

Item Specifications
Connectors 9-pin D-sub (female)
Transmission Distance 15 m max.
Baud Rate 9,600 or 19,200 bps
Access Mode Asynchronous (start-stop synchronization)
Communication Modes Message communication, engineering communication
Communication Protocols MEMOBUS, MELSEC, OMRON, Non-procedure
Media Access Control
1:1
Method
Data length: 7 or 8 bits
Transmission Format
Stop bits: 1 or 2 bits
(Can be set)
Parity: Odd, even, or none

„ PROFIBUS Communication Specifications

Item Specifications
DP slave function
Mounted Functions
• Cyclic communication (DP standard function)
12 M/6 M/4 M/3 M/1.5 M/750 k/500 k/187.5 k/93.75 k/19.2 k/9.6 kbps
Baud Rate
(Auto detect)
Configuration Implemented by the PROFIBUS Master *1
Slave Address 1 to 64 *2
• Total I/O register area: Max. 122 words
I/O Processing
• I/O allocations: Max. 61 words each
• Status and slave status display using MPE720
Diagnostic Functions
• I/O error display using system register
* 1. The PROFIBUS ID is 05C1.
The GSD file YASK05C1.GSD is provided for master configuration.
GSD file: Defines slave information.
* 2. The PROFIBUS ID can be set between 0 and 125 but the 261IF-01 Module can be
set between 1 and 64.

3-63
3 Module Specifications
3.6.1 Basic Module

3.6 Dimensional Drawings

This section shows the dimensional drawings of the Basic Module and Optional Modules.

3.6.1 Basic Module

Four-M4 tap 111±0.2

M4 mounting screws (4)

121±0.2
Panel Cutout Dimensions

120
(18)
(4.5)

108
(4.5) 111 4.5

MP2300 218IF-01 LIO-01 LIO-01

RDY RUN RUN ERR LD1 LD5 LD1 LD5

YASKAWA ALM ERR STRX COL LD2 LD6 LD2 LD6

TX BAT TX RX LD3 LD7 LD3 LD7

LD4 LD8 LD4 LD8

STOP
SUP
INIT INIT
MODE MODE
CNFG TEST
MON
OFF ON
TEST I/O I/O
SW1
OFF ON

Cable connector (3P) PORT

721-203/026-000 M-I/II
121
130

BATTERY

CPU I/O

DC24V
10Base-T
DC 0V

POWER
4.5

Unit: mm

ΠA 721-203/026-000 Cable Connector is mounted to the POWER connector.

ΠAccessory: Operation lever type 231-131
The operation lever is used when connecting wires to the cable connector.
ΠDifferent Optional Modules are inserted into the slots for each product model.

3-64
 3.6 Dimensional Drawings

3.6.2 Optional Modules

The Optional Modules have the following dimensions. Height: 125 mm; Depth: 95 mm
The following figures show the dimensions of the connector.
SVA-01 SVB-01 Unit: mm
(41) (41)
(5)

(15) (5)

LIO-01 / LIO-02 LIO-04 / LIO-05 / DO-01

(48) (41)

(2)

3-65
3 Module Specifications
3.6.2 Optional Modules

AI-01 218IF-01 Unit: mm

(41)
(45)

(6) (6)

217IF-01 260IF-01
(45) (45)

(6) (6)

261IF-01
(62)

(6)

3-66
 4
Mounting and Wiring

This chapter explains how to handle MP2300 and the connection methods for each
Module.

4.1 Handling MP2300 .................................................................... 4-2

4.1.1 Mounting MP2300 ................................................................................. 4-2
4.1.2 Replacing and Adding Optional Modules .............................................. 4-5

4.2 Basic Module Connections ...................................................... 4-8

4.2.1 Connectors ............................................................................................ 4-8
4.2.2 Power Supply Connector ....................................................................... 4-9
4.2.3 MECHATROLINK Connectors ............................................................. 4-10
4.2.4 CPU I/O Connectors ............................................................................ 4-15

4.3 Motion Module (Optional) Connections ................................. 4-19

4.3.1 SVB-01 Module Connections .............................................................. 4-19
4.3.2 SVA-01 Module Connections ............................................................... 4-22

4.4 I/O Module (Optional) Connections ....................................... 4-27

4.4.1 LIO-01/LIO-02 Modules ....................................................................... 4-27
4.4.2 LIO-04/LIO-05 Module Connections .................................................... 4-34
4.4.3 DO-01 Module Connections ................................................................ 4-46
4.4.4 AI-01 Module Connections .................................................................. 4-53

4.5 Communication Module (Optional) Connections ................... 4-60

4.5.1 218IF-01 Module ................................................................................. 4-60
4.5.2 217IF-01 Module ................................................................................. 4-64
4.5.3 260IF-01 Module ................................................................................. 4-68
4.5.4 261IF-01 Module ................................................................................. 4-71

4-1
4 Mounting and Wiring
4.1.1 Mounting MP2300

4.1 Handling MP2300

4.1.1 Mounting MP2300
There are two methods for mounting MP2300.
• Using screws
• Using DIN rail

( 1 ) Screw Mounting
Place the MP2300 against the mounting base and tighten the four mounting screws.

MP2300
YASKAWA RDY RUN
ALM ERR
TX BAT

STOP
SUP
INT
CNFG
MON
TEST SW1

OFF ON

M-I/II
Option
Option

Option

BATTERY

CPU I/O

DC24V

DC 0V

Mounting screw
(M4 Phillips screw)
Use a screwdriver with a blade
length of 10 cm or more.
Note: Mount the MP2300 vertically on the wall, as shown in the above diagram.

( 2 ) DIN Rail Mounting

[ a ] DIN Rails and Spacer
Two types of DIN rails are available: with 7-mm or 10-mm gap from the mounting base as shown in
the following diagram. If mounting a MP2300 using DIN rail with 10 mm gap, install a spacer on the
rear of the MP2300 near the bottom to protect the MP2300 from vibration and shock.
Gap from mounting base: 7.0 mm or 10.0 mm

For a 10-mm gap

Mounting base

DIN rail
Spacer

DIN rail

ΠThe parts for mounting the MP2300 to the DIN rail are sold separately. Purchase the following
product when using DIN rail.
Product name: DIN Rail Mounting Parts
Model No.: JEPMC-OP300

4-2
 4.1 Handling MP2300

[ b ] Procedure for Mounting to DIN Rail

Use the following procedure to attach the DIN rail mounting parts to the MP2300 and then mount the
MP2300 to the DIN rail.

1. Insert the DIN rails in the two slots on the rear of the MP2300 as shown in the follow-
ing figure.
MP2300 Rear Side

DIN rail
mounting parts
Insert the parts in these positions

DIN rail
mounting
parts
inserted

Insert the mounting clips so that they are in the positions shown with a dotted line in the previ-
ous figure.
ΠThe figure below shows the front and back of a mounting clip. Insert each clip so that its
front faces outward.

Front Back

2. Pull the DIN rail mounting clips down to release them.

MP2300
YASKAWA RDY RUN
ALM ERR
TX BAT

STOP
SUP
INT
CNFG
MON
TEST SW1

OFF ON

M-I/II
Option
Option

Option

BATTERY

CPU I/O

DC24V

DC 0V

Clip

4-3
4 Mounting and Wiring
4.1.1 Mounting MP2300

3. Hook the MP2300 to the top of the DIN rail (a), and then push the MP2300 towards the
mounting base to secure it in place (b).

a)

b)

4. Push the DIN rail mounting clips to lock them in place.

MP2300
YASKAWA RDY RUN
ALM ERR
TX BAT

STOP
SUP
INT
CNFG
MON
TEST SW1

OFF ON

M-I/II

Option
Option

BATTERY Option

CPU I/O

DC24V

DC 0V

Clip

5. Place end plates on either side of the MP2300 to secure it to the DIN rail.
MP2300
YASKAWA RDY RUN
ALM ERR

DIN rail TX BAT

STOP
SUP
INT
CNFG
MON
TEST SW1

OFF ON

M-I/II
Option
Option

Option

BATTERY

CPU I/O

DC24V

DC 0V End plate

This completes the installation procedure.

4-4
 4.1 Handling MP2300

4.1.2 Replacing and Adding Optional Modules

Use the following procedures to replace and add Optional Modules.

( 1 ) Preparations

1. Create a backup data file.

Use the MPE720 to save the MP2300 program on a computer (right-click the PLC, and select
Transfer - All Files - From Controller to MPE720.)

2. Remove the MP2300.

Turn OFF the power supply and disconnect all cables from the MP2300. Then remove the
MP2300 from the panel or rack and place on a workbench or other area with sufficient space.

( 2 ) Removing Optional Modules

1. Remove the battery cover.

Pull the notch on the side of the MP2300 towards you to remove the battery cover.

2. Remove the panel of Optional Module.

Insert the protruding part of the battery cover into the slot on top of the panel of Optional
Module to unhook, as shown in the diagram. Face the front of the battery cover towards you for
this operation.
ΠRemove the front cover (optional) from the empty slot before mounting an Optional Module
in an empty slot.

Unhook the bottom in the same way.

4-5
4 Mounting and Wiring
4.1.2 Replacing and Adding Optional Modules

3. Remove the Optional Module from the mounting base.

Pull the top of the panel of the Optional Module towards you to remove it. A notch on the
Optional Module will be visible from the gap in the cover. Hook the round knob on the battery
cover, shown in the diagram, into the notch in the Optional Module.

Notch

Round knob

Hold the center of the battery cover as shown in the following diagram. Push the battery cover
down and out, rotating from the round knob to disconnect the Module and mounting base
connectors, and then pull the Optional Module forward.

Fulcrum
支点

Round knob

4. Pull out the Optional Module.

Hold the Module on the top and bottom and pull it out straight. Hold the edges of the Module
and avoid touching the parts on the Module.

Put the removed Module into the bag that was supplied with and store the Module in this bag.

4-6
 4.1 Handling MP2300

( 3 ) Installing Optional Modules

1. Insert Optional Modules.

Hold the top and bottom of the Module to be installed, line up the Module on the left-side guide
rail inside the Option Slot, and then insert it straight.
ΠThe FG bar on the inside bottom of the Unit Case may be damaged if the Module is not
inserted straight.

Guide
rail

2. Mount on to the mounting base.

Once the Optional Module has been completely inserted, place your hand on the front face of
the Optional Module and push hard until the Optional Module has been inserted into the
mounting base connectors. The front face of the Optional Module and the hook will be aligned
when the Optional Module has been installed properly.

3. Install the panel of the Optional Module.

Place the hole on the bottom of the panel of the Optional Module onto the hook on the bottom
of the MP2300. Next, hook the hole at the top of the panel of the Optional Module onto the
hook at the top of the MP2300.

This completes the Optional Module mounting procedure.

ΠAlways cover the empty slots with covers (Option: JEPMC-OP2300).

4-7
4 Mounting and Wiring
4.2.1 Connectors

4.2 Basic Module Connections

4.2.1 Connectors
The following diagram shows the connectors for the Basic Module.

MP2300
YASKAWA RDY RUN
ALM ERR
TX BAT

STOP
SUP
INT
CNFG
MON
SW1
MECHATROLINK TEST

connector OFF ON

M-I/II

Option
Option

Option
BATTERY

Power supply connector

CPU I/O

DC24V
I/O connector DC 0V

4-8
 4.2 Basic Module Connections

4.2.2 Power Supply Connector

( 1 ) Specifications, Pin Arrangement, and Connection Procedure

Supply a 24-VDC to the MP2300. Connect the power supply connector as shown in the diagram
below.

Connector No. of Connector Model

Name
Name Pins Module Cable Manufacturer
Power Supply
POWER 3 721-863 721-203/026 WAGO
Connector

Signal
Symbol Description
Name
24VDC 24V 24 VDC input
0 VDC 0V 0 V input

Frame ground
FG
(Ground to 100 Ω or less.)

MP2300

721-863
721-203/026

24 VDC 24 V
AC input 24-VDC
power 0V
0V

POWER

FG FG

ΠUse an insulated 24-VDC power supply. Attach the power supply switch on the AC side. If the
switch is attached on the 24-VDC side, there will be an inrush current of approximately 40 A when
the power is turned ON.

4-9
4 Mounting and Wiring
4.2.3 MECHATROLINK Connectors

( 2 ) Connection Procedure
The power supply terminal has a removable connector. Use the following procedure to wire the
terminal to the power supply connector. Use 0.2 mm2 to 0.51 mm2 (AWG24 to AWG20) twisted-pair
cable.

1. Strip approx.6.5 mm the end of the wire.

6.5 mm

2. Open the wire insert opening on the terminal with the tool shown in Fig. A or Fig. B.

Fig. A (with lever) Fig. B (with screwdriver)

3. Insert the wire into the opening and then close the opening by releasing the lever or
removing the screwdriver.

4.2.3 MECHATROLINK Connectors

MECHATROLINK connector is used to connect the MP2300 and the SERVOPACKs and distributed
I/O via MECHATROLINK cables.

( 1 ) Specifications and Pin Arrangement

Connector No. of Connector Model

Name
Name Pins Module Cable Manufacturer
MECHATROLINK
M-I/II 4 USB-AR41-T11 DUSB-APA41B1-C50 DDK Ltd.
Connector

Signal
Pin Number Description
Name
1 (NC) Not used.
2 /DATA Signal −
3 DATA Signal +
4 SH Not used.
Shell Shield Connects the shield wire.

4-10
 4.2 Basic Module Connections

( 2 ) Cables
Name and Specification Model Number Length
JEPMC-W6002-A5 0.5 m
JEPMC-W6002-01 1m
MECHATROLINK Cable JEPMC-W6002-03 3m
MECHATROLINK Connector – MECHATROLINK Connector
JEPMC-W6002-05 5m
JEPMC-W6002-10 10 m
JEPMC-W6002-20 20 m
JEPMC-W6002-30 30 m
JEPMC-W6002-40 40 m
JEPMC-W6002-50 50 m
JEPMC-W6003-A5 0.5 m
JEPMC-W6003-01 1m
MECHATROLINKCable
MECHATROLINK Connector – MECHATROLINK Connector JEPMC-W6003-03 3m
(with Ferrite Core) JEPMC-W6003-05 5m
JEPMC-W6003-10 10 m
JEPMC-W6003-20 20 m
JEPMC-W6003-30 30 m
JEPMC-W6003-40 40 m
JEPMC-W6002-50 50 m
JEPMC-W6011-A5 0.5m
JEPMC-W6011-01 1m
MECHATROLINK Cable
JEPMC-W6011-03 3m
MECHATROLINK Connector – Loose Wire
JEPMC-W6011-05 5m
JEPMC-W6011-10 10 m
JEPMC-W6011-20 20 m
JEPMC-W6011-30 30 m
JEPMC-W6011-40 40 m
JEPMC-W6011-50 50 m
Terminator

JEPMC-W6022 −

4-11
4 Mounting and Wiring
4.2.3 MECHATROLINK Connectors

( 3 ) Cable Connections between the MP2300 and I/O Units and the MP2300 and SERVOPACKs
Use the MECHATROLINK cable JEPMC-W6002- or JEPMC-W6003- for connection
*1
between the MP2300 and I/O units or SERVOPACKs .
The connection diagram using MECHATROLINK cable JEPMC-W6002- or JEPMC-W6003-
*2 is shown below.
MP2300/SVB01 I/O Unit or SERVOPACK
Pin number
Signal Name Signal Name

(NC) 1 1 (NC)

/DATA 2 2 /DATA

DATA 3 3 DATA

SH 4 4 SH

Shield Shell Shell Shield

JEPMC-W6002-††
JEPMC-W6003-††

ΠUse MECHATROLINK cable JEPMC-W6011- when connecting SERVOPACK SGD-

N or SGDB- AN. (Refer to ( 4 ) Cable Connections between the MP2300 and SGD-
N and SGDB- AN SERVOPACKs).
ΠThe JEPMC-W6003- cable has a ferrite core.

4-12
 4.2 Basic Module Connections

( 4 ) Cable Connections between the MP2300 and SGD- N and SGDB- AN SERVO-
PACKs
Use the MECHATORLINK cable JEPMC-W611- for the connections between the MP2300 and
SGD- N or SGDB- AN SERVOPACK and between these SERVOPACKs.
The following diagram shows the connections between the MP2300 (or SVB-01) ←→ SERVO-
PACK ←→ SERVOPACK ←→ SERVOPACK using the MECHATROLINK cables JEPMC-
W611- .

MP2300/SVB-01 SERVOPACK SERVOPACK SERVOPACK (terminating)

USB Connector MR Connector MR Connector MR Connector

Signal Name Signal Name Signal Name Signal Name

(NC) 1 1 /DATA 1 /DATA 1 /DATA

/DATA 2 2 DATA 2 DATA 2 DATA

DATA 3 3 3 3

TERM
SH 4 4 TERM 4 TERM 4

Shield Shell FG FG
5 5 5 FG

/DATA /DATA /DATA

6 6 6
Externally connect a terminator
DATA DATA DATA to Pin 6 and 7.
7 7 7
Resistance: 130 5% 1/2W

8 8 8

Œ The JEPMC-6011-†† has a USB connector on one end and loose wires on the other end.
Use an MR connector and wiring material to create a 1:N cable.
ΠThe terminator must be provided by the user.
Œ The shield wire can be connected as instructed in the SERVOPACK’s manual. However,
the connections shown in the above diagram is recommended when using the MP2300 in
combination with a SVB-01 Module.
ΠPrepare the cables according to MECHATROLINK-I specifications. Connections that do not
meet the specifications will prevent normal communication due to the influence of reflected
waves or other factors.
MECHATROLINK-I Specifications
Total network length: 50 m max.
Maximum number of slave stations: 14 stations max.
Minimum distance between stations: 0.3 m min.

( 5 ) Terminator Connections
JEPMC-W6022
Pin number
Name
(NC) 1

/DATA 2
130 Ω
DATA 3

SH 4

Shield Shell

4-13
4 Mounting and Wiring
4.2.3 MECHATROLINK Connectors

( 6 ) Connection Example between MP2300, SERVOPACK, and IO2310

MP2300
YASKAWA RDY RUN
ALM ERR
TX BAT

STOP
SUP YASKAWA
INT JEPMC-IO2310
CNFG
MON
SW1

L1
TEST
OFF ON
CN1
IN1 OUT1 IN2 OUT2
M-I/II

A1 B1 A1 B1 A1 B1 A1 B1

BATTERY

CPU I/O

DC24V

DC 0V

L2

YASKAWA SERVOPACK 200V YASKAWA SERVOPACK 200V YASKAWA SERVOPACK 200V

SGDS-01A12A SGDS-01A12A SGDS-01A12A

SW1
C
L3 SW1
C
Ln SW1
C
N N N
CHARGE 6 CHARGE 6 CHARGE 6
A/B A/B A/B

Terminator:
L1 L1 L1
L2 L2 L2
L1C
L2C
C
N
3
L1C
L2C
C
N
3
L1C
L2C
C
N
3
JEPMC-W6022
B1/ B1/ B1/
B2 B2 B2

C C C
U N U N U N
1 1 1
V V V
W W W
C C C
N N N
2 2 2
C C C
N N N
4 4 4

ΠUse MECHATROLINK cables between modules.

Œ Use under the conditions that L1 + L2 + L3 + . . . + Ln ≤ 50 m
ΠThe MP2300 has a built-in terminator.

4-14
 4.2 Basic Module Connections

4.2.4 CPU I/O Connectors

CPU I/O connector is used to connect the MP2300 and external I/O signals.

( 1 ) Specifications
External input: 8 points; External output: 4 points

Connector No. of Connector Model

Name
Name Pins Module Cable Manufacturer

• 1020-3000VE Connector
I/O Connector CPU I/O 20 10220-52A2JL Sumitomo 3M
• 10320-52F0-008 Shell

( 2 ) Cables
Name Model Number Length
JEPMC-W2060-A5 0.5 m
I/O Cable (loose wires） JEPMC-W2060-01 1m
JEPMC-W2060-03 3m

( 3 ) External Appearance of I/O Cable

JEPMC-W2060-††

( 4 ) Connector Pin Arrangement

The following table shows the connector pin arrangement.

Pin Signal Pin

I/O Remarks Signal Name I/O Remarks
Number Name Number
1 DI_COM P Input common 11 DI_COM P Input common
2 DI_00 I Input 00 12 DI_04 I Input 04
3 DI_01 I Input 01 13 DI_05 I Input 05
4 DI_02 I Input 02 14 DI_05 I Input 06
5 DI_03 I Input 03 15 DI_07 I Input 07
6 − 16 −
7 − 17 DO_24V P +24 V input
8 DO_COM P Output common 18 DO_COM P Output common
9 DO_00 O Output 00 19 DO_02 O Output 02
10 DO_01 O Output 01 20 DO_03 O Output 03

ΠP: Power input; I: Input signal; O: Open-collector output

4-15
4 Mounting and Wiring
4.2.4 CPU I/O Connectors

( 5 ) Input Circuits
The following table shows the CPU I/O Connector input circuit specifications.

Item Specifications
DI-00 General-purpose input (shared with interrupts)
Inputs 8 points
DI-01 to DI-07 General-purpose input
Input Format Sink mode/source mode input
Isolation Method Photocoupler
Input Voltage ±24 VDC±20％
Input Current 4.1 mA (TYP.)
ON Voltage/Current 15 VDC min./2.0 mA min.
OFF Voltage/Current 5 VDC max./1.0 mA max.
ON: 1 ms max.
ON Time/OFF Time
OFF: 1 ms max.
Number of Commons 8 points

ΠDI_00 is shared with an interrupt input. If DI_00 is turned ON while interrupts are enabled, the
interrupt processing drawing is executed.

+24 V

+5 V
DI_COM

DI_IN 5.6 kΩ/0.5 W

R Input
register

R
0 24 0.01µF

Fig. 4.1 Digital Input Circuit (Sink Mode Input)

+24 V

+5 V
DI_COM

R
5.6 kΩ/0.5 W
DI_IN
R Input
register
R
0 24

Fig. 4.2 Digital Input Circuit (Source Mode Input)

4-16
 4.2 Basic Module Connections

( 6 ) Output Circuit
The following table shows the CPU I/O Connector output circuit specifications.
Item Specifications
Outputs 4 points
Output Format Transistor, open-collector, sink mode output
Isolation Method Photocoupler
Output Voltage +24 VDC ±20％
Output Current 100 mA max.
Leakage Current When OFF 0.1 mA max.
ON: 1 ms max.
ON Time/OFF Time
OFF: 1 ms max.
Number of Commons 4 points
Fuse
Protection Circuit (The fuse is not, however, for circuit protection. It is for protecting against fire at
output shorts. Attach a fuse externally to each output if circuit protection is required.)

+24 V

Output DO_24V
register R

DO_OUT
R

R
33kΩ
DO_COM

0 24

Fig. 4.3 Digital Output Circuit (Sink Mode Output)

4-17
4 Mounting and Wiring
4.2.4 CPU I/O Connectors

( 7 ) CPU I/O Connector Connections

The following diagram shows the connections for the CPU I/O connector.

1 DI_COM

11 DI_COM
24 VDC
Digital input R
2 DI_00
R

3 DI_01

4 DI_02
External
5 DI_03 input
signals
12 DI_04

13 DI_05

14 DI_06

15 DI_07

17 DO_24V
24 VDC

DO_00 Fuse
9
Digital output L
R
DO_01
External
10 L ouput
DO_02
signals
19
L

20 DO_03
L

Fuse 8 DO_COM

18 DO_COM
Fuse blowout
detection circuit

ΠConnect a fuse suitable for the load specifications in the output signal circuit in series with
the load. If an external fuse is not connected, load shorts or overloads could result in fire,
destruction of the load device, or damage to the output element.
ΠThe pins 1 and 11 and the pins 8 and 18 are internally connected. Connect them externally
as well.

4-18
 4.3 Motion Module (Optional) Connections

4.3 Motion Module (Optional) Connections

4.3.1 SVB-01 Module Connections
The MECHATROLINK-I/MECHATROLINK-II communication connectors (M-I/M-II) connect the
SVB-01 Module to the SERVOPACK and distributed I/O.

( 1 ) MECHATROLINK Connector Specifications and Pin Arrangement

Connector No. of Connector Model

Name
Name Pins Module Side Cable Side Manufacturer

MECHATROLINK connector M-I / II 4 USB-AR41-T11 DUSB-APA41B1-C50 DDK Ltd.

M-I/II Signal
Pin No. Description
Name
CN1
1 (NC) Not used
2 /DATA Signal −
3 DATA Signal +
4 SH Not used
Shell Shield Connects the shield wire.
CN2

ΠTwo connectors are provided, but the communication line supports one channel only.
ΠWhen connecting the SVB-01 Module to the end of the network, connect a JEPMC-W6022
Terminator to the unused connector.
ΠThe top and bottom connectors are the same, so either can be connected.

( 2 ) Cables
The same type of the cables for the MP2300 Basic Module MECHATROLINK connectors can be
used for the SVB-01 Modules. For the cables for the SVB-01 Modules, refer to 4.2.3 ( 2 ) Cables on
page 4-11.

( 3 ) Cable Connections between the SVB-01 and I/O Units and the SVB-01 and SERVO-
PACKs
The cable connections between the SVB-01 and I/O units and the SVB-01 and SERVOPACKs are
the same as for the cable connections between the MP2300 Basic Module and I/O units and the
MP2300 and SERVOPACKs. Refer to 4.2.3 ( 3 ) Cable Connections between the MP2300 and I/O
Units and the MP2300 and SERVOPACKs on page 4-12.

( 4 ) Cable Connections between the SVB-01 and SGD- N and SGDB- AN SERVO-
PACKs
The cable connections between the SVB-01 and SGD- N and SGDB- AN SERVOPACKs
are the same as for the cable connections between the MP2300 Basic Module and SGD- N and
SGDB- AN SERVOPACKs. Refer to 4.2.3 ( 4 ) Cable Connections between the MP2300 and
SGD- N and SGDB- AN SERVOPACKs on page 4-13.

4-19
4 Mounting and Wiring
4.3.1 SVB-01 Module Connections

( 5 ) Terminator
The JEPMC-W6011- Terminator must be connected when connecting the SVB-01 Module in the
MECHATROLINK network in the same way as for the MP2300 Basic Module. Refer to 4.2.3 ( 5 )
Terminator Connections on page 4-13.

( 6 ) System Configuration
■ Connecting the SVB-01 Module to the End of the MECHATROLINK Network
The following diagram shows the system configuration.

MP2300 SVB-01
YASKAWA

M-

M-

Terminator

MECHATROLINK-
Terminator

YASKAWA SERVOPACK 200V YASKAWA SERVOPACK 200V YASKAWA SERVOPACK 200V

SGDS-01A12A SGDS-01A12A SGDS-01A12A

SW1 SW1 SW1

C C C
N N N
CHARGE 6 CHARGE 6 CHARGE 6
A/B A/B A/B YASKAWA
JEPMC-IO2310
L1 L1 L1
L2 L2 L2 CN1
IN1 OUT1 IN2 OUT2
L1C C L1C C L1C C
N N N
L2C 3 L2C 3 L2C 3
A1 B1 A1 B1 A1 B1 A1 B1
B1/ B1/ B1/
B2 B2 B2

C C C
U N U N U N
1 1 1
V V V
W W W

N N N
2 2 2
C C C
N N N
4 4 4

I/O

SERVOPACK SERVOPACK Repeater SERVOPACK Inverter

SERVOPACKs/Inverters for up to 16 stations

Up to 21 stations including I/Os

ΠInsert a JEPMC-W6022 Terminator into the unused MECHATROLINK port.

4-20
 4.3 Motion Module (Optional) Connections

■ Connecting the SVB-01 Module in the Middle of the MECHATROLINK Network

The following diagram shows the system configuration.

MP2300 SVB-01
YASKAWA RDY RUN RUN ERR
ALM ERR TRX
TX BAT
M/S
SIZE
STOP SPD
SUP OFF ON
INIT
X10
CNFG
MON
SW1 X1
TEST

OFF ON
M-

M- CN1

CPU

CN2

POWER

MECHATROLINK- MECHATROLINK-
Terminator Terminator

YASKAWA SERVOPACK 200V YASKAWA SERVOPACK 200V YASKAWA SERVOPACK 200V

SGDS-01A12A SGDS-01A12A SGDS-01A12A

SW1 SW1 SW1

C C C
N N N
CHARGE 6 CHARGE 6 CHARGE 6
A/B A/B A/B YASKAWA
JEPMC-IO2310
L1 L1 L1
L2 L2 L2 CN1
IN1 OUT1 IN2 OUT2
L1C C L1C C L1C C
N N N
L2C 3 L2C 3 L2C 3
A1 B1 A1 B1 A1 B1 A1 B1
B1/ B1/ B1/
B2 B2 B2

C C C
U N U N U N
1 1 1
V V V
W W W

N N N
2 2 2
C C C
N N N
4 4 4

I/O

SERVOPACK SERVOPACK SERVOPACK Repeater Inverter

SERVOPACKs/Inverters for up to 16 stations

Up to 21 stations including I/Os

ΠInsert a JEPMC-W6022 Terminator into the unused MECHATROLINK port.

4-21
4 Mounting and Wiring
4.3.2 SVA-01 Module Connections

4.3.2 SVA-01 Module Connections

The Servo interface connectors connect the SVA-01 Module to analog Servos.

( 1 ) Connectors

[ a ] Servo Interface Connectors (CN1 and CN2)

These connectors connect the SVA-01 Module to two SERVOPACKs.

They are connected using the following standard cable.
• JEPMC-W2040- (For SGDH, SGDM, and SGDS SERVOPACKs)
ΠThe user must provide cables for SGDA and SGDB SERVOPACKs.

[ b ] 24-V Input Connector (CN3)

This connector connects the SVA-01 Module to +24 VDC as a Servo I/O power supply.
A screw terminal connector is used (BL3.5/2F-AU manufactured by Weidmuller).

Pin No. Signal Name Name

+24V
ON 2 24V +24 VDC input
DC IN
1 0V 0V

* Refer to 2.2.3 (1) (d) Connection Procedure for 24-V Input Cable of Machine Controller
MP220/MP2300 Motion Module User’s Manual (Manual No. SIEP C880700 16 ) for infor-
mation on how to connect the 24-V input cable.

[ c ] Connector Specifications
The following table shows the connector specifications.

Connector No. of Connector Model

Name Cable Model Numbers
Name Pins Module Side Cable Side Manufacturer
• Connector body:
10136-3000VE
JEPMC-W2040-††
Servo Interface • Shell:
CN1 (For the SGDH, SGDM,
Connector 1 and 36 10236-52A2JL 10336-52A0-008 3M
CN2 and SGDS
Connector 2 (Screw locking) SERVOPACKs)
10336-52F0-008
(One-touch locking)
The CN3 connector is
included with the SVA-
24-V Input
CN3 2 − • BL3.5/2F-AU Weidmuller 01 Module, but a cable is
Connector
not included. The user
must connect the cable.

4-22
 4.3 Motion Module (Optional) Connections

[ d ] Connector Pin Arrangement (CN1 and CN2)

The following figure shows the 36-pin arrangement of CN1 and CN2.

19
1
20
2
17

35
18

36

Arrangement viewed from Connector Wiring End on Cable

Ground Ground
1 SG 19 SG
(analog) (For SEN signal)
General-purpose
AO_0 SEN SEN Signal
2 analog output 0 20
(NREF) (speed reference output) (5V) (Servo) General-purpose
5-V differential phase analog input 1
3 PA 21 AI_1
A pulse input (+) (Torque (thrust) reference
monitor input)
4 PAL 5-V differential phase 22 − Not connected
A pulse input (−)
5-V differential phase 5-V differential phase
5 PC C pulse input (+) 23 PB
B pulse input (+)
5-V differential phase 5-V differential phase
6 PCL 24 PBL
C pulse input (−) B pulse input (−)

7 SG Ground 25 SG Ground
General-purpose
analog input 0
8 AI_0 26 AI-GND Analog input ground
(Feedback speed General-purpose
monitor input) AO_1 analog output 1 Analog output
9 27 AO-GND
(TREF) (torque reference output) ground
0V 0V
10 0 V (for 24 V) output 28 0 V (for 24 V) output
(For 24 V) (For 24 V)
0V 0V
11 0 V (for 24 V) output 29 0 V (for 24 V) output
(For 24 V)
General-purpose ‫ڎ‬ (For 24 V)
General-purpose ‫ڎ‬
DO_2 output DO_2 DO_1 output DO_1
12 30
(PCON) (P action reference output)
(ALMRST) (Alarm reset ouput) ‫ڎ‬
General-purpose General-purpose
output DO_4 DO_0
13 DO_4 31 output DO_0
‫ڎ‬ (SV ON)
DO_5 General-purpose (Servo ON output)
14 DO_3 General-purpose 32
output DO_3 (SEN) output DO_5
General-purpose (VS866 24-V SEN signal)
DI_3 input DI_3 DI_4 General-purpose
15 33 input DI_4
(P-OT) (positive overtravel input) (N-OT)
(Negative overtravel input)
16 +24V +24 V output 34 +24V +24 output
General-purpose ‫ڎ‬ ‫ڎ‬
General-purpose
DI_0 input DI_0 DI_1
17 35 input DI_1
General-purpose (SVALM) (Servo alarm input) (SRDY)
DI_2 General-purpose (Servo delay input)
input DI_2 DI_5 input DI_5
18 (ZERO/ 36
(ZERO/HOME LS input) (EXT/DEC) (EXT/DEC signal input)
HOME LS)

Note 1. : Inputs signals with a latch function.

2. ‫ڎ‬: Signals that can be used as general-purpose I/O signals only in general-purpose I/O mode.
In normal operation mode, the SVA-01 Module uses these as system I/O.
3. : Either 5 V or 24 V can be selected for the SEN signal. Connect pin 20 or pin 32
according to the application. Pin 20 (5 V) is connected in the standard cable.

4-23
4 Mounting and Wiring
4.3.2 SVA-01 Module Connections

( 2 ) Cable Specifications and Connections

[ a ] Cables
The following standard cables are available for use with the SVA-01 Module. These cables are
used to connect the SVA-01 Module to SERVOPACKs, overtravel limit switches, and other
machines.

Applicable SERVOPACKs Model Length

SGDA- S,
No standard cable is available. －
SGDB-
SGDM, SGDH, JEPMC-W2040-A5 0.5 m
SGDS- 01 ， JEPMC-W2040-01 1.0 m
SGDS- 02 JEPMC-W2040-03 3.0 m

[ b ] SERVOPACK Connection Cable JEPMC-W2040-

The external appearance, specifications and connections diagram of the standard cable JEPMC-
W2040- for SGDM, SGDH, SGDS- 01 , and SGDS- 02 SERVOPACKs are
shown below.

■ External Appearance

AI _1

AI _2
NP:SVA GND NP:SERVOPACK
L

OTF BAT

OTR BAT 0

EXT /B RK+

ZERO /BRK -

4-24
 4.3 Motion Module (Optional) Connections

■ Specifications
No. in
the
Name Model Qty Manufacturer Remarks
above
drawing
Sumitomo 3M
① Plug (SVA end) 10136-3000VE 1 Soldered
Corporation
Sumitomo 3M
② Shell (SVA end) 10336-52A0-008 1 −
Corporation
Plug Sumitomo 3M
③ 10150-3000VE 1
(SERVOPACK end) Corporation
Soldered
Shell Sumitomo 3M
④ 10350-52Z0-008 1
(SERVOPACK end) Corporation
HP-SB/20276SR Taiyo Electric Wire
⑤ Cable − Shield wires
26x28AWG and Cable Co., Ltd.
Sumitomo Electric
⑥ Heat shrinkable tube F2 (Z) − F2 (Z) or equivalent
Industries, Ltd.
OTF: Brown
*BRK+: Gray
OTR: Orange
*BRK-: White
EXT: Black
⑦ Wires UL1061 28AWG − − AI_1: White
ZERO:
AI_2: Red
BAT: Blue
GND: Black
BAT0: Purple
⑧ Mark tube 2 mm dia., White 11 − Characters in black
Hirose Electric Co.,
Socket DF11-4DS-2C 1 −
Ltd.
⑨
Hirose Electric Co.,
Contact DF11-2428SCF 1 −
Ltd.

4-25
4 Mounting and Wiring
4.3.2 SVA-01 Module Connections

„ Cable Connections Diagram

Analog monitor cable

(JZSP-CAS01) SGDM / SGDH / SGDS
CN5
Analog input ground Black
1 GND
General-purpose Black
2 GND
analog input White
3 Analog monitor 1
(Torque (thrust) reference monitor)
Red
4 Analog monitor 2
General-purpose (Speed monitor)
analog input

SVA-01 SGDM / SGDH / SGDS

CN1/CN2 CN1
SG 1 2 SG
AO_0 (NREF) 2 5 V-REF
PA 3 33 PA
PAL 4 34 /PA
PC 5 19 PC
PCL 6 20 /PC
SG 7 6 SG
AI_0 (VTG) 8
AO_1 (TREF) 9 9 T-REF
0V (For 24 V) 10 32 ALM-
0V (For 24 V) 11
(Control mode
DO_2 (PCON) 12 41 /C-SEL switch)
DO_4 13 45 /P-CL (User-set)
DO_3 14 46 /N-CL (User-set)
DI_3 (P-OT) 15 42 P-OT
+24V 16 47 +24V IN
DI_0 (SVALM ) 17 31 ALM+
DI_2 (ZERO/HOME LS) 18
SG 19 10 SG
SEN (5V) 20 4 SEN
AI_1 (TMON) 21
− 22
PB 23 35 PB
PBL 24 36 /PB
SG 25 28 TGON- (/BRK-)
AI-GND 26 27 TGON+ (/BRK+)
AO-GND 27 1 SG
0V (For 24 V) 28 30 /S-RDY-
0V (For 24 V) 29
DO_1 (ALMRST) 30 44 /ALM-RST
DO_0 (SV ON) 31 40 /S-ON
DO_5 (SEN for VS866) 32
DI_4 (N-OT) 33 43 N-OT
+24V 34
DI_1 (SRDY) 35 29 /S-RDY+
DI_5 (EXT/DEC) 36 22 BAT-
21 BAT+
Hood FG FG Hood

ABS encoder battery (3.6 V)

EXT/DEC input
ABS encoder battery (0 V)
ZERO/HOME LS input
P-OT input Brake interlock output (+)

N-OT input Brake interlock output (−)

4-26
 4.4 I/O Module (Optional) Connections

4.4 I/O Module (Optional) Connections

4.4.1 LIO-01/LIO-02 Modules

( 1 ) Connector Specifications
Connects the external I/O signals and pulse input signals.
External input: 16 points, External output: 16 points, Pulse input: 1 channel

Connector No. of Connector Model

Name
Name Pins Module Cable Manufacturer
FCN-360C048-E (cover), Fujitsu
I/O Connector I/O 48 FCN-365P048-AU
FCN-364J048-AU component

( 2 ) Cables
Name Model Number Length (JEPMC-W2061-††)
JEPMC-W2061-A5 0.5 m
Cable for LIO-01/02 JEPMC-W2061-01 1m
Modules
JEPMC-W2061-03 3m

( 3 ) Standard Cable Wiring Table

The wiring table for the standard cable JEPMC-W2061-†† is shown below.

48-pin Connector Marking Marking 48-pin Connector

Wire Color
Terminal No. Color Marking Color Marks Terminal No.
A1 Red − Orange Black − B1
A2 Red − Gray Black − B2
A3 Red − White Black − B3
A4 Red − Yellow Black − B4
A5 Red − Pink Black − B5
A6 Red −− Orange Black −− B6
A7 Red −− Gray Black −− B7
A8 Red −− White Black −− B8
A9 Red −− Yellow Black −− B9
A10 Red −− Pink Black −− B10
A11 Red −−− Orange Black −−− B11
A12 Red −−− Gray Black −−− B12
A13 Red −−− White Black −−− B13
A14 Red −−− Yellow Black −−− B14
A15 Red −−− Pink Black −−− B15
A16 Red −−−− Orange Black −−−− B16
A17 Red −−−− Gray Black −−−− B17
A18 Red −−−− White Black −−−− B18
A19 Red −−−− Yellow Black −−−− B19
A20 Red −−−− Pink Black −−−− B20
A21 Red − − − − Continuous Orange Black − − − − Continuous B21
A22 Red − − − − Continuous Gray Black − − − − Continuous B22
A23 Red − − − − Continuous White Black − − − − Continuous B23
A24 Shield B24

4-27
4 Mounting and Wiring
4.4.1 LIO-01/LIO-02 Modules

( 4 ) Connector Pin Arrangement

The following table shows the connector pin arrangement for LIO-01/LIO-02 Modules viewing from
the wiring side.

Pin Signal Pin Signal

I/O Remarks I/O Remarks
Number Name Number Name
A1 PA I Phase-A pulse (+) B1 PAL I Phase-A pulse (−)
A1 B1
A2 PB I Phase-B pulse (+) B2 PBL I Phase-B pulse (−)
Phase-Z pulse
A3 PC I Phase-Z pulse (+) B3 PCL5 I
(−5-V input)
Phase-Z pulse
A4 GND I Pulse input ground B4 PCL12 I
(−12-V input)
A5 DO_COM P Output common B5 DO_COM P Output common
A6 DO_24V P +24 V input B6 DO_24V P +24 V input
A7 DO_15 O Output 15 B7 DO_14 O Output 14
A8 DO_13 O Output 13 B8 DO_12 O Output 12
A9 DO_11 O Output 11 B9 DO_10 O Output 10
A10 DO_09 O Output 9 B10 DO_08 O Output 8
A24 B24
A11 DO_07 O Output 7 B11 DO_06 O Output 6
A12 DO_05 O Output 5 B12 DO_04 O Output 4
A13 DO_03 O Output 3 B13 DO_02 O Output 2
A14 DO_01 O Output 1 B14 DO_00 O Output 0
A15 DI_15 I Input 15 B15 DI_14 I Input 14
A16 DI_13 I Input 13 B16 DI_12 I Input 12
A17 DI_11 I Input 11 B17 DI_10 I Input 10
A18 DI_09 I Input 9 B18 DI_08 I Input 8
A19 DI_07 I Input 7 B19 DI_06 I Input 6
A20 DI_05 I Input 5 B20 DI_04 I Input 4
A21 DI_03 I Input 3 B22 DI_02 I Input 2
A22 DI_01 I Input 1 B22 DI_00 I Input 0
A23 DI_COM0 P Input common 0 B23 DI_COM1 P Input common 1
A24 FG − Frame ground B24 FG − Frame ground
ΠP: Power supply input; I: Input signal; O: Open-collector output

4-28
 4.4 I/O Module (Optional) Connections

( 5 ) Input Circuits
The following table shows the LIO-01/LIO-02 Module input circuit specifications.

Item Specifications
Inputs 16 points
Input Format Sink mode/source mode input
Isolation Method Photocoupler
Input Voltage ±24 VDC, ±20％
Input Current 4.1 mA (typ.)
ON Voltage/Current 15 V min./2.0 mA min.
OFF Voltage/Current 5 V max./1.0 mA max.
ON: 0.5 ms max.
ON Time/OFF Time
OFF: 0.5 ms max.
Number of Commons 8 points ((DI_COM0: DI_00 to DI_07, DI_COM1: DI_08 to DI_15)
• DI_00 is shared with interrupts. If DI_00 is turned ON while interrupts are enabled, the
interrupt processing drawing is executed.
Other Functions
• DI_01 is shared with pulse latch inputs. If DI-01 is turned ON while pulse latch inputs are
enabled, the pulse counter will be latched.

Vcc
+24 V
R
DI_COM
R Input register

DI_IN 5.6k Ω/0.5 W

R

024

Fig. 4.4 Digital Input Circuit (Sink Mode Input)

）

Vcc
+24 V
22 kΩ R
DI_COM
R Input register
1 kΩ
680 Ω R 0.01 µF
2200PF
DI_IN 5.6 kΩ/ 0.5 W
R

024

Fig. 4.5 Digital Input Circuit (Source Mode Input)

4-29
4 Mounting and Wiring
4.4.1 LIO-01/LIO-02 Modules

( 6 ) Output Circuit
The following table shows the LIO-01/LIO-02 Module output circuit specifications.

Item Specifications
Outputs 16 points
LIO-01 Transistor, open collector sink mode outputs
Output Format
LIO-02 Transistor, open collector source mode outputs
Isolation Method Photocoupler
Output Voltage +24 VDC, ±20％
Output Current 100 mA max.
Leakage Current When
0.1 mA max.
OFF
ON: 1 ms max.
ON Time/OFF Time
OFF: 1 ms max.
Number of Commons 16 points
Fuse
Protection Circuit The fuse is not, however, for circuit protecttion. It is for protecting against fire at output shorts.
Attach a fuse externally to each output if circuit protection is required.
Error Detection Fuse blown detection
Other Functions DO_00 is shared with counter position detection.

+24 V

DO_24V
Output R
register

DO_OUT

DO_COM
R

024

Fig. 4.6 LIO-01 Digital Output Circuit (Sink Mode Output)

+24V

DO_24V
R

Output R
R
register
DO_OUT

DO_COM

024

Fig. 4.7 LIO-02 Digital Output Circuit (Source Mode Output)

4-30
 4.4 I/O Module (Optional) Connections

( 7 ) Pulse Input Circuit

The following table shows the LIO-01/LIO-02 Module pulse input circuit specifications.

Item Specifications
Number of Circuits 1 (Phase-A/B/Z input)
Phase-AB: 5-V differential input, not isolated, max. frequency: 4 MHz
Input Circuit
Phase-Z: 5-V/12-V photocoupler input, max. frequency: 500 kHz
Input Mode Phase-A/B, signed, incremental/decremental
Pulse latch on phase-Z or DI_01.
Latch Input
Response time: 5 µs max. for phase-Z input; 60 µs max. for DI_01 input.
Other Functions Coincidence detection, counter preset and clear

Pulse Generator
+5 V
A1 PA Phase-A
220Ω R B1 PAL
0V

A2 PB Phase-B
220Ω R B2 PBL

A4 GND
+5 V

A3 PC
Latch input or R
phase-Z pulse B3 PCL5

B4 PCL12
R

Fig. 4.8 Pulse Input Circuit

4-31
4 Mounting and Wiring
4.4.1 LIO-01/LIO-02 Modules

( 8 ) LIO-01 Module Connections

The following diagram shows a connection example for LIO-01 Module connectors.

Pulse Generator
A1 PA Phase-A +5V
220Ω R
B1 PAL
Pulse input 0V
A2 PB Phase-B
220Ω R
B2 PBL
A4 GND
+5V A24
B24
Latch input A3 PC 5V
R
or phase-Z R
B3 PCL5 Latch input or phase-Z pulse
pulse B4 PCL12
R
A23 DI_COM0 24 VDC
Digital input R B22 DI_00
R
A22 DI_01
B21 DI_02
A21 DI_03
External input signals
B20 DI_04
A20 DI_05
B19 DI_06
A19 DI_07

B23 DI_COM1
Digital input R B18 DI_08
R
A18 DI_09
B17 DI_10
A17 DI_11 External input signals
B16 DI_12
A16 DI_13
B15 DI_14
A15 DI_15
B6
A6 DO_24V
24 VDC
B14 DO_00 Fuse
Digital output L
R A14 DO_01 L
B13 DO_02 L
A13 DO_03 L
B12 DO_04 L
A12 DO_05 L
B11 DO_06 L
A11 DO_07 External output signals
L
B10 DO_08 L
A10 DO_09 L
B9 DO_10 L
A9 DO_11 L
B8 DO_12 L
A8 DO_13 L
B7 DO_14 L
A7 DO_15 L
Fuse A5 DO_COM
B5 DO_COM
Fuse blown
detection circuit

ΠConnect a fuse suitable for the load specifications in the output signal circuit in series with the
load. If an external fuse is not connected, load shorts or overloads could result in fire, destruction
of the load device, or damage to the output element.
ΠThe pins No. A5 and B5, and the pins A6 and B6 are internally connected. Connect them external
as well.

4-32
 4.4 I/O Module (Optional) Connections

( 9 ) LIO-02 Module Connections

The following diagram shows a connection example for LIO-02 Module connectors.
Pulse generator
A1 PA Phase-A +5V
220Ω R B1 PAL
0V
Pulse input A2 PB Phase-B
220Ω R B2 PBL
A4 GND
+5V A24
B24
A3 PC 5V
Latch input R
R Latch input or
B3 PCL5 phase-Z pulse
or phase-Z
pulse R
B4 PCL12
A23 DI_COM0 24 VDC
Digital input R B22 DI_00
R
A22 DI_01
B21 DI_02
A21 DI_03 External input
B20 DI_04 signals
A20 DI_05
B19 DI_06
A19 DI_07

B23 DI_COM1 24 VDC

Digital input R
R
B18 DI_08
A18 DI_09
B17 DI_10
A17 DI_11
External input
B16 DI_12
signals
A16 DI_13
B15 DI_14
A15 DI_15
Fuse blowout
detection circuit B6 DO_24V
Digital output A6 DO_24V 24 VDC
R Fuse B14 DO_15 Fuse
L
A14 DO_14 L
B13 DO_13 L
A13 DO_12 L
B12 DO_11 L
A12 DO_10 L
B11 DO_09 L External output
A11 DO_08 L signals
B10 DO_07 L
A10 DO_06 L
B9 DO_05 L
A9 DO_04 L
B8 DO_03 L
A8 DO_02 L
B7 DO_01 L
A7 DO_00 L
A5 DO_COM
B5 DO_COM

ΠConnect a fuse suitable for the load specifications in the output signal circuit in series with the
load. If an external fuse is not connected, load shorts or overloads could result in fire, destruction
of the load device, or damage to the output element.
ΠThe pins No. A5 and B5, and the pins No. A6 and B6 are internally connected. Connect them
externally as well.

4-33
4 Mounting and Wiring
4.4.2 LIO-04/LIO-05 Module Connections

4.4.2 LIO-04/LIO-05 Module Connections

( 1 ) Connector Specifications
Connects external I/O signals and pulse input signals.
External input: 32 point, External output: 32 point

Connector No. of Connector Model

Name
Name Pins Module Side Cable Side Manufacturer

・Connector
10150-3000VE
・Shell Sumitomo
External I/O
CN1/ CN2 50 10250-52A2JL 10350-52A0-008 3M
Connector
(screw locking) or Corporation
10350-52F0-008
(one-touch locking)

( 2 ) Standard Cable Model and External Appearance

Name Model Length External Appearance (JEPMC-6060- )

JEPMC-W6060-05 0.5 m

Cable for LIO-04/ JEPMC-W6060-10 1m 50-core

LIO-05 Modules Loose wires

JEPMC-W6060-30 3m

4-34
 4.4 I/O Module (Optional) Connections

( 3 ) Standard Cable Wiring Table

The wiring table for the standard cable JEPMC-W6060-†† is shown below.

50-pin Connector 50-pin Connector

Marking Wire Color Marking
Terminal No. Terminal No.
1 − Orange − 26
2 − Gray − 27
3 − White − 28
4 − Yellow − 29
5 − Pink − 30
6 −− Orange −− 31
7 −− Gray −− 32
8 −− White −− 33
9 −− Yellow −− 34
10 −− Pink −− 35
11 −−− Orange −−− 36
12 −−− Gray −−− 37
13 −−− White −−− 38
14 −−− Yellow −−− 39
15 −−− Pink −−− 40
16 −−−− Orange − − − − Continuous 41
17 −−−− Gray − − − − Continuous 42
18 −−−− White − − − − Continuous 43
19 −−−− Yellow − − − − Continuous 44
20 −−−− Pink − − − − Continuous 45
21 − − − − Continuous Orange −−−−− 46
22 − − − − Continuous Gray −−−−− 47
23 − − − − Continuous White −−−−− 48
24 − − − − Continuous Yellow −−−−− 49
25 − − − − Continuous Pink −−−−− 50

4-35
4 Mounting and Wiring
4.4.2 LIO-04/LIO-05 Module Connections

( 4 ) LIO-04 Module Connector Pin Arrangement

The LIO-04 Module Connector (CN1 and CN2) pin arrangements are shown below.

■ CN1 Connector Pin Arrangement

Pin Arragement Viewing from Wiring Side
26

1 DICOM_1 26
1
27
2

2 DI_00 27 DI_01
3 DI_02 28 DI_03
4 DI_04 29 DI_05
5 DI_06 30 DI_07
6 DICOM_2 31
7 DI_08 32 DI_09
8 DI_10 33 DI_11
9 DI_12 34 DI_13
10 DI_14 35 DI_15
11 36
12 DO_00 37 DO_01
13 DO_02 38 DO_03
14 39 OV_1
15 +24V_1 40
24

49
50
25

16 DO_04 41 DO_05
17 DO_06 42 DO_07
18 43 OV_1
19 DO_08 44 DO_09
20 DO_10 45 DO_11
21 46 OV_2
22 +24V_2 47
23 DO_12 48 DO_13
24 DO_14 49 DO_15
25 50 OV_2

■ CN1 Connector Pin Details

Signal Signal
Pin No. I/O Remarks Pin No. I/O Remarks
Name Name
1 DICOM_1 I Input common 1 26
Digital input 0 Digital input 1
2 DI_00 I (shared with interrupt 27 DI_01 I (shared with interrupt
input) input)
3 DI_02 I Digital input 2 28 DI_03 I Digital input 3
4 DI_04 I Digital input 4 29 DI_05 I Digital input 5
5 DI_06 I Digital input 6 30 DI_07 I Digital input 7
6 DICOM_2 P Input common 2 31
7 DI_08 I Digital input 8 32 DI_09 I Digital input 9
8 DI_10 I Digital input 10 33 DI_11 I Digital input 11
9 DI_12 I Digital input 12 34 DI_13 I Digital input 13
10 DI_14 I Digital input 14 35 DI_15 I Digital input 15
11 36
12 DO_00 O Digital output 0 37 DO_01 O Digital output 1
13 DO_02 O Digital output 2 38 DO_03 O Digital output 3
14 39 OV_1 O Common ground 1
15 +24V_1 P 25-V power supply 1 40
16 DO_04 O Digital output 4 41 DO_05 O Digital output 5
17 DO_06 O Digital output 6 42 DO_07 O Digital output 7
18 43 OV_1 O Common ground 1
19 DO_08 O Digital output 8 44 DO_09 O Digital output 9
20 DO_10 O Digital output 10 45 DO_11 O Digital output 11
21 46 OV_2 O Common ground 2
22 +24V_2 P 24-V power supply 2 47
23 DO_12 O Digital output 12 48 DO_13 O Digital output 13
24 DO_14 O Digital output 14 49 DO_15 O Digital output 15
25 50 OV_2 O Common ground 2
ΠP: Power supply input, I: Input signal, O: Open collector output

4-36
 4.4 I/O Module (Optional) Connections

■ CN2 Connector Pin Arrangement

Pin Arrangement Viewing from Wiring Side

26

1 DICOM_3 26
1
27
2

2 DI_16 27 DI_17
3 DI_18 28 DI_19
4 DI_20 29 DI_21
5 DI_22 30 DI_23
6 DICOM_4 31
7 DI_24 32 DI_25
8 DI_26 33 DI_27
9 DI_28 34 DI_29
10 DI_30 35 DI_31
11 36
12 DO_16 37 DO_17
13 DO_18 38 DO_19
14 39 OV_3
15 +24V_3 40
24

49
50
25

16 DO_20 41 DO_21
17 DO_22 42 DO_23
18 43 OV_3
19 DO_24 44 DO_25
20 DO_26 45 DO_27
21 46 OV_4
22 +24V_4 47
23 DO_28 48 DO_29
24 DO_30 49 DO_31
25 50 OV_4

■ CN2 Connector Details

Signal Signal
Pin No. I/O Remarks Pin No. I/O Remarks
Name Name
1 DICOM_3 I Input common 3 26
Digital input 16 Digital input 17
2 DI_16 I (shared with interrupt 27 DI_17 I (shared with interrupt
input) input)
3 DI_18 I Digital input 18 28 DI_19 I Digital input 19
4 DI_20 I Digital input 20 29 DI_21 I Digital input 21
5 DI_22 I Digital input 22 30 DI_23 I Digital input 23
6 DICOM_4 P Input common 4 31
7 DI_24 I Digital input 24 32 DI_25 I Digital input 25
8 DI_26 O Digital input 26 33 DI_27 I Digital input 27
9 DI_28 O Digital input 28 34 DI_29 I Digital input 29
10 DI_30 O Digital input 30 35 DI_31 I Digital input 31
11 36
12 DO_16 O Digital output 16 37 DO_17 O Digital output 17
13 DO_18 O Digital output 18 38 DO_19 O Digital output 19
14 39 OV_3 O Common ground 3
15 +24V_3 P 24-V power supply 3 40
16 DO_20 O Digital output 20 41 DO_21 O Digital output 21
17 DO_22 O Digital output 22 42 DO_23 O Digital output 23
18 43 OV_3 O Common ground 3
19 DO_24 O Digital output 24 44 DO_25 O Digital output 25
20 DO_26 O Digital output 26 45 DO_27 O Digital output 27
21 46 OV_4 O Common ground 4
22 +24V_4 P 24-V power supply 4 47
23 DO_28 O Digital output 28 48 DO_29 O Digital output 29
24 DO_30 O Digital output 30 49 DO_31 O Digital output 31
25 50 OV_4 O Common ground 4
ΠP: Power supply input, I: Input signal, O: Open collector output

4-37
4 Mounting and Wiring
4.4.2 LIO-04/LIO-05 Module Connections

( 5 ) LIO-05 Module Connector Pin Arrangement

The LIO-05 Module Connector (CN1 and CN2) pin arrangements are shown below.
■ CN1 Connector Pin Arrangement

Pin Arrangement Viewing from Wiring Side

26

1 DICOM_1 26
1
27
2

2 DI_00 27 DI_01
3 DI_02 28 DI_03
4 DI_04 29 DI_05
5 DI_06 30 DI_07
6 DICOM_2 31
7 DI_08 32 DI_09
8 DI_10 33 DI_11
9 DI_12 34 DI_13
10 DI_14 35 DI_15
11 36
12 DO_00 37 DO_01
13 DO_02 38 DO_03
14 39 OV_1
15 +24V_1 40 +24V_1
24

49
50
25

16 DO_04 41 DO_05
17 DO_06 42 DO_07
18 43
19 DO_08 44 DO_09
20 DO_10 45 DO_11
21 46 OV_2
22 +24V_2 47 +24V_2
23 DO_12 48 DO_13
24 DO_14 49 DO_15
25 50

■ CN1 Connector Details

Signal Signal
Pin No. I/O Remarks Pin No. I/O Remarks
Name Name
1 DICOM_1 I Input common 1 26
Digital input 0 Digital input 1
2 DI_00 I (shared with interrupt 27 DI_01 I (shared with interrupt
input) input)
3 DI_02 I Digital input 2 28 DI_03 I Digital input 3
4 DI_04 I Digital input 4 29 DI_05 I Digital input 5
5 DI_06 I Digital input 6 30 DI_07 I Digital input 7
6 DICOM_2 P Input common 2 31
7 DI_08 I Digital input 8 32 DI_09 I Digital input 9
8 DI_10 I Digital input 10 33 DI_11 I Digital input 11
9 DI_12 I Digital input 12 34 DI_13 I Digital input 13
10 DI_14 I Digital input 14 35 DI_15 I Digital input 15
11 36
12 DO_00 O Digital output 0 37 DO_01 O Digital output 1
13 DO_02 O Digital output 2 38 DO_03 O Digital output 3
14 39 OV_1 O Common ground 1
15 +24V_1 P 24-V power supply 1 40 +24V_1 P 24-V power supply 1
16 DO_04 O Digital output 4 41 DO_05 O Digital output 5
17 DO_06 O Digital output 6 42 DO_07 O Digital output 7
18 43 O
19 DO_08 O Digital output 8 44 DO_09 O Digital output 9
20 DO_10 O Digital output 10 45 DO_11 O Digital output 11
21 46 OV_2 O Common ground 2
22 +24V_2 P 24-V power supply 2 47 +24V_2 P 24-V power supply 2
23 DO_12 O Digital output 12 48 DO_13 O Digital output 13
24 DO_14 O Digital output 14 49 DO_15 O Digital output 15
25 50
ΠP: Power supply input, I: Input signal, O: Open collector output

4-38
 4.4 I/O Module (Optional) Connections

■ CN2 Connector Pin Arrangement

Pin Arrangement Viewing from Wiring Side

26

1 DICOM_3 26
1
27
2

2 DI_16 27 DI_17
3 DI_18 28 DI_19
4 DI_20 29 DI_21
5 DI_22 30 DI_23
6 DICOM_4 31
7 DI_24 32 DI_25
8 DI_26 33 DI_27
9 DI_28 34 DI_29
10 DI_30 35 DI_31
11 36
12 DO_16 37 DO_17
13 DO_18 38 DO_19
14 39 OV_3
15 +24V_3 40 +24V_3
24

49
50
25

16 DO_20 41 DO_21
17 DO_22 42 DO_23
18 43 OV_3
19 DO_24 44 DO_25
20 DO_26 45 DO_27
21 46
22 +24V_4 47 +24V_4
23 DO_28 48 DO_29
24 DO_30 49 DO_31
25 50

■ CN2 Connector Details

Signal Signal
Pin No. I/O Remarks Pin No. I/O Remarks
Name Name
1 DICOM_3 I Input common 3 26
Digital input 16 Digital input 17
2 DI_16 I (shared with interrupt 27 DI_17 I (shared with interrupt
input) input)
3 DI_18 I Digital input 18 28 DI_19 I Digital input 19
4 DI_20 I Digital input 20 29 DI_21 I Digital input 21
5 DI_22 I Digital input 22 30 DI_23 I Digital input 23
6 DICOM_4 P Input common 4 31
7 DI_24 I Digital input 24 32 DI_25 I Digital input 25
8 DI_26 O Digital input 26 33 DI_27 I Digital input 27
9 DI_28 O Digital input 28 34 DI_29 I Digital input 29
10 DI_30 O Digital input 30 35 DI_31 I Digital input 31
11 36
12 DO_16 O Digital output 16 37 DO_17 O Digital output 17
13 DO_18 O Digital output 18 38 DO_19 O Digital output 19
14 39 OV_3 O Common ground 3
15 +24V_3 P 24-V power supply 3 40 +24V_3 P 24-V power supply 3
16 DO_20 O Digital output 20 41 DO_21 O Digital output 21
17 DO_22 O Digital output 22 42 DO_23 O Digital output 23
18 43
19 DO_24 O Digital output 24 44 DO_25 O Digital output 25
20 DO_26 O Digital output 26 45 DO_27 O Digital output 27
21 46 OV_4 O Common ground 4
22 +24V_4 P 24-V power supply 4 47 +24V_4 P 24-V power supply 4
23 DO_28 O Digital output 28 48 DO_29 O Digital output 29
24 DO_30 O Digital output 30 49 DO_31 O Digital output 31
25 50
ΠP: Power supply input, I: Input signal, O: Open collector output

4-39
4 Mounting and Wiring
4.4.2 LIO-04/LIO-05 Module Connections

( 6 ) Input Circuit
The following table shows the LIO-04/LIO-05 Module input circuit specifications.

Item Specifications
Inputs 32 points
Input Format Sink mode/source mode input
Isolation Method Photocoupler (PS2805-4)
Input Voltage ±24 VDC (+19.2 to +28.8 V)
Input Current 4.1 mA (typ.)
ON Voltage/Current 15 VDC min./2.0 mA min.
OFF Voltage/Current 5 VDC min./1.0 mA min.
ON: 0.5 ms max.
ON Time/OFF Time
OFF: 0.5 ms max.
Number of Commons Common ground
DI_00 is shared with an interrupt input. If DI_00 is turned ON while interrupts are
Other Functions enabled, the interrupt processing drawing is executed.
DI_01, DI_16, and DI_7 are the same as DI_00.

Vcc
+24V
R
DICOM
R Input register

DI_IN 5.6kΩ/ 0.5W

R
Photocoupler

024

Fig. 4.9 Digital Input Circuit (Sink Mode Input)

Vcc
+24V
R
DICOM
R Input register

DI_IN 5.6kΩ/ 0.5W

R
Photocoupler
024

Fig. 4.10 Digital Input Circuit (Source Mode Input)

4-40
 4.4 I/O Module (Optional) Connections

( 7 ) Output Circuit
The following table shows the LIO-04/LIO-05 Module output circuit specifications.

Item Specifications
Outputs 32 points
LIO-04 Transistor, sink mode output
Output Format
LIO-05 Transistor, source mode output
Isolation Method Photocoupler
Output Voltage +24 VDC (+192 to +28.8 VDC)
Output Current 100 mA max.
Leakage Current
0.1 mA max.
When OFF
ON: 0.5 ms max.
ON Time/OFF Time
OFF: 1 ms max.
Number of Commons Common ground
Fuse
Protection Circuit The fuse is not, however, for circuit protection. It is for protecting against fire at output shorts.
Attach a fuse externally to each output if circuit protection is required.
Fuse Rating 1A
Error Detection Fuse blowout detection

+24V
Photocoupler +24V
Output
register
R

DO_OUT

R Transistor

0V

024

Fig. 4.11 LIO-04 Digital Output Circuit (Sink Mode Output)

+24V

+24V
R

Output Transistor
register
R
DO_OUT

Photocoupler

0V

024

Fig. 4.12 LIO-05 Digital Output Circuit (Source Mode Output)

4-41
4 Mounting and Wiring
4.4.2 LIO-04/LIO-05 Module Connections

( 8 ) LIO-04 Module Connector Connection Examples

■ CN1 Connector Connection Example

JEPMC-IO2303

+5V
24 VDC
+ - CN1 connector
Com- pin No.
- + mon 1 Photocoupler

Internal circuit
1

R
5.6 kΩ
Input 0 2
R
Input 1 27

Input 6 5
Input 7 30

24 VDC
+ -
Com-
mon 2 Photocoupler 24 VDC
- + 6 15 + -
12 Output 1
L
Input 8 7 37 Output 2
R L
Input 9 32 13 Output 3
L
38 Output 4
L
Input 14 10 16 Output 5
L
Input 15 35 41 Output 6
L
17 Output 7
L
42 Output 8
L
43

39
Fuse blowout
detection circuit
Photocoupler 24 VDC
22 + -
19 Output 9
L
R 44 Output 10
L
20 Output 11
L
45 Output 12
L
23 Output 13
L
48 Output 14
L
24 Output 15
L
49 Output 16
L
50

46
Fuse blowout
detection circuit

ΠCheck the polarity of the external power supply when wiring. An adverse connection may cause a
load malfunction.
ΠThe pins No. 39 and 43 and the pins No. 46 and 50 are internally connected. Connect them exter-
nally as well.

4-42
 4.4 I/O Module (Optional) Connections

■ CN2 Connector Connection Example

JEPMC-IO2303

+5V
24 VDC
+- CN2 connector
Com- pin No.
- + mon 3 Photocoupler

Internal circuit
1

R
Input 16
5.6 kΩ
2
R
Input 17 27

Input 22 5
Input 23 30

24 VDC
+-
Com-
- + mon 4 6 Photocoupler 24 VDC
15 +-
12 Output 17
Input 24 7 L
37 Output 18
Input 25 32 R L
13 Output 19
L
38 Output 20
Input 30 10 L
Input 31 16 Output 21
35 L
41 Output 22
L
17 Output 23
L
42 Output 24
L
43

39
Fuse blowout
detection circuit
Photocoupler 24 VDC
22 +-
19 Output 25
L
44 Output 26
R L
20 Output 27
L
45 Output 28 L

23 Output 29
L
48 Output 30
L
24 Output 31
L
49 Output 32
L
50

46
Fuse blowout
detection circuit

ΠCheck the polarity of the external power supply when wiring. An adverse connection may cause a
load malfunction.
ΠThe pins No. 39 and 32 and the pins No. 46 and 50 are internally connected. Connect them exter-
nally as well.

4-43
4 Mounting and Wiring
4.4.2 LIO-04/LIO-05 Module Connections

( 9 ) LIO-05 Module Connector Connection Examples

■ CN1 Connector Connection Example
JEPMC-IO2304
+5V
24 VDC
CN1 connector
+ -
Com- pin No.
- + mon 1 1 Photocoupler

Internal
circuit
R
Input 0 2
5.6 kΩ
R
Input 1 27

Input 6 5
Input 7 30
Fuse blowout
detection circuit
DC24V
+ - 24 VDC
Com- R
40 + -
- + mon 2 6 15

Photocoupler R
Input 8 7
Input 9 32 12 Output 0
L
37 Output 1
L
Input 14 10 13 Output 2 L
Input 15 35 38 Output 3 L

16 Output 4
L
41 Output 5
L
17 Output 6
L
42 Output 7
L
39

Fuse blowout
detection circuit
24 VDC
R
47 + -
22

Photocoupler
R

19 Output 8 L
44 Output 9
L
20 Output 10
L
45 Output 11 L

23 Output 12
L
48 Output 13
L
24 Output 14
L
49 Output 15
L
46

ΠCheck the polarity of the external power supply when wiring. An adverse connection may cause a
load malfunction.
ΠThe pins No. 15 and 40 and the pins No. 22 and 47 are internally connected. Connect them exter-
nally as well.

4-44
 4.4 I/O Module (Optional) Connections

■ CN2 Connector Connection Example

JEPMC-IO2304
+5V
24 VDC
+ - CN2 connector
Com- pin No.
- + mon 3 1 Photocoupler

Internal
circuit
R
Input 16 2
5.6 kΩ
R
Input 17 27

Input 22 5
Input 23 30
Fuse blowout
detection circuit
24 VDC
+ - 24 VDC
Com- R
40 + -
- + mon 4 6 15

Photocoupler R
Input 24 7
Input 25 32 12 Output 16
L
37 Output 17
L
Input 30 10 13 Output 18
L
Input 31 35 38 Output 19
L
16 Output 20
L
41 Output 21
L
17 Output 22
L
42 Output 23
L
39

Fuse blowout
detection circuit
24 VDC
R
47 + -
22

Photocoupler R

19 Output 24
L
44 Output 25
L
20 Output 26
L
45 Output 27
L
23 Output 28
L
48 Output 29
L
24 Output 30
L
49 Output 31
L
46

ΠCheck the polarity of the external power supply when wiring. An adverse connection may cause a
load malfunction.
ΠThe pins No. 15 and 40 and the pins 22 and 47 are internally connected. Connect them externally
as well.

4-45
4 Mounting and Wiring
4.4.3 DO-01 Module Connections

4.4.3 DO-01 Module Connections

( 1 ) Connector Specifications
Connects the DO-01 Module to external output signals.
External outputs: 64 points

Connector No of Connector Model

Name
Name Pins Module Side Cable Side Manufacturer

・Connector
10150-3000VE
・Shell Sumitomo
External I/O
CN1/CN2 50 10250-52A2JL 10350-52A0-008 3M
Connector
(Screw locking), or Corporation
10350-52F0-008
(One-touch locking)

( 2 ) Standard Cable Model and External Appearance

Name Model Length External Appearance (JEPMC-W6060-††)

JEPMC-W6060-05 0.5 m

Cables for DO-01 JEPMC-W6060-10 1.0 m 50-core

Modules Loose wires

JEPMC-W6060-30 3.0 m

4-46
 4.4 I/O Module (Optional) Connections

( 3 ) Standard Cable Wiring Table

The wiring table for the standard cable JEPMC-W6060-†† is shown below.

50-pin Connector 50-pin Connector

Marking Wire Color Marking
Terminal No. Terminal No.
1 − Orange − 26
2 − Gray − 27
3 − White − 28
4 − Yellow − 29
5 − Pink − 30
6 −− Orange −− 31
7 −− Gray −− 32
8 −− White −− 33
9 −− Yellow −− 34
10 −− Pink −− 35
11 −−− Orange −−− 36
12 −−− Gray −−− 37
13 −−− White −−− 38
14 −−− Yellow −−− 39
15 −−− Pink −−− 40
16 −−−− Orange − − − Continuous 41
17 −−−− Gray − − − Continuous 42
18 −−−− White − − − Continuous 43
19 −−−− Yellow − − − Continuous 44
20 −−−− Pink − − − Continuous 45
21 − − − − Continuous Orange −−−−− 46
22 − − − − Continuous Gray −−−−− 47
23 − − − − Continuous White −−−−− 48
24 − − − − Continuous Yellow −−−−− 49
25 − − − − Continuous Pink −−−−− 50

4-47
4 Mounting and Wiring
4.4.3 DO-01 Module Connections

( 4 ) Connector Pin Arrangement

The DO-01 Module Connector (CN1 and CN2) pin arrangement is shown below.

■ CN1 Connector Pin Arrangement

Pin Arrangement Viewing from Wiring Side

26

1 +24V_1 26 OV_1
1
27
2

2 DO_00 27 DO_01
3 DO_02 28 DO_03
4 DO_04 29 DO_15
5 DO_06 30 DO_07
6 OV_1 31 OV_1
7 +24V_2 32 OV_2
8 DO_08 33 DO_09
9 DO_10 34 DO_11
10 DO_12 35 DO_13
11 DO_14 36 DO_15
12 OV_2 37 OV_2
13 +24V_3 38 OV_3
14 DO_16 39 DO_17
15 DO_18 40 DO_19
24

49
50
25

16 DO_20 41 DO_21
17 DO_22 42 DO_23
18 OV_3 43 OV_3
19 +24V_4 44 OV_4
20 DO_24 45 DO_25
21 DO_26 46 DO_27
22 DO_28 47 DO_29
23 DO_30 48 DO_31
24 OV_4 49 OV_4
25 50

■ CN1 Connector Details

Pin No. Signal Name Remarks Pin No. Signal Name Remarks
1 +24V_1 24-V power supply 0 26 0V_1 Common ground 1
2 DO_00 Digital output 0 27 DO_01 Digital output 1
3 DO_02 Digital output 2 28 DO_03 Digital output 3
4 DO_04 Digital output 4 29 DO_05 Digital output 5
5 DO_06 Digital output 6 30 DO_07 Digital output 7
6 0V_1 Common ground 1 31 0V_1 Common ground 1
7 +24V_2 24-V power supply 2 32 0V_2 Common ground 2
8 DO_08 Digital output 8 33 DO_09 Digital output 9
9 DO_10 Digital output 10 34 DO_11 Digital output 11
10 DO_12 Digital output 12 35 DO_13 Digital output 13
11 DO_14 Digital output 14 36 DO_15 Digital output 15
12 0V_2 Common ground 2 37 0V_2 Common ground 2
13 +24V_3 24-V power supply 3 38 0V_3 Common ground 3
14 DO_16 Digital output 16 39 DO_17 Digital output 17
15 DO_18 Digital output 18 40 DO_19 Digital output 19
16 DO_20 Digital output 20 41 DO_21 Digital output 21
17 DO_22 Digital output 22 42 DO_23 Digital output 23
18 0V_3 Common ground 3 43 0V_3 Common ground 3
19 +24V_4 24-V power supply 4 44 0V_4 Common ground 4
20 DO_24 Digital output 24 45 DO_25 Digital output 25
21 DO_26 Digital output 26 46 DO_27 Digital output 27
22 DO_28 Digital output 28 47 DO_29 Digital output 29
23 DO_30 Digital output 30 48 DO_31 Digital output 31
24 0V_4 Common ground 4 49 0V_4 Common ground 4
25 50

4-48
 4.4 I/O Module (Optional) Connections

■ CN2 Connector Pin Arrangement

Pin Arrangement Viewing from Wiring Side

26

1 +24V_5 26 OV_5
1
27
2

2 DO_32 27 DO_33
3 DO_34 28 DO_35
4 DO_36 29 DO_37
5 DO_38 30 DO_39
6 OV_5 31 OV_5
7 +24V_6 32 OV_6
8 DO_40 33 DO_41
9 DO_42 34 DO_43
10 DO_44 35 DO_45
11 DO_46 36 DO_47
12 OV_6 37 OV_6
13 +24V_7 38 OV_7
14 DO_48 39 DO_49
15 DO_50 40 DO_51
24

49
50
25

16 DO_52 41 DO_53
17 DO_54 42 DO_55
18 OV_7 43 OV_7
19 +24V_8 44 OV_8
20 DO_56 45 DO_57
21 DO_58 46 DO_59
22 DO_60 47 DO_61
23 DO_62 48 DO_63
24 OV_8 49 OV_8
25 50

■ CN2 Connector Details

Pin No. Signal Name Remarks Pin No. Signal Name Remarks
1 +24V_5 +24-V power supply 5 26 0V_5 Common ground 5
2 DO_32 Digital output 32 27 DO_33 Digital output 33
3 DO_34 Digital output 34 28 DO_35 Digital output 35
4 DO_36 Digital output 36 29 DO_37 Digital output 37
5 DO_38 Digital output 38 30 DO_39 Digital output 39
6 0V_5 Common ground 5 31 0V_5 Common ground 5
7 +24V_6 +24-V power supply 6 32 0V_6 Common ground 6
8 DO_40 Digital output 40 33 DO_41 Digital output 41
9 DO_42 Digital output 42 34 DO_43 Digital output 43
10 DO_44 Digital output 44 35 DO_45 Digital output 45
11 DO_46 Digital output 46 36 DO_47 Digital output 47
12 0V_6 Common ground 6 37 0V_6 Common ground 6
13 +24V_7 +24-V power supply 7 38 0V_7 Common ground 7
14 DO_48 Digital output 48 39 DO_49 Digital output 49
15 DO_50 Digital output 50 40 DO_51 Digital output 51
16 DO_52 Digital output 52 41 DO_53 Digital output 53
17 DO_54 Digital output 54 42 DO_55 Digital output 55
18 0V_7 Common ground 7 43 0V_7 Common ground 7
19 +24V_8 +24-V power supply 8 44 0V_8 Common ground 8
20 DO_56 Digital output 56 45 DO_57 Digital output 57
21 DO_58 Digital output 58 46 DO_59 Digital output 59
22 DO_60 Digital output 60 47 DO_61 Digital output 61
23 DO_62 Digital output 62 48 DO_63 Digital output 63
24 0V_8 Common ground 8 49 0V_8 Common ground 8
25 50

4-49
4 Mounting and Wiring
4.4.3 DO-01 Module Connections

( 5 ) Output Circuit
The following table shows the DO-01 Module output circuit specifications.

Item Specifications
Outputs 64 points
Output Format Transistor/open collector, sink mode output
Isolation Method Photocoupler
Output Voltage + 24 VDC (+19.2 V to +28.8 V)
Output Current 100 mA max.
Leakage Current
0.1 mA max.
When OFF
ON: 0.5 ms max.
ON Time/OFF Time
OFF: 1 ms max.
Number of Commons 8 points
Protection Circuit Fuse connected to each common line
Fuse Rating 1A
Error Detection Fuse blowout detection

+24V
Photocoupler
Output DO_24V
register
R

DO_OUT

R Transistor

DO_COM

024

Fig. 4.13 DO-01 Digital Output Circuit (Sink Mode Output)

4-50
 4.4 I/O Module (Optional) Connections

( 6 ) DO-01 Module Connector Connection Examples

■ CN1 Connector Connection Example

JAPMC-DO2300

CN1 connector
pin No. 24 VDC
1 + -
2 Output 0 Fuse
L
27 Output 1 L

5 Output 6
L
30 Output 7 L
6
26
31
24 VDC
Photocoupler 7 + -
8 Output 8 L
33 Output 9 L
R

11 Output 14
L
36 Output 15 L
Fuse 12
32
37
Fuse blowout
detection circuit 24 VDC
13 + -
14 Output 16
L
39 Output 17 L

17 Output 22
L
42 Output 23 L
18
38
43
24 VDC
19 + -
20 Output 24
L
45 Output 25
L

23 Output 30
L
48 Output 31
L
24
44
49

25
50

ΠThe pins No. 6, 26, and 31, the pins 12, 32, and 37, the pins 18, 38, and 43, and the pins No. 24,
44, and 49 are internally connected. Connect them externally as well.

ΠA fuse is inserted in the output common line of the DO-01 Module for circuit protection. However, the fuse
may not be blown out in the cases such as layer shorts in outputs. To ensure the circuit protection, provide a
protective element such as fuse in each output as shown in the above diagram.

4-51
4 Mounting and Wiring
4.4.3 DO-01 Module Connections

■ CN2 Connector Connection Example

JAPMC-DO2300

CN2 connector
pin No. 24 VDC
1 + -
2 Output 32 Fuse
L
27 Output 33 L

5 Output 38 L
30 Output 39
L
6
26
31
24 VDC
Photocoupler 7 + -
8 Output 40
L
33 Output 41 L
R

11 Output 46
L
36 Output 47
L
Fuse 12
32

Fuse blowout 37
detection circuit 24 VDC
13 + -
14 Output 48 L
39 Output 49 L

17 Output 54 L
42 Output 55 L
18
38
43
24 VDC
19 + -
20 Output 56 L
45 Output 57
L

23 Output 62
L
48 Output 63 L
24
44
49

25
50

ΠThe pins No. 6, 26, and 31, the pins No. 12, 32, and 37, the pins No. 18, 38, and 43, and the pins
No. 24, 44, and 49 are internally connected. Connect them externally as well.

ΠA fuse is inserted in the output common line of the DO-01 Module for circuit protection. However, the fuse
may not be blown out in the cases such as layer shorts in outputs. To ensure the circuit protection, provide a
protective element such as fuse in each output as shown in the above diagram.

4-52
 4.4 I/O Module (Optional) Connections

4.4.4 AI-01 Module Connections

( 1 ) Connector Specifications

Connector No. of Connector Model

Name
Name Pins Module Side Cable Side Manufacturer
・Connector
10126-3000VE
・Shell Sumitomo
Analog Input
CN1/CN2 26 10226-52A3PL 10326-52A0-008 3M
Connector
(Screw locking), or Corporation
10326-52F0-008
(One-touch locking)

( 2 ) Standard Cable Model and External Appearance

Name Model Length External Appearance (JEPMC-W6080-††)

JEPMC-W6080-05 0.5 m NP JEPMC-W6080-05 Marking tube (Label)

Cables for
JEPMC-W6080-10 1.0 m 26-core
AI-01 Modules Loose wires

JEPMC-W6080-30 3.0 m L 150 mm

( 3 ) Standard Cable Wiring Table

The wiring table for the standard cable JEPMC-W6080-†† is shown below.

26-pin Connector Marking Label on Marking

Wire Color
Terminal No. Color Marking Tube
1 Gray Red －－－ V1
Gray Black －－－ G1V
2
Orange Red －－－ G1A
3 Orange Black －－－ A1
14 Yellow Red － DP1
16 Yellow Black － DN1
4 Pink Red －－ V2
Pink Black －－ G2V
5
Yellow Red －－ G2A
6 Yellow Black －－ A2
17 White Red － DP2
19 White Black － DN2
7 White Red －－ V3
White Black －－ G3V
8
Gray Red －－ G3A
9 Gray Black －－ A3
20 Gray Red － DP3
22 White Black － DN3
10 Orange Red －－ V4
Orange Black －－ GV4
11
Pink Red －－ G4A
12 Pink Black －－ A4
23 Orange Red －－ DP4
25 Orange Black －－ DN4

4-53
4 Mounting and Wiring
4.4.4 AI-01 Module Connections

( 4 ) Connector Pin Arrangement

The AI-01 Module Connector (CN1 and CN2) pin arrangement is shown below.

■ CN1 Connector Pin Arrangement

Pin Arrangement Viewing from Wiring Side
14
1

1 V1 14 MDP1
15
2

2 G1 15 G1
3 A1 16 MDN1
4 V2 17 MDP2
5 G2 18 G2
12

25

6 A2 19 MDN2
13

26

7 V3 20 MDP3
8 G3 21 G3
9 A3 22 MDN3
10 V4 23 MDP4
11 G4 24 G4
12 A4 25 MDN4
13 26

■ CN1 Connector Details

Signal Signal
Pin No. Remarks Pin No. Remarks
Name Name
1 V1 Voltage input 1 14 MDP1 Mode switching terminal 1
2 G1 Ground 1 15 （G1） (Ground 1)
3 A1 Current input 1 16 MDN1 Mode switching terminal 1
4 V2 Voltage input 2 17 MDP2 Mode switching terminal 2
5 G2 Ground 2 18 （G2） (Ground 2)
6 A2 Current input 2 19 MDN2 Mode switching terminal 2
7 V3 Voltage input 3 20 MDP3 Mode switching terminal 3
8 G3 Ground 3 21 （G3） (Ground 3)
9 A3 Current input 3 22 MDN3 Mode switching terminal 3
10 V4 Voltage input 4 23 MDP4 Mode switching terminal 4
11 G4 Ground 4 24 （G4） (Ground 4)
12 A4 Current input 4 25 MDN4 Mode switching terminal 4
13 26

4-54
 4.4 I/O Module (Optional) Connections

■ CN2 Connector Pin Arrangement

Pin Arrangement Viewing from Wiring Side

14
1

1 V5 14 MDP5
15
2

2 G5 15 G5
3 A5 16 MDN5
4 V6 17 MDP6
5 G6 18 G6
12

25

6 A6 19 MDN6
13

26

7 V7 20 MDP7
8 G7 21 G7
9 A7 22 MDN7
10 V8 23 MDP8
11 G8 24 G8
12 A8 25 MDN8
13 26

■ CN2 Connector Details

Signal Signal
Pin No. Remarks Pin No. Remarks
Name Name
1 V5 Voltage input 5 14 MDP5 Mode switching terminal 5
2 G5 Ground 5 15 （G5） (Ground 5)
3 A5 Current input 5 16 MDN5 Mode switching terminal 5
4 V6 Voltage input 6 17 MDP6 Mode switching terminal 6
5 G6 Ground 6 18 （G6） (Ground 6)
6 A6 Current input 6 19 MDN6 Mode switching terminal 6
7 V7 Voltage input 7 20 MDP7 Mode switching terminal 7
8 G7 Ground 7 21 （G7） (Ground 7)
9 A7 Current input 7 22 MDN7 Mode switching terminal 7
10 V8 Voltage input 8 23 MDP8 Mode switching terminal 8
11 G8 Ground 8 24 （G8） (Ground 8)
12 A8 Current input 8 25 MDN8 Mode switching terminal 8
13 26

4-55
4 Mounting and Wiring
4.4.4 AI-01 Module Connections

( 5 ) Circuit Configuration

CH1
1 Multiplexer
Voltage input
10k

R
Current input 3 -
16 +
Mode 14 256.5
10k
R

2
Ground
GND

CH2
4 +5V
Voltage input
10k
R

6 -
Current input
19 +
Mode 17 256.5

Internal circuit
Photocoupler
10k
R

5
Ground
GND D/A
Converter

CH8
Voltage input 10
10k
R

12 - +5V
Current input
25 +
Mode 23 256.5 +15V
DC/DC
-15V
10k Converter
R

11
Ground
GND

0V 0V

Shell

4-56
 4.4 I/O Module (Optional) Connections

( 6 ) CN1 Connector Connection Example

Relay terminal block AI-01 Module

External device
1 Voltage input 1
2
Ground 1
V
FG 3
Current input 1
Voltage Input Mode

-10 V to +10 V
14
16 ) Mode switching 1
External device
4
Voltage input 2
5
Ground 2
V
FG 6
Current input 2
-10 V to +10 V
17
19 ) Mode switching 2
7
Voltage input 3
8
Ground 3
External device
9
Current input 3
A
FG 20
22 ) Mode switching 3
Current Input Mode

0 mA to +20 mA
10
11 Voltate input 4
External device Ground 4
12
Current input 4
A
FG 23
0 mA to +20 mA
25 ) Mode switching 4
FG
(connector shell)

ΠUse the standard cable (JEPMC-W6080- ) for AI-01 Modules to connect to external devices.
Use a relay terminal block to connect the AI-01 module to external devices because the wiring dis-
tance varies between the AI-01 module and each external device.
ΠGround the cable shield between an external device and the relay terminal block on the external
device side.

4-57
4 Mounting and Wiring
4.4.4 AI-01 Module Connections

( 7 ) Setting the Input Mode

The AI-01 Module Input Mode can be selected among the followings.
• Voltage Mode 1 (Input range: −10 V to +10 V)
• Voltage Mode 2 (Input range: 0 V to +10 V)
• Current Mode (Input range: 0 mA to 20 mA)
The input mode setting for each channel must be made on the hardware and the software (MPE720),
and two settings must be matched.

[ a ] Input Mode Setting on Hardware

■ Voltage Input Mode 1 or 2 (see the Voltage Input Mode in the diagram above)
Open between the mode switching terminals (1 to 8), and do not connect anything to the current input
terminals 1 to 8.

■ Current Input Mode (See the Current Input Mode in the diagram above)
Short between the mode switching terminals (1 to 8), and do not connect anything to the voltage
input terminals 1 to 8.

[ b ] Input Mode Setting Using MPE720 Ver. 5.31B or later

Set the input range of the channel to be used in the AI-01 Configuration Window on the MPE720.

4-58
 4.4 I/O Module (Optional) Connections

( 8 ) Offset and Gain Setting

Normally the offset/gain setting need not to be adjusted since the AI-01 Module has been adjusted
before shipment so that the register input value according to the specified voltage (current) is input.
If more fine adjustment is required, use the following procedure to set the offset and gain.

1. Select the channel in the AI-01 Configuration Window and click Set - Offset/Gain.

The Set Offset/Gain Dialog Box will be displayed.

2. While increasing the voltage of external device from 0V to 5V, and to 10V (for 0 to 10V
input mode), adjust the Offset value and Gain value in the Set Offset/Gain Dialog Box
checking the current value (Current) value of the AI-01. When the values are decided,
click the OK Button.

3. Repeat the steps 1 and 2 to set the offset and gain for the required channels.
ΠThe value calculated using the data (A/D converted value) from the AI-01 Module and the set
offset and gain values is stored in the input register (I register):
Input register value ＝ A/C converted value × Gain ＋ Offset
ΠThe offset and gain default values are as follows.
Offset: 0000
Gain: 1.000
Therefore, if no offset/gain adjustment is performed, the input register value is equal to the A/
D converted value.

4-59
4 Mounting and Wiring
4.5.1 218IF-01 Module

4.5 Communication Module (Optional) Connections

4.5.1 218IF-01 Module

( 1 ) Connector Specifications

Connector No. of Connector Model

Connector Name
Name Pins Module Cable Manufacturer

PORT

17LE-13090-27(D2BC) 17JE-23090-02 (D8B)

RS-232C PORT 9 9-pin D-sub 9-pin D-sub DDK Ltd.
female connector male connector

10Base-T 555153-1
10Base-T Tyco Electronics
Ethernet 10Base-T 8 −
Ethernet connector AMP K.K.
(modular jack)

( 2 ) Cables
■ RS-232C Cable

Appearance
Model Number Length
(JEPMC-W5311-††)
JEPMC-W5311-03 2.5 m

JEPMC-W5311-15 15 m

■ Ethernet Cable
The standard cables for Ethernet are not available. Use 10Base-T cross or straight cables.

4-60
 4.5 Communication Module (Optional) Connections

( 3 ) Connector Pin Arrangement

[ a ] PORT Connector
The PORT connector is used to connect the MP2300 to computers and HMI devices via an RS-232C
connection.

Pin Signal Pin Signal

Description Description
Number Name Number Name
1 FG Frame ground 6 −
1

2 SD Send data 7 SG Signal ground (0V)

3 RD Receive data 8 −
9
5

4 RS Ready to send 9 ER Data terminal ready

5 CS Clear to send

[ b ] Ethernet Connector (10Base-T)

The Ethernet connector is used to connect the MP2300 to computers and HMI devices via an
Ethernet (10Base-T) connection.

Pin Signal Pin Signal

Description Description
Number Name Number Name
1 TXD+ Transmission data + 5 − −
2 TXD− Transmission data − 6 RXD− Reception data-
3 RXD+ Reception data + 7 − −
4 − − 8 − −

( 4 ) Module Connection Examples

[ a ] PORT Connector Connections

218IF-01
MP2300
MP2300 218IF-01
YASKAWA RDY RUN RUN ERR

ALM ERR STRX COL

TX BAT TX RX

STOP
SUP INIT
INT TEST
CNFG
OFF ON
MON
TEST SW1
PORT

RS-232C (Max. 15 m)
OFF ON

M-I/II
Option
Option

BATTERY

CPU I/O

DC24V 10Base-T

DC 0V

The following tables show the PORT connector connections based on the device to be connected.

4-61
4 Mounting and Wiring
4.5.1 218IF-01 Module

■ For 25-pin D-sub Remote Stations

MP2300 Cable Connection and Remote Station

(PORT Connector) Signal Direction (25-pin D-sub)
Signal Name Pin No. Pin No. Signal Name
FG 1 1 FG
SD (TXD) 2 2 SD (TXD)
RD (RXD) 3 3 RD (RXD)
RS (RTS) 4 4 RS (RTS)
CS (CTS) 5 5 CS (CTS)
− 6 6 DSR (DR)
SG (GND) 7 7 SG (GND)
− 8 8 CD

ER (DTR) 9 20 DTR (ER)

■ For 9-pin D-sub Remote Station Meeting Yaskawa Specifications

Remote Station
MP2300 Cable Connection and
(9-pin D-sub)
(PORT Connector) Signal Direction
(Yaskawa Specifications)
Signal Name Pin No. Pin No. Signal Name
FG 1 1 FG
SD (TXD) 2 2 SD (TXD)
RD (RXD) 3 3 RD (RXD)
RS (RTS) 4 4 RS (RTS)
CS (CTS) 5 5 CS (CTS)
− 6 6 DR (DSR)
SG (GND) 7 7 SG (GND)
− 8 8 CD

ER (DTR) 9 9 ER (DTR)

■ For DOS/V Computer Remote Stations

MP2300 Cable Connection and DOS/V Computer

(PORT Connector) Signal Direction (9-pin D-sub male)
Signal Name Pin No. Pin No. Signal Name
FG 1 1 FG
SD (TXD) 2 2 RD (RXD)
RD (RXD) 3 3 SD (TXD)
RS (RTS) 4 4 ER (DTR)
CS (CTS) 5 5 SG (GND)
− 6 6 DR (DSR)
SG (GND) 7 7 RS (RTS)
− 8 8 CS (CTS)

ER (DTR) 9 9 −

4-62
 4.5 Communication Module (Optional) Connections

[ b ] Ethernet Connections
This section explains connections to the Ethernet using 10Base-T.
The maximum length between the end nodes is 500 m with 10Base-T connections.
< Connection Example 1 >

MP2300 218IF-01
MP2300 218IF-01
YASKAWA

Option
Option
Other station
Other station
10Base-T

100 m
100 m 100 m

HUB Repeater Repeater HUB

100 m 100 m 100 m

100 m 100 m

Other station Other station

< Connection Example 2 >

218IF-01
MP2300
MP2300 218IF-01
YASKAWA
Option
Option

10Base-T (cross cable: 100 m max.)

4-63
4 Mounting and Wiring
4.5.2 217IF-01 Module

4.5.2 217IF-01 Module

( 1 ) Connectors
The following diagram shows the 217IF-01 Module connectors.
Connector No. of Connector Model
Connector Name
Name Pins Module Cable Manufacturer

PORT

17LE-13090-27(D2BC) 17JE-23090-02 (D8B)

RS-232C PORT 9 9-pin D-sub 9-pin D-sub DDK Ltd.
female connector male connector

RS422/485

RS422/485 RS422/ 10114-3000VE connector Sumitomo 3M

14 10214-52A2JL connector
port 485 10314-52A0-008 shell Limited.

( 2 ) Cables
■ RS-232C Cable

Model Number Length

(JEPMC-W5311-††)
JEPMC-W5311-03 2.5 m

JEPMC-W5311-15 15 m

■ RS422/485 Cable
The standard cables for RS422/485 are not available. Assemble the cable using the connector speci-
fied in (1) and a commercially available cable.

4-64
 4.5 Communication Module (Optional) Connections

( 3 ) Connector Pin Arrangement

[ a ] PORT Connector
The PORT connector is used to connect the MP2300 to computers and HMI devices via an RS-232C
connection.

Pin Signal Pin

Description Signal Name Description
Number Name Number
1 FG Frame ground 6 − −
1

2 SD Send data 7 SG Signal ground (0V)

3 RD Receive data 8 − −
9
5

4 RS Ready to send 9 ER Data terminal ready

5 CS Clear to send

[ b ] RS422/485 Connector
The RS422/485 connector is used to connect the MP2300 to computers and HMI devices via an
RS422/485 connection.

Pin Signal Pin Signal

Description Description
Number Name Number Name
1 TX+ Transmission data + 8 TX+ Transmission data +
2 TX− Transmission data − 9 TX− Transmission data −
3 RX+ Reception data + 10 RX+ Reception data +
1

Transmission data
14

4 RX− Reception data − 11 TXR

7

terminator
5 − − 12 − −
6 RX− Reception data − 13 VCC Power supply (+5 V)
Reception data
7 RXR 14 GND Ground
terminator

ΠTerminator has been included, as shown in the

Terminator following diagram. If you need to add terminator,
7 RXR
3,10 RX(+) connect RXR to RX (-) and TXR to TX (-).
Leave RXR and TXR open if not adding terminator.
4, 6 RX(-)
11 TXR
1, 8 TX(+)
2, 9 TX(-)

ΠAlways keep the communication cable separate from the drive, control, power supply, and other transmission
systems.
ΠThe maximum length of RS422/485 is 300 m. Keep all cables as short as possible.
Œ The 217IF-01 Module’s RS422/485 interface is not an isolated system. Noise from connected terminals may
cause malfunctions. If malfunctions occur, use a shielded cable, modem, or other measure to reduce noise.
ΠFor RS422 connections, add terminator to the reception terminal if required.
ΠFor RS485 connections, add terminator to the nodes at both ends of the transmission line.

4-65
4 Mounting and Wiring
4.5.2 217IF-01 Module

( 4 ) Module Connection Examples

[ a ] PORT Connector Connections

For information on how to connect the PORT connector, refer to 4.5.1 ( 4 ) [ a ] PORT Connector
Connections on page 4-61.

[ b ] RS422/485 Connections

„ RS422 Wiring
MP2300 217IF-01
YASKAWA RDY RUN RUN ERR

ALM ERR STRX TRX

TX BAT

STOP 485
INIT
SUP TEST
INT
CNFG OFF ON
ON
MON
TEST SW1
PORT
OFF ON

M-I/II

Option
Option

BATTERY

RS422/485
CPU I/O

DC24V

DC 0V
To Controller or
other terminal

RS422/485 Remote station

TX + 1

TX - 2

TXR 11

RX + 3

RX - 4

RXR 7

GND 14
Connector
shell

The following connections apply if the

remote station is another 217IF-01 Module.

RS422/485 RS422/485

TX + 1 3 RX+

TX - 2 4 RX-

TXR 11 7 RXR

RX + 3 1 TX+

RX - 4 2 TX-

RXR 7 11 TXR

GND 14 14 GND
Connector Connector
shell shell

FG

4-66
 4.5 Communication Module (Optional) Connections

„ RS485 Wiring
MP2300 217IF-01
YASKAWA RDY RUN RUN ERR

ALM ERR STRX TRX

TX BAT

STOP 485
INIT
SUP TEST
INT
CNFG OFF ON
ON
MON
TEST SW1
PORT
OFF ON

M-I/II

Option
Option
BATTERY

RS422/485
CPU I/O

DC24V RS485
DC 0V 120 Ω terminator

PC or other PC or other PC or other PC or other

terminal terminal terminal terminal

RS422/485

TX+ 1

TX- 2

TXR 11 Shield

RX+ 3 ԙ

4 Ԙ 120 Ω terminator
RX-

RXR 7

Connector shell
GND 14
TX㧛RX TX㧛RX TX㧛RX FG
GND GND GND

The following connections apply if, for example, a

217IF-01 Module is connected between other nodes.

2 1 9 8 4 3 6 10

TX TX TX TX RX RX RX RX
Connector shell - + - + - + - + Connector shell

ΠThe terminator is enabled by connecting terminals 2 to 11 and 4 to 7 for RS422/485 ports.

4-67
4 Mounting and Wiring
4.5.3 260IF-01 Module

4.5.3 260IF-01 Module

( 1 ) Connectors
The following diagram shows the 260IF-01 Module connectors.
Connector No. of Connector Model
Connector Name
Name Pins Module Cable Manufacturer

PORT

17LE-13090-27(D2BC) 17JE-23090-02 (D8B)

RS-232C PORT 9 9-pin D-sub 9-pin D-sub DDK Ltd.
female connector male connector

DeviceNet

DeviceNet DeviceNet 5 MSTB2-5/5-GF-5.08AM − PHEONIX CONTACT

( 2 ) Cables
■ RS-232C Cable
Appearance
Model Number Length
(JEPMC-W5311-††)
JEPMC-W5311-03 2.5 m

JEPMC-W5311-15 15 m

■ DeviceNet Cable
The standard cables for DeviceNet are not available. Use a commercially available cable for
DeviceNet. Access to ODVA (Open DeviceNet Vendors Association Inc.) home page for informa-
tion on DeviceNet cables.

( 3 ) Connector Pin Arrangement

[ a ] PORT Connector
The PORT connector is used to connect the MP2300 to computers and HMI devices via an RS-232C
connection.

Pin Signal Pin Signal

Description Description
Number Name Number Name
1 FG Frame ground 6 − −
1

2 SD Send data 7 SG Signal ground (0 V)

3 RD Receive data 8 − −
9
5

4 RS Ready to send 9 ER Data terminal ready

5 CS Clear to send

4-68
 4.5 Communication Module (Optional) Connections

[ b ] DeviceNet Connector
The DeviceNet connector is used to connect the MP2300 to computers and peripheral devices via a
DeviceNet connection.

Pin Signal
Description
Number Name
0-V external power supply for
1 V-
communication

5
2 CAN-L CAN bus line dominant L
1 3 SHIELD −
4 CAN-H CAN bus line dominant H
24-V external power supply for
5 V+
communication

( 4 ) Module Connection Examples

[ a ] PORT Connector Connections

For information on how to connect the PORT connector, refer to 4.5.1 ( 4 ) [ a ] PORT Connector
Connections on page 4-61.

[ b ] DeviceNet Connections
There are two connection methods for master mode.

„ Multi-drop connections
260IF-01
MP2300
Internal power supply for I/O
MP2300
YASKAWA
260IF-01 PS

‫ޓ‬
‫ޓ‬ External power supply for I/O
PS
1RVKQP

1RVKQP

‫ޓ‬

I/O I/O I/O

Terminator Terminator
121 Ω 121 Ω
Power-supply tap for communications
Trunk line cable (With reverse current protection
Drop line cable for when several power supplies are connected.)
External power supply line for I/O
Internal power supply line for I/O PS Power supply for communication
Power supply line for communication FG

4-69
4 Mounting and Wiring
4.5.3 260IF-01 Module

„ T-branch, Multi-branch, and Drop-line connections

260IF-01
MP2300
MP2300
260IF-01
YASKAWA

‫ޓ‬
‫ޓ‬
Trunk line cable
Drop line cable
Option

Option

External power supply line for I/O

‫ޓ‬ Internal power supply line for I/O
Power supply line for communication

Terminator
121 Ω Terminator
121 Ω
Power-supply tap for communications
(With reverse current protection
for when several power supplies are
connected.)
I/O I/O I/O I/O I/O PS Power supply for communication
FG

PS External power supply for I/O

PS Internal power supply for I/O

[ c ] Slave Mode
The following diagram shows the system configuration for slave mode.
260IF-01
MP2300
Internal power supply line for I/O
MP2300
260IF-01 PS Slave mode
YASKAWA
260IF-01
MP2300
External power
‫ޓ‬
supply line for I/O
PS
Option

Option

‫ޓ‬

I/O I/O

Terminator Terminator
121 Ω 121 Ω
Power-supply tap for communications
(With reverse current protection for
Trunk line cable when several power supplies are connected.)
Drop line cable
External power supply line for I/O PS Power supply for communication
Internal power supply line for I/O FG
Power supply line for communication

4-70
 4.5 Communication Module (Optional) Connections

4.5.4 261IF-01 Module

( 1 ) Connectors
The following diagram shows 261IF-01 Module connectors.
Connector No. of Connector Model
Connector Name
Name Pins Module Cable Manufacturer
PORT

17LE-13090-27(D2BC) 17JE-23090-02（D8B）
RS-232C PORT 9 9-pin D-sub 9-pin D-sub DDK Ltd.
female connector male connector

PROFIBUS
17LE-13090-27(D33C)
9-pin D-sub
PROFIBUS PROFIBUS 9 − DDK Ltd.
female
connector

( 2 ) Cables
■ RS-232C Cable
Appearance
Model Number Length
(JEPMC-W5311-††)
JEPMC-W5311-03 2.5 m

JEPMC-W5311-15 15 m

■ PROFIBUS Cable
The standard cables for PROFIBUS are not available. Assemble a cable using commercially avail-
able connectors with the specifications described in (1) and cable. Access to PROFIBUS organiza-
tion home page for the PROFIBUS product list. When selecting connectors, check the position and
direction of the cable outlet so that the PROFIBUS connector connection and the RS232-C connector
connection are not interfered each other.

( 3 ) Connector Pin Arrangement

[ a ] PORT Connector
The PORT connectors is used to connect the MP2300 to computers and HMI devices via an RS-232C
connection.

Pin Pin
Signal Name Description Signal Name Description
Number Number
1 FG Frame ground 6 − −
1

2 SD Send data 7 SG Signal ground (0V)

3 RD Receive data 8 − −
9
5

4 RS Ready to send 9 ER Data terminal ready

5 CS Clear to send

4-71
4 Mounting and Wiring
4.5.4 261IF-01 Module

[ b ] PROFIBUS Connector
The PROFIBUS connector is used to connect to masters via a PROFIBUS connection.

Pin Pin Signal

Signal Name Description Description
Number Number Name
1 − − 6 +5V External power supply
1

2 − − 7 − −
6

Transmission and Transmission and

3 TXD/RDX+ 8 TXD/RDX-
9
5

reception (+) reception (−)

4 RTS Transmission request 9 − −
5 GND Ground

( 4 ) Module Connection Examples

[ a ] PORT Connector Connections

For information on how to connect the PORT connector, refer to 4.5.1 ( 4 ) [ a ] PORT Connector
Connections on page 4-61.

[ b ] PROFIBUS Connections
The 261IF-01 Module only supports slave mode. The slave address can be set between 1 and 64.

PROFIBUS-DP Master (Class 1 master)

261IF-01
YASKAWA SERVOPACK 200V

MP2300
261IF-01 SGDS-01A12A
RUN ERR
YASKAWA RDY RUN
ALM ERR STRX TRX
SW1
TX BAT C
N
INIT
TEST CHARGE 6
STOP OFF ON A/B
SUP
INT 10
CNFG
MON L1
TEST SW1 1
PORT L2
OFF ON
L1C C
N
M-I/II
L2C 3

B1/
Option

Option

BATTERY
B2

C
PROFIBUS
U N
CPU I/O
1
DC24V
V

DC 0V
W

N
2
C
N
4

MP2300 SERVOPACK Inverter Machine-side I/O signal

4-72
 5
Outline of Motion Control Systems
This chapter describes the basic operation of MP2300 Motion Control Systems and
provides an outline of user programs and registers.

5.1 Startup Sequence and Basic Operation .................................. 5-2

5.1.1 DIP Switch Settings ............................................................................... 5-2
5.1.2 Startup Sequence .................................................................................. 5-3
5.1.3 Startup Sequence Operation Details ..................................................... 5-4
5.1.4 LED Indicator Details ............................................................................. 5-5

5.2 User Programs ........................................................................ 5-6

5.2.1 Ladder Drawings (DWG) ....................................................................... 5-6
5.2.2 Execution Control of Drawings .............................................................. 5-7
5.2.3 Motion Programs ................................................................................. 5-10
5.2.4 Motion Programs and MSEE and S Registers ..................................... 5-12
5.2.5 Example of Ladder Programs for Motion Program Control .................. 5-18
5.2.6 Functions ............................................................................................. 5-20

5.3 Registers ............................................................................... 5-21

5.3.1 Types of Registers ............................................................................... 5-21
5.3.2 Data Types and Register Specifications .............................................. 5-24
5.3.3 Using i and j Subscripts ....................................................................... 5-25
5.3.4 Register Specification Methods ........................................................... 5-27

5.4 Self-configuration .................................................................. 5-28

5.4.1 Self-configuration Processing Procedure ............................................ 5-28
5.4.2 Execution Procedure for Self-configuration Using the DIP Switch ...... 5-29
5.4.3 Execution Procedure for Self-configuration Using MPE720 ................ 5-31

5.5 Definition Data Refreshed by Self-configuration and Allocation Ex-

amples ................................................................................. 5-34
5.5.1 MP2300 Basic Module Definition Data ................................................ 5-34
5.5.2 SVB-01 Modules .................................................................................. 5-36
5.5.3 LIO-01/LIO-02 Modules ....................................................................... 5-36
5.5.4 LIO-04/LIO-05 Modules ....................................................................... 5-37
5.5.5 DO-01 Modules ................................................................................... 5-37
5.5.6 AI-01 Modules ..................................................................................... 5-37
5.5.7 218IF-01 Modules ................................................................................ 5-38
5.5.8 217IF-01 Modules ................................................................................ 5-39
5.5.9 260IF-01 Modules ................................................................................ 5-41
5.5.10 261IF-01 Modules .............................................................................. 5-42
5.5.11 Examples of Register Allocation by Self-configuration ...................... 5-43

5-1
5 Outline of Motion Control Systems
5.1.1 DIP Switch Settings

5.1 Startup Sequence and Basic Operation

This section describes the MP2300 startup sequence and basic operation together with the DIP switch
settings, self-diagnosis at startup, and LED indicator patterns.

5.1.1 DIP Switch Settings

Set the DIP switch on the Basic Module to control operations of the startup sequence. The six
switches are provided on the DIP switch on the Basic Module as shown in the figure below. The fol-
lowing table lists the functions of six switches.

STOP 1
SUP 2
INIT 3
CNFG 4
MON 5
6 SW1
TEST
OFF‫ޓޓޓ‬
ON

Switch Default
No. Status Operating Mode Remarks
Name Setting
ON User program stops Set to ON to stop user program operation and debug the
1 STOP OFF
OFF User program operation program.
ON System use
2 SUP OFF Always use set to OFF.
OFF Normal operation
ON Memory clear Set to ON to clear memory.
Programs stored in flash memory will be run when Memory
3 INIT OFF
OFF Normal operation Clear is set to OFF.
S and M registers are cleared to all zeros.
ON Configuration mode
4 CNFG OFF Set to ON for self-configuration of connected devices.*1
OFF Normal operation
ON System use
5 MON OFF Always set to OFF.
OFF Normal operation
ON System use
6 TEST OFF Always set to OFF.
OFF Normal operation

5-2
 5.1 Startup Sequence and Basic Operation

5.1.2 Startup Sequence

The startup sequence for the MP2300 from the moment when the power has been turned ON
is shown in the following flowchart.
Power ON

Startup self-
diagnostics (1)

Judges the
setting of switch 4 (INIT)
of DIP switch SW1

FLASH Memory clear

FLASH → RAM
Copy

Judges the setting

of switch 3 (CNFG)
of DIP switch SW1 Normal operation

Configuration mode

Self-configuration
execution (2)

Operation stops (4)

Judges the ON
setting of switch 6 (STOP)
of DIP switch SW1

OFF

Watchdog timer User program stops

start
Operation starts (3)

S2 indicator (RUN) lit

DWG.A executed
(Ladder program)

S2 indicator (RDY) lit

Interrupt Ladder program

signal High-speed Low-speed Background
scan scan

Input Input Online self-diagnostics

DWG.I (5)
executed
DWG.H DWG.L
Completed executed executed
after one cycle.
Output Output

High Order of priority Low

* Refer to 5.1.3 Startup Sequence Operation Details on the next page for details on (1) to (5).

5-3
5 Outline of Motion Control Systems
5.1.3 Startup Sequence Operation Details

5.1.3 Startup Sequence Operation Details

( 1 ) Self-diagnosis at Startup
Self-diagnosis is performed on the following items after the power is turned ON.
• Read/write diagnosis of memory (RAM)
• System program (ROM) diagnosis
• Main processor (CPU) function diagnosis
• Floating Point Unit (FPU) function diagnosis
If diagnosis results in an error, the ALM and ERR LED indicators will blink red for the specified
number of times. Refer to 5.1.4 LED Indicator Details on page 5-5.

( 2 ) Self-configuration
Self-configuration automatically recognizes the connected Optional Modules, and automatically cre-
ates a definitions file. For details, refer to 5.4 Self-configuration on page 5-28.
The RUN LED indicator will blink green during execution of self-configuration.

( 3 ) Operation Start
When the STOP switch is set to OFF (RUN) or changes from ON (STOP) to OFF (RUN), the CPU
starts the watchdog timer and then executes DWG.A in the ladder program. Refer to the startup pro-
cessing drawing and 5.2.2 Execution Control of Drawings on page 5-7.
First scan processing is executed once DWG.A has been completed and the high-speed or low-speed
scan time has elapsed. System I/O are executed from the first scan.

( 4 ) Operation Stop
MP2300 stops motion control operation when the STOP switch is ON (STOP) and in the following
circumstances.

Cause Restart method

Power supply turned OFF
Turn ON the power again.
Power interruption
Check the LED indicator for the cause of the error and
Fatal error
then turn the power OFF then ON.
STOP executed from MPE720 Execute RUN from MPE720 .

( 5 ) Online Self-diagnosis
Self-diagnosis is performed on the following items when the user logs on online.
• System program (ROM) diagnosis
• Main processor (CPU) function diagnosis
• Floating Point Unit (FPU) function diagnosis
If diagnosis results in an error, the ALM and ERR LED indicators will blink red for the specified
number of times. Refer to 5.1.4 LED Indicator Details on page 5-5.

5-4
 5.1 Startup Sequence and Basic Operation

5.1.4 LED Indicator Details

The MP2300 performs a variety of diagnostics at startup. If an error is found, the ERR LED indicator
blinks red. The number of times the indicators blink differs depending on the error details, so error
details can be determined from counting the number of blinks.The following table shows details of
MP2300 LED indicator.
ΠMPE720 cannot be operated when the indicators are blinking.
ΠFor information on errors and countermeasures, refer to Chapter 12 Maintenance and
Inspection.

LED Indicator Name

Type RDY FUN ALM ERR Indicator Details Remarks
BAT
(Green) (Green) (Red) (Red)
Not lit Not lit Lit Lit Not lit Hardware reset status
Not lit Not lit Not lit Not lit Not lit Initializing −
Not lit Lit Not lit Not lit Not lit Executing DWG.A
Normal

User program stops when the DIP

User program stopped
Lit Not lit Not lit Not lit Not lit switch or MPE720 is used to
(Offline stop mode)
execute the STOP operation.
User program executing normally
Lit Lit Not lit Not lit Not lit −
(Online operation mode)
The ERR LED indicator is lit red
Not lit Not lit Not lit Lit Not lit Major damage has occurred
when the CPU is down.
(Software error)
No. of blinks
3: Address error (read) exception
4: Address error (write) exception
5: FPU exception
6: Illegal general command error
7: Illegal slot command error The ERR LED indicator will blink
Not lit Not lit Not lit Blinking Not lit 8: General FPU inhibited error red when an exception error has
9: Slot FPU inhibited error occurred.
Error

10: TLB duplicated bit error

11: LTB mistake (read)
12: LTB mistake (write)
13: LTB protection violation (read)
14: LTB protection violation (write)
15: Initial page write error
(Hardware errors)
No. of blinks
The ALM and ERR LED indicators
2: RAM diagnosis error
Not lit Not lit Blinking Blinking Not lit will blink red if there is a self-
3: ROM diagnosis error
diagnosis failure.
4: CPU function diagnosis error
5: FPU function diagnosis error
The BAT LED indicator will be lit
− − − − Lit Battery alarm
when the battery voltage drops.
Alarm

The ALM LED indicator will be lit

Operation error
Lit Not lit Lit Not lit Not lit red when an operation or I/O error is
I/O error
detected.

5-5
5 Outline of Motion Control Systems
5.2.1 Ladder Drawings (DWG)

5.2 User Programs

User programs for executing machine control using the MP2300 include ladder programs and motion
programs. This section describes the basic operation and other information about user programs.
ΠFor programming details, refer to the following manuals.
Machine Controller MP900/MP2000 Series User’s Manual Ladder Programming (SIEZ-C887-
1.2 )
Machine Controller MP900/MP2000 Series User’s Manual Motion Programming (SIEZ-C887-
1.3 )
Machine Controller MP900/MP2000 Series New Ladder Editor Programming Manual (SIEZ-C887-
13.1 )
Machine Controller MP900/MP2000 Series New Ladder Editor User’s Manual (SIEZ-C887-
13.2 )

5.2.1 Ladder Drawings (DWG)

Ladder programs are managed in units of ladder drawings, which are identified by drawing numbers.
These drawings form the basis of user programs.

( 1 ) Types of Drawings
Ladder drawings include parent drawings, child drawings, grandchild drawings, and operation error
processing drawings. In addition to drawings, there are functions that can be freely accessed from
each drawing.
• Parent Drawings
Parent drawings are automatically executed by the system program when the execution condi-
tions, outlined in the table below, are met.
• Child Drawings
Child drawings are accessed using a SEE command from a parent drawing.
• Grandchild Drawings
Grandchild drawings are accessed using a SEE command from a child drawing.
• Operation Error Processing Drawings
Operation error processing drawings are automatically executed by the system program
when an operation error occurs.
• Functions
Functions are accessed and executed from parent, child, and grandchild drawings using the
FSTART command.

( 2 ) Drawing Types and Order of Priority

Drawings are classified by their first letter (A, I, H, or L) based on the processing purpose. The fol-
lowing table outlines the order of priority and execution conditions for these drawings.

Type of Parent Max. No. of

Function Priority Execution Conditions
Drawing Drawings
DWG.A Power ON
Startup processing 1 64
(Drawing A) (Executed once only, when power turned ON)
DWG.I External interrupt (executed by Option Module
Interrupt processing 2 64
(Drawing I) DI interrupt or counter match interrupt)
DWG.H High-speed scan Scheduled cycle startup
3 200
(Drawing H) processing (Executed each high-speed scan)
DWG.L Scheduled cycle startup (Executed each low-
Low-speed scan 4 500
(Drawing L) speed scan)

5-6
 5.2 User Programs

The following table provides details of the number of drawings for each drawing.

Number of Drawings
Drawing
DWG.A DWG.I DWG.H DWG.L
Parent Drawings 1 (A) 1 (I) 1 (H) 1 (L)
Operation Error
1 (A00) 1 (I00) 1 (H00) 1 (L00)
Processing Drawings
Child Drawings
Total: 62 max. Total: 62 max. Total: 198 max. Total: 498 max.
Grandchild Drawings

5.2.2 Execution Control of Drawings

( 1 ) Execution Control
The following table shows when each drawing is executed based on the order of priority.

Power ON

DWG.A (initial
processing drawing)

Each high-speed scan Each low-speed scan Operation error Interrupt signal

Input all Input all DWG.X00* (Operation DWG.I (Interrupt

error processing processing drawing)
drawing)
Output all Output all
Note: X=A, I, H, or L
DWG.H (High-speed DWG.H (Low-speed
scan processing scan processing Continuation of Continuation of
drawing) drawing) processing before processing before
error occurred interruption occurred

( 2 ) Execution Schedule for Scan Processing Drawings

The scan processing drawings are not executed simultaneously. As shown in the following figure, the
execution of each drawing is scheduled based on the order of priority and time sharing.

Low-speed scan

High-speed scan High-speed scan High-speed scan High-speed scan

DWG.H

DWG.L

Background*

: Executing

* Background processing is used to execute internal system processing, e.g., communication

processing.

5-7
5 Outline of Motion Control Systems
5.2.2 Execution Control of Drawings

Low-speed scan processing is executed in spare processing time of the high-speed scan. Set the time
of the high-speed scan to approximately double the total execution time for DWG.H.

( 3 ) Hierarchical Structure of Drawings

Each processing program is made up of parent drawings, child drawings, and grandchild drawings.
Parent drawings cannot call child drawings from a different type of drawing and child drawings can-
not call grandchild drawings from a different type of drawing. Also, parent drawings cannot directly
call grandchild drawings. Child drawings are always called from parent drawings and grandchild
drawings are always called from child drawings. This is the hierarchical structure of drawings.
As shown in the following figure, each processing program is created from a hierarchy of parent,
child, and grandchild drawings.

Parent Child Grandchild User Functions

Drawings Drawings Drawings
DWG.X DWG.X01 DWG.X01.01

DWG.X01.02 FUNC-001

࡮ ࡮
࡮ ࡮
FUNC-006
࡮
࡮
DWG.Xnn DWG.X01.03 FUNC-032
࡮
࡮
FUNC-064

Note: X means A, I, H, or L.

The type of drawing and the parent-child-grandchild relationship can be determined from the
descriptors after “DWG.”

DWG Description: DWG.X YY . ZZ

Grandchild drawing number (01 to 99)

Child drawing number (01 to 99)

Parent drawing type (01 to 99)

: DWG.X 00

Operation error drawing (01 to 99)

5-8
 5.2 User Programs

( 4 ) Drawing Execution Processing Method

The execution processing of hierarchical drawings are performed by calling lower-level drawings
from higher-level drawings.
The following figure shows the execution processing for drawings, using DWG.A as an example.

System programs are started

according to execution
conditions.

Parent Drawings Child Drawings Grandchild Drawings

DWG.A DWG.A01 DWG.A01.01

SEE A01 SEE A01.01 Functions

FUNC-001
FUNC-001

DEND

DWG.A01.02
DEND

SEE A01.02
FUNC-001

DEND DEND

SEE A02 DWG.A02 System starts

automatically.
DWG.A00
Operation
error

DEND DEND DEND

ΠFunctions can be called from any drawing. Functions can also be called from other functions.
ΠWhen an operation error occurs, the operation error processing drawing for that drawing will be
started.

5-9
5 Outline of Motion Control Systems
5.2.3 Motion Programs

5.2.3 Motion Programs

( 1 ) Outline
Motion programs are programs written in a text-based language called motion language. Up to 256
motion programs can be created separate from ladder drawings.
The following table shows the two types of motion programs.

Specification
Type Features No. of Programs
Method
MPM†††
Main Program Accessed from DWG.H
(††† ＝ 1 to 256) Up to 256 programs (including main and
MPS††† sub programs) can be created.
Subprogram Can be called from main programs
（††† ＝ 1~256）

Œ Specify a different MPM and MPS program number (†††) between 1 and 256 for each program.
ΠThe MP2300 can execute up to 16 motion programs simultaneously. An alarm (no system work
error*) will occur if 17 or more programs are executed simultaneously.
* No system work error: Bit E of the leading word in the MSEE work registers
There are two methods for specifying motion programs: direct specification of the program number
or indirect specification by specifying the register number where the program number is stored.

MPM001

ABS;
Motion program call command
MOV[X] _ [Y] _

MVS[X] _ [Y] _ F

IOW MB0001

MOV[X] _ [Y] _
.
.
MPM No.
.
Ladder program Motion program

Fig. 5.1 Calling Motion Programs Using Direct Specification

MPM003

ABS;
Motion program call command
0 3 MOV[X] _ [Y] _
Setting device MVS[X] _ [Y] _ F

IOW MB0001
Stored in
register MOV[X] _ [Y] _
MW00200. .
.
∗ MW00200 =3 Register No. .
Ladder program Motion program

MPM No. 㧩MW00200 =3

Fig. 5.2 Calling Motion Programs Using Indirect Specification

ΠFor the meaning of register numbers and how to interpret them, refer to 5.3 Registers on page 5-
21.

5-10
 5.2 User Programs

( 2 ) Groups
A group of axes with related operations can be treated as one group by motion programs and pro-
grams can be executed for each group. This allows one MP2300 to independently control multiple
machines using group operation. Group operation can be single group operation or multiple group
operation.
Definitions for axes to be grouped together are made under Group Definitions. For details on group
definitions, refer to Machine Controller MP900/MP2000 Series User’s Manual MPE720 Software
for Programming Device (SIEPC88070005 ).
(a) Single Group Operation (b) Multiple Group Operation
MP2300 MP2300

SGDS

SGDS

SGDS

SGDS

SGDS
SGDS

SGDS

SGDS

SGDS

SGDS

xxx xxx

X1 Y1 Z1 A1 B1 X1 Y1 Z1 A1 B1

( 3 ) Motion Program Execution Example

Motion programs are always called from H drawings using the MSEE command (motion program
call command). Motion programs can be called from any parent, child, or grandchild drawing in an H
drawing.
The following figure shows an example of motion program execution.
System programs are
started according to
execution conditions.

Parent Drawings Child Drawings Grandchild Drawings Motion Programs

DWG.H DWG.H01 DWG.H01.01 MPM001
SEE SEE H01.01 VEL [a1]5000 [b1]..
H01 FMX T10000000;
MSEE IAC T25;
IDC T30;
MPM001
MOV [a1]300. [b1]..
MVS [a1]200. [b1]..
.
.
DEND .
END

MPM002
MSEE
MPM002

DEND END

Subroutine
MPM003
MSEE MPS101
MPM003
MSEE
MPS101

DEND END RET

H drawing ladder commands are executed in hierarchical order i.e., parent drawings, child drawings,
then grandchild drawings each high-speed scan cycle.
Motion programs are also called each scan cycle, but unlike ladder programs, all motion programs
cannot be executed in one scan. For this reason, motion programs are executed and controlled by spe-
cial system’s motion management function.

5-11
5 Outline of Motion Control Systems
5.2.4 Motion Programs and MSEE and S Registers

Œ Ladder program MSEE commands cannot call motion program subroutines (MPS†††). Subrou-
tines can be called only from motion programs (MPM††† and MPS†††).
ΠThe same motion program or same subroutine can be called only once in one scan.

5.2.4 Motion Programs and MSEE and S Registers

Motion program status, control signal, interpolation override, and system work number data is saved
in four MSEE registers (4 words) with a DAxxxx (x: hexadecimal number) leading address. This
data is called every time the MSEE command is executed in an H drawing. Motion program execu-
tion information can be monitored in the S registers.
The following figure shows the method for executing motion programs. MSEE register details and S
register descriptions are also provided below from (1) onwards.

External ladder control

signal MSEE
• Operation start work registers
• Pause address
• Stop, etc. DAxxxxx Status
DAxxxxx+1 Control signal
DAxxxxx+2 Interpolation override
DWG.H DAxxxxx+3 System work number
(x: hexadecimal number)
Ladder program for Execution control using
motion program control motion management function
Calling MSEE work MPM001
registers
VEL [a1] 5000 [b1]..
FMX T10000000;
Motion IAC T25;
program No.
IDC T30;
. MOV [a1] 300. [b1]..
. MSEE work registers MVS [a1] 200. [b1]..
. leading address
. .
. .
. .
.
. .
DEND END

Ladder program Motion program

ΠFor the meaning of register numbers and how to interpret them, refer to 5.3 Registers on
page 5-21.

5-12
 5.2 User Programs

( 1 ) Motion Program Status Bits (DAxxxxx+0)

The leading word (DAxxxxx+0) in the MSEE work registers contains the motion program status bits
for monitoring execution status of the motion program.
The following table shows details of status bit.

Bit No. Status

0 Program running
1 Program paused
2 Program stopped by stop request (used by system)
3 (Used by system)
4 Single program block operation stopped
8 Program alarm
9 Stopped by brake point
B In debug mode (EWS debugging operation)
D Start request signal history
E No system work error
F Main program number exceeded error

ΠAlarm details are saved in the S registers.

5-13
5 Outline of Motion Control Systems
5.2.4 Motion Programs and MSEE and S Registers

( 2 ) Motion Program Control Signals (DAxxxxx+1)

Program control signals (e.g., program operation start requests and program stop requests) need to be
entered to execute the motion program called from DWG.H using the MSEE command. The second
word of the MSEE work registers (DAxxxxx+1) is the motion program control signal.
The following types of signals for controlling motion programs are available.

Bit No. Signal Name Signal Type

0 Program operation start request Differential or NO contact input
1 Program pause request NO contact
2 Program stop request NO contact
3 Program single block mode selection NO contact
4 Program single block start request Differential or NO contact input
5 Alarm reset request NO contact
6 Program continuous operation start request Differential or NO contact input
8 Skip 1 information NO contact
9 Skip 2 information NO contact
NO contact
OFF: The system will use the automatically obtained system work
D System work number setting
number. The system work number may be different each time.
ON: The work with the set system work number will be used.
NO contact
E Interpolation override setting OFF: Interpolation override 100% fixed
ON: Conforms to set interpolation override

These signals can perform run, stop, hold, and other controls for motion programs by entering from
the ladder program to the work register specified by the MSEE command +1.
Use signals conforming to the above signal types when writing ladder programs.
ΠMotion programs are executed if the program operation start request signal is ON when the power
is turned ON (e.g., when a start request signal is left in M register).

■ Timing Chart for Motion Program Control Signals

The following figure shows an example of a timing chart for motion program control signals.

Program Operation Start Request

Control signal: Operation start request

Status: Operating

Distribution

Pause Request

Control signal: Operation start request

Control signal: Pause request

Status: Operating One scan

Status: Paused

Distribution

5-14
 5.2 User Programs

Stop Request

Control signal: Operation start

request
Control signal: Stop request

Control signal: Alarm clear

Status: Operating

Status: Stopped
One scan

Status: Alarm
One scan

Distribution (MVS)

Distribution (MOV)

ΠAn alarm will occur if the stop request is turned ON during axis operation using a motion com-
mand.

( 3 ) Interpolation Override (DAxxxxx+2)

The override when executing interpolation travel commands (setting; unit: 1 = 0.01%) is set in the
third word of the MSEE work registers (DAxxxxx+2).
This interpolation override is enabled only when the motion program control signal bit E (interpola-
tion override setting) is ON.

( 4 ) System Work Number (DAxxxxx+3)

The system work number n (setting range: 1 to 16) used when executing motion programs is set by
the fourth word of the MSEE work registers (DAxxxxx+3).
This system work number is enabled only when the motion program control signal bit D (system
work number setting) is ON. The status bit, bit E (No system work error), will turn ON if the work
number setting is outside the setting range or the specified system work is in use.

( 5 ) Monitoring Motion Program Execution Information Using S Registers

The S registers (SW03200 to SW04191) can be used to monitor motion program execution informa-
tion.

5-15
5 Outline of Motion Control Systems
5.2.4 Motion Programs and MSEE and S Registers

■ Register Areas for Motion Program Execution Information

Motion program execution information Executing program number
SW03200 SW03200 Program number used by work 1
Executing program number
(No. of main program currently Program number used by work 2
SW03201
executing) 16W
SW03216 SW03202 Program number used by work 3
Reserved by the system. 16W
SW03232 SW03203 Program number used by work 4
Executing Program Bit
(Executing when corresponding SW03204 Program number used by work 5
bit is ON)
16W Program number used by work 6
SW03205
SW03248
Reserved by the system. 16W Program number used by work 7
SW03206
SW03264
Program information used
58W SW03207 Program number used by work 8
by work 1
SW03222 SW03208 Program number used by work 9
Program information used by
work 2 58W
SW03209 Program number used by work 10
SW03380 Program information used by SW03210 Program number used by work 11
58W
work 3
SW03211 Program number used by work 12
SW03438 Program information used by
work 4 58W SW03212 Program number used by work 13

SW03496 SW03213 Program number used by work 14

Program information used by
58W
work 5 SW03214 Program number used by work 15
SW03554 SW03215 Program number used by work 16
Program information used by
58W
work 6
SW03216 Program number used by work 17
SW03612
Program information used by 58W
work 7
SW03670
Program information used by
work 8
58W Executing program bit

SW03728 SW03232 MP
016 (Bit15) to MP
001 (Bit0)

Program information used by
58W
work 9 SW03233 MP
032 (Bit15) to MP
017 (Bit0)
SW03786
Program information used by SW03234 MP
048 (Bit15) to MP
033 (Bit0)
58W
work 10
SW03235 MP
054 (Bit15) to MP
049 (Bit0)
SW03844
Program information used by
58W SW03236 MP
080 (Bit15) to MP
055 (Bit0)
work 11
SW03902 SW03237 MP
096 (Bit15) to MP
081 (Bit0)
Program information used by
58W
work 12 SW03238 MP
112 (Bit15) to MP
097 (Bit0)
SW03960
Program information used by SW03239 MP
128 (Bit15) to MP
113 (Bit0)
58W
work 13
SW03240 MP
144 (Bit15) to MP
129 (Bit0)
SW04018
Program information used by
58W SW03241 MP
160 (Bit15) to MP
145 (Bit0)
work 14
SW04076 SW03242 MP
176 (Bit15) to MP
161 (Bit0)
Program information used by 58W
work 15 SW03243 MP
192 (Bit15) to MP
177 (Bit0)
SW04134
Program information used by SW03244 MP
208 (Bit15) to MP
193 (Bit0)
58W
work 16
SW03245 MP
224 (Bit15) to MP
209 (Bit0)
SW04192
SW03246 MP
240 (Bit15) to MP
225 (Bit0)
Reserved by the system. 928W
SW03247 MP
256 (Bit15) to MP
241 (Bit0)
SW05120 Reserved by the system. 64W Note:
indicates M or S.

5-16
 5.2 User Programs

■ Details of Program Information Used by Work n

Program information used by work n

+0
Program status
+1
Program control signal Executing program number
+2
Parallel 0 information 3W Executing block number
+5
Parallel 1 information 3W Error code

+8
Parallel 2 information 3W

+11 3W
Parallel 3 information
+14
Parallel 4 information 3W
+17
Parallel 5 information 3W

+20
Parallel 6 information 3W

+23
Parallel 7 information 3W

+26
Logical axis #1 program current position 2W
+28 Logical axis #2 program current position 2W
+30
Logical axis #3 program current position 2W
+32
Logical axis #4 program current position 2W
+34
Logical axis #5 program current position 2W
+36 Logical axis #6 program current position 2W
+38 Logical axis #7 program current position 2W
+40 Logical axis #8 program current position 2W
+42 Logical axis #9 program current position 2W
+44
Logical axis #10 program current position 2W
+46
Logical axis #11 program current position 2W
+48
Logical axis #12 program current position 2W
+50
Logical axis #13 program current position 2W
+52
Logical axis #14 program current position 2W
+54
Logical axis #15 program current position 2W
+56
Logical axis #16 program current position 2W

The monitoring method differs depending on the setting for bit D of the motion program control sig-
nal (system work number setting).

[ a ] When Bit D of Motion Program Control Signal (System Work Number Setting) is ON
The execution information is reported to the “Program information used by work n” registers
(SW03264 to SW04133).
For example, when the system work number is 1, the motion program execution information can be
monitored using SW03246 to SW03321 “Program information used by work 1.”

5-17
5 Outline of Motion Control Systems
5.2.5 Example of Ladder Programs for Motion Program Control

[ b ] When Bit D of Motion Program Control Signal (System Work Number Setting) is OFF
The system automatically determines the system work to be used. This means that the work being
used can be checked under “Executing program number” (SW03200 to SW03215).
For example, if the motion program to be monitored is MPM001, and SW03202 is 001, the number
of the work being used is 3. This means that the execution information for motion program MPM001
can be monitored using “Program information used by work 3” (SW03380 to SW03437).

5.2.5 Example of Ladder Programs for Motion Program Control

The following figure shows the minimum ladder programming required for controlling motion pro-
grams.

Servo ON

Start program operation

Pause program

Stop program

Reset alarm

Clear alarm

5-18
 5.2 User Programs

The following table shows the details of the above ladder program.

Step No. Program Details

The servo ON signal (IB00100) sets the Servo ON motion settings parameter (OB80000) and
1
turns ON the Servo.
The signals connected to the MP2300 external input signals are stored as the motion program
control signals.
IW0000 (external input signal) → DW00001 (Second word of MSEE work registers)
2 to 10 • Start program operation
• Pause program
• Stop program
• Reset alarm
Calls motion program MPM001
MSEE MPM001 DA00000
11 (1) (2)
(1) Motion program number
(2) Leading MSEE work register address
Sets motion settings parameter Alarm Clear (OB0000F) using the alarm reset signal (IB00005)
12
and clears the alarm.

If the above ladder program is used to enter external input signals connected to the MP2300
(IB00000 to IB00005) to DW00001 (second word of MSEE work registers) as the motion program
control signals, motion program operations such as run, pause, and stop can be performed using the
system’s motion management function.

The following tables show an example of the minimum external input signals required to create the
above ladder program.

External
Signal External Signal Name Bit No. Motion Program Control Signal
Address
IB00000: Start program operation 0: Program operation start request
IB00001: Pause program 1: Program pause request
IB00002: Stop program 2: Program stop request
IB00005: Reset the alarm. 5: Alarm reset request

5-19
5 Outline of Motion Control Systems
5.2.6 Functions

5.2.6 Functions
Functions are executed by calling them from parent, child, or grandchild drawings using the FSTART
command.
Functions can be called from any drawing, and the same function can be called at the same time from
different types of drawings and from different levels of drawings. Another completed functions can
also be called from functions.
Using functions has the following advantages.
• Easier creation of user program components
• Easier writing and maintenance of user programs
Functions include standard system functions that are already in the system and user functions that are
defined by the user.

( 1 ) Standard System Functions

The transmission and other functions listed below are already created as standard system functions.
Standard system functions cannot be changed by users.

Type Name Symbol Contents

Counter COUNTER Incremental/decremental counter
First in/first out FINFOUT First in/first out
System functions

Trace function TRACE Data trace execution control

Data trace read DTRC-RD Reads data from data trace memory to user memory
Inverter trace read function ITRC-RD Reads trace data from inverter trace memory to user memory
Message send MSG-SND Sends messages to external communication devices
Message receive MSG-RCV Receives messages from external communication devices

( 2 ) User Functions
The functions (programs) and the function definitions can be changed (programmed) freely by users.
The maximum number of user functions that can be defined is 500 drawings.
ΠRefer to the following manual for information on defining functions.
Machine Controller MP900/MP2000 Series User’s Manual Ladder Programming (SIEZ-C887-
1.2 )
Machine Controller MP900/MP2000 Series User’s Manual Motion Programming (SIEZ-C887-
1.3 )
Machine Controller MP900/MP2000 Series New Ladder Editor Programming Manual (SIEZ-C887-
13.1 )
Machine Controller MP900/MP2000 Series New Ladder Editor User’s Manual (SIEZ-C887-
13.2 )

5-20
 5.3 Registers

5.3 Registers
This section describes the types of registers used in MP2300 user programs (mainly ladder programs)
and how to use them.

5.3.1 Types of Registers

( 1 ) DWG Registers
Registers used by ladder programs (ladder drawings; DWG). Each drawing can use the registers out-
lined in the following table.
Type Name Specification Method Range Details Characteristics
Registers provided by the system. SW00000 to
SB, SW, SL, SFnnnnn SW00000 to
S System registers SW00049 are cleared to all zeros when the
(SAnnnnn) SW08191
system starts.
MB, MW, ML,
MW00000 to Registers shared by all drawings. Used, e.g., as
M Data registers MFnnnnn
MW65534 an interface between drawings.
(MAnnnnn) Common to all
IB, IW, IL, IFhhhh IW0000 to drawings
I Input registers Registers used for input data.
(IAhhhh) IW13FFF
OB, OW, OL, OFhhhh OW0000 to
O Output registers Registers used for output data.
(OAhhhh) OW13FFF
Constants CB, CW, CL, CFnnnnn CW00000 to
C Registers that can only be called from programs.
registers (CAnnnnn) CW16383
Call-only registers Can be called only by
#B, #W, #L, #Fnnnnn #W00000 to
# # registers corresponding drawing. The usage range is set
(#Annnnn) #W16383
by the user using MPE720. Unique to each
DB, DW, DL, Internal registers unique to each drawing. Can be drawing
DW00000 to
D* D registers DFnnnnn used only by corresponding drawing.
DW16383
(DAnnnnn) The usage range is set by the user using MPE720.
Πn: Decimal number; h: Hexadecimal number
ΠB, W, L, F, and A: Data type (B: Bit, W: Integer, L: Double-length integer, F: Real number, A:
Address. Refer to 5.3.2 Data Types and Register Specifications on page 5-24.)
* Up to 32 D registers (32 words, DW0000 to DW0031) can be used when creating drawings, but
this can be changed in the MPE720 Drawings Properties Window. Refer to the Machine Controller
MP900/MP2000 Series User’s Manual MPE720 Software for Programming Device
(SIEPC88070005 ) for details.

ΠS and M register data has a battery backup to ensure the data is held even if the MP2300 power is turned
OFF and ON. Other register data is saved to flash memory, so when the MP2300 power is turned OFF to
ON, data saved to flash memory is read and data not saved to flash memory is lost.
It is recommended, therefore, that data to be held regardless of whether or not the power is turned OFF to
ON should be written to M registers if possible.

5-21
5 Outline of Motion Control Systems
5.3.1 Types of Registers

( 2 ) Function Registers
The following table shows the registers that can be used with each function.
Type Name Specification Method Range Details Characteristics
Input to functions
Bit input: XB000000 to XB00000F
Function input XW00000 to
X XB, XW, XL, XFnnnnn Integer input: XW00001 to XW00016
registers XW00016
Double-length integer input: XL00001 to
XL00015
Output from functions
Bit output: YB000000 to YB00000F
Function output YW00000 to
Y YB, YW, YL, YFnnnnn Integer output: YW00001 to YW00016
registers YW00016
Double-length integer output: YL00001
to YL00015
Internal registers unique to each function
Internal function ZW0000 to
Z ZB, ZW, ZL, ZFnnnnn Can be used for function internal Unique to each
registers ZW00063
processing. function
External registers with the address input
External function AW0000 to value as the base address.
A AB, AW, AL, AFhhhh
registers AW32767 For linking with S, M, I, O, #, and
DAnnnnn.
Call-only registers
#B, #W, #L, #Fnnnnn #W00000 to Can be called only from the relevant
＃ # registers
(#Annnnn) #W16383 function. The usage range is set by the user
using MPE720.
Internal registers unique to each function.
DB, DW, DL, DFnnnnn DW00000 to Can be called only the relevant function.
D D registers
(DAnnnnn) DW16383 The usage range is set by the user using
MPE720.
SB, SW, SL, SFnnnnn
S System registers
(SAnnnnn)
MB, MW, ML,
M Data registers MFnnnnn
(MAnnnnn) Same as DWG registers
These registers are shared by drawings and functions. Pay attention to how
IB, IW, IL, IFhhhh
I Input registers these registers are to be used when calling the same function from a drawing of
(IAhhhh)
a different priority level.
OB, OW, OL, OFhhhh
O Output registers
(OAhhhh)
CB, CW, CL, CFhhhh
C Constants registers
(CAnnnn)
Πn: Decimal number; h: Hexadecimal number
ΠB, W, L, F, and A: Data type (B: Bit, W: Integer, L: Double-length integer, F: Real number, A:
Address. Refer to 5.3.2 Data Types and Register Specifications on page 5-24.)
ΠSA, MA, IA, OA, DA, #A, and CA registers can be used within functions.

5-22
 5.3 Registers

( 3 ) Register Ranges in Programs

The following figure shows DWG programs, function programs, and register call ranges.

Common DWG registers

DWG H (drawing)

Program System registers

(SB, SW, SL, SFnnnnn)
(1)
1000 steps max.
2)
Data registers
DWG registers (MB, MW, ML, MFnnnnn)

Constant data, 16384 words max.

(#B, #W, #L, #Fnnnnn)
Individual data, 16384 words max.
(DB, DW, DL, DFnnnnn)

FUNC-000 (function)
Input registers
(IB, IW, IL, IFnnnnn)
Program
(4)
Function external
1000 steps max.
registers
(AB, AW, AL, AFnnnnn)
3)
(1)
Function individual registers Output registers
(OB, OW, OL, OFnnnnn)
Function input registers, 17 words
(XB, XW, XL, XFnnnnn)
Function output registers, 17 words
(YB, YW, YL, YFnnnnn)
Function internal registers, 64 words Constants registers
(ZB, ZW, ZL, ZFnnnnn) (CB, CW, CL, CFnnnnn)
Constant data, 16384 words max.
(#B, #W, #L, #Fnnnnn)
Individual data, 16384 words max.
(DB, DW, DL, DFnnnnn)

(1): Registers that are common to all drawings can be called from any drawing or function.
(2): Registers that are unique to each drawing can be called only from within the drawing.
(3): Registers that are unique to each function can be called only from within the function.
(4): Registers that are common to all drawings and registers that are unique to each
drawing can be called from functions using the external function registers.

5-23
5 Outline of Motion Control Systems
5.3.2 Data Types and Register Specifications

5.3.2 Data Types and Register Specifications

There are five kinds of data: Bit, integer, double-length integer, real number, and address data. Each
is used differently depending on the application. Address data, however, is used only inside functions
when specifying pointers. The following table shows the types of data.

Type Data types Numeric Value Range Remarks

B Bit 0，1 Used by relay circuits.
−32768 to +32767 Used for numeric value operations. The values in
W Integer
(8000H) (7FFFH) parentheses ( ) indicate use with logical operations.

Double-length −2147483648 to +2147483647 Used for numeric value operations. The values in
L
integer (80000000H) (7FFFFFFFH) parentheses ( ) are for use with logical operations.
F Real number ± (1.175E-38 to 3.402E+38), 0 Used for numeric value operations.
A Address 0 to 32767 Used only when specifying pointers.

A digit to indicate the bit (6) is added to

the register number (00100).

ata Types and Register

pecifications
[ MB001006 ] Bit type
Integer type
F E D C B A 9 8 7 6 5 4 3 2 1 0
[ MW00100 ]
[ ML00100 ]
[ MF00100 ]
[ MW00101 ]

[ MW00102 ]
[ ML00102 ]
[ MF00102 ]
[ MW00103 ]

Double-length and real

[ MB00103A ] Bit type
number type

Each register number A digit to indicate the bit (A) is added to The words for the given register num
is one word. the register number (00103). (00102) and the next number (0010
included. Therefore, every second n
is used.

5-24
 5.3 Registers

Pointer Specification and Address

Type

Register area
Address in
memory

[ MA00100 ]

Indicates registers with consecutive

multiple addresses with MA00100
as the leading address

5.3.3 Using i and j Subscripts

There are two special register modifiers, i and j, that can be used with relay and register numbers.
The functions of i and j are exactly the same. They are used for handling register numbers as vari-
ables.
Examples of each register data type are used to explain the use of i and j.

( 1 ) Bit Registers with Subscripts

These are the same as when i or j

values are added to relay numbers.
Equivalent For example, when i = 2, MB000000i
is the same as MB000002. And
when j = 27, MB000000j is the same
as MB00001B.

( 2 ) Integer Registers with Subscripts

These are the same as when i or j

values are added to register
numbers.
Equivalent
For example, when i = 3, MW00010i
is the same as MW00013. And
when j = 30, MW00001j is the same
as MW00031.

5-25
5 Outline of Motion Control Systems
5.3.3 Using i and j Subscripts

( 3 ) Double-length Integers and Real Numbers with Subscripts

Double-length Integer Type Upper word Lower word These are the same as when i
MW00001 MW00000
ML00000j when j = 0: ML00000 or j values are added to
MW00002 MW00001 register numbers. For
ML00000j when j = 1: ML00001
example, when j = 1,
Real Number Type Upper word Lower word ML00000j is the same as
MW00001 MW00000
MF00000j when j = 0: MF00000 ML00001. And when j = 1,
MF00000j when j = 1: MF00001
MW00002 MW00001
MF00000j is the same as

Example Program Using Subscripts

The program shown to the

finds the total of 100 regis
from MW00100 to MW001

5-26
 5.3 Registers

5.3.4 Register Specification Methods

Registers can be specified directly by register number or by symbol (register name) specification. A
combination of both of these register specification methods can be used in ladder programs.
When using the symbol specification method, the relationship between symbols and register numbers
must be defined.
The following table shows the register specification methods.

Specification
Specification Example by Data Type
Method
Bit register: MB00100AX
Integer register: MW00100X
Register
Double-length integer register: ML00100X
number direct
specification Real number register: MF00100X
Address register: MA00100X
X: When specifying subscripts, subscript i or j is added after the register number.
Bit register: RESET1-A.X
Integer register: STIME-H.X
Double-length integer registers: POS-REF.X
Real number registers: IN-DEF.X
Symbol
specification Address registers: PID-DATA.X
↓
8 alphanumeric characters max.
X: When specifying subscripts, a period (.) is added after the symbol (8
alphanumeric characters max.) and then a subscript i or j is added.

Direct Specification of
Register Number

Register No.: V T No. Bit No. Subscript

Subscript i or j can be specified

When T = B (bit register) (hexadecimal: 0
to F)
Register number allocated for V
(decimal/hexadecimal)
Data type allocated by V (B, W, L, F, or A)
Register type
(DWG: S, M, I, O, C, #, or D)
(Function: S, M, I, O, C, #, D, X, Y, Z, or A)

Symbol
Specification

Symbol: Symbol name Subscript

Subscript i or j can be specified

Required if using subscripts
Name for registers: 8 characters max.
X XXXXXXX
Alphanumeric characters or symbols
English characters or symbols
(Symbol names cannot start with numerals.)

5-27
5 Outline of Motion Control Systems
5.4.1 Self-configuration Processing Procedure

5.4 Self-configuration
The self-configuration function automatically recognizes the Optional Modules mounted to MP2300
Basic Module and all slave data for slaves connected to the MECHATROLINK network, and auto-
matically generates a definition file.
Self-configuration can be executed from MPE720 or from a Basic Module switch.
ΠRefer to 5.4.2 Execution Procedure for Self-configuration Using the DIP Switch on page 5-29 and
5.4.3 Execution Procedure for Self-configuration Using MPE720 on page 5-31 for the procedure
to execute the self-configuration.

5.4.1 Self-configuration Processing Procedure

Self-configuration collects MECHATROLINK transmission definition data and slave data using the
following procedure.
In the MP2300, the communication method is determined when the slave is detected, after which
communication method switching and slave detection are not performed. When not even a single
slave station is detected, MECHATROLINK-I communication continues.

Start self-configuration

Search for connected Connected device

devices using
MECHATROLINK-II 32-
byte Mode

No connected
device

Connected
Search for connected device
devices using
MECHATROLINK-II 17-
byte Mode

No connected device

No connected
device Search for connected
devices using
MECHATROLINK-I

Connected device

• Station data settings*

• Fixed parameter settings*
• Setting parameter settings*
• Save SERVOPACK parameters*

End self-configuration

5-28
 5.4 Self-configuration

ΠSlaves detection is performed for each communication in the following order: SERVOPACK,
I/O, inverter.
ΠNo connection is detected for stations with disconnected cables, for which a communication
error has occurred, from which no response is received, or with the same station number as
another station.
* Refer to 2.3 System Startup Using Self-Configuration on page 2-59 and 2.1.4 MP2300 Self-
configuration on page 2-5 for information on station data settings, fixed parameters settings,
setting parameter settings, and saving SERVOPACK parameters.

5.4.2 Execution Procedure for Self-configuration Using the DIP Switch

Self-configuration can be executed from the Basic Module DIP switch.

( 1 ) Executing Self-configuration for the First Time after Connecting Devices

Turn ON the power to the MP2300 and then use the procedure described below. With this operation,
self-configuration will be executed for all modules and all new definition files will be created. In
addition, ladder drawings, functions, and all registers will be cleared.
In the following procedure, it is assumed that the power supply to all Σ-III SERVOPACKs are
already turned ON.

1. Turn OFF the power supply.

Turn OFF the 24-VDC power supply to the MP2300.

STOP
SUP 2. Set the DIP switch.
INIT Set the switches INIT and CNFG of the DIP switch SW1 on the MP2300
CNFG
MON Basic Module to ON.
TEST
SW1

OFF ON 3. Turn ON the power supply.

Turn ON the 24-VDC power supply to the MP2300.

4. Check the LED indicators.

Check that the LED indicators on the MP2300 Basic Module change as
follows.
RDY RUN RDY RUN RDY RUN
ALM ERR ALM ERR ALM ERR
TX BAT TX BAT TX BAT

: Lit : Unlit : Blinking

STOP
SUP 5. Reset the DIP siwtch.
INIT
CNFG Set the switches INIT and CNFG of the DIP switch SW1 on the MP2300
MON Basic Module to OFF.
TEST
SW1

OFF ON

5-29
5 Outline of Motion Control Systems
5.4.2 Execution Procedure for Self-configuration Using the DIP Switch

( 2 ) Self-configuration after Adding Devices Such as SERVOPACKs

For self-configurations after having added network devices such as SERVOPACKs, leave the switch
INIT to OFF in step (2) of the above procedure, then perform the rest of the steps.
ΠFor network devices with existing definitions files, correctly connect and turn ON the power to the
devices when executing self-configuration.

ΠIf register allocations have been changed manually since the last time self-configuration was executed, the
register allocations will return to the default settings when self-configuration is executed again. If the SVR is
set to disabled (UNDEFINED), the setting will return to enabled. To keep the changed register allocations,
do not use self-configuration, but manually make the register allocations for added devices and refresh the
definitions file.

„ INIT Switch and RAM Data

RAM data will be cleared if the INIT switch on the DIP switch on the MP2300 Basic Module is turned ON
and the power is turned ON. Flash memory data is read when the INIT switch is turned OFF and the power
is turned ON. Therefore, always save data to the MP2300 flash memory before turning OFF the power
when writing or editing programs.
For information on how to save data to flash memory, refer to 2.1.5 Starting and Preparing MPE720 on
page 2-7.
„ Turning OFF Power After Executing Self-configuration
Do not turn OFF the 24-VDC power supply to the MP2300 after executing self-configuration until the defi-
nitions data has been saved to flash memory in the MP2300. If the power is turned OFF somehow before
the data is saved to flash memory, execute self-configuration again.

5-30
 5.4 Self-configuration

5.4.3 Execution Procedure for Self-configuration Using MPE720

Executing self-configuration from the MPE20 allows not only self-configuration for all the Modules
but also self-configuration for individual Modules.

( 1 ) Self-configuration for All the Modules

Select Self Configure All Modules when executing the self-configuration for the first time after con-
necting devices.
ΠAfter having added or deleted Modules or devices, use the procedure described in (2) Self-config-
uration of Each Module to detect the configuration. Executing Self Configure All Modules will
overwrite the parameters that have been set.

1. In the File Manager Window, double-click the Controller folder and double-click the
Definition folder. Five definition files will appear under the Definition folder. Double-
click Module Configuration.

The Engineering Manager Window will open and the Module Configuration Window will
appear.

2. Select Order - Self Configure All Modules to execute self-configuration.

The RUN LED indicator will blink and a message indicating that the module configuration def-
initions are being created will be displayed. Once self-configuration has been completed, the
message will disappear and the RUN LED indicator will return to its original state.

5-31
5 Outline of Motion Control Systems
5.4.3 Execution Procedure for Self-configuration Using MPE720

3. Select File - Save & Save to FLASH to save the definitions data to the flash memory.

4. Right-click the No. 3 column in the Module Details area and click MECHATROLINK on
the pop-menu that appears.

The MECHATROLINK Window will appear.

5. Select the Link Assignment Tab Page to display the devices currently connected to the
Motion Board (SERVOPACK SGDS on this window) and the station numbers for those
devices.

After confirming the devices, click × to close the MECHATROLINK Window.

5-32
 5.4 Self-configuration

( 2 ) Self Configuration of Each Module

If devices are added, self-configuration can be executed separately for the Module (port) that has
been changed.

1. Double-click the Controller folder and the Definition folder in the File Manager Win-
dow to display five definition files under the Definition folder. Double-click Module
Configuration.

The Engineering Manager Window will start and the Module Configuration Window will
appear.

2. Right-click the Module for which devices have been added and select Module Self
Configuration from the pop menu to execute self-configuration.

The RUN LED indicator will blink and a message indicating that the module configuration def-
initions are being created will be displayed. Once self-configuration has been completed, the
message will disappear and the RUN LED indicator will return to its original state.
ΠWhen MP2300 is selected as an individual module, executing Module Self Configuration
will configure all the modules.

3. Select File - Save & Save to Flash. A confirmation message will appear. Click the
Yes Button to save the module configuration definitions.

5-33
5 Outline of Motion Control Systems
5.5.1 MP2300 Basic Module Definition Data

5.5 Definition Data Refreshed by Self-configuration and Allocation

Examples
The definition data refreshed when self-configuration is executed and module configuration defini-
tion examples according to combination of modules are shown below.

5.5.1 MP2300 Basic Module Definition Data

( 1 ) I/O Allocations
Item Allocation
Digital input (DI 18 points) IW0000
Digital output (DO 4 points) OW0001
Leading I/O registers: IW0010/OW0010
Ending I/O registers: IW040F/OW040F
MECHATROLINK
(Input registers: IW0010 to IW040F
Output registers: OW0010 to OW040F)

( 2 ) MECHATROLINK Transmission Definition Data

The following table shows the MECHATROLINK transmission definitions that are automatically set
based on the detected communication method and number of slaves.

MECHATROLINK-II MECHATROLINK-II
Communication type MECHATROLINK- Ⅰ
(32-byte) (17-byte)
Transmission speed 10 Mbps 10 Mbps 4 Mbps
Transmission bytes
32 17 17
(transfer bytes)
Communication cycle 1 ms* 2 ms* 1 ms 2 ms
Maximum number of
* * 14 15 14
slave stations
Number of retry stations * * 1 0 －
SigmaWin Not supported Not supported －
ΠThe communication cycle and number of retry stations in MECHATROLINK-II 32-byte Mode
change according to the highest station number of the detected slaves as shown in the following
table.

Highest Slave Station Communication

Number of Retry Station
Number Cycle (ms)
1 to 8 1 1
9 1 0
10 to 16 2 5
Determined by the following
17 to 21 2 equation.
21 - (Highest station number)

5-34
 5.5 Definition Data Refreshed by Self-configuration and Allocation Examples

„ Slave Devices Not Recognized by Self-configuration

The following slave devices (I/O modules) are recognized as wildcard I/O (***** I/O) because they do not
have a model code. Make allocations again for these devices in the Module Configuration Window of the
MPE720.
• JEPMC-IO350
• JAMSC-120DAI53330
• JAMSC-120DAI73330
• JAMSC-120DAO83330
• JAMSC-120DRA83030
Servos with special specifications and that cannot be automatically recognized are recognized as wildcard
Servos (*****SERVO). Make allocations again for these Servos in the Module Configuration Window of
the MPE720.

( 3 ) Motion Parameters
When self-configuration is executed, the motion parameters are set from SERVOPACK data. Some
of the parameters are written to the SERVOPACK’s RAM.
For details of this data, refer to 11.1.5 Parameters Updated during Self-configuration on page 11-5.

( 4 ) SERVOPACK Parameters
When self-configuration is executed, SERVOPACK parameters are written to the SERVOPACK’s
EEPROM or RAM. These settings, however, are not written to the set values for the SERVOPACK
parameters saved in the MP2300 and SVB-01 Module.
For details of the data that is written, refer to 11.1.5 Parameters Updated during Self-configuration
on page 11-5.
ΠTo save the SERVOPACK parameters to the MP2300 Basic Module, MPE720 must be used. For
details, refer to 2.1.6 ( 5 ) Making Servo Adjustments and Saving SERVOPACK Parameters on
page 2-30.

5-35
5 Outline of Motion Control Systems
5.5.2 SVB-01 Modules

5.5.2 SVB-01 Modules

The definition data (MECHATROLINK transmission definition data, motion parameters, and SER-
VOPACK parameters) are the same as for the MP2300 Basic Module. Refer to 5.5.1 ( 2 ) MECHA-
TROLINK Transmission Definition Data on page 5-34 to 5.5.1 ( 4 ) SERVOPACK Parameters on
page 5-35.

5.5.3 LIO-01/LIO-02 Modules

Details on definition data when self-configuration is executed are shown below.

( 1 ) I/O Allocation
Modules mounted in option slots are detected and input registers and output registers are allocated
automatically. Allocation is performed in ascending order from the Module with the lowest option
slot number.
With LIO-01/LIO-02 Module, 48 words are allocated for both input registers and output registers.

Item Allocation
Out of the 48 words allocated to one Module, the first word is automatically allocated to input registers.
Example: If LIO-01 Modules are mounted in slots 1 Example: If LIO-02 Modules are mounted in slots 1
Digital inputs and 2, digital inputs will be allocated in the follow- and 2, digital inputs will be allocated in the follow-
(16 points) ing way: ing way:
・LIO-01 Module mounted in slot 1: IW0410 ・LIO-02 Module mounted in slot 1: IW0410
・LIO-01 Module mounted in slot 2: IW0440 ・LIO-02 Module mounted in slot 2: IW0440
Out of the 48 words allocated to one Module, the second word is automatically allocated to output registers.
Example:If LIO-01 Modules are mounted in slots 1 Example:If LIO-02 Modules are mounted in slots 1
Digital Outputs and 2, digital outputs will be allocated in the and 2, digital outputs will be allocated in the
(16 points) following way: following way:
・LIO-01 Module mounted in slot 1: OW0411 ・LIO-02 Module mounted in slot 1: OW0411
・LIO-01 Module mounted in slot 2: OW0441 ・LIO-02 Module mounted in slot 2: OW0441
Out of the 48 words allocated to one Module, the last 32 words are automatically allocated to the input and
output registers.
Example:If LIO-01 Modules are mounted in slots 1 Example:If LIO-01 Modules are mounted in slots 1
and 2, counters will be allocated in the following and 2, counters will be allocated in the following
Counters way: way:
・LIO-01 Module mounted in slot 1: IW0420/ ・LIO-02 Module mounted in slot 1: IW0420/
OW0420 OW0420
・LIO-01 Module mounted in slot 2: IW0450/ ・LIO-02 Module mounted in slot 2: IW0450/
OW0450 OW0450

ΠThe allocation configuration shown above is only an example. The leading register number
allocation differs when registers are allocated manually.

( 2 ) Counter Fixed Parameters

When self-configuration is executed, all of the counter fixed parameters will take their default
settings. For details on counter fixed parameters, refer to 3.4.2 ( 2 ) Setting Counter Fixed Parame-
ters on page 3-29.

5-36
 5.5 Definition Data Refreshed by Self-configuration and Allocation Examples

5.5.4 LIO-04/LIO-05 Modules

Details on definition data when self-configuration is executed are shown below.

( 1 ) I/O Allocation
Modules mounted in option slots are detected and input registers and output registers are allocated
automatically. Allocation is performed in ascending order from the Module with the lowest option
slot number.
With LIO-04/LIO-05 Module, 2 words are allocated for both input registers and output registers.

Item Allocation
Out of the 2 words allocated to one Module, the first word is automatically allocated to input registers.
Example: If LIO-04 Modules are mounted in slots 1 Example: If LIO-05 Modules are mounted in slots 1
Digital Inputs and 2, digital inputs will be allocated in the follow- and 2, digital inputs will be allocated in the follow-
(32 points) ing way: ing way:
・LIO-04 Module mounted in slot 1: IW0402 ・LIO-05 Module mounted in slot 1: IW0402
・LIO-04 Module mounted in slot 2: IW0404 ・LIO-05 Module mounted in slot 2: IW0404
Out of the 2 words allocated to one Module, the second word is automatically allocated to output registers.
Example: If LIO-04 Modules are mounted in slots 1 Example: If LIO-05 Modules are mounted in slots 1
Digital Outputs and 2, digital outputs will be allocated in the follow- and 2, digital outputs will be allocated in the follow-
(32 points) ing way: ing way:
・LIO-04 Module mounted in slot 1: OW0403 ・LIO-05 Module mounted in slot 1: OW0403
・LIO-04 Module mounted in slot 2: OW0405 ・LIO-05 Module mounted in slot 2: OW0405

* The allocation configuration shown above is only an example. The leading register number
allocation differs when registers are allocated manually.

5.5.5 DO-01 Modules

Details on definition data when self-configuration is executed are shown below.

( 1 ) Output Allocation
Modules mounted in option slots are detected and output registers are allocated automatically. Allo-
cation is performed in ascending order from the Module with the lowest option slot number.
With DO-01 Module, 4 words are allocated for output registers.

Item Allocation
4 words allocated to one Module
Digital Outputs Example: If DO-01 Modules are mounted in slots 1 and 2,
(64 points) ・DO-01 Module mounted in slot 1: OW0402，OW0403，OW0404，OW0405
・DO-01 Module mounted in slot 2: OW0406，OW0407，OW0408，OW0409

* The allocation configuration shown above is only an example. The leading register number
allocation differs when registers are allocated manually.

5.5.6 AI-01 Modules

The default input settings cannot be specified for the AI-01 Module. Therefore, only the registers
will be allocated and all the channels will be in unused status.

5-37
5 Outline of Motion Control Systems
5.5.7 218IF-01 Modules

5.5.7 218IF-01 Modules

When self-configuration is executed, the following parameter settings will be made for the Ethernet
interface and RS-232C interface of 218IF-01 Modules.

( 1 ) Ethernet Interface
Item Setting
Local IP address 192.168.1.1
Subnet mask 255.255.255.0
Gateway IP address 0.0.0.0
System port
10000 (UDP)
(engineering port)
TCP zero window timer value 3s
TCP resend timer value 500 ms
TCP end timer value 60 s
IP build timer 30 s
Maximum packet length 1,500 bytes
ΠEngineering communication connection with the MPE720 is possible using self-configuration.
To perform MEMOBUS message communication, the MSG-SND (MSG-RCV) function is required.

( 2 ) RS-232C Interface
Item Setting
Communication protocol MEMOBUS
Master/Slave Slave
Device address 1
Serial interface RS-232C
Communication mode RTU
Data length 8 bits
Parity Even
Stop bits 1 bit
Baud rate 19.2 Kbps
Transmission delay Disable
Automatic reception Enable
Leading Register Number of Words
Reading input relays IW0000 32,768
Reading input registers IW0000 32,768
Reading/writing coils MW00000 65,535
Interface register settings at the
slave Reading/writing holding registers MW00000 65,535
Writing range for coil holding
MW00000 −
registers
− LO: MW00000 −
− HI: MW65534 −

ΠEngineering communication connection with the MPE720 is possible using self-configuration.

Also, depending on the settings of connected devices, MEMOBUS message communication may
be possible using the automatic reception function.

5-38
 5.5 Definition Data Refreshed by Self-configuration and Allocation Examples

5.5.8 217IF-01 Modules

( 1 ) RS422/485 Interface
When self-configuration is executed, the following parameter settings will be made for the RS422/
485 interface of 217IF-01 Modules.
Item Setting
Communication protocol MEMOBUS
Master/Slave Slave
Device address 1
Serial interface RS485
Communication mode RTU
Data length 8 bits
Parity Even
Stop bits 1 bit
Baud rate 19.2 Kbps
Transmission delay Disable
Automatic reception Enable
Leading Register Number of Words
Reading input relays IW0000 32,768
Reading input registers IW0000 32,768
Reading/writing coils MW00000 65,535
Interface register settings at the
slave Reading/writing holding registers MW00000 65,535
Writing range for coil holding
MW00000 −
registers
− LO: MW00000 −
− HI: MW65534 −

ΠDepending on the settings of connected devices, MEMOBUS message communication may be

possible using the automatic reception function.

5-39
5 Outline of Motion Control Systems
5.5.8 217IF-01 Modules

( 2 ) RS-232C Interface
When self-configuration is executed, the following parameter settings will be made for the RS-232C
interface of 217IF-01 Modules.
Item Setting
Communication protocol MEMOBUS
Master/Slave Slave
Device address 1
Serial interface RS-232C
Communication mode RTU
Data length 8 bits
Parity Even
Stop bits 1 bit
Baud rate 19.2 Kbps
Transmission delay Disable
Automatic reception Enable
Leading Register Number of Words
Reading input relays IW0000 32,768
Reading input registers IW0000 32,768
Reading/writing coils MW00000 65,535
Interface register settings at the
slave Reading/writing holding registers MW00000 65,535
Writing range for coil holding
MW00000 −
registers
− LO: MW00000 −
− HI: MW65534 −

ΠEngineering communication connection with the MPE720 is possible using self-configuration.

Also, depending on the settings of connected devices, MEMOBUS message communication may
be possible using the automatic reception function.

5-40
 5.5 Definition Data Refreshed by Self-configuration and Allocation Examples

5.5.9 260IF-01 Modules

When self-configuration is executed, the following parameter settings will be made for the
DeviceNet interface and RS-232C interface of 260IF-01 Modules.

( 1 ) DeviceNet Communication
Item Setting
Master/Slave specification Depends on switch settings.
MAC ID Depends on switch settings.
Master: 300 ms
Communication cycle time
Slave: 0 ms
I/O allocations Depends on switch settings.
I/O leading register number Depends on switch settings.
I/O end register number Depends on switch settings.

( 2 ) RS-232C Interface
Item Setting
Communication protocol MEMOBUS
Master/Slave Slave
Device address 1
Serial interface RS-232C
Communication mode RTU
Data length 8 bits
Parity Even
Stop bits 1 bit
Baud rate 19.2 Kbps
Transmission delay Disable
Automatic reception Enable
Leading Register Number of Words
Reading input relays IW0000 32,768
Reading input registers IW0000 32,768
Reading/writing coils MW00000 65,535
Interface register settings at the
slave Reading/writing holding registers MW00000 65,535
Writing range for coil holding
MW00000 −
registers
− LO: MW00000 −
− HI: MW65534 −

ΠEngineering communication connection with the MPE720 is possible using self-configuration.

Also, depending on the settings of connected devices, MEMOBUS message communication may
be possible using the automatic reception function.

5-41
5 Outline of Motion Control Systems
5.5.10 261IF-01 Modules

5.5.10 261IF-01 Modules

When self-configuration is executed, the following parameter settings will be made for the
PROFIBUS interface and RS-232C interface of 261IF-01 Modules.

( 1 ) PROFIBUS Interface
Item Setting
SYNC-SCAN Low
Local station number Depends on switch settings.
I/O allocation Depends on switch settings.
Baud rate Automatically detected from the master’s transmission data.
I/O leading register number Depends on switch settings.
I/O end register number Depends on switch settings.

( 2 ) RS-232C Interface
Item Setting
Communication protocol MEMOBUS
Master/Slave Slave
Device address 1
Serial interface RS-232C
Communication mode RTU
Data length 8 bits
Parity Even
Stop bits 1 bit
Baud rate 19.2 Kbps
Transmission delay Disable
Automatic reception Enable
Leading Register Number of Words
Reading input relays IW0000 32,768
Reading input registers IW0000 32,768
Reading/writing coils MW00000 65,535
Interface register settings at the
slave Reading/writing holding registers MW00000 65,535
Writing range for coil holding
MW00000 −
registers
− LO: MW00000 −
− HI: MW65534 −

ΠEngineering communication connection with the MPE720 is possible using self-configuration.

Also, depending on the settings of connected devices, MEMOBUS message communication may
be possible using the automatic reception function.

5-42
 5.5 Definition Data Refreshed by Self-configuration and Allocation Examples

5.5.11 Examples of Register Allocation by Self-configuration

Module configuration definition examples when self-configuration is executed are shown below.
ΠThe configuration definitions shown below are only examples. The configuration definition differs
depending on Optional Module model, number of mounted modules, and module mounted slot
numbers.
MP2300
YASKAWA
SVB
-01
218IF LIO-04
-01 ■ Configuration Example 1:
SVB-01, 218IF-01, and LIO-04

Slot No. 00 01 02 03
MP2300 MP2300 MP2300 218IF-01
Module Name SVB-01 LIO-04
I/O SVB SVR 217IF 218IF
Circuit Number － 01 02 03 01 01 －
I/O Leading Register Number 0000 0010 － 0410 － － 0420
I/O End Register Number 0001 040F － 080F － － 0421
Motion Leading Register
－ 8000 8800 9000 － － －
Number
Motion End Register Number － 87FF 8FFF 97FF － － －
MP2300
YASKAWA
218IF LIO-04 LIO-04
-01
■ Configuration Example 2:
218IF-01, LIO-04, and LIO-04

Slot No. 00 01 02 03
MP2300 MP2300 MP2300 218IF-01
Module Name LIO-04 LIO-04
I/O SVB SVR 217IF 218IF
Circuit Number － 01 02 01 01 － －
I/O Leading Register Number 0000 0010 － － － 0410 0420
I/O End Register Number 0001 040F － － － 0411 0421
Motion Leading Register
－ 8000 8800 － － － －
Number
Motion End Register Number － 87FF 8FFF － － － －

MP2300
YASKAWA
218IF 260IF LIO-04
-01 -01
■ Configuration Example 3:
218IF-01, 260IF-01, and LIO-04

Slot No. 00 01 02 03
MP2300 MP2300 MP2300 218IF-01 260IF-01
Module Name LIO-04
I/O SVB SVR 217IF 218IF 217IF 260IF
Circuit Number － 01 02 01 01 02 01 －
I/O Leading Register Number 0000 0010 － － － － 0410 0810
I/O End Register Number 0001 040F － － － － 080F 0811
Motion Leading Register
－ 8000 8800 － － － － －
Number
Motion End Register Number － 87FF 8FFF － － － － －

5-43
5 Outline of Motion Control Systems
5.5.11 Examples of Register Allocation by Self-configuration

5-44
 6
Motion Parameters

This chapter explains each of the motion parameters.

6.1 Motion Parameters Register Numbers .................................... 6-2

6.1.1 Motion Parameter Register Numbers for MP2300 ................................. 6-2

6.2 Motion Parameters Setting Window ........................................ 6-4

6.3 Motion Parameter Details ........................................................ 6-6
6.3.1 Fixed Parameter List ............................................................................. 6-6
6.3.2 Setting Parameter List ........................................................................... 6-8
6.3.3 Monitoring Parameter List ................................................................... 6-13

6.4 MP2300 Parameter Details ................................................... 6-18

6.4.1 Motion Fixed Parameter Details .......................................................... 6-18
6.4.2 Setting Parameter List ......................................................................... 6-24
6.4.3 Motion Monitoring Parameter Details .................................................. 6-46

6.5 Example of Setting Motion Parameters for the Machine ....... 6-59
6.5.1 Reference Unit ..................................................................................... 6-59
6.5.2 Electronic Gear .................................................................................... 6-59
6.5.3 Axis Type Selection ............................................................................. 6-61
6.5.4 Position Reference .............................................................................. 6-62
6.5.5 Speed Reference ................................................................................. 6-63
6.5.6 Acceleration/Deceleration Settings ...................................................... 6-65
6.5.7 Acceleration/Deceleration Filter Settings ............................................. 6-67

6-1
6 Motion Parameters
6.1.1 Motion Parameter Register Numbers for MP2300

6.1 Motion Parameters Register Numbers

6.1.1 Motion Parameter Register Numbers for MP2300
The leading motion parameter register numbers (I and O register numbers) are determined by the cir-
cuit number and axis number.
The leading register numbers for each axis’s motion parameters can be obtained using the following
equation.

Motion parameter register number

= I (or O)W8000 + (circuit number - 1) × 800h + (axis number - 1) × 80h

The following tables lists the motion parameters register numbers.

Circuit
Axis No. 1 Axis No. 2 Axis No. 3 Axis No. 4 Axis No. 5 Axis No. 6 Axis No. 7 Axis No. 8
No.
8000 to 8080 to 8100 to 8180 to 8200 to 8280 to 8300 to 8380 to
1
807F 80FF 817F 81FF 827F 82FF 837F 83FF
8800 to 8880 to 8900 to 8980 to 8A00 to 8A80 to 8B00 to 8B80 to
2
887F 88FF 897F 89FF 8A7F 8AFF 8B7F 8BFF
9000 to 9080 to 9100 to 9180 to 9200 to 9280 to 9300 to 9380 to
3
907F 90FF 917F 91FF 927F 92FF 937F 93FF
9800 to 9880 to 9900 to 9980 to 9A00 to 9A80 to 9B00 to 9B80 to
4
987F 98FF 997F 99FF 9A7F 9AFF 9B7F 9BFF
A000 to A080 to A100 to A180 to A200 to A280 to A300 to A380 to
5
A07F A0FF A17F A1FF A27F A2FF A37F A3FF
A800 to A880 to A900 to A980 to AA00 to AA80 to AB00 to AB80 to
6
A87F A8FF A97F A9FF AA7F AAFF AB7F ABFF
B000 to B080 to B100 to B180 to B200 to B280 to B300 to B380 to
7
B07F B0FF B17F B1FF B27F B2FF B37F B3FF
B800 to B880 to B900 to B980 to BA00 to BA80 to BB00 to BB80 to
8
B87F B8FF B97F B9FF BA7F BAFF BB7F BBFF
C000 to C080 to C100 to C180 to C200 to C280 to C300 to C380 to
9
C07F C0FF C17F C1FF C27F C2FF C37F C3FF
C800 to C880 to C900 to C980 to CA00 to CA80 to CB00 to CB80 to
10
C87F C8FF C97F C9FF CA7F CAFF CB7F CBFF
D000 to D080 to D100 to D180 to D200 to D280 to D300 to D380 to
11
D07F D0FF D17F D1FF D27F D2FF D37F D3FF
D800 to D880 to D900 to D980 to DA00 to DA80 to DB00 to DB80 to
12
D87F D8FF D97F D9FF DA7F DAFF DB7F DBFF
E000 to E080 to E100 to E180 to E200 to E280 to E300 to E380 to
13
E07F E0FF E17F E1FF E27F E2FF E37F E3FF
E800 to E880 to E900 to E980 to EA00 to EA80 to EB00 to EB80 to
14
E87F E8FF E97F E9FF EA7F EAFF EB7F EBFF
F000 to F080 to F100 to F180 to F200 to F280 to F300 to F380 to
15
F07F F0FF F17F F1FF F27F F2FF F37F F3FF
F800 to F880 to F900 to F980 to FA00 to FA80 to FB00 to FB80 to
16
F87F F8FF F97F F9FF FA7F FAFF FB7F FBFF

6-2
 6.1 Motion Parameters Register Numbers

Circuit
Axis No. 9 Axis No. 10 Axis No. 11 Axis No. 12 Axis No. 13 Axis No. 14 Axis No. 15 Axis No. 16
No.
8400 to 8480 to 8500 to 8580 to 8600 to 8680 to 8700 to 8780 to
1
847F 84FF 857F 85FF 867F 86FF 877F 87FF
8C00 to 8C80 to 8D00 to 8D80 to 8E00 to 8E80 to 8F00 to 8F80 to
2
8C7F 8CFF 8D7F 8DFF 8E7F 8EFF 8F7F 8FFF
9400 to 9480 to 9500 to 9580 to 9600 to 9680 to 9700 to 9780 to
3
947F 94FF 957F 95FF 967F 96FF 977F 97FF
9C00 to 9C80 to 9D00 to 9D80 to 9E00 to 9E80 to 9F00 to 9F80 to
4
9C7F 9CFF 9D7F 9DFF 9E7F 9EFF 9F7F 9FFF
A400 to A480 to A500 to A580 to A600 to A680 to A700 to A780 to
5
A47F A4FF A57F A5FF A67F A6FF A77F A7FF
AC00 to AC80 to AD00 to AD80 to AE00 to AE80 to AF00 to AF80 to
6
AC7F ACFF AD7F ADFF AE7F AEFF AF7F AFFF
B400 to B480 to B500 to B580 to B600 to B680 to B700 to B780 to
7
B47F B4FF B57F B5FF B67F B6FF B77F B7FF
BC00 to BC80 to BD00 to BD80 to BE00 to BE80 to BF00 to BF80 to
8
BC7F BCFF BD7F BDFF BE7F BEFF BF7F BFFF
C400 to C480 to C500 to C580 to C600 to C680 to C700 to C780 to
9
C47F C4FF C57F C5FF C67F C6FF C77F C7FF
CC00 to CC80 to CD00 to CD80 to CE00 to CE80 to CF00 to CF80 to
10
CC7F CCFF CD7F CDFF CE7F CEFF CF7F CFFF
D400 to D480 to D500 to D580 to D600 to D680 to D700 to D780 to
11
D47F D4FF D57F D5FF D67F D6FF D77F D7FF
DC00 to DC80 to DD00 to DD80 to DE00 to DE80 to DF00 to DF80 to
12
DC7F DCFF DD7F DDFF DE7F DEFF DF7F DFFF
E400 to E480 to E500 to E580 to E600 to E680 to E700 to E780 to
13
E47F E4FF E57F E5FF E67F E6FF E77F E7FF
EC00 to EC80 to ED00 to ED80 to EE00 to EE80 to EF00 to EF80 to
14
EC7F ECFF ED7F EDFF EE7F EEFF EF7F EFFF
F400 to F480 to F500 to F580 to F600 to F680 to F700 to F780 to
15
F47F F4FF F57F F5FF F67F F6FF F77F F7FF
FC00 to FC80 to FD00 to FD80 to FE00 to FE80 to FF00 to FF80 to
16
FC7F FCFF FD7F FDFF FE7F FEFF FF7F FFFF

6-3
6 Motion Parameters
6.1.1 Motion Parameter Register Numbers for MP2300

6.2 Motion Parameters Setting Window

This section describes how to display the Motion Parameters Setting Window for the MP2300.

1. Double-click the Controller folder and then the Definition folder in the File Manager
Window to display five definition files under the Definition Folder. Double-click Mod-
ule Configuration.

The Engineering Manager Window will start and the Module Configuration Window will be
displayed.

2. With No. 00 in the Controller area selected, double-click No.3 (SVB) in the Module
Details area.

The Fixed Parameters Tab Page on the SVB Configuration Window will be displayed.

6-4
 6.2 Motion Parameters Setting Window

3. Select the axis to be set from the Axis pull-down list.

4. Click each of the Fixed Parameters, Setup Parameters, and Monitor Tab Page to
switch between the tab pages and make or browse the settings.

Fig. 6.1 Fixed Parameters Tab Page

Fig. 6.2 Setup Parameters Tab Page

Fig. 6.3 Monitor Parameters Tab Page (Read-Only)

6-5
6 Motion Parameters
6.3.1 Fixed Parameter List

6.3 Motion Parameter Details

6.3.1 Fixed Parameter List
The following table provides a list of SVB and SVR motion fixed parameters.
ΠRefer to the pages listed in the Details column for details of each fixed parameter.
ΠFor information on SVR, refer to 3.2.4 SVR Virtual Motion Module on page 3-11.
Œ Refer to Machine Controller MP900/MP2000 Series User’s Manual for Linear Servomotors (SIEP
C880700 06 ) for information on parameters when Linear is selected for the Servo Type.
ΠRefer to the end of this table (next page) for information on how to specify the Servo Type.

Slot Reference
Name Contents SVB SVR
Number Page
0: Normal Running Yes Yes
1: Axis unused Yes Yes
2: Simulation mode Yes
0 Run Mode 6-18
3: Servo Driver Command (SERVOPACK Transparent Command
Yes
Mode)
4 and 5: Reserved for system use. − −
Bit 0: Axis Type (0: Finite length axis/1: Infinite length axis) Yes Yes
Bit 1: Forward Software Limit Enabled (0: Disabled/1: Enabled) Yes
Bit 2: Reverse Software Limit Enabled (0: Disabled/1: Enabled) Yes
Bit 3: Positive Overtravel (0: Disabled/1: Enabled) Yes
Bit 4: Negative Overtravel (0: Disabled/1: Enabled) Yes
1 Function Selection 1 6-18
Bits 5 to 7: Reserved for system use. − −
Bit 8: Segment Distribution Processing Yes
Bit 9: Simple ABS Infinite Axis (0: Disabled/1: Enabled) Yes
Bit A: User Constants Self-writing Function Yes
Bits B to F: Reserved for system use.
Bit 0: Communication Error Mask Yes
2 Function Selection 2 Bit 1: WDT Error Mask Yes 6-20
Bits 2 to F: Reserved for system use. − −
3 − Reserved for system use. − − −
0: pulse
1: mm
4 Command Unit Setting Yes Yes
2: deg
3: inch
5 Number of Decimal Places 1 = 1 digit Yes Yes
6-20
Reference Units per Revolution
6 1 = 1 reference unit Yes Yes
(rotary motor)*
8 Gear Ratio (Motor) 1 = 1 rotation (This setting is ignored if a linear motor is selected.*) Yes Yes
9 Gear Ratio (Load) 1 = 1 rotation (This setting is ignored if a linear motor is selected. *) Yes Yes
Maximum Value of Rotary
10 1 = 1 reference unit Yes Yes 6-21
Counter
12 Forward Software Limit 1 = 1 reference unit Yes
6-21
14 Reverse Software Limit 1 = 1 reference unit Yes
16 Backlash Compensation 1 = 1 reference unit Yes 6-22
18 to 29 − Reserved for system use. − − −

6-6
 6.3 Motion Parameter Details

(cont’d)
Slot Reference
Name Contents SVB SVR
Number Page
0: Incremental encoder
1: Absolute encoder
30 Encoder Selection Yes 6-22
2: Absolute encoder used as an incremental encoder.
3: Reserved
31 to 33 − Reserved for system use. − − −
34 * 1 = 1 rpm Yes Yes
Rated speed (Rotary Motor)
Encoder Resolution in Pulses/ 1 = 1 pulse/rev
36 Yes Yes
Revolution (Rotary Motor)* Set the value after multiplication. 6-23
Max. Revolutions of Absolute 1 = 1 rotation
38 Yes
Encoder ΠSet to 0 when a direct drive motor is being used.
40 to 41 − Reserved for system use. − − −
Feedback Speed Moving
42 1 = 1 ms Yes Yes 6-23
Average Time Constant

* The motor type (rotary or linear) can be selected in the Servo Type pull-down list on the SVB Def-
inition Window.

Œ Refer to Machine Controller MP900/MP2000 Series User’s Manual for Linear Servomotors (SIEP
C880700 06 ) for information on parameters when Linear is selected for the Servo Type.

6-7
6 Motion Parameters
6.3.2 Setting Parameter List

6.3.2 Setting Parameter List

The following table provides a list of SVB and SVR motion setting parameters.
ΠRefer to the pages listed in the Details column for details of each setting parameter.
ΠRefer to 3.2.4 SVR Virtual Motion Module on page 3-11 for information on SVR.

Reference
Register No. Name Contents SVB SVR
Page
Bit 0: Servo ON (0: OFF/1: ON) Yes Yes
Bit 1: Machine Lock (0: Normal operation/1: Machine locked) Yes
Bits 2 to 3: Reserved for system use.
Bit 4: Latch Request (0: Latch request OFF/1: Latch request ON) Yes
Bit 5: Reserved for system use.
Bit 6: POSMAX Preset
Yes Yes
(0: OFF/1: ON)
OW††00 RUN Commands Bit 7: Infinite Length Axis Position Information LOAD 6-24
Yes
Request (0: OFF/1: ON)
Bit 8: Forward External Torque Limit Input (0: OFF/1: ON) Yes
Bit 9: Reverse External Torque Limit Input (0: OFF/1: ON) Yes
Bit A: Reserved for system use.
Bit B: Integration Reset (0: OFF/1: ON) Yes
Bit C to E: Reserved for system use.
Bit F: Alarm Clear (0: OFF/1: ON) Yes Yes
Bit 0: Deviation Abnormal Detection Error Level
Yes
(0: Alarm/1: Warning)
Bits 1 to 2: Reserved for system use.
OW††01 Mode 1 6-26
Bit 3: Speed Loop P/PI Switch Yes
Bit 4: Gain Switch Yes
Bits 5 to F: Reserved for system use.
Bit 0: Monitor 2 Enabled (0: Disabled/1: Enabled) Yes
OW††02 Mode 2 6-26
Bits 1 to F: Reserved for system use.
Bits 0 to 3: Speed Unit
0: Reference unit/s
1: 10n reference unit/min Yes Yes
2: Percentage of rated speed (1 = 0.01%)
3: Percentage of rated speed (1 = 0.0001%)
Bits 4 to 7: Acceleration/Deceleration Unit
0: Reference units/s2 Yes Yes
OW††03 Function 1 1: ms 6-27
Bits 8 to B: Filter Type
0: No filter
Yes Yes
1: Exponential acceleration/deceleration filter
2: Moving average filter
Bits C to F: Torque Unit Selection
0: Percentage of rated toque (1 = 0.01%) Yes Yes
1: Percentage of rated toque (1 = 0.0001%)
Œ Register number OW††00 indicates the leading output register number + 00.
ΠRefer to 6.1.1 Motion Parameter Register Numbers for MP2300 on page 6-2 for information on how to find the leading
output register number.

6-8
 6.3 Motion Parameter Details

(cont’d)
Reference
Register No. Name Contents SVB SVR
Page
Bits 0 to 3: Latch Input Signal Type
0: -
1: -
2: Phase-C pulse input signal Yes 6-28
3: /EXT1 Yes
4: /EXT2 Yes
5: /EXT3 Yes
OW††04 Function 2 Bits 4 to 7: External Positioning Signal
0: −
1: −
2: Phase-C pulse input signal Yes
6-28
3: /EXT1 Yes
4: /EXT2 Yes
5: /EXT3 Yes
Bits 8 to F: Reserved for system use.
Bit 1: Close Position Loop Using OL††16 (Disable Phase
Yes
Reference Generation) (0: Enabled/1: Disabled)
OW††05 Function 3 Bits 2 to A: Reserved for system use. 6-28
Bit B: INPUT Signal for Zero Point Return (0: OFF/1: ON) Yes
Bits C to F: Reserved for system use.
OW††06
to − Reserved for system use. − − −
OW††07
0: NOP (No Command)
1: POSING (Positioning)
2: EX_POSING (External Positioning)
3: ZRET (Zero Point Return)
4: INTERPOLATE (Interpolation)
5: ENDOF_ INTERPOLATE (Reserved)
6: LATCH (Latch)
7: FEED (JOG Operation)
8: STEP (STEP Operation)
9: ZSET (Zero Point Setting)
10: ACC (Change Linear Acceleration Time Constant)
11: DCC (Change Linear Deceleration Time Constant)
12: SCC (Change Filter Time Constant)
OW††08 Motion Command 13: CHG FILTER (Change Filter Type) Yes Yes 6-29
14 : KVS (Change Speed Loop Gain)
15 : KPS (Change Position Loop Gain)
16: KFS (Change Feed Forward)
17: PRM_RD (Read SERVOPACK Parameter)
18: PRM_WR (Write SERVOPACK Parameter)
19: ALM_MON (Monitor SERVOPACK Alarm)
20: ALM_HIST (Monitor SERVOPACK Alarm History)
21: ALMHIST_CLR (Clear SERVOPACK Alarm History)
22: ABS_RST (Reset Absolute Encoder)
23: VELO (Speed Reference)
24: TRQ (Torque Reference)
25: PHASE (Phase Reference)
26: KIS (Change Position Loop Integration Time)

6-9
6 Motion Parameters
6.3.2 Setting Parameter List

(cont’d)
Reference
Register No. Name Contents SVB SVR
Page
Bit 0: Command Pause (0: OFF/1: ON) Yes Yes
Bit 1: Command Abort (0: OFF/1: ON) Yes Yes
Bit 2: JOG/STEP Direction (0: Forward rotation/1: Reverse
Yes Yes
rotation)
Bit 3: Home Direction (0: Reverse rotation/1: Forward rotation) Yes
Motion Command
OW††09 Bit 4: Latch Zone Enable (0: Disabled/1: Enabled) Yes 6-30
Control Flags
Bit 5: Position Reference Type
Yes Yes
(0: Incremental Addition Mode/1: Absolute Mode)
Bit 6: Phase Compensation Type with an Electronic Cam
Yes
(0: Incremental Addition Mode/1: Absolute Mode)
Bits 7 to F: Reserved for system use.
0: NOP (No command) Yes Yes
1: PRM_RD (Read SERVOPACK Parameter)
2: PRM_WR (Write SERVOPACK Parameter)
OW††0A Motion Subcommand Yes 6-31
3: Reserved
4: SMON (Monitor status)
5: FIXPRM_RD (Read Fixed Parameters) Yes Yes
OW††0B − Reserved for system use.
Torque/Thrust
OL††0C Unit is according to OW††03, bits 12 to 15 (Torque Unit). Yes Yes
Reference
Speed Limit during 6-32
OW††0E Torque/Thrust 1 = 0.01% (percentage of rated speed) Yes
Reference
OW††0F − Reserved for system use.
OL††10 Speed Reference Unit is according to OW††03, bits 0 to 3 (Speed Unit). Yes Yes 6-33
OW††12
to − Reserved for system use. − − −
OW††13
Positive Side Limiting
Torque/Thrust
OL††14 Unit is according to OW††03, bits C to F (Torque Unit). Yes 6-33
Setting at Speed
Reference
Secondary Speed
OL††16 Unit is according to OW††03, bits 0 to 3 (Speed Unit). Yes Yes 6-33
Compensation
OW††18 Speed Override 1 = 0.01% Yes 6-34
OW††19
to − Reserved for system use. − − −
OW††1B
Position Reference
OL††1C 1 = 1 reference unit Yes Yes 6-34
Setting
Position Completed
OL††1E 1 = 1 reference unit Yes 6-35
Width
Position Completed
OL††20 1 = 1 reference unit Yes 6-36
Width 2
Deviation Abnormal
OL††22 1 = 1 reference unit Yes 6-36
Detection Value
OL††24 − Reserved for system use. − − −
Position Complete
OW†26 1 = 1 ms Yes 6-37
Timeout
OW††27 − Reserved for system use.
OL††28 Phase Compensation 1 = 1 reference unit Yes 6-37

6-10
 6.3 Motion Parameter Details

(cont’d)
Reference
Register No. Name Contents SVB SVR
Page
Latch Zone Lower
OL††2A Limit 1 = 1 reference unit Yes
Setting
6-37
Latch Zone Upper
OL††2C Limit 1 = 1 reference unit Yes
Setting
OW††2E Position Loop Gain 1 = 0.1/s Yes
OW††2F Speed Loop Gain 1 = 1 Hz Yes
Speed Feed
OW††30 Forward 1 = 0.01% (percentage of distribution segment) Yes
Compensation
OW††31 Speed Amends 1 = 0.01% (percentage of rated speed) Yes Yes 6-38
Position Integration
OW††32 1 = 1 ms Yes
Time Constant
OW††33 − Reserved for system use. − −
Speed Integration
OW††34 1 = 0.01 ms Yes
Time Constant
OW††35 − Reserved for system use. − −
Linear Acceleration
OL††36 Unit is according to OW††03, bits 0 to 3 (Speed Unit). Yes Yes
Time
6-40
Linear Deceleration
OL††38 Unit is according to OW††03, bits 0 to 3 (Speed Unit). Yes Yes
Time
S-curve Acceleration
OW††3A 1 = 0.1 ms Yes Yes
Time
Bias Speed for 6-41
Exponential
OW††3B Unit is according to OW††03, bits 0 to 3 (Speed Unit). Yes
Acceleration/
Deceleration Filter
0: DEC1 + Phase C
1: ZERO Signal
Yes
2: DEC1 + ZERO Signal
3: Phase-C Signal
4 to 10: Reserved for system use. − −
11: Phase-C Only Method
OW††3C Home Return Type 12: P-OT + Phase-C Signals 6-42
13: P-OT Yes
14: HOME LS + Phase-C Signals
15: HOME LS
16: N-OT + Phase-C Signals
17: N-OT
Yes
18: INPUT + Phase-C Signals
19: INPUT
OW††3D Home Window 1 = 1 reference unit Yes Yes
OL††3E Approach Speed Unit is according to OW††03, bits 0 to 3 (Speed Unit). Yes
6-42
OL††40 Creep Speed Unit is according to OW††03, bits 0 to 3 (Speed Unit). Yes
OL††42 Home Offset 1 = 1 reference unit Yes
OL††44 STEP Distance 1 = 1 reference unit Yes Yes 6-43
External Positioning
OL††46 1 = 1 reference unit Yes 6-43
Move Distance

6-11
6 Motion Parameters
6.3.2 Setting Parameter List

(cont’d)
Reference
Register No. Name Contents SVB SVR
Page
OL††48 Zero Point Offset 1 = 1 reference unit Yes Yes
Work Coordinate
OL††4A 1 = 1 reference unit Yes Yes
System Offset 6-43
Preset Data of
OL††4C 1 = 1 reference unit Yes Yes
POSMAX Turns
Bits 0 to 3: Monitor 1 (Cannot be set.)
Bits 4 to 7: Monitor 2
OW††4E Servo User Monitor Yes 6-44
Bits 8 to B: Monitor 3 (Cannot be set.)
Bits C to F: Monitor 4
Servo Alarm Monitor
OW††4F Set the number of the alarm to monitor. Yes
Number
Servo Constant
OW††50 Set the number of the SERVOPACK parameter. Yes
Number
Servo Constant
OW††51 Set the number of words in the SERVOPACK parameter. Yes
Number Size
OL††52 Servo User Constant Set the setting for the SERVOPACK parameter. Yes
6-45
Auxiliary Servo User
OW††54 Set the number of the SERVOPACK parameter number. Yes
Constant Number
Auxiliary Servo
OW††55 Constant Number Set the number of words in the SERVOPACK parameter. Yes
Size
Auxiliary Servo User
OL††56 Set the setting for the SERVOPACK parameter. Yes
Constant
Fixed Parameter Set the number of the fixed parameter to read with the
OW††5C Yes Yes 6-45
Number FIXPRM_RD motion subcommand.
OW††5D − Reserved for system use. − − −
Absolute Position at
OL††5E Power OFF (Lower 2 1 = 1 pulse Yes
words)
Absolute Position at
OL††60 Power OFF (Upper 2 1 = 1 pulse Yes
words)
6-46
Modularized Position
OL††62 at Power OFF (Lower 1 = 1 pulse Yes
2 words)
Modularized Position
OL††64 at Power OFF (Upper 1 = 1 pulse Yes
2 words)
OL††66 to
− Reserved for system use. − − −
OL††6E
OW††70 Command Buffer for
This area is used for command data when MECHATROLINK
to Transparent Yes 6-46
servo commands are specified directly.
OW††7F Command Mode

6-12
 6.3 Motion Parameter Details

6.3.3 Monitoring Parameter List

The following table provides a list of SVB and SVR motion monitoring parameters.
ΠRefer to the pages listed in the Details column for details of each monitoring parameter.
ΠRefer to 3.2.4 SVR Virtual Motion Module on page 3-11 for information on SVR.

Register No. Name Contents SVB SVR Detail

Bit 0 Motion Controller Operation Ready Yes Yes
Bit 1: Running (Servo ON) Yes Yes
IW††00 Drive Status Bit 2: System Busy Yes 6-47
Bit 3: Servo Ready Yes
Bits 4 to F: Reserved for system use. − −
Over Range Setting parameters: 0 or higher
IW††01 Yes Yes 6-47
Parameter Number Fixed Parameters: 1000 or higher
Bit 0: Excessively Following Error Yes
Bit 1: Setting Parameter Error Yes Yes
Bit 2: Fixed Parameter Error Yes Yes
Bit 3: Servo Driver Error Yes
Bit 4: Motion Command Setting Error Yes Yes
IL††02 Warning Bit 5: Reserved for system use. − − 6-48
Bit 6: Positive Overtravel Yes
Bit 7: Negative Overtravel Yes
Bit 8: Servo Not ON Yes
Bit 9: Servo Driver Communication Warning Yes
Bits A to 1F: Reserved for system use.
Bit 0: Servo Driver Error Yes
Bit 1: Positive Overtravel Yes
Bit 2: Negative Overtravel Yes
Bit 3: Positive Soft Limit (Positive Software Limit) Yes
Bit 4: Negative Soft Limit (Negative Software Limit) Yes
Bit 5: Servo OFF Yes Yes
Bit 6: Positioning Time Over Yes
Bit 7: Excessive Positioning Moving Amount Yes
Bit 8: Excessive Speed Yes
Bit 9: Excessively Following Error Yes
IL††04 Alarm Bit A: Filter Type Change Error Yes 6-49
Bit B: Filter Time Constant Change Error Yes
Bit C: Reserved for system use. − −
Bit D: Zero Point Not Set Yes
Bit E: Zero Point Set During Travel Yes
Bit F: Servo Driver Parameter Setting Error Yes
Bit 10: Servo Driver Synchronization Communication Error Yes
Bit 11: Servo Driver Communication Error Yes
Bit 12: Servo Driver Command Timeout Error Yes
Bit 13: ABS Encoder Count Exceeded Yes
Bits 14 to 1F: Reserved for system use. − −

Œ Register number IW††00 indicates the leading input register number + 00.
ΠRefer to 6.1.1 Motion Parameter Register Numbers for MP2300 on page 6-2 for information on how to find the
leading input register number.

6-13
6 Motion Parameters
6.3.3 Monitoring Parameter List

(cont’d)
Register No. Name Contents SVB SVR Detail
IL††06 － Reserved for system use. − −
Motion Command
IW††08 Same as OW††08 (Motion Command). Yes Yes 6-51
Response Code
Bit 0: Command Executing (BUSY) Flag Yes Yes
Bit 1: Command Hold Completed (HOLD) Yes Yes
Bit 2: Reserved for system use.
Motion Command Bit 3: Command Error Occurrence (FAIL) Yes Yes
IW††09 6-51
Status Bits 4 to 6: Reserved for system use.
Bit 7: Reset Absolute Encoder Completed Yes
Bit 8: Command Execution Completed (COMPLETE) Yes Yes
Bits 9 to F: Reserved for system use.
Motion Subcommand
IW††0A Same as OW††0A (Motion Subcommand). Yes Yes 6-51
Response Code
Bit 0: Command Executing (BUSY) Flag Yes Yes
Bits 1 to 2: Reserved for system use.
Motion Subcommand Bit 3: Command Error Occurrence Yes Yes
IW††0B
Status Bits 4 to 7: Reserved for system use.
Bit 8: Command Execution Completed Yes Yes
Bits 9 to F: Reserved for system use.
Bit 0: Distribution Completed (DEN) Yes Yes
Bit 1: Positioning Completed (POSCOMP) Yes Yes
Bit 2: Latch Completed (LCOMP) Yes
Bit 3: Position Proximity (NEAR) Yes Yes 6-52

Bit 4: Zero Point Position (ZERO) Yes Yes

Bit 5: Zero Point Return (Setting) Completed (ZRNC) Yes Yes
Position Management
IW††0C Bit 6: Machine Lock ON (MLKL) Yes
Status
Bit 7: Absolute Position Read Completed
Bit 8: ABS System Infinite Length Position Control
Yes
Information LOAD Completed (ABSLDE)
Bit 9: POSMAX Turn Number Presetting Completed
Yes Yes
(TPRSE)
Bits A to F: Reserved for system use.
IW††0D － Reserved for system use. − − −

6-14
 6.3 Motion Parameter Details

(cont’d)
Register No. Name Contents SVB SVR Detail
Machine Coordinate
IL††0E Target Position 1 = 1 reference unit Yes Yes
(TPOS)
Target Position
IL††10 1 = 1 reference unit Yes Yes
(CPOS)
Machine Coordinate
IL††12 System Position 1 = 1 reference unit Yes Yes
(MPOS)
32-bit Coordinate
6-53
IL††14 System Position 1 = 1 reference unit Yes Yes
(DPOS)
Machine Coordinate
IL††16 Feedback Position 1 = 1 reference unit Yes Yes
(APOS)
Machine Coordinate
IL††18 Latch Position 1 = 1 reference unit Yes
(LPOS)
IL††1A Position Error (PERR) 1 = 1 reference unit Yes
Target Position
IL††1C 1 = 1 reference unit Yes
Difference Monitor
6-53
POSMAX Number of
IL††1E 1 = 1 turn Yes Yes
Turns
Speed Reference
IL††20 pulse/s Yes 6-54
Output Monitor
IL††22 to
－ Reserved for system use. − − −
IL††2A
Bit 0: Alarm Occurred (ALM)
Bit 1: Warning Occurred (WARNING)
Bit 2: Command Ready (CMDRDY)
Bit 3: Servo ON (SVON)
Bit 4: Main Power ON (PON)
Bit 5: Machine Lock (MLOCK)
Bit 6: Zero Point Position (ZPOINT)
Bit 7: Positioning Completed (PSET)/Speed Coincidence
(V-CMP) Yes 6-55
IW††2C Network Servo Status Bit 8: Distribution Completed (DEN)/Zero Speed (ZSPD)
Bit 9: Torque Being Limited (T_LIM)
Bit A: Latch Completed (L_CMP)
Bit B: Position Proximity (NEAR)/Speed Limit (V_LIM)
Bit C: Positive Soft Limit (Positive Software Limit)
(P_SOT)
Bit D: Negative Soft Limit (Negative Software Limit)
(N_SOT)
Bits E to F: Reserved for system use. − − −
IW††2D Servo Alarm Code Stores the alarm code from the SERVOPACK. Yes 6-56

6-15
6 Motion Parameters
6.3.3 Monitoring Parameter List

(cont’d)
Register No. Name Contents SVB SVR Detail
Bit 0: Positive Drive Prohibited Input (P_OT)
Bit 1: Negative Drive Prohibited Input (N_OT)
Bit 2: Zero Point Return Deceleration Limit Switch Input
(DEC)
Bit 3: Encoder Phase-A Input (PA)
Bit 4: Encoder Phase-B Input (PB)
Bit 5: Encoder Phase-C Input (PC)
Bit 6: First External Latch Input (EXT1)
Network Servo I/O
IW††2E Bit 7: Second External Latch Input (EXT2) Yes 6-56
Monitor
Bit 8: Third External Latch Input (EXT3)
Bit 9: Brake Output (BRK)
Bit A: Reserved for system use.
Bit B: Reserved for system use.
Bit C: CN1 input signal (IO12)
Bit D: CN1 input signal (IO13)
Bit E: CN1 input signal (IO14)
Bit F: CN1 input signal (IO15)
Bits 0 to 3: Monitor 1
Network Servo User Bits 4 to 7: Monitor 2
IW††2F Yes 6-57
Monitor Information Bits 8 to B: Monitor 3
Bits C to F: Monitor 4
IL††30 Servo User Monitor 2 Stores the result of the selected monitor. Yes
IL††32 Servo User Monitor 3 Reserved for system use.
IL††34 Servo User Monitor 4 Stores the result of the selected monitor. Yes
Servo Constant
IW††36 Stores the number of the parameter being processed. Yes
Number
Auxiliary Servo User
IW††37 Stores the number of the parameter being processed. Yes
Constant Number
IL††38 Servo User Constant Stores the data of the parameter being read. Yes
6-57
Auxiliary Servo User
IL††3A Stores the data of the parameter being read. Yes
Constant
Stores the type of motor actually connected.
IW††3F Motor Type 0: Rotary motor Yes
1: Linear motor
IL††40 Feedback Speed Unit is according to OW††03, bits 0 to 3 (Speed Unit). Yes Yes
Torque (Thrust)
IL††42 Unit is according to OW††03, bits 12 to 15 (Torque Unit). Yes Yes
Reference Monitor
IW††44 to
－ Reserved for system use. − − −
IW††55
Fixed Parameter Stores the data of the fixed parameter when FIXPRM-RD
IL††56 Yes Yes 6-58
Monitor has been specified in the Motion Subcommand.
IW††58 to
－ Reserved for system use. − − −
IW††5C
Absolute Position at
IL††5E Power OFF (Lower 2 1 = 1 pulse Yes
words)
Absolute Position at
IL††60 Power OFF (Upper 2 1 = 1 pulse Yes
words)
6-58
Modularized Position
IL††62 at Power OFF 1 = 1 pulse Yes
(Lower 2 Words)
Modularized Position
IL††64 at Power OFF 1 = 1 pulse Yes
(Upper 2 Words)

6-16
 6.3 Motion Parameter Details

(cont’d)
Register No. Name Contents SVB SVR Detail
IW††66 to
－ Reserved for system use. − − −
IW††6F
Response Buffer for
IW††70 to Stores the response data when MECHATROLINK Servo
Transparent Yes 6-58
IW††7F commands are specified directly.
Command Mode

6-17
6 Motion Parameters
6.4.1 Motion Fixed Parameter Details

6.4 MP2300 Parameter Details

This section provides details for each motion parameter (fixed parameters, setting parameters, and
monitoring parameters).

6.4.1 Motion Fixed Parameter Details

The following tables provide details of motion fixed parameters.
ΠRefer to 6.3.1 Fixed Parameter List on page 6-6 for a list of motion fixed parameters.
ΠR in the following tables indicates that the item is also compatible with SVR.

( 1 ) Run Mode
No. 0 Setting Range Setting Unit Default Value
Run Mode 0 to 3 － 0
Specify the application method of the axis.
0:Normal Running (default) R
Use this setting when actually using an axis.
1:Axis Unused R
No control will be performed for an axis set to this mode, and monitoring parameters will not be updated. If an axis is
changed from any other run mode to this mode, the monitoring parameters will be held at the current status except for the
Drive Status (monitoring parameter IW††00), which will be cleared to zeros.
Set any axis that is not being used to this mode (Axis Unused) to reduce the processing time.
2:Simulation Mode
Description In Simulation Mode, position information will be stored in the monitoring parameters even if a Servo Driver is not
connected.
This mode is used to virtually check the operation of the applications program.
3:Servo Driver Command (SERVOPACK Transparent Command Mode)
Servo Driver Command Mode is used to directly control the command-response communication with the
MECHATROLINK SERVOPACK from the application.
No processing other than communication processing with the SERVOPACK will be performed in this mode. Position
control and other processing must be performed in the application.
Commands to the SERVOPACK are set in the area starting with setting parameter OW††70 and responses are stored in
the area starting with monitoring parameter IW††70.

( 2 ) Function Selection 1
No. 1 Setting Range Setting Unit Default Value
Function Selection 1 － － 0000H
Axis Type R
Set whether or not there is a limit on controlled axis travel.
0: Linear (finite length axis) (default); The axis will have limited movement.The software limit function is
Bit 0 enabled.
1: Rotating (infinite length axis); The axis will have unlimited movement.The software limit function is
disabled.
If an infinite length axis is set, the position information will be reset each time the position exceeds the value set
for the Maximum Value of Rotary Counter (fixed parameter 10).
Description Forward Software Limit Enabled
Set whether or not to use the software limit function in the positive direction.
Set the software limit as the Forward Software Limit (fixed parameter 12).
This setting is disabled if the axis is set as an infinite length axis.
Bit 1 The software limit function is enabled only after completing a Zero Point Return or Zero Point Setting
operation (IB††0C5 is ON).
For details, refer to 10.3 Software Limit Function on page 10-12.
0: Disabled (default)
1: Enabled

6-18
 6.4 MP2300 Parameter Details

No. 1 Setting Range Setting Unit Default Value

Function Selection 1 (cont.) － － 0000H
Reverse Software Limit Enabled
Set whether or not to use the software limit function in the negative direction.
Set the software limit as the Reverse Software Limit (fixed parameter 14).
This setting is disabled if the axis is set as an infinite length axis.
Bit 2 The software limit function is enabled only after completing a Zero Point Return or Zero Point Setting
operation (IB††0C5 is ON).
For details, refer to 10.3 Software Limit Function on page 10-12.
0: Disabled (default)
1: Enabled
Positive Overtravel
Set whether or not to use the overtravel detection function in the positive direction. A setting must also be made
in the SERVOPACK.
Bit 3 If this function is disabled and the positive OT signal is input, an alarm will not occur, but a warning will occur.
For details, refer to 10.2 Overtravel Function on page 10-8.
0: Disabled (default)
1: Enabled
Negative Overtravel
Set whether or not to use the overtravel detection function in the negative direction. A setting must also be made
in the SERVOPACK.
Bit 4 If this function is disabled and the negative OT signal is input, an alarm will not occur, but a warning will occur.
For details, refer to 10.2 Overtravel Function on page 10-8.
0: Disabled (default)
1: Enabled
Description
Segment Distribution Processing
When executing an interpolation command (INTERPOLATE, LATCH or PHASE), converts reference value
that is generated with high-speed scan to a reference value for the MECHATROLINK communication cycle.
Bit 8 Set to 0 when using an interpolation command.
0: Enabled (default)
1: Disabled
Simple ABS Infinite Axis
Set whether or not the infinite length position control function is used, on the condition that the number of turns
that the encoder can count is a multiple of the number of turns corresponding to the reference unit reset
frequency.
With this function, it is not necessary to save and load absolute infinite axis information, eliminating the need
Bit 9 for a ladder program and thus simplifying handling. It is recommended that the ABS infinite length axis is used
set to Enabled.
0: Disabled (default)
1: Enabled
Refer to 9.4.2 ( 2 ) MP2300 Fixed Parameters for Absolute Position Detection on page 9-15 and 9.4.1 ( 2 )
Conditions to Enable the Simple Absolute Infinite Axis Position Control on page 9-13 for details.
User Constants Self-Writing Function
Set whether or not to use the function that automatically writes MP2300 setting parameters to the
SERVOPACK parameters when a MECHATROLINK communication connection is established. Also, the
Bit A automatic writing is triggered by changing the setting parameters or starting execution of a motion command.
0: Enabled (default)
1: Disabled
Refer to 11.1 Parameters That Are Automatically Updated on page 11-2 for details.

6-19
6 Motion Parameters
6.4.1 Motion Fixed Parameter Details

( 3 ) Function Selection 2
No. 2 Setting Range Setting Unit Default Value
Function Selection 2 － － 0000H
Communication Error Mask
Masks MECHATROLINK communication errors detected at the MP2300.
Bit 0
0: Disabled (default)
1: Enabled
Description
WDT Error Mask
Masks MECHATROLINK watchdog timeout errors detected at the MP2300.
Bit 1
0: Disabled (default)
1: Enabled

( 4 ) Reference Unit
No. 4 R Setting Range Setting Unit Default Value
Reference Unit Settings 0 to 3 － 0
Set the unit for the reference.
The minimum reference unit is determined by this parameter and the Number of Decimal Places setting (fixed parameter
5). If pulse is selected, the Electronic Gear Ratio (fixed parameters 8 and 9) will be disabled.
Refer to 6.5.1 Reference Unit on page 6-59 for details.
Description
0: pulse (electronic gear disabled)
1: mm
2: deg
3: inch
No. 5 R Setting Range Setting Unit Default Value
Number of Decimal Places 0 to 5 － 3
Set the number of digits below the decimal point in the reference unit.
The minimum reference unit is determined by this parameter and the Command Unit (fixed parameter 4).
Example: When the Command Unit is set to mm and the Number of Decimal Places is set to 3,
Description
a reference unit of 1 will be 0.001 mm.
The setting of this parameter is disabled if the Command Unit is set to pulse in fixed parameter 4.
Refer to 6.5.1 Reference Unit on page 6-59 for details.
No. 6 R Setting Range Setting Unit Default Value
Reference Units per Revolution 1 to 231-1 Reference unit 10000
Specify the amount of travel in the load as the number of reference units for each turn of the load shaft.
Description
Refer to 6.5.2 Electronic Gear on page 6-59 for details.
Setting Range Setting Unit Default Value
No. 8 R
rev
Gear Ratio (Motor) 1 to 65535 1
(revolutions)
Set the gear ratio between the motor and the load.
The following two values are set for a configuration in which the load shaft will turn n times in response to m turns of the
motor shaft.
Description • Gear ratio at Servomotor: m
• Gear ratio at load: n
The setting of this parameter is disabled if the Command Unit (Reference Unit) is set to pulse in fixed parameter 4.
Refer to 6.5.2 Electronic Gear on page 6-59 for details.
Setting Range Setting Unit Default Value
No. 9 R
rev
Gear Ratio (Load) 1 to 65535 1
(revolutions)
Description Same as for No. 8.

6-20
 6.4 MP2300 Parameter Details

( 5 ) Infinite Axis Reset Position

No. 10 R Setting Range Setting Unit Default Value

Maximum Value of Rotary Counter (POSMAX) 31 Reference unit 360000
1 to 2 -1
Set the reset position when an infinite length axis is set.
Enabled when bit 0 of the Function Selection 1 (fixed parameter 1) is set to infinite axis. The position data for infinite
axes is controlled in the range from 0 to POSMAX.

POSMAX
Position
Description Forward Reverse
direction direction

( 6 ) Software Limits
No. 12 Setting Range Setting Unit Default Value
31 31
Forward Software Limit −2 to 2 −1 Reference unit 231−1
Set the position to be detected for the software limit in the positive direction at the MP2300.
If an axis attempts to move in the positive direction past the position set here, a positive software limit alarm (IB††043)
Description
will occur.
Enabled when bit 1 of the Forward Software Limit Enabled (fixed parameter 1, bit 1) is set to 1 (enabled).
No. 14 Setting Range Setting Unit Default Value
31 231
Reverse Software Limit −2 to −1 Reference unit −231
Set the position to be detected for the software limit in the negative direction at the MP2300.
If an axis attempts to move in the negative direction past the position set here, a negative software limit alarm
Description
(IB††044) will occur.
Enabled when bit 2 of the Reverse Software Limit Enabled (fixed parameter 1, bit 2) is set to 1 (enabled).
Outline of Software Limit

Range of machine movement

Negative Positive
Software Limit Software Limit

No. 1: Function Selection 1 No. 1: Function Selection 1

Bit 2 0: Disabled Bit 1 0: Disabled
1: Enabled 1: Enabled

ΠThe software limit function is enabled only after completing a Zero Point Return or Zero Point Set-
ting operation (IB††0C5 is ON).
ΠFor details, refer to 10.3 Software Limit Function on page 10-12.

6-21
6 Motion Parameters
6.4.1 Motion Fixed Parameter Details

( 7 ) Backlash Compensation
No. 16 Setting Range Setting Unit Default Value
Backlash Compensation 31 31 Reference unit 0
−2 to 2 −1
Set the backlash compensation in reference units. Backlash compensation can be performed by setting this parameter to 0.
Perform backlash compensation using the functions at the SERVOPACK. The setting is enabled when communication is
established with the SERVOPACK (NS115: Pn81B, SGDS: Pn214).
Backlash compensation cannot be used for the SGD-N, SGDB-N, or SGDH + NS100 SERVOPACKs because they do not
have a parameter to set the backlash compensation.
Using Backlash Compensation in the Forward Direction

Machine
Compensation

Motor axis
Travels
Reference position opposite of Reference position
Home Direction.
Machine

Motor axis
Description
Home Direction
Backlash Compensation
in fixed parameter 16

Using Backlash Compensation in the Reverse Direction

Machine
Compensation

Motor axis
Reverse direction

Machine

Motor axis

Compensation

( 8 ) SERVOPACK Settings
Fixed Parameter 30 Setting Range Setting Unit Default Value
Encoder Type 0 to 3 － 0
Set the type of encoder that is being used.
0: Incremental encoder
Description 1: Absolute encoder
2: Absolute encoder used as an incremental encoder.
3: Reserved

6-22
 6.4 MP2300 Parameter Details

( 9 ) Encoder Settings

No. 34 R Setting Range Setting Unit Default Value

Rated Speed 1 to 32000 min−1 3000

Set the rated motor speed in 1 min −1 units.

Description
Set this parameter based on the specifications of the motor that is used.
No. 36 R Setting Range Setting Unit Default Value
Encoder Resolution 1 to 231−1 pulse 65536
Set the number of feedback pulses per motor rotation.
Description Set the value after multiplication to match the specifications of the motor used.
(For example, if a 16-bit encoder is used, set 216 = 65536.)
No. 38 Setting Range Setting Unit Default Value
Maximum Number of Absolute Encoder Turns 31 rev 65534
1 to 2 −1
Set the maximum number of rotations for the absolute encoder to the highest number that the encoder can manage.
Set this parameter to match the settings of the encoder being used.
• Σ-series: Set to 99999 (fixed).
• Σ-II or Σ-III Series: Set to the same value as the multiturn limit in the SERVOPACK.
For axes set as infinite axes (bit 0 of fixed parameter Function Selection 1 set to 1), set to 65534 max. (same value as
Pn205).

Finite Axes Infinite Axes

Parameter 38 and Pn205 = 65535 Parameter 38 and Pn205 ≠ 65535

Description
+32767 Pn205 value
Multiturn Multiturn
data Forward Reverse data Forward Reverse
rotation rotation rotation rotation
Revolutions
0

0
−32768 Revolutions

This parameter is used to manage position information when an absolute encoder is used and an infinite length axis has
been set.
No. 42 R Setting Range Setting Unit Default Value
Feedback Speed Moving Average Time Constant 0 to 32 ms 10
Set the moving average time constant for the feedback speed.
Description The Feedback Speed (monitoring parameter IL††40) is the value obtained by calculating the moving average for the
time constant from the feedback position for every scan.

6-23
6 Motion Parameters
6.4.2 Setting Parameter List

6.4.2 Setting Parameter List

The following tables provide details of motion setting parameters.
ΠRefer to 6.3.2 Setting Parameter List on page 6-8 for a list of the motion setting parameters.
Œ Register number OW††00 indicates the leading output register number + 00.Other register num-
bers listed below indicate output register numbers in the same way.
ΠRefer to 6.1.1 Motion Parameter Register Numbers for MP2300 on page 6-2 for information on how
to find the leading output register number.
ΠR in the following tables indicates that the item is also compatible with SVR.

ΠPosition Phase Speed Torque in the following descriptions indicate that parameter is enabled in
position control, phase control, speed control, or torque control.

ΠSimilarly, Position Phase Speed Torque in the following descriptions indicate that parameter is
disabled in position control, phase control, speed control, or torque control.

( 1 ) RUN Commands

OW††00 Position Phase Setting Range Setting Unit Default Value

RUN Commands Speed Torque － － 0000H

Servo ON R
Sends a SERVO ON command to the SERVOPACK.
Bit 0
0: Servo OFF (default)
ON: Servo ON
Machine Lock
During the machine lock mode, the Target Position (CPOS) (monitoring parameter IL††10) will be updated
but no movement will occur on the axis.
Bit 1 A change in the machine lock mode is valid after all pulses have been distributed. The machine lock mode
cannot be changed during speed or torque control.
0: Machine lock mode released (default)
1: Machine lock mode
Latch Request
Store the current position when the latch signal turns ON as the Machine Coordinate Latch Position (LPOS)
(monitoring parameter IL††18).
When latch detection is completed, the Latch Completed bit will turn ON in the Position Management Status
(monitoring parameter IW††0C, bit 2).
To perform latch detection again, change this bit from 0 to 1.
Set the latch signal to be used in Latch Input Signal Type of Function 2 (setting parameter OW††04, bits 0 to
Description 3).
This function is achieved using the Servo command expansion area and can be executed only with the
MECHATROLINK-II, 32-byte Mode communication method.
Do not change this bit to 1 during execution of the motion commands for zero point return, external positioning,
or latching. Doing so may result in a warning at the SERVOPACK.
OB††004
Bit 4 T∗
Latch signal

IB††0C2

∗ T ≥ t1 + t2+ t3
Where
T: Latch processing time
t1: MECHATROLINK communication cycle
t2: Two scans
t3: SERVOPACK latch processing preparation time (≤ 4 ms)

0: Latch request OFF (default)

1: Latch request ON

6-24
 6.4 MP2300 Parameter Details

OW††00 Position Phase Setting Range Setting Unit Default Value

Run Commands (cont.) Speed Torque － － 0000H

POSMAX Preset R
Preset the POSMAX Number of Turns (monitoring parameter IL††1E) to the value set for the Preset Data of
Bit 6 POSMAX Turn (setting parameter OL††4C).
0: POSMAX Preset OFF (default)
1: POSMAX Preset ON
Infinite Length Axis Position Information LOAD
When an infinite length axis is used with an absolute encoder, this bit can be set to 1 to reset the position
information with the data (encoder position and pulse position) that was set when the power was last turned
OFF.
Bit 7 When processing has been completed for this bit, the ABS System Infinite Length Position Control Information
LOAD Completed bit will be turned ON in the Position Management Status (monitoring parameter IW††0C,
bit 8).
0: Infinite Length Axis Position Information LOAD OFF (default)
1: Infinite Length Axis Position Information LOAD ON
Forward External Torque Limit Input
Limit the torque by the value set in the SERVOPACK parameters.
The setting is enabled when the move command or the SERVO ON command is sent.
Bit 8 There is no torque limit switch parameter in the Servo command option area in the SGD-N, SGDB-N, or
SGDH+NS100/NS115 SERVOPACKs, so the torque limit input cannot be used.
0: Forward External Torque Limit Input OFF (default)
1: Forward External Torque Limit Input ON
Description
Reverse External Torque Limit Input
Limit the torque by the value set in the SERVOPACK parameters.
The setting is enabled when the move command or the SERVO ON command is sent.
Bit 9 There is no torque limit switch parameter in the Servo command option area in the SGD-N, SGDB-N, or
SGDH+NS100 SERVOPACKs, so the torque limit input cannot be used.
0: Reverse External Torque Limit Input OFF (default)
1: Reverse External Torque Limit Input ON
Integration Reset
Reset the position loop integral items for the SERVOPACK.
The setting is enabled when the move command or the SERVO ON command is sent.
Bit B The Integration Reset (Position Loop Integration Reset) is supported only by the SGDS SERVOPACK and
cannot be used for other SERVOPACKs.
0: Integration Reset OFF (default)
1: Integration reset ON
Clear Alarm R
Clear alarms.
If a communication error occurs, communication can be reestablished by clearing the alarm.
Bit F 0: Clear alarm OFF (default)
1 : Clear alarm ON
ΠDo not execute Clear Alarm during axis movement using motion commands. Using Clear
Alarm may affect axis movement.

6-25
6 Motion Parameters
6.4.2 Setting Parameter List

( 2 ) Mode 1

OW††01 Position Phase Setting Range Setting Unit Default Value

Mode 1 Speed Torque － － 0000H
Deviation Abnormal Detection Error Level
Set whether excessively following errors are treated as warnings or as alarms.
0: Alarm (default): Axis stops operating when an excessively following error is detected.
1: Warning: Axis continues to operate even if an excessively following error is detected.
Bit 0
■ Related Parameters
OL††22 Deviation Abnormal Detection Value
IB††020 Warning (excessively following error)
IB††049 Error (excessively following error)
Speed Loop P/PI Switch
Description Switch the SERVOPACK’s speed loop between PI control and P control.
Bit 3 The setting is enabled when the move command or the SERVO ON command is sent.
0: PI control (default)
1: P control
Gain Switch
Switch the gain to the Second Gain set in the SERVOPACK parameters.
The setting is enabled when the move command or the SERVO ON command is sent.
Bit 4 There is no gain switch parameter in the Servo command option area in the SGD-N, SGDB-N, or
SGDH+NS100 SERVOPACKs, so the Gain Switch cannot be used.
0: Gain Switch OFF (default)
1: Gain Switch ON

( 3 ) Mode 2
OW††02 Position Phase Setting Range Setting Unit Default Value
Mode 2 Speed Torque － － 0000H
Monitor 2 Enabled
Disable/enable Monitor 2 in the Servo User Monitor (setting parameter OW††4E, bits 4 to 7).
0: Disabled (default)
Description Bit 0
1: Enabled
This bit is valid only when the communication mode is MECHATROLINK-I or MECHATROLINK-II 17-byte
Mode. This bit is ignored for MECHATROLINK-II 32-byte Mode.

6-26
 6.4 MP2300 Parameter Details

( 4 ) Function 1

OW††03 Position Phase Setting Range Setting Unit Default Value

Function 1 Speed Torque － － 0011H

Speed Units R
Set the unit for speed references.
0: Reference unit/s
Bit 0 to 1: 10n reference unit/min (default) (n = number of decimal places/fixed parameter 5)
Bit 3 2: 0.01%
3: 0.0001%
ΠRefer to 6.5.5 Speed Reference on page 6-63 for setting examples when also setting of the
combination with the number of digits below the decimal point.
Acceleration/Deceleration Units R
Set whether to specify acceleration/deceleration rates or acceleration/deceleration time constants for
Bit 4 to acceleration/deceleration commands.
Bit 7
0: Reference units/s2
1: ms (default)
Description
Filter Type R
Set the acceleration/deceleration filter type.
The set filter type changes when the motion command Change Filter Type is executed.
0: No filter (default)
Bit 8 to
Bit B 1: Exponential acceleration/deceleration filter
2: Moving average filter
ΠWhen a filter is used, set the type in this parameter and execute the motion command Change
Filter Type.
For details, refer to 7.2.12 Change Filter Type (CHG_FILTER) on page 7-60.
Torque Unit Selection R
Bit C to Set the unit for torque references.
Bit F 0: 0.01% (default)
1: 0.0001%

6-27
6 Motion Parameters
6.4.2 Setting Parameter List

( 5 ) Function 2

OW††04 Position Phase Setting Range Setting Unit Default Value

Function 2 Speed Torque － － 0033H
Latch Input Signal Type
Set the latch signal type.
0: -
1: -
2: Phase-C pulse input signal
Bit 0 to 3: /EXT1 (default)
Bit 3 4: /EXT2
5: /EXT3
ΠThe signal is input to the SERVOPACK.The SGD-N and SGDB-N SERVOPACKs support only
the /EXT1 latch signal, so the /EXT2 and /EXT3 latch signals cannot be used. If a signal that
is not supported is selected, the following warning will occur: Setting Parameter Error.
Description ΠThe setting is enabled when a latch command is executed.
External Positioning Signal
Set the external signal for external positioning.
0: -
1: -
2: Phase-C pulse input signal
Bit 4 to
3: /EXT1 (default)
Bit 7
4: /EXT2
5: /EXT3
ΠThe signal is input to the SERVOPACK. The SGD-N and SGDB-N SERVOPACKs support
only the /EXT1 latch signal, so the /EXT2 and /EXT3 latch signals cannot be used. If a signal
that is not supported is selected, the following warning will occur: Setting Parameter Error.

( 6 ) Function 3

OW††05 Position Phase Setting Range Setting Unit Default Value

Function 3 Speed Torque － － 0000H
Close Position Loop Using OL††16 (Disable Phase Reference Generation)
Set whether to disable or enable phase reference generation processing when executing phase reference
commands.
Enable this processing when an electronic shaft is being used. Disable the processing when an electronic cam is
Bit 1 being used.
0: Enabled (default)
1: Disabled
Description
Speed feed forward control cannot be used for the SGD-N or SGDB-N SERVOPACK, so the Disable Phase
Reference Generation command cannot be used.
INPUT Signal for Zero Point Return
This bit functions as the INPUT signal when the INPUT & C pulse method or INPUT Only method is being
Bit B used for the Zero Point Return operation.
0: INPUT signal OFF (default)
1: INPUT signal ON

6-28
 6.4 MP2300 Parameter Details

( 7 ) Motion Commands

OW††08 R Position Phase Setting Range Setting Unit Default Value

Motion Commands Speed Torque 0 to 26 － 0
Set motion command.
0: NOP No command
1: POSING Positioning
2: EX_POSING External Positioning
3: ZRET Zero Point Return
4: INTERPOLATE Interpolation
5: ENDOF_
INTERPOLATE Reserved for system use.
6: LATCH Latch
7: FEED JOG Operation
8: STEP STEP Operation
9: ZSET Zero Point Setting
10: ACC Change Linear Acceleration Time Constant
11: DCC Change Linear Deceleration Time Constant
12: SCC Change Filter Time Constant
Description 13: CHG_FILTER Change Filter Type
14: KVS Change Speed Loop Gain
15: KPS Change Position Loop Gain
16: KFS Change Feed Forward
17: PRM_RD Read SERVOPACK Parameter
18: PRM_WR Write SERVOPACK Parameter
19: ALM_MON Monitor SERVOPACK Alarms
20: ALM_HIST Monitor SERVOPACK Alarm History
21: ALMHIST_CLR Clear SERVOPACK Alarm History
22: ABS_RST Reset Absolute Encoder
23: VELO Speed Reference
24: TRQ Torque Reference
25: PHASE Phase Reference
26: KIS Change Position Loop Integration Time Constant
ΠRefer to Chapter 7 Motion Commands for details.

6-29
6 Motion Parameters
6.4.2 Setting Parameter List

( 8 ) Motion Command Control Flags

OW††09 Position Phase Setting Range Setting Unit Default Value

Motion Command Options Speed Torque － － 0000H

Command Pause R
The axis will decelerate to a stop if this bit is changed to 1 while an axis is moving during positioning, external
positioning, STEP operation, or speed reference.
While this bit is 1, the command is held. When this bit is changed to 0, the hold is canceled and positioning
Bit 0
restarts. After the axis has been stopped, the Command Hold Completed bit will turn ON in the Servo Module
Command Status (monitoring parameter IW††09, bit 1).
0: Command Pause OFF (default)
1: Command Pause ON
Command Abort R
The axis will decelerate to a stop if this bit is changed to 1 while an axis is moving during positioning, external
positioning, zero point return, JOG operation, STEP operation, speed reference, or torque reference, and the
Bit 1
remaining movement will be canceled.
0: Command Abort OFF (default)
1: Command Abort ON
Jog/Step Direction R
Set the movement direction for JOG or STEP.
Bit 2
0: Forward (default)
1: Reverse
Home Direction
Set the direction to move for zero point return. This setting is valid for zero point returns using DEC1 + C,
Bit 3 ZERO, DEC1 + ZERO, or phase-C.
Description 0: Reverse (default)
1: Forward
Latch Zone Enabled
Disable/enable the area where the external signal is valid for external positioning (called the latch zone).
This parameter writes the set values for OL††2A/OL††2C in the SERVOPACK parameters (Pn820, Pn822)
when it is enabled. This setting is valid each time a new external positioning command is executed.
When this parameter is disabled, sets the SERVOPACK parameters Pn820 and Pn822 to the same value (zero).
0: Disabled (default)
Bit 4
1: Enabled
Always disable this parameter when sending latch commands (latch, zero point return) other than those for
external positioning.
■ Related Parameters
Latch Zone Lower Limit (setting parameter OL††2A) and Latch Zone Upper Limit (setting parameter
OL††2C)
Position Reference Type R
Specify whether the value set for the Position Reference (setting parameter OL††1C) is an Incremental
Addition Mode value (calculated by adding the movement amount to the current position) or an Absolute Mode
value (an absolute position).
Bit 5
Always set this parameter to Incremental Addition Mode when using motion programs or infinite axes. For
details, refer to 6.5.2 ( 2 ) Parameter Setting Example Using Rotating Table on page 6-60.
0: Incremental addition mode (default)
1: Absolute mode

6-30
 6.4 MP2300 Parameter Details

OW††09 Position Phase Setting Range Setting Unit Default Value

Motion Command Options Speed Torque － － 0000H
Phase Compensation Type with an Electronic Cam
Select a setting method for Phase Compensation (OL 28).
0: Incremental addition mode (Default)
1: Absolute mode
This bit is valid when the electronic cam function is enabled (setting: OW 05, bit 1 = 1).
If using an electronic shaft (OW 05, bit 1 = 0), the incremental value of Phase Compensation (OL 28),
which is the difference between the values from the previous H scan and the current H scan, is added to the tar-
get position regardless of the setting of this bit.
■ Precautions if using as an electronic cam (OW05, bit 1 = 1)
Πif Absolute value 1 is selected for the Phase Compensation Type when using an electronic
cam, always take measures to prevent a sudden and extreme change in the target position
Description Bit 6
before executing the move command. For example, set the Phase Compensation (OL 28)
to the same value as 32-bit Coordination System Position (DPOS) (IL 14). If preventive
measures are not taken, the axis may abruptly move, resulting in a serious situation.
ΠIf using the electronic cam function, do not change the setting of this bit while the move com-
mand is being executed. Although the setting of this bit can be changed at any time, chang-
ing the setting while the move command is being executed may move the axis abruptly,
resulting in serious situation.
■ Precautions if using as an electronic shaft (OW 05, bit 1 = 0)
ΠThe setting method of Phase Compensation (OL 28) for the SVA-01 Module and that for
the SVB/SVB-01 Modules are different. For the SVA-01 Module, the set value of Phase Com-
pensation (OL 28) is simply added to the target position.

( 9 ) Motion Subcommands
OW††0A Position Phase Setting Range Setting Unit Default Value
Motion Subcommands Speed Torque 0 to 5 － 0
Set the motion subcommands that can be used with the motion command.
R 0: NOP No command
1: PRM_RD Read SERVOPACK Parameter
2: PRM_WR Write SERVOPACK Parameter
3: Reserved Reserved
Description 4: SMON Monitor Status
R 5: FIXPRM_RD Read Fixed Parameters

ΠThese commands can be used only with MECHATROLINK-II in 32-byte mode, except for Read Fixed
Parameters. For details, refer to 7.3 Motion Subcommands on page 7-95 and 7.4 Motion Subcom-
mand Details on page 7-96.

6-31
6 Motion Parameters
6.4.2 Setting Parameter List

( 10 ) Torque Reference
Setting Range Setting Unit Default Value
OL††0C R Position Phase Depends on the torque unit set
Torque/Thrust Reference
Speed Torque −231 to 231−1 in Function 1 (setting parame- 0
/Torque Feed Forward Compensation ter OW††03 bits C to F).
The meaning will depend on the command.
• Set the torque reference for torque reference commands.
Refer to 7.2.23 Torque Reference (TRQ) on page 7-84 for details.
• Set the torque feed forward gain* for interpolation commands.
* Torque Feed Forward Gain Function
Torque feed forward gain can be used when interpolation commands (INTERPOLATE, LATCH) are sent
Description
using SGDS SERVOPACKs.
Conditions of Use
・SERVOPACK parameter Pn002.0 = 2
・SGDS communication interface version 8 or later
Œ The setting unit for this parameter depends on the Torque Unit Selection (OW††03, bits C to F),
but the result of applying the torque unit setting is not shown here.
OW††0E Position
Setting Range Setting Unit Default Value
Phase
Speed Limit at Torque/Thrust
Speed Torque −32768 to 32767 0.01% 15000
Reference
Set the speed limit for torque references as a percentage of the rated speed.
Torque control is used to control the Servomotor to output the specified torque, so it does not control the motor speed.
Therefore, when an excessive reference torque is set relative to the load torque of the machine, the machine’s torque is
overpowered by the torque reference and the motor speed rapidly increases.
The torque reference speed limit functions to limit the Servomotor speed during torque control to protect the machine.
ΠThe setting is enabled when a torque reference command is executed.
No speed limit Speed limit used

Speed The high rate of acceleration Speed

may damage the machine.
Maximum Maximum
speed speed The speed limit prevents damage.
Description
Limited
speed

t t
0 0
■ Related Parameters
SGDS, SGDH+NS115, SGDH+NS110 SGD-N, SGDB-N
：Pn002.1 ：Cn-02, bit 2
Pn407 Cn-14
Pn408.1
Pn300

6-32
 6.4 MP2300 Parameter Details

( 11 ) Speed Reference
Setting Range Setting Unit Default Value
Position Phase Depends on the Speed Unit
OL††10 R
set in Function 1 (setting
Speed Reference Speed Torque −231 to 231−1 3000
parameter OW††03, bits
0 to 3).
Set the speed reference.
This parameter is used by the following commands. Refer to Chapter 7 Motion Commands for details.
1: POSING Positioning
2: EX_POSING External Positioning
3: ZRET Zero Point Return
Description 7: FEED JOG operation
8: STEP STEP operation
23: VELO Speed Reference
25: PHASE Phase Reference
Œ The setting unit for this parameter depends on the Speed Unit (OW††03, bits 0 to 3), but the result of
applying the speed unit setting is not shown here.

( 12 ) Positive Side Limiting Torque/Thrust Setting at the Speed Reference

Setting Range Setting Unit Default Value
OL††14 Position Depends on the torque unit
Phase
Positive Side Limiting Torque/Thrust Setting set in Function 1 (setting
at the Speed Reference Speed Torque −231 to 231−1 30000
parameter OW††03 bits C
to F).
Set the torque limit for the speed reference command. The same value is used for both the forward and reverse directions.
This parameter is used when a torque limit is required at specific timing during operation of the machine, such as
applications for pushing a load to stop it or holding a workpiece.
Description
Œ The setting unit for this parameter depends on the Torque Unit Selection (OW††03, bits C to F), but
the result of applying the torque unit setting is not shown here.
ΠThe setting is enabled when a speed reference command is executed.

( 13 ) Secondary Speed Compensation

Setting Range Setting Unit Default Value
Position Phase Depends on the Speed Unit
OL††16 R
set in Function 1 (setting
Secondary Speed Compensation Speed Torque −231 to 231−1 0
parameter OW††03, bits
0 to 3).
Set the speed feed forward amount for the Phase Reference command (PHASE).
The setting unit for Speed Amends (setting parameter OW††31) is 0.01% (fixed). The unit for this parameter, however,
can be selected using Speed Unit Selection.
Description
When used at the same time as OW††31, speed compensation can be performed twice.
Œ The setting unit for this parameter depends on the Speed Unit (OW††03, bits 0 to 3), but the result of
applying the speed unit setting is not shown here.

6-33
6 Motion Parameters
6.4.2 Setting Parameter List

( 14 ) Speed Override

OW††18 Position Phase Setting Range Setting Unit Default Value

Speed Override Speed Torque 0 to 32767 0.01% 10000
Set the percentage of the Speed Reference (OL††10) to output in units of 0.01%.
The override value is always enabled. Set to 10000 (fixed) when not using the override function.
Speed reference (OL††10) × Speed override (OL††18) = Output speed
This parameter can be changed at any time to any value during execution of speed reference, and
acceleration/deceleration is performed immediately according to the set value.
Speed
100%

Description 75%

50%

10000 5000 7500 10000

Override set value

When the speed override is set to 0, the output speed is 0 and the motor will not operate.

( 15 ) Position Reference Setting

OL††1C R Position Phase Setting Range Setting Unit Default Value

Position Reference Setting 31 231 Reference unit 0
Speed Torque −2 to −1
Set the position reference.
This parameter is used for the following commands.
1: POSING Positioning
2: EX_POSING External Positioning
Description Interpolation
4: INTERPOLATE
6: LATCH Latch
■ Related Parameters
OW††09, bit 5: Position Reference Type

6-34
 6.4 MP2300 Parameter Details

( 16 ) Position Completed Width

OL††1E Position Phase Setting Range Setting Unit Default Value

Position Completed Width Speed Torque 0 to 65535 Reference unit 100
This bit shows the set value of a SERVOPACK parameter.
Refer to 11.1 Parameters That Are Automatically Updated on page 11-2 for details.
When the Positioning Completed Signal (IB††2C7) turns ON after position reference distribution has completed for
position control, the Positioning Completed Signal (IB††0C1) turns ON.
Set values that are appropriate for all machines in the system. If the value is too small, a long time will be required for
positioning to complete.

Reference Motor speed

Speed

Distribution
Position Error
Description Completed
(IL††1A)
O††1E
Positioning
Completed Signal
(IB††0C1)

■ Related Parameters
Fixed Parameter 4: Command Unit
Fixed Parameter 5: Number of Decimal Places
Fixed Parameter 6: Command Units per Revolution
Fixed Parameter 8: Gear Ratio [MOTOR]
Fixed Parameter 9: Gear Ratio [LOAD]
OW††2E: Position Loop Gain
IB††0C0: Distribution Completed (DEN)
IB††0C1: Positioning Completed (POSCOMP)

6-35
6 Motion Parameters
6.4.2 Setting Parameter List

( 17 ) Positioning Completed Width 2

OL††20 Position Phase Setting Range Setting Unit Default Value

Positioning Completed Width 2 Speed Torque 0 to 65535 Reference unit 0
Position Proximity (IB††0C3) will be turned ON when the absolute value of the difference between the command
position and the feedback position is less than the value set here.
If the Positioning Completed Width 2 is set to 0, the Position Proximity bit (monitoring parameter IB††0C3) will be
turned ON when reference pulses have been distributed. (monitoring parameter IB††0C0).
If the Positioning Completed Width 2 is set to a value other than 0, this bit will be turned ON when the result of
subtracting the Machine Coordinate Feedback Position (monitoring parameter IL††16) from the Machine Coordinate
System Position (monitoring parameter IL††12) is less than the Position Completed Width 2, even if the reference
pulses have not been distributed.
This parameter has no relation to the SERVOPACK parameter Position Proximity (NEAR) Signal Width.

Description
Speed

Distribution
Positioning Completed completed
Position Error Width 2

Position Proximity
Detection Width = 0
■ Related Parameters
Position Proximity
Detection Width ≠ 0 IB††0C3: Position Proximity

( 18 ) Deviation Abnormal Detection Value

OL††22 Position Phase Setting Range Setting Unit Default Value

Deviation Abnormal Detection Value Speed Torque 0 to 231 −1 Reference unit 231−1
Set the value to detect an excessively following error during position control.
The Excessively Following Error (IB††049) turns ON if the result from subtracting the Machine Coordinate Feedback
Position (monitoring parameter IL††16) from the Machine Coordinate System Position (monitoring parameter
IL††12) is greater than the Positioning Completed Width 2. An excessively following error will not be detected if this
value is set to 0.
Description
■ Related Parameters
An excessively following error can be set to be treated either as a warning or as an alarm in the Deviation Abnormal
Detection Error Level Setting in Mode 1 (setting parameter OB††010).
OB††010 = 0: Alarm (default) (stops axis operation)
OB††010 = 1: Warning (continues axis operation)

6-36
 6.4 MP2300 Parameter Details

( 19 ) Position Complete Timeout

OW††26 Position Phase Setting Range Setting Unit Default Value

Position Complete Timeout Speed Torque 0 to 65535 ms 0
Set the time to detect a positioning time over error.
If the Positioning Completed bit does not turn ON within the time set here after reference pulses have been distributed
during position control, a Positioning Time Over alarm (monitoring parameter IB††046) will occur. The completion of
positioning will not be checked if this parameter is set to 0.

Speed

Description
Distribution completed
Position Error Position Completed Width

Positioning
Time Over
When this time is longer than the Position Complete Timeout,
a Positioning Time Over alarm will occur.

( 20 ) Phase Compensation

OL††28 Position Phase Setting Range Setting Unit Default Value

Phase Compensation 31 231 Reference unit 0
Speed Torque −2 to −1
Set the phase compensation in reference units for phase reference commands.
Using as Electronic Shaft
Use this parameter to compensate for reference pulses in control systems without rigidity, in which higher gain cannot be
Description applied.
Using as Electronic Cam
Use this parameter as the target position for the cam pattern with incremental addition.
ΠRefer to 7.2.24 Phase References (PHASE) on page 7-89 for details on phase reference commands.

( 21 ) Latch

OL††2A Position Phase Setting Range Setting Unit Default Value

31 231
Latch Zone Lower Limit Setting Speed Torque −2 to −1 Reference unit −231
Set the range in which the latch signal is valid (position from the zero position) for external positioning.
The set value here is written to the SERVOPACK parameters each time an external positioning command is executed as
long as the latch zone is enabled in the Latch Zone Enabled bit in Motion Command Options (setting parameter
Description OW††09, bit 4).
The latch zone setting is supported for SGDS SERVOPACKs for MECHATROLINK-II communication only.
Latching Area Lower Limit: Pn822
Latching Area Upper Limit: Pn820
OL††2C Position Phase Setting Range Setting Unit Default Value
Latch Zone Upper Limit Setting Speed Torque −231 to 231−1 Reference unit 231−1
Description Same as for OL††2A.

6-37
6 Motion Parameters
6.4.2 Setting Parameter List

( 22 ) Gain and Bias Settings

OW††2E Position Phase Setting Range Setting Unit Default Value

Position Loop Gain Speed Torque 0 to 32767 0.1/s 300
Determine the responsiveness for the SERVOPACK’s position loop.
If the position loop gain is set high, the responsiveness is high and the positioning time is short. Set the optimum value for
the machine rigidity, inertia, and type of Servomotor. The actual machine operation depends on the settings in the
SERVOPACK parameters. Refer to 11.1 Parameters That Are Automatically Updated on page 11-2 for information on
Description
automatic updating of parameters.
If this parameter changes, the corresponding SERVOPACK parameter will change automatically. This function is
achieved using the Servo command expansion area and can be executed when using the MECHATROLINK-II (32-byte
Mode) communication method. The motion command KPS must be used to make changes to this parameter.
OW††2F Position Phase Setting Range Setting Unit Default Value
Speed Loop Gain Speed Torque 1 to 2000 Hz 40
Determine the responsiveness for the SERVOPACK’s speed loop.
The Servo system will be more stable the higher this parameter is set, as long as the value is within the range in which the
mechanical system does not oscillate. The actual machine operation depends on the settings in the SERVOPACK
parameters. Refer to 11.1 Parameters That Are Automatically Updated on page 11-2 for information on automatic
Description updating of parameters.
If this parameter changes, the corresponding SERVOPACK parameter will change automatically.
This function is achieved using the Servo command expansion area and can be executed when using the
MECHATROLINK-II (32-byte Mode) communication method. The motion command KVS must be used to make
changes to this parameter.
OW††30 Position Phase Setting Range Setting Unit Default Value
Speed Feed Forward Compensation Speed Torque 0 to 32767 0.01% 0
Reduces positioning time by applying feed forward compensation.
This setting is effective for positioning control commands. Always set this parameter to 0 for phase control.
If this parameter changes, the corresponding SERVOPACK parameter will change automatically.
Description
This function is achieved using the Servo command expansion area and can be executed when using the
MECHATROLINK-II (32-byte Mode) communication method. The motion command KFS must be used to make
changes to this parameter.
OW††31 R Position Phase Setting Range Setting Unit Default Value
Speed Amends Speed Torque −32768 to 32767 0.01% 0
Set the speed feed forward gain as a percentage of the rated speed for the interpolation (INTERPOLATE), phase reference
(PHASE), and latch (LATCH) commands.
The setting unit for this parameter is 0.01% (fixed).
Description
Œ Secondary Speed Compensation (OL††16) can be used with the phase reference command (PHASE) ,
and the unit can be selected for OL††16. When used at the same time as OL††16, speed compensation
can be applied twice.
OW††32 Position Phase Setting Range Setting Unit Default Value
Position Integration Time Constant Speed Torque 0 to 32767 ms 0
Set the position loop integration time constant.
Use this parameter to improve the following precision in applications such as electronic cams or shafts.
The actual machine operation depends on the settings in the SERVOPACK parameters. Refer to 11.1 Parameters That
Are Automatically Updated on page 11-2 for information on automatic updating of parameters.
If this parameter changes, the corresponding SERVOPACK parameter will change automatically.
Description
This function is achieved using the Servo command expansion area and can be executed when using the
MECHATROLINK-II (32-byte Mode) communication method. The motion command KIS must be used to make changes
to this parameter.
There is no parameter to set the integration time constant in the SGD-N or SGDB-N SERVOPACK, so the Position
Integration Time Constant cannot be used.

6-38
 6.4 MP2300 Parameter Details

OW††34 Position Phase Setting Range Setting Unit Default Value

Speed Integration Time Constant Speed Torque 15 to 65535 0.01 ms 2000
The speed loop has an integral element to enable responding to minute inputs.
This element, however, causes a delay in the Servo system, adversely affecting the response if the time constant is set too
Description large.
The actual machine operation depends on the settings in the SERVOPACK parameters. Refer to 11.1 Parameters That
Are Automatically Updated on page 11-2 for information on automatic updating of parameters.

The following figure shows the relationship between the above related parameters.

NS100/NS115 SERVOPACK

Acceleration/
Acceleration:
deceleration
OL††36
processing
Deceleration:
OL††38
Differ- Pn109 B
Pn10A
ential A
(OW††30) (Not supported.)
Kp Kv
B Vref Current
Filter Pn102 Pn100 M
A Loop
(OW††2E) (OW††2F)
OW††3A
FB Ti NTi
Followup
Pn11F Pn101
(OW††32) (OW††34)
PG
A
B

Set in a 1:1 ratio.

Speed
Amends
(OW††31)

6-39
6 Motion Parameters
6.4.2 Setting Parameter List

( 23 ) Acceleration/Deceleration Settings
Setting
Setting Unit Default Value
Range
OL††36 R Position Phase
Acceleration/Deceleration Units
Linear Acceleration Time Speed Torque
0 to 231−1 (setting parameter OW††03, 0
bits 4 to 7)
Set the linear acceleration rate or linear acceleration time constant.
The actual machine operation depends on the settings in the SERVOPACK parameters. Refer to 11.1 Parameters That
Description Are Automatically Updated on page 11-2 for information on automatic updating of parameters.
Œ The setting unit for this parameter depends on the Acceleration/Deceleration Units (OW††03, bits 4
to 7), but the result of applying the acceleration/deceleration unit setting is not shown here.
Setting
Setting Unit Default Value
Range
OL††38 R
Acceleration/Deceleration Units
Linear Deceleration Time
0 to 231−1 (setting parameter OW††03, 0
bits 4 to 7)
Set the linear deceleration rate or linear deceleration time constant.
The actual machine operation depends on the settings in the SERVOPACK parameters. Refer to 11.1 Parameters That
Description Are Automatically Updated on page 11-2 for information on automatic updating of parameters.
Œ The setting unit for this parameter depends on the Acceleration/Deceleration Unit (OW††03, bits 4 to
7), but the result of applying the acceleration/deceleration unit setting is not shown here.
The following two methods can be used to specify the acceleration/deceleration speed.

1. Setting the acceleration/deceleration speed

2. Setting the time to reach the rated speed from zero speed.
For this method, the setting range is 0 to 32,767 ms. A setting parameter error will occur if the
setting exceeds 32,767.

1 = Reference unit/s2

100%
Acceleration/
Deceleration Units
0 Speed Reference Speed
(%) Linear accel- Linear decel-
(OW

03. Bit 4 to 7)
eration rate eration rate
(OL

36) (OL

38) Time
(t)

1 = ms

100%

1 Reference Speed
Speed
(%)

Time
(t)
Linear acceleration Linear deceleration
time (OL

36) time (OL

38)

ΠFor details on each acceleration/deceleration parameter, refer to 6.5.6 Acceleration/Deceleration

Settings on page 6-65 and 6.5.7 Acceleration/Deceleration Filter Settings on page 6-67.

6-40
 6.4 MP2300 Parameter Details

( 24 ) Filter

OW††3A R Position Phase Setting Range Setting Unit Default Value

S-curve Acceleration Time Speed Torque 0 to 65535 0.1 ms 0
Set the acceleration/deceleration filter time constant.
Always make sure that pulse distribution has been completed (i.e., that monitoring parameter IB††0C0 is ON) before
changing the time constant.
The actual machine operation depends on the settings in the SERVOPACK parameters. Refer to 11.1 Parameters That
Are Automatically Updated on page 11-2 for information on automatic updating of parameters.
Change the time constant for the filter set using the motion command Change Filter Type.
After setting the filter type to be used, change the time constant.
The overall flow for setting the filter time constant is as follows:

Description 1. Select the filter type in Function 1 (setting parameter OW††03, bits 8 to B).
↓
2. Execute the motion command Change Filter Type (CHG_FILTER).
↓
3. Set the S-curve Acceleration Time (setting parameter OW††3A).
↓
4. Execute the motion command Change Filter Time Constant.
Once the filter type is set using the motion command, the setting is held until the power is turned OFF or the filter type is
changed.
OW††3B ( R only) Setting Range Setting Unit Default Value
Bias Speed for Exponential Acceleration/Deceleration Speed Units (setting parameter
0 to 32767 100
Filter OW††03, bits 0 to 3)
Set the bias speed for the exponential acceleration/deceleration filter.
Description Œ The setting unit for this parameter depends on the Speed Units (OW††03, bits 0 to 3), but the result of
applying the speed unit setting is not shown here.
ΠThere are two types of acceleration/deceleration filter: an exponential acceleration/deceleration fil-
ter and a moving average filter.
ΠFor details on each acceleration/deceleration parameter, refer to 6.5.6 Acceleration/Deceleration
Settings on page 6-65 and 6.5.7 Acceleration/Deceleration Filter Settings on page 6-67.

6-41
6 Motion Parameters
6.4.2 Setting Parameter List

( 25 ) Zero Point Return

OW††3C Position Phase Setting Range Setting Unit Default Value
Home Return Type Speed Torque 0 to 19 － 0
Set the operation method when the Zero Point Return (ZRET) motion command is executed.
With an incremental encoder, there are 13 different methods that can be performed for the Zero Point Return operation.
Description ΠRefer to 7.2.3 Zero Point Return (ZRET) on page 7-16 for information on each method.
With an absolute encoder, the axis is returned to the zero point of the machine coordinate system regardless of which
method is being used.
OW††3D R Setting Range Setting Unit Default Value
Home Window 0 to 65535 Reference unit 100
Description Set the width in which the Zero Point Position bit (monitoring parameter IB††0C4) will be ON.
Setting Range Setting Unit Default Value
OL††3E
Depends on
Approach Speed −231 to 231−1 Speed Units.
1000

Set the approach speed for a zero point return operation after the deceleration LS is passed.
Description Œ The setting unit for this parameter depends on the Speed Units (OW††03, bits 0 to 3), but the result of
applying the speed unit setting is not shown here.
Setting Range Setting Unit Default Value
OL††40
Depends on
Creep Speed −231 to 231−1 Speed Units.
500

Set the creep speed for a zero point return operation after the ZERO signal is detected.
Description Œ The setting unit for this parameter depends on the Speed Units (OW††03, bits 0 to 3), but the result of
applying the speed unit setting is not shown here.
OL††42 Setting Range Setting Unit Default Value
Home Offset 31 31 Reference unit 0
−2 to 2 −1
Description Set the distance from where the signal is detected to the zero point position.
A typical example of a zero point return operation is shown below.
ΠRefer to 7.2.3 Zero Point Return (ZRET) on page 7-16 for details.
Reference Speed
(OL††10)

Home Offset Approach Speed

(OL††3E) Speed
Creep Speed
Home (OL††42)
Window

Start
DEC Signal

Phase-C Pulse

6-42
 6.4 MP2300 Parameter Details

( 26 ) Step Distance

OL††44 R Position Phase Setting Range Setting Unit Default Value

Step Distance Speed Torque 0 to 231 −1 Reference unit 1000
Set the moving amount for STEP commands.

Rated speed
100%

Speed
Speed Reference
(%) (OL††10)
Description
Step
Distance
(OL††44)

Linear Acceleration Linear Deceleration

Time (OL††36) Time (OL††38)

ΠRefer to 7.2.7 STEP Operation (STEP) on page 7-48 for details on STEP commands.

( 27 ) External Positioning Move Distance

OL††46 Position Phase Setting Range Setting Unit Default Value

External Positioning Move Distance 31 231 Reference unit 0
Speed Torque −2 to −1
Set the distance from the time the external signal is input for external positioning commands (EX_POSING).

Rated speed
Speed
Speed Reference
(OL††10)
External Positioning
Move Distance
(OL††46)
Description

Linear Acceleration Linear Deceleration

Time (OL††36) Time (OL††38)
External
positioning signal

ΠRefer to 7.2.2 External Positioning (EX_POSING) on page 7-11 for details.

( 28 ) Coordinate System Settings

OL††48 R Position Phase Setting Range Setting Unit Default Value

Zero Point Offset 31 31 Reference unit 0
Speed Torque −2 to 2 −1
Set the offset to shift the machine coordinate system.
Description
ΠThis parameter is always enabled, so be sure that the setting is correct.
OL††4A R Setting Range Setting Unit Default Value
Work Coordinate System Offset 31 231 Reference unit 0
−2 to −1
Set the offset to shift the work coordinate system.
Description
ΠThis parameter is always enabled, so be sure that the setting is correct.
OL††4C R Setting Range Setting Unit Default Value
Preset Data of POSMAX Turn 31 31 Rev 0
−2 to 2 −1
When the POSMAX Preset bit (setting parameter OW††00 bit 6) is set to 1, the value set here will be preset as the
Description
POSMAX Number of Turns (monitoring parameter IL††1E).
ΠFor information on how to use these functions, refer to Chapter 9 Absolute Position Detection.

6-43
6 Motion Parameters
6.4.2 Setting Parameter List

( 29 ) SERVOPACK User Monitor

OW††4E Position Phase Setting Range Setting Unit Default Value
Servo User Monitor Speed Torque － － 0E00H
Monitor 2
Monitor 2 is used with the MECHATROLINK-I and the MECHATROLINK-II in 17-byte Mode when bit 0
of OW††02 is 1.
0 : Reference position in command coordinate system (reference unit)
1: Reference position in machine coordinate system (reference unit)
2: Following error (reference unit)
3 : Feedback position in machine coordinate system (reference unit)
4 : Feedback latch position in machine coordinate system (reference unit)
5 : Reference position in command coordinate system (reference unit)
6 : Target position in command coordinate system (reference unit)
Bit 4 to 7:
Bit 7 8: Feedback speed (position/torque control: reference units/s, speed control: maximum speed/40000000
Description hex)
9: Command speed (position/torque control: reference units/s, speed control: maximum speed/40000000
hex)
A: Target speed (position/torque control: reference units/s, speed control: maximum speed/40000000 hex)
B: Torque reference (position/speed control: reference units/s, torque control: maximum torque/40000000
hex)
C:
D:
E: Option Monitor 1 (default)
F: Option Monitor 2
Monitor 4
Bit C to
Monitor 4 is used only with the MECHATROLINK-II in 32-byte Mode.
Bit F
0 to F: Same as for Monitor 2.

6-44
 6.4 MP2300 Parameter Details

( 30 ) SERVOPACK Commands

OW††4F Position Phase Setting Range Setting Unit Default Value

Servo Alarm Monitor Number Speed Torque 0 to 10 － 0
Set the number of the alarm to monitor.
Set the number of the alarm to monitor for the ALM_MON or ALM_HIST motion command.
Description
The result of monitoring will be stored as the Servo Alarm Code (monitoring parameter IW††2D).
ΠRefer to Chapter 7 Motion Commands for details.
OW††50 Setting Range Setting Unit Default Value
Servo Constant Number 0 to 65535 － 0
Set the number of the SERVOPACK parameter.
Description Set the number of the SERVOPACK parameter to be processed for the PRM_RD or PRM_WR motion command.
ΠRefer to Chapter 7 Motion Commands for details.
OW††51 Setting Range Setting Unit Default Value
Servo Constant Number Size 1, 2 － 1
Set the number of words in the SERVOPACK parameter.
Set the number of words in the SERVOPACK parameter to be processed for the PRM_RD or PRM_WR motion
Description
command.
ΠRefer to Chapter 7 Motion Commands for details.
OL††52 Setting Range Setting Unit Default Value
Servo User Constant 31 31 0
−2 to 2 −1 －
Set the setting for the SERVOPACK parameter.
Description Set the setting value to be written to the SERVOPACK parameter with the PRM_WR motion command.
ΠRefer to Chapter 7 Motion Commands for details.
OW††54 Setting Range Setting Unit Default Value
Auxiliary Servo User Constant Number 0 to 65535 － 0
Set the number of the SERVOPACK parameter.
Description Set the number of the SERVOPACK parameter to be processed for the PRM_RD or PRM_WR motion subcommand.
ΠRefer to Chapter 7 Motion Commands for details.
OW††55 Setting Range Setting Unit Default Value
Auxiliary Servo Constant Number Size 1, 2 － 1
Set the number of words in the SERVOPACK parameter.
Set the number of words in the SERVOPACK parameter to be processed for the PRM_RD or PRM_WR motion
Description
subcommand.
ΠRefer to Chapter 7 Motion Commands for details.
OL††56 Setting Range Setting Unit Default Value
Auxiliary Servo User Constant 31 31 0
−2 to 2 −1 －
Set the setting for the SERVOPACK parameter.
Description Set the setting value to be written to the SERVOPACK parameter with the PRM_WR motion subcommand.
ΠRefer to Chapter 7 Motion Commands for details.

( 31 ) Supplemental Settings

OW††5C R Position Phase Setting Range Setting Unit Default Value

Fixed Parameter Number Speed Torque 0 to 65535 － 0
Set the number of the fixed parameter to be read with the motion subcommand FIXPRM_RD.
The results of the Read Fixed Parameters operation are stored in the Fixed Parameter Monitor (monitoring parameter
Description IW††56).
ΠFor details, refer to 7.3 Motion Subcommands on page 7-95 and 7.4 Motion Subcommand Details on
page 7-96.

6-45
6 Motion Parameters
6.4.3 Motion Monitoring Parameter Details

( 32 ) Absolute Infinite Length Axis Position Control Information

OL††5E Position Phase Setting Range Setting Unit Default Value

Absolute Position at Power OFF (Lower 2 words) 31 231 pulse 0
Speed Torque −2 to −1
This is the information for infinite length axis position control when an absolute encoder is used.
The encoder position is stored in 4 words.
If the Infinite Length Axis Position Information LOAD bit is set to 1 in the RUN Commands (setting parameter
Description
OW††00, bit 7), the position information will be recalculated with the values set here and the Modularized Position at
Power OFF (OL††62 and OL††64).
ΠRefer to 9.4 Absolute Position Detection for Infinite Length Axes on page 9-13 for details.
OL††60 Setting Range Setting Unit Default Value
Absolute Position at Power OFF (Upper 2 words) −231 to 231−1 pulse 0
Same as for OL††5E.
Description
ΠRefer to 9.4 Absolute Position Detection for Infinite Length Axes on page 9-13 for details.
OL††62 Setting Range Setting Unit Default Value
31
Modularized Position at Power OFF (Lower 2 words) −2 to 231−1 pulse 0
This is the information for infinite length axis position control when an absolute encoder is used.
The axis position in pulses managed internally by the controller is stored in 4 words.
If the Infinite Length Axis Position Information LOAD bit is set to 1 in the Run Commands (setting parameter
Description
OW††00, bit 7), the position information will be recalculated with the values set here and the Absolute Position at
Power OFF (OL††5E and OL††60).
ΠRefer to 9.4 Absolute Position Detection for Infinite Length Axes on page 9-13 for details.
OL††64 Setting Range Setting Unit Default Value
Modularized Position at Power OFF (Upper 2 words) 31 31 pulse 0
−2 to 2 −1
Same as for OL††62.
Description
ΠRefer to 9.4 Absolute Position Detection for Infinite Length Axes on page 9-13 for details.

( 33 ) Transparent Command Mode

OW††70 to OW††7E Position Phase Setting Range Setting Unit Default Value
Command Buffer for Transparent Command Mode Speed Torque － － 0
This area is used for response data when MECHATROLINK Servo commands are specified directly.
Description • MECHATROLINK-I and MECHATROLINK-II, 17-byte Mode: Data area = OW††70 to OW††77
• MECHATROLINK- II, 32-byte Mode: Data area = OW††70 to OW††7E

„ Terminology: Store
The use of “store” here refers to information that is automatically transferred by the CPU system without
any action by the user. This term is mainly used with this meaning in describing motion monitoring param-
eters.

6.4.3 Motion Monitoring Parameter Details

The motion monitoring parameter details are listed in the following table.
ΠRefer to 6.3.3 Monitoring Parameter List on page 6-13 for a list of motion monitoring parameters.
Œ Register number IW††00 indicates the leading input register number + 00. Other register num-
bers listed below indicate input register numbers in the same way.
ΠRefer to 6.1.1 Motion Parameter Register Numbers for MP2300 on page 6-2 for information on
how to find the leading input number.
ΠR in the following tables indicates that the item is also compatible with SVR.

6-46
 6.4 MP2300 Parameter Details

( 1 ) Drive Status
IW††00 Setting Range Setting Unit
Drive Status － －
Motion Controller Operation Ready R
OFF: Operation not ready
ON: Operation ready
This bit turns ON when RUN preparations for the Motion Module have been completed.
This bit will be OFF under the following conditions:
・Major damage has occurred.
Bit 0 ・Axis that is not used was selected.
・Motion fixed parameter setting error
・Motion fixed parameters are being changed.
・Communication is not synchronized.
・SERVOPACK parameters are being accessed by a command from an MPE720.
・The Motion Parameter Window (SVB Definitions Window) is being opened using the MPE720.
Œ Configure an OR circuit with IB††002 when using as a Servo ON interlock.
Running (Servo ON) R
This bit is ON while the axis is in Servo ON status.
Bit 1
Description OFF: Stopped
ON: Running (Servo ON)
System Busy
OFF: System not busy
ON: System busy
This bit is ON when the system is processing and cannot execute a motion command. This bit is ON for the
Bit 2
following conditions.
・Fixed parameters are being changed.
・SERVOPACK parameters are being read by a command from an MPE720.
・SERVOPACK parameters are being written by a command from an MPE720.
Servo Ready
OFF: Servo not ready
ON: Servo ready
Bit 3 This bit is ON when all of the following conditions are satisfied.
・Communication is synchronized.
・The main power supply for the SERVOPACK is ON.
・There are no alarms in the SERVOPACK.

( 2 ) Over Range Parameter Number

IW††01 R Setting Range Setting Unit
Over Range Parameter Number 0 to 65535 －
Stores the number of a parameter set outside the setting range.
・Setting parameters: 0 or higher
Description
・ Fixed Parameters: 1000 or higher
This parameter stores the number of the setting or fixed parameter that exceeds the setting range either individually or in
combination with the settings of other parameters.
When motion fixed parameters are used, the parameter stores the parameter number plus 1000.

6-47
6 Motion Parameters
6.4.3 Motion Monitoring Parameter Details

( 3 ) Warning
IL††02 Setting Range Setting Unit
Warning － －
Excessively Following Error
OFF: In normal deviation range
Bit 0 ON: Abnormal deviation detected
This bit turns ON if the following error exceeds the value set for the Deviation Abnormal Detection Value
(setting parameter OL††22) when Excessively Following Error is set to be treated as an warning by setting
the Deviation Abnormal Detection Error Level to 0 in Mode 1 (setting parameter OW††01, bit 0).
Setting Parameter Error R
OFF: In setting range
Bit 1 ON: Outside setting range
This bit turns ON when one or more motion setting parameters is set outside the setting range. The number of
the parameter for which the value is out of range is stored as the Over Range Parameter Number (monitoring
parameter IW††01).
Fixed Parameter Error R
OFF: In setting range
Bit 2 ON: Outside setting range
This bit turns ON when one or more motion setting parameters is set outside the motion fixed parameter setting
range. The number of the most recent out-of-range parameter is stored as the Over Range Parameter Number
(monitoring parameter IW††01).
Servo Driver Error
OFF: No warning
Bit 3 ON: Warning
This bit turns ON when there is a warning in the SERVOPACK for MECHATROLINK communication. The
content of the warning can be confirmed using the Servo Alarm Code (monitoring parameter IW††2D).
Motion Command Setting Error R
Description
OFF: Command setting normal
Bit 4
ON: Command setting error
This bit turns ON when a motion command that cannot be used is set.
Positive Overtravel
OFF: No positive overtravel
Bit 6 ON: Positive overtravel
This bit turns ON when positive overtravel is disabled in the fixed parameter settings and the positive overtravel
signal is input.
Negative Overtravel
OFF: No negative overtravel
Bit 7 ON: Negative overtravel
This bit turns ON when negative overtravel is disabled in the fixed parameter settings and the negative
overtravel signal is input.
Servo Not ON
OFF: Servo ON
Bit 8 ON: Servo not ON
This bit turns ON when the Servo ON bit in the RUN Commands (setting parameter OW††00, bit 0) set to 1
but the SERVOPACK is not in the Servo ON condition.
Servo Driver Communication Warning
OFF: Communication normal
Bit 9 ON: Communication error detected
This bit turns ON if a communication error is detected in communication with the SERVOPACK for
MECHATROLINK communication. This bit is cleared automatically when communication is performed
normally.

6-48
 6.4 MP2300 Parameter Details

( 4 ) Alarm
IL††04 Setting Range Setting Unit
Alarm － －
Servo Driver Error
OFF: No Servo Driver alarm
Bit 0 ON: Servo Driver alarm occurred
This bit turns ON when there is a alarm in the SERVOPACK for MECHATROLINK communication. The content
of the alarm can be confirmed using the Servo Alarm Code (monitoring parameter IW††2D).
Positive Overtravel
OFF: No positive overtravel
Bit 1 ON: Positive overtravel occurred
This bit turns ON when the positive overtravel signal has been input and a move command is executed in the
positive direction. For details, refer to 10.2 Overtravel Function on page 10-8.
Negative Overtravel
OFF: No negative overtravel
Bit 2 ON: Negative overtravel occurred
This bit turns ON when the negative overtravel signal is input and a move command is executed in the negative
direction. For details, refer to 10.2 Overtravel Function on page 10-8.
Positive Soft Limit (Positive Software Limit)
OFF: In positive software limit range
ON: Not in positive software limit range
Bit 3 This bit turns ON if a move command that exceeds the positive software limit is executed with the following
conditions: A finite axis is selected, the positive software limit is enabled, and a Zero Point Return operation has
been completed.
For details, refer to 10.3 Software Limit Function on page 10-12.
Negative Soft Limit (Negative Software Limit)
Description OFF: In negative software limit range
ON: Not in negative software limit range
Bit 4 This bit turns ON if a move command that exceeds the negative software limit is executed with the following
conditions: A finite axis is selected, the negative software limit is enabled, and a Zero Point Return operation has
been completed.
For details, refer to 10.3 Software Limit Function on page 10-12.

Servo OFF R
OFF: Servo ON
Bit 5
ON: Servo OFF
This bit turns ON when a move command is executed during Servo OFF status.
Positioning Time Over
OFF: No timeout
Bit 6 ON: Timeout occurred
This bit turns ON when positioning is not completed within the specified time after the end of pulse distribution.
The time is set for the Position Complete Timeout (setting parameter OW††26).
Excessive Positioning Moving Amount
OFF: Moving amount normal
Bit 7 ON: Excessive moving amount
This bit turns ON when a moving amount is specified that exceeds the setting range for the positioning moving
amount.
Excessive Speed
OFF: Speed normal
Bit 8
ON: Excessive speed
This bit turns ON when a speed was set that exceeds the setting range for the speed reference.

6-49
6 Motion Parameters
6.4.3 Motion Monitoring Parameter Details

IL††04 Setting Range Setting Unit

Alarm (cont.) － －
Excessively Following Error
OFF: In normal deviation range
Bit 9 ON: Abnormal deviation detected
This bit turns ON if the following error exceeds the value set for the Deviation Abnormal Detection Value
(setting parameter OL††22) when an Excessively Following Error is set to be treated as an alarm by setting
the Deviation Abnormal Detection Error Level to 0 in Mode 1 (setting parameter OW††01, bit 0).
Filter Type Change Error
OFF: No change error
Bit A
ON: Change error occurred
This bit turns ON if the filter type is changed while the pulses are still distributing.
Filter Time Constant Change Error
OFF: No change error
Bit B
ON: Change error occurred
This bit turns ON if the filter type is changed while the pulses are still distributing.
Zero Point Not Set
OFF: Zero point set
Bit D ON: Zero point not set error
This bit turns ON if a move command (except for JOG or STEP) is performed when an infinite length axis is set
and the zero point has not been set.
Zero Point Set during Travel
OFF: Zero point not set during travel
Bit E
ON: Zero point set during travel
This bit turns ON if the zero point is set during axis moving.
Servo Driver Parameter Setting Error
Description
OFF: Zero point set
Bit F
ON: Zero point not set error
This bit turns ON if a failure occurs while changing MECHATROLINK SERVOPACK parameter settings.
Servo Driver Synchronization Communication Error
OFF: No synchronization communication error
Bit 10 ON: Synchronization communication error
This bit turns ON if a synchronization communication error is detected with the SERVOPACK for
MECHATROLINK communication.
Servo Driver Communication Error
OFF: No consecutive synchronization communication error
Bit 11 ON: Consecutive synchronization communication errors
This bit turns ON if two communication errors are detected consecutively in communication with the
SERVOPACK for MECHATROLINK communication.
Servo Driver Command Timeout Error
0: Servo Driver command completed within specified time.
Bit 12 1: Servo Driver command not completed within specified time.
This bit turns ON if a command sent to the SERVOPACK for MECHATROLINK communication is not
completed within a specific amount of time.
ABS Encoder Count Exceeded
OFF: In count range
ON: Outside count range
Bit 13 This bit turns ON if the number of turns from the absolute encoder exceeds the range that the SVB can handle.
This parameter is valid when using an absolute encoder and a finite-length axis.
This bit also turns ON if the result of the operation converting the current position to reference units when the
power is turned ON exceeds 32 bits.

6-50
 6.4 MP2300 Parameter Details

( 5 ) Motion Command Response Codes

IW††08 R Setting Range Setting Unit
Motion Command Response Codes 0 to 65535 －
Stores the motion command code for the command that is currently being executed.
This is the motion command code that is currently being executed and is not necessarily the same as the Motion
Command (setting parameter OW††08).
Description Response codes are also stored when the following processing is executed.
・Servo ON: 29
・Servo OFF: 30
・Clear alarms: 31

( 6 ) Motion Command Status

IW††09 Setting Range Setting Unit
Servo Module Command Status － －
Command Executing (BUSY) R
OFF: READY (completed)
Bit 0 ON: BUSY (processing)
This bit indicates the motion command status. Refer to Chapter 7 Motion Commands for details on command
timing charts.
This bit turns ON during execution of commands that have been completed or during abort processing.
Command Hold Completed (HOLDL) R
OFF: Command hold processing not completed
Bit 1 ON: Command hold completed
This bit turns ON when command hold processing has been completed. Refer to Chapter 7 Motion Commands
for details on command timing charts.
Command Error Occurrence (FAIL) R
OFF: Normal completion
Description Bit 3 ON: Abnormal completion
This bit turns ON if motion command processing does not complete normally.
If motion command execution ends in an error, the axis will stop any motion. Refer to Chapter 7 Motion Com-
mands for details on command timing charts.
Reset Absolute Encoder Completed
OFF: Reset not completed
ON: Reset completed
Bit 7
This bit turns ON when the Reset Absolute Encoder command (ABS_RST) is executed and initialization is
completed.
Refer to Chapter 7 Motion Commands for details on command timing charts.
Command Execution Completed (COMPLETE) R
OFF: Normal execution not completed
Bit 8 ON: Normal execution completed
This bit turns ON when motion command processing was completed normally. Refer to Chapter 7 Motion
Commands for details on command timing charts.

( 7 ) Motion Subcommand Response Code

IW††0A R Setting Range Setting Unit
Motion Subcommand Response Code 0 to 65535 －
Stores the motion subcommand code for the command that is being executed.
This is the motion subcommand code that is currently being executed and is not necessarily the same as the Motion
Description
Subcommand (setting parameter OW††0A).
ΠSubcommands are used by the system for latch commands and reading/writing parameters.

6-51
6 Motion Parameters
6.4.3 Motion Monitoring Parameter Details

( 8 ) Motion Subcommand Status

IW††0B Setting Range Setting Unit
Motion Subcommand Status － －
Command Executing (BUSY) R
OFF: READY (completed)
Bit 0 ON: BUSY (processing)
This bit indicates the motion subcommand status.
This bit turns ON during execution of commands that have been completed or during abort processing.
Command Error Occurrence (FAIL) R
Description OFF: Normal completion
Bit 3
ON: Abnormal completion
This bit turns ON if motion subcommand processing does not complete normally.
Command Execution Completed (COMPLETE) R
OFF: Normal execution not completed
Bit 8
ON: Normal execution completed
This bit turns ON when motion subcommand processing was completed normally.

( 9 ) Position Management Status

IW††0C Setting Range Setting Unit
Position Management Status － －
Distribution Completed (DEN) R
OFF: Distributing pulses.
Bit 0 ON: Distribution completed.
This bit turns ON when pulse distribution has been completed for a move command. This bit turns ON when the
SERVOPACK parameter Distribution Completed (monitoring parameter IB††2C8) turns ON and the SVB’s
internal distribution processing is completed.
Positioning Completed (POSCOMP) R
OFF: Outside Positioning Completed Width.
Bit 1 ON: In Positioning Completed Width.
This bit turns ON when pulse distribution has been completed and the current position is within the Positioning
Completed Width (i.e., after SERVOPACK Positioning Completed (IB††2C7) turns ON).
Latch Completed (LCOMP)
Description OFF: Latch not completed.
Bit 2 ON: Latch completed.
This bit turns OFF when a new latch command is executed and turns ON when the latch has been completed.
The latched position is stored as the Machine Coordinate Latch Position (monitoring parameter IL††18).
Position Proximity (NEAR) R
OFF: Outside position proximity range.
ON: In position proximity range.
The operation of this bit depends on the setting of Positioning Completed Width 2 (setting parameter
Bit 3 OL††20).
・ OL††20 = 0: This bit turns ON when pulse distribution has been completed (monitoring parameter
IB††0C0).
・OL††20 ≠ 0: This bit turns ON when the result of subtracting the Machine Coordinate Feedback Position
(IL††16) from the Machine Coordinate System Position (IL††12) is less than the Position Completed
Width 2, even if pulse distribution has not been completed.

6-52
 6.4 MP2300 Parameter Details

IW††0C Setting Range Setting Unit

Position Management Status (cont.) － －

Zero Point Position (ZERO) R

OFF: Outside zero point position range
Bit 4 ON: In zero point position range.
This bit turns ON when the Machine Coordinate System Position (monitoring parameter IL††12) is within the
Home Window (setting parameter OW††3D) after a Zero Point Return (Zero Point Setting) has been
completed.

Zero Point Return (Setting) Completed (ZRNC)

OFF: Zero point return (setting) not completed.
ON: Zero point return (setting) completed.
Bit 5
This bit turns ON when a zero point return (setting) has been completed.
This bit turns OFF when a new zero point return (setting) operation is started, when communication with the
SERVOPACK stop, or when a Servo alarm related to the encoder occurs.

Machine Lock ON (MLKL)

Description OFF: Machine lock mode released.
Bit 6 ON: Machine lock mode.
This bit turns ON when the Machine Lock bit is set to 1 in the RUN Commands (setting parameter OW††00,
bit 1) and the axis has actually entered machine lock mode.
ABS System Infinite Length Position Control Information LOAD Completed (ABSLDE)
OFF: LOAD not completed.
Bit 8 ON: LOAD completed.
This bit turns ON when the Infinite Length Axis Position Information LOAD bit is set to 1 in the Run
Commands (setting parameter OW††00, bit 7) and loading of the information has been completed.

POSMAX Turn Number Presetting Completed (TPRSE) R

OFF: Preset not completed.
Bit 9 ON: Preset completed.
This bit turns ON when the POSMAX Preset bit in the Run Commands (setting parameter OW††00, bit 6) is
set to 1 and the POSMAX Number of Turns has been preset with the Preset Data of POSMAX Turn (setting
parameter OL††4C).

( 10 ) Position Information

IL††0E R Setting Range Setting Unit

Machine Coordinate Target Position (TPOS) 31 31 Reference unit
−2 to 2 −1
*
Stores the target position in the machine coordinate system managed by the Motion Module.
This is the target position per scan for INTERPOLATE or LATCH commands.
Description ・This parameter will be set to 0 when the power supply is turned ON.
・The data is refreshed even when the machine lock mode is enabled.
・ This parameter will not be reset even when an infinite length axis type is selected.
IL††10 R Setting Range Setting Unit
Target Position (CPOS) 31 231 Reference unit
−2 to −1
Stores the calculated position in the machine coordinate system managed by the Motion Module.
The position data stored in this parameter is the target position for each scan.
・This parameter will be set to 0 when the power supply is turned ON.
Description
・The data is updated even when the machine lock mode is enabled.
・When an infinite length axis type is selected, a range of 0 to (Maximum Value of Rotary Counter (POSMAX) (fixed
parameter 10) − 1) is stored.

6-53
6 Motion Parameters
6.4.3 Motion Monitoring Parameter Details

IL††12 R Setting Range Setting Unit

Machine Coordinate System Position (MPOS) −231 to 231−1 Reference unit
Stores the reference position in the machine coordinate system managed by the Motion Module.
・This parameter will be set to 0 when the power supply is turned ON.
Description ・ This data is not updated when the machine lock mode is enabled. (When the machine lock mode is enabled, the
position reference data is not output externally.)
・When the machine lock mode function is not used, this position is the same as that in IL††10.
IL††14 Setting Range Setting Unit
32-bit Coordinate System Position (DPOS) 31 31 Reference unit
−2 to 2 −1
Stores the reference position in the machine coordinate system managed by the Motion Module.
Description For a finite length axis, this is the same as the target position (CPOS).
For both finite and infinite length axes, the value is refreshed between −231 and 231−1.
IL††16 R Setting Range Setting Unit
Machine Coordinate Feedback Position (APOS) 31 31 Reference unit
−2 to 2 −1
Stores the feedback position in the machine coordinate system managed by the Motion Module.
・This parameter will be set to 0 when a Zero Point Return (ZRET) is executed.
Description
・When an infinite length axis type is selected, a range of 0 to (Maximum Value of Rotary Counter (POSMAX) (fixed
parameter 10) − 1) is stored.
IL††18 Setting Range Setting Unit
Machine Coordinate Latch Position (LPOS) 31 231 Reference unit
−2 to −1
Description Stores the latch position when the latch has been completed.
IL††1A Setting Range Setting Unit
Position Error (PERR) 31 231 Reference unit
−2 to −1
Stores the following error (Machine Coordinate System Position (IL††12) − Machine Coordinate Feedback Position
Description
(IL††16)) managed by the Motion Module.
IL††1C ( R only) Setting Range Setting Unit
Target Position Difference Monitor 31 31 Reference unit
−2 to 2 −1
Description Stores the number of pulses distributed each scan.
IW††1E R Setting Range Setting Unit
POSMAX Number of Turns 31 31 rev
−2 to 2 −1
This parameter is valid for an infinite length axis.
Description The count stored in this parameter goes up and down every time the current position exceeds the Maximum Value of
Rotary Counter (fixed parameter 10).

„ Terminology: Machine Coordinate System

The basic coordinate system that is set according to Zero Point Return (ZRET) command execution or
Zero Point Setting (ZSET) command execution. The MP2300 manages the positions using this machine
coordinate system.

( 11 ) Reference Monitor
IL††20 Setting Range Setting Unit
Speed Reference Output Monitor 31 31 pulse/s
−2 to 2 −1
Stores the speed reference that is being output.
Description This parameter monitors the speed being output to the MECHATROLINK. This parameter will be 0 for interpolation or
phase control.

6-54
 6.4 MP2300 Parameter Details

( 12 ) SERVOPACK Status
IW††2C Setting Range Setting Unit
Network Servo Status － －
Alarm Occurred (ALM)
Bit 0 OFF: No alarm occurred.
ON: Alarm occurred.
Warning Occurred (WARNING)
Bit 1 OFF: No warning occurred.
ON: Warning occurred.
Command Ready (CMDRDY)
Bit 2 OFF: Command cannot be received.
ON: Command can be received.
Servo ON (SVON)
Bit 3 OFF: Servo OFF.
ON: Servo ON.
Main Power ON (PON)
Bit 4 OFF: Main power OFF.
ON: Main power ON.
Machine Lock (MLOCK)
Bit 5 OFF: Machine lock mode released.
ON: Machine lock mode.
Zero Point Position (ZPOINT)
Bit 6 OFF: Outside Zero Point Position Range.
ON: In Zero Point Position Range.
Positioning Completed (PSET)
OFF: Outside Positioning Completed Width.
ON: In Positioning Completed Width (for position control).
Bit 7
Speed Coincidence (V-CMP)
Description OFF: Speed does not agree.
ON: Speed agrees (for speed control).
Distribution Completed (DEN)
OFF: Distributing pulses.
ON: Distribution completed (for position control).
Bit 8
Zero Speed (ZSPD)
OFF: Zero speed not detected.
ON: Zero speed detected (for speed control).
Torque Being Limited (T_LIM)
Bit 9 OFF: Torque not being limited.
ON: Torque being limited.
Latch Completed (L_CMP)
Bit A OFF: Latch not completed.
ON: Latch completed.
Position Proximity (NEAR)
OFF: Outside Position Proximity Range.
ON: In Position Proximity Range.
Bit B
Speed Limit (V_LIM)
OFF: Speed limit not detected.
ON: Speed limit detected.
Positive Soft Limit (Positive Software Limit) (P_SOT)
Bit C OFF: In Positive Software Limit Range.
ON: Outside Positive Software Limit Range.
Negative Soft Limit (Negative Software Limit) (N_SOT)
Bit D OFF: In Negative Software Limit Range.
ON: Outside Negative Software Limit Range.

6-55
6 Motion Parameters
6.4.3 Motion Monitoring Parameter Details

( 13 ) SERVOPACK Information
Setting
IW††2D Setting Range
Unit
Servo Alarm Code
−32768 to 32767 (−231 to 231−1) －
Stores the alarm code (leftmost 2 digits) from the SERVOPACK.
Description Example: The code for a communication error that occurs in an SGDS SERVOPACK is E6.
Refer to the manual for the SERVOPACK for details on alarms.

( 14 ) SERVOPACK I/O Monitor

Stores I/O information of the SERVOPACK.
IW††2E Setting Range Setting Unit
Network Servo I/O Monitor － －
Positive Drive Prohibited Input (P_OT)
Bit 0 OFF: OFF
ON: ON
Negative Drive Prohibited Input (N_OT)
Bit 1 OFF: OFF
ON: ON
Zero Point Return Deceleration Limit Switch Input (DEC)
Bit 2 OFF: OFF
ON: ON
Encoder Phase-A Input (PA)
Bit 3 OFF: OFF
ON: ON
Encoder Phase-B Input (PB)
Bit 4 OFF: OFF
ON: ON
Encoder Phase-C Input (PC)
Bit 5 OFF: OFF
ON: ON
First External Latch Input (EXT1)
Bit 6 OFF: OFF
ON: ON
Description
Second External Latch Input (EXT2)
Bit 7 OFF: OFF
ON: ON
Third External Latch Input (EXT3)
Bit 8 OFF: OFF
ON: ON
Brake Output (BRK)
Bit 9 OFF: OFF
ON: ON
CN1 Input Signal (IO12) selected in parameter Pn81E.0
Bit C OFF: OFF
ON: ON
CN1 Input Signal (IO13) selected in parameter Pn81E.1
Bit D OFF: OFF
ON: ON
CN1 Input Signal (IO14) selected in parameter Pn81E.2
Bit E OFF: OFF
ON: ON
CN1 Input Signal (IO15) selected in parameter Pn81E.3
Bit F OFF: OFF
ON: ON

6-56
 6.4 MP2300 Parameter Details

( 15 ) SERVOPACK User Monitor Information

The Monitor Selection made by the user when using a SERVOPACK for MECHATROLINK com-
munication is stored in this parameter.
IW††2F Setting Range Setting Unit
Network Servo User Monitor Information － －
Bit 0 to Bit 3 Monitor 1
Bit 4 to Bit 7 Monitor 2
Description
Bit 8 to Bit B Monitor 3
Bit C to Bit F Monitor 4

( 16 ) Servo Driver Information 2

IL††30 Setting Range Setting Unit
Servo User Monitor 2 31 31
−2 to 2 −1 －
Stores the result of the selected monitor.
This parameter stores the result of the monitor selected for Monitor 2 in the Servo User Monitor (setting parameter
Description OW††4E, bits 4 to 7).
This parameter can be used when the communication method is MECHATROLINK-I or MECHATROLINK-II, 17-byte
Mode and bit 0 of OW††02 is set to 1 (1: Enabled).
IL††32 Setting Range Setting Unit
Servo User Monitor 3 31 31
−2 to 2 −1 －
Description Used by the system.
IL††34 Setting Range Setting Unit
Servo User Monitor 4 31 231
−2 to −1 －
Stores the result of the selected monitor.
Description This parameter stores the result of the monitor selected for Monitor 4 of the Servo User Monitor (setting parameter
OW††4E, bits C to F).
IW††36 Setting Range Setting Unit
Servo Constant Number 0 to 65535 －
Stores the number of the parameter being processed.
Description This parameter stores the number of the SERVOPACK parameter being read or written using the MECHATROLINK
command area. Refer to Chapter 7 Motion Commands for details.
IW††37 Setting Range Setting Unit
Auxiliary Servo User Constant Number 0 to 65535 －
Stores the number of the parameter being processed.
Description This parameter stores the number of the SERVOPACK parameter being read or written using the MECHATROLINK
subcommand area. Refer to Chapter 7 Motion Commands for details.
IL††38 Setting Range Setting Unit
Servo User Constant 31 31
−2 to 2 −1 －
Stores the data of the parameter being read.
Description This parameter stores the data of the SERVOPACK parameter read using the MECHATROLINK command area. Refer to
Chapter 7 Motion Commands for details.
IL††3A Setting Range Setting Unit
Auxiliary Servo User Constant 31 31
−2 to 2 −1 －
Stores the data of the parameter being read.
Description This parameter stores the data of the SERVOPACK parameter read using the MECHATROLINK subcommand area.
Refer to Chapter 7 Motion Commands for details.
IW††3F Setting Range Setting Unit
Motor type 0, 1 －
Stores the type of motor that is actually connected.
Description 0 : Rotary motor
1 : Linear motor

6-57
6 Motion Parameters
6.4.3 Motion Monitoring Parameter Details

IL††40 R Setting Range Setting Unit

Feedback Speed 31 31 Depends on speed unit.
−2 to 2 −1
Stores the feedback speed.
The value is determined by the moving average time constant (fixed parameter 42) and unit set from the difference with
Description the Machine Coordinate Feedback Position (monitoring parameter IL††16) in each scan.
Œ The setting unit for this parameter depends on the Speed Units (OW††03, bits 0 to 3), but the result of
applying the speed unit setting is not shown here.
Setting Range Setting Unit
IL††42 R
Depends on the Torque Unit
Torque (Thrust) Reference Monitor −231 to 231−1 (OW††03 bits C to F).
Stores the value of the torque reference.
The Torque (Thrust) Reference Monitor is achieved using the Servo command expansion area and can be executed only
Description with the MECHATROLINK-II, 32-byte Mode communication method.
Œ The setting unit for this parameter depends on the Torque Unit Selection (OW††03, bits C to F), but
the result of applying the torque unit setting is not shown here.

( 17 ) Supplemental Information

IL††56 R Setting Range Setting Unit

Fixed Parameter Monitor 31 231
−2 to −1 －
Stores the data of the specified fixed parameter number.
Description This parameter stores the data of the fixed parameter when the Read Fixed Parameter (FIXPRM-RD) is selected in the
Motion Subcommand (setting parameter OW††0A).

( 18 ) Absolute Infinite Length Axis Position Control Information

IL††5E Setting Range Setting Unit
31
Absolute Position at Power OFF (Lower 2 words) −2 to 231−1 pulse
Stores information used for infinite length axis position control when an absolute encoder is used.
Description
The encoder position is normally stored in 4 words.

IL††60 Setting Range Setting Unit

Absolute Position at Power OFF (Upper 2 words) 31 31 pulse
−2 to 2 −1
Description Same as for IL††5E.

IL††62 Setting Range Setting Unit

Modularized Position at Power OFF (Lower 2 words) 31 31 pulse
−2 to 2 −1
Stores information used for infinite length axis position control when an absolute encoder is used.
Description
These parameters store the axis position managed by the Machine Controller in pulses in 4 words.

IL††64 Setting Range Setting Unit

Modularized Position at Power OFF (Upper 2 words) −231 to 231−1 pulse

Description Same as for IL††62.

( 19 ) Transparent Command Mode

IW††70 to IW††7E Setting Range Setting Unit
Response Buffer for Transparent Command Mode − −
This area is used for response data when MECHATROLINK Servo commands are specified directly.
Description ・MECHATROLINK-I and MECHATROLINK-II, 17-byte Mode: Data area = OW††70 to OW††77
・MECHATROLINK-II, 32-byte Mode: Data area = IW††70 to IW††7E

6-58
 6.5 Example of Setting Motion Parameters for the Machine

6.5 Example of Setting Motion Parameters for the Machine

Set the following seven motion parameters to enable motion control that suits the machine’s specifi-
cations.
• Reference unit
• Electronic gear
• Axis Type
• Position Reference
• Speed Reference
• Acceleration/Deceleration Settings
• Acceleration/Deceleration Filter Settings
The following tables provide details of setting examples for the above items.

6.5.1 Reference Unit

Pulses, millimeters, degrees, or inches can be used as the reference unit for motion control. The refer-
ence unit is specified in Command Unit (motion fixed parameter 4).
The minimum reference unit that can be specified is determined by the setting of Number of Decimal
Places (motion fixed parameter 5).

Motion Fixed Parameter 5: Motion Fixed Parameter 4: Command Unit (Reference Unit) R
Number of Decimal
Places R 0: pulse 1: mm 2: deg 3: inch

0: 0 digits 1 pulse 1 mm 1 deg 1 inch

1: 1 digits 1 pulse 0.1 mm 0.1 deg 0.1 inch
2: 2 digits 1 pulse 0.01 mm 0.01 deg 0.01 inch Minimum
3: 3 digits 1 pulse 0.001 mm 0.001 deg 0.001 inch reference
unit
4: 4 digits 1 pulse 0.0001 mm 0.0001 deg 0.0001 inch
5: 5 digits 1 pulse 0.00001 mm 0.00001 deg 0.0001 inch

6.5.2 Electronic Gear

In contrast to the reference unit input to the Machine Controller, the moving unit in the mechanical
system is called the “output unit.” The electronic gear converts position or speed units from reference
units to output units for the mechanical system without going through an actual mechanism, such as a
gear.
When the axis at the motor has rotated m times and the mechanical configuration allows the axis at
the load to rotate n times, this electronic gear function can be used to make the reference unit equal to
the output unit.
The electronic gear function is enabled when the following settings are made:
• Fixed Parameter 6: Command Unit per Revolution R

• Fixed Parameter 8: Gear Ratio [MOTOR] R

• Fixed Parameter 9: Gear Ratio [LOAD] R

ΠThe electronic gear is disabled when pulse is specified as the Command Unit.
The following setting example uses ball screw and rotating table workpieces.

6-59
6 Motion Parameters
6.5.2 Electronic Gear

( 1 ) Parameter Setting Example Using Ball Screw

• Machine specifications: Ball screw axis rotates 5 times for each 7 rotations of the motor axis
(Refer to the following figure.)
• Reference unit: 0.001 mm

Motor
m = 7 rotations

Workpiece

Ball

P (pitch) = 6
n=5

To move the workpiece 0.001 mm for 1 reference unit input under the conditions outlined above, i.e.,
for 1 reference unit = 1 output unit, make the following settings for fixed parameters 6, 8, and 9.

• Fixed Parameter 6: Travel distance per machine rotation = 6 mm/0.001 mm = 6000 (reference
units)

• Fixed Parameter 8: Gear ratio at Servomotor = m = 7

• Fixed Parameter 9: Gear ratio at load = n = 5

ΠSet the SERVOPACK gear ratio to 1:1.

( 2 ) Parameter Setting Example Using Rotating Table

• Machine specifications: Rotating table axis rotates 10 times for each 30 rotations of the motor axis
(Refer to the following figure.)
• Reference unit: 0.1°

Workpiece (Rotating table)

360°/rotation

n = 10 rotations

m = 30 rotations

Motor

To rotate the table 0.1° for 1 reference unit input under the conditions outlined above, i.e., for 1 refer-
ence unit = 1 output unit, make the following settings for fixed parameters 6, 8, and 9.
• Fixed Parameter 6: Travel distance per machine rotation = 360°/0.1° = 3600 (reference units)
• Fixed Parameter 8: Gear ratio at Servomotor = m = 30
• Fixed Parameter 9: Gear ratio at load = n = 10
ΠThe gear ratio for fixed parameters 8 and 9 (m/n) may be constant, e.g., m = 3 and n = 1.
ΠSet the SERVOPACK gear ratio to 1:1.

6-60
 6.5 Example of Setting Motion Parameters for the Machine

6.5.3 Axis Type Selection

There are two types of position control: Finite length position control for return and other operations
that are performed only within a specified range, and infinite length position control, which is used
for moving in one direction only. Infinite length position control can reset the position to 0 after one
rotation, e.g, belt conveyors, or move in one direction only, without resetting position after one rota-
tion. The axis type selection sets which of these types of position control is to be used.
The details of the Axis Type Selection are listed in the following table.

Parameter No. Default

Parameter Type Name Description
(Register No.) Value
Specify the position control method for the controlled
axis.
0: Finite Length Axis
Set a finite length axis if control is performed within
Function Selection a limited length or for an axis that uses infinite length
No. 1, bit 0 R control in one moving direction only without 0
1, Axis Type
Motion Fixed resetting the position every rotation.
Parameters 1: Infinite Length Axis
Set an infinite length axis for an axis that uses
infinite length control while resetting the position
every rotation.
Maximum Value of Set the reset position of the position data when an
No. 10 R Rotary Counter infinite length axis has been set for the axis type using 360000
(POSMAX) the reference unit.

6-61
6 Motion Parameters
6.5.4 Position Reference

6.5.4 Position Reference

The target position value for position control is set for the Position Reference Setting (motion setting
parameter OL††1C). There are two methods that can be set for using the Position Reference Set-
ting: Directly setting the coordinate of the target position value as an absolute value or adding the
moving amount from the previous command position as a incremental value.
The following table lists the parameter details relating to position references.

Parameter No. Default

Parameter Type Name Description
(Register No.) Value
Specify the type of position data.
0: Incremental Addition Mode
Adds the present moving amount value to the
previous value of OL††1C and sets the result in
Position OL††1C.
OB††095 R 1: Absolute Mode 0
Reference Type
Sets the coordinate of the target position in
OL††1C.
ΠAlways set to 0 when using a motion program.
ΠAlways set to 0 when using an infinite length
axis.
Set the position data.
• Incremental Addition Mode (OB††095 = 0)
Motion Setting The moving amount (incremental distance) specified
Parameters this time will be added to the previous value of
OL††1C.
OL††1C ← Previous OL††1C + Incremental
distance
Example:
Position If a travel distance of 500 is specified and the
OL††1C R 0
Reference Setting previous value of OL††1C is 1000, the following
will occur:
OL††1C ← 1000 + 500 = 1500
• Absolute Mode (OB††095 = 1)
The coordinate value of the target position is set.
Example:
Set 10000 to move to a coordinate value of 10000.
OL††1C ← 10000

The following table compares the advantage and disadvantage of incremental addition mode and
absolute mode.

Position Reference
Advantage Disadvantage
Type
It is not necessary to consider the relationship
between OL††1C and the current position when OL††1C does not necessarily equal the coordinate
Incremental
canceling a move. value of the target position, so the position reference
Addition Mode
Incremental addition mode can be used for finite or can be difficult to understand intuitively.
infinite length axis type.
The current position must be set in OL††1C
whenever the power supply is turned ON or a move
The coordinate of the target position is specified is canceled. If this is not done, the axis may move
Absolute Mode
directly, making it easy to understand intuitively. suddenly when a move command is started.
Absolute mode cannot be used for an infinite length
axis type.

6-62
 6.5 Example of Setting Motion Parameters for the Machine

6.5.5 Speed Reference

There are two methods of setting the speed reference for the feed speed or other speeds. One method
involves using reference units and the other method involves setting the percentage (%) of the rated
speed.
The following table shows the parameters relating to speed references.

Parameter No. Default

Parameter Type Name Description
(Register No.) Value
Set the number of digits below the decimal point in the
reference unit being input. The minimum reference unit is
determined by this parameter and the Command Unit (fixed
Number of
No. 5 R parameter 4). 3
Decimal Places
Example:
Command Unit = mm, Number of Decimal Places = 3
Motion Fixed 1 reference unit = 0.001 mm
Parameters Set the number of rotations when the motor is rotated at the
No. 34 R Rated Speed rated speed (100% speed). Confirm the motor specifications 3000
before setting this parameter.
Set the number of pulses (the value after multiplication) per
Encoder motor rotation.
No. 36 R 65536
Resolution Example:
For a 16-bit encoder, set 216 = 65536.
Set the unit for reference speeds.
0: Reference unit/s
OW††03 1: 10n reference units/min (n: Number of Decimal
Speed Units 1
Bit 0 to 3 R Places)
2: 0.01%
3: 0.0001%
Set the feed speed. The unit for this parameter is set in
OW††03, bits 0 to 3.
Example:
When the Number of Decimal Places is set to 3, units are as
follows for the setting of the Speed Unit:
• Speed Unit Set to 0: Reference units/s
Pulse unit: 1 = 1 pulse/s
Motion Setting mm unit: 1 = 0.001 mm/s
Parameters Speed Deg unit: 1 = 0.001 deg/s
OL††10 R Inch unit: 1 = 0.001 inch/s 3000
Reference
n
• Speed Unit Set to 1: 10 reference units/min
Pulse unit: 1 = 1000 pulse/min
mm unit: 1 = 1 mm/min
Deg unit: 1 = 1 deg/min
Inch unit: 1 = 1 inch/min
• Speed Unit Set to 2: 0.01%
Set as a percentage of the rated speed (1 = 0.01%)
unrelated to the reference unit setting.
Setting an output ratio (%) for the setting allows the
positioning speed to be changed without changing the Speed
OW††18 Speed Override 10000
Reference setting.
Setting unit: 1 = 0.01%

6-63
6 Motion Parameters
6.5.5 Speed Reference

( 1 ) Speed Reference (OL††10) Setting Examples

• No. 5: Number of digits below decimal point = 3
• No. 34: Rated speed = 3000 R/min
• No. 36 = Number of pulses per rotation = 65536
The following table shows examples of settings for Speed Reference (OL††10) to obtain the target
feed speed (reference speed).

Command Unit Speed Reference Parameter Settings (OL††10)

Speed Unit Setting Reference Speed
Setting Method
500 (R/s) × 65536 (pulse/R)
• 500 R/s
= 37268000 (pulse/s)
pulse
1500 (R/min) × 65536 (pulse/R) ÷ 60 (s/min)
• 1500 R/min
= 1638400 (pulse/s)
500 (mm/s)÷ 0.001
• Feed speed of 500 mm/s = 500000 (mm/s)
0 with a machine that travels • Determined by feed speed and number of digits below
Reference unit/s 10 mm for each rotation decimal point (0.001 in the above equation),
regardless of machine configuration.
mm
900 (mm/min) ÷ 0.001 ÷ 60 (s/min)
• Feed speed of 900 mm/min = 15000 (mm/s)
with a machine that travels * Determined by feed speed and number of digits below
10 mm for each rotation decimal point (0.001 in the above equation), regardless
of machine configuration.
500 (R/s) × 65536 (pulse/R) ÷ 1000* × 60 (s/min)
• 500 R/s = 1966080 (1000 pulse/min)
• "1000" = 10n
pulse
1500 (R/min) × 65536 (pulse/R) ÷ 1000*
• 1500 R/min = 98304 (1000 pulse/min)
1
• "1000"= 10n
10n reference units/
500 (mm/s) ÷ 0.001 × 1000 × 60 (s/min)
min
(n: Number of digits • Feed speed of 500 mm/s = 30000 (1000 mm/s)
below decimal point) with a machine that travels • Determined by feed speed and number of digits below
10 mm for each rotation decimal point (0.001 in the above equation),
（= 3）
mm regardless of machine configuration.
900 (mm/min) ÷ 0.001 × 1000
• Feed speed of 900 mm/min
= 900 (1000 mm/min)
with a machine that travels
• Determined by feed speed, regardless of machine
10 mm for each rotation
configuration.
1500 (R/min) ÷ 3000 (R/min) × 100(%) ÷ 0.01
2 = 5000 (0.01%)
− • 1500 R/min
0.01% • Determined by what percentage the feed speed is of
the rated speed.

( 2 ) Speed Override (OW††18) Setting Example

The Speed Override parameter (OW††18) can set the speed as a percentage (output ratio) of the
target feed speed, in 0.001% units. Speed Override is set independently of Command Unit, Number
of Decimal Places, and other parameters.
ΠSpeed Override cannot be set for SVR (Virtual Motion Module).
A typical example of a Speed Override setting is shown below.

Setting Example

Output ratio 25%: 25 ÷ 0.01 = 2500

50%: 50÷0.01 = 5000
75%: 75÷0.01 = 7500
100%: 100÷0.01 = 10000

6-64
 6.5 Example of Setting Motion Parameters for the Machine

6.5.6 Acceleration/Deceleration Settings

The acceleration/deceleration can be set to either the rate of acceleration/deceleration or the time
required to reach the rated speed from 0. The settings method used depends on the related parameter
settings.
The parameters related to acceleration/deceleration settings are listed in the following table.

Parameter No. Default

Parameter Type Name Description
(Register No.) Value
Set the number of digits below the decimal point in the input
reference unit. The minimum reference unit is determined by
Number of this parameter and the Command Unit (fixed parameter 4).
No. 5 R Decimal Places Example:
Command Unit = mm, Number of Decimal Places = 3
1 reference unit = 0.001 mm
Motion Fixed
Set the number of rotations when the motor is rotated at the
Parameters
No. 34 R Rated Speed rated speed (100% speed). Confirm the motor specifications 3000
before setting this parameter.
Set the number of pulses (the value after multiplication) per
Encoder motor rotation.
No. 36 R 65536
Resolution Example:
For a 16-bit encoder, set 216 = 65536.
Acceleration/ Set the unit for acceleration/deceleration.
OW††03
Deceleration 0: Reference units/s2 1
Bit 4 to 7 R Units 1: ms
Set the rate of acceleration or acceleration time constant
according to the setting of OW††03, bits 4 to 7.
• Acceleration/Deceleration Units is set to 0 (Reference
units/s2), set the rate of acceleration.
Pulse unit: 1 = 1 pulse/s2
mm unit: 1 = 1 reference unit/s2
Linear deg unit: 1 = 1 reference unit/s2
OL††36 R Acceleration Inch unit: 1 = 1 reference unit/s2 0
Time Example: Number of Decimal Places = 3
mm unit: 1 = 0.001 mm/s2
deg unit: 1 = 0.001 deg/s2
Motion Setting
Inch unit: 1 = 0.001 inch/s2
Parameters
• When Acceleration/Deceleration Units is set to 1 (ms),
set the time constant to go from 0 to the rated speed
without relation to the reference unit.
Set the rate of deceleration or deceleration time constant
according to the setting of OW††03, bits 4 to 7.
• Acceleration/Deceleration Units is set to 0 (Reference
units/s2),
set the rate of deceleration.
Linear Pulse unit: 1 = 1 pulse/s2
OL††38 R Deceleration 0
Time mm unit: 1 = 1 reference unit/s2
deg unit: 1 = 1 reference unit/s2
Inch unit: 1 = 1 reference unit/s2
• When Acceleration/Deceleration Units is set to 1 (ms),
set the time constant to go from 0 to the rated speed
without relation to the reference unit.

6-65
6 Motion Parameters
6.5.6 Acceleration/Deceleration Settings

( 1 ) Acceleration/Deceleration Units and Speed Changes Over Time

The Linear Acceleration Time (OL††36) and Linear Deceleration Time (OL††38) settings
change depending on the Acceleration/Deceleration Unit (OW††03) setting as shown in the fol-
lowing figure.

■ When the Acceleration/Deceleration Unit (OW††03, Bits 4 to 7) Set to 0: Refer-

ence Unit/s2
Linear Acceleration and Linear Deceleration Time settings are handled as the linear acceleration
rate and linear deceleration rate.

Speed
(%)
(100%)

Reference speed

Linear acceleration Linear deceleration

rate OL

36 rate OL

38
0 Time
(t)
Time required to reach Time required to reach 0
reference speed = Reference = Reference speed ÷ linear
speed ÷ linear acceleration deceleration

■ When the Acceleration/Deceleration Unit (OW††03, Bits 4 to 7) Set to 1: ms

Linear Acceleration Time is handled as the linear acceleration time constant required to reach
rated speed from zero using linear acceleration. Linear Deceleration Time is handled as the linear
deceleration time constant required to reach zero from the rated speed using linear deceleration.

Speed
(%)
(100%)

Reference speed

0 Time
(t)
Linear Acceleration Linear Deceleration
Time (OL††36) Time (OL††38)

6-66
 6.5 Example of Setting Motion Parameters for the Machine

6.5.7 Acceleration/Deceleration Filter Settings

There are two types of acceleration/deceleration filter: The exponential acceleration/deceleration filter and the mov-
ing average filter. These filter settings can be used to set non-linear acceleration/deceleration curves. The parameters
related to the acceleration/deceleration filter settings are listed in the following table.

Parameter No. Defaul

Parameter Type Name Description
(Register No.) t Value
Set the acceleration/deceleration filter type.
0: No filter
OW††03 1: Exponential acceleration/deceleration filter
Filter Type 0
Bit 8 to B R 2: Moving average filter
Motion Setting Œ The Change Filter Type command (OW††08 = 13)
Parameters must be executed in advance to enable the Filter Type.
Sets the acceleration/deceleration filter time constant.
S-curve
Acceleration Always make sure that pulse distribution has been 0
OW††3A R
Time completed (i.e., that monitoring parameter IW††0C, bit 0
is ON (1)) before changing the time constant.

The following figure shows the relationship between acceleration/deceleration patterns and each parameter.

Filter Type
OW

03, bits 8 to B = 0 OW

03, bits 8 to B = 1 OW

03, bits 8 to B = 2
(No filter) (Exponential acceleration/deceleration filter) (Moving average filter)

No Acceleration/
Deceleration
OL

36 = 0
OL

38 = 0
*Curvature depends on OW

3A OW

3A OW

3A
*Step input

OW

3A

With Acceleration/
Deceleration

OL

36 OL

38 OL

36 OL

38 OW

3A

Curvature depends on relationship OL

36 OL

38
between OW

3A, OL

36, and
OL

38

6-67
6 Motion Parameters
6.5.7 Acceleration/Deceleration Filter Settings

MEMO

6-68
 7
Motion Commands

This chapter explains each motion command's operation, related parameters, and
timing charts.

7.1 Motion Commands .................................................................. 7-3

7.1.1 Motion Command Table ......................................................................... 7-3
7.1.2 Motion Commands Supported by SERVOPACK Models ...................... 7-4

7.2 Motion Command Details ........................................................ 7-5

7.2.1 Positioning (POSING) ............................................................................ 7-5
7.2.2 External Positioning (EX_POSING) ..................................................... 7-11
7.2.3 Zero Point Return (ZRET) .................................................................... 7-16
7.2.4 Interpolation (INTERPOLATE) ............................................................. 7-36
7.2.5 Latch (LATCH) ..................................................................................... 7-40
7.2.6 JOG Operation (FEED) ....................................................................... 7-44
7.2.7 STEP Operation (STEP) ...................................................................... 7-48
7.2.8 Zero Point Setting (ZSET) ................................................................... 7-52
7.2.9 Change Linear Acceleration Time Constant (ACC) ............................. 7-54
7.2.10 Change Linear Deceleration Time Constant (DCC) ........................... 7-56
7.2.11 Change Filter Time Constant (SCC) .................................................. 7-58
7.2.12 Change Filter Type (CHG_FILTER) ................................................... 7-60
7.2.13 Change Speed Loop Gain (KVS) ....................................................... 7-62
7.2.14 Change Position Loop Gain (KPS) .................................................... 7-64
7.2.15 Change Feed Forward (KFS) ............................................................ 7-66
7.2.16 Read SERVOPACK Parameter (PRM_RD) ....................................... 7-68
7.2.17 Write SERVOPACK Parameter (PRM_WR) ...................................... 7-70
7.2.18 Monitor SERVOPACK Alarms (ALM_MON) ...................................... 7-72
7.2.19 Monitor SERVOPACK Alarm History (ALM_HIST) ............................ 7-73
7.2.20 Clear SERVOPACK Alarm History (ALMHIST_CLR) ........................ 7-75
7.2.21 Reset Absolute Encoder (ABS_RST) ................................................ 7-77
7.2.22 Speed Reference (VELO) .................................................................. 7-80
7.2.23 Torque Reference (TRQ) ................................................................... 7-84
7.2.24 Phase References (PHASE) ............................................................. 7-89
7.2.25 Change Position Loop Integration Time Constant (KIS) .................... 7-93

7.3 Motion Subcommands ........................................................... 7-95

7.3.1 Motion Sub-command Table ................................................................ 7-95
7.3.2 Motion Subcommand Settings ............................................................. 7-95

7-1
7 Motion Commands

7.4 Motion Subcommand Details ................................................ 7-96

7.4.1 No Command (NOP) ........................................................................... 7-96
7.4.2 Read SERVOPACK Parameter (PRM_RD) ........................................ 7-97
7.4.2 Read SERVOPACK Parameter (PRM_RD) ........................................ 7-98
7.4.3 Monitor Status (SMON) ..................................................................... 7-100
7.4.4 Read Fixed Parameters (FIXPRM_RD) ............................................ 7-102

7-2
 7.1 Motion Commands

7.1 Motion Commands

7.1.1 Motion Command Table
This table shows the motion commands that are supported by the MP2300. Refer to the page in the
Table under Details for additional command information.
Command Command Name Description Reference
Code Page
0 R NOP No command － －
Positions to the specified position using the specified
1 R POSING Positioning 7-5
acceleration/deceleration times and the specified speed.
Positions by moving the external positioning travel
2 R EX_POSING External Positioning distance from the point an external positioning signal was 7-11
input when already performing a positioning operation.
Returns to the zero point in the machine coordinate
3 R ZRET Zero Point Return system. When using an incremental encoder, there are 17 7-16
different zero point return methods that can be used.
Performs interpolation feeding using positioning data
4 R INTERPOLATE Interpolation 7-36
distributed consecutively from the CPU Module.
5 Reserved
Memorizes the current position when the latch signal is
6 R LATCH Latch 7-40
input during an interpolation feed operation.
Moves the axis at the specified speed in the specified
7 R FEED JOG Operation 7-44
direction until the command is canceled.
Positions the specified travel distance in the specified
8 R STEP STEP Operation 7-48
direction at the specified speed.
Sets the zero point in the machine coordinate system and
9 R ZSET Zero Point Setting 7-52
enables the software limit function.
Change Linear Changes the acceleration time for linear acceleration/
10 ACC 7-54
Acceleration Time Constant deceleration.
Change Linear
Changes the deceleration time for linear acceleration/
11 DCC Deceleration Time 7-56
deceleration.
Constant
Change Filter Time Changes the time constant for a moving average filter for
12 SCC 7-58
Constant acceleration/deceleration.
13 CHG_FILTER Change Filter Type Changes the acceleration/deceleration filter type. 7-60
14 KVS Change Speed Loop Gain Changes the speed loop gain. 7-62
15 KPS Change Position Loop Gain Changes the position loop gain. 7-64
16 KFS Change Feed Forward Changes the feed forward control gain. 7-66
Read SERVOPACK
17 PRM_RD Reads a SERVOPACK parameter. 7-68
Parameter
Write SERVOPACK
18 PRM_WR Write a SERVOPACK parameter. 7-70
Parameter
Monitor SERVOPACK
19 ALM_MON Monitors SERVOPACK alarms. 7-72
Alarms
Monitor SERVOPACK
20 ALM_HIST Monitors SERVOPACK alarm history. 7-73
Alarm History
Clear SERVOPACK Alarm
21 ALMHIST_CLR Clears SERVOPACK alarm history data. 7-75
History
22 ABS_RST Reset Absolute Encoder Initializes an absolute encoder. 7-77
23 R VELO Speed Reference Operates with speed control mode. 7-80
24 R TRQ Torque Reference Operates with torque control mode. 7-84
25 R PHASE Phase Reference Operates with phase control mode. 7-89
Change Position Loop Changes the integration time constant for the position
26 KIS 7-93
Integration Time Constant loop.
ΠCommands in the table displaying an R are supported by the Virtual Motion Module (SVR).
ΠRefer to 3.2.4 SVR Virtual Motion Module on page 3-11 for details on the Virtual Motion Module
(SVR).

7-3
7 Motion Commands
7.1.2 Motion Commands Supported by SERVOPACK Models

7.1.2 Motion Commands Supported by SERVOPACK Models

The following table shows the motion commands supported by each model of SERVOPACK.
A Motion Command Setting Error warning will occur if an unsupported command is specified.

SERVOPACK
SGDH-†††E
Motion Command SGD-†††N SGDH-†††E SGDS-†††1††
+NS115
SGDB-††AN +NS100
M-I M-II M-I M-II
NOP { { { { { {
POSING { { { { { {
EX_POSING { { { { { {
ZRET { { { { { {
INTERPOLATE { { { { { {
ENDOF_INTERPOLATE { { { { { {
LATCH { { { { { {
FEED { { { { { {
STEP { { { { { {
ZSET { { { { { {
ACC { { { { { {
DCC × { { { { {
SCC { { { { { {
Main
Command CHG_FILTER { { { { { {
(OW††08) KVS { { { { { {
KPS { { { { { {
KFS { { { { { {
PRM_RD { { { { { {
PRM_WR { { { { { {
ALM_MON { { { { { {
ALM_HIST { { { { { {
ALMHIST_CLR { { { { { {
ABS_RST × { { { { {
VELO × × × { × {
TRQ × × × { × {
PHASE × { { { { {
KIS × { { { { {
NOP { { { { { {
PRM_RD × × × △ × △
Subcommand
(OW††0A)
PRM_WR × × × △ × △
SMON × × × △ × △
FIXPRM_RD { { { { { {

ΠM-I: MECHATROLINK-I
M-II: MECHATROLINK-II
Œ Σ-II, -III Analog SERVOPACKs: SGD-†††S, SGDB-††, SGDM, SGDH, and SGDS-†††01†/
†††02†
Œ {: Can be specified. ×: Cannot be specified. △ : Can be specified in 32-byte mode only.

7-4
 7.2 Motion Command Details

7.2 Motion Command Details

The following describes the procedure for executing motion commands.
ΠAll the following command names and items in the Parameter List displaying an R are supported
by the Virtual Motion Module (SVR).

7.2.1 Positioning (POSING) R

The POSING command positions the axis to the target position using the specified target position
and speed. Parameters related to acceleration and deceleration are set in advance.

( 1 ) Executing/Operating Procedure

1. Check to see if all the following conditions are satisfied.

No. Execution Conditions Confirmation Method

1 There are no alarms. Both IL††02 and IL††04 are 0.
2 The Servo ON condition. IB††001 is ON.
3 Motion command execution has been completed. IW††08 is 0 and IB††090 is OFF.

2. Set the following motion setting parameters.

Speed Reference: OL††10
Acceleration/Deceleration Filter Type: OW††03
Speed Loop P/PI Switch: OW††01
ΠThe speed reference can be changed during operation.
ΠAn override of between 0% to 327.67% can be set for the speed reference.

3. Set OW††08 to 1 to execute the POSING motion command.

4. Set the target position (OL††1C).

Positioning will start. IW††08 will be 1 during the positioning.
IB††0C3 will turn ON when the axis approaches the target position.
IB††0C1 will turn ON when the axis reaches the target position and the positioning has been
completed.
Œ If the Position Reference Type (OB††095) is set for an absolute mode, the target position
can be set before executing the command.
ΠThe target position can be changed during operation.
ΠWhen the target position is changed so that there is not sufficient deceleration distance or
after the new target position has already been passed, the system will first decelerate to a
stop and then reposition according to the new target position.

5. Set OW††08 to 0 to execute the NOP motion command to complete the positioning
operation.
POSING Operating Pattern
Speed
(%) Rated speed
(100%)

Positioning
speed

Position
Reference
0
Time
Linear Linear (t)
acceleration time deceleration time

7-5
7 Motion Commands
7.2.1 Positioning (POSING)

„ Terminology: Command execution

When a command code is stored in the motion command register (OW††08), execution of the motion
command corresponding to that code is started. Used in describing motion command operations.

( 2 ) Holding
Axis travel can be stopped during command execution and then the remaining travel can be restarted.
A command is held by setting the Command Pause bit (OB††090) to 1.
• Set the Command Pause bit (OB††090) to 1. The axis will decelerate to a stop.
• When the axis has stopped, the Command Hold Completed bit (IB††091) will turn ON.
• Reset the Command Pause bit (OB††090) to 0. The command hold status will be cleared
and the remaining portion of the positioning will be restarted.

( 3 ) Aborting
Axis travel can be stopped during command execution and the remaining travel canceled by aborting
execution of a command. A command is aborted by setting the Command Abort bit (OB††091) to
1.
• Set the Command Abort bit (OB††091) to 1. The axis will decelerate to a stop.
• When the axis has stopped, the remain travel will be canceled and the Positioning Com-
pleted bit (IB††0C1) will turn ON.
• The positioning will restart if the Command Abort bit (OB††091) is reset to 0 during abort
processing.
• This type of operation will also be performed if the motion command is changed during axis
movement.

( 4 ) Related Parameters

[ a ] Setting Parameters

Parameter Name Setting SVR

Turn the power to the Servomotor ON and OFF.
OB††000 Servo ON 1: Power ON to Servomotor, 0: Power OFF to Servomotor R
Turn ON the power before setting the Motion Command (OW††08) to 1.
Speed Loop Switch the speed control loop between PI control and P control.
OB††013 −
P/PI Switch 0: PI control, 1: P control
OW††03 Function 1 Set the speed unit, acceleration/deceleration unit, and filter type. R
The positioning starts when this parameter is set to 1.
OW††08 Motion Command The operation will be canceled if this parameter is set to 0 during POSING R
command execution.
The axis will decelerate to a stop if this bit is set to 1 during POSING command
OB††090 Command Pause execution. R
The positioning will restart if this bit is reset to 0 when a command is being held.
The axis will decelerate to a stop if this bit is set to 1 during POSING command
execution.
OB††091 Command Abort R
When this bit is reset to 0 after decelerating to a stop, the operation depends on
the setting of the Position Reference Type (OB††095).
Switch the type of position reference.
Position Reference
OB††095 0: Incremental addition mode, 1: Absolute mode R
Type
Set this bit before setting the Motion Command (OW††08) to 1.

7-6
 7.2 Motion Command Details

(cont’d)
Parameter Name Setting SVR
Specify the speed for the positioning.
OL††10 Speed Reference This setting can be changed during operation. The unit depends on the Function 1 R
setting (OW††03).
This parameter allows the positioning speed to be changed without changing the
Speed Reference (OL††10). Set the speed as a percentage of the Speed
OW††18 Speed Override Reference Setting. This setting can be changed during operation. −
Setting range: 0 to 32767 (0% to 327.67%) Setting unit: 1 = 0.01%
Example: Setting for 50%: 5000
Set the target position for positioning. This setting can be changed during
Position Reference operation.
OL††1C R
Setting The meaning of the setting depends on the status of the Position Reference Type
bit OB††095.
Positioning
OL††1E Set the width in which to turn ON the Positioning Completed bit (IB††0C1). −
Completed Width
Set the range in which the Position Proximity bit (IB††0C3) will turn ON. The
Positioning Position Proximity bit will turn ON when the absolute value of the difference
OL††20 −
Completed Width 2 between the reference position and the feedback position is less than the value set
here.
Linear Acceleration
OL††36 Set the rate of acceleration or acceleration time constant for positioning. R
Time
Linear Deceleration
OL††38 Set the rate of deceleration or deceleration time constant for positioning. R
Time
Set the acceleration/deceleration filter time constant. Exponential acceleration/
deceleration or a moving average filter can be selected in the Function 1 bit
S-Curve Acceleration
OW††3A (OW††03). R
Time
Change the setting only after pulse distribution has been completed for the
command (IB††0C0 is ON).

7-7
7 Motion Commands
7.2.1 Positioning (POSING)

[ b ] Monitoring Parameters
Parameter Name Monitor Contents SVR
Indicates the Servo ON status.
IB††001 Servo ON R
ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor
IL††02 Warning Stores the most current warning. R
IL††04 Alarm Stores the most current alarm. R
Servo Command Indicates the motion command that is being executed.
IW††08 R
Type Response The response code will be 1 during POSING command execution.
Command Turns ON when abort processing is being performed for POSING command. Turns
IB††090 R
Executing OFF when abort processing has been completed.
Command Hold Turns ON when a deceleration to a stop has been completed as the result of setting the
IB††091 R
Completed Command Pause (OB††090) bit to 1 during POSING command execution.
Turns ON if an error occurs during POSING command execution.
Command Error
IB††093 The axis will decelerate to a stop if it is moving. Turns OFF when another command is R
End
executed.
Command Always OFF for POSING command.
IB††098 Execution Use the Positioning Completed bit (IB††0C1) to confirm completion of this R
Completed command.
Distribution Turns ON when pulse distribution has been completed for the move command.
IB††0C0 R
Completed Turns OFF during execution of the move command.
Positioning Turns ON when pulse distribution has been completed and the current position is
IB††0C1 R
Completed within the Positioning Completed Width. OFF in all other cases.
The operation depends on the setting of the Positioning Completed Width 2 (setting
parameter OL††20).
OL††20 = 0: Turns ON when pulse distribution has been completed (DEN =
ON). Otherwise, it turns OFF.
IB††0C3 Position Proximity R
OL††20≠0: Turns ON when the absolute value of the difference between MPOS
and APOS is less than the Position Proximity Setting even if pulse
distribution has not been completed.
OFF in all other cases.

7-8
 7.2 Motion Command Details

( 5 ) Timing Charts

[ a ] Normal Execution

OW††08 = 1 (POSING)
IW††08 = 1 (POSING)
IB††090 (BUSY)
IB††093 (FAIL)
IB††098 (COMPLETE)
IB††0C0 (DEN)
IB††0C1 (POSCOMP)

1 scan Undefined length of time

[ b ] Execution when Aborted

OW††08 = 1 (POSING)
OB††091 (ABORT)
IW††08 = 1 (POSING)
IB††090 (BUSY)
IB††093 (FAIL)
IB††098 (COMPLETE)
IB††0C0 (DEN)
IB††0C1 (POSCOMP)

1 scan Undefined length of time

[ c ] Execution when Aborting by Changing the Command

OW††08 = 1 (POSING)
IW††08 = 1 (POSING)
IB††090 (BUSY)
IB††093 (FAIL) 1 scan
IB††098 (COMPLETE)
IB††0C0 (DEN)
IB††0C1 (POSCOMP)

1 scan Undefined length of time

7-9
7 Motion Commands
7.2.1 Positioning (POSING)

[ d ] Command Hold

OW††08 = 1 (POSING)
OB††090 (HOLD)
IW††08 = 1 (POSING)
IB††090 (BUSY)
IB††091 (HOLDL)
IB††093 (FAIL)
IB††098 (COMPLETE)
IB††0C0 (DEN)
IB††0C1 (POSCOMP)

1 scan Undefined length of time

[ e ] Execution when an Alarm Occurs

OW††08 = 1 (POSING)
IW††08 = 1 (POSING)
IB††090 (BUSY)
IB††093 (FAIL)
IB††098 (COMPLETE)
IB††0C0 (DEN)
IB††0C1 (POSCOMP)

1 scan Undefined length of time

Alarm

7-10
 7.2 Motion Command Details

7.2.2 External Positioning (EX_POSING) R

The EX_POSING command positions the axis to the target position using the specified target posi-
tion and speed. Parameters related to acceleration and deceleration are set in advance.
If the external positioning signal turns ON during axis movement, the axis will move the distance
specified for the External Positioning Move Distance from the point at which the external positioning
signal turned ON, and then stop. If the external positioning signal does not turn ON, positioning will
be completed to the original target position.

( 1 ) Executing/Operating Procedure

1. Check to see if all the following conditions are satisfied.

No. Execution Conditions Confirmation Method

1 There are no alarms. Both IL††02 and IL††04 are 0.
2 The Servo ON condition. IB††001 is ON.
3 Motion command execution has been completed. IW††08 is 0 and IB††090 is OFF.

2. Set the following motion setting parameters.

External Positioning Move Distance: OL††46
External Positioning Signal: OW††04
Speed Reference: OL††10
Acceleration/Deceleration Filter Type: OW††03
Speed Loop P/PI Switch: OW††01
Target Position: OL††1C
ΠThe positioning speed (speed reference) can be changed during operation.
ΠAn override of between 0% to 327.67% can be set for the positioning speed.
ΠThe target position can be changed while the axis is moving. The target position cannot be
changed after the external positioning signal is input.
ΠA latch zone can be set as long as it is supported by the SERVOPACK being used.

3. Set OW††08 to 2 to execute the EX_POSING motion command to use the preceding
settings in the same scan.

4. Turn ON the external positioning signal.

The axis will be moved the External Positioning Move Distance and decelerate to a stop.
IB††098 will turn ON when the axis stops and external positioning has been completed.

5. Set OW††08 to 0 to execute the NOP motion command to complete the external

7-11
7 Motion Commands
7.2.2 External Positioning (EX_POSING)

positioning operation.

EX_POSING Operating Pattern

Speed
(%) Rated speed
(100%)

Positioning
speed External positioning
move distance

0
Time (t)
Linear
acceleration time Linear deceleration time
Latch signal
(external positioning signal)

( 2 ) Holding
Axis travel can be stopped during command execution and then the remaining travel can be restarted.
A command is held by setting the Command Pause bit (OB††090) to 1.
• Set the Command Pause bit (OB††090) to 1. The axis will decelerate to a stop.
• When the axis has stopped, the Command Hold Completed bit (IB††091) will turn ON.
• Reset the Command Pause bit (OB††090) to 0.
The command hold status will be cleared and the remaining portion of the positioning will
be restarted.

( 3 ) Aborting
Axis travel can be stopped during command execution and the remaining travel canceled by aborting
execution of a command. A command is aborted by setting the Command Abort bit (OB††091) to
1.
• Set the Command Abort bit (OB††091) to 1. The axis will decelerate to a stop.
• When the axis has stopped, the remain travel will be canceled and the Positioning Com-
pleted bit (IB††0C1) will turn ON.
• This type of operation will also be performed if the motion command is changed during axis
movement.

7-12
 7.2 Motion Command Details

( 4 ) Related Parameters
[ a ] Setting Parameters
Parameter Name Setting SVR
Turn the power to the Servomotor ON and OFF.
OB††000 Servo ON 1: Power ON to Servomotor, 0: Power OFF to Servomotor R
Turn ON the power before setting the Motion Command (OW††08) to 2.
Speed Loop Switch the speed control loop between PI control and P control.
OB††013 −
P/PI Switch 0: PI control, 1: P control
OW††03 Function 1 Set the speed unit, acceleration/deceleration unit, and filter type. R
Set the external positioning signal.
OW††04 Function 2 R
2: phase-C pulse, 3: /EXT1, 4: /EXT2, 5: /EXT3
The positioning starts when this parameter is set to 2.
OW††08 Motion Command The operation will be canceled if this parameter is set to 0 during EX_POSING R
command execution.
The axis will decelerate to a stop if this bit is set to 1 during execution of
EX_POSING command execution.
OB††090 Command Pause R
The positioning will restart if this bit is reset to 0 when a command is being
held.
The axis will decelerate to a stop if this bit is set to 1 during EX_POSING
OB††091 Command Abort R
command execution.
Enable or disable the area where the external positioning signal is valid.
If the latch zone is enabled, the external positioning signal will be ignored if it
OB††094 Latch Zone Enabled −
is input outside of the latch zone.
0: Disable, 1: Enable
Switch the type of position reference.
OB††095 Position Reference Type 0: Incremental addition mode, 1: Absolute mode R
Set this parameter before setting the Motion Command (OW††08) to 2.
Specify the speed for the positioning.
OL††10 Speed Reference This setting can be changed during operation. The unit depends on the Function R
1 setting (OW††03).
This parameter allows the positioning speed to be changed without changing
the Speed Reference (OL††10).
OW††18 Speed Override Set the speed as a percentage of the Speed Reference Setting. This setting can −
be changed during operation.
Setting range: 0 to 32767 (0% to 327.67%) Setting unit: 1 = 0.01%
Set the target position for positioning.
Position Reference
OL††1C This setting can be changed during operation. The meaning of the setting R
Setting
depends on the status of the Position Reference Type bit OB††095.
Positioning Completed
OL††1E Set the width in which to turn ON the Positioning Completed bit (IB††0C1). −
Width
Set the range in which the Position Proximity bit (IB††0C3) will turn ON.
Positioning Completed The Position Proximity bit will turn ON when the absolute value of the
OL††20 −
Width 2 difference between the reference position and the feedback position is less than
the value set here.
Set the boundary in the negative direction of the area in which the external
OL††2A Latch Zone Lower Limit −
positioning signal is to be valid.
Set the boundary in the positive direction of the area in which the external
OL††2C Latch Zone Upper Limit −
positioning signal is to be valid.
OL††36 Linear Acceleration Time Set the rate of acceleration or acceleration time constant for positioning. R
Linear Deceleration
OL††38 Set the rate of deceleration or deceleration time constant for positioning. R
Time
Set the acceleration/deceleration filter time constant. Exponential acceleration/
S-Curve Acceleration deceleration or a moving average filter can be selected in OW††03.
OW††3A R
Time Change the setting only after pulse distribution has been completed for the
command (IB††0C0 is ON).
External Positioning Move
OL††46 Set the moving amount to move after the external positioning signal is input. −
Distance

7-13
7 Motion Commands
7.2.2 External Positioning (EX_POSING)

[ b ] Monitoring Parameters
Parameter Name Monitor Contents SVR
Indicates the Servo ON status.
IB††001 Servo ON R
ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor
IL††02 Warning Stores the most current warning. R
IL††04 Alarm Stores the most current alarm. R
Servo Command Indicates the motion command that is being executed.
IW††08 R
Type Response The response code is 2 during EX_POSING command execution.
Command The Command Executing bit will turn ON during EX_POSING command execution
IB††090 R
Executing and then turn OFF when command execution has been completed.
Turns ON when a deceleration to a stop has been completed as the result of setting the
Command Hold
IB††091 Command Pause bit to 1 (OB††090 to 1) during EX_POSING command execution R
Completed
(IW††08 = 2).
Turns ON if an error occurs during EX_POSING command execution.
Command Error
IB††093 The axis will decelerate to a stop if it is moving. Turns OFF when another command is R
End
executed.
Command
IB††098 Execution Turns ON when EX_POSING command execution has been completed. R
Completed
Distribution Turns ON when pulse distribution has been completed for the move command.
IB††0C0 R
Completed Turns OFF during execution of a move command.
Positioning Turns ON when pulse distribution has been completed and the current position is
IB††0C1 R
Completed within the Positioning Completed Width. OFF in all other cases.
This bit turns OFF when a new latch command is executed and turns ON when the
IB††0C2 Latch Completed latch has been completed. The latched position is stored as the Machine Coordinate −
Latch Position (monitoring parameter IL††18).
The operation depends on the setting of the Positioning Completed Width 2 (setting
parameter OL††20).
OL††20 = 0: Turns ON when pulse distribution has been completed (DEN =
ON). Otherwise, it turns OFF.
IB††0C3 Position Proximity R
OL††20 ≠ 0: Turns ON when the absolute value of the difference between
MPOS and APOS is less than the Position Proximity Setting even if
pulse distribution has not been completed.
OFF in all other cases.
Machine
Stores the current position in the machine coordinate system when the latch sig-
IL††18 Coordinate Latch −
nal turned ON.
Position

( 5 ) Timing Charts
[ a ] Normal Execution
This position is stored. (IL††18)

Travel distance

OW††08 = 2 (EX_POSING)
IW††08 = 2 (EX_POSING)
IB††090 (BUSY)
IB††093 (FAIL)
IB††098 (COMPLETE)
IB††0C0 (DEN)
IB††0C1 (POSCOMP)
Latch signal*
1 scan Undefined length of time
(Phase-C, EXT1,2,3)
IB††0C2 (LCOMP)
(Latch Completed)
* Latch signal: Phase-C pulse, EXT1, EXT2, or EXT3 signal

7-14
 7.2 Motion Command Details

[ b ] Execution when Aborted

OW††08 = 2 (EX_POSING)
OB††091 (ABORT)
IW††08 = 2 (EX_POSING)
IB††090 (BUSY)
IB††093 (FAIL)
IB††098 (COMPLETE)
IB††0C0 (DEN)
IB††0C1 (POSCOMP)

1 scan Undefined length of time

[ c ] Execution when Aborting by Changing the Command

OW††08 = 2 (EX_POSING)
IW††08 = 2 (EX_POSING)
IB††090 (BUSY)
IB††093 (FAIL)
IB††098 (COMPLETE)
IB††0C0 (DEN)
IB††0C1 (POSCOMP)

1 scan Undefined length of time

[ d ] Execution when an Alarm Occurs

OW††08 = 2 (EX_POSING)
IW††08 = 2 (EX_POSING)
IB††090 (BUSY)
IB††093 (FAIL)
IB††098 (COMPLETE)
IB††0C0 (DEN)
IB††0C1 (POSCOMP)

1 scan Undefined length of time

Alarm

7-15
7 Motion Commands
7.2.3 Zero Point Return (ZRET)

7.2.3 Zero Point Return (ZRET) R

When the Zero Point Return command (ZRET) is executed, the axis will return to the zero point of
the machine coordinate system.
The operation to detect the position of the zero point is different between an absolute encoder and an
incremental encoder.
ΠThe SVR supports only absolute encoders.
With an absolute encoder, positioning is performed to the zero point of the machine coordinate sys-
tem and command execution is completed.
With an incremental encoder, there are 13 different methods (see below) that can be performed for
the zero point return operation.

( 1 ) Selecting the Zero Point Return Method (with an Incremental Encoder)

When an incremental encoder is selected for the Encoder Type by fixed parameter No. 30 to 0, the
coordinate system data will be lost when the power supply is turned OFF. This command must be
executed when the power supply is turned ON again to establish a new coordinate system.
The following table lists the 13 zero point return methods that are supported by the MP2300. Select
the best method for the machine according to the setting parameters. Refer to the page in the Table
under Details for additional command information.
Setting
Reference
Parameter Name Method Signal Meaning
Page
OW††3C
Applies a 3-step deceleration method
0 DEC1 + Phase-C using the deceleration limit switch and DEC1 signal: SERVOPACK DEC signal 7-20
phase-C pulse.
1 ZERO signal Uses the ZERO signal. ZERO signal: SERVOPACK EXT1 signal 7-22
Applies a 3-step deceleration method
DEC 1 + ZERO DEC1 signal: SERVOPACK DEC signal
2 using the deceleration limit switch and 7-23
signal ZERO signal: SERVOPACK EXT1 signal
ZERO signal.
3 Phase-C Uses the phase-C pulse. − 7-24
4 to 10 Not used − − −
11 C pulse Only Uses only the phase-C pulse. − 7-25
Uses the positive overtravel signal and
12 POT & C pulse POT: SERVOPACK P-OT signal 7-26
phase-C pulse.
POT: SERVOPACK P-OT signal
13 POT Only Uses only the positive overtravel signal. This method must not be used if repeat 7-27
accuracy is required.
14 Home LS & C pulse Uses the home signal and phase-C pulse. HOME: SERVOPACK EXT1 signal 7-28
15 Home LS Only Uses only the home signal. HOME: SERVOPACK EXT1 signal 7-30
Uses the negative overtravel signal and
16 NOT & C pulse NOT: SERVOPACK N-OT signal 7-31
phase-C pulse.
NOT: SERVOPACK N-OT signal
17 NOT Only Uses only the negative overtravel signal. This method must not be used if repeat 7-32
accuracy is required.
Uses the INPUT signal and phase-C
18 INPUT & C pulse INPUT: Setting parameter OB††05B 7-33
pulse.
With this method, a zero point return can be
performed without connecting an external
19 INPUT Only Uses only the INPUT signal. signal using setting parameter OB††05B. 7-35
This method must not be used if repeat
accuracy is required.

„ Terminology: Pulse distribution

Pulse distribution transfers reference values from the MP2300 registers to the SERVOPACK registers every
scan. Used in describing motion command operation.

7-16
 7.2 Motion Command Details

( 2 ) Executing/Operating Procedure

1. Check to see if all the following conditions are satisfied.

No. Execution Conditions Confirmation Method

1 There are no alarms. Both IL††02 and IL††04 are 0.
2 The Servo ON condition. IB††001 is ON.
3 Motion command execution has been completed. IW††08 is 0 and IB††090 is OFF.

2. When an incremental encoder is selected for the Encoder Type by setting fixed
parameter No. 30 to 0, set the zero point return method that will be used in the Home
Return Type (motion setting parameter OW††3C) as described on the previous
page.
ΠThe software limit function will be enabled after the zero point return operation has been
completed.

3. Refer to 7.2.3 ( 7 ) Zero Point Return Operation and Parameters on page 7-20 and set
the required parameters.

4. Set OW††08 to 3 to execute the ZRET motion command.

The zero point return operation will start. IW††08 will be 3 during the operation.
IB††0C5 will turn ON when the axis reaches the zero point and zero point return has been
completed.

5. Set OW††08 to 0 to execute the NOP motion command and then complete the zero
point return operation.

( 3 ) Holding
Holding execution is not possible during zero point return operation. The Command Pause bit
(OB††090) is ignored.

( 4 ) Aborting
The zero point return can be canceled by aborting execution of a command. A command is aborted
by setting the Command Abort bit (OB††091) to 1.
• Set the Command Abort bit (OB††091) to 1. The axis will decelerate to a stop.
• When the axis has decelerated to a stop the remain travel will be canceled and the Position-
ing Completed bit (IB††0C1) will turn ON.
• This type of operation will also be performed if the motion command is changed during axis
movement.

7-17
7 Motion Commands
7.2.3 Zero Point Return (ZRET)

( 5 ) Related Parameters
[ a ] Setting Parameters
Parameter Name Setting SVR
Turn the power to the Servomotor ON and OFF.
OB††000 Servo ON 1: Power ON to Servomotor, 0: Power OFF to Servomotor R
Turn ON the power before setting the Motion Command (OW††08) to 3.
OW††03 Function 1 Set the speed unit, acceleration/deceleration unit, and filter type. R
Positioning starts when this parameter is set to 3.
OW††08 Motion Command The operation will be canceled if this parameter is set to 0 during ZRET command R
execution.
The axis will decelerate to a stop if this bit is set to 1 during ZRET command
OB††091 Command Abort R
execution.
Switch the type of position reference.
Position Reference
OB††095 0: Incremental addition mode, 1: Absolute mode R
Type
Set this parameter before setting the Motion Command (OW††08) to 3.
Linear
OL††36 Set the rate of acceleration or acceleration time constant for positioning. R
Acceleration Time
Linear
OL††38 Set the rate of deceleration or deceleration time constant for positioning. R
Deceleration Time
Set the acceleration/deceleration filter time constant. Exponential acceleration/
S-Curve deceleration or a moving average filter can be selected in OW††03.
OW††3A R
Acceleration Time Change the setting only after pulse distribution has been completed for the command
(IB††0C0 is ON).
OW††3D Home Window Set the width in which the Zero Point Position bit (IB††0C4) will turn ON. R

[ b ] Monitoring Parameters
Parameter Name Monitor Contents SVR
Indicates the Servo ON status.
IB††001 Servo ON R
ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor
IL††02 Warning Stores the most current warning. R
IL††04 Alarm Stores the most current alarm. R
Servo Command Indicates the motion command that is being executed.
IW††08 R
Type Response The response code is 3 during ZRET command execution.
The Command Executing bit will turn ON during ZRET command execution and
IB††090 Command Executing R
then turn OFF when command execution has been completed.
Command Hold
IB††091 Always OFF for ZRET command. R
Completed
Turns ON if an error occurs during ZRET command execution.
IB††093 Command Error End The axis will decelerate to a stop if it is moving. Turns OFF when another R
command is executed.
Command Execution
IB††098 Turns ON when ZRET command execution has been completed. R
Completed
Distribution Turns ON when pulse distribution has been completed for the move command.
IB††0C0 R
Completed Turns OFF during execution of a move command.
The operation depends on the setting of the Positioning Completed Width 2 (setting
parameter OL††20).
OL††20 = 0: Turns ON when pulse distribution has been completed (DEN =
ON). Otherwise, it turns OFF.
IB††0C3 Position Proximity R
OL††20 ≠ 0: Turns ON when the absolute value of the difference between
MPOS and APOS is less than the Position Proximity Setting even
if pulse distribution has not been completed.
OFF in all other cases.
Turns ON if the current position after the zero point return operation has been
IB††0C4 Zero Point Position completed is within the Zero Point Position Output Wide from the zero point R
position. Otherwise, it turns OFF.
Zero Point Return
IB††0C5 Turns ON when the zero point return has been completed. R
Completed

7-18
 7.2 Motion Command Details

( 6 ) Timing Charts

[ a ] Normal Execution
Depends on zero point return method.

OW††08 = 3 (ZRET)
IW††08 = 3 (ZRET)
IB††090 (BUSY)
IB††093 (FAIL)
IB††098 (COMPLETE)
IB††0C0 (DEN)
IB††0C1 (POSCOMP)

IB††0C5 (ZRNC) 1 scan Undefined length of time

[ b ] Execution when Aborted

OW††08 = 3 (ZRET)
OB††091 (ABORT)
IW††08 = 3 (ZRET)
IB††090 (BUSY)
IB††093 (FAIL)
IB††098 (COMPLETE)
IB††0C0 (DEN)
IB††0C1 (POSCOMP)

1 scan Undefined length of time

IB††0C5 (ZRNC)

[ c ] Execution when Aborting by Changing the Command

OW††08 = 3 (ZRET)
IW††08 = 3 (ZRET)
IB††090 (BUSY)
IB††093 (FAIL)
IB††098 (COMPLETE)
IB††0C0 (DEN)
IB††0C1 (POSCOMP)
1 scan Undefined length of time
IB††0C5 (ZRNC)

7-19
7 Motion Commands
7.2.3 Zero Point Return (ZRET)

[ d ] Execution when an Alarm Occurs

OW††08 = 3 (ZRET)
IW††08 = 3 (ZRET)
IB††090 (BUSY)
IB††093 (FAIL)
IB††098 (COMPLETE)
IB††0C0 (DEN)
IB††0C1 (POSCOMP)

IB††0C5 (ZRNC) 1 scan Undefined length of time

Alarm

( 7 ) Zero Point Return Operation and Parameters

With an incremental encoder, there are 13 different methods that can be performed for the zero point
return operation. This section explains the operation that occurs after starting a zero point return and
the parameters that need to be set before executing the command.
ΠNone of the methods shown here are available with the SVR because it only supports absolute
encoders.

[ a ] DEC1 + Phase-C Method (OW††3C = 0)

z Operation after Zero Point Return Starts
Travel is started at the zero point return speed in the direction specified in the parameters.
When the rising edge of the DEC1 signal is detected, the speed is reduced to the approach speed.
When the first phase-C pulse is detected after passing the DEC1 signal at the approach speed, the
speed is reduced to the creep speed and positioning is performed.
When the positioning has been completed, a machine coordinate system is established with the final
position as the zero point.
Œ The moving amount after the phase-C pulse is detected is set in the Home Offset (OL††42).
ΠIf an OT signal is detected during the zero point return operation, an OT alarm will occur.

Home Offset
(OL

42) Start
Zero Point

Creep Speed
(OL

40)
Approach Speed
(OL

3E)
Zero Point Return Speed
(OL

10)
DEC1 signal∗1

Phase-C pulse
POT∗2

NOT∗3

* 1. The SERVOPACK DEC signal.

* 2. The SERVOPACK P-OT signal.
* 3. The SERVOPACK N-OT signal.

7-20
 7.2 Motion Command Details

z Setting Parameters
Parameter Name Setting
OW††3C Home Return Type 0: DEC1 + Phase-C
OB††093 Home Direction Set the zero point return direction.
Set the speed to use when starting a zero point return.
OL††10 Speed Reference
Only a positive value can be set; a negative value will result in an error.
This parameter allows the Zero Point Return speed to be changed without
changing the Speed Reference (OL††10). Set the speed as a percentage of
OW††18 Speed Override the Speed Reference Setting. This setting can be changed during operation.
Setting range: 0 to 32767 (0% to 327.67%) Setting unit: 1 = 0.01%
Example: Setting for 50%: 5000
Set the speed to use after detecting the DEC1 signal.
OL††3E Approach Speed
Only a positive value can be set; a negative value will result in an error.
Set the speed to use after detecting the first phase-C pulse after passing the
OL††40 Creep Speed DEC1 signal. Only a positive value can be set; a negative value will result in
an error.
Set the travel distance from the point where the first phase-C pulse is
detected after passing the DEC1 signal.
OL††42 Home Offset
If the sign is positive, travel will be toward the zero point return direction; if
the sign is negative, travel will be away from the zero point return direction.

7-21
7 Motion Commands
7.2.3 Zero Point Return (ZRET)

[ b ] ZERO Signal Method (OW††3C = 1)

z Operation after Zero Point Return Starts

Travel is started at the approach speed in the direction specified in the parameters.
When the rising edge of the ZERO signal is detected, the speed is reduced to the creep speed and
positioning is performed.
When the positioning has been completed, a machine coordinate system is established with the final
position as the zero point.
Œ The moving amount after the ZERO signal is detected is set in the Home Offset (OL††42).
ΠIf an OT signal is detected during the zero point return operation, an OT alarm will occur.

Zero Point Start

Home Offset
(OL

42)

Creep Speed
(OL

40)

Approach Speed
(OL

3E)

ZERO signal∗1
POT∗2

NOT∗3

* 1. The SERVOPACK EXT1 signal.

* 2. The SERVOPACK P-OT signal.
* 3. The SERVOPACK N-OT signal.

z Setting Parameters
Parameter Name Setting
OW††3C Home Return Type 1: ZERO Signal Method
OB††093 Home Direction Set the zero point return direction.
Set the speed to use when starting a zero point return.
OL††3E Approach Speed
Only a positive value can be set; a negative value will result in an error.
Set the speed to use after detecting the ZERO signal.
OL††40 Creep Speed
Only a positive value can be set; a negative value will result in an error.
Set the travel distance from the point where the ZERO signal is detected.
OL††42 Home Offset If the sign is positive, travel will be toward the zero point return direction; if
the sign is negative, travel will be away from the zero point return direction.

7-22
 7.2 Motion Command Details

[ c ] DEC1 + ZERO Signal Method (OW††3C = 2)

z Operation after Zero Point Return Starts

Travel is started at the zero point return speed in the direction specified in the parameters.
When the rising edge of the DEC1 signal is detected, the speed is reduced to the approach speed.
When the rising edge of the ZERO signal is detected after passing the DEC1 signal at the approach
speed, the speed is reduced to the creep speed and positioning is performed.
When the positioning has been completed, a machine coordinate system is established with the final
position as the zero point.
Œ The moving amount after the ZERO signal is detected is set in the Home Offset (OL††42).
ΠIf an OT signal is detected during the zero point return operation, an OT alarm will occur.

DEC1 signal*1
Home Offset
Zero Point (OL††42) Start

Creep Speed
(OL††40)
Approach speed
(OL††3E)
Zero Point Return Speed
(OL††10)

ZERO signal*2
POT∗3

NOT∗4

* 1. The SERVOPACK DEC signal.

* 2. The SERVOPACK EXT1 signal.
* 3. The SERVOPACK P-OT signal.
* 4. The SERVOPACK N-OT signal.

z Setting Parameters
Parameter Name Setting
OW††3C Home Return Type 2: DEC1 + ZERO Signal Method
OB††093 Home Direction Set the zero point return direction.
Set the speed to use when starting a zero point return.
OL††10 Speed Reference
Only a positive value can be set; a negative value will result in an error.
This parameter allows the Zero Point Return speed to be changed without
changing the Speed Reference (OL††10). Set the speed as a percentage of
OW††18 Speed Override the Speed Reference Setting. This setting can be changed during operation.
Setting range: 0 to 32767 (0% to 327.67%) Setting unit: 1 = 0.01%
Example: Setting for 50%: 5000
Set the speed to use after detecting the DEC1 signal.
OL††3E Approach Speed
Only a positive value can be set; a negative value will result in an error.
Set the speed to use after detecting the ZERO signal after passing the DEC1
OL††40 Creep Speed signal.
Only a positive value can be set; a negative value will result in an error.
Set the travel distance from the point where the ZERO signal is detected
after passing the DEC1 signal.
OL††42 Home Offset
If the sign is positive, travel will be toward the zero point return direction; if
the sign is negative, travel will be away from the zero point return direction.

7-23
7 Motion Commands
7.2.3 Zero Point Return (ZRET)

[ d ] Phase-C Method (OW††3C = 3)

z Operation after Zero Point Return Starts

Travel is started at the approach speed in the direction specified in the parameters.
When the rising edge of the phase-C pulse is detected, the speed is reduced to the creep speed and
positioning is performed.
When the positioning has been completed, a machine coordinate system is established with the final
position as the zero point.
Œ The moving amount after the phase-C pulse is detected is set in the Home Offset (OL††42).
ΠIf an OT signal is detected during the zero point return operation, an OT alarm will occur.

Zero Point Start

Home Offset
(OL

42)

Creep Speed
(OL

40)

Approach Speed
(OL

3E)

Phase-C pulse
POT*1

NOT*2

* 1. The SERVOPACK P-OT signal.

* 2. The SERVOPACK N-OT signal.

z Setting Parameters
Parameter Name Setting
OW††3C Home Return Type 3: Phase-C Method
OB††093 Home Direction Set the zero point return direction.
Set the speed to use when starting a zero point return.
OL††3E Approach Speed
Only a positive value can be set; a negative value will result in an error.
Set the speed to use after detecting the phase-C pulse.
OL††40 Creep Speed
Only a positive value can be set; a negative value will result in an error.
Set the travel distance from the point where a phase-C pulse is detected.
OL††42 Home Offset If the sign is positive, travel will be toward the zero point return direction; if
the sign is negative, travel will be away from the zero point return direction.

7-24
 7.2 Motion Command Details

[ e ] C Pulse Only Method (OW††3C = 11)

z Operation after Zero Point Return Starts

Travel is started at the creep speed in the direction specified by the sign of the creep speed. When the
rising edge of the phase-C pulse is detected, positioning is performed at the positioning speed.
When the positioning has been completed, a machine coordinate system is established with the final
position as the zero point.
ΠThe moving amount after the phase-C pulse is detected is set in the Home Offset. The positioning
speed is set in the Speed Reference.
ΠIf an OT signal is detected during creep speed operation, an OT alarm will not occur, the direction
will be reversed, and a search will be made for the phase-C pulse.
ΠIf an OT signal is detected during positioning speed operation, an OT alarm will occur.
Positioning Speed
(OL††10)

Creep Speed
(OL††40) Home Offset
(OL††42)

Start Zero Point

Phase-C pulse
POT*1

NOT*2

OT Signal Detected during Creep Speed Operation

Positioning Speed
(OL††10)

Creep Speed
Home Offset (OL††40)
(OL††42)

Zero Point Start

Creep Speed
(OL††40)
Phase-C pulse
POT*1

NOT*2

* 1. The SERVOPACK P-OT signal.

* 2. The SERVOPACK N-OT signal.
ΠThe stopping method when the OT signal is detected depends on the setting of SERVO-
PACK parameters.

z Setting Parameters
Parameter Name Setting
OW††3C Home Return Type 11: C Pulse Only Method
Set the positioning speed to use after detecting the phase-C pulse. The sign
OL††10 Speed Reference is ignored.
The travel direction will depend on the sign of the Home Offset.
Set the speed to use when starting a zero point return. The travel
OL††40 Creep Speed
direction will depend on the sign of the creep speed.
Set the travel distance from the point where a phase-C pulse is detected.
OL††42 Home Offset
The travel direction will depend on the sign.

7-25
7 Motion Commands
7.2.3 Zero Point Return (ZRET)

[ f ] POT & C Pulse Method (OW††3C = 12)

z Operation after Zero Point Return Starts

Travel is started at the approach speed in the positive direction until the stroke limit is reached.
When the POT signal is detected, the direction is reversed to return at creep speed.
When the phase-C pulse is detected during the return after passing the POT signal, the positioning is
performed.
When the positioning has been completed, a machine coordinate system is established with the final
position as the zero point.
ΠThe moving amount after the phase-C pulse is detected is set in the Home Offset. The positioning
speed is set in the Speed Reference.
ΠIf a negative value is set for the approach speed, the command will end in an error.
ΠIf an OT signal is detected during the positioning speed operation, an OT alarm will occur.

Approach Speed
(OL††3E)

Phase-C pulse

Zero Point
Start
Home Offset Creep Speed
(OL††42) (OL††40)

Positioning Speed
(OL††10)
POT*1

NOT*2

* 1. The SERVOPACK P-OT signal.

* 2. The SERVOPACK N-OT signal.
ΠThe stopping method when the OT signal is detected depends on the setting of SERVO-
PACK parameters.

z Setting Parameters
Parameter Name Setting
OW††3C Home Return Type 12: POT & C pulse method
Set the positioning to use after detecting the phase-C pulse. The sign is
OL††10 Speed Reference ignored.
The zero point return direction will depend on the sign of the Home Offset.
Set the speed to use when starting a zero point return.
OL††3E Approach Speed
Add a sign so that the travel direction will be positive.
Set the reverse speed to use at after detecting the POT signal.
OL††40 Creep Speed
The sign is ignored. The travel direction will be negative.
Set the travel distance from the point where a phase-C pulse is detected.
OL††42 Home Offset
The travel direction will depend on the sign.

7-26
 7.2 Motion Command Details

[ g ] POT Signal Method (OW††3C = 13)

z Operation after Zero Point Return Starts
Travel is started at the approach speed in the positive direction until the stroke limit is reached.
When the POT signal is detected, the direction is reversed to return at Positioning speed.
When a change in the POT signal status from ON to OFF is detected during the return, the position-
ing is performed.
When the positioning has been completed, a machine coordinate system is established with the final
position as the zero point.
ΠThe moving amount after a change in the POT signal status is detected is set in the Home Offset.
The positioning speed is set in the Speed Reference.
ΠIf a negative value is set for the approach speed, the command will end in an error.
ΠIf an OT signal is detected during the positioning speed operation, an OT alarm will occur.
ΠDetecting the change in the OT signal status is performed using software processing. The position
where positioning is completed will depend on the high-speed scan setting, positioning speed, etc.
Do not use this method if repeat accuracy is required in the position where the zero point return
operation is completed.
Approach Speed
(OL††3E)

Zero Point

Start
Home Offset
(OL††42)

Positioning Speed
(OL††10)
POT*1

NOT*2

Starting on the Positive Stroke Limit (POT)

Start
Zero Point

Home Offset
(OL††42)

Positioning Speed
(OL††10)
POT∗1

NOT∗2

* 1. The SERVOPACK P-OT signal.

* 2. The SERVOPACK N-OT signal.
ΠThe stopping method when the OT signal is detected depends on the setting of SERVO-
PACK parameters.

7-27
7 Motion Commands
7.2.3 Zero Point Return (ZRET)

z Setting Parameters
Parameter Name Setting
OW††3C Home Return Type 13: POT Only Method
Set the positioning speed to use after detecting the POT signal. The sign is
OL††10 Speed Reference ignored.
The travel direction will depend on the sign of the Home Offset.
Set the speed to use when starting a zero point return.
OL††3E Approach Speed
Add a sign so that the travel direction will be positive.
Set the travel distance from the point where the POT signal is detected.
OL††42 Home Offset
The travel direction will depend on the sign.

[ h ] HOME LS & Phase-C Pulse Method (OW††3C = 14)

z Operation after Zero Point Return Starts

Travel is started at the approach speed in the direction specified by the sign of the approach speed.
When the rising edge of the home signal is detected, the speed is reduced to creep speed.
When the first phase-C pulse is detected after the falling edge of the home signal, the positioning is
performed at positioning speed.
When the positioning has been completed, a machine coordinate system is established with the final
position as the zero point.
ΠThe moving amount after the phase-C pulse is detected is set in the Home Offset. The positioning
speed is set in the Speed Reference.
ΠIf an OT signal is detected during approach speed operation, an alarm will not occur, the direction
will be reversed, and a search will be made for the home signal.
ΠIf an OT signal is detected during positioning speed operation, an OT alarm will occur.

Approach Speed
(OL††3E) Positioning Speed
(OL††10)

Creep Speed
(OL††40) Home Offset
(OL††42)

Start Zero Point

HOME signal*1

Phase-C pulse
POT*2

NOT*3

7-28
 7.2 Motion Command Details

Detecting the OT Signal during Approach Speed Movement

Approach Speed
(OL††3E)
Positioning Speed
(OL††10)
Creep Speed
(OL††40)
Home Offset
(OL††42)

Start Zero Point

Approach Speed
HOME signal*1 (OL††3E)

Phase-C pulse
POT*2

NOT*3

* 1. The SERVOPACK EXT1 signal.

* 2. The SERVOPACK P-OT signal.
* 3. The SERVOPACK N-OT signal.
ΠThe stopping method when the OT signal is detected depends on the setting of SERVO-
PACK parameters.

z Setting Parameters
Parameter Name Setting
OW††3C Home Return Type 14: HOME LS & C pulse method
Set the positioning speed to use after detecting the phase-C pulse. The sign
OL††10 Speed Reference is ignored.
The travel direction depends on the sign of the Home Offset.
Set the speed to use when starting a zero point return.
OL††3E Approach Speed
The travel direction will depend on the sign of the approach speed.
Set the speed to use after detecting the home signal and the travel direction
OL††40 Creep Speed
(sign).
Set the travel distance from the point where a phase-C pulse is detected.
OL††42 Home Offset
The travel direction will depend on the sign.

7-29
7 Motion Commands
7.2.3 Zero Point Return (ZRET)

[ i ] HOME LS Signal Method (OW††3C = 15)

z Operation after Zero Point Return Starts

Travel is started at the creep speed in the direction specified by the sign of the creep speed.
When the rising edge of the home signal is detected, positioning is performed at the positioning
speed.
When the positioning has been completed, a machine coordinate system is established with the final
position as the zero point.
ΠThe moving amount after the rising edge of the home signal is detected is set in the Home Offset.
The positioning speed is set in the Speed Reference Setting.
ΠIf an OT signal is detected during creep speed operation, an alarm will not occur, the direction will
be reversed, and a search will be made for the home signal.
ΠIf an OT signal is detected during positioning speed operation, an OT alarm will occur.

Positioning Speed
(OL††10)

Creep Speed
(OL††40) Home Offset
(OL††42)

Start Zero Point

HOME signal*1
POT*2

NOT*3

Detecting the OT Signal during Creep Speed Movement

Positioning Speed
(OL††10)

Creep Speed
Home Offset (OL††40)
(OL††42)

Zero Point Start

Creep Speed
(OL††40)

HOME LS signal*1
POT*2

NOT*3

* 1. The SERVOPACK EXT1 signal.

* 2. The SERVOPACK P-OT signal.
* 3. The SERVOPACK N-OT signal.
ΠThe stopping method when the OT signal is detected depends on the setting of SERVO-
PACK parameters.

z Setting Parameters
Parameter Name Setting
OW††3C Home Return Type 15: HOME LS Only Method
Set the positioning speed to use after detecting the home signal. The sign is ignored.
OL††10 Speed Reference
The travel direction will depend on the sign of the Home Offset.
OL††40 Creep Speed Set the speed and the travel direction (sign) to use when starting a zero point return.
Set the travel distance from the point where the home signal is detected.
OL††42 Home Offset
The travel direction will depend on the sign.

7-30
 7.2 Motion Command Details

[ j ] NOT & Phase-C Pulse Method (OW††3C = 16)

z Operation after Zero Point Return Starts

Travel is started at the approach speed in the negative direction until the stroke limit is reached.
When the NOT signal is detected, the direction is reversed to return at the creep speed.
When the phase-C pulse is detected during the return after passing the NOT signal, the positioning is
performed.
When the positioning has been completed, a machine coordinate system is established with the final
position as the zero point.
ΠThe moving amount after the phase-C pulse is detected is set in the Home Offset. The positioning
speed is set in the Speed Reference.
ΠIf a positive value is set for the approach speed, the command will end in an error.
ΠIf an OT signal is detected during the positioning speed operation, an OT alarm will occur.

Phase-C pulse

Creep Speed
(OL††40)

Zero Point Start

Home Offset
(OL††42)

Positioning Speed
(OL††10)
Approach Speed
(OL††3E)
POT*1

NOT*2

* 1. The SERVOPACK P-OT signal.

* 2. The SERVOPACK N-OT signal.
ΠThe stopping method when the OT signal is detected depends on the setting of SERVO-
PACK parameters.

z Setting Parameters
Parameter Name Setting
OW††3C Home Return Type 16: NOT & C pulse Method
Set the positioning speed to use after detecting the phase-C pulse. The sign
OL††10 Speed Reference is ignored.
The travel direction will depend on the sign of the Home Offset.
Set the speed to use when starting a zero point return.
OL††3E Approach Speed
Add a sign so that the travel direction will be negative.
Set the speed to use after detecting the NOT signal.
OL††40 Creep Speed
The travel direction will be positive.
Set the travel distance from the point where a phase-C pulse is detected.
OL††42 Home Offset
The travel direction will depend on the sign.

7-31
7 Motion Commands
7.2.3 Zero Point Return (ZRET)

[ k ] NOT Signal Method (OW††3C = 17)

z Operation after Zero Point Return Starts

Travel is started at the approach speed in the negative direction until the stroke limit is reached.
When the NOT signal is detected, the direction is reversed to return at the positioning speed.
When a change in the NOT signal status from ON to OFF is detected during the return, the position-
ing is performed.
When the positioning has been completed, a machine coordinate system is established with the final
position as the zero point.
ΠThe moving amount after the change of the NOT signal status is detected is set in the Home Off-
set. The positioning speed is set in the Speed Reference.
ΠIf a positive value is set for the approach speed, the command will end in an error.
ΠIf an OT signal is detected during the positioning speed operation, an OT alarm will occur.
ΠDetecting the change in the OT signal status is performed using software processing. The position
where positioning is completed will depend on the high-speed scan setting, positioning speed, etc.
Do not use this method if repeat accuracy is required in the position where the zero point return
operation is completed.

Positioning Speed
(OL††10)

Home Offset
(OL††42)
Start

Zero Point

Approach Speed
(OL††3E) POT*1

NOT*2

* 1. The SERVOPACK P-OT signal.

* 2. The SERVOPACK N-OT signal.
ΠThe stopping method when the OT signal is detected depends on the setting of SERVO-
PACK parameters.

z Setting Parameters
Parameter Name Setting
OW††3C Home Return Type 17: NOT Only Method
Set the positioning speed to use after detecting the NOT signal. The sign is
OL††10 Speed Reference ignored.
The travel direction will depend on the sign of the Home Offset.
Set the speed to use when starting a zero point return.
OL††3E Approach Speed
Add a sign so that the travel direction will be negative.
Set the travel distance from the point where the NOT signal is detected.
OL††42 Home Offset
The travel direction will depend on the sign.

7-32
 7.2 Motion Command Details

[ l ] INPUT & Phase-C Pulse Method (OW††3C = 18)

z Operation after Zero Point Return Starts

Travel is started at the approach speed in the direction specified by the sign of the approach speed.
When the rising edge of the INPUT signal is detected, the speed is reduced to the creep speed.
When the first phase-C pulse is detected after the falling edge of the INPUT signal, the positioning is
performed at positioning speed.
When the positioning has been completed, a machine coordinate system is established with the final
position as the zero point.
ΠThe moving amount after the phase-C pulse is detected is set in the Home Offset. The positioning
speed is set in the Speed Reference.
ΠIf an OT signal is detected during approach speed operation, an OT alarm will not occur, the direc-
tion will be reversed, and a search will be made for the INPUT signal.
ΠIf an OT signal is detected during positioning speed operation, an OT alarm will occur.

Approach Speed
(OL††3E)
Positioning Speed
(OL††10)

Creep Speed
(OL††40) Home Offset
(OL††42)

Start Zero Point

INPUT signal (OB††05B)

Phase-C pulse
POT*1

NOT*2

Approach Speed
(OL††3E)
Positioning Speed (OL††10)

Home Offset
(OL††42)
Start

Zero Point
Creep Speed
(OL††40)

INPUT signal
Approach Speed (OB††05B)
(OL††3E)

Phase-C pulse
POT*1

NOT*2

* 1. The SERVOPACK P-OT signal.

* 2. The SERVOPACK N-OT signal.
ΠThe stopping method when the OT signal is detected depends on the setting of SERVO-
PACK parameters.

7-33
7 Motion Commands
7.2.3 Zero Point Return (ZRET)

z Setting Parameters
Parameter Name Setting
OW††3C Home Return Type 18: INPUT & C pulse Method
Set the positioning speed to use after detecting the phase-C pulse. The sign is ignored.
OL††10 Speed Reference
The travel direction will depend on the sign of the Home Offset.
Set the speed to use when starting a zero point return.
OL††3E Approach Speed
The travel direction will depend on the sign of the approach speed.
OL††40 Creep Speed Set the speed and the travel direction (sign) to use after detecting the INPUT signal.
Set the travel distance from the point where a phase-C pulse is detected.
OL††42 Home Offset
The travel direction will depend on the sign.
INPUT Signal for
OB††05B This signal must be turned ON from the ladder program.
Zero Point Return

7-34
 7.2 Motion Command Details

[ m ] INPUT Signal Method (OW††3C = 19)

z Operation after Zero Point Return Starts
Travel is started at the creep speed in the direction specified by the sign of the creep speed.
When the rising edge of the INPUT signal is detected, the positioning is performed at the positioning
speed.
When the positioning has been completed, a machine coordinate system is established with the final
position as the zero point.
ΠThe moving amount after the rising edge of the INPUT signal is detected is set in the Home Offset.
The positioning speed is set in the Speed Reference.
ΠIf an OT signal is detected during creep speed operation, an OT alarm will not occur, the direction
will be reversed, and a search will be made for the INPUT signal.
ΠIf an OT signal is detected during positioning speed operation, an OT alarm will occur.
Œ The INPUT signal is allocated to the motion setting parameter OB††05B, allowing the zero point
return operation to be performed without actually wiring a signal. This method can thus be used to
temporarily set the zero point during trial operation.
ΠDetecting the rising edge of the INPUT signal is performed using software processing. The posi-
tion where positioning is completed will depend on the high-speed scan setting, positioning speed,
etc. Do not use this method if repeat accuracy is required in the position where the zero point
return operation is completed.
Positioning Speed
(OL††10)

Creep Speed
(OL††40) Home Offset
(OL††42)

Start Zero Point

INPUT signal (OB††05B)

POT*1

NOT*2

Creep Speed
(OL††40)

Start Zero Point

Home Offset
Creep Speed (OL††42)
(OL††40)

Positioning Speed
(OL††10)
INPUT signal (OB††05B)
POT*1

NOT*2

* 1. The SERVOPACK P-OT signal.

* 2. The SERVOPACK N-OT signal.
ΠThe stopping method when the OT signal is detected depends on the setting of SERVO-
PACK parameters.

7-35
7 Motion Commands
7.2.4 Interpolation (INTERPOLATE)

z Setting Parameters
Parameter Name Setting
OW††3C Home Return Type 19: INPUT Only Method
Set the positioning speed to use after detecting the INPUT signal. The sign
OL††10 Speed Reference
is ignored. The travel direction will depend on the sign of the Home Offset.
Set the speed and the travel direction (sign) to use when starting a zero point
OL††40 Creep Speed
return.
Set the distance to travel from the point the INPUT signal is detected.
OL††42 Home Offset
The travel direction will depend on the sign.
INPUT Signal for Zero
OB††05B This signal must be turned ON from the ladder program.
Point Return

7.2.4 Interpolation (INTERPOLATE) R

The INTERPOLATE command positions the axis according to the target position that changes in
sync with the high-speed scan. The positioning data is generated by a ladder program.
ΠSpeed feed forward compensation can be applied.
ΠTorque feed forward gain can be used when interpolation commands (INTERPOLATE) are sent
using SGDS SERVOPACKs.
Torque feed forward gain is set in Torque/Thrust Reference (setting parameter OL††0C). The
required conditions are as follows:
ΠSERVOPACK parameter Pn002.0 = 2
ΠSGDS communication interface version 8 or later

( 1 ) Executing/Operating Procedure

1. Check to see if all the following conditions are satisfied.

No. Execution Conditions Confirmation Method

1 There are no alarms. Both IL††02 and IL††04 are 0.
2 The Servo ON condition. IB††001 is ON.
3 Motion command execution has been completed. IW††08 is 0 and IB††090 is OFF.

2. Set the following motion setting parameters.

Target Position: OL††1C
Acceleration/Deceleration Filter Type: OW††03
Speed Loop P/PI Switch: OW††01
Speed Feed Forward Compensation: OW††30

3. Set OW††08 to 4 to execute the INTERPOLATE motion command.

Positioning will start. The travel speed is calculated automatically.
IW††08 will be 4 during the positioning.
The Target Position (OL††1C) will be updated every high-speed scan.
IB††0C1 will turn ON when the axis reaches the target position and the positioning has been
completed.

4. Set OW††08 to 0 to execute the NOP motion command and then complete the

7-36
 7.2 Motion Command Details

positioning operation.

INTERPOLATE Operating Pattern

Speed (%)

Position

0
Time (t)
Positioning Completed Width

POSCOMP

( 2 ) Holding and Aborting

The axis will decelerate to a stop if there is no change in the target position each high-speed scan.
The Command Pause bit (OB††090) and the Command Abort bit (OB††091) cannot be used.
Change a motion command to stop the interpolation execution.

7-37
7 Motion Commands
7.2.4 Interpolation (INTERPOLATE)

( 3 ) Related Parameters
[ a ] Setting Parameters
Parameter Name Setting SVR
Turns the power to the Servomotor ON and OFF.
OB††000 Servo ON 1: Power ON to Servomotor, 0: Power OFF to Servomotor R
Turn ON this bit before setting the Motion Command (OW††08) to 4.
OW††03 Function 1 Sets the speed unit, acceleration/deceleration unit, and filter type. R
OW††08 Motion Command The positioning starts when this parameter is set to 4. R
Switch the type of position reference.
Position Reference
OB††095 0: Incremental addition mode, 1: Absolute mode R
Setting
Set this parameter before setting the Motion Command (OW††08) to 4.
Position Reference Set the target position for positioning. The setting can be updated every high-speed
OL††1C R
Setting scan.
Positioning
OL††1E Set the width in which to turn ON the Positioning Completed bit (IB††0C1).
Completed Width
Set the range in which the Position Proximity bit (IB††0C3) will turn ON.
Positioning The Position Proximity bit will turn ON when the absolute value of the difference
OL††20 R
Completed Width 2 between the reference position and the feedback position is less than the value set
here.
Set the feed forward amount as a percentage of the rated speed.
OW††31 Speed Amends R
The setting unit for this parameter is 0.01% (fixed).
Linear Deceleration Set the rate of deceleration or deceleration time constant for positioning.
OW††38
Time Used for deceleration stops when an alarm has occurred.
Set the acceleration/deceleration filter time constant.
S-Curve Exponential acceleration/deceleration or a moving average filter can be selected in
OW††3A R
Acceleration Time the Function 1 (OW††03). Change the setting only after pulse distribution has
been completed for the command (IB††0C0 is ON).

[ b ] Monitoring Parameters
Parameter Name Monitor Contents SVR
Indicates the Servo ON status.
IB††001 Servo ON R
ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor
IL††02 Warning Stores the most current warning. R
IL††04 Alarm Stores the most current alarm. R
Servo Command Indicates the motion command that is being executed.
IW††08 R
Type Response The response code is 4 during INTERPOLATE command execution.
IB††090 Command Executing Always OFF for INTERPOLATE command. R
Command Hold
IB††091 Always OFF for INTERPOLATE command. R
Completed
Turns ON if an error occurs during INTERPOLATE command execution.
IB††093 Command Error End The axis will decelerate to a stop if it is moving. Turns OFF when another command R
is executed.
Command Execution
IB††098 Always OFF for INTERPOLATE command. R
Completed
Distribution Turns ON when pulse distribution has been completed for the move command.
IB††0C0 R
Completed Turns OFF during execution of a move command.
Positioning Turns ON when pulse distribution has been completed and the current position is
IB††0C1 R
Completed within the Positioning Completed Width. OFF in all other cases.
The operation depends on the setting of the Positioning Completed Width 2 (setting
parameter OL††20).
OL††20 = 0: Turns ON when pulse distribution has been completed (DEN =
ON). Otherwise, it turns OFF.
IB††0C3 Position Proximity R
OL††20 ≠ 0: Turns ON when the absolute value of the difference between
MPOS and APOS is less than the Position Proximity Setting even
if pulse distribution has not been completed.
OFF in all other cases.

7-38
 7.2 Motion Command Details

( 4 ) Timing Charts

[ a ] Normal Execution

The target position is refreshed every high-speed scan.

OW††08 = 4 (INTERPOLATE)
IW††08 = 4 (INTERPOLATE)
IB††090 (BUSY)
IB††093 (FAIL)
IB††098 (COMPLETE)
IB††0C0 (DEN)
IB††0C1 (POSCOMP)

1 scan Undefined length of time

[ b ] Execution when an Alarm Occurs

OW††08 = 4 (INTERPOLATE)
Alarm
IW††08 = 4 (INTERPOLATE)
IB††090 (BUSY)
IB††093 (FAIL)
IB††098 (COMPLETE)
IB††0C0 (DEN)
IB††0C1 (POSCOMP)

1 scan Undefined length of time

7-39
7 Motion Commands
7.2.5 Latch (LATCH)

7.2.5 Latch (LATCH) R

The LATCH command saves in a register the current position when the latch signal is detected during
interpolation positioning.
The latch signal type is set in setting register OW††04 and can be set to the phase-C pulse, /EXT1
signal, /EXT2 signal, or /EXT3 signal.
ΠSpeed feed forward compensation can be applied.
ΠWhen executing the LATCH command more than once after latching the current position by the
LATCH command, change the Motion Command to NOP for at least one scan before executing
LATCH again.
ΠTorque feed forward gain can be used when LATCH commands are sent using SGDS SERVO-
PACKs.
Torque feed forward gain is set in Torque/Thrust Reference (setting parameter OL††0C). The
required conditions are as follows:
• SERVOPACK parameter Pn002.0 = 2
• SGDS communication interface version 8 or later

( 1 ) Executing/Operating Procedure

1. Check to see if all the following conditions are satisfied.

No. Execution Conditions Confirmation Method

1 There are no alarms. Both IL††02 and IL††04 are 0.
2 The Servo ON condition. IB††001 is ON.
3 Motion command execution has been completed. IW††08 is 0 and IB††090 is OFF.

2. Set the following motion setting parameters.

Target Position: OL††1C
Acceleration/Deceleration Filter Type: OW††03
Speed Loop P/PI Switch: OW††01
Speed Feed Forward Compensation: OW††30
Latch Signal Selection: OW††04

3. Set OW††08 to 6 to execute the LATCH motion command.

Positioning will start. The travel speed will be calculated automatically.
IW††08 will be 6 during the positioning.
The Target Position (OL††1C) will be updated every high-speed scan.
When the latch signal turns ON, the current position will be saved and stored in OW††08.
IB††0C1 will turn ON when the axis reaches the target position and the positioning has been
completed.
ΠTake into consideration the latch processing time obtained from the following equation when
sending the LATCH command.
Latch processing time = 2 scans + MECHATROLINK communication cycle + SERVOPACK
processing time (4 ms max.)

4. Set OW††08 to 0 to execute the NOP motion command and then complete the

7-40
 7.2 Motion Command Details

positioning operation.

LATCH Operating Pattern

Speed (%)
This position is stored.
(IL††18)

Position

0
Time (t)

Latch Signal

Positioning Completed Range

POSCOMP

( 2 ) Holding and Aborting

The axis will decelerate to a stop if there is no change in the target position each high-speed scan.
The Command Pause bit (OB††090) and the Command Abort bit (OB††091) cannot be used.
Change a motion command to stop the interpolation execution.

( 3 ) Related Parameters

[ a ] Setting Parameters

Parameter Name Setting SVR

Turn the power to the Servomotor ON and OFF.
OB††000 Servo ON 1: Power ON to Servomotor, 0: Power OFF to Servomotor R
Set this bit to 1 before setting the Motion Command (OW††08) to 6.
OW††03 Function 1 Sets the speed unit, acceleration/deceleration unit, and filter type. R
OW††04 Function 2 Set the latch signal type. −
OW††08 Motion Command The positioning starts when this parameter is set to 6. R
Switch the type of position reference.
Position Reference
OB††095 0: Incremental addition mode, 1: Absolute mode R
Type
Set this parameter before setting the Motion Command (OW††08) to 6.
Position Reference Set the target position for positioning. The setting can be updated every high-
OL††1C R
Setting speed scan.
Positioning Completed
OL††1E Set the width in which to turn ON the Positioning Completed bit (IB††0C1). −
Width
Set the range in which the Position Proximity bit (IB††0C3) will turn ON.
Positioning Completed The Position Proximity bit will turn ON when the absolute value of the
OL††20 −
Width 2 difference between the reference position and the feedback position is less than
the value set here.
Set the feed forward amount as a percentage of the rated speed.
OW††31 Speed Amends R
The setting unit for this parameter is 0.01% (fixed).
Linear Deceleration Set the rate of deceleration or deceleration time constant for positioning.
OW††38 −
Time Used for deceleration stops when an alarm has occurred.
Set the acceleration/deceleration filter time constant. Exponential acceleration/
S-Curve Acceleration deceleration or a moving average filter can be selected in OW††03.
OW††3A R
Time Change the setting only after pulse distribution has been completed for the
command (IB††0C0 is ON).

7-41
7 Motion Commands
7.2.5 Latch (LATCH)

[ b ] Monitoring Parameters

Parameter Name Monitor Contents SVR

Indicates the Servo ON status.
IB††001 Servo ON R
ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor
I††02 Warning Stores the most current warning. R
IL††04 Alarm Stores the most current alarm. R
Servo Command Indicates any alarms that have occurred during execution.
IW††08 R
Type Response The response code is 6 during LATCH operation.
Command
IB††090 Always OFF for LATCH operation. R
Executing
Command Hold
IB††091 Always OFF for LATCH operation. R
Completed
Command Error Turns ON if an error occurs during LATCH operation. The axis will decelerate to a
IB††093 R
End stop if it is moving. Turns OFF when another command is executed.
Command
IB††098 Execution Always OFF for LATCH operation. R
Completed
Distribution Turns ON when distribution has been completed for the move command.
IB††0C0 R
Completed Turns OFF during execution of a move command.
Positioning Turns ON when distribution has been completed and the current position is within the
IB††0C1 R
Completed Positioning Completed Width. OFF in all other cases.
This bit turns OFF when a new latch command is executed and turns ON when the
IB††0C2 Latch Completed latch has been completed. The latched position is stored as the Machine Coordinate −
Latch Position (monitoring parameter IL††18).
The operation depends on the setting of the Positioning Completed Width 2 (setting
parameter OL††20).
OL††20 = 0: Turns ON when pulse distribution has been completed (DEN =
ON). Otherwise, it turns OFF.
IB††0C3 Position Proximity R
OL††20 ≠ 0: Turns ON when the absolute value of the difference between MPOS
and APOS is less than the Position Proximity Setting even if pulse
distribution has not been completed.
OFF in all other cases.
Machine
Stores the current position in the machine coordinate system when the latch signal
IL††18 Coordinate Latch −
turned ON.
Position

7-42
 7.2 Motion Command Details

( 4 ) Timing Charts

[ a ] Normal Execution

The target position is refreshed every high-speed scan.

This position is stored in IL††18.

OW††08 = 6 (LATCH)
IW††08 = 6 (LATCH)
IB††090 (BUSY)
IB††093 (FAIL)
IB††098 (COMPLETE)

IB††0C0 (DEN)

IB††0C1 (POSCOMP)

1 scan Undefined length of time

Latch signal *
IB††0C2 (LCOMP)

* Latch signal: Phase-C pulse, /EXT1, /EXT2, or /EXT3 signal

[ b ] Execution when an Alarm Occurs

OW††08 = 6 (LATCH)
Alarm
IW††08 = 6 (LATCH)
IB††090 (BUSY)
IB††093 (FAIL)
IB††098 (COMPLETE)
IB††0C0 (DEN)
IB††0C1 (POSCOMP)

1 scan Undefined length of time

7-43
7 Motion Commands
7.2.6 JOG Operation (FEED)

7.2.6 JOG Operation (FEED) R

The FEED command starts movement in the specified travel direction at the specified travel speed.
Execute the NOP motion command to stop the operation.
Parameters related to acceleration and deceleration are set in advance.

( 1 ) Executing/Operating Procedure

1. Check to see if all the following conditions are satisfied.

No. Execution Conditions Confirmation Method

1 There are no alarms. Both IL††02 and IL††04 are 0.
2 The Servo ON condition. IB††001 is ON.
3 Motion command execution has been completed. IW††08 is 0 and IB††090 is OFF.

2. Set the following motion setting parameters.

Travel Direction: OB††092
Speed Reference: OL††10
Acceleration/Deceleration Filter Type: OW††03
Speed Loop P/PI Switch: OW††01
ΠThe speed reference can be changed during operation.

3. Set OW††08 to 7 to execute the FEED motion command.

JOG operation will start. IW††08 will be 7 during the execution.

4. Set OW††08 to 0 to execute the NOP motion command.

IB††0C1 turns ON and the JOG operation has been completed.

FEED Operating Pattern

Speed (%)
Rated speed
(100%)

NOP Command
Travel speed

Position*

0
Time (t)
Linear Linear
Acceleration Time Deceleration Time

( 2 ) Holding
Holding execution is not possible during FEED command execution. The Command Pause bit
(OB††090) is ignored.

7-44
 7.2 Motion Command Details

( 3 ) Aborting
Axis travel can be stopped during FEED command execution by aborting execution of a command.
A command is aborted by setting the Command Abort bit (OB††091) to 1.
• Set the Command Abort bit (OB††091) to 1. The axis will decelerate to a stop.
• When the axis has stopped, the Positioning Completed bit (IB††0C1) will turn ON.
• The JOG operation will restart if the Command Abort bit (OB††091) is reset to 0 during
abort processing.
• This type of operation will also be performed if the motion command is changed during axis
movement.

( 4 ) Related Parameters
[ a ] Setting Parameters
Parameter Name Setting SVR
Turn the power to the Servomotor ON and OFF.
OB††000 Servo ON 1: Power ON to Servomotor, 0: Power OFF to Servomotor R
Turn ON the power before setting the Motion Command (OW††08) to 7.
Switches the speed control loop between PI control and P control.
OB††013 Speed Loop P/PI Switch −
0: PI control, 1: P control
OW††03 Function 1 Set the speed unit, acceleration/deceleration unit, and filter type. R
The JOG operation starts when this parameter is set to 7.
OW††08 Motion Command The axis is decelerated to a stop and the JOG operation is completed if this R
parameter is set to 0 during the execution of a FEED command.
OB††091 Command Abort The axis is decelerated to a stop if this bit is set to 1 during JOG operation. R
Set the travel direction for JOG operation.
OB††092 JOG/STEP Direction R
0: Positive direction, 1: Negative direction
Specify the speed for the positioning operation. This setting can be changed
OL††10 Speed Reference R
during operation. The unit depends on the Function 1 setting (OW††03).
This parameter allows the feed speed to be changed without changing the
Speed Reference (OL††10).
Set the speed as a percentage of the Speed Reference Setting. This setting can
OW††18 Speed Override −
be changed during operation.
Setting range: 0 to 32767 (0% to 327.67%) Setting unit: 1 = 0.01%
Example: Setting for 50%: 5000
Positioning Completed
OL††1E Set the width in which to turn ON the Positioning Completed bit (IB††0C1). −
Width
Set the range in which the Position Proximity bit (IB††0C3) will turn ON.
Positioning Completed The Position Proximity bit will turn ON when the absolute value of the
OL††20 −
Width 2 difference between the reference position and the feedback position is less than
the value set here.
OL††36 Linear Acceleration Time Set the rate of acceleration of the acceleration time constant for JOG operation. R
OL††38 Linear Deceleration Time Set the rate of deceleration of the deceleration time constant for JOG operation. R
Set the acceleration/deceleration filter time constant. Exponential acceleration/
deceleration or a moving average filter can be selected in the Function 1
S-Curve Acceleration
OW††3A (OW††03). R
Time
Change the setting only after pulse distribution has been completed for the
command (IB††0C0 is ON).

7-45
7 Motion Commands
7.2.6 JOG Operation (FEED)

[ b ] Monitoring Parameters
Parameter Name Monitor Contents SVR
Indicates the Servo ON status.
IB††001 Servo ON R
ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor
IL††02 Warning Stores the most current warning. R
IL††04 Alarm Stores the most current alarm. R
Servo Command Indicates the motion command that is being executed.
IW††08 R
Type Response The response code is 7 during FEED command execution.
Command Turns ON when abort processing is being performed for FEED command. Turns
IB††090 R
Executing OFF when abort processing has been completed.
Command Hold
IB††091 Always OFF for FEED command. R
Completed
Turns ON if an error occurs during FEED command execution. The axis will
IB††093 Command Error End R
decelerate to a stop if it is moving. Turns OFF when another command is executed.
Command
IB††098 Execution Always OFF for FEED command. R
Completed
Distribution Turns ON when pulse distribution has been completed for the move command.
IB††0C0 R
Completed Turns OFF during execution of a move command.
Positioning Turns ON when pulse distribution has been completed and the current position is
IB††0C1 R
Completed within the Positioning Completed Width. OFF in all other cases.
The operation depends on the setting of the Positioning Completed Width 2 (setting
parameter OL††20).
OL††20 = 0: Turns ON when pulse distribution has been completed (DEN =
ON). Otherwise, it turns OFF.
IB††0C3 Position Proximity R
OL††20 ≠ 0: Turns ON when the absolute value of the difference between
MPOS and APOS is less than the Position Proximity Setting even
if pulse distribution has not been completed.
OFF in all other cases.

7-46
 7.2 Motion Command Details

( 5 ) Timing Charts

[ a ] Normal Execution

OW††08 = 7 (FEED)
IW††08 = 7 (FEED)
IB††090 (BUSY)
IB††093 (FAIL)
IB††098 (COMPLETE)
IB††0C0 (DEN)

1 scan

[ b ] Execution when Aborted

OW††08 = 7 (FEED)
OB††091 (ABORT)
IW††08 = 7 (FEED)
IB††090 (BUSY)
IB††093 (FAIL)
IB††098 (COMPLETE)
IB††0C0 (DEN)

1 scan

[ c ] Execution when an Alarm Occurs

OW††08 = 7 (FEED)
IW††08 = 7 (FEED)
IB††090 (BUSY)
IB††093 (FAIL)
IB††098 (COMPLETE)
IB††0C0 (DEN)

1 scan
Alarm

7-47
7 Motion Commands
7.2.7 STEP Operation (STEP)

7.2.7 STEP Operation (STEP) R

The STEP command executes a positioning for the specified travel direction, moving amount, and
travel speed.
Parameters related to acceleration and deceleration are set in advance.

( 1 ) Executing/Operating Procedure

1. Check to see if all the following conditions are satisfied.

No. Execution Conditions Confirmation Method

1 There are no alarms. Both IL††02 and IL††04 are 0.
2 The Servo ON condition. IB††001 is ON.
3 Motion command execution has been completed. IW††08 is 0 and IB††090 is OFF.

2. Set the following motion setting parameters.

Step Distance: OL††44
Travel Direction: OB††092
Speed Reference: OL††10
Acceleration/Deceleration Filter Type: OW††03
Speed Loop P/PI Switch: OW††01
Œ The speed reference bit OL††10 can be changed during operation.
ΠAn override of between 0% to 327.67% can be set for the travel speed.

3. Set OW††08 to 8 to execute the STEP motion command.

STEP operation will start. IW††08 will be 8 during execution.
IB††03 will turn ON when the axis reaches the target position.
IB††0C1 will turn ON when the axis reaches the target position and the positioning has been
completed.

4. Set OW††08 to 0 to execute the NOP motion command and then complete the
STEP operation.

STEP Operating Pattern

Speed (%)
Rated speed
(100%)

Travel speed

STEP travel
distance
0
Time (t)
Linear Linear
Acceleration Time Deceleration Time

7-48
 7.2 Motion Command Details

( 2 ) Holding
Axis travel can be stopped during command execution and then the remaining travel can be restarted.
A command is held by setting the Command Pause (OB††090) bit to 1.
• Set the Command Pause bit (OB††090) to 1. The axis will decelerate to a stop.
• When the axis has stopped, the Command Hold Completed bit (IB††091) will turn ON.
• Turn OFF the Command Pause bit (OB††090).
The command hold status will be cleared and the remaining portion of the positioning will
be restarted.

( 3 ) Aborting
Axis travel can be stopped during command execution and the remaining travel canceled by aborting
execution of a command. A command is aborted by setting the Command Abort bit (OB††091) to
1.
• Set the Command Abort bit (OB††091) to 1. The axis will decelerate to a stop.
• When the axis has stopped, the Positioning Completed bit (IB††0C1) will turn ON.
• This type of operation will also be performed if the motion command is changed during axis
movement.

( 4 ) Related Parameters

[ a ] Setting Parameters

Parameter Name Setting SVR

Turn the power to the Servomotor ON and OFF.
OB††000 Servo ON 1: Power ON to Servomotor, 0: Power OFF to Servomotor R
Turn ON the power before setting the Motion Command (OW††08) to 8.
Speed Loop P/PI Switch the speed control loop between PI control and P control.
OB††013 −
Switch 0: PI control, 1: P control
OW††03 Function 1 Set the speed unit, acceleration/deceleration unit, and filter type. R
The STEP operation starts when this parameter is set to 8.
OW††08 Motion Command The axis will decelerate to a stop and the JOG operation is completed if this R
parameter is set to 0 during STEP command execution.
The axis will decelerate to a stop if this bit is set to 1 during STEP operation.
OB††090 Command Pause R
The operation will restart if this bit is turned OFF when a command is being held.
The axis will decelerate to a stop if this bit is set to 1 during the positioning. The
OB††091 Command Abort operation depends on the setting of the Position Reference Type (OB††095) R
when turning ON after decelerating to a stop.
Set the travel direction for STEP operation.
OB††092 JOG/STEP Direction R
0: Positive direction, 1: Negative direction
Switch the type of position reference.
Position Reference
OB††095 0: Incremental addition mode, 1: Absolute mode R
Type
Set this parameter before setting the Motion Command (OW††08) to 8.
Specify the speed for the positioning operation. This setting can be changed
OL††10 Speed Reference R
during operation. The unit depends on the setting of the Function 1 (OW††03).
This parameter allows the travel speed to be changed without changing the Speed
Reference (OL††10).
Set the value as a percentage of the Speed Reference. This setting can be changed
OW††18 Speed Override −
during operation.
Setting range: 0 to 32767 (0% to 327.67%) Setting unit: 1 = 0.01%
Example: Setting for 50%: 5000
Positioning
OL††1E Set the width in which to turn ON the Positioning Completed bit (IB††0C1). −
Completed Width

7-49
7 Motion Commands
7.2.7 STEP Operation (STEP)

Set the range in which the Position Proximity bit (IB††0C3) will turn ON.
Positioning The Position Proximity bit will turn ON when the absolute value of the
OL††20 −
Completed Width 2 difference between the reference position and the feedback position is less than
the value set here.
Linear Acceleration
OL††36 Set the rate of acceleration or acceleration time constant for positioning. R
Time
Linear Deceleration
OL††38 Set the rate of deceleration or deceleration time constant for positioning. R
Time
Set the acceleration/deceleration filter time constant. Exponential acceleration/
deceleration or a moving average filter can be selected in the Function 1
S-Curve Acceleration
OW††3A (OW††03). R
Time
Change the setting only after pulse distribution has been completed for the
command (IB††0C0 is ON).
OL††44 Step Distance Set the moving amount for STEP operation. −

[ b ] Monitoring Parameters

Parameter Name Monitor Contents SVR

Indicates the Servo ON status.
IB††001 Servo ON R
ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor
IL††02 Warning Stores the most current warning. R
IL††04 Alarm Stores the most current alarm. R
Servo Command Indicates the motion command that is being executed.
IW††08 R
Type Response The response code is 8 during STEP command execution.
Command The Command Executing bit will turn ON during STEP command execution and
IB††090 R
Executing then turn OFF when STEP command execution has been completed.
Turns ON when a deceleration to a stop has been completed as the result of setting
Command Hold
IB††091 the Command Pause (OB††090) bit to 1 during STEP command execution R
Completed
(IW††08 = 8).
Turns ON if an error occurs during STEP command execution.
IB††093 Command Error End The axis will decelerate to a stop if it is moving. Turns OFF when another command R
is executed.
Command
IB††098 Execution Turns ON when STEP command execution has been completed. R
Completed
Distribution Turns ON when pulse distribution has been completed for the move command.
IB††0C0 R
Completed Turns OFF during execution of a move command.
Positioning Turns ON when pulse distribution has been completed and the current position is
IB††0C1 R
Completed within the Positioning Completed Width. OFF in all other cases.
The operation depends on the setting of the Positioning Completed Width 2 (setting
parameter OL††20).
OL††20 = 0: Turns ON when pulse distribution has been completed (DEN =
ON). Otherwise, it turns OFF.
IB††0C3 Position Proximity R
OL††20 ≠ 0: Turns ON when the absolute value of the difference between
MPOS and APOS is less than the Position Proximity Setting even
if pulse distribution has not been completed.
OFF in all other cases.

7-50
 7.2 Motion Command Details

( 5 ) Timing Charts

[ a ] Normal Execution

OW††08 = 8 (STEP)
IW††08 = 8 (STEP)
IB††090 (BUSY)
IB††093 (FAIL)
IB††098 (COMPLETE)
IB††0C0 (DEN)
IB††0C1 (POSCOMP)

1 scan Undefined length of time

[ b ] Execution when Aborted

OW††08 = 8 (STEP)
OB††091 (ABORT)
IW††08 = 8 (STEP)
IB††090 (BUSY)
IB††093 (FAIL)
IB††098 (COMPLETE)
IB††0C0 (DEN)
IB††0C1 (POSCOMP)

1 scan Undefined length of time

[ c ] Execution when Aborting by Changing the Command

OW††08 = 8 (STEP)
IW††08 = 8 (STEP)
IB††090 (BUSY)
IB††093 (FAIL)
IB††098 (COMPLETE)
IB††0C0 (DEN)
IB††0C1 (POSCOMP)

1 scan Undefined length of time

7-51
7 Motion Commands
7.2.8 Zero Point Setting (ZSET)

[ d ] Execution when an Alarm Occurs

OW††08 = 8 (STEP)
IW††08 = 8 (STEP)
IB††090 (BUSY)
IB††093 (FAIL)
IB††098 (COMPLETE)
IB††0C0 (DEN)
IB††0C1 (POSCOMP)

1 scan Undefined length of time

Alarm

7.2.8 Zero Point Setting (ZSET) R

The ZSET command sets the current position as the zero point of the machine coordinate system.
This enables setting the zero point without performing a zero point return operation.
ΠWhen using software limits, always execute the zero point or zero point return operation. The soft-
ware limit function will be enabled after the zero point setting operation has been completed.

( 1 ) Executing/Operating Procedure
1. Check to see if all the following conditions are satisfied.

No. Execution Conditions Confirmation Method

1 There are no alarms. Both IL††02 and IL††04 are 0.
2 Motion command execution has been completed. IW††08 is 0 and IB††090 is OFF.

2. Set OW††08 to 9 to execute the ZSET motion command.

A new machine coordinate system will be established with the current position as the zero
point. IW††08 will be 9 during the zero point setting operation. IB††0C5 will turn ON
when zero point setting has been completed.

3. Set OW††08 to 0 to execute the NOP motion command and then complete the zero
point setting.

7-52
 7.2 Motion Command Details

( 2 ) Holding and Aborting

The Command Pause bit (OB††090) and the Command Abort bit (OB††091) cannot be used.

( 3 ) Related Parameters
[ a ] Setting Parameters
Parameter Name Setting SVR
OW††08 Motion Command Set to 9 for ZSET command. R
OB††090 Command Pause This parameter is ignored for ZSET command. R
OB††091 Command Abort This parameter is ignored for ZSET command. R
Sets the position offset from the zero point in the machine coordinate
OL††48 Zero Point Offset R
system after the setting of the zero point has been completed.

[ b ] Monitoring Parameters
Parameter Name Monitor Contents SVR
IL††02 Warning Stores the most current warning. R
IL††04 Alarm Stores the most current alarm. R
Servo Command Indicates the motion command that is being executed.
IW††08 R
Type Response The response code will be 9 during ZSET command execution.
Turns ON during ZSET command execution and turns OFF when ZSET
IB††090 Command Executing R
command execution has been completed.
Command Hold
IB††091 Always OFF for ZSET command. R
Completed
Turns ON if an error occurs during ZSET command execution.
IB††093 Command Error End R
Turns OFF when another command is executed.
Command Execution
IB††098 Turns ON when ZSET command execution has been completed. R
Completed
Zero Point Return
IB††0C5 Turns ON when the setting of the zero point has been completed. R
(Setting) Completed

( 4 ) Timing Charts

[ a ] Normal Execution
OW††08 = 9 (ZSET)
IW††08 = 9 (ZSET)
IB††090 (BUSY)
IB††093 (FAIL)
IB††098 (COMPLETE)
IB††0C5 (ZRNC)

7-53
7 Motion Commands
7.2.9 Change Linear Acceleration Time Constant (ACC)

7.2.9 Change Linear Acceleration Time Constant (ACC)

The ACC command transfers the setting of the Linear Acceleration Time (motion setting parameter
OL††36) to the Second-step Linear Acceleration Time Constant in the SERVOPACK and enables
the setting.
Œ For the SGD-†††N and SGDB-††AN SERVOPACKs, the deceleration time constant will be
the same as the acceleration time constant.
ΠMECHATROLINK-II has a function that automatically updates setting parameters if a parameter
changes. There is no need to execute the ACC command with this function. For details, refer to bit
A (User Constants Self-writing Function) in the 6.4.1 ( 2 ) Function Selection 1 on page 6-18.

( 1 ) Executing/Operating Procedure

1. Check to see if all the following conditions are satisfied.

No. Execution Conditions Confirmation Method

1 There are no alarms. Both IL††02 and IL††04 are 0.
Pulse distribution has been completed for the
2 IB††0C0 is ON.
SERVOPACK.
3 Motion command execution has been completed. IW††08 is 0 and IB††090 is OFF.

2. Set OW††08 to 10 to execute the ACC motion command.

The ACC command will transfer the setting of the Linear Acceleration Time (motion setting
parameter OL††36) to the Second-step Linear Acceleration Time Constant in the
SERVOPACK and enable the setting.
IW††08 will be 10 during command execution.
IB††090 will turn ON during the command processing and will turn OFF when the process-
ing has been completed.

3. Set OW††08 to 0 to execute the NOP motion command and then complete the
change of the linear acceleration time constant.

( 2 ) Holding and Aborting

The Command Pause bit (OB††090) and the Command Abort bit (OB††091) cannot be used.

( 3 ) Related Parameters

[ a ] Setting Parameters

Parameter Name Setting

OW††03 Function 1 Set the speed unit, acceleration/deceleration unit, and filter type.
OW††08 Motion Command The linear acceleration time constant is changed when this parameter is set to 10.
OB††090 Command Pause This parameter is ignored for ACC command.
OB††091 Command Abort This parameter is ignored for ACC command.
Linear Acceleration
OL††36 Set the acceleration time for feeding as the acceleration time.
Time

7-54
 7.2 Motion Command Details

[ b ] Monitoring Parameters

Parameter Name Monitor Contents

IL††02 Warning Stores the most current warning.
IL††04 Alarm Stores the most current alarm.
Servo Command Indicates the motion command that is being executed.
IW††08
Type Response The response code will be 10 during ACC command execution.
Turns ON during ACC command execution and turns OFF when execution has been
IB††090 Command Executing
completed.
Command Hold
IB††091 Always OFF for ACC command.
Completed
Turns ON if an error occurs during ACC command execution. Turns OFF when another
IB††093 Command Error End
command is executed.
Command Execution
IB††098 Turns ON when ACC command execution has been completed.
Completed

( 4 ) Timing Charts

[ a ] Normal End
OW††08 = 10 (ACC)
IW††08 = 10 (ACC)
IB††090 (BUSY) Undefined length
IB††093 (FAIL) of time
IB††098 (COMPLETE)

[ b ] Error End
OW††08 = 10 (ACC)
IW††08 = 10 (ACC)
IB††090 (BUSY)
Undefined length
IB††093 (FAIL) of time
IB††098 (COMPLETE)

7-55
7 Motion Commands
7.2.10 Change Linear Deceleration Time Constant (DCC)

7.2.10 Change Linear Deceleration Time Constant (DCC)

The DCC command transfers the setting of the Linear Deceleration Time (motion setting parameter
OL††38) to the Second-step Linear Deceleration Time Constant in the SERVOPACK and enables
the setting.
Œ For the SGD-†††N and SGDB SERVOPACKs, this command cannot be used because these
SERVOPACKs does not have the parameters for setting the deceleration time constant.
ΠMECHATROLINK-II has a function that automatically updates setting parameters if a parameter
changes. There is no need to execute the DCC command with this function. For details, refer to bit
A (User Constants Self-writing Function) in the 6.4.1 ( 2 ) Function Selection 1 on page 6-18.

( 1 ) Executing/Operating Procedure

1. Check to see if all the following conditions are satisfied.

No. Execution Conditions Confirmation Method

1 There are no alarms. Both IL††02 and IL††04 are 0.
2 Pulse distribution has been completed for the SERVOPACK. IB††0C0 is ON.
3 Motion command execution has been completed. IW††08 is 0 and IB††090 is OFF.

2. Set OW††08 to 11 to execute the DCC motion command.

The DCC command will transfer the setting of the Linear Deceleration Time (motion setting
parameter OL††38) to the Second-step Linear Deceleration Time Constant in the SERVO-
PACK and enables the setting.
IW††08 will be 11 during command execution.
IB††090 will turn ON during the command processing and will turn OFF when the process-
ing has been completed.

3. Set OWxx08 to 0 to execute the NOP motion command and then complete the change
of the linear deceleration time constant.

( 2 ) Holding and Aborting

The Command Pause bit (OB††090) and the Command Abort bit (OB††091) cannot be used.

( 3 ) Related Parameters

[ a ] Setting Parameters

Parameter Name Setting

OW††03 Function 1 Set the speed unit, acceleration/deceleration unit, and filter type.
OW††08 Motion Command The linear deceleration time constant is changed when this parameter is set to 11.
OB††090 Command Pause This parameter is ignored for DCC command.
OB††091 Command Abort This parameter is ignored for DCC command.
OL††38 Linear Deceleration Time Set the deceleration for feeding as the deceleration time.

7-56
 7.2 Motion Command Details

[ b ] Monitoring Parameters

Parameter Name Monitor Contents

IL††02 Warning Stores the most current warning.
IL††04 Alarm Stores the most current alarm.
Servo Command Type Indicates the motion command that is being executed.
IW††08
Response The response code will be 11 during DCC command execution.
Turns ON during DCC command execution and turns OFF when execution has
IB††090 Command Executing
been completed.
IB††091 Command Hold Completed Always OFF for DCC command.
Turns ON if an error occurs during DCC command execution.
IB††093 Command Error End
Turns OFF when another command is executed.
Command Execution
IB††098 Turns ON when DCC command execution has been completed.
Completed

( 4 ) Timing Charts

[ a ] Normal End
OW††08 = 11 (DCC)
IW††08 = 11 (DCC)
IB††090 (BUSY) Undefined length
IB††093 (FAIL) of time
IB††098 (COMPLETE)

[ b ] Error End
OW††08 = 11 (DCC)
IW††08 = 11 (DCC)
IB††090 (BUSY) Undefined length
IB††093 (FAIL) of time
IB††098 (COMPLETE)

7-57
7 Motion Commands
7.2.11 Change Filter Time Constant (SCC)

7.2.11 Change Filter Time Constant (SCC)

The SCC command transfers the setting of the S-Curve Acceleration Time (motion setting parameter
OW††3A) to the Moving Average Time in the SERVOPACK and enables the setting.
ΠAlways execute the CHG_FILTER command before executing the SCC command.
ΠMECHATROLINK-II has a function that automatically updates setting parameters if a parameter
changes. There is no need to execute the SCC command with this function. For details, refer to bit
A (User Constants Self-Writing Function) in 6.4.1 ( 2 ) Function Selection 1 on page 6-18.

( 1 ) Executing/Operating Procedure

1. Check to see if all the following conditions are satisfied.

No. Execution Conditions Confirmation Method

1 There are no alarms. Both IL††02 and IL††04 are 0.
2 Pulse distribution has been completed for the SERVOPACK. IB††0C0 is ON.
3 Motion command execution has been completed. IW††08 is 0 and IB††090 is OFF.

2. Set OW††08 to 12 to execute the SCC motion command.

The SCC command will transfer the setting of the S-Curve Acceleration Time (motion setting
parameter OW††3A) to the Moving Average Time in the SERVOPACK and enables the set-
ting.
IW††08 will be 12 during command execution.
IB††090 will turn ON during the command processing and will turn OFF when the process-
ing has been completed.

3. Set OW††08 to 0 to execute the NOP motion command and then complete the
change of the linear deceleration time constant.

( 2 ) Holding and Aborting

The Command Pause bit (OB††090) and the Command Abort bit (OB††091) cannot be used.

( 3 ) Related Parameters

[ a ] Setting Parameters

Parameter Name Setting

OW††03 Function 1 Set the speed unit, acceleration/deceleration unit, and filter type.
OW††08 Motion Command The filter time constant is changed when this parameter is set to 12.
OB††090 Command Pause This parameter is ignored for SCC command.
OB††091 Command Abort This parameter is ignored for SCC command.
OW††3A S-Curve Acceleration Time Set the filter time constant for acceleration/deceleration.

7-58
 7.2 Motion Command Details

[ b ] Monitoring Parameters

Parameter Name Monitor Contents

IL††02 Warning Stores the most current warning.
IL††04 Alarm Stores the most current alarm.
Servo Command Type Indicates the motion command that is being executed.
IW††08
Response The response code is 12 during SCC command execution.
Turns ON during SCC command execution and turns OFF when execution has
IB††090 Command Executing
been completed.
IB††091 Command Hold Completed Always OFF for SCC command.
Turns ON if an error occurs during SCC command execution.
IB††093 Command Error End
Turns OFF when another command is executed.
Command Execution
IB††098 Turns ON when SCC command execution has been completed.
Completed

( 4 ) Timing Charts

[ a ] Normal End
OW††08 = 12 (SCC)
IW††08 = 12 (SCC)
IB††090 (BUSY) Undefined length
IB††093 (FAIL) of time
IB††098 (COMPLETE)

[ b ] Error End
OW††08 = 12 (SCC)
IW††08 = 12 (SCC)
IB††090 (BUSY) Undefined length
IB††093 (FAIL) of time
IB††098 (COMPLETE)

7-59
7 Motion Commands
7.2.12 Change Filter Type (CHG_FILTER)

7.2.12 Change Filter Type (CHG_FILTER)

The CHG_FILTER command enables the current setting of the Filter Type (motion setting parameter
OW††03) for execution of the following motion commands with the movement: POSING,
EX_POSING, ZRET, INTERPOLATE, LATCH, FEED, and STEP.
Œ Always execute the CHG_FILTER command after changing the setting of OW††03.

( 1 ) Executing/Operating Procedure

1. Check to see if all the following conditions are satisfied.

No. Execution Conditions Confirmation Method

1 There are no alarms. Both IL††02 and IL††04 are 0.
2 Pulse distribution has been completed for the SERVOPACK. IB††0C0 is ON.
3 Motion command execution has been completed. IW††08 is 0 and IB††090 is OFF.

2. Set OW††08 to 13 to execute the CHG_FILTER motion command.

The Filter Type (motion setting parameter OW††03) will be enabled.
IW††08 will be 13 during command execution.
IB††090 will turn ON during the command processing and will turn OFF when the command
processing has been completed.

3. Set OW††08 to 0 to execute the NOP motion command and then complete the
change of the filter type.

( 2 ) Holding and Aborting

The Command Pause bit (OB††090) and the Command Abort bit (OB††091) cannot be used.

( 3 ) Related Parameters

[ a ] Setting Parameters

Parameter Name Setting

OW††03 Function 1 Set the speed unit, acceleration/deceleration unit, and filter type.
OW††08 Motion Command The filter type is changed when this parameter is set to 13.
OB††090 Command Pause This parameter is ignored for CHG_FILTER command.
OB††091 Command Abort This parameter is ignored for CHG_FILTER command.

7-60
 7.2 Motion Command Details

[ b ] Monitoring Parameters

Parameter Name Monitor Contents

IL††02 Warning Stores the most current warning.
IL††04 Alarm Stores the most current alarm.
Servo Command Indicates the motion command that is being executed.
IW††08
Type Response The response code will be 13 during CHG_FILTER command execution.
Turns ON during CHG_FILTER command execution and turns OFF when execution
IB††090 Command Executing
has been completed.
Command Hold
IB††091 Always OFF for CHG_FILTER command.
Completed
Turns ON if an error occurs during CHG_FILTER command execution. Turns OFF
IB††093 Command Error End
when another command is executed.
Command Execution
IB††098 Turns ON when CHG_FILTER command execution has been completed.
Completed

( 4 ) Timing Charts

[ a ] Normal End
OW††08 = 13 (CHG-FILTER)
IW††08 = 13 (CHG-FILTER)
IB††090 (BUSY)
IB††093 (FAIL)
IB††098 (COMPLETE)

1 scan

[ b ] Error End

OW††08 = 13 (CHG-FILTER)
IW††08 = 13 (CHG-FILTER)
IB††090 (BUSY)
IB††093 (FAIL)
IB††098 (COMPLETE)

7-61
7 Motion Commands
7.2.13 Change Speed Loop Gain (KVS)

7.2.13 Change Speed Loop Gain (KVS)

The KVS command transfers the setting of the Speed Loop Gain (motion setting parameter
OW††2F) to the Speed Loop Gain in the SERVOPACK and enables the setting.
ΠMECHATROLINK-II has a function that automatically updates setting parameters if a parameter
changes. There is no need to execute the KVS command with this function. For details, refer to bit
A (User Constants Self-Writing Function) in 6.4.1 ( 2 ) Function Selection 1 on page 6-18.

( 1 ) Executing/Operating Procedure

1. Check to see if all the following conditions are satisfied.

No. Execution Conditions Confirmation Method

1 There are no alarms. Both IL††02 and IL††04 are 0.
2 Motion command execution has been completed. IW††08 is 0 and IB††090 is OFF.

2. Set OW††08 to 14 to execute the KVS motion command.

The KVS command will transfer the setting of the Speed Loop Gain (motion setting parameter
OW††2F) to the Speed Loop Gain in the SERVOPACK and enables the setting.
IW††08 will be 14 during command execution.
IB††090 will turn ON during the command processing and will turn OFF when the command
processing has been completed.

3. Set OW††08 to 0 to execute the NOP motion command and then complete the
change of the speed loop gain.

( 2 ) Holding and Aborting

The Command Pause bit (OB††090) and the Command Abort bit (OB††091) cannot be used.

( 3 ) Related Parameters

[ a ] Setting Parameters

Parameter Name Setting

OW††08 Motion Command The speed loop gain is changed when this parameter is set to 14.
OB††090 Command Pause This parameter is ignored for KVS command.
OB††091 Command Abort This parameter is ignored for KVS command.
OW††2F Speed Loop Gain Set the gain for the SERVOPACK speed control loop.

7-62
 7.2 Motion Command Details

[ b ] Monitoring Parameters

Parameter Name Monitor Contents

IL††02 Warning Stores the most current warning.
IL††04 Alarm Stores the most current alarm.
Servo Command Indicates the motion command that is being executed.
IW††08
Type Response The response code will be 14 during KVS command execution.
Turns ON during KVS command execution and turns OFF when execution has been
IB††090 Command Executing
completed.
Command Hold
IB††091 Always OFF for KVS command.
Completed
Turns ON if an error occurs during KVS command execution.
IB††093 Command Error End
Turns OFF when another command is executed.
Command Execution
IB††098 Turns ON when KVS command execution has been completed.
Completed

( 4 ) Timing Charts

[ a ] Normal End
OW††08 = 14 (KVS)
IW††08 = 14 (KVS)
IB††090 (BUSY) Undefined length
IB††093 (FAIL) of time
IB††098 (COMPLETE)

[ b ] Error End
OW††08 = 14 (KVS)
IW††08 = 14 (KVS)
IB††090 (BUSY) Undefined length
IB††093 (FAIL) of time
IB††098 (COMPLETE)

7-63
7 Motion Commands
7.2.14 Change Position Loop Gain (KPS)

7.2.14 Change Position Loop Gain (KPS)

The KPS command transfers the setting of the Position Loop Gain (motion setting parameter
OW††2E) to the Position Loop Gain in the SERVOPACK and enables the setting.
ΠMECHATROLINK-II has a function that automatically updates setting parameters if a parameter
changes. There is no need to execute the KPS command with this function. For details, refer to bit
A (User Constants Self-Writing Function) in 6.4.1 ( 2 ) Function Selection 1 on page 6-18.

( 1 ) Executing/Operating Procedure

1. Check to see if all the following conditions are satisfied.

No. Execution Conditions Confirmation Method

1 There are no alarms. Both IL††02 and IL††04 are 0.
2 Motion command execution has been completed. IW††08 is 0 and IB††090 is OFF.

2. Set OW††08 to 15 to execute the KPS motion command.

The KPS command will transfer the setting of the Position Loop Gain (motion setting parame-
ter OW††2E) to the Position Loop Gain in the SERVOPACK and enables the setting.
IW††08 will be 15 during command execution.
IB††090 will turn ON during the command processing and will turn OFF when the command
processing has been completed.

3. Set OW††08 to 0 to execute the NOP motion command to change the position loop
gain.

( 2 ) Holding and Aborting

The Command Pause bit (OB††090) and the Command Abort bit (OB††091) cannot be used.

( 3 ) Related Parameters

[ a ] Setting Parameters

Parameter Name Setting

OW††08 Motion Command The position loop gain is changed when this parameter is set to 15.
OB††090 Command Pause This parameter is ignored for KPS command.
OB††091 Command Abort This parameter is ignored for KPS command.
OW††2E Position Loop Gain Set the gain for the SERVOPACK position control loop.

7-64
 7.2 Motion Command Details

[ b ] Monitoring Parameters

Parameter Name Monitor Contents

IL††02 Warning Stores the most current warning.
IL††04 Alarm Stores the most current alarm.
Servo Command Indicates the motion command that is being executed.
IW††08
Type Response The response code is 15 during KPS command execution.
Turns ON during KPS command execution and turns OFF when execution has been
IB††090 Command Executing
completed.
Command Hold
IB††091 Always OFF for KPS command.
Completed
Turns ON if an error occurs during KPS command execution.
IB††093 Command Error End
Turns OFF when another command is executed.
Command Execution
IB††098 Turns ON when KPS command execution has been completed.
Completed

( 4 ) Timing Charts

[ a ] Normal End
OW††08 = 15 (KPS)
IW††08 = 15 (KPS)
IB††090 (BUSY) Undefined length
IB††093 (FAIL) of time
IB††098 (COMPLETE)

[ b ] Error End
OW††08 = 15 (KPS)
IW††08 = 15 (KPS)
IB††090 (BUSY) Undefined length
IB††093 (FAIL) of time
IB††098 (COMPLETE)

7-65
7 Motion Commands
7.2.15 Change Feed Forward (KFS)

7.2.15 Change Feed Forward (KFS)

The KFS command transfers the setting of the Speed Feed Forward Compensation (motion setting
parameter OW††30) to the Feed Forward in the SERVOPACK and enables the setting.
ΠMECHATROLINK-II has a function that automatically updates setting parameters if a parameter
changes. There is no need to execute the KFS command with this function. For details, refer to bit
A (User Constants Self-Writing Function) in 6.4.1 ( 2 ) Function Selection 1 on page 6-18.

( 1 ) Executing/Operating Procedure

1. Check to see if all the following conditions are satisfied.

No. Execution Conditions Confirmation Method

1 There are no alarms. Both IL††02 and IL††04 are 0.
2 Motion command execution has been completed. IW††08 is 0 and IB††090 is OFF.

2. Set OW††08 to 16 to execute the KFS motion command.

The KFS command will transfer the setting of the Speed Feed Forward Compensation (motion
setting parameter OW††30) to the Feed Forward in the SERVOPACK and enables the set-
ting.
IW††08 will be 16 during command execution.
IB††090 will turn ON during the command processing and will turn OFF when the command
processing has been completed.

3. Set OW††08 to 0 to execute the NOP motion command and then complete the
change of the feed forward.

( 2 ) Holding and Aborting

The Command Pause bit (OB††090) and the Command Abort bit (OB††091) cannot be used.

( 3 ) Related Parameters

[ a ] Setting Parameters

Parameter Name Setting

OW††08 Motion Command The feed forward value is changed when this parameter is set to 16.
OB††090 Command Pause This parameter is ignored for KFS command.
OB††091 Command Abort This parameter is ignored for KFS command.
Speed Feed Forward
OW††30 Set the amount of Servo feed forward (%).
Compensation

7-66
 7.2 Motion Command Details

[ b ] Monitoring Parameters

Parameter Name Monitor Contents

IL††02 Warning Stores the most current warning.
IL††04 Alarm Stores the most current alarm.
Servo Command Indicates the motion command that is being executed.
IW††08
Type Response The response code will be 16 during KFS command execution.
Turns ON during KFS command execution and turns OFF when execution has been
IB††090 Command Executing
completed.
Command Hold
IB††091 Always OFF for KFS command.
Completed
Turns ON if an error occurs during KFS command execution.
IB††093 Command Error End
Turns OFF when another command is executed.
Command Execution
IB††098 Turns ON when KFS command execution has been completed.
Completed

( 4 ) Timing Charts

[ a ] Normal End
OW††08 = 16 (KFS)
IW††08 = 16 (KFS)
IB††090 (BUSY) Undefined length
IB††093 (FAIL) of time
IB††098 (COMPLETE)

[ b ] Error End
OW††08 = 16 (KFS)
IW††08 = 16 (KFS)
IB††090 (BUSY) Undefined length
IB††093 (FAIL) of time
IB††098 (COMPLETE)

7-67
7 Motion Commands
7.2.16 Read SERVOPACK Parameter (PRM_RD)

7.2.16 Read SERVOPACK Parameter (PRM_RD)

The PRM_RD command reads the setting of the SERVOPACK parameter with the specified parame-
ter number and parameter size. It stores the parameter number in Servo Constant Number (monitor-
ing parameter IW††36) and the setting in Servo User Constant (monitoring parameter IL††38).

( 1 ) Executing/Operating Procedure

1. Check to see if all the following conditions are satisfied.

No. Execution Conditions Confirmation Method

1 There are no alarms. Both IL††02 and IL††04 are 0.
2 Motion command execution has been completed. IW††08 is 0 and IB††090 is OFF.

2. Set OW††08 to 17 to execute the PRM_RD motion command.

The PRM_RD command will store the specified parameter number in the Servo Constant
Number (monitoring parameter IW††36) and the parameter setting in Servo User Constant
(monitoring parameter IL††38).
IW††08 will be 17 during command execution.
IB††090 will turn ON during the command processing and will turn OFF when the command
processing has been completed.

3. Set OW††08 to 0 to execute the NOP motion command and then complete the
reading operation.

( 2 ) Holding and Aborting

The Command Pause bit (OB††090) and the Command Abort bit (OB††091) cannot be used.

( 3 ) Related Parameters

[ a ] Setting Parameters
Parameter Name Setting
OW††08 Motion Command The SERVOPACK parameter is read when this parameter is set to 17.
OB††090 Command Pause This parameter is ignored for PRM_RD command.
OB††091 Command Abort This parameter is ignored for PRM_RD command.
OW††50 Servo Constant Number Set the number of the SERVOPACK parameter to be read.
Set the size of the SERVOPACK parameter to be read.
Servo Constant Number
OW††51 Set the size as the number of words.
Size
Example: For 4 bytes, set "2."

7-68
 7.2 Motion Command Details

[ b ] Monitoring Parameters
Parameter Name Monitor Contents
IL††02 Warning Stores the most current warning.
IL††04 Alarm Stores the most current alarm.
Servo Command Type Indicates the motion command that is being executed.
IW††08
Response The response code will be 17 during PRM_RD command execution.
Turns ON during PRM_RD command execution and turns OFF when
IB††090 Command Executing
execution has been completed.
IB††091 Command Hold Completed Always OFF for PRM_RD command.
Turns ON if an error occurs during PRM_RD command execution. Turns OFF
IB††093 Command Error End
when another command is executed.
Command Execution
IB††098 Turns ON when PRM_RD command execution has been completed.
Completed
IW††36 Servo Constant Number Stores the number of the SERVOPACK parameter that was read.
IL††38 Servo User Constant Stores the data of the SERVOPACK parameter that was read.

( 4 ) Timing Charts

[ a ] Normal End
OW††08 = 17 (PRM-RD)
IW††08 = 17 (PRM-RD)
IB††090 (BUSY)
Undefined length
IB††093 (FAIL) of time
IB††098 (COMPLETE)

[ b ] Error End
OW††08 = 17 (PRM-RD)
IW††08 = 17 (PRM-RD)
IB††090 (BUSY)
Undefined length
IB††093 (FAIL) of time
IB††098 (COMPLETE)

7-69
7 Motion Commands
7.2.17 Write SERVOPACK Parameter (PRM_WR)

7.2.17 Write SERVOPACK Parameter (PRM_WR)

The PRM_WR command writes the setting value the relevant SERVOPACK parameter using the
specified SERVOPACK parameter number, parameter size, and setting data.

( 1 ) Executing/Operating Procedure

1. Check to see if all the following conditions are satisfied.

No. Execution Conditions Confirmation Method

1 There are no alarms. Both IL††02 and IL††04 are 0.
2 Motion command execution has been completed. IW††08 is 0 and IB††090 is OFF.

2. Set OW††08 to 18 to execute the PRM_WR motion command.

The SERVOPACK parameter will be written.
IW††08 will be 18 during command execution.
IB††090 will turn ON during the command processing and will turn OFF when the command
processing has been completed.

3. Set OW††08 to 0 to execute the NOP motion command and then complete the
writing operation.

( 2 ) Holding and Aborting

The Command Pause bit (OB††090) and the Command Abort bit (OB††091) cannot be used.

( 3 ) Related Parameters

[ a ] Setting Parameters

Parameter Name Setting

OW††08 Motion Command The SERVOPACK parameter is written when this parameter is set to 18.
OB††090 Command Pause This parameter is ignored for PRM_WR command.
OB††091 Command Abort This parameter is ignored for PRM_WR command.
Servo Constant
OW††50 Set the number of the SERVOPACK parameter to be written.
Number
Set the size of the SERVOPACK parameter to be written.
OW††51 Servo Constant Size Set the size as the number of words.
Example: For 4 bytes, set "2."
OL††52 Servo User Constant Set the data to be set to the SERVOPACK parameter to be written.

7-70
 7.2 Motion Command Details

[ b ] Monitoring Parameters

Parameter Name Monitor Contents

IL††02 Warning Stores the most current warning.
IL††04 Alarm Stores the most current alarm.
Servo Command Indicates the motion command that is being executed.
IW††08
Type Response The response code will be 18 during PRM_WR command execution.
Turns ON during PRM_WR command execution and turns OFF when execution has
IB††090 Command Executing
been completed.
Command Hold
IB††091 Always OFF for PRM_WR command.
Completed
Turns ON if an error occurs during PRM_WR command execution.
IB††093 Command Error End
Turns OFF when another command is executed.
Command Execution
IB††098 Turns ON when PRM_WR command execution has been completed.
Completed

( 4 ) Timing Charts

[ a ] Normal End
OW††08 = 18 (PRM-WR)
IW††08 = 18 (PRM-WR)
IB††090 (BUSY) Undefined length
IB††093 (FAIL) of time
IB††098 (COMPLETE)

[ b ] Error End
OW††08 = 18 (PRM-WR)
IW††08 = 18 (PRM-WR)
IB††090 (BUSY)
Undefined length
IB††093 (FAIL) of time
IB††098 (COMPLETE)

7-71
7 Motion Commands
7.2.18 Monitor SERVOPACK Alarms (ALM_MON)

7.2.18 Monitor SERVOPACK Alarms (ALM_MON)

The ALM_MON command reads the alarm or warning that has occurred in the SERVOPACK and
stores it in Servo Alarm Code (monitoring parameter IW††2D).

( 1 ) Executing/Operating Procedure

1. Check to see if all the following conditions are satisfied.

No. Execution Conditions Confirmation Method

1 Motion command execution has been completed. IW††08 is 0 and IB††090 is OFF.

2. Set OW††08 to 19 to execute the ALM_MON motion command.

The ALM_MON command will read the alarm or warning that has occurred in the SERVO-
PACK and store it in Servo Alarm Code (monitoring parameter IW††2D).
IW††08 will be 19 during command execution.
IB††090 will turn ON during the command processing and will turn OFF when the command
processing has been completed.

3. Set OW††08 to 0 to execute the NOP motion command and then complete the
monitoring operation.

( 2 ) Holding and Aborting

The Command Pause bit (OB††090) and the Command Abort bit (OB††091) cannot be used.

( 3 ) Related Parameters

[ a ] Setting Parameters

Parameter Name Setting

OW††08 Motion Command Alarms are monitored when this parameter is set to 19.
OB††090 Command Pause This parameter is ignored for ALM_MON command.
OB††091 Command Abort This parameter is ignored for ALM_MON command.
Servo Alarm Monitor
OW††4F Set the number of the alarm to be monitored.
Number

[ b ] Monitoring Parameters

Parameter Name Monitor Contents

IL††02 Warning Stores the most current warning.
IL††04 Alarm Stores the most current alarm.
Servo Command Indicates the motion command that is being executed.
IW††08
Type Response The response code will be 19 during ALM_MON command execution.
Turns ON during ALM_MON command execution and turns OFF when execution has
IB††090 Command Executing
been completed.
Command Hold
IB††091 Always OFF for ALM_MON command.
Completed
Turns ON if an error occurs during ALM_MON command execution.
IB††093 Command Error End
Turns OFF when another command is executed.
Command Execution
IB††098 Turns ON when ALM_MON command execution has been completed.
Completed
IW††2D Servo Alarm Code Stores the SERVOPACK alarm or warning code that was read.

7-72
 7.2 Motion Command Details

( 4 ) Timing Charts

[ a ] Normal End
OW††08 = 19 (ALM-MON)
IW††08 = 19 (ALM-MON)
IB††090 (BUSY) Undefined length
IB††093 (FAIL) of time
IB††098 (COMPLETE)
IW††2D
Alarm code (0) Specified Alarm code (0)
alarm code

[ b ] Error End
OW††08 = 19 (ALM-MON)
IW††08 = 19 (ALM-MON)
IB††090 (BUSY)
Undefined length
IB††093 (FAIL) of time
IB††098 (COMPLETE)
IW††2D
Alarm code (0) Alarm code Alarm code (0)
(0)

7.2.19 Monitor SERVOPACK Alarm History (ALM_HIST)

The ALM_HIST command reads the alarm history that is stored in the SERVOPACK and stores it in
Servo Alarm Code (monitoring parameter IW††2D).

( 1 ) Executing/Operating Procedure

1. Check to see if all the following conditions are satisfied.

No. Execution Conditions Confirmation Method

1 Motion command execution has been completed. IW††08 is 0 and IB††090 is OFF.

2. Set OW††08 to 20 to execute the ALM_HIST motion command.

The ALM_HIST command will read the alarm history that is stored in the SERVOPACK and
store it in Servo Alarm Code (monitoring parameter IW††2D).
IW††08 will be 20 during command execution.
IB††090 will turn ON during the command processing and will turn OFF when the command
processing has been completed.

3. Set OW††08 to 0 to execute the NOP motion command and then complete the
monitoring operation.

7-73
7 Motion Commands
7.2.19 Monitor SERVOPACK Alarm History (ALM_HIST)

( 2 ) Holding and Aborting

The Command Pause bit (OB††090) and the Command Abort bit (OB††091) cannot be used.

( 3 ) Related Parameters

[ a ] Setting Parameters

Parameter Name Setting

OW††08 Motion Command The alarm history is monitored when this parameter is set to 20.
OB††090 Command Pause This parameter is ignored for ALM_HIST command.
OB††091 Command Abort This parameter is ignored for ALM_HIST command.
Servo Alarm Monitor
OW††4F Set the number of the alarm to be monitored.
Number

[ b ] Monitoring Parameters

Parameter Name Monitor Contents

IL††02 Warning Stores the most current warning.
IL††04 Alarm Stores the most current alarm.
Servo Command Indicates the motion command that is being executed.
IW††08
Type Response The response code will be 20 during ALM_HIST command execution.
Turns ON during ALM_HIST command execution and turns OFF when execution has
IB††090 Command Executing
been completed.
Command Hold
IB††091 Always OFF for ALM_HIST command.
Completed
Turns ON if an error occurs during ALM_HIST command execution.
IB††093 Command Error End
Turns OFF when another command is executed.
Command Execution
IB††098 Turns ON when ALM_HIST command execution has been completed.
Completed
IW††2D Servo Alarm Code Stores the SERVOPACK alarm code that was read.

7-74
 7.2 Motion Command Details

( 4 ) Timing Charts

[ a ] Normal End

OW††08 = 20 (ALM-HIST)
IW††08 = 20 (ALM-HIST)
IB††090 (BUSY)
Undefined length
IB††093 (FAIL) of time
IB††098 (COMPLETE)
IW††2D
Alarm code (0) Specified Alarm code (0)
alarm code

[ b ] Error End

OW††08 = 20 (ALM-HIST)
IW††08 = 20 (ALM-HIST)
IB††090 (BUSY)
Undefined length
IB††093 (FAIL) of time
IB††098 (COMPLETE)
IW††2D
Alarm code (0) Alarm Alarm code (0)
code (0)

7.2.20 Clear SERVOPACK Alarm History (ALMHIST_CLR)

The ALMHIST_CLR command clears the alarm history in the SERVOPACK.

( 1 ) Executing/Operating Procedure

1. Check to see if all the following conditions are satisfied.

No. Execution Conditions Confirmation Method

1 Motion command execution has been completed. IW††08 is 0 and IB††090 is OFF.

2. Set OW††08 to 21 to execute the ALMHIST_CLR motion command.

The ALMHIST_CLR command will clear the alarm history stored in the SERVOPACK.
IW††08 will be 21 during command execution.
IB††090 will turn ON during the command processing and will turn OFF when the command
processing has been completed.

3. Set OW††08 to 0 to execute the NOP motion command and then clear the alarm
history.

( 2 ) Holding and Aborting

The Command Pause bit (OB††090) and the Command Abort bit (OB††091) cannot be used.

7-75
7 Motion Commands
7.2.20 Clear SERVOPACK Alarm History (ALMHIST_CLR)

( 3 ) Related Parameters

[ a ] Setting Parameters

Parameter Name Setting

OW††08 Motion Command The alarm history is cleared when this parameter is set to 21.
OB††090 Command Pause This parameter is ignored for ALMHIST_CLR command.
OB††091 Command Abort This parameter is ignored for ALMHIST_CLR command.

[ b ] Monitoring Parameters

Parameter Name Monitor Contents

IL††02 Warning Stores the most current warning.
IL††04 Alarm Stores the most current alarm.
Servo Command Indicates the motion command that is being executed.
IW††08
Type Response The response code will be 21 during ALMHIST_CLR command execution.
Turns ON during ALMHIST_CLR command execution and turns OFF when execution
IB††090 Command Executing
has been completed.
Command Hold
IB††091 Always OFF for ALMHIST_CLR command.
Completed
Turns ON if an error occurs during ALMHIST_CLR command execution.
IB††093 Command Error End
Turns OFF when another command is executed.
Command Execution
IB††098 Turns ON when ALMHIST_CLR command execution has been completed.
Completed

( 4 ) Timing Charts

[ a ] Normal End

OW††08 = 21 (ALMHIST_CLR)
IW††08 = 21 (ALMHIST_CLR)
IB††090 (BUSY)
Undefined length
IB††093 (FAIL) of time
IB††098 (COMPLETE)
IW††2D
Alarm code (0) Specified Alarm code (0)
alarm code

[ b ] Error End

OW††08 = 21 (ALMHIST_CLR)
IW††08 = 21 (ALMHIST_CLR)
IB††090 (BUSY)
Undefined length
IB††093 (FAIL) of time
IB††098 (COMPLETE)
IW††2D
Alarm code (0) Alarm Alarm code (0)
code (0)

7-76
 7.2 Motion Command Details

7.2.21 Reset Absolute Encoder (ABS_RST)

The ABS_RST command resets the multiturn data in the absolute encoder to 0. If an Encoder Backup
Alarm (A.810) or Encoder Checksum Alarm (A.820) occurs when the ABS_RST command is exe-
cuted, the encoder will be reset.
The ABS_RST command can be executed to reset the multiturn data in the absolute encoder to 0
when these alarms occur or when the machine is being used for the first time.
Œ The ABS_RST command is valid for Σ-II and Σ-III Series SERVOPACKs. A command error will
occur if the ABS_RST command is executed for a Σ Series SERVOPACK. A command error will
also occur if the ABS_RST command is executed when an incremental encoder is being used
(even if it is being used as an absolute encoder).

( 1 ) Executing/Operating Procedure

1. Check to see if all the following conditions are satisfied.

No. Execution Conditions Confirmation Method

Communication with the SERVOPACK must be
1 IB††000 is ON.
synchronized.
2 The Servo OFF condition. IB††001 is OFF.
3 Motion command execution has been completed. IW††08 is 0, and IB††090 is OFF.

2. Set OW††08 to 22 to execute the ABS_RST motion command.

The ABS_RST command will clear any alarms that have occurred and resets the multiturn data
in the absolute encoder to 0.
IW††08 will be 22 and IBxx090 will turn ON during command processing.
IB††090，IB††093，and IB††000 will turn OFF and IB††097 will turn ON when the
command processing has been completed.

3. Set OW††08 to 0 to execute the NOP motion command to initialize the absolute
encoder.
ΠWhen the absolute encoder has been reset, communication will be disconnected between the
Machine Controller and the SERVOPACK. The zero point setting completed and zero point return
completed status will thus be cleared. Use the Clear Alarm bit (0B††00F) after executing the
ABS_RST command, re-establish communication, and then execute the ZRET or ZSET com-
mand.
ΠIf the ABS_RST command is executed while an A.81 alarm occurs, the alarm clear operation will
have to be performed twice before communication can be synchronized again.

( 2 ) Holding and Aborting

The Command Pause bit (OB††090) and the Command Abort bit (OB††091) cannot be used.
Processing will be canceled if a communication error occurs while the command is being executed
and a command error end will occur.

7-77
7 Motion Commands
7.2.21 Reset Absolute Encoder (ABS_RST)

( 3 ) Related Parameters

[ a ] Setting Parameters

Parameter Name Setting

Turn the power to the Servomotor ON and OFF.
OB††000 Servo ON 1: Power ON to Servomotor; 0: Power OFF to Servomotor
Turn OFF the power before setting the Motion Command (OW††08) to 22.
Starts resetting the absolute encoder when this parameter is set to 22.
OW††08 Motion Command Even if this parameter is set to 0 during command processing, it will be ignored and
execution will be continued.
OB††090 Command Pause This parameter is ignored for the ABS_RST command.
OB††091 Command Abort This parameter is ignored for the ABS_RST command.

[ b ] Monitoring Parameters

Parameter Name Monitor Contents

Motion Controller Indicates the communication status between the Machine Controller and SERVOPACK.
IB††000
Operation Ready ON: Communication synchronized, OFF: Communication disconnected
Indicates the Servo ON status.
IB††001 Servo ON
ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor
IL††02 Warning Stores the most current warning.
IL††04 Alarm Stores the most current alarm.
Servo Command Indicates the motion command that is being executed.
IW††08
Type Response The response code will be 22 during ABS_RST command execution.
Turns ON during ABS_RST command execution and turns OFF when execution has
IB††090 Command Executing
been completed.
Command Hold
IB††091 Always OFF for the ABS_RST command.
Completed
Turns ON if an error, such as a communication error, occurs during ABS_RST
Command Error
IB††093 command execution.
Occurrence
Command execution will be canceled.
Absolute Encoder
IB††097 Turns ON when resetting the absolute encoder has been completed.
Reset Completed
Command Execution
IB††098 Turns ON when ABS_RST command execution has been completed.
Completed

7-78
 7.2 Motion Command Details

( 4 ) Timing Charts

[ a ] Normal End
OW††08 = 22 (ABS_RST)

IW††08 = 22 (ABS_RST)

IB††090 (BUSY)
Undefined length of
IB††093 (FAIL) time (approx. 2 s)

IB††097 (ABS_RSTC)

IB††098 (COMPLETE)

IB††000 (SVCRDY)
Undefined length of time

[ b ] Error End

OW††08 = 22 (ABS_RST)

IW††08 = 22 (ABS_RST)

IB††090 (BUSY)
Undefined length
IB††095 (FAIL) of time

IB††097 (ABS_RSTC)

IB††098 (COMPLETE)

IB††000 (SVCRDY)

7-79
7 Motion Commands
7.2.22 Speed Reference (VELO)

7.2.22 Speed Reference (VELO) R

With the MECHATROLINK-II, the VELO command is used to operate the SERVOPACK in the
speed control mode for the same type of operation as when using the analog speed reference input of
the SERVOPACK.
ΠThe VELO command is stipulated in MECHATROLINK-II command specifications and cannot be
used for MECHATROLINK-I.

( 1 ) Executing/Operating Procedure
1. Check to see if all the following conditions are satisfied.

No. Execution Conditions Confirmation Method

1 There are no alarms. Both IL††02 and IL††04 are 0.
2 Motion command execution has been completed. IW††08 is 0 and IB††090 is OFF.

2. Set the following motion setting parameters.

Speed Reference setting: OL††10
Torque Limit setting: OL††14
Acceleration/Deceleration Filter Type: OW††03
Speed Loop P/PI Switch: OW††01
Œ The speed reference bit OL††10 can be changed during operation.
ΠAn override of between 0% to 327.67% can be set for the reference speed.

3. Set OW††08 to 23 to execute the VELO motion command.

The control mode in the SERVOPACK will be switched to speed control.
IW††08 will be 23 during command execution.
ΠThis command can be executed even when the Servo is OFF.
ΠPosition management using the position feedback is possible during operation with speed
control mode.

4. Execute another motion command to cancel the speed control mode.

VELO Operating Pattern
Speed (%)

0
Time (t)

( 2 ) Holding
Holding execution is not possible during VELO command operation. The Command Pause bit
(OB††090) is ignored.

7-80
 7.2 Motion Command Details

( 3 ) Aborting
The speed control mode can be canceled by aborting execution of a command. A command is
aborted by setting the Command Abort bit (OB††091) to 1.
• Set the Command Abort bit (OB††091) to 1. The axis will decelerate to a stop. The abort
processing will be completed when the axis has decelerated to a stop.
• The speed control mode operation will restart if the Command Abort bit (OB††091) is
reset to 0 during abort processing.
• This type of operation will also be performed if the motion command is changed during
operation with speed control mode.

( 4 ) Related Parameters

[ a ] Setting Parameters

Parameter Name Setting SVR

Turn the power to the Servomotor ON and OFF.
1: Power ON to Servomotor, 0: Power OFF to Servomotor
OB††000 Servo ON R
Moter will start to rotate when this bit is set to 1 under the speed control data
mode.
Switch the speed control loop between PI control and P control.
OB††013 Speed Loop P/PI Switch −
0: PI control, 1: P control
OW††03 Function 1 Set the speed unit, acceleration/deceleration unit, and filter type. R
OW††08 Motion Command The mode is changed to speed control mode when this parameter is set to 23. R
The axis will decelerate to a stop if this bit is set to 1 during speed command
operation.
OB††090 Command Pause R
The positioning operation will restart if this bit is set to 0 while the command
is being held.
OB††091 Command Abort The axis will decelerate to a stop if this bit is set to 1 during operation. R
Specify the speed. This setting can be changed during operation.
OL††10 Speed Reference R
The unit depends on the setting of the Function 1 (OW††03).
Positive Side Limiting
Set the torque limit for the speed reference. The same value is used for both
OL††14 Torque Setting at the −
the positive and negative directions.
Speed Reference
This parameter allows the motor speed to be changed without changing the
Speed Reference (OL††10).
Set the speed as a percentage of the Speed Reference Setting. This setting can
OW††18 Speed Override −
be changed during operation.
Setting range: 0 to 32767 (0% to 327.67%) Setting unit: 1 = 0.01%
Example: Setting for 50%: 5000
OL††36 Linear Acceleration Time Set the rate of acceleration or acceleration time for positioning. R
OL††38 Linear Deceleration Time Set the rate of deceleration or deceleration time for positioning. R
Set the acceleration/deceleration filter time constant. Exponential
acceleration/deceleration or a moving average filter can be selected in the
S-Curve Acceleration
OW††3A Function 1 (OW††03). R
Time
Change the setting only after pulse distribution has been completed for the
command (IB††0C0 is ON).

7-81
7 Motion Commands
7.2.22 Speed Reference (VELO)

[ b ] Monitoring Parameters

Parameter Name Monitor Contents SVR

Indicates the Servo ON status.
IB††001 Servo ON R
ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor
IL††02 Warning Stores the most current warning. R
IL††04 Alarm Stores the most current alarm. R
Servo Command Type Indicates the motion command that is being executed.
IW††08 R
Response The response code will be 23 during VELO command execution.
Turns ON when abort processing is being performed for VELO command. Turns
IB††090 Command Executing R
OFF when abort processing has been completed.
Command Hold
IB††091 Always OFF for VELO command. R
Completed
Turns ON if an error occurs during VELO command execution.
IB††093 Command Error End The axis will decelerate to a stop if it is operating. Turns OFF when another R
command is executed.
Command Execution
IB††098 Always OFF for VELO command. R
Completed
Distribution Turns ON when pulse distribution has been completed for the move command.
IB††0C0 R
Completed Turns OFF during execution of a move command.
Turns ON when pulse distribution has been completed and the current position is
IB††0C1 Positioning Completed R
within the positioning completed width. OFF in all other cases.
The operation of this bit depends on the setting of Positioning Completed Width 2
(setting parameter OL††20).
OL††20 = 0: Turns ON when pulse distribution has been completed (DEN =
ON). Otherwise, it turns OFF.
IB††0C3 Position Proximity R
OL††20 ≠ 0: Turns ON when the absolute value of the difference between
MPOS and APOS is less than the Position Completed Width 2,
even if pulse distribution has not been completed.
OFF in all other cases.

( 5 ) Timing Charts

[ a ] Normal Execution

OW††08 = 23 (VELO)
IW††08 = 23 (VELO)
IB††090 (BUSY)
IB††093 (FAIL)
IB††098 (COMPLETE)
IB††0C0 (DEN)

1 scan

7-82
 7.2 Motion Command Details

[ b ] Execution when Aborted

OW††08 = 23 (VELO)
OB††091 (ABORT)
IW††08 = 23 (VELO)
IB††090 (BUSY)
IB††093 (FAIL)
IB††098 (COMPLETE)
IB††0C0 (DEN)
Speed Control Mode Position Control Mode

[ c ] Execution when Aborting by Changing the Command

OW††08 = 23 (VELO)
IW††08 = 23 (VELO)
IB††090 (BUSY)
IB††093 (FAIL)
IB††098 (COMPLETE)
IB††0C0 (DEN)
Speed Control Mode Position Control Mode

[ d ] Command Hold

OW††08=23 (VELO)
OW††09.bit0 (HOLD)
IW††08=23 (VELO)
IW††09.bit0 (BUSY)
IW††09.bit1 (HOLDL)
IW††09.bit3 (FAIL)
IW††09.bit8 (COMPLETE)
IW††0C.bit0 (DEN)

1scan
Speed Control Mode Position Control Mode

7-83
7 Motion Commands
7.2.23 Torque Reference (TRQ)

[ e ] Execution when an Alarm Occurs

OW††08
IW††08
IB††090 (BUSY)
IB††093 (FAIL)
IB††098 (COMPLETE)
IB††0C0 (DEN)

1 scan
Alarm

7.2.23 Torque Reference (TRQ) R

With the MECHATROLINK-II, the TRQ command is used to operate the SERVOPACK in the
torque control mode for the same type of operation as when using the analog torque reference input
of the SERVOPACK.
ΠThe TRQ command is stipulated in MECHATROLINK-II command specifications and cannot be
used for MECHATROLINK-I.

( 1 ) Executing/Operating Procedure

1. Check to see if all the following conditions are satisfied.

No. Execution Conditions Confirmation Method

1 There are no alarms. Both IL††02 and IL††04 are 0.
2 Motion command execution has been completed. IW††08 is 0 and IB††090 is OFF.

2. Set the following motion setting parameters.

Torque/Thrust Reference Setting: OL††0C
Speed Limit Setting: OL††0E
Acceleration/Deceleration Filter Type: OW††03
Speed Loop P/PI Switch: OW††01
Œ The torque/thrust reference bit OL††0C can be changed during operation.

3. Set OW††08 to 24 to execute the TRQ motion command.

The control mode in the SERVOPACK will be changed to torque control.
IW††08 will be 24 during command execution.
ΠThis command can be executed even when the Servo is OFF.
ΠPosition management using the position feedback is possible during operation with torque
control mode.

7-84
 7.2 Motion Command Details

4. Execute another motion command to cancel the torque control mode.

TRQ Operating Pattern

Torque

0 Time (t)

( 2 ) Holding
Holding execution is not possible during TRQ command operation. The Command Pause bit
(OB††090) is ignored.

( 3 ) Aborting
The torque control mode can be canceled by aborting execution of a command. A command is
aborted by setting the Command Abort bit (OB††091) to 1.
• Set the Command Abort bit (OB††091) to 1. The axis will decelerate to a stop. The abort
processing will be completed when the axis has decelerated to a stop.
• The torque control mode operation will restart if the Command Abort bit (OB††091) is
reset to 0 during abort processing.
• This type of operation will also be performed if the motion command is changed during
operation with torque control mode.

7-85
7 Motion Commands
7.2.23 Torque Reference (TRQ)

( 4 ) Related Parameters

[ a ] Setting Parameters

Parameter Name Setting SVR

Turn the power to the Servomotor ON and OFF.
1: Power ON to Servomotor, 0: Power OFF to Servomotor
OB††000 Servo ON R
Motor torque will start to rotate when the Servo is turned ON after switching to
Torque Control Mode.
Speed Loop P/PI Switch the speed control loop between PI control and P control.
OB††013 −
Switch 0: PI control, 1: P control
OW††03 Function 1 Set the speed unit, acceleration/deceleration unit, and filter type. R
OW††08 Motion Command The mode is changed to torque control when this parameter is set to 24. R
The axis will decelerate to a stop if this bit is set to 1 during speed command
operation.
OB††090 Command Pause R
The positioning operation will restart if this bit is set to 0 while the command is
being held.
OB††091 Command Abort A deceleration stop is performed when this bit set to 1 during operation. R
Set the torque reference. This setting can be changed during operation.
OL††0C Torque Reference R
The unit depends on the Function 1 (OW††03).
Speed Limit at Torque Set the speed limit for torque references. The speed limit is set as a percentage of
OL††0E −
Reference the rated speed.
Linear Deceleration
OL††38 Set the rate of deceleration or deceleration time for positioning. R
Time
Set the acceleration/deceleration filter time constant. Exponential acceleration/
deceleration or a moving average filter can be selected in the Function 1
S-Curve Acceleration
OW††3A (OW††03). R
Time
Change the setting only after pulse distribution has been completed for the
command (IB††0C0 is ON).

[ b ] Monitoring Parameters

Parameter Name Monitor Contents SVR

Indicates the Servo ON status.
IB††001 Servo ON R
ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor
IL††02 Warning Stores the most current warning. R
IL††04 Alarm Stores the most current alarm. R
Servo Command Indicates the motion command that is being executed.
IW††08 R
Type Response The response code will be 24 during TRQ command execution.
Turns ON when abort processing is being performed for TRQ command. Turns
IB††090 Command Executing R
OFF when abort processing has been completed.
Command Hold
IB††091 Always OFF for TRQ command. R
Completed
Turns ON if an error occurs during TRQ command execution.
IB††093 Command Error End The axis will decelerate to a stop if it is operating. Turns OFF when another R
command is executed.
Command Execution
IB††098 Always OFF for TRQ command. R
Completed
Distribution Turns ON when pulse distribution has been completed for the move command.
IB††0C0 R
Completed Turns OFF during execution of a move command.
Positioning Turns ON when pulse distribution has been completed and the current position is
IB††0C1 R
Completed within the positioning completed width. OFF in all other cases.

7-86
 7.2 Motion Command Details

(cont’d)
Parameter Name Monitor Contents SVR
The operation of this bit depends on the setting of Positioning Completed Width
2 (setting parameter OL††20).
OL††20 = 0: Turns ON when pulse distribution has been completed (DEN =
ON). Otherwise, it turns OFF.
IB††0C3 Position Proximity R
OL††20 ≠ 0: Turns ON when the absolute value of the difference between
MPOS and APOS is less than the Position Completed Width 2,
even if pulse distribution has not been completed.
OFF in all other cases.

( 5 ) Timing Charts

[ a ] Normal Execution

OW††08 = 24 (TRQ)
IW††08 = 24 (TRQ)
IB††090 (BUSY)
IB††093 (FAIL)
IB††098 (COMPLETE)
IB††0C0 (DEN)

1 scan

[ b ] Executed when Aborted

OW††08 = 24 (TRQ)
OB††091 (ABORT)
IW††08 = 24 (TRQ)
IB††090 (BUSY)
IB††093 (FAIL)
IB††098 (COMPLETE)
IB††0C0 (DEN)
IB††0C1 (POSCOMP) Torque Control Mode Position Control Mode

1 scan

7-87
7 Motion Commands
7.2.23 Torque Reference (TRQ)

[ c ] Command Hold

OW††08=24 (TRQ)
OW††09.bit0 (HOLD)
IW††08=24 (TRQ)
IW††09.bit0 (BUSY)
IW††09.bit1 (HOLDL)
IW††09.bit3 (FAIL)
IW††09.bit8 (COMPLETE)
IW††0C.bit0 (DEN)

1scan Torque Control Mode Position Control Mode

[ d ] Execution when an Alarm Occurs

OW††08 = 24 (TRQ)
IW††08 = 24 (TRQ)
IB††090 (BUSY)
IB††093 (FAIL)
IB††098 (COMPLETE)
IB††0C0 (DEN)
IB††0C1 (POSCOMP)

1 scan Undefined length of time

Alarm
Torque Control Mode Position Control Mode

7-88
 7.2 Motion Command Details

7.2.24 Phase References (PHASE) R

The PHASE command is used for the synchronized operation of multiple axes under phase control
mode, using the specified speed, phase bias, and speed compensation value.
ΠSpeed feed forward control cannot be used for the SGD-N or SGDB-N SERVOPACK, so the
PHASE command cannot be used.

( 1 ) Executing/Operating Procedure

1. Check to see if all the following conditions are satisfied.

No. Execution Conditions Confirmation Method

1 There are no alarms. Both IL††02 and IL††04 are 0.
2 The Servo ON condition. IB††001 is ON.
3 Motion command execution has been completed. IW††08 is 0 and IB††090 is OFF.

2. Set the following motion setting parameters.

Speed Reference Setting: OL††10
Acceleration/Deceleration Filter Type: OW††03
Speed Loop P/PI Switch: OW††01
Phase Bias Setting: OL††28
Speed Amends: OW††31
Œ The speed reference bit OL††10 can be changed during operation.
ΠOffset in the sync between the axes can be compensated from the Phase Compensation bit
0L††28.

3. Set OW††08 to 25 to execute the PHASE motion command.

Sync operation using phase control will start.
IW††08 will be 25 during the execution.
ΠA command can be executed while the servo is ON.
ΠPosition management using the position feedback is possible during operation with torque
control mode.

4. Execute another motion command to cancel the phase control mode.

PHASE Operating Pattern

Speed (%)

Position

0
Time (t)

7-89
7 Motion Commands
7.2.24 Phase References (PHASE)

( 2 ) Holding and Aborting

The Command Pause bit (OB††090) and the Command Abort bit (OB††091) cannot be used.

( 3 ) Related Parameters
[ a ] Setting Parameters

Parameter Name Setting SVR

Turns the power to the Servomotor ON and OFF.
OB††000 Servo ON 1: Power ON to Servomotor, 0: Power OFF to Servomotor R
Turn ON the power before setting the Motion Command Code (OW††08) to 25.
OW††03 Function 1 Sets the speed unit, acceleration/deceleration unit, and filter type. R
Disables/enables phase reference generation processing when executing phase
Disable Phase reference commands. This parameter enables setting processing appropriate to an
OB††051 Reference electronic shaft or electronic cam. −
Generation ΠEnable this processing when an electronic shaft is being used, and
disable it when an electronic cam is being used.
OW††08 Motion Command Phase control operation is started when this parameter is set to 25. R
Set the speed reference. The setting can be changed during operation.
OL††10 Speed Reference R
The unit depends on the Function 1 setting (OW††03).
Set the speed feed forward amount for the Phase Reference command (PHASE).
Secondary Speed The setting unit for Speed Amends (setting parameter OW††31) is 0.01%
OL††16 R
Compensation (fixed).The unit for this parameter, however, can be selected by the user. When used
at the same time as OW††31, speed compensation can be performed twice.
Set the phase compensation in reference units.
• Set the number of pulses for phase compensation in pulses when an electronic
Phase
OL††28 shaft is being used. −
Compensation
• Use the incremental addition mode to calculate the cam pattern target position
when an electronic cam is being used.
Set the speed feed forward gain as a percentage of the rated speed.
OW††31 Speed Amends R
The setting units for this parameter is 0.01% (fixed).
Set the acceleration/deceleration filter time constant. Exponential acceleration/
S-Curve deceleration or a moving average filter can be selected in OW††03.
OW††3A R
Acceleration Time Change the setting only after pulse distribution has been completed for the
command (IB††0C0 is ON).

7-90
 7.2 Motion Command Details

[ b ] Monitoring Parameters

Parameter Name Monitor Contents SVR

Indicates the Servo ON status.
IB††001 Servo ON R
ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor
IL††02 Warning Stores the most current warning. R
IL††04 Alarm Stores the most current alarm. R
Servo Command Type Indicates the motion command that is being executed.
IW††08 R
Response The response code will be 25 during PHASE command execution.
IB††090 Command Executing Always OFF for PHASE command. R
IB††091 Command Hold Completed Always OFF for PHASE command. R
Turns ON if an error occurs during PHASE command execution.
IB††093 Command Error End The axis will decelerate to a stop if it is moving. Turns OFF when another R
command is executed.
Command Execution
IB††098 Always OFF for PHASE command. R
Completed
Turns ON when pulse distribution has been completed for the move
IB††0C0 Distribution Completed command. R
Turns OFF during execution of a move command.
Turns ON when pulse distribution has been completed and the current
IB††0C1 Positioning Completed R
position is within the positioning completed width. OFF in all other cases.
The operation of this bit depends on the setting of Positioning Completed
Width 2 (setting parameter OL††20).
OL††20 = 0: Turns ON when pulse distribution has been completed
(DEN = ON). Otherwise, it turns OFF.
IB††0C3 Position Proximity OL††20 ≠ 0: Turns ON when the absolute value of the difference R
between MPOS and APOS is less than the Position
Completed Width 2, even if pulse distribution has not been
completed.
OFF in all other cases.

7-91
7 Motion Commands
7.2.24 Phase References (PHASE)

( 4 ) Timing Charts

[ a ] Normal Execution
The Target Position is automatically refreshed every scan.

OW††08 = 25 (PHASE)

IW††08 = 25 (PHASE)
IB††090 (BUSY)
IB††093 (FAIL)
IB††098 (COMPLETE)
IB††0C0 (DEN)

IB††0C1 (POSCOMP)

1 scan Undefined length of time

[ b ] Execution when Aborted

The Speed Reference is automatically refreshed every scan.

OW††08=25 (PHASE)

IW††08=25 (PHASE)

IW††09.bit0 (BUSY)

IW††09.bit3 (FAIL)

IW††09.bit8 (COMPLETE)

IW††0C.bit0 (DEN)

IW††0C.bit1 (POSCOMP)

1scan Undefined length of time

[ c ] Execution when an Alarm Occurs

OW††08 = 25 (PHASE)

Alarm
IW††08 = 25 (PHASE)
IB††090 (BUSY)
IB††093 (FAIL)
IB††098 (COMPLETE)
IB††0C0 (DEN)
IB††0C1 (POSCOMP)

1 scan Undefined length of time

7-92
 7.2 Motion Command Details

7.2.25 Change Position Loop Integration Time Constant (KIS)

The KIS command transfers the setting of the Position Integration Time Constant (motion setting
parameter OW††32) to the Position Loop Integration Time Constant in the SERVOPACK and
enables the setting.
ΠMECHATROLINK-II has a function that automatically updates setting parameters if a parameter
changes. There is no need to execute the KIS command with this function. For details, refer to bit
A (User Constants Self-Writing Function) in 6.4.1 ( 2 ) Function Selection 1 on page 6-18.

( 1 ) Executing/Operating Procedure

1. Check to see if all the following conditions are satisfied.

No. Execution Conditions Confirmation Method

1 There are no alarms. Both IL††02 and IL††04 are 0.
2 Motion command execution has been completed. IW††08 is 0 and IB††090 is OFF.

2. Set OW††08 to 26 to execute the KIS motion command.

The KIS command will transfer the setting of the Position Integration Time Constant (motion
setting parameter OW††32) to the Position Loop Integration Time Constant in the SERVO-
PACK and enables the setting.
IW††08 will be 26 during command execution.
IB††090 will turn ON during the command processing and will turn OFF when the command
processing has been completed.

3. Set OW††08 to 0 to execute the NOP motion command and then complete the
change of the position loop integration time.

( 2 ) Holding and Aborting

The Command Pause bit (OB††090) and the Command Abort bit (OB††091) cannot be used.

( 3 ) Related Parameters

[ a ] Setting Parameters

Parameter Name Setting

OW††08 Motion Command The feed forward is changed when this parameter is set to 26.
OB††090 Command Pause This parameter is ignored for KIS command.
OB††091 Command Abort This parameter is ignored for KIS command.
Position Integration
OW††32 Set the integration time constant for the position loop in milliseconds.
Time Constant

7-93
7 Motion Commands
7.2.25 Change Position Loop Integration Time Constant (KIS)

[ b ] Monitoring Parameters

Parameter Name Monitor Contents

IL††02 Warning Stores the most current warning.
IL††04 Alarm Stores the most current alarm.
Servo Command Indicates the motion command that is being executed.
IW††08
Type Response The response code will be 26 during KIS command execution.
Turns ON during KIS command execution and turns OFF when execution has been
IB††090 Command Executing
completed.
Command Hold
IB††091 Always OFF for KIS command.
Completed
Turns ON if an error occurs during KIS command execution.
IB††093 Command Error End
Turns OFF when another command is executed.
Command Execution
IB††098 Turns ON when KIS command execution has been completed.
Completed

( 4 ) Timing Charts

[ a ] Normal End

OW††08 = 26 (KIS)
IW††08 = 26 (KIS)
IB††090 (BUSY)
Undefined length
IB††093 (FAIL) of time
IB††098 (COMPLETE)

[ b ] Error End

OW††08 = 26 (KIS)
IW††08 = 26 (KIS)
IB††090 (BUSY) Undefined length
IB††093 (FAIL) of time
IB††098 (COMPLETE)

7-94
 7.3 Motion Subcommands

7.3 Motion Subcommands

7.3.1 Motion Sub-command Table
This table shows the motion subcommands that are supported by the MP2300. Refer to the page in
the Table under Details for additional command information.

Command Reference
Command Name Function
Code Page
This is a null command.
0 R NOP No Command When a subcommand is not being specified, set 7-96
this "no command" code.
Read SERVOPACK Reads the specified SERVOPACK parameter and
1 − PRM_RD 7-97
Parameter stores it in the monitoring parameters.
Write SERVOPACK Changes the specified SERVOPACK parameter's
2 − PRM_WR 7-98
Parameter set value.
3 − Reserved Reserved by system. − −
Stores the servo driver's status in the monitoring
4 − SMON Monitor Status 7-100
parameters.
Reads the specified fixed parameter’s current
5 R FIXPRM_RD Read Fixed Parameters 7-102
value and stores it in the monitoring parameters.

ΠCommands in the table displaying an R are supported by the Virtual Motion Module (SVR).

7.3.2 Motion Subcommand Settings

It may not be possible to execute some subcommands, depending on the motion command and
motion subcommand combination being used. Refer to Appendix A Switching Motion Commands
and Subcommands on page A-2 for details on which command combinations are allowed.
In addition, some motion subcommands can not be executed with the MECHATROLINK-I and
MECHATROLINK-II communication. (See the following table.)

Communication method MECHATROLINK-II MECHATROLINK-II

MECHATROLINK-I
Subcommand (17-byte) (32-byte)
No Command (NOP) R Executable Executable Executable
Read SERVOPACK Parameter
Not executable Not executable Executable
(PRM_RD)
Write SERVOPACK Parameter
Not executable Not executable Executable
(PRM_WR)
Monitor Status (SMON) Not executable Not executable Executable
Read Fixed Parameters
Executable Executable Executable
(FIXPRM_RD) R

7-95
7 Motion Commands
7.4.1 No Command (NOP)

7.4 Motion Subcommand Details

The following provides a detailed description of the types of motion subcommands that are available.
ΠAll the following command names and items in the Parameter List displaying an R are supported
by the Virtual Motion Module (SVR).

7.4.1 No Command (NOP) R

Set this command when a subcommand is not being specified.
When the MECHATROLINK-II 32-byte Mode communication method is being used, User Monitor
4 can be used, just as with the Monitor Status (SMON) subcommand. Refer to 7.4.3 Monitor Status
(SMON) on page 7-100 for details.

( 1 ) Related Parameters

[ a ] Setting Parameters

Parameter Name Setting Contents SVR

OW††0A Motion Subcommand Set to 0 to specify no command (NOP). R
OW††4E Servo User Monitor Set the information to manage the servo driver that will be monitored. −

[ b ] Monitoring Parameters

Parameter Name Monitoring Contents SVR

Motion Subcommand Indicates the motion subcommand that is being executed.
IW††0A R
Response Code The response code is 0 during NOP command execution.
Turns ON during NOP command execution and turns OFF when execution
IB††0B0 Command Executing R
has been completed.
Turns ON if an error occurs during NOP command execution. Turns OFF
IB††0B3 Command Error End R
when another command is executed.
Command Execution
IB††0B8 Turns ON when NOP command execution has been completed. R
Completed *
Servo Driver User Stores either the data actually being monitored in the user monitor or the
IW††2F −
Monitor Information monitor selection.
IL††34 Servo User Monitor 4 Stores the result of the selected monitor. −

* The NOP command’s subcommand status stored in Command Execution Completed (COM-
PLETE) is not defined.

7-96
 7.4 Motion Subcommand Details

7.4.2 Read SERVOPACK Parameter (PRM_RD)

The PRM_RD command reads the setting of the parameter with the specified parameter number and
parameter size from SERVOPACK RAM. It stores the parameter number in the Auxiliary Servo User
Constant Number (monitoring parameter IW††37) and the setting in the Auxiliary Servo User Con-
stant (monitoring parameter IL††3A)
ΠThis command will end with a Command Error End if it is executed with a communication method
other than MECHATROLINK-II 32-byte Mode.

( 1 ) Executing/Operating Procedure

1. Check to see if all the following conditions are satisfied.

No. Execution Conditions Confirmation Method

1 Motion subcommand execution has been completed. IW††0A is 0 and IB††0B0 is OFF.

2. Set OW††0A to 1 to execute the PRM_RD motion subcommand.

The PRM_RD command will read the SERVOPACK parameter and store it in the monitoring
parameters.
IW††0A will be 1 during command execution.
IB††0B0 will turn ON during the command processing and will turn OFF when the com-
mand processing has been completed.

3. Set OW††0A to 0 to execute the NOP motion command and then complete the
reading operation.

( 2 ) Related Parameters

[ a ] Setting Parameters

Parameter Name Setting Contents

OW††0A Motion Subcommand The SERVOPACK parameter is read when this parameter is set to 1.
Auxiliary Servo User
OW††54 Set the parameter number of the SERVOPACK parameter to be read.
Constant Number
Set the size of the SERVOPACK parameter to be read.
Auxiliary Servo Constant Set the size in words.
OW††55
Number Size Œ The SERVOPACK’s user manual lists the size in bytes, so those values
must be converted to words.

[ b ] Monitoring Parameters
Parameter Name Monitoring Contents
Motion Subcommand Indicates the motion subcommand that is being executed.
IW††0A
Response Code The response code is 1 during PRM_RD command execution.
Turns ON during PRM_RD command execution and turns OFF when execution has
IB††0B0 Command Executing
been completed.
Turns ON if an error occurs during PRM_RD command execution. Turns OFF
IB††0B3 Command Error End
when another command is executed.
Command Execution
IB††0B8 Turns ON when PRM_RD command execution has been completed.
Completed
Auxiliary Servo User
IW††37 Stores the parameter number of the SERVOPACK parameter being read.
Constant Number
Auxiliary Servo User
IL††3A Stores the SERVOPACK parameter data that was read.
Constant

7-97
7 Motion Commands
7.4.2 Read SERVOPACK Parameter (PRM_RD)

( 3 ) Timing Charts

[ a ] Normal End
OW††0A = 1 (PRM-RD)
IW††0A = 1 (PRM-RD)
IB††0B0 (BUSY) Undefined length
IB††0B3 (FAIL) of time

IB††0B8 (COMPLETE)
1 scan
IW††37
Undefined Parameter number
IL††3A
Undefined Parameter data

[ b ] Error End
OW††0A = 1 (PRM-RD)
IW††0A = 1 (PRM-RD)
IB††0B0 (BUSY) Undefined length
IB††0B3 (FAIL) of time
IB††0B8 (COMPLETE)
IW††37 Undefined
IL††3A Undefined

( 4 ) Write SERVOPACK Parameter (PRM_WR)

The PRM_WR command writes the setting of the SERVOPACK parameter using the specified
parameter number, parameter size, and setting data. The write destination is in the SERVOPACK's
RAM.
ΠThis command will end with a Command Error End if it is executed with a communication method
other than MECHATROLINK-II 32-byte Mode.

( 1 ) Executing/Operating Procedure

1. Check to see if all the following conditions are satisfied.

No. Execution Conditions Confirmation Method

1 Motion subcommand execution has been completed. IW††0A is 0 and IB††0B0 is OFF.
The OW††54，OW††55，and OL††57 settings have
2 been completed. −
ΠRefer to [ a ] Setting Parameters below for details.

2. Set OW††0A to 2 to execute the PRM_WR motion subcommand.

The PRM_WR command will write the SERVOPACK parameter.
IW††0A will be 2 during command execution.
IB††0B0 will turn ON during the command processing and will turn OFF when the com-
mand processing has been completed.

3. Set OW††0A to 0 to execute the NOP motion command and then complete the
writing operation.

7-98
 7.4 Motion Subcommand Details

( 2 ) Related Parameters

[ a ] Setting Parameters

Parameter Name Setting Contents

OW††0A Motion Subcommand The SERVOPACK parameter is written when this parameter is set to 2.
Auxiliary Servo User
OW††54 Set the number of the SERVOPACK parameter to be written.
Constant Number
Set the size of the SERVOPACK parameter to be written.
Auxiliary Servo Set the size in words.
OW††55
Constant Number Size Œ The SERVOPACK’s user manual lists the size in bytes, so those values
must be converted to words.
Auxiliary Servo User
OL††56 Set the set value for the SERVOPACK parameter to be written.
Constant

[ b ] Monitoring Parameters

Parameter Name Monitoring Contents

Motion Subcommand Indicates the motion subcommand that is being executed.
IW††0A
Response Code The response code is 2 during PRM_WR command execution.
Turns ON during PRM_WR command execution and turns OFF when execution has
IB††0B0 Command Executing
been completed.
Turns ON if an error occurs during PRM_WR command execution.
IB††0B3 Command Error End
Turns OFF when another command is executed.
Command Execution
IB††0B8 Turns ON when PRM_WR command execution has been completed.
Completed
Auxiliary Servo User
IW††37 Stores the parameter number of the SERVOPACK parameter that was written.
Constant Number

( 3 ) Timing Charts

[ a ] Normal End
OW††0A = 2 (PRM-WR)
IW††0A = 2 (PRM-WR)
IB††0B0 (BUSY) Undefined length
IB††0B3 (FAIL) of time
IB††0B8 (COMPLETE)

IW††37 Undefined Parameter number

[ b ] Error End
OW††0A = 2 (PRM-WR)
IW††0A = 2 (PRM-WR)
IB††0B0 (BUSY) Undefined length
IB††0B3 (FAIL) of time
IB††0B8 (COMPLETE)

IW††37 Undefined

7-99
7 Motion Commands
7.4.3 Monitor Status (SMON)

7.4.3 Monitor Status (SMON)

The SMON command stores, the data specified in Monitor 4 of the Servo User Monitor is stored in
Servo User Monitor 4 (monitoring parameter IL††34).
ΠThis command will end with a Command Error End if it is executed with a communication method
other than MECHATROLINK-II 32-byte Mode.

The following table shows the data that can be specified in the User Monitor.

Set Value Name Contents

Reference coordinate system's reference position (after reference
0 POS
filter)
1 MPOS Machine coordinate system's reference position
2 PERR Following error
3 APOS Machine coordinate system's feedback position
4 LPOS Machine coordinate system's feedback latch position
Reference coordinate system's reference position (before
5 IPOS
reference filter)
6 TPOS Reference coordinate system's target position
7 － －
8 FSPD Feedback Speed
9 CSPD Reference speed
A TSPD Target speed
B TRQ Torque reference (Rated torque is 100%.)
C － －
D － －
E OMN1 Optional monitor 1 (Actual content set in parameters.)
F OMN2 Optional monitor 2 (Actual content set in parameters.)

Œ Refer to your SERVOPACK’s users manual for details on the monitored data.

( 1 ) Executing/Operating Procedure

1. Check to see if all the following conditions are satisfied.

No. Execution Conditions Confirmation Method

1 Motion subcommand execution has been completed. IW††0A is 0 and IB††0B0 is OFF.

2. Set OW††0A to 3 to execute the SMON motion subcommand.

The SMON command will read the information managed by the Servo Driver and store the
code in the monitoring parameter.
IW††0A will be 3 during command execution.
IB††0B0 will turn ON during the command processing and will turn OFF when the com-
mand processing has been completed.

3. Set OW††0A to 0 to execute the NOP motion command and then complete the
monitoring operation.

7-100
 7.4 Motion Subcommand Details

( 2 ) Related Parameters

[ a ] Setting Parameters

Parameter Name Setting Contents

OW††0A Motion Subcommand The Monitor Status command is executed when this parameter is set to 3.
OW††4E Servo User Monitor Set the information managed by the Servo Driver to be monitored.

[ b ] Monitoring Parameters

Parameter Name Monitoring Contents

Motion Subcommand Indicates the motion subcommand that is being executed.
IW††0A
Response Code The response code is 3 during SMON command execution.
Turns ON during SMON command execution and turns OFF when execution has
IB††0B0 Command Executing
been completed.
Turns ON if an error occurs during SMON command execution. Turns OFF when
IB††0B3 Command Error End
another command is executed.
Command Execution
IB††0B8 Turns ON when SMON command execution has been completed.
Completed
Servo Driver User Stores either the data actually being monitored in the user monitor or the monitor
IW††2F
Monitor Information selection.
IL††34 Servo User Monitor 4 Stores the result of the selected monitor operation.

( 3 ) Timing Charts

[ a ] Normal End

OW††0A = 3 (SMON)
IW††0A = 3 (SMON)
IB††0B0 (BUSY)
IB††0B3 (FAIL)
IB††0B8 (COMPLETE)
IW††2D, bits12 to 15 Undefined Monitor 4 = Set value
I††34 Undefined Monitoring result

7-101
7 Motion Commands
7.4.4 Read Fixed Parameters (FIXPRM_RD)

7.4.4 Read Fixed Parameters (FIXPRM_RD) R

The FIXPRM_RD command reads the current value of the specified fixed parameter and stores the
value in the Fixed Parameter Monitor monitoring parameter.

( 1 ) Executing/Operating Procedure

1. Check to see if all the following conditions are satisfied.

No. Execution Conditions Confirmation Method

1 Motion subcommand execution has been completed. IW††0A is 0 and IB††0B0 is OFF.

2. Set OW††0A to 5 to execute the FIXPRM_RD motion subcommand.

The FIXPRM_RD will read the specified fixed parameter’s current value and store the code in
the monitoring parameter.
IW††0A will be 5 during command execution.
IB††0B0 will turn ON during the command processing and will turn OFF when the com-
mand processing has been completed.

3. Set OW††0A to 0 to execute the NOP motion command and then complete the
monitoring operation.

( 2 ) Related Parameters

[ a ] Setting Parameters

Parameter Name Setting Contents SVR

The Read Fixed Parameter subcommand is executed when this parameter
OW††0A Motion Subcommand R
is set to 5.
OW††5C Fixed Parameter Number Set the parameter number of the fixed parameter to be read. R

[ b ] Monitoring Parameters

Parameter Name Monitoring Contents SVR

Motion Subcommand Indicates the motion subcommand that is being executed.
IW††0A R
Response Code The response code is 5 during FIXPRM_RD command execution.
Turns ON during FIXPRM_RD command execution and turns OFF when
IB††0B0 Command Executing R
execution has been completed.
Turns ON if an error occurs during FIXPRM_RD command execution.
IB††0B3 Command Error End R
Turns OFF when another command is executed.
Command Execution
IB††0B8 Turns ON when FIXPRM_RD command execution has been completed. R
Completed
Fixed Parameter
IL††56 Stores the data of the specified fixed parameter number. R
Monitor

7-102
 7.4 Motion Subcommand Details

( 3 ) Timing Charts

[ a ] Normal End
OW††0A = 5 (FIXPRM_RD)
IW††0A = 5 (FIXPRM_RD)
IB††0B0 (BUSY)
IB††0B3 (FAIL)
IB††0B8 (COMPLETE)
IL††56 Undefined Monitoring result

[ b ] Error End
OW††0A = 5 (FIXPRM_RD)
IW††0A = 5 (FIXPRM_RD)
IB††0B0 (BUSY)
IB††0B3 (FAIL)
IB††0B8 (COMPLETE)
IL††56 Undefined

7-103
7 Motion Commands
7.4.4 Read Fixed Parameters (FIXPRM_RD)

7-104
 8
Control Block Diagrams

This chapter explains the control block diagrams.

8.1 Position Control ....................................................................... 8-2

8.1.1 Motion Parameters for Position Control ................................................. 8-2
8.1.2 Control Block Diagram for Position Control ........................................... 8-4

8.2 Phase Control .......................................................................... 8-6

8.2.1 Motion Parameters for Phase Control ................................................... 8-6
8.2.2 Control Block Diagram for Phase Control .............................................. 8-8

8.3 Torque Control ....................................................................... 8-10

8.3.1 Motion Parameters for Torque Control ................................................. 8-10
8.3.2 Control Block Diagram for Torque Control ........................................... 8-12

8.4 Speed Control ....................................................................... 8-14

8.4.1 Motion Parameters for Speed Control ................................................. 8-14
8.4.2 Control Block Diagram for Speed Control ............................................ 8-16

8-1
8 Control Block Diagrams
8.1.1 Motion Parameters for Position Control

8.1 Position Control

8.1.1 Motion Parameters for Position Control
Π: These parameters are ignored.

( 1 ) Fixed Parameters
No. Name Setting Unit Default Value Setting Range
0 Run Mode － 1 0 to 5
1 Function Selection 1 － 0000h Bit setting
2 Function Selection 2 － 0000h Bit setting
4 Command Unit － 0 0 to 3
5 Number of Decimal Places － 3 0 to 5
6 Command Units per Revolution Reference unit 10000 1 to 231-1
8 Gear Ratio (Motor) － 1 1 to 65535
9 Gear Ratio (Load) － 1 1 to 65535
10 Maximum Value of Rotary Counter (POSMAX) Reference unit 360000 1 to 231−1
12 Forward Software Limit Reference unit 231−1 −231 to 231−1
14 Reverse Software Limit Reference unit −231 −231 to 231−1
16 Backlash Compensation Reference unit 0 −231 to 231−1
30 Encoder Type － 0 0 to 3
34 Rated Speed min−1 3000 1 to 32000
36 Encoder Resolution pulse 65536 1 to 231−1
38 Max. Revolution of Absolute Encoder Turns Rev 65534 0 to 231−1
42 Feedback Speed Moving Average Time Constant ms 10 0 to 32

( 2 ) Setting Parameters
No. Name Setting Unit Default Value Setting Range
OW††00 RUN Commands － 0000h Bit setting
OW††01 Mode 1 － 0000h Bit setting
OW††02 Mode 2 － 0000h Bit setting
OW††03 Function 1 － 0011h Bit setting
OW††04 Function 2 － 0033h Bit setting
OW††05 Function 3 － 0000h Bit setting
OW††08 Motion Command － 0 0 to 26
OW††09 Motion Command Options － 0000h Bit setting
OW††0A Motion Subcommand － 0 0 to 65535
OL††0C Torque Reference Depends on torque unit. 0 −231 to 231−1
OW††0E Speed Limit at Torque Reference 0.01% 15000 −32768 to 32767
OL††10 Speed Reference Depends on speed unit. 3000 −231 to 231−1
Positive Side Limiting Torque Setting at the Speed
OL††14
Reference
Depends on torque unit. 30000 −231 to 231−1

OL††16 Secondary Speed Compensation Depends on speed unit. 0 −231 to 231−1

OW††18 Speed Override 0.01% 10000 0 to 32767
OL††1C Position Reference Setting Reference unit 0 −231 to 231−1
OL††1E Positioning Completed Width Reference unit 100 0 to 65535
OL††20 Positioning Completed Width 2 Reference unit 0 0 to 65535
OL††22 Deviation Abnormal Detection Value Reference unit 231−1 0 to 231−1
OW††26 Position Complete Timeout ms 0 0 to 65535
OL††28 Phase Compensation Reference unit 0 −231 to 231−1
31
OL††2A Latch Zone Lower Limit (for External Positioning) Reference unit −2 −231 to 231−1
OL††2C Latch Zone Upper Limit (for External Positioning) Reference unit 231−1 −231 to 231−1
OW††2E Position Loop Gain 0.1/s 300 0 to 32767
OW††2F Speed Loop Gain Hz 40 1 to 2000
OW††30 Speed Feed Forward Compensation 0.01% 0 0 to 32767
OW††31 Speed Amends 0.01% 0 −32768 to 32767
OW††32 Position Integration Time Constant ms 0 0 to 32767
OW††34 Speed Integration Time Constant 0.01 ms 2000 15 to 65535
Depends on acceleration/
OL††36 Linear Acceleration Time
deceleration speed unit.
0 0 to 231−1
Depends on acceleration/
OL††38 Linear Deceleration Time
deceleration speed unit.
0 0 to 231−1
OW††3A S-curve Acceleration Time 0.1 ms 0 0 to 65535
OW††3C Home Return Type － 0 0 to 19
OW††3D Home Window Reference unit 100 0 to 65535

8-2
 8.1 Position Control

No. Name Setting Unit Default Value Setting Range

OL††3E Approach Speed Depends on speed unit. 1000 −231 to 231−1
OL††40 Creep Speed Depends on speed unit. 500 −231 to 231−1
OL††42 Home Offset Reference unit 0 −231 to 231−1
OL††44 Step Distance Reference unit 1000 0 to 231−1
OL††46 External Positioning Move Distance Reference unit 0 −231 to 231−1
OL††48 Zero Point Offset Reference unit 0 −231 to 231−1
OL††4A Work Coordinate System Offset Reference unit 0 −231 to 231−1
OL††4C Preset Data of POSMAX Turn Rev 0 −231 to 231−1
OW††4E Servo User Monitor － 0E00H Bit setting
OW††4F Servo Alarm Monitor Number － 0 0 to 10
OW††50 Servo Constant Number － 0 0 to 65535
OW††51 Servo Constant Number Size － 1 1, 2
OL††52 Servo User Constant － 0 −231 to 231−1
OW††54 Auxiliary Servo User Constant Number － 0 0 to 65535
OW††55 Auxiliary Servo Constant Number Size － 1 1, 2
OL††56 Auxiliary Servo User Constant － 0 −231 to 231−1
OW††5C Fixed Parameter Number － 0 0 to 65535
OL††5E Absolute Position at Power OFF (Low Value) pulse 0 −231 to 231−1
OL††60 Absolute Position at Power OFF (High Value) pulse 0 −231 to 231−1
OL††62 Modularized Position at Power OFF (Low Value) pulse 0 −231 to 231−1
OL††64 Modularized Position at Power OFF (High Value) pulse 0 −231 to 231−1

( 3 ) Monitoring Parameters
No. Name Unit Default Value Range
IW††00 Drive Status － － Bit setting
IW††01 Over Range Parameter Number － － 0 to 65535
IL††02 Warning － － Bit setting
IL††04 Alarm － － Bit setting
IW††08 Servo Command Type Response － － 0 to 65535
IW††09 Servo Module Command Status － － Bit setting
IW††0A Motion Subcommand Response Code － － 0 ～ 65535
IW††0B Motion Subcommand Status － － Bit setting
IW††0C Position Management Status － － Bit setting
IL††0E Machine Coordinate Target Position (TPOS) Reference unit － −231 to 231−1
IL††10 Target Position (CPOS) Reference unit － −231 to 231−1
IL††12 Machine Coordinate System Position (MPOS) Reference unit － −231 to 231−1
IL††16 Machine Coordinate Feedback Position (APOS) Reference unit － −231 to 231−1
IL††18 Machine Coordinate Latch Position (LPOS) Reference unit － −231 to 231−1
IL††1A Position Error (PERR) Reference unit － −231 to 231−1
IL††1C Target Position Difference Monitor Reference unit － −231 to 231−1
IL††1E POSMAX Number of Turns Reference unit － −231 to 231−1
IL††20 Speed Reference Output Monitor pulse/s － −231 to 231−1
IW††2C Network Servo Status － － Bit setting
IW††2D Servo Alarm Code － － −32768 to 32767
IW††2E Network Servo I/O Monitor － － Bit setting
IW††2F Network Servo User Monitor Information － － Bit setting
IL††30 Servo User Monitor 2 － － −231 to 231−1
IL††34 Servo User Monitor 4 － － −231 to 231−1
IW††36 Servo Constant Number － － 0 to 65535
IW††37 Auxiliary Servo User Constant Number － － 0 to 65535
IL††38 Servo User Constant － － −231 to 231−1
IL††3A Auxiliary Servo User Constant － － −231 to 231−1
IW††3F Motor Type － － 0, 1
IL††40 Feedback Speed Depends on speed unit. － −231 to 231−1
IL††42 Torque (Thrust) Reference Monitor Depends on torque unit. － −231 to 231−1
IL††56 Fixed Parameter Monitor － － −231 to 231−1
IL††5E Absolute Position at Power OFF (Low Value) pulse － −231 to 231−1
IL††60 Absolute Position at Power OFF (High Value) pulse － −231 to 231−1
IL††62 Modularized Position at Power OFF (Low Value) pulse － −231 to 231−1
IL††64 Modularized Position at Power OFF (High Value) pulse － −231 to 231−1

8-3
8 Control Block Diagrams
8.1.2 Control Block Diagram for Position Control

8.1.2 Control Block Diagram for Position Control

MP2300

SVB
OW††00 RUN Commands
OW††01 Mode 1
OW††02 Mode 2
Run Settings

OW††03 Function 1
OW††04 Function 2
OW††05 Function 3
OW††08 Motion Command
OW††09 Motion Command Options
OW††0A Motion Subcommand
OL††10 Speed Reference
Override processing
Speed/Position

OW††18 Speed Override

OL††1C Position Reference Setting OW††18
References

OL††1E Positioning Completed Width POSING commands Electronic

OL††20 Positioning Completed Width 2 INTERPOLATE Position pattern generation gear
OL††22 Deviation Abnormal Detection Value commands for interpolation
OW††26 Position Complete Timeout p
p
OL††31 Speed Amends
OL††36 Linear Acceleration Time ts t
Acceleration/
Deceleration

OL††38 Linear Deceleration Time Motion program

OW††3A S-curve Acceleration Time Acceleration/deceleration:
IAC, IDC
OW††3C Home Return Type
Motion program or user
Zero Point

OW††3D Home Window

OL††3E Approach Speed application (ladder
Return

OL††40 Creep Speed program)

OL††42 Home Offset
Note Processing performed by CPU.
speeds

OL††44 Step Distance

Feed

OL††46 External Positioning Move Distance

Speed reference
OL††48 Zero Point Offset unit conversion
Coordinates

Valid only for

OL††4A Work Coordinate System Offset interpolation.
OL††4C Preset Data of POSMAX Turn
Information

IW††00 Drive Status

IL††02 Warning
Motion Command Run

IL††04 Alarm

IW††08 Servo Command Type Response

IW††09 Servo Module Command Status
Information

IW††0A Motion Subcommand Response Code

IW††0B Motion Subcommand Status
POSMAX processing
IW††0C Position Management Status
IL††0E Machine Coordinate Target Position (TPOS)
Position Information

IL††10 Target Position (CPOS)

IL††12 Machine Coordinate System Position (MPOS)
IL††14 32-bit Coordinate System Position (DPOS)
IL††16 Machine Coordinate Feedback Position (APOS) POSMAX processing Electronic gear
IL††18 Machine Coordinate Latch Position (LPOS)
POSMAX processing Electronic gear
IL††1A Position Error (PERR) +
Electronic gear
IL††1C Target Position Difference Monitor
IL††1E POSMAX Number of Turns
IL††20 Speed Reference Output Monitor

IW††2C Network Servo Status

IW††2D Servo Alarm Code
IW††2E Network Servo I/O Monitor
SERVOPACK

IW††2F Network Servo User Monitor Information

Information

IW††30 Servo User Monitor 2

IL††40 Feedback Speed

IL††42 Torque (Thrust) Reference Monitor

(continued on next page)

8-4
 8.1 Position Control

NS100/NS115 SERVOPACK

Acceleration:
Acceleration/ Pn80B (OL

36)
deceleration Deceleration:
POSING processing Pn80E (OL

38) Speed Feed Forward
command S Compensation
Differ- B
ential Pn109 Pn10A
A
(OW

30) Position Loop Gain Speed Loop Gain
INTERPOLATE Kp Kv
command B Vref Current
Filter Pn102 Pn100 M
A loop
(OW

2E) (OW

2F)
Pn811 or Pn812 FB Position Integration Speed Integration
Time Constant Time Constant
(OW

3A) NTi
Ti
Pn11F Pn101
(OW

32) (OW

34)

TRQ
Analog monitor value

MPOS

APOS A
B Counter PG
LPOS A
Counter
B
Latch signal

8-5
8 Control Block Diagrams
8.2.1 Motion Parameters for Phase Control

8.2 Phase Control

8.2.1 Motion Parameters for Phase Control
Π: These parameters are ignored.

( 1 ) Fixed Parameters
No. Name Setting Unit Default Value Setting Range
0 Run Mode － 1 0 to 5
1 Function Selection 1 － 0000h Bit setting
2 Function Selection 2 － 0000h Bit setting
4 Command Unit － 0 0 to 3
5 Number of Decimal Places － 3 0 to 5
6 Command Units per Revolution Reference unit 10000 1 to 231−1
8 Gear Ratio (Motor) － 1 1 to 65535
9 Gear Ratio (Load) － 1 1 to 65535
10 Maximum Value of Rotary Counter (POSMAX) Reference unit 360000 1 to 231−1
12 Forward Software Limit Reference unit 231−1 −231 to 231−1
14 Reverse Software Limit Reference unit −231 −231 to 231−1
16 Backlash Compensation Reference unit 0 −231 to 231−1
30 Encoder Type － 0 0 to 3
34 Rated Speed min−1 3000 1 to 32000
36 Encoder Resolution pulse 65536 1 to 231−1
38 Max. Revolution of Absolute Encoder Rev 65534 0 to 231−1
42 Feedback Speed Moving Average Time Constant ms 10 0 to 32

( 2 ) Setting Parameters
No. Name Setting Unit Default Value Setting Range
OW††00 RUN Commands － 0000h Bit setting
OW††01 Mode 1 － 0000h Bit setting
OW††02 Mode 2 － 0000h Bit setting
OW††03 Function 1 － 0011h Bit setting
OW††04 Function 2 － 0033h Bit setting
OW††05 Function 3 － 0000h Bit setting
OW††08 Motion Command － 0 0 to 26
OW††09 Motion Command Options － 0000h Bit setting
OW††0A Motion Subcommand － 0 0 to 65535
OL††0C Torque Reference Depends on torque unit. 0 −231 to 231−1
OW††0E Speed Limit at Torque Reference 0.01% 15000 −32768 ～ 32767
OL††10 Speed Reference Depends on speed unit. 3000 −231 to 231−1
Positive Side Limiting Torque Setting at the Speed
OL††14
Reference
Depends on torque unit. 30000 −231 to 231−1

OL††16 Secondary Speed Compensation Depends on speed unit. 0 −231 to 231−1

OW††18 Speed Override 0.01% 10000 0 to 32767
OL††1C Position Reference Setting Reference unit 0 −231 to 231−1
OL††1E Positioning Completed Width Reference unit 100 0 to 65535
OL††20 Positioning Completed Width 2 Reference unit 0 0 to 65535
OL††22 Deviation Abnormal Detection Value Reference unit 231−1 0 to 231−1
OW††26 Position Complete Timeout ms 0 0 to 65535
OL††28 Phase Compensation Reference unit 0 −231 to 231−1
OL††2A Latch Zone Lower Limit (for External Positioning) Reference unit −231 −231 to 231−1
OL††2C Latch Zone Upper Limit (for External Positioning) Reference unit 231−1 −231 to 231−1
OW††2E Position Loop Gain 0.1/s 300 0 to 32767
OW††2F Speed Loop Gain Hz 40 1 to 2000
OW††30 Speed Feed Forward Compensation 0.01% 0 0 to 32767
OW††31 Speed Amends 0.01% 0 −32768 to 32767
OW††32 Position Integration Time Constant ms 0 0 to 32767
OW††34 Speed Integration Time Constant 0.01 ms 2000 15 to 65535
Depends on acceleration/
OL††36 Linear Acceleration Time
deceleration speed unit.
0 0 to 231−1
Depends on acceleration/
OL††38 Linear Deceleration Time
deceleration speed unit.
0 0 to 231−1
OW††3A S-curve Acceleration Time 0.1 ms 0 0 to 65535
OW††3C Home Return Type － 0 0 to 19
OW††3D Home Window Reference unit 100 0 to 65535

8-6
 8.2 Phase Control

No. Name Setting Unit Default Value Setting Range

OL††3E Approach Speed Depends on speed unit. 1000 −231 to 231-1
OL††40 Creep Speed Depends on speed unit. 500 −231 to 231-1
OL††42 Home Offset Reference unit 0 −231 to 231-1
OL††44 Step Distance Reference unit 1000 0 to 231−1
OL††46 External Positioning Move Distance Reference unit 0 −231 to 231-1
OL††48 Zero Point Offset Reference unit 0 −231 to 231−1
OL††4A Work Coordinate System Offset Reference unit 0 −231 to 231−1
OL††4C Preset Data of POSMAX Turn Rev 0 −231 to 231−1
OW††4E Servo User Monitor － 0E00H Bit setting
OW††4F Servo Alarm Monitor Number － 0 0 to 10
OW††50 Servo Constant Number － 0 0 to 65535
OW††51 Servo Constant Number Size － 1 1, 2
OL††52 Servo User Constant － 0 −231 to 231−1
OW††54 Auxiliary Servo User Constant Number － 0 0 to 65535
OW††55 Auxiliary Servo Constant Number Size － 1 1, 2
OL††56 Auxiliary Servo User Constant － 0 −231 to 231−1
OW††5C Fixed Parameter Number － 0 0 to 65535
OL††5E Absolute Position at Power OFF (Low Value) pulse 0 −231 to 231−1
OL††60 Absolute Position at Power OFF (High Value) pulse 0 −231 to 231−1
OL††62 Modularized Position at Power OFF (Low Value) pulse 0 −231 to 231−1
OL††64 Modularized Position at Power OFF (High Value) pulse 0 −231 to 231−1

( 3 ) Monitoring Parameters
No. Name Unit Default Value Range
IW††00 Drive Status － － Bit setting
IW††01 Over Range Parameter Number － － 0 to 65535
IL††02 Warning － － Bit setting
IL††04 Alarm － － Bit setting
IW††08 Servo Command Type Response － － 0 to 65535
IW††09 Servo Module Command Status － － Bit setting
IW††0A Motion Subcommand Response Code － － 0 to 65535
IW††0B Motion Subcommand Status － － Bit setting
IW††0C Position Management Status － － Bit setting
IL††0E Machine Coordinate Target Position (TPOS) Reference unit － −231 to 231−1
IL††10 Target Position (CPOS) Reference unit － −231 to 231−1
IL††12 Machine Coordinate System Position (MPOS) Reference unit － −231 to 231−1
IL††16 Machine Coordinate Feedback Position (APOS) Reference unit － −231 to 231−1
IL††18 Machine Coordinate Latch Position (LPOS) Reference unit － −231 to 231−1
IL††1A Position Error (PERR) Reference unit － −231 to 231−1
IL††1C Target Position Difference Monitor Reference unit － −231 to 231−1
IL††1E POSMAX Number of Turns Reference unit － −231 to 231−1
IL††20 Speed Reference Output Monitor pulse/s － −231 to 231−1
IW††2C Network Servo Status － － Bit setting
IW††2D Servo Alarm Code － － −32768 to 32767
IW††2E Network Servo I/O Monitor － － Bit setting
IW††2F Network Servo User Monitor Information － － Bit setting
IL††30 Servo User Monitor 2 － － −231 to 231−1
IL††34 Servo User Monitor 4 － － −231 to 231−1
IW††36 Servo Constant Number － － 0 to 65535
IW††37 Auxiliary Servo User Constant Number － － 0 to 65535
IL††38 Servo User Constant － － −231 to 231−1
IL††3A Auxiliary Servo User Constant － － −231 to 231−1
IW††3F Motor Type － － 0, 1
IL††40 Feedback Speed Depends on speed unit. － −231 to 231−1
IL††42 Torque (Thrust) Reference Monitor Depends on torque unit. － −231 to 231−1
IL††56 Fixed Parameter Monitor － － −231 to 231−1
IL††5E Absolute Position at Power OFF (Low Value) pulse － −231 to 231−1
IL††60 Absolute Position at Power OFF (High Value) pulse － −231 to 231−1
IL††62 Modularized Position at Power OFF (Low Value) pulse － −231 to 231−1
IL††64 Modularized Position at Power OFF (High Value) pulse － −231 to 231−1

8-7
8 Control Block Diagrams
8.2.2 Control Block Diagram for Phase Control

8.2.2 Control Block Diagram for Phase Control

MP2300

SVB
OW

00 Run Commands
Run Settings

OW

03 Function 1
OW

05 Function 3
OW

08 Motion Command
OW

09 Motion Command Options Move command generation processing
OW

0A Motion Subcommand (When using an electronic shaft)

Target position Target

OL

10 Speed Reference + + position
difference operation
OL

1E Positioning Completed Width operation + (Integration)
OL

20 Positioning Completed Width 2
OL

22 Deviation Abnormal Detection Value
OW

26 Positioning Complete Timeout Unit change
Difference Move command
[UNIT]
Speed/Position Reference

OL

28 Speed Reference generation

operation ω invalid
[pulse]
(OW

05.Bit1)

Move command generation processing

(When using an electronic cam)
Unit change OFF
OL

28 Phase Compensation [UNIT]
ω
[pulse] ON ON
OFF
Unit change Target Phase
Difference [UNIT] + position compensation
operation ω operation type
[pulse] (Integration) (OW

09.Bit6)

OW

31 Speed Amends

Gain

Speed reference +
OL

16 Secondly Speed Compensation unit change
+ +
Constants

OW

3A Filter Time Constant Speed reference

unit change
Coordi- Time

Speed reference
OL

48 Zero Point Offset unit change
nate

OL

4A Work Coordinate System Offset

OL

4C Preset Data of POSMAX Turn
Information Information

IW

00 Drive Status

IL

02 Warning
Run

IL

04 Alarm
IW

08 Servo Command Type Response
Command

IW

09 Servo Module Command Status

Motion

IW

0A Motion Subcommand Response Code

IW

0B Motion Subcommand Status

POSMAX processing Ǜ
IW

0C Position Management Status
IL

0E Machine Coordinate Target Position (TPOS)
Position information

IL

10 Target Position (CPOS)

IL

12 Machine Coordinate System Position (MPOS)
IL

14 32-bit Coordinate System Position (DPOS) Unit change
IL

16 Machine Coordinate Feedback Position (APOS) POSMAX processing [pulse]
IL

18 Machine Coordinate Latch Position (LPOS) ω
IL

1A Position Error (PERR) [UNIT]
IL

1C Target Position Difference Monitor Unit change
IL

1E POSMAX Number of Turns [pulse]
IL

20 Speed Reference Output Monitor POSMAX processing ω
[UNIT]
IW

2C Network Servo Status
IW

2D Servo Alarm Code Unit change +
[pulse]
SERVOPACK

IW

2E Network Servo I/O Monitor ω 

Information

IW

2F Network Servo User Monitor Information [UNIT]

IW

30 Servo User Monitor 2

IL

40 Feedback Speed

IL

42 Torque (Thrust) Reference Monitor

8-8
 8.2 Phase Control

NS110/NS115 SERVOPACK

Speed Feed Forward

S Compensation*
Differ- B
ential Pn109 Pn10A
A
(OW

30) Position Loop Gain Speed Loop Gain
Kp Kv
B Vref Current
Filter Pn102 Pn100 M
A loop
(OW

2E) (OW

2F)
OW

3A Position Integration Speed Integration
FB Time Constant Time Constant
Ti NTi
Pn11F Pn101
(OW

32) (OW

34)

TRQ
Analog monitor value

MPOS

APOS A
B Counter PG

A Counter
LPOS
B
Latch signal

* The speed feedback gain is 0 for phase references.

8-9
8 Control Block Diagrams
8.3.1 Motion Parameters for Torque Control

8.3 Torque Control

8.3.1 Motion Parameters for Torque Control
Π: These parameters are ignored.

( 1 ) Fixed Parameters
No. Name Setting Unit Default Value Setting Range
0 Run Mode － 1 0 to 5
1 Function Selection 1 － 0000h Bit setting
2 Function Selection 2 － 0000h Bit setting
4 Command Unit － 0 0 to 3
5 Number of Decimal Places － 3 0 to 5
6 Command Units per Revolution Reference unit 10000 1 to 231−1
8 Gear Ratio (Motor) － 1 1 to 65535
9 Gear Ratio (Load) － 1 1 to 65535
10 Maximum Value of Rotary Counter (POSMAX) Reference unit 360000 1 to 231−1
12 Forward Software Limit Reference unit 231−1 −231 to 231−1
14 Reverse Software Limit Reference unit −231 −231 to 231−1
16 Backlash Compensation Reference unit 0 −231 to 231−1
30 Encoder Type － 0 0 to 3
34 Rated Speed min−1 3000 1 to 32000
36 Encoder Resolution pulse 65536 1 to 231−1
38 Max. Revolution of Absolute Encoder Rev 65534 0 to 231−1
42 Feedback Speed Moving Average Time Constant ms 10 0 to 32

( 2 ) Setting Parameters
No. Name Setting Unit Default Value Setting Range
OW††00 RUN Commands － 0000h Bit setting
OW††01 Mode 1 － 0000h Bit setting
OW††02 Mode 2 － 0000h Bit setting
OW††03 Function 1 － 0011h Bit setting
OW††04 Function 2 － 0033h Bit setting
OW††05 Function 3 － 0000h Bit setting
OW††08 Motion Command － 0 0 to 26
OW††09 Motion Command Options － 0000h Bit setting
OW††0A Motion Subcommand － 0 0 to 65535
OL††0C Torque Reference Depends on torque unit. 0 −231 to 231−1
OW††0E Speed Limit at Torque Reference 0.01% 15000 −32768 to 32767
OL††10 Speed Reference Depends on speed unit. 3000 −231 to 231−1
Positive Side Limiting Torque Setting at the Speed
OL††14
Reference
Depends on torque unit. 30000 −231 to 231−1

OL††16 Secondary Speed Compensation Depends on speed unit. 0 −231 to 231−1

OW††18 Speed Override 0.01% 10000 0 to 32767
OL††1C Position Reference Setting Reference unit 0 −231 to 231−1
OL††1E Positioning Completed Width Reference unit 100 0 to 65535
OL††20 Positioning Completed Width 2 Reference unit 0 0 to 65535
OL††22 Deviation Abnormal Detection Value Reference unit 231−1 0 to 231−1
OW††26 Position Complete Timeout ms 0 0 to 65535
OL††28 Phase Compensation Reference unit 0 −231 to 231−1
31
OL††2A Latch Zone Lower Limit (for External Positioning) Reference unit −2 −231 to 231−1
OL††2C Latch Zone Upper Limit (for External Positioning) Reference unit 231−1 −231 to 231−1
OW††2E Position Loop Gain 0.1/s 300 0 to 32767
OW††2F Speed Loop Gain Hz 40 1 to 2000
OW††30 Speed Feed Forward Compensation 0.01% 0 0 to 32767
OW††31 Speed Amends 0.01% 0 −32768 to 32767
OW††32 Position Integration Time Constant ms 0 0 to 32767
OW††34 Speed Integration Time Constant 0.01 ms 2000 15 to 65535
Depends on acceleration/
OL††36 Linear Acceleration Time
deceleration speed unit.
0 0 to 231−1
Depends on acceleration/
OL††38 Linear Deceleration Time
deceleration speed unit.
0 0 to 231−1
OW††3A S-curve Acceleration Time 0.1 ms 0 0 to 65535
OW††3C Home Return Type － 0 0 to 19
OW††3D Home Window Reference unit 100 0 to 65535

8-10
 8.3 Torque Control

No. Name Setting Unit Default Value Setting Range

OL††3E Approach Speed Depends on speed unit. 1000 −231 to 231−1
OL††40 Creep Speed Depends on speed unit. 500 −231 to 231−1
OL††42 Home Offset Reference unit 0 −231 to 231−1
OL††44 Step Distance Reference unit 1000 0 to 231−1
OL††46 External Positioning Move Distance Reference unit 0 −231 to 231−1
OL††48 Zero Point Offset Reference unit 0 −231 to 231−1
OL††4A Work Coordinate System Offset Reference unit 0 −231 to 231−1
OL††4C Preset Data of POSMAX Turn Rev 0 −231 to 231−1
OW††4E Servo User Monitor － 0E00H Bit setting
OW††4F Servo Alarm Monitor Number － 0 0 to 10
OW††50 Servo Constant Number － 0 0 to 65535
OW††51 Servo Constant Number Size － 1 1, 2
OL††52 Servo User Constant － 0 −231 to 231−1
OW††54 Auxiliary Servo User Constant Number － 0 0 to 65535
OW††55 Auxiliary Servo Constant Number Size － 1 1, 2
OL††56 Auxiliary Servo User Constant － 0 −231 to 231−1
OW††5C Fixed Parameter Number － 0 0 to 65535
OL††5E Absolute Position at Power OFF (Low Value) pulse 0 −231 to 231−1
OL††60 Absolute Position at Power OFF (High Value) pulse 0 −231 to 231−1
OL††62 Modularized Position at Power OFF (Low Value) pulse 0 −231 to 231−1
OL††64 Modularized Position at Power OFF (High Value) pulse 0 −231 to 231−1

( 3 ) Monitoring Parameters
No. Name Unit Default Value Range
IW††00 Drive Status － － Bit setting
IW††01 Over Range Parameter Number － － 0 to 65535
IL††02 Warning － － Bit setting
IL††04 Alarm － － Bit setting
IW††08 Servo Command Type Response － － 0 to 65535
IW††09 Servo Module Command Status － － Bit setting
IW††0A Motion Subcommand Response Code － － 0 to 65535
IW††0B Motion Subcommand Status － － Bit setting
IW††0C Position Management Status － － Bit setting
IL††0E Machine Coordinate Target Position (TPOS) Reference unit － −231 to 231-1
IL††10 Target Position (CPOS) Reference unit － −231 to 231-1
IL††12 Machine Coordinate System Position (MPOS) Reference unit － −231 to 231-1
IL††16 Machine Coordinate Feedback Position (APOS) Reference unit － −231 to 231-1
IL††18 Machine Coordinate Latch Position (LPOS) Reference unit － −231 to 231-1
IL††1A Position Error (PERR) Reference unit － −231 to 231-1
IL††1C Target Position Difference Monitor Reference unit － −231 to 231-1
IL††1E POSMAX Number of Turns Reference unit’ － −231 to 231-1
IL††20 Speed Reference Output Monitor pulse/s － −231 to 231-1
IW††2C Network Servo Status － － Bit setting
IW††2D Servo Alarm Code － － −32768 to 32767
IW††2E Network Servo I/O Monitor － － Bit setting
IW††2F Network Servo User Monitor Information － － Bit setting
IL††30 Servo User Monitor 2 － － −231 to 231-1
IL††34 Servo User Monitor 4 － － −231 to 231-1
IW††36 Servo Constant Number － － 0 to 65535
IW††37 Auxiliary Servo User Constant Number － － 0 to 65535
IL††38 Servo User Constant － － −231 to 231-1
IL††3A Auxiliary Servo User Constant － － −231 to 231-1
IW††3F Motor Type － － 0, 1
IL††40 Feedback Speed Depends on speed unit. － −231 to 231-1
IL††42 Torque (Thrust) Reference Monitor Depends on torque unit. － −231 to 231-1
IL††56 Fixed Parameter Monitor － － −231 to 231-1
IL††5E Absolute Position at Power OFF (Low Value) pulse － −231 to 231-1
IL††60 Absolute Position at Power OFF (High Value) pulse － −231 to 231-1
IL††62 Modularized Position at Power OFF (Low Value) pulse － −231 to 231-1
IL††64 Modularized Position at Power OFF (High Value) pulse － −231 to 231-1

8-11
8 Control Block Diagrams
8.3.2 Control Block Diagram for Torque Control

8.3.2 Control Block Diagram for Torque Control

MP2300

SVB
OW††00 RUN Commands
Run Settings

OW††03 Function 1
OW††08 Motion Command
OW††09 Motion Command Options
OW††0A Motion Subcommand
Reference

OL††0C Torque Reference

Torque

OL††0E Speed Limit at Torque Reference

Coordinates

OL††48 Zero Point Offset

OL††4A Work Coordinate System Offset
OL††4C Preset Data of POSMAX Turn
Information

IW††00 Drive Status

IL††02 Warning
Motion Command Run

IL††04 Alarm

IW††08 Servo Command Type Response

IW††09 Servo Module Command Status
Information

IW††0A Motion Subcommand Response Code

IW††0B Motion Subcommand Status
POSMAX processing Follow-up processing
IW††0C Position Management Status
IL††0E Machine Coordinate Target Position (TPOS)
Position Information

IL††10 Target Position (CPOS)

IL††12 Machine Coordinate System Position (MPOS)
IL††14 32-bit Coordinate System Position (DPOS)
IL††16 Machine Coordinate Feedback Position (APOS) POSMAX processing Electronic gear
IL††18 Machine Coordinate Latch Position (LPOS) POSMAX processing Electronic gear
IL††1A Position Error (PERR) +
Electronic gear
IL††1C Target Position Difference Monitor
IL††1E POSMAX Number of Turns
IL††20 Speed Reference Output Monitor

IW††2C Network Servo Status

IW††2D Servo Alarm Code
SERVOPACK

IW††2E Network Servo I/O Monitor

Information

IW††2F Network Servo User Monitor Information

IW††30 Servo User Monitor 2

IL††40 Feedback Speed

IL††42 Torque (Thrust) Reference Monitor

(continued on next page)

8-12
 8.3 Torque Control

NS110/NS115 SERVOPACK

Speed Feed Forward

S Compensation
Differ- Pn109 B
ential Pn10A
A
Position Loop Gain Speed Loop Gain
Kp Kv
B Vref Current
Pn102 Pn100 M
A loop
Position Integration Speed Integration
Time Constant Time Constant
Ti NTi
Pn11F Pn101

Speed reference operation

V-REF

Torque reference operation T-REF

TRQ
Analog monitor value

MPOS

APOS A
B Counter PG
LPOS A
Counter
B
Latch signal

8-13
8 Control Block Diagrams
8.4.1 Motion Parameters for Speed Control

8.4 Speed Control

8.4.1 Motion Parameters for Speed Control
Π: These parameters are ignored.

( 1 ) Fixed Parameters
No. Name Setting Unit Default Value Setting Range
0 Run Mode － 1 0 to 5
1 Function Selection 1 － 0000h Bit setting
2 Function Selection 2 － 0000h Bit setting
4 Command Unit － 0 0 to 3
5 Number of Decimal Places － 3 0 to 5
6 Command Units per Revolution Reference unit 10000 1 to 231−1
8 Gear Ratio (Motor) － 1 1 to 65535
9 Gear Ratio (Load) － 1 1 to 65535
10 Maximum Value of Rotary Counter (POSMAX) Reference unit 360000 1 to 231−1
12 Forward Software Limit Reference unit 231−1 −231 to 231−1
14 Reverse Software Limit Reference unit −231 −231 to 231−1
16 Backlash Compensation Reference unit 0 −231 to 231−1
30 Encoder Type － 0 0 to 3
34 Rated Speed min−1 3000 1 to 32000
36 Encoder Resolution pulse 65536 1 to 231−1
38 Max. Revolution of Absolute Encoder Rev 65534 0 to 231−1
42 Feedback Speed Moving Average Time Constant ms 10 0 to 32

( 2 ) Setting Parameters
No. Name Setting Unit Default Value Setting Range
OW††00 RUN Commands － 0000h Bit setting
OW††01 Mode 1 － 0000h Bit setting
OW††02 Mode 2 － 0000h Bit setting
OW††03 Function 1 － 0011h Bit setting
OW††04 Function 2 － 0033h Bit setting
OW††05 Function 3 － 0000h Bit setting
OW††08 Motion Command － 0 0 to 26
OW††09 Motion Command Options － 0000h Bit setting
OW††0A Motion Subcommand － 0 0 to 65535
OL††0C Torque Reference Depends on torque unit. 0 −231 to 231−1
OW††0E Speed Limit at Torque Reference 0.01% 15000 −32768 to 32767
OL††10 Speed Reference Depends on speed unit. 3000 −231 to 231−1
Positive Side Limiting Torque Setting at the Speed
OL††14
Reference
Depends on torque unit. 30000 −231 to 231−1

OL††16 Secondary Speed Compensation Depends on speed unit. 0 −231 to 231−1

OW††18 Speed Override 0.01% 10000 0 to 32767
OL††1C Position Reference Setting Reference unit 0 −231 to 231−1
OL††1E Positioning Completed Width Reference unit 100 0 to 65535
OL††20 Positioning Completed Width 2 Reference unit 0 0 to 65535
OL††22 Deviation Abnormal Detection Value Reference unit 231−1 0 to 231−1
OW††26 Position Complete Timeout ms 0 0 to 65535
OL††28 Phase Compensation Reference unit 0 −231 to 231−1
31
OL††2A Latch Zone Lower Limit (for External Positioning) Reference unit −2 −231 to 231−1
OLx††2C Latch Zone Upper Limit (for External Positioning) Reference unit 231−1 −231 to 231−1
OW††2E Position Loop Gain 0.1/s 300 0 to 32767
OW††2F Speed Loop Gain Hz 40 1 to 2000
OW††30 Speed Feed Forward Compensation 0.01% 0 0 to 32767
OW††31 Speed Amends 0.01% 0 −32768 to 32767
OW††32 Position Integration Time Constant ms 0 0 to 32767
OW††34 Speed Integration Time Constant 0.01 ms 2000 15 to 65535
Depends on acceleration/
OLx††36 Linear Acceleration Time
deceleration speed unit.
0 0 to 231−1
Depends on acceleration/
OL††38 Linear Deceleration Time
deceleration speed unit.
0 0 to 231−1
OW††3A S-curve Acceleration Time 0.1 ms 0 0 to 65535
OW††3C Home Return Type － 0 0 to 19
OW††3D Home Window Reference unit 100 0 to 65535

8-14
 8.4 Speed Control

No. Name Setting Unit Default Value Setting Range

OL††3E Approach Speed Depends on speed unit. 1000 −231 to 231−1
OL††40 Creep Speed Depends on speed unit. 500 −231 to 231−1
OL††42 Home Offset Reference unit 0 −231 to 231−1
OL††44 Step Distance Reference unit 1000 0 to 231−1
OL††46 External Positioning Move Distance Reference unit 0 −231 to 231−1
OL††48 Zero Point Offset Reference unit 0 −231 to 231−1
OL††4A Work Coordinate System Offset Reference unit 0 −231 to 231−1
OL††4C Preset Data of POSMAX Turn Rev 0 −231 to 231−1
OW††4E Servo User Monitor － 0E00H Bit setting
OW††4F Servo Alarm Monitor Number － 0 0 to 10
OW††50 Servo Constant Number － 0 0 to 65535
OW††51 Servo Constant Number Size － 1 1, 2
OL††52 Servo User Constant － 0 −231 to 231−1
OW††54 Auxiliary Servo User Constant Number － 0 0 to 65535
OW††55 Auxiliary Servo Constant Number Size － 1 1, 2
OL††56 Auxiliary Servo User Constant － 0 −231 to 231−1
OW††5C Fixed Parameter Number － 0 0 to 65535
OL††5E Absolute Position at Power OFF (Low Value) pulse 0 −231 to 231−1
OL††60 Absolute Position at Power OFF (High Value) pulse 0 −231 to 231−1
OL††62 Modularized Position at Power OFF (Low Value) pulse 0 −231 to 231−1
OL††64 Modularized Position at Power OFF (High Value) pulse 0 −231 to 231−1

( 3 ) Monitoring Parameters
No. Name Unit Default Value Range
IW††00 Drive Status － － Bit setting
IW††01 Over Range Parameter Number － － 0 to 65535
IL††02 Warning － － Bit setting
IL††04 Alarm － － Bit setting
IW††08 Servo Command Type Response － － 0 to 65535
IW††09 Servo Module Command Status － － Bit setting
IW††0A Motion Subcommand Response Code － － 0 to 65535
IW††0B Motion Subcommand Status － － Bit setting
IW††0C Position Management Status － － Bit setting
IL††0E Machine Coordinate Target Position (TPOS) Reference unit － −231 to 231−1
IL††10 Target Position (CPOS) Reference unit － −231 to 231−1
IL††12 Machine Coordinate System Position (MPOS) Reference unit － −231 to 231−1
IL††16 Machine Coordinate Feedback Position (APOS) Reference unit － −231 to 231−1
IL††18 Machine Coordinate Latch Position (LPOS) Reference unit － −231 to 231−1
IL††1A Position Error (PERR) Reference unit － −231 to 231−1
IL††1C Target Position Difference Monitor Reference unit － −231 to 231−1
IL††1E POSMAX Number of Turns Reference unit － −231 to 231−1
IL††20 Speed Reference Output Monitor pulse/s － −231 to 231−1
IW††2C Network Servo Status － － Bit setting
IW††2D Servo Alarm Code － － −32768 to 32767
IW††2E Network Servo I/O Monitor － － Bit setting
IW††2F Network Servo User Monitor Information － － Bit setting
IL††30 Servo User Monitor 2 － － −231 to 231−1
IL††34 Servo User Monitor 4 － － −231 to 231−1
IW††36 Servo Constant Number － － 0 to 65535
IW††37 Auxiliary Servo User Constant Number － － 0 to 65535
IL††38 Servo User Constant － － −231 to 231−1
IL††3A Auxiliary Servo User Constant － － −231 to 231−1
IW††3F Motor Type － － 0, 1
IL††40 Feedback Speed Depends on speed unit. － −231 to 231−1
IL††42 Torque (Thrust) Reference Monitor Depends on torque unit. － −231 to 231−1
IL††56 Fixed Parameter Monitor － － −231 to 231−1
IL††5E Absolute Position at Power OFF (Low Value) pulse － −231 to 231−1
IL††60 Absolute Position at Power OFF (High Value) pulse － −231 to 231−1
IL††62 Modularized Position at Power OFF (Low Value) pulse － −231 to 231−1
IL††64 Modularized Position at Power OFF (High Value) pulse － −231 to 231−1

8-15
8 Control Block Diagrams
8.4.2 Control Block Diagram for Speed Control

8.4.2 Control Block Diagram for Speed Control

MP2300

SVB
OW††00 RUN Commands
OW††03 Function 1
OW††08 Motion Command
Run Settings

OW††09 Motion Command Options

OW††0A Motion Subcommand

OL††10 Speed Reference

Deceleration Speed Reference

OL††14 Positive Side Limiting Torque

Setting at the Speed Reference
OL††18 Speed Override
Acceleration/

OL††36 Linear Acceleration Time

OL††38 Linear Deceleration Time
OW††3A S-curve Acceleration Time
Coordinates

OL††48 Zero Point Offset

Acceleration/
OL††4A Work Coordinate System Offset deceleration
OL††4C Preset Data of POSMAX Turn processing

Override
Filter
processing
Acceleration: OL††36 OW††3A Limiter fixed.
Deceleration: OL††38
No parameter
Information

IW††00 Drive Status

IL††02 Warning
Motion Command Run

IL††04 Alarm

IW††08 Servo Command Type Response

IW††09 Servo Module Command Status
Information

IW††0A Motion Subcommand Response Code

IW††0B Motion Subcommand Status
POSMAX processing Follow-up processing
IW††0C Position Management Status
IL††0E Machine Coordinate Target Position (TPOS)
Position Information

IL††10 Target Position (CPOS)

IL††12 Machine Coordinate System Position (MPOS)
IL††14 32-bit Coordinate System Position (DPOS)
IL††16 Machine Coordinate Feedback Position (APOS) POSMAX processing Electronic gear
IL††18 Machine Coordinate Latch Position (LPOS) POSMAX processing Electronic gear
IL††1A Position Error (PERR) +
Electronic gear
IL††1C Target Position Difference Monitor
IL††1E POSMAX Number of Turns
IL††20 Speed Reference Output Monitor

IW††2C Network Servo Status

IW††2D Servo Alarm Code
SERVOPACK

IW††2E Network Servo I/O Monitor

Information

IW††2F Network Servo User Monitor Information

IW††30 Servo User Monitor 2

IL††40 Feedback Speed

IL††42 Torque (Thrust) Reference Monitor

(continued on next page

8-16
 8.4 Speed Control

NS100/NS115 SERVOPACK

Speed Feed Forward

S Compensation
Differ- Pn109 B
Pn10A
ential A
Position Loop Gain Speed Loop Gain
Kp Kv
B Vref Current
Pn102 Pn100 M
A loop
Position Integration
(OW††2F)
Time Constant Speed Integration
Time Constant
Ti NTi
Pn11F Pn101
(OW††34)

Speed reference operation V-REF

Torque reference operation T-REF

TRQ
Analog monitor value

MPOS

APOS A
B Counter PG
LPOS A
Counter
B
Latch signal

8-17
8 Control Block Diagrams
8.4.2 Control Block Diagram for Speed Control

MEMO

8-18
 9
Absolute Position Detection

This chapter explains an absolute position detection system that uses an absolute
encoder. Be sure to read this chapter carefully when using a Servomotor equipped
with an absolute encoder.

9.1 Absolute Position Detection Function ...................................... 9-2

9.1.1 Outline of the Function .......................................................................... 9-2
9.1.2 Reading Absolute Data .......................................................................... 9-3
9.1.3 Finite Length/Infinite Length Axes and Absolute Position Detection ..... 9-4

9.2 Setting Procedure of Absolute Position Detection Function .... 9-5

9.2.1 System Startup Flowchart ...................................................................... 9-5
9.2.2 Initializing the Absolute Encoder ........................................................... 9-6

9.3 Absolute Position Detection for Finite Length Axes ................ 9-6
9.3.1 Parameter Settings for Finite Length Axes ............................................ 9-6
9.3.2 Setting the Zero Point for a Finite Length Axis ...................................... 9-9
9.3.3 Turning ON the Power after Setting the Zero Point of Machine Coordinate
System ............................................................................................... 9-13

9.4 Absolute Position Detection for Infinite Length Axes ............. 9-13
9.4.1 Simple Absolute Infinite Length Position Control ................................. 9-13
9.4.2 Parameter Settings for Simple Absolute Infinite Length Position Control 9-
15
9.4.3 Setting the Zero Point and Turning ON Power as Simple Absolute Positions
9-19
9.4.4 Turning ON the Power after Setting the Zero Point ............................. 9-20
9.4.5 Infinite Length Position Control without Simple Absolute Positions ..... 9-20

9-1
9 Absolute Position Detection
9.1.1 Outline of the Function

9.1 Absolute Position Detection Function

This section explains the Absolute Position Detection Function in the MP2300.

9.1.1 Outline of the Function

The Absolute Position Detection Function detects the position of the machine (axis) even if the
power is turned OFF. This allows it to establish the machine coordinate system automatically and to
begin operating automatically without having to execute the zero point return (ZRET) command after
power is turned ON.
Absolute position detection is performed using an absolute encoder built into a Servomotor.
The following are features of the system for detection of the absolute position.
• If eliminates the need for a zero point return after the power is turned ON.
• If eliminates the need for a zero point dog and overtravel limit switch.

■ Terminology: Absolute Encoder

There are two types of encoders available. An incremental encoder detects position by calculating the
zero point difference. An absolute encoder detects the absolute position relative to a reference posi-
tion.
The absolute encoder uses a battery connected to the battery terminals of the SERVOPACK to main-
tain absolute data at all times even though power is turned OFF. It also updates absolute data if the
position changes while the power is OFF.
The absolute encoder is comprised of a detector that is used to detect absolute position within one
rotation and a counter that is used to count the number of rotations.
ΠAfter the automatic operation starts, the absolute encoder operates in the same way as an incre-
mental encoder.

9-2
 9.1 Absolute Position Detection Function

9.1.2 Reading Absolute Data

Turn ON the MP2300 and the SERVOPACK at the same time or turn ON the SERVOPACK first to
read the absolute data loaded from the absolute encoder to the MP2300.
The following diagram shows an overview of the absolute data read operation.

MP2300
㧨Motion Section㧪
SERVOPACK
Motion monitoring
(1)Request absolute data
parameters
Servomotor
(4)
Position Electronic gear MECHATROLINK
monitoring calculation
(IL

0E to ࡮
Machine Encoder
IL

16) coordinate
system (3)Send absolute data (N, PO)
calculation
(2)Send absolute data (N, PO)

(1)*1 The MP2300 sends request to the SERVOPACK for absolute data after MECHATROLINK communications are established.

(2)*1 The SERVOPACK gets multi-turn data (N) and the initial incremental pulses (PO) from the encoder.

(3) The SERVOPACK sends the multi-turn data (N) and initial incremental pulses (PO) to the MP2300.

(4) The MP2300 calculates the absolute position from the multi-turn data (N) and initial incremental pulses (PO) and then calcu-
lates the electronic gear. The MP2300 then adds the data of Zero Point Offset (OL 48) to the calculation results to auto-
matically set the machine coordinate system*2.
* 1. The execution order of process ① and ② may be reserved depending on the
power-ON procedure.
* 2. Refer to 9.3.2 ( 1 ) Calculating the Zero Point of the Machine Coordinate System on page
9-10 for details on how the MP2300 calculates the machine coordinate system.
This way the absolute machine position can be detected and automatic operation can begin
immediately after power is turned ON with an automatic position detection system.

„ Terminology: Absolute Data

Absolute data that is stored in an absolute encoder has two types of data: the absolute reference position
(initial incremental pulses; PO) and the number of rotations (multi-turn data; N) from the absolute
reference position
The absolute reference position is the phase-C position when the absolute encoder is initialized and is
the reference position for absolute-position detection.
Only the number of rotations (N) can be cleared when the absolute encoder is initialized, and the initial
incremental pulses will not change.
„ Information: Calculation of Absolute Position
We can determine the absolute position P using the following data.
Data stored in an absolute encoder
• Absolute reference position (initial incremental pulses): PO
• Number of rotations from the absolute reference position (multi-turn data): N
Parameter determined according to the number of bits of servomotor
• Feedback pulses per motor rotation: RP
Equation to calculate the absolute position
• Absolute position (P) = N × RP + PO

9-3
9 Absolute Position Detection
9.1.3 Finite Length/Infinite Length Axes and Absolute Position Detection

9.1.3 Finite Length/Infinite Length Axes and Absolute Position Detection

There are two types of axes. An infinite length axis resets the current position to a specified value
every rotation, and the finite length axis does not.
Set a finite length axis if return and other operations are performed only within a specified range or
for an axis that moves in one direction only without resetting the position every rotation.
Set an infinite length axis for conveyor belts and other operations that require the position to be reset
every rotation.
There are two types of position control available with an infinite length axis. Simple Absolute Infi-
nite Length position control and Infinite Length position control are available if Simple Absolute
Infinite Length position control is not used.
An absolute encoder performs absolute position detection with a finite or infinite length axis depend-
ing on the Axis Type setting (fixed parameter 1, bit 0) of the MP2300
Set the MP2300 fixed parameters and SERVOPACK parameters to select the absolute position detec-
tion function with an absolute encoder. The setting procedures are different for finite and infinite
length axes. Refer to 9.2.1 System Startup Flowchart on page 9-5 for details.

9-4
 9.2 Setting Procedure of Absolute Position Detection Function

9.2 Setting Procedure of Absolute Position Detection Function

This section explains the procedure for setting the Absolute Position Detection Function.

9.2.1 System Startup Flowchart

Start up the system using the following procedure.

1 Check Devices
Check to see if the SERVOPACK, Servomotor, and cables are the right products and models for the absolute encoder.

Initialize the Absolute Encoder

2 Follow the setup procedure to set the absolute encoder to default values.
（→ 9.2.2 Initializing the Absolute Encoder on page 9-6, and Appendix C Initializing the Absolute Encoder on page C-2）

Setting Parameters Related to the MP2300 and the SERVOPACKs

Set all parameters related to the Absolute Position Detection Function of the MP2300 and SERVOPACKs.
The setting procedure for a finite length axis is different from that for an infinite length axis.
When using the axis as a Finite When using the axis as an Infinite Length Axis
Length Axis → 9.4.1 ( 2 ) Conditions to Enable the Simple Absolute Infinite Axis Position
3 → 9.3.1 Parameter Settings for Finite Control on page 9-13*
Length Axes on page 9-6
With simple absolute infinite length Without simple absolute infinite
position control length position control*
→ 9.4.2 Parameter Settings for Simple → 9.4.5 Infinite Length Position Con-
Absolute Infinite Length Position trol without Simple Absolute Posi-
Control on page 9-15 tions on page 9-20

Zero Point Setting

Set the zero point as well as the absolute zero point, that is, the machine coordinate zero point.
The setting procedure for a finite length axis is different from that of an infinite length axis.
When using the axis as a Finite With simple absolute infinite length Without simple absolute infinite
4
Length Axis position control length position control*
→ 9.3.2 Setting the Zero Point for a → 9.4.3 Setting the Zero Point and →9.4.5 ( 2 ) Infinite Length Axis Posi-
Finite Length Axis on page 9-9 Turning ON Power as Simple Abso- tion Control without Simple Abso-
lute Positions on page 9-19 lute Positions on page 9-21

* If the system does not satisfy the conditions described in 9.4.1 ( 2 ) Conditions to Enable the Simple
Absolute Infinite Axis Position Control on page 9-13 when using the axis as an infinite length axis,
the MP2300 carries out the operation without using simple absolute length position control.
After the steps 2 to 4 described above are successfully completed, the absolute position detection
system will be ready for operation.
ΠAlways perform the startup procedure of the absolute position detection system in the following
situations.
・When starting up the absolute position detection system for the first time
・When the Servomotor is changed
・When an absolute encoder-related alarm occurs

9-5
9 Absolute Position Detection
9.2.2 Initializing the Absolute Encoder

9.2.2 Initializing the Absolute Encoder

Absolute encoders can be initialized as follows:
• SERVOPACK Procedure
ΠRefer to the manual for the SERVOPACK for details.
• Panel Operator or Digital Operator Procedure
ΠRefer to the manual for the SERVOPACK for details.
• ABS_RST Command Procedure
ΠRefer to 7.2.21 Reset Absolute Encoder (ABS_RST) on page 7-77 for details.

For details on the procedure for initializing SERVOPACKS, refer to Appendix C Initializing the
Absolute Encoder on page C-2.
ΠInitialize the absolute encoder in the following situations.
・When the absolute position detection system is started up for the first time
・When number of rotations from the absolute reference position needs to be initialized to 0
・When a Servomotor has been left alone with no battery connected to the absolute encoder
・When an alarm which is related the absolute position detection system occurs

9.3 Absolute Position Detection for Finite Length Axes

This section describes the procedure for setting parameters and precautions on setting zero-point and
turning ON the power supply when using the axis as a finite length axis.

9.3.1 Parameter Settings for Finite Length Axes

The following parameters must be set to enable the absolute position detection function when using
an axis as a finite length axis.

ΠThe parameters for which precautions are provided must be set referring to

CAUTION 9.3.1 ( 3 ) Detailed Descriptions on page 9-8. Set these parameters carefully. If
they are not set correctly, the current position may not be correct after the power
is turned ON. Machine damage may occur.

( 1 ) MP2300 Fixed Parameters for Absolute Position Detection

Parameter No. Name Setting/Range Units Reference
Fixed Parameter 1, bit 0 Axis Type 0: Finite length axis, 1: Infinite length axis − 9.3.1 ( 3 ) [ a ]
• Incremental encoder
Encoder Type • Absolute encoder
− 9.3.1 ( 3 ) [ b ]
Fixed Parameter 30 • Absolute encoder
(used as incremental encoder)
1 to 231−1
Encoder Resolution
Set the value after multiplication. (For a pulse 9.3.1 ( 3 ) [ c ]
Fixed Parameter 36 in Pulses/Revolution
16-bit encoder, set 216 = 65536.)
Max. Revolution of
Fixed Parameter 38 Absolute Encoder 0 to 231−1 1 = 1 rotation 9.3.1 ( 3 ) [ d ]

9-6
 9.3 Absolute Position Detection for Finite Length Axes

( 2 ) SERVOPACK Parameters for Absolute Position Detection

SERVOPACK
Parameter Name Setting Range Units Reference
Model
0: Sets counterclockwise (CCW)
rotation as forward direction.
Pn000.0 Direction Selection 1: Sets clockwise (CW) rotation as −
forward direction (reverse rotation
mode).
Σ-III Series Multiturn Limit Setting 0 to 65535 Rev 9.3.1 ( 3 ) [ d ]
(SGDS- Pn205
†††1††)
Number of Encoder Pulses 16 to 1073741824 P/Rev 9.3.1 ( 3 ) [ c ]
Pn212
0: Uses absolute encoder as an absolute
encoder.
Absolute Encoder Usage − 9.3.1 ( 3 ) [ b ]
Pn002.2 1: Uses absolute encoder as an
incremental encoder.
0: Sets counterclockwise (CCW)
rotation as forward direction.
Pn000.0 Direction Selection 1: Sets clockwise (CW) rotation as − −
forward direction (reverse rotation
mode).
Σ-II Series Number of Encoder Pulses 16 to 16384 P/Rev 9.3.1 ( 3 ) [ c ]
(SGDH-†††E + Pn201
NS100, NS115)
Multiturn Limit Setting 0 to 65535 Rev 9.3.1 ( 3 ) [ d ]
Pn205
0: Uses absolute encoder as an absolute
encoder.
Absolute Encoder Usage − 9.3.1 ( 3 ) [ b ]
Pn002.2 1: Uses absolute encoder as an
incremental encoder.

0: Incremental encoder
Cn-0001, Encoder Selection − 9.3.1 ( 3 ) [ b ]
1: Absolute encoder
Bit E
0: Sets counterclockwise (CCW)
Σ-I Series
rotation as forward rotation.
(SGD-†††N, Cn-0002, Rotation Direction
1: Sets clockwise (CW) rotation as − −
SGDB-††AN) Bit 0 Selection
forward rotation (reverse rotation
mode).

Number of Encoder Pulses 513 to 32767 P/Rev 9.3.1 ( 3 ) [ c ]

Cn-0011

9-7
9 Absolute Position Detection
9.3.1 Parameter Settings for Finite Length Axes

( 3 ) Detailed Descriptions

[ a ] Axis Selection (MP2300 Fixed Parameter No.1, Bit 0)

This setting is used to select either an finite or infinite length axis.
Set to 0 when using the axis as a finite length axis.

[ b ] Encoder Selection and Absolute Encoder Usage

For an axis performing absolute position detection, set the parameters as shown in the following
table.

Model Parameter Setting

Fixed parameter 30
MP2300 1: Absolute encoder
(Encoder Selection)
Parameter: Pn002.2
Σ-II, Σ-III Series 0: Uses absolute encoder as an absolute encoder.
（Absolute Encoder Usage）
Parameter: Cn-0001 Bit E
Σ-I Series 1: Absolute encoder
(Encoder Selection)

ΠIf the above settings are not used, correct motion control will not be performed. Set the parameters carefully.
ΠBe sure to set both the MP2300 and SERVOPACK parameters.

[ c ] Number of Encoder Resolution

■ If using the SVB-01 Module or the built-in SVB Module
Refer to the following table and set the fixed parameter 36 (Encoder Resolution in Pulses/Resolution)
according to the number of servomotor bits. The settings can be used for all SERVOPACK models.

MP2300
Number of Bits Fixed Parameter 36
(Encoder Resolution in Pulses/Resolution)
12 4096
13 8192
15 32768
16 65536
17 131072
20 1048576

■ If using the SVA-01 Module

The methods of setting the fixed parameters 36 and 22 differ depending on the SERVOPACK used.
• With SERVOPACKs in the Σ series

MP2300
Fixed Parameter 22
Number of Bits Fixed Parameter 36
(Pulse Counting Mode)
(Encoder Resolution in Pulses/Resolution)
12 1024 6: Pulse A/B mode (×4)
15 8192 6: Pulse A/B mode (×4)

• With SERVOPACKs in the Σ-II series

Fixed Parameter 36 Fixed Parameter 22

Number of Bits
(Encoder Resolution in Pulses/Resolution) (Pulse Counting Mode)
13 2048 ∗1 6: Pulse A/B mode (×4)

9-8
 9.3 Absolute Position Detection for Finite Length Axes

16 16384 ∗1 6: Pulse A/B mode (×4)

17 16384 ∗1, ∗2 6: Pulse A/B mode (×4)

* 1. This value depends on the setting of Pn212 (PG dividing ratio). The values in the
table are the maximum values.
* 2. Because the maximum value of Pn201 (PG dividing ratio) is 16384, the maximum value
with a 17-bit encoder is also 16384.
• With SERVOPACKs in the Σ-III series

Fixed Parameter 36 Fixed Parameter 22

Number of Bits
(Encoder Resolution in Pulses/Resolution) (Pulse Counting Mode)
17 16384 ∗ 6: Pulse A/B mode (×4)
20 262144 ∗ 6: Pulse A/B mode (×4)

* This value depends on the setting of Pn212 (PG dividing ratio). The values in the table are
the maximum values.

ΠIf the above settings are not used, correct motion control will not be performed. Set the parameters carefully.

[ d ] Max. Revolution of Absolute Encoder/Multiturn Limit Setting

These parameters determine the maximum value of the number of encoder turns managed by the
SERVOPACK and MP2300.
The setting is determined by the SERVOPACK that is used and the type of axis (MP2300 fixed
parameter 1, bit 0). Set the parameters as shown in the following table when using an axis as a finite
length axis.

MP2300 SERVOPACK
Applicable
Fixed Parameter 38 Parameter Pn205
SERVOPACK
(Max. No. of Absolute Encoder Turns) (Multiturn Limit Setting)
Σ-II, Σ-III Series 65535 65535
Σ-I Series 99999 －

ΠIf the above settings are not used, the position may be offset. Set the parameters carefully.

9.3.2 Setting the Zero Point for a Finite Length Axis

This section describes the procedure for setting the zero point (i.e., the absolute zero point or the zero
point of the machine coordinate system) for a finite length axis. It also describes the procedures for
storing the zero point offset.

9-9
9 Absolute Position Detection
9.3.2 Setting the Zero Point for a Finite Length Axis

( 1 ) Calculating the Zero Point of the Machine Coordinate System

The MP2300 calculates the axis position (i.e., current position for the machine coordinate system) as
follows when power is turned ON if an absolute encoder is used for positioning.
Current position for the machine coordinate system (monitoring parameter IL††10*1 or
IL††16*1) = Encoder position when servo power is turned ON*2 + Zero Point Offset (setting
parameter OL††48)
To make the current position of the machine coordinate system the zero position, set OL††48
(encoder position when servo power turns ON) to a negative value. In other words, set OL††48 to
the difference between OL††48 and IL††10 (or IL††16).
* 1. Use IL††10 to select a positive value for the reference position for the machine coordinates, and
use IL††16 to make the current position of the machine coordinates into a positive position.
* 2. The encoder position when servo power is turned ON is as follows: Multiturn data × Number of
encoder pulses + initial increment pulses. Refer to your SERVOPACK manual for information on
the initial increment pulses.

Example: IL††10 = 10,000 and OL††48 = 100

Set the encoder position when servo power is turned ON to a negative value as shown below.
OL††48 － IL††10 = 100 － 10000
= － 9900
Set OL††48 to -9900 to make the current position in the machine coordinate system the zero point.

( 2 ) Setting the Zero Point of the Machine Coordinate System

Œ OL††48 is always valid for a finite length axis. Do not change the Zero Point
CAUTION Offset (OL††48) during the operation of a machine with a finite length axis.
Otherwise the machine may be damaged or an accident may occur.

Set the zero point after initializing the absolute encoder to set the zero point of the machine coordi-
nate system and to create the machine coordinate system. The following illustration shows the proce-
dure for setting the zero point for a finite length axis.

Start

Servo ON

JOG to move close to the zero point.

JSTEP to move to the zero point.

Repeat for every axis.

Set OL††48 OL††48 - IL††10.

Use the ZSET command to set the zero point.

NO
Has the setting for the required axis been completed?
YES

End

9-10
 9.3 Absolute Position Detection for Finite Length Axes

( 3 ) Saving OL††48 Values before Power OFF

After having set the zero point, save the value of OL††48 before turning OFF the power of
MP2300 so that the value will be written in OL††48 the next time the power is turned ON.
There are two ways to save the Zero Point Offset (OL††48) value. It can be saved through a ladder
program in an M Register backed up by battery or from the MPE720 Parameter Window. These ways
are described below.

„ Method 1: Saving in an M Register with Ladder Program

After setting the zero point, subtract the Calculated Position in the Machine Coordinate System
(IL††10) from the Machine Coordinate System Zero Point Offset (OL††48) and save the result in
an M register when it is stored in setting parameter OL††48. Store the contents saved in the M reg-
ister in Machine Coordinate System Zero Point Offset (setting parameter OL††48) every scan. This
way the value of OL††48 can be remained unchanged as long as another zero point setting is not
executed.

<Program Example>
The following diagram shows an example of ladder program to store the offset value of axis 1.
In a ladder program for an actual application, select a register with a different address for each axis.

Signal that turns ON only when setting the Machine

Coordinate System Zero Point
Main Program

Rising edge of Zero Point Set signal detected.

Zero Point Offset - Calculated Position ⇒ Store in OL††48.

Store offset saved in M register in OL††48.

Execute every scan in high-speed drawing.

9-11
9 Absolute Position Detection
9.3.2 Setting the Zero Point for a Finite Length Axis

„ Method 2: Saving the Zero Point Offset (OL††48) from the MPE720 Parameter Window
Open the Parameter Window for the specified axis on the MPE720 and use the following procedure
to save the Zero Point Offset.

1. Check the value in IL††10 in the Monitor Tab Page.

2. Check the current value in OL††48 in the Setup Parameters Tab Page. Subtract the
Calculated Position (IL††10) from the Zero Point Offset (OL††48) and save the
result in OL††48.

3. Check to see if the setting and current value in OL††48 are the same. If they are the
same, select File - Save and save the setting to the MP2300.

4. Return to Module Configuration Window and select Save - Save to Flash to save the
setting in the flash memory.

5. Execute the setting with the ZSET command.

When the power is turned ON, the value that was saved will be stored automatically for Zero Point
Offset (OL††48).

9-12
 9.4 Absolute Position Detection for Infinite Length Axes

9.3.3 Turning ON the Power after Setting the Zero Point of Machine Coordinate
System
The Zero Point Return (Setting) Completed bit (IB††0C5) will turn OFF when the power supply to
the MP2300 is turned OFF and ON, the communication are interrupted by turning OFF and ON the
power supply to the SERVOPACK after the zero point has been set. The Zero Point Return (Setting)
Completed bit must therefore be turned ON when the power supply is restored.
Use the following procedure.

1. Turn ON the power supply to the MP2300 (or clear alarms to restart communication).
The offset saved in the M register is stored to OL††48.

2. Check to see if communication has been synchronized.

Check to see if the Motion Controller Operation Ready bit (SVCRDY) (IB††000) is ON.

3. Execute the Zero Point Setting (ZSET) motion command by setting OW††08 to 9.
ΠUse this procedure only to turn ON the Zero Point Return (Setting) Completed bit
(IB††0C5). It cannot be used to set the Zero point of the Machine Coordinate System
OL††48.

9.4 Absolute Position Detection for Infinite Length Axes

Infinite length axis positioning is a function that automatically resets the machine position, program
position (absolute values in the program coordinate system), and current position at regular intervals
according to the Maximum Value of Rotary Counter (POSMAX) (fixed parameter 10). This function
can be used for repeated positioning in one direction.
POSMAX

9.4.1 Simple Absolute Infinite Length Position Control

( 1 ) Overview
The Simple Absolute Infinite Length Position Control is a position control method that can be used
for infinite length axes and has the following features.
• The coordinate system can be created simply by setting the machine coordinate system zero point
position offset when the power is turned ON (when the communication is restarted).
• No ladder program for position control is required.
For the system that satisfies the conditions to enable the Simple Absolute Infinite Length Position
Control (described in the following section), select the Simple Absolute Infinite Length Position
Control.

( 2 ) Conditions to Enable the Simple Absolute Infinite Axis Position Control

Set the Max. Revolution of Absolute Encoder (fixed parameter 38) to a value that satisfies the fol-

9-13
9 Absolute Position Detection
9.4.1 Simple Absolute Infinite Length Position Control

lowing equation to enable the Simple Absolute Infinite Axis Position Control.

（No.38: Max. Revolution of absolute encoder +1）

＝ An integer (remainder = 0)
Reset number of turns
The reset number of turns will differ depending on whether the command unit is set to pulse or milli-
meters/degrees/inches as shown below.

When the Reference Unit is Pulses When the Reference Unit is mm, deg, or inch

No. 10: Infinite length axis reset position ×

No. 10 Infinite length axis rest position No. 8: Motor gear ratio
No.36: Number of pulses per motor No. 6: Command units per machine rotation ×
rotation No. 9 Machine gear ratio

The settings above can be used to enable Simple Absolute Infinite Axis Position Control with a ∑-II
or ∑-III SERVOPACK.
Œ Simple Absolute Infinite Length Position Control cannot be used by the ∑-I SERVOPACK.

■ System That Does Not Satisfy the Above Condition

The system that does not satisfy the above condition cannot use the Simple Absolute Infinite Length
Position Control. Prepare the ladder program for position control. Refer to 9.4.5 Infinite Length
Position Control without Simple Absolute Positions on page 9-20 for details.

9-14
 9.4 Absolute Position Detection for Infinite Length Axes

9.4.2 Parameter Settings for Simple Absolute Infinite Length Position Control
Set the following parameters to use the Simple Absolute Infinite Length Position Control for an infi-
nite length axis.

ΠThe parameters for which precautions are provided must be set referring to

CAUTION 9.3.1 ( 3 ) Detailed Descriptions on page 9-8. Set these parameters carefully. If
they are not set correctly, the current position may not be correct after the power
is turned ON. Machine damage may occur.

( 1 ) Parameters Settings for Simple Absolute Infinite Length Position Control

Set the fixed parameters No.1 bit 0 and bit 9, and No. 30 as follows to set the Simple Absolute Infi-
nite Length Position Control for an infinite length axis.

Parameter Fixed Parameter No. 1, Bit 0 Fixed Parameter No. 1, Bit 9 Fixed Parameter No. 30
(Axis Type) (Simple ABS Infinite Axis) (Encoder Type)
Setting 1: Infinite length axis 1: Enabled 1: Absolute encoder

( 2 ) MP2300 Fixed Parameters for Absolute Position Detection

Fixed
Parameter Name Setting/Range Units Reference
No.
0: pulse
1: mm
2: deg
No. 4 Reference Unit Setting − −
3: inch
(Electric gear is disabled when pulse
is selected.)
No. 6 Reference Units per Revolution 1 to 231−1 1 = 1 reference unit −
No. 8 Gear Ratio (Motor) 1 to 65535 1 = 1 rotation −
No. 9 Gear Ratio (Load) 1 to 65535 1 = 1 rotation −
No. 10 Reset position of Infinite Length 1 to 2 −1
31 Reference unit −

1 to 2 −1 (Set the value after multi-

31
Encoder Resolution in Pulses/
plication. For example, set 216 = pulse 9.3.1 ( 1 ) [ c ]
No. 36 Revolution
65536 when using a 16-bit encoder)
Max. Revolutions of Absolute
Encoder 0 to 231−1 1 = 1 rotation 9.3.1 ( 1 ) [ d ]
No. 38

9-15
9 Absolute Position Detection
9.4.2 Parameter Settings for Simple Absolute Infinite Length Position Control

( 3 ) SERVOPACK Parameters for Absolute Position Detection

SERVOPACK
Parameter Name Setting Range Units Reference
Model
0: Sets counterclockwise (CCW)
rotation as forward direction.
Pn000.0 Direction Selection 1: Sets clockwise (CW) rotation as − −
forward direction (reverse rotation
mode).
Σ-III Series Multiturn Limit Setting 0 to 65535 Rev 9.3.1 ( 3 ) [ d ]
(SGDS- Pn205
†††1††)
Number of Encoder Pulses 16 to 1073741824 P/Rev 9.3.1 ( 3 ) [ c ]
Pn212
0: Uses absolute encoder as an
absolute encoder.
Absolute Encoder Usage − 9.3.1 ( 3 ) [ b ]
Pn002.2 1: Uses absolute encoder as an
incremental encoder.
0: Sets counterclockwise (CCW)
rotation as forward direction.
Pn000.0 Direction Selection 1: Sets clockwise (CW) rotation as − −
forward direction (reverse rotation
mode).
Σ-II Series Number of Encoder Pulses 16 to 16384 P/Rev 9.3.1 ( 3 ) [ c ]
(SGDH-†††E + Pn201
NS100, NS115)
Multiturn Limit Setting 0 to 65535 Rev 9.3.1 ( 3 ) [ d ]
Pn205
0: Uses absolute encoder as an
absolute encoder.
Absolute Encoder Usage − 9.3.1 ( 3 ) [ b ]
Pn002.2 1: Uses absolute encoder as an
incremental encoder.

0: Incremental encoder
Cn-0001, Encoder Selection − 9.3.1 ( 3 ) [ b ]
1: Absolute encoder
Bit E
0: Sets counterclockwise (CCW)
Σ-I Series
rotation as forward rotation.
(SGD-†††N, Cn-0002, Rotation Direction
1: Sets clockwise (CW) rotation as − −
SGDB-††AN) Bit 0 Selection
forward rotation (reverse rotation
mode).

Number of Encoder Pulses 513 to 32767 P/Rev 9.3.1 ( 3 ) [ c ]

Cn-0011

9-16
 9.4 Absolute Position Detection for Infinite Length Axes

( 4 ) Detailed Descriptions

[ a ] Encoder Type/Encoder Selection/ Absolute Encoder Usage

For an axis performing absolute position detection, set the parameters as shown in the table below.

Model Parameter Setting

MP2300 Fixed parameter 30: Encoder Type 1: Absolute encoder
Σ-II and Σ-III Series
Parameter Pn002.2: Absolute Encoder Usage 0: Uses absolute encoder as an absolute encoder
SERVOPACK
Σ-I Series SERVO-
Parameter Cn-0001, Bit E: Encoder Selection 1: Absolute encoder
PACK

ΠIf the abos settings are not used, correct motion control will not be performed. Set the parameters carefully.
ΠBe sure to set both the MP2300 and SERVOPACK parameters.

[ b ] Number of Encoder Resolution

■ If using the SVB-01 Module or the built-in SVB Module
Refer to the following table and set the fixed parameter 36 (Encoder Resolution in Pulses/Resolution)
according to the number of servomotor bits. The settings can be used for all SERVOPACK models.

MP2300
Number of Bits Fixed Parameter 36
(Encoder Resolution in Pulses/Resolution)
12 4096
13 8192
15 32768
16 65536
17 131072
20 1048576

■ If using the SVA-01 Module

The methods of setting the fixed parameters 36 and 22 differ depending on the SERVOPACK used.
• With SERVOPACKs in the Σ series

MP2300
Fixed Parameter 22
Number of Bits Fixed Parameter 36
(Pulse Counting Mode)
(Encoder Resolution in Pulses/Resolution)
12 1024 6: Pulse A/B mode (×4)
15 8192 6: Pulse A/B mode (×4)

• With SERVOPACKs in the Σ-II series

Fixed Parameter 36 Fixed Parameter 22

Number of Bits
(Encoder Resolution in Pulses/Resolution) (Pulse Counting Mode)
13 2048 ∗1 6: Pulse A/B mode (×4)
16 16384 ∗1 6: Pulse A/B mode (×4)
17 16384 ∗1，∗2 6: Pulse A/B mode (×4)

* 1. This value depends on the setting of Pn212 (PG dividing ratio). The values in the
table are the maximum values.
* 2. Because the maximum value of Pn201 (PG dividing ratio) is 16384, the maximum value
with a 17-bit encoder is also 16384.

9-17
9 Absolute Position Detection
9.4.2 Parameter Settings for Simple Absolute Infinite Length Position Control

• With SERVOPACKs in the Σ-III series

Fixed Parameter 36 Fixed Parameter 22

Number of Bits
(Encoder Resolution in Pulses/Resolution) (Pulse Counting Mode)
17 16384 ∗ 6: Pulse A/B mode (×4)
20 262144 ∗ 6: Pulse A/B mode (×4)

* This value depends on the setting of Pn212 (PG dividing ratio). The values in the table are
the maximum values.

ΠIf the above settings are not used, correct motion control will not be performed. Set the parameters carefully.

[ c ] Max. Revolution of Absolute Encoder/Multiturn Limit Setting

These parameters determine the maximum value of the number of encoder turns managed by the
SERVOPACK and MP2300.
For an infinite length axis, set the parameters as shown in the table below.

MP2300 SERVOPACK
Applicable
Fixed Parameter 38 Parameter Pn205
SERVOPACK
(Max. No. of Absolute Encoder Turns） (Multiturn Limit Setting)
Σ-II and Σ-III Series Set the same value as Pn205 * 65534 max. *
Σ-I Series 99999 －
* If the MP2300 fixed parameter 38 is set to 65535 when using a Σ-II series SERVOPACK for an
infinite axis, a fixed parameter setting error will occur.

ΠSet the parameters correctly as shown in the above table. Otherwise, correct motion control will not be per-
formed resulting in position error.

9-18
 9.4 Absolute Position Detection for Infinite Length Axes

9.4.3 Setting the Zero Point and Turning ON Power as Simple Absolute Positions

( 1 ) Calculating the Zero Point of the Machine Coordinate System

If using the simple absolute infinite length position control, the MP2300 calculates the axis position
(i.e., current position for the machine coordinate system) as follows when the power is turned ON.
Current position for the machine coordinate system (monitoring parameter IL††10*1 or
IL††16*1) = Encoder position when servo power is turned ON*2 + Zero Point Offset (setting
parameter OL††48)
To assign the current position of the machine coordinate system as the zero position, set the
OL††48 (encoder position when servo power turns ON) to a negative value. In other words, set
OL††48 to the difference between OL††48 and IL††10 (or IL††16).
* 1. Use the IL††10 to make the machine coordinate reference position a positive value, and
IL††16 to make a negative value.
* 2. The encoder position when the servo power is turned ON is calculated with the following equation:
Multiturn data × Number of encoder pulses + initial increment pulses. Refer to your
SERVOPACK manual for information on the initial increment pulses.

Example: IL††10 = 10,000 and OL††48 = 100

Set the encoder position when servo power is turned ON to a negative value as shown below.
OL††48 － IL††10 = 100 － 10000
= － 9900
Set OL††48 to -9900 to assign the current position in the machine coordinate system as the zero
point.

( 2 ) Setting the Zero Point for Simple Absolute Infinite Axis Position Control
The procedure to set the zero point for a simple absolute infinite axis position control is shown
below.

Start

Servo ON

JOG to move close to the zero point.

JSTEP to move to the zero point.

Repeat for every axis.

Set OL††48 OL††48 - IL††10.

Use the ZSET command to set the zero point.

NO
Has the setting for the required axis been completed?
YES

End

9-19
9 Absolute Position Detection
9.4.4 Turning ON the Power after Setting the Zero Point

( 3 ) Saving OL††48 Values at Power OFF

After having set the zero point, save the value of OL††48 before turning OFF the power of
MP2300 so that the value will be written in OL††48 the next time the power is turned ON.
There are two ways to save the Zero Point Offset (OL††48) value. It can be saved through a ladder
program in an M Register backed up by battery or from the MPE720 Parameter Window. These ways
are described below.
Refer to „ Method 1: Saving in an M Register with Ladder Program on page 9-11 and „ Method 2:
Saving the Zero Point Offset (OL††48) from the MPE720 Parameter Window on page 9-12 for
more details.

9.4.4 Turning ON the Power after Setting the Zero Point

The Zero Point Return (Setting) Completed bit (IB††0C5) will turn OFF when the power supply to
the MP2300 is turned OFF and ON, the communication are interrupted by the power OFF to the
SERVOPACK, or communication are interrupted in any other reason after the zero point has been
set. The Zero Point Return (Setting) Completed bit must therefore be turned back ON when the
power supply is restored.
Use the following procedure.

1. Turn ON the power supply to the MP2300 (or clear alarms to restart communication).
The offset saved in the M register is stored in OL††48.

2. Check to see if communication has been synchronized.

Check to see if the Motion Controller Operation Ready bit (SVCRDY) (IB††000) is ON.

3. Execute the Zero Point Setting (ZSET) motion command by setting OW††08 to 9.
ΠUse this procedure only to turn ON the Zero Point Return (Setting) Completed bit
(IB††0C5). It cannot be used to set the zero point of the machine coordinate system
(OL††48).

9.4.5 Infinite Length Position Control without Simple Absolute Positions

( 1 ) Parameter Settings for Infinite Length Position Control without Simple Absolute Positions
Set the infinite length position control without simple absolute positions by setting the fixed parame-
ters No. 1 bit 0 and bit 9, and No. 30 as shown in the table below when the simple absolute infinite
length position control function cannot be used.

Fixed Parameter No.1, Bit 0 Fixed Parameter No. 1, Bit 9 Fixed Parameter No. 30
Parameter
(Axis Type) (Simple ABS Infinite Axis) (Encoder Type)
Setting 1: Infinite length axis 0: Disabled 1: Absolute encoder

9-20
 9.4 Absolute Position Detection for Infinite Length Axes

( 2 ) Infinite Length Axis Position Control without Simple Absolute Positions

The MP2300 performs the following infinite length position control when the Simple Absolute Infi-
nite Length Position Control Function is not used.
The modularized position and absolute position are always stored as paired information in backup
memory. This information is used the next time power is turned ON as the modularized position and
the absolute position at shutdown to find the relative encoder position in pulses.
• Modularized position = Modularized position at power OFF + (Absolute position - Absolute posi-
tion at power OFF)*
* The portion in parentheses ( ) represents the moving amount while the power is OFF.

„ Terminology: Absolute position

Absolute encoder position information (Multiturn data × Number of encoder pulses + Initial increment
pulses)
„ Terminology: Modularized Position
The position information from the MP2300 converted to pulses

( 3 ) Setting the Zero Point for an Infinite Length Axis without Simple Absolute Positions

Start Perform the procedure shown in the figure on the left

to set the zero point for infinite length position control
without simple absolute positions.
Servo ON
The OL††48 value (information of the zero point) does
not have to be stored in an M register with this method. Set
JOG to move close to the zero a desired position in OL††48 and execute the ZSET com-
point. mand to set the zero point . With this setting, the current po-
sition of the machine coordinate system will be set.
STEP to move to the zero point. Repeat for every axis. Example:
To set the current position of the machine coordinate
Set the desired position at system to 0 when executing the ZSET command, set
OL䂔䂔48. OL††48 to 0.

Use the ZSET command to set

the zero point.

Has the setting for the required NO

axis been completed?
YES

End

9-21
9 Absolute Position Detection
9.4.5 Infinite Length Position Control without Simple Absolute Positions

( 4 ) Ladder Program for Infinite Length Axis Position Control

If the Simple Absolute Infinite Length Position Control Function is not used, a special ladder
program is needed for normal operation and for operation when system power is turned ON.

[ a ] Normal Operation

1. Check the status of the Zero Point Return (Setting) Completed bit.
Check to see if the Zero Point Return (Setting) Completed bit (monitoring parameter
IW††0C, bit 5) is ON. If it is, go to step 2.
If it is not, it means that the pulse position at power OFF, encoder position at power OFF and
all position data was not settled. In that case, restart the system and set up the position data
again or execute the ZSET (zero point setting) motion command to settle the position data all
over from the start.

2. Save the modularized position at power OFF and absolute position at power OFF.
Use the ladder program to save the following monitoring parameters with high-speed scan
timing at an M register backed up by battery.
• Monitoring Parameter: Absolute Position at Power OFF (All four words at IL††5E to
IL††60)
• Monitoring Parameter: Modularized Position at Power OFF (All four words at IL††62 to
IL††64)
The M register that is used to save the above monitoring parameters is structured as shown
below.

Bit 0 Toggle Buffer Enabled Flag (OFF: Disabled, ON: Enabled)

MW††††† Bit 1 Toggle Buffer Selection Flag (OFF: Buffer 0, ON: Buffer 1)
Bit 2 Position Data Re-setup Request Flag (OFF: Complete, ON: Request)
MW††††† +1 Not used
ML††††† +2 Monitoring Parameter: Lower-place two words (IL††5E)
ML††††† +4 Absolute Position at Power OFF Upper-place two words (IL††60)
Buffer 0
ML††††† +6 Monitoring Parameter: Lower-place two words (IL††62)
ML††††† +8 Modularized Position at Power OFF Upper-place two words (IL††64)
ML††††† +10 Monitoring Parameter: Lower-place two words (IL††5E)
ML††††† +12 Absolute Position at Power OFF Upper-place two words (IL††60)
Buffer 1
ML††††† +14 Monitoring Parameter: Lower-place two words (IL††62)
ML††††† +16 Modularized Position at Power OFF Upper-place two words (IL††64)
ΠTwo buffers are needed to save the absolute position and the modularized position at power OFF
because the program may be exited without settling position data at all four words if power is
turned OFF during the high-speed scan.

9-22
 9.4 Absolute Position Detection for Infinite Length Axes

Use the following flowchart to store values in buffers.

High-speed scan
drawing start

First scan after high-speed YES

scan started?
NO

NO
Zero point setting completed?

YES

Toggle Buffer Enable Flag ON

Toggle Buffer Selection Flag NO

ON?
YES

Copy monitoring parameter Copy monitoring parameter

value to buffer 0. value to buffer 1.

Set Toggle Buffer Enable Set Toggle Buffer Enable

Flag to 0. Flag to 1.

High-speed scan
drawing end

9-23
9 Absolute Position Detection
9.4.5 Infinite Length Position Control without Simple Absolute Positions

The following programming example (ladder program) is for the flowchart shown on the previous
page. The axis used here is axis 1 of circuit number 1. Change the motion parameter register number
if the circuit and axis numbers are different.
Main Program

Absolute system infinite length axis: Axis 1 Leading address of toggle buffer: MW30000
ON for only the first scan after high-speed scan is started.

SVCRDY (Operation Ready)

Position Information SAVE bit

Zero Point Setting Completed Flag

Position Information SAVE bit

Motion fixed parameters

setting error

Zero Point Setting

Completed Flag Position Information SAVE bit

Toggle Buffer Selection Flag

9-24
 9.4 Absolute Position Detection for Infinite Length Axes

Values of monitoring parameters saved in buffer 0.

Values of monitoring parameters saved in buffer 1.

Toggle Buffer Selection Flag inverted.

9-25
9 Absolute Position Detection
9.4.5 Infinite Length Position Control without Simple Absolute Positions

[ b ] Turning the System Back ON (Turning the Servo Back ON)

Set up position data again from the ladder program using high-speed scan timing as shown below.
This is done when MP2300 power or servo power is turned ON.

1. Store Modularized Position at Power OFF and Absolute Position at Power OFF to set-
ting parameters.
Store the Modularized Position at Power OFF and Absolute Position at Power OFF values
saved in M register to the following setting parameters.
• Setting parameter: Absolute Position at Power OFF (All four words at OL††5E to
OL††60)
• Setting parameter: Modularized Position at Power OFF (All four words at OL††62 to
OL††64)
Store the contents of the buffer selected by the Toggle Buffer Selection Flag.

2. Infinite Length Axis Position Information LOAD

Reset the Infinite Length Axis Position Information LOAD bit (setting parameter OW††00,
bit 7) to 0, 1 and 0 again. This will allow all position data to be settled. The following monitor-
ing parameters will then be enabled and the Zero Point Return (Setting) Completed bit (moni-
toring parameter IW††0C bit 5) will turn ON.
• Monitoring Parameter: Absolute Position at Power OFF (All four words at IL††5E to
IL††60)
• Monitoring Parameter: Modularized Position at Power OFF (All four words at IL††62 to
IL††64)
The system will create position data using the following equation when Infinite Length Axis
Position Information LOAD is requested.
• Modularized position = modularized position at power OFF + (absolute position − absolute posi-
tion at power OFF)*
* The portion in parentheses ( ) represents the moving amount while power is OFF.

9-26
 9.4 Absolute Position Detection for Infinite Length Axes

Use the following flowchart for storing parameters in registers and for Infinite Length Axis Position
Information LOAD requests.

Start the high-speed scan

drawing.

First scan after the start of high-speed

NO
scan or signal indicating that the servo
power supply was turned back ON?
YES

NO
Toggle Buffer Enabled Flag ON?

YES

Position Data Re-setup Request Position Data Re-setup Request

Flag ON Flag OFF

NO
Motion Controller RUN Ready?

YES

NO
Position Data Re-setup Request Flag ON?

YES

Absolute System Infinite Length

NO
Position Control Information
Load Request Flag OFF?

YES

NO
Toggle Buffer Selection Flag ON?

YES

Copy buffer 1 to setting Copy buffer 0 to setting

parameters. parameters.

Absolute system Position Absolute System Infinite

Control Data Initialization Length Position Control Data
Initialization Request Flag
Request Flag ON
OFF

Position Data Re-setup Request

Flag OFF

End the high-speed scan

drawing.

9-27
9 Absolute Position Detection
9.4.5 Infinite Length Position Control without Simple Absolute Positions

The following programming example (ladder program) is for the flowchart shown above. The axis
used here is axis 1 of circuit number 1. Change the motion parameter register number if the circuit
and axis numbers are different.
Main Program

Absolute System Infinite Length Mode Axis: Axis 1 Leading address of toggle buffer: MW30000
ON for only the first scan after
high-speed scan is started.

Servo power reset signal?

First scan or servo

power reset signal

Toggle Buffer Enabled Flag

Position Data Re-setup

Request Flag ON

Position Data Re-setup

Request Flag ON

SVCRDY Ready to run

Position Data Re-setup Request

Flag ON

Absolute System Infinite Length

Position Control Information Load
Completed Flag

Toggle Buffer Selection Flag

Save values in buffer 0 to

setting parameters.

9-28
 9.4 Absolute Position Detection for Infinite Length Axes

Main Program

Save values in buffer 1 to

setting parameters.

Absolute System Infinite L

Position Control Data Initi
Request Flag ON

Position Information SAV

Absolute System Infinite L

Position Control Data Initi
Request Flag ON

Position Data Re-s

Request Flag ON

ΠThere are no restrictions in the executing order for ladder programs H10 and H11 when an abso-
lute encoder is used for a finite length axis.

9-29
9 Absolute Position Detection
9.4.5 Infinite Length Position Control without Simple Absolute Positions

9-30
 10
Utility Functions

This chapter describes MP2300 and SERVOPACK utility functions like vertical
axis control, overtravel, and software limits.

10.1 Controlling Vertical Axes ..................................................... 10-2

10.1.1 Holding Brake Function of the SERVOPACK .................................... 10-2
10.1.2 Connections to Σ-II/III SGDH or SGDS SERVOPACK ...................... 10-2
10.1.3 Connections to Σ-I Series SGDB SERVOPACK ................................ 10-4
10.1.4 Connections to Σ-I Series SGD SERVOPACK .................................. 10-6

10.2 Overtravel Function ............................................................. 10-8

10.2.1 Connections to Σ-II/III Series SGDH or SGDS SERVOPACK .......... 10-8
10.2.2 Connections to Σ-I Series SGDB or SGD SERVOPACK ................. 10-10

10.3 Software Limit Function ..................................................... 10-12

10.3.1 Fixed Parameter Settings ................................................................ 10-12
10.3.2 Effects of the Software Limit Function ............................................. 10-13
10.3.3 Processing after an Alarm Occurs ................................................... 10-13

10-1
10 Utility Functions
10.1.1 Holding Brake Function of the SERVOPACK

10.1 Controlling Vertical Axes

This section explains connection methods and parameter settings required to use the SERVOPACK
to control a vertical axis.

10.1.1 Holding Brake Function of the SERVOPACK

When using a SERVOPACK to control a vertical axis or an axis to which an external force is being
applied, a Servomotor with a brake must be used to prevent the axis from dropping or moving due to
gravity or the external force when the system power is turned OFF.
• Vertical Axis • Axis Subject to External Force

Servomotor

Holding brake External force

Servomotor

Preventing
movement due to
gravity when power is
OFF

The holding brake of the Servomotor is controlled through the brake interlock output (/BK) signal
from the SERVOPACK. The brake is not controlled from the MP2300.

ΠThe brake built into a Servomotor with a brake uses non-excitation operation and is for use as a holding
brake only. It cannot be used to control or stop axis movement. Use the holding brake only to hold the axis in
a stopped state after the motor has stopped. The torque of the brake is 100% or higher of the rated torque of
the motor.

10.1.2 Connections to Σ-II/III SGDH or SGDS SERVOPACK

( 1 ) Example of a Brake ON and OFF Circuit

A circuit is configured to turn the brake ON and OFF using the /BK contact output signal from the
SERVOPACK and a brake power supply. The following diagram shows the standard connections.

SGDM, SGDH, or SGDS Servomotor

SERVOPACK with a brake
Power supply
A (1)
L1 U
L2 B (2)
V
C (3) M
L3 W
L1C D (4)
L2C E (5)
BK-RY
27- ∗1 F (6) BK
+24 V /BK+

28- ∗
1

/BK-

CN2 PG

∗
BK-RY 2 Blue or
yellow Red
White AC DC Black

Brake power supply *3

10-2
 10.1 Controlling Vertical Axes

* 1. The output terminal is allocated using parameter Pn50F.2. Output terminal 1 (terminal numbers
1and 2) is selected in the example above.
* 2. Brake control relay contact
* 3. There are 200-V and 100-V brake power supplies.

( 2 ) Parameter Settings
The SERVOPACK parameters related to control the holding brake are described below.

Parameter Name Unit Setting/Range Default Control Mode

0: Brake not used
1: Terminal numbers 1 and 2 Speed, torque,
Pn50F.2 Output Signal Selection 2 ─ 1
2: Terminal numbers 23 and 24 position control
3: Terminal numbers 25 and 26
Details
The following parameter determines which CN1 pin (0 to 3 above) will be used to output the /BK signal.
ΠDo not allocate more than one signal
per output circuit. Otherwise, a logical
Pn50F.2 Output Terminals OR operation will be performed on all
1
/BK brake CN1-25, 26 (SO1) allocated signals.
interlock output 2
CN1-27, 28 (SO2)
3 ΠSet unused signals to 0 (brake not
CN1-29, 30 (SO3)
used).

Parameter Name Unit Setting/Range Default Control Mode

Speed, torque,
Pn506 Brake ON Timing after Motor Stops 10 ms 0 to 50 0
position control
Details
This parameter adjusts the delay time from /BK Signal Output until Servo OFF (stopping Servomotor output), and
it is used to be set when the machine moves slightly due to gravity or other factors after turning the brake ON.

/S-ON input Servo ON Servo OFF

Brake
/BK output released Brake holding

Servo ON/OFF Motor ON

Motor OFF
operation (motor
ON status) Pn506

Servo OFF
delay time

ΠThis parameter is used to set the timing when the motor is stopped. Brake operation while the motor
is running is set in Pn507 and Pn508.
ΠFor the standard settings, the Servo will turn OFF simultaneously with the /BK output (Brake
Operation). If gravity causes the machine to move slightly at this time due to machine configuration
or brake characteristics, turning OFF the Servo can be delayed to reduce the movement.

10-3
10 Utility Functions
10.1.3 Connections to Σ-I Series SGDB SERVOPACK

Parameter Name Unit Setting/RangeSetting Range Default Control Mode

Speed, torque,
Pn507 min−1 0 to 10000 100
Brake ON Timing when Motor position control
Running Speed, torque,
10 ms 0 to 100 50
Pn508 position control
Details
Pn507: Speed Level for BK Signal Output when Motor Running
Pn508: Timing of BK Signal Output when Motor Running
These settings are used to set the timing for applying the brake when the Servo turns OFF due to an /S-ON input
signal or alarm.

/S-ON input or Servo ON

alarm occurred. Servo OFF
Power OFF
Stop with dynamic
brake or by coasting
Motor speed (Pn001.0)
ΠThe brake on the Servomotor is
Pn507 designed as a holding brake and it
must be applied only after the motor
Brake
released has stopped. Adjust this parameter
/BK output Brake holding
while observing machine operation.
Pn508

10.1.3 Connections to Σ-I Series SGDB SERVOPACK

( 1 ) Example of a Brake ON and OFF Circuit

A circuit is configured to turn the brake ON and OFF using the /BK contact output signal from the
SERVOPACK and a brake power supply. The following diagram shows the standard connections.

Servomotor
SGDB SERVOPACK with a brake
Power supply
A
R U
S B
V
C M
T W
r D
t E
BK-RY
/BK 27 *1 F BK
+24 V 50 mA
*1 max.
SG-COM 28

CN2 PG

*
BK-RY 2 Blue or
yellow Red
White AC DC Black
*
Brake power supply 3

* 1. The terminal is allocated using parameter Cn-2D. In the example above, /BK signal 4 is set
in the 2nd digit.
* 2. Brake control relay contact
* 3. There are 200-V and 100-V brake power supplies.

10-4
 10.1 Controlling Vertical Axes

( 2 ) Parameter Settings
The SERVOPACK parameters related to control the holding brake are described below.
Parameter Name Unit Setting/Range Default Control Mode
Cn-2D OUTSEL Output Signal Selection ─ 110 to 666 210 Speed, torque, position control
Details
The following parameter determines which pin of the 1CN will be used to output the /BK signal (4 on the lower
right column). In the figure above, 4 is allocated to the 2s digit and the setting is †4†.
Allocation Set Value and Function
1st digit: CN1-25, 26 (Factory setting: 0） 0: /COIN/ /V-CMP (Valid only at the 1st digit.）
2nd digit: CN1-27, 28 (Factory setting: 1） 1: /TGON
3rd digit: CN1-29, 30 (Factory setting: 2） 2: /S-RDY
3: /CLT
4: /BK
5: OL warning
6: OL alarm
Parameter Name Unit Setting/Range Default Control Mode
Cn-12 Brake ON Timing after Motor Stops 10 ms 0 to 50 0 Speed, torque, position control
Details
This parameter adjusts the Delay Time from /BK Signal Output until Servo OFF (stopping Servomotor output), and
it is used to be set when the machine moves slightly due to gravity or other factors after turning the brake ON.
/S-ON input Servo ON Servo OFF
Brake
/BK output released Brake holding

Servo ON/OFF Motor ON

Motor
operation (motor OFF
Cn-12
ON status)

Servo OFF
delay time

ΠThis parameter is used to set the timing when the motor is stopped. Brake operation while the motor
is running is set in Cn-15 and Cn-16.
ΠFor the standard settings, the Servo will turn OFF simultaneously with the /BK output (Brake
Operation). If gravity causes the machine to move slightly at this time due to machine configuration
or brake characteristics, turning OFF the Servo can be delayed to reduce the movement.
Parameter Name Unit Setting/Range Default Control Mode
Cn-15 Brake ON Timing when Motor min−1 0 to max. speed 100 Speed, torque, position control
Cn-16 Running 10 ms 0 to 100 50 Speed, torque, position control
Details
Cn-15: Speed Level for BK Signal Output when Motor Running
Cn-16: Timing of BK Signal Output when Motor Running
These settings are used to set the timing for applying the brake when the Servo turns OFF due to an /S-ON input
signal or alarm.

/S-ON input or Servo ON

alarm occurred. Servo OFF
Power OFF

Stop with dynamic

brake or by coasting
Motor speed (Cn0001 bit 6)
(min−1) Œ The brake on the Servomotor is
Cn-15 designed as a holding brake and it
must be applied only after the motor
Brake
released has stopped. Adjust this parameter
/BK output Brake holding
while observing machine operation.
Cn-16

10-5
10 Utility Functions
10.1.4 Connections to Σ-I Series SGD SERVOPACK

10.1.4 Connections to Σ-I Series SGD SERVOPACK

( 1 ) Brake ON and OFF Circuit Example

A circuit is configured to turn the brake ON and OFF using the /BK contact output signal from the
SERVOPACK and a brake power supply. The standard connections are shown in the following dia-
gram.

SGD or SGDA SERVOPACK Servomotor with a brake

Power supply 1
R U
2
V
3 M
T W
4
5
BK-RY 1CN 6 BK
/BK -7
+24 V
50 mA
SG-COM -10 max.

2CN PG

*
BK-RY 1 Blue or
yellow Red
White AC DC Black

Brake power supply*2

* 1. Brake control relay contact

* 2. There are 200-V and 100-V brake power supplies.

10-6
 10.1 Controlling Vertical Axes

( 2 ) Parameter Settings
The SERVOPACK parameters related to controlling the brake are described below.

Parameter Name Unit Setting/Range Default Control Mode

Brake ON Timing after Speed, torque, position
Cn-12 10 ms 0 to 50 0
Motor Stops control
Details
This parameter adjusts the Delay Time from /BK Signal Output until Servo OFF (stopping Servomotor output),
and it is used to be set when the machine moves slightly due to gravity or other factors after turning the brake
ON.

/S-ON input Servo ON Servo OFF

Brake
/BK output released Brake holding

Servo ON/OFF Motor ON

Motor
operation (motor OFF
Cn-12
ON status)

Servo OFF
delay time

ΠThis parameter is used to set the timing when the motor is stopped. Brake operation while the
motor is running is set in Cn-15 and Cn-16.
ΠFor the standard settings, the Servo will turn OFF simultaneously with the /BK output (Brake
Operation). If gravity causes the machine to move slightly at this time due to machine
configuration or brake characteristics, turning OFF the Servo can be delayed to reduce the
movement.

Parameter Name Unit Setting/Range Default Control Mode

Speed, torque, position
Cn-15 min−1 0 to max. speed 100
Brake ON Timing when control
Motor Running Speed, torque, position
Cn-16 10 ms 0 to 100 50
control
Details
Cn-15: Speed Level for BK Signal Output when Motor Running
Cn-16: Timing of BK Signal Output when Motor Running
These settings are used to set the timing for applying the brake when the Servo turns OFF due to an /S-ON input
signal or alarm.

/S-ON input or Servo ON

alarm occurred. Servo OFF
Power OFF

Stop with dynamic

brake or by coasting
Motor speed (Cn0001 bit 6)
(min−1)

Cn-15

Brake
released Brake holding
/BK output
Cn-16

ΠThe brake on the Servomotor is designed as a holding brake and it must be applied only after the
motor has stopped. Adjust this parameter while observing machine operation.

10-7
10 Utility Functions
10.2.1 Connections to Σ-II/III Series SGDH or SGDS SERVOPACK

10.2 Overtravel Function

The overtravel function forces the machine to stop when the moving part of the machine exceeds the
range of movement. With the MP2300, processing for stopping as a result of overtravel is achieved
by using SERVOPACK functions.
The SERVOPACK connections and parameter setting depend on the model of SERVOPACK. The
connections and parameter settings are described in the following sections.

10.2.1 Connections to Σ-II/III Series SGDH or SGDS SERVOPACK

The following parameters must be set to ensure the overtravel input signals are connected correctly
for the overtravel function.

( 1 ) Overtravel Input Signal Connections

Correctly connect the input signals for the overtravel limit switches shown below to the correspond-
ing pins on the SERVOPACK CN1 or 1CN connector.
Reverse rotation Forward rotation
Servomotor

Negative Positive
overtravel overtravel
SERVOPACK
P-OT
CN1-42
N-OT
CN1-43

When ON Forward drive enabled.

CN1-42 (1CN-16) is low. Normal operating condition
P-OT
When OFF Forward drive disabled.
CN1-42 (1CN-16) is high. (Reverse movement possible.)
When ON Reverse drive enabled.
CN1-43 (1CN-17) is low. Normal operating condition
N-OT
When OFF Reverse drive disabled.
CN1-43 (1CN-17) is high. (Forward movement possible.)

( 2 ) Parameter Settings

[ a ] Use/Not Use Overtravel Input Signals

The following parameters are used to enable and disable the overtravel input signals.

Parameter Name Set Value Item Default

2 Enables use of Positive Prohibit Input Signal
(Recomm (P-OT). (Forward rotation prohibited when
Pn50A.3 P-OT Signal Mapping ended) 2
open, allowed for 0 V.)
8 Disables the P-OT signal.
3 Enables use of Negative Prohibit Input Signal
(Recomm (N-OT). (Reverse rotation prohibited when
Pn50B.0 N-OT Signal Mapping ended) 3
open, allowed for 0 V.)
8 Disables the N-OT signal.

ΠThese parameters are disabled by executing a self-configuration command.

10-8
 10.2 Overtravel Function

[ b ] Selecting Motor Stopping Methods for Overtravel

When using the overtravel function has been enabled, the following parameters are used to set the
methods for stopping the motor. Select the methods for stopping when the P-OT or N-OT is input
during motor running.

Parameter Name Set Value Item Default

0 Stops the motor according to Pn001.0 setting
(Recomm (dynamic brake or coasting) when overtravel is
ended) detected.
Decelerates the motor to a stop by applying the
torque specified in Pn406 (Emergency Stop
1
Pn001.1 Overtravel Stop Mode Torque) when overtravel is detected, and then 0
sets it to zero clamp (servolock) mode.
sets it to coast (servo OFF) mode.
Torque) when overtravel is detected, and then
2 torque specified in Pn406 (Emergency Stop
Decelerates the motor to a stop by applying the
0
Stops the motor by applying dynamic brake (DB)
(Recomm
ended) and then holds the DB.

Stops the motor by applying dynamic brake (DB)

Pn001.0 Servo OFF Stop Mode 1 0
and then releases the DB.
Makes the motor coast to a stop.
2 Current is not supplied to the motor and the
machine stops due to friction.

Overtravel
Stopping method After stopping Pn001 set

Pn001.0 = 0, 1 Dynamic
brake stop
Pn001.1 = 0
Coasting 0
Pn001.0 = 2
Coast to a stop

Zero-clamp 1
Pn001.1 = 1, 2 Deceleration
stop
Coasting 2

10-9
10 Utility Functions
10.2.2 Connections to Σ-I Series SGDB or SGD SERVOPACK

10.2.2 Connections to Σ-I Series SGDB or SGD SERVOPACK

The following parameters must be set to ensure the overtravel input signals are connected correctly
for the overtravel function.

( 1 ) Overtravel Input Signal Connections

Connect the input signals for the overtravel limit switches to the corresponding pins on the SERVO-
PACK CN1 or 1CN connector as shown below.

■ Connections to SGDB SERVOPACK

Reverse rotation Forward rotation

Servomotor

Negative Positive
overtravel overtravel
SERVOPACK
P-OT
CN1-42
N-OT
CN1-43

■ Connections to SGD SERVOPACK

Reverse rotation Forward rotation

Servomotor

Negative Positive
overtravel overtravel
SERVOPACK
P-OT
1CN-16
N-OT
1CN-17

When ON Forward drive enabled.

CN1-42 (1CN-16) is low. Normal operating condition
P-OT
When OFF Forward drive disabled.
CN1-42 (1CN-16) is high. (Reverse movement possible.)
When ON Reverse drive enabled.
CN1-43 (1CN-17) is low. Normal operating condition
N-OT
When OFF Reverse drive disabled.
CN1-43 (1CN-17) is high. (Forward movement possible.)

10-10
 10.2 Overtravel Function

( 2 ) Parameter Settings
[ a ] Use/Not Use Overtravel Input Signals
The following parameters are used to enable and disable the overtravel input signals.
Parameter Name Set Value Item Default
Enables use of Positive Prohibit Input Signal
0
(P-OT). (Forward rotation prohibited when
Cn-01 Use/Not Use P-OT Input (Recommended)
open, allowed for 0 V.) 0
Bit 2 Signal
Disables use of Positive Prohibit Input Signal
1
(P-OT). (Forward rotation always allowed.)
Enables use of Negative Prohibit Input Signal
0
(N-OT). (Reverse rotation prohibited when
Cn-01 Use/Not Use N-OT Input (Recommended)
open, allowed for 0 V.) 0
Bit 3 Signal
Disables use of Negative Prohibit Input Signal
1
(N-OT). (Reverse rotation always allowed.)

[ b ] Selecting Motor Stopping Methods for Overtravel

When using the overtravel function has been enabled, the following parameters are used to set the
methods for stopping the motor. Select the methods for stopping when the P-OT or N-OT is input
during motor running.
Parameter Name Set Value Item Default
Uses the same stopping method as for Servo
OFF.
0
Stops the motor according to Cn-01 bit 6
(Recommended)
setting (dynamic brake or coasting) when
Cn-01 Selection of stopping
overtravel is detected. 0
Bit 8 method for overtravel
Decelerates the motor to a stop by applying the
torque specified in Cn-06 (EMGTRQ
1
Emergency Stop Torque) when overtravel is
detected.
0 Decelerates the motor to a stop and then turns
Selection of processing (Recommended)） OFF the Servo.
Cn-01
after stopping for 0
Bit 9 Decelerates the motor to a stop and then sets it
overtravel 1
in the zero-clamp mode.
Stops the motor by applying dynamic brake
0
Selection of stopping (DB).
Cn-01
method for motor when Makes the motor coast to a stop. 0
Bit 6
servo turns OFF 1 Current is not supplied to the motor and the
machine stops due to friction.
Stops the motor by applying dynamic brake
Selection of processing 0
Cn-01 (DB) and then releases the DB.
after stopping for 0
Bit 7 Stops the motor by applying dynamic brake
overtravel 1
(DB) and then holds the DB.

Overtravel
Stopping method After stopping

Bit 6 = 0 Dynamic
Cn-01 brake stop
Bit 8 = 0 Dynamic brake
released
Bit 6 = 1 Deceleration
stop

Bit 9 = 0
Servo OFF
Bit 8 = 1
Coast to a stop
Bit 9 = 1
Zero-clamp

10-11
10 Utility Functions
10.3.1 Fixed Parameter Settings

10.3 Software Limit Function

The software limit function is used to set upper and lower limits for the range of machine movement
in fixed parameters so the MP2300 can constantly monitor the operating range of the machine. The
function can be used to help prevent machine runaway or damage due to incorrect operation as well
as incorrect references in a motion program.
Disable the software limits in the SERVOPACK to use the MP2300 for position control in the
machine coordinate system.
ΠRefer to your SERVOPACK manual for the procedure on disabling software limits.

Servo-
motor

Negative Positive
overtravel overtravel

Software Limit, Range of machine movement Software Limit,

lower limit upper limit

10.3.1 Fixed Parameter Settings

The following fixed parameters must be set in order to use the software limit function.

Fixed Parameter Number Name Unit Setting/Range

Function Selection 1
Bit 1: Forward Soft Limit Enabled
0: Disable, 1: Enable
1 (Forward Software Limit Enabled) −
0: Disable, 1: Enable
Bit 2: Reverse Soft Limit Enabled
(Reverse Software Limit Enabled)
−2147483648
12 Forward Software Limit Reference unit
to 2147483647
−2147483648
14 Reverse Software Limit Reference unit
to 2147483647
ΠThe software limit function is enabled only after completing a Zero Point Return or Zero Point Set-
ting operation.
If any fixed parameters are changed and saved or the power is turned ON, the Zero Point Return
or Zero Point Setting operation must be performed again.

10-12
 10.3 Software Limit Function

10.3.2 Effects of the Software Limit Function

If a position command that exceeds the positive and negative software limit is executed with the
software limit function enabled, an alarm will occur and the MP2300 will stop the axis. The type that
the axis stops depends on the motion command as shown below.

Motion Command Stop Operation

POSING
EX_POSING The axis will start decelerating before the software limit position and stop
FEED at the software limit position.
STEP
INTERPOLATE
The pulse distribution command will stop executing at the software limit
ENDOF_INTERPOLATE
position. The Servo will perform an emergency stop.
LATCH
VELO
The axis will start decelerating the software limit position and stop
TRQ
beyond the software limit position.
PHASE
ΠThe software limit settings is disabled for ZRET operation.

10.3.3 Processing after an Alarm Occurs

( 1 ) Monitoring Alarms
If an axis exceeds a software limit, a Positive/Negative Soft Limit (Positive/Negative Software
Limit) alarm will occur. This alarm can be monitored in the Alarm monitoring parameter (IL††04).

Name Register Number Meaning

Bit 3: Positive Software Limit
Alarm IL††04
Bit 4: Negative Software Limit

( 2 ) Clearing Software Limit Alarms

Clear software limit alarms using the procedure below.

1. Set the Alarm Clear bit to 1 in the RUN Commands (OW††00 bit F) to clear the
alarm.
The alarm (IL††04) will be cleared.

Name Register Number Meaning

RUN Commands OW††00 Bit F: Clear Alarm

2. Use the FEED or STEP command to return past the software limit.

Commands will be received in the return direction.

Servo-
motor
An alarm will occur again if a command is
given in the direction of the software limit
that was activated.

Software Limit, Software Limit,

lower limit upper limit

10-13
 10 Utility Functions

10-14
 11
Precautions for Using the MP2300

This chapter describes items users need to know to use the MP2300 system
correctly. They include parameters that may be automatically updated and settings
that, if changed, may affect saving data.

11.1 Parameters That Are Automatically Updated ...................... 11-2

11.1.1 Parameters Updated when a MECHATROLINK Connection Is Estab-
lished (1) (User Constants Self-Writing Function Enabled) ................. 11-2
11.1.2 Parameters Updated when a MECHATROLINK Connection Is
Established (2) (Regardless of the User Constants Self-Writing
Function) ............................................................................................. 11-3
11.1.3 Parameters Updated when a Setting Parameter Is Changed
(MECHATROLINK-II Operating at 10 Mbps in 32-byte Mode with
User Constants Self-Writing Function Enabled) .................................. 11-3
11.1.4 Parameters Updated when a Motion Command Is Executed
(Regardless of User Constants Self-Writing Function Setting and
MECHATROLINK Connection)............................................................ 11-4
11.1.5 Parameters Updated during Self-configuration .................................. 11-5

11.2 Precautions When Setting or Changing User Definition

Files and Scan Times .......................................................... 11-8
11.2.1 Setting or Changing User Definition Files .......................................... 11-7
11.2.2 Setting or Changing Module Configuration Definition Files ............... 11-7
11.2.3 Setting and Changing the Scan Time ................................................ 11-8

11.3 SERVOPACK Parameter Data Flow .................................... 11-9

11.3.1 Operations and Parameter Data Flow ............................................... 11-9
11.3.2 Precautions When Saving SERVOPACK Parameters ..................... 11-16

11-1
11 Precautions for Using the MP2300
11.1.1 Parameters Updated when a MECHATROLINK Connection Is Established (1) (User Constants Self-Writing Function Enabled)

11.1 Parameters That Are Automatically Updated

Some of the parameters stored in SERVOPACK RAM may be overwritten automatically under
certain conditions or as a result of self-configuration. This includes MP2300 setting parameters and
fixed parameters, as well as fixed value SERVOPACK parameters. Some SERVOPACK parameters
are also written to setting parameters automatically during self-configuration. The parameters that
are updated automatically under specific conditions are listed in the following tables.
ΠRefer to Chapter 6 Motion Parameters for details on MP2300 parameters. Refer to your
SERVOPACK manual for details on SERVOPACK parameters.

11.1.1 Parameters Updated when a MECHATROLINK Connection Is Established (1)

(User Constants Self-Writing Function Enabled)
The MP2300 parameter settings in the left table below are automatically written to the SERVOPACK
parameters given in the right table below when a connection is established between the MP2300 and
the SERVOPACK. This occurs after power is turned ON or alarms are cleared following a
communication interruption. The parameters are written only when automatic updating of parameters
is enabled when bit A of fixed parameter 1 in the MP2300 is set to 0.

SERVOPACK Parameter
MP2300 Remarks
SGD-N, SGDB-N NS100 NS115 SGDS
Position Completed Width OL††1E → − − Pn500* Pn522*
Position Loop Gain OW††2E → − − Pn102*
* Settings are
Speed Loop Gain OW††2F → − − Pn100* written only when
Speed Feed Forward using a
OW††30 → − − Pn109* MECHATROLINK
Compensation
Setting parameters

-II operating at 10
Position Loop Integration
Time Constant
OW††32 → − − Pn11F* Mbps in 32-byte
mode.
Speed Loop Integration
Time Constant
OW††34 → − − Pn101*

Linear Acceleration Time OL††36 → Cn-0020 Pn80B −

Linear Deceleration Time OL††38 → − Pn80E −
S-curve Acceleration
Time
OW††3A → Cn-0026 Pn812 −
OW††03 Settings are automatically enabled only when using MECHATROLINK-II
Filter Type →
Bits 8 to B operating at 10 Mbps in 32-byte mode.

11-2
 11.1 Parameters That Are Automatically Updated

11.1.2 Parameters Updated when a MECHATROLINK Connection Is Established (2)

(Regardless of the User Constants Self-Writing Function)
The MP2300 parameter settings in the left table below are automatically written to the SERVOPACK
parameters in the right table below when a connection is established between the MP2300 and the
SERVOPACK. The parameters are written regardless of whether automatic updating of parameters is
enabled or disabled at bit A of fixed parameter 1 in the MP2300.

SERVOPACK Parameter
MP2300 Remarks
SGD-N, SGDB-N NS100 NS115 SGDS
Fixed Backlash
parameters Compensation
No.16 − − Pn81B Pn214 −
Excessive Position Error
65535 → Cn-001E −
Area
32767 → − Pn505 − Overflow Level
Excessive Position Error
230 -1 → − − Pn520
Alarm Detection Level
Fixed
values Excessive Position Error
100 → − Pn51E
Warning Detection Level
Pn820 and Pn822 are Processing to disable the
set to the same value.
− − Pn820 -> Pn822
latch zone
Set the Torque Reference
0002 − Pn0003 Pn824
from the Option Monitor.

11.1.3 Parameters Updated when a Setting Parameter Is Changed

(MECHATROLINK-II Operating at 10 Mbps in 32-byte Mode with User
Constants Self-Writing Function Enabled)
When automatic updating of parameters is enabled at bit A of fixed parameter 1 in the MP2300, the
parameters shown in the right table below are automatically updated every time the MP2300 setting
parameters in the left table below are updated. Updating occurs on all SERVOPACKs connected to a
MECHATROLINK-II operating at 10 Mbps in 32-byte mode.

SERVOPACK
MP2300 SGD-N, Remarks
NS100 NS115 SGDS
SGDB-N
Position Completed
Width
OL††1E → − − Pn500 Pn522 −
Position Loop Gain OW††2E → − − Pn102 −
Speed Loop Gain OW††2F → − − Pn100 −
Speed Feed Forward
Compensation
OW††30 → − − Pn109 −
Position Loop
Setting Integration Time OW††32 → − − Pn11F −
parameters Constant
Speed Loop Integration
Time Constant
OW††34 → − − Pn101 −
Accel/Accel Time
OL††36 → − − Pn80B * Also updated
Constant* automatically when bits
4 to 7 of OW††03
Decel/Decel Time (Acceleration/
OL††38 → − − Pn80E Deceleration Unit) are
Constant*
changed.

ΠSettings are not written when using MECHATROLINK-II operating at 10 Mbps in 17-byte mode.

11-3
11 Precautions for Using the MP2300
11.1.4 Parameters Updated when a Motion Command Is Executed (Regardless of User Constants Self-Writing Function Setting and
MECHATROLINK Connection)

11.1.4 Parameters Updated when a Motion Command Is Executed

(Regardless of User Constants Self-Writing Function Setting and
MECHATROLINK Connection)
The MP2300 parameter settings in the left table below are automatically written to the SERVOPACK
parameters in the right table below when the MP2300 starts executing a motion command.

SERVOPACK
MP2300 SGD-N, Trigger Command
NS100 NS115 SGDS
SGDB-N
Latch Zone Lower Limit
Setting
OL††2A → − − Pn822 EX_POSING

Latch Zone Upper Limit

Setting
OL††2C → − − Pn820 EX_POSING

Linear Acceleration
OL††36 → Cn-0020 Pn80B* POSING,
Time
EX_POSING, ZRET,
Linear Deceleration
Time Constant
OL††38 → − Pn80E* FEED, STEP

POSING,
EX_POSING, ZRET,
FEED, STEP
S-curve Acceleration
Setting OW††3A → Cn-0026 Pn812* Œ Only when DEN =
Time
parameters ON (when pulse
distribution has
been completed)
Approach Speed OL††3E → Cn-0022 Pn817 ZRET
Creep Speed OL††40 → Cn-0023 Pn818 ZRET
Home Offset OL††42 → Cn-0028 Pn819 ZRET
External Positioning EX_POSING and
OL††46 → Cn-002B Pn814
Move Distance ZRET
Forward External OW††00,
→
Torque Limit Input bits 8 and 9 The settings are enabled when the Servo is turned ON or a move
Reverse External OW††00, command is sent.
→
Torque Limit Input bits 8 and 9

* The parameters are written when automatic updating of parameters is enabled at bit A of fixed
parameter 1 in the MP2300.

11-4
 11.1 Parameters That Are Automatically Updated

11.1.5 Parameters Updated during Self-configuration

( 1 ) Motion Parameters
The motion parameters for each axis are set as shown below according to information from each
SERVOPACK when self-configuration is executed. Some parameters are written to the
SERVOPACK’s RAM.

[ a ] Motion Fixed Parameters

■ SERVOPACK to MP2300
MP2300 SERVOPACK
Fixed parameters SGD-N, SGDH + SGDH+NS11
SGDS
No. Name SGDB-N NS100 5

Servomotor Type* ←
30 Encoder Type ←
Depends on the specifications of the connected Servomotor.
34 Rated Speed ←
36 Encoder Resolution ←
38 Max. Revolutions of Absolute Encoder ← Pn205
ΠThe above processing is not performed when the axis has been set.
ΠThe default settings are used for all those parameters not listed above.
* The Servo Type is written to the Motor Type on the upper right of the SVB Definition Window.

■ MP2300 to SERVOPACK (RAM)

MP2300 SERVOPACK
Fixed parameters SGD-N, SGDH + SGDH +
SGDS
No. Name SGDB-N NS100 NS115
16 Backlash Compensation ← － Pn81B Pn214
ΠThe default settings are written if the axis is not set.

[ b ] Motion Setting Parameters

■ SERVOPACK to MP2300
MP2300 SERVOPACK
Setting parameters SGD-N, SGDH + SGDH +
SGDS
Address Name SGDB-N NS100 NS115
OW††2E Position Loop Gain ← Cn-001A Pn102
OW††2F Speed Loop Gain ← Cn-0004 Pn100
OW††30 Speed Feed Forward Compensation ← Cn-001D Pn109
Position Loop Integration Time
OW††32 ← － Pn11F
Constant
Speed Loop Integration Time
OW††34 ← Cn-0005 Pn101
Constant
OW††3A S-curve Acceleration Time ← Cn-0026 Pn812
ΠThe above processing is not performed when the axis has been set.
ΠThe default settings are used for all those parameters not listed above.

11-5
11 Precautions for Using the MP2300
11.1.5 Parameters Updated during Self-configuration

■ MP2300 to SERVOPACK (RAM)

MP2300 SERVOPACK
Setting parameters SGD-N, SGDH + SGDH +
SGDS
Address Name SGDB-N NS100 NS115
OLxx1E Position Completed Width → － Pn500 Pn522
OLxx36 Linear Acceleration Time → Cn-0020 Pn80B
OLxx38 Linear Deceleration Time → － Pn80E
ΠThe default settings are written if the axis has not been set.
ΠWhen the axis has been set, parameters are written only when bit 10 of fixed parameter 1 is
set to enable automatic updating of parameters.
ΠThe Positioning Completed Width is written only when MECHATROLINK-II is used in 32-byte
mode.

( 2 ) SERVOPACK Parameters
The SERVOPACK parameters are written to SERVOPACK EEPROM or RAM during self-
configuration as shown below. Care must therefore be taken because the SERVOPACK parameters
will be overwritten when self-configuration is executed.
ΠThese settings, however, are not written to the set values for the SERVOPACK parameters saved
in the MP2300.

[ a ] SERVOPACK Parameters (1)

MP2300 SERVOPACK
SERVOPACK Parameters SGD-N, SGDH + SGDH +
SGDS
Name Setting SGDB-N NS100 NS115
P-OT Signal Mapping Disable → Cn-0001 Bit 2 Pn50A.3
N-OT Signal Mapping Disable → Cn-0001 Bit 3 Pn50B.0
SERVOPACK Software Limit
Disable → Cn-0014 Bit 2
Function (Positive)
Pn801.0
SERVOPACK Software Limit
Disable → Cn-0014 Bit 3
Function (Negative)
SERVOPACK Electronic Gear Ratio
１ → Cn-0024 Pn202 Pn20E
(Numerator)
SERVOPACK Electronic Gear Ratio
１ → Cn-0025 Pn203 Pn210
(Denominator)
Autotuning Application Switch Disable → － Pn110
CN1-9 input
/DEC Signal Mapping → － Pn511.0
terminal
CN1-10 input
/EXT1 Signal Mapping → － Pn511.1
terminal
CN1-11 input
/EXT2 Signal Mapping → － Pn511.2
terminal
CN1-12 input
/EXT3 Signal Mapping → － Pn511.3
terminal
Use T-REF as the
Speed Reference Command Options external torque → － Pn002.0
limit input.
Use V-REF as
Torque Reference (TRQ) Command
the external → － Pn002.1
Option
speed limit input.
Reverse Latching Area Pn820 value → － Pn822
ΠThe above processing is not performed when the axis has been set.
Œ The above set values are written to the SERVOPACK’s EEPROM.

11-6
 11.2 Precautions When Setting or Changing User Definition Files and Scan Times

[ b ] SERVOPACK Parameters (2)

MP2300 SERVOPACK
SERVOPACK Parameters SGD-N, SGDH + SGDH +
SGDS
Name Setting SGDB-N NS100 NS115
Excessive Position Error
65535 → Cn-001E －
Area
Overflow Level 32767 → － Pn505 －
Excessive Position Error
Alarm Detection Level 230-1 → － Pn520

Excessive Position Error

100 → － Pn51E
Warning Detection Level

Œ The above set values are written to the SERVOPACK’s RAM.

11.2 Precautions When Setting or Changing User Definition Files and

Scan Times
This section describes precautions for setting or changing user definition files and for setting the scan
times.

11.2.1 Setting or Changing User Definition Files

User definition files must be saved to flash memory (Save & Save to Flash).

User Definition Files

Use the MPE720 to set or change a user definition file. Be sure to save the results to flash memory. If
data is not saved to flash memory, the settings and changes will be lost when the power supply to the
MP2300 is turned OFF and ON.

11.2.2 Setting or Changing Module Configuration Definition Files

Observe the following precautions when setting or changing module configuration definition files.
• Always check to make sure that the mounted Module is the one that is defined.
• Be sure to save any new settings or changes to flash memory.
• After the settings or changes have been completed, turn the power supply to the MP2300
OFF and ON.

11-7
11 Precautions for Using the MP2300
11.2.3 Setting and Changing the Scan Time

11.2.3 Setting and Changing the Scan Time

( 1 ) Precautions When Setting or Changing the Scan Time

Double-click the scan time file in the File Manager Window on the MPE720. Scan time settings or
changes can be performed from the Scan Time Window that is displayed.

Observe the following precautions when setting or changing the scan time.
• Set the set values of the scan time for both the high-speed (H) and low-speed (L) scans to at least
the maximum time required to execute the scans. We recommend setting the set values of the scan
time using the formula (set value − maximum time to execute scan) ≥ (0.2 × set values of the scan
time), i.e., setting the set values of the scan time to at least 1.25 times the maximum times required
to execute the scans.
If the scan time is set too close to the maximum execution time for the scan, the refresh time for
the screen on the MPE720 will be very slow and communication timeouts may occur. If the
maximum execution time exceeds the scan time set value, a watchdog timer timeout error will
occur and the MP2300 system will stop.
• Set the set values of the high-speed (H) and low-speed (L) scan time to an integral multiple of the
MECHATROLINK communication cycle (1 or 2 ms) set in the MP2300. Always check the set
values of the scan time after changing the MECHATROLINK communication cycle.
• Do not change the scan time set value while the Servo is ON. Never change the setting while the
axis is moving (while the motor is running). Otherwise an error may occur during motor operation
(e.g., high-speed rotation).
• When the scan time is set or changed, be sure to save the data to flash memory.

( 2 ) Scan Time Set Value Examples

■ 0.8-ms Maximum Scan Time and 1-ms Communication Cycle (MECHATROLINK-II
Only)
High-speed (or low-speed) scan set value ≥ 1.25 × 0.8 (= 1 ms)
High-speed (or low-speed) scan set value = 1 ms, 2 ms, 3 ms, etc. (an integral multiple of at least 1
ms)

■ 1.4-ms Maximum Scan Time and 1-ms Communication Cycle (MECHATROLINK-II

Only)
High-speed (or low-speed) scan set value ≥ 1.25 × 1.4 (= 1.75 ms)
High-speed (or low-speed) scan set value = 2 ms, 3 ms, etc. (an integral multiple of at least 2 ms)

11-8
 11.3 SERVOPACK Parameter Data Flow

■ 0.8-ms Maximum Scan Time and 2-ms Communication Cycle (MECHATROLINK-I

or MECHATROLINK-II)
High-speed (or low-speed) scan set value ≥ 1.25 × 0.8 (= 1 ms)
High-speed (or low-speed) scan set value = 1 ms, 2 ms, 4 ms, etc. (an integral multiple of 2 ms at
1 ms and 2 ms or higher)

■ 1.4-ms Maximum Scan Time and 2-ms Communication Cycle (MECHATROLINK-I

or MECHATROLINK-II)
High-speed (or low-speed) scan set value ≥ 1.25 × 1.4 (= 1.75 ms)
High-speed (or low-speed) scan set value = 2 ms, 4 ms, etc. (an integral multiple of 2 ms at 2 ms or
higher)

11.3 SERVOPACK Parameter Data Flow

In systems connected to MECHATROLINK, SERVOPACK parameters can be read directly from the
MP2300. (Refer to 11.1 Parameters That Are Automatically Updated on page 11-2.) This means that
parameters are saved in the memory area of both the MP2300 and the SERVOPACK. It is thus
necessary to consider the relationship between the settings in both memory areas.

11.3.1 Operations and Parameter Data Flow

( 1 ) Power ON
• Parameter data saved in the SERVOPACK’s EEPROM*1is copied to SERVOPACK’s RAM.
• Parameter data saved in the MP2300’s flash memory*1for all axes is copied to SDRAM*2.
Some gain-related settings are sent from the MP2300 to SERVOPACK RAM*1.

MECHATROLINK

Send Send

MPE720
System Control
SRAM Software Software
Input
Data
Flash EEP
SDRAM RAM
HDD in personal computer Memory -ROM

Servo Parameters Parameters

(All Axes)

MP2300 SERVOPACK SERVOPACK

* 1. EEPROM, flash memory, and SRAM: Store data even when the power is turned
OFF.
* 2. RAM (SRAM, SDRAM): Lose data when the power is turned OFF.
ΠIndicates data has been written (same below).

11-9
11 Precautions for Using the MP2300
11.3.1 Operations and Parameter Data Flow

( 2 ) Normal Operation
• Control software of the SERVOPACK operates based on the parameter data held in
SERVOPACK’s RAM.
• Some of MP2300 setting parameters and commands temporarily change SERVOPACK parame-
ters (refer to Chapter 6 Motion Parameters for details). RAM in the SERVOPACK are written.

MECHATROLINK
When the MP2300 has
Send temporarily changed
Send

MPE720
System Control
SRAM Software Software
Input
Data

Flash EEP
SDRAM RAM
HDD in personal computer Memory -ROM
SERVOPACK
Parameters
Parameters
(All Axes)
MP2300 SERVOPACK SERVOPACK
Œ Parameters held in the SERVOPACK’s RAM are displayed on a Digital Operator connected
to the SERVOPACK. They are also written to EEPROM when the DATA/ENTER Key is
pressed.

( 3 ) When the SERVOPACK Tab Page Is Open

The data flow for SERVOPACK parameters is as follows when the SERVOPACK Tab Page is open
in the SVB Definitions Window on the MPE720 (refer to 2.1.6 ( 4 ) Set and Save Motion Fixed
Parameters on page 2-28 for details on how to open the SERVOPACK Tab Page.):
• The MPE720 writes and displays the parameters that are held in the SERVOPACK’s RAM for the
relevant axis to the Current Value in the SERVOPACK Tab Page.
It also reads and displays the values that are held in the MP2300’s SDRAM values to the Input
Data in the SERVOPACK Tab.

MECHATROLINK

Send Send
MPE720 (online)

System Control
SRAM Software Software
Display Input Current
Data Value

Flash EEP
SDRAM RAM
Memory -ROM
Input SERVOPACK
Parameters Parameters
Data
(All Axes)
MP2300 SERVOPACK SERVOPACK
HDD in personal computer

The following figure shows an example of the SERVOPACK Tab in the SVB Definition Window.

11-10
 11.3 SERVOPACK Parameter Data Flow

The values in Current Value are different from the values in Input Data.

( 4 ) SERVOPACK Parameters Saved in the MPE720

The data flow for SERVOPACK parameters is as follows when File − Save is selected from the
SERVOPACK Tab Page:
• The MPE720 writes all the parameters in Input Data currently displayed on SERVOPACK Tab
Page of the relevant axis to the followings.
• HDD (hard disk) of the personal computer
• SDRAM of MP2300
• RAM and EEPROM of the SERVOPACK
• After having completed writing the parameters, the MPE720 updates the values in Current Value
on the SERVOPACK Tab Page with the SERVOPACK parameter values stored in the RAM.

MECHATROLINK

Send Send

MPE720 㧔online㧕
System Control
SRAM Software Software
Display Input Current
Data Value
Flash EEP
SDRAM RAM
Memory -ROM
SERVOPACK
Parameters Parameters
Input
(All Axes)
Data
MP2300 SERVOPACK SERVOPACK

HDD in personal computer

11-11
11 Precautions for Using the MP2300
11.3.1 Operations and Parameter Data Flow

The following figure shows a display example after having executed save operation on the SERVO-
PACK Tab in the SVB Definition Window. After having saved the data, the values in Input Data of
all the parameters become the same as the values in Current Value on the SERVOPACK Tab.

Before saving

After saving

ΠThe saving operation of SERVOPACK parameters can be used for writing data after SERVO-
PACK replacement because it writes all the parameters of the relevant axis.

11-12
 11.3 SERVOPACK Parameter Data Flow

( 5 ) Copying Current Values to Set Values (Input Data) in the SERVOPACK Tab
The data flow for SERVOPACK parameters is as follows when selecting Edit - Copy Current Value
from the SERVOPACK Tab in the SVB Definition Window on the MPE720:
• The MPE720 copies the values currently displayed in Current Value to Input Data on the SER-
VOPACK Tab and displays.

MECHATROLINK

MPE720 㧔online㧕

System Control
SRAM Software Software
Display Input Current
Data Value

Flash EEP
SDRAM RAM
Memory -ROM
Input
Data Servo Parameters Parameters
(All Axes)

MP2300 SERVOPACK SERVOPACK

HDD in personal computer

The following figure shows a display example after having selected Edit - Copy Current Value on
the SERVOPACK Tab in the SVB Definition Window. The values in Current Value are copied to
Input Data.
Before copying

After copying

11-13
11 Precautions for Using the MP2300
11.3.1 Operations and Parameter Data Flow

( 6 ) Changing Parameters in the SERVOPACK Tab Page

The data flow for SERVOPACK parameters is as follows when parameters for the cursor position are
changed from the SERVOPACK Tab Page in the SVB Definition Window for MPE720:
• The MPE720 writes parameters of the relevant axis to the followings when the ENTER Key is
pressed on the computer. (The parameters other than those of the relevant axis will not be writ-
ten.)
• Input Data (set data) on the SERVOPACK Tab Page
• SDRAM of the MP2300
• RAM of the SERVOPACK
• After having completed writing, the MPE720 updates the values in Input Data on the SERVO-
PACK Tab Page with the parameter values stored in the RAM of the SERVOPACK.

MECHATROLINK

Send Send
MPE720 㧔online㧕

System Control
SRAM Software Software
Display Input Current
Data Value

Flash EEP
SDRAM RAM
Memory -ROM
Input
Data Servo Parameters Parameters
(All Axes)

MP2300 SERVOPACK SERVOPACK

HDD in personal computer

11-14
 11.3 SERVOPACK Parameter Data Flow

The following figure shows a display example after having changed the value (2nd Speed Loop Gain)
in Input Data on the SERVOPACK Tab. After having pressed the ENTER Key, the values of Speed
Loop Gain, Speed Loop Integral Time Constant, and Position Loop Gain (boxed in dotted line) in
Input Data remain different from the values in Current Value since the parameters other than the one
that has been changed are not written.

Before pressing
ENTER Key

After having
pressed ENTER
Key

11-15
11 Precautions for Using the MP2300
11.3.2 Precautions When Saving SERVOPACK Parameters

( 7 ) Saving Data to Flash Memory

The data flow for SERVOPACK parameters is as follows when saving the parameters to flash
memory on the MPE720:
• The MP2300 writes the parameters data (Input Data) held in SDRAM to flash memory.

MECHATROLINK

Send Send

MPE720 㧔online㧕
System Control
Current SRAM Software
Display Input Software
Data Value

Flash EEP
SDRAM RAM
Memory -ROM
Input
Data Servo Parameters Parameters
(All Axes)

HDD in personal computer MP2300 SERVOPACK SERVOPACK

ΠSave to flash memory also after having changed set data of SERVOPACK parameter.

11.3.2 Precautions When Saving SERVOPACK Parameters

Before executing saving operation in the SERVOPACK Tab Page in any cases including the SERVO-
PACK replacement, always select Edit - Copy Current Value to copy the values in Current Value to
Input Data.

11-16
 12
Maintenance and Inspection

This chapter explains daily and regular inspection items to ensure that the
MP2300 can always be used at its best conditions.

12.1 Inspection Items .................................................................. 12-2

12.1.1 Daily Inspections ............................................................................... 12-2
12.1.2 Regular Inspections ........................................................................... 12-3

12.2 Replacing the Basic Module Battery ................................... 12-4

12.2.1 Procedure .......................................................................................... 12-4

12.3 Troubleshooting ................................................................... 12-5

12.3.1 Basic Flow of Troubleshooting ........................................................... 12-5
12.3.2 MP2300 Error Check Flowchart ......................................................... 12-6
12.3.3 LED Indicators ................................................................................... 12-7

12.4 Troubleshooting System Errors ........................................... 12-9

12.4.1 Outline of System Errors ................................................................... 12-9
12.4.2 Troubleshooting Flowchart for System Errors ................................. 12-12
12.4.3 Correcting User Program Errors ...................................................... 12-13
12.4.4 System Register Configuration and Error Status ............................. 12-14

12.5 Motion Program Alarms ..................................................... 12-21

12.5.1 Motion Program Alarm Configuration .............................................. 12-21
12.5.2 Motion Program Alarm Code List ..................................................... 12-21

12.6 Troubleshooting Motion Errors .......................................... 12-22

12.6.1 Overview of Motion Errors ............................................................... 12-22
12.6.2 Motion Error Details and Corrections ............................................... 12-23
12.6.3 Servo Driver Status and Servo Driver Error Codes ......................... 12-28

12-1
12 Maintenance and Inspection
12.1.1 Daily Inspections

12.1 Inspection Items

This section summarizes daily and regular inspection items that must be performed by the
customer.

12.1.1 Daily Inspections

The following table lists the daily inspection items.
No. Inspection Item Inspection Details Criteria Action
Check the mounting screws for
Installation conditions of The screws and covers must be
1 looseness. Check whether the Retighten the screws.
Module, etc. secured correctly.
covers are all in place.
Check the terminal screws for
The screws must be tight. Retighten the screws.
looseness.
Check the connectors for
2 Connection conditions The connectors must be tight. Retighten the connector set screws.
looseness.
Check the gap between crimp There must be an appropriate
Correct as necessary.
terminals. gap between the terminals.
The indicator must be lit. (It is
Check whether the indicator is Refer to 12.3 Troubleshooting on
RDY abnormal if the indicator is not
lit. page 12-5.
lit.)
Check whether the indicator is lit The indicator must be lit. (It is
Refer to 12.3 Troubleshooting on
RUN while the system is in RUN abnormal if the indicator is not
page 12-5.
state. lit.)
The indicator must be not lit. (It
Check whether the indicator is Refer to 12.3 Troubleshooting on
ERR is abnormal if the indicator is
not lit. page 12-5.
lit.)
3 Indicators
The indicator must be not lit. (It
Check whether the indicator is Refer to 12.3 Troubleshooting on
ALM is abnormal if the indicator is
not lit. page 12-5.
lit.)
The indicator must be lit. (It is
Check whether the indicator Refer to 12.3 Troubleshooting on
TX abnormal if the indicator is not
lights during communication. page 12-5.
lit.)
The indicator must be not lit.
Check whether the indicator is
BAT (The battery voltage is too low if Replace the battery.
not lit.
the indicator is lit.)

12-2
 12.1 Inspection Items

12.1.2 Regular Inspections

This section explains inspection items that must be performed once or twice every six months to one
year.
Inspections must also be performed when the equipment is relocated or modified or when the wiring
is changed.

PROHIBITED
• Do not replace the built-in fuse.
If the customer replaces the built-in fuse, the MP2300 may malfunction or break down.
Contact your Yaskawa representative.

Inspection Item Inspection Details Criteria Action

Ambient temperature Check the temperature and 0°C to 55°C If the MP2300 is used
Operating Ambient humidity humidity with a thermometer 30% to 95% inside a panel, treat the
environment and hygrometer, respectively. There must be no corrosive temperature inside the panel
Atmosphere Check for corrosive gases. as the ambient temperature.
gases.
Power supply Measure the voltage between Change the power supply as
PS Module 19.2 to 28.8 VDC
voltage check 24-VDC terminals. necessary.
Looseness and excess The Module must be secured
Attempt to move the Module. Retighten the screws.
play properly.
Installation
conditions The Module must be free
Dust and other foreign
Visually check. from dust and other foreign Clean.
matter
matter.
Check the terminal Check by retightening the
The screws must be tight. Retighten.
screws for looseness. screws.
Connection Gap between crimp There must be an appropriate
Visually check. Correct.
conditions terminals gap between the terminals
Looseness of Retighten the connector set
Visually check. The screws must be tight.
connectors screws.
Check the BAT indicator on
The BAT indicator must be If the BAT indicator is lit,
Battery the front panel of the Basic
not lit. replace the battery.
Module.

12-3
12 Maintenance and Inspection
12.2.1 Procedure

12.2 Replacing the Basic Module Battery

The Basic Module has one replaceable built-in battery. This battery is used to back up data
to prevent the data stored in the memory from being lost when power is interrupted (e.g.,
when the power supply to the Basic Module is turned OFF).
The built-in battery can retain the contents of the memory until the total time of power interruptions
reaches one year. The warranty period of the battery is five years from the date of purchase. These
values, however, differ according to the operating conditions, including the ambient temperature.
If the BAT indicator on the Basic Module lights, replace the battery with a replacement battery
(JZSP-BA01) within two weeks. Any delay in battery replacement will result in the data stored in the
memory being lost.
The appearance of the battery is illustrated below.

LiTHIUM

Red lead Black lead

Fig. 12.1 JZSP-BA01 (Battery with Cable)

ΠThis battery is not commercially available. Contact your Yaskawa representative.

12.2.1 Procedure

CAUTION
ΠThere is danger of electric shock if the battery is not replace correctly. Furthermore, machine malfunction may
occur, the operator may be injured, or the machine may be damaged. Allow only a qualified technician trained
in safety procedures to replace the battery.
ΠWhen replacing the battery, always do so with power supplied to the Basic Module. If power to the Basic
Module is turned OFF when the battery is replaced, data stored in the memory in the Module may be lost.
ΠDo not touch the battery electrodes. The battery may be destroyed by the static electricity.

1. Save the data stored in the Motion Board to a compact flash memory, hard disk on an
external computer, or other media.
This data is used to restore any data accidently lost during battery replacement.
ΠFor information on saving methods, refer to the MPE720 Programming Device Software for
MP900/MP2000 Machine Controllers User’s Manual (Manual No. SIEPC88070005 ).

2. Check that the RDY indicator on the MP2300 Basic Module is lit.

3. Open the battery cover on the unit front surface.

4. Remove the connector on the end of lead of the built-in battery from the connector on
the MP2300 Basic Module. Then, remove the built-in battery from the battery holder.

5. Insert securely the connector on the end of the lead of the replacement battery into the
connector on the MP2300. Then, insert the replacement battery into the battery
holder.

6. Check if the BAT indicator on the MP2300 is unlit.

7. Close the battery cover. This completes replacing the battery.

12-4
 12.3 Troubleshooting

12.3 Troubleshooting
This section describes the basic troubleshooting methods and provides a list of errors.

12.3.1 Basic Flow of Troubleshooting

When problems occur, it is important to quickly find the cause of the problems and get the system
running again as soon as possible. The basic flow of troubleshooting is illustrated below.

Step 1 Visually confirm the following items.

ΠMachine movement (or status if stopped)
ΠPower supply
ΠI/O device status
ΠWiring status
ΠIndicator status (LED indicators on each Module)
ΠSwitch settings (e.g., DIP switches)
ΠParameter settings and program contents

Monitor the system to see if the problem changes for

Step 2
the following operations.
ΠSwitching the Controller to STOP status
ΠResetting alarms
ΠTurning the power supply OFF and ON

Determine the location of the cause from the results

Step 3
of steps 1 and 2.
ΠController or external?
ΠSequence control or motion control?
ΠSoftware or hardware?

12-5
12 Maintenance and Inspection
12.3.2 MP2300 Error Check Flowchart

12.3.2 MP2300 Error Check Flowchart

Find the correction to the problem using the following flowchart if the cause of the problem is
thought to be the MP2300 or SERVOPACK.

START

Basic Module LEDs ERR YES

and ALM lit? System error
System error

NO
Go to 12.4.2 Troubleshoot-
ing Flowchart for System
Use ladder program NO Errors on page 12-12.
(motion program) to
manage motions?
YES

Display H01 drawing.

Axis alarm
Group alarm

NO
Has alarm occurred? No alarm

YES

YES NO Alarm output register = 0?

Axis alarm?

NO YES

Axis alarm? NO
No alarm
IL††04 = 0

YES

Motion program alarm Axis alarm

Display contents of alarm output

Display Alarm (IL††04)
register. (Display register list in
monitoring parameter.
HEX (H) mode.)

Use alarm code to determine cause. Use alarm bits to determine cause.

12-6
 12.3 Troubleshooting

12.3.3 LED Indicators

( 1 ) LED Indicators
The status of the LED indicators on the front of the MP2300 can be used to determine the error
status and meaning.
RDY RUN
The locations in the program that need to be corrected can be determined by using the LED
ERR ALM
indicator status to determine the general nature of the error, using the contents of system (S)
TRX BAT
registers to check drawings and function numbers causing the error, and knowing the meaning
of operation errors.

( 2 ) LED Indicator Meanings

The following table shows how to use the LED indicators to determine the operating status of the
MP2300, as well as relevant error information when the LED indicator status indicates an error.

LED Indicator
Classification Indicator Details Countermeasures
RDY RUN ALM ERR BAT
Usually the CPU will start within
Not lit Not lit Lit Lit Not lit Hardware reset status
10 seconds. If this status continues for
more than 10 seconds, either a
Not lit Not lit Not lit Not lit Not lit Initialization program error or hardware failure has
occurred. Refer to 12.4 Troubleshoot-
ing System Errors on page 12-9 and
Not lit Lit Not lit Not lit Not lit Drawing A (DWG.A) being executed.
correct any system errors.
Normal This status occurs
operation
• When the stop operation is executed
User program stopped. from the MPE720
Lit Not lit Not lit Not lit Not lit
(Offline Stop Mode) • When the STOP switch is turned
ON
This status does not indicate an error.
User program being executed
Lit Lit Not lit Not lit Not lit This is the normal status.
normally.

12-7
12 Maintenance and Inspection
12.3.3 LED Indicators

(cont’d)
LED Indicator
Classification Indicator Details Countermeasures
RDY RUN ALM ERR BAT

Not lit Not lit Not lit Lit Not lit

Refer to 12.4.3 Correcting User Pro-
A serious error has occurred.
gram Errors on page 12-13.
No lit Not lit Lit Not lit Not lit

Software Error
Number of LED blinks indicates error
type.
3: Address error (read) exception
4: Address error (write) exception
5: FPU exception
6: Illegal general command
exception
7: Illegal slot command exception
Not lit Not lit Not lit Blinking Not lit 8: General FPU inhibited exception
Errors 9: Slot FPU inhibited exception
10: TLB multibit exception
11: LTB error (read) exception A hardware error has occurred.
12: LTB error (write) exception Replace the Module.
13: LTB protection volation (read)
exception
14: LTB protection volation (write)
exception
15: Initial page write exception
Hardware Error
Number of LED blinks indicates error
type.
Not lit Not lit Blinking Blinking Not lit 2: RAM diagnostic error
3: ROM diagnostic error
4: CPU function diagnostic error
5: FPU function diagnostic error
Refer to 12.2 Replacing the Basic
− − − − Lit Battery alarm Module Battery on page 12-4 and
replace the Battery.
Warnings Refer to 12.4.4 ( 3 ) Ladder Program
Operation error User Operation Error Status on page
Lit Lit Lit Not lit Not lit
I/O error 12-16 and 12.4.4 ( 5 ) System I/O
Error Status on page 12-18.

12-8
 12.4 Troubleshooting System Errors

12.4 Troubleshooting System Errors

This section provides troubleshooting information for system errors.

12.4.1 Outline of System Errors

The LED indicators on the front of the Basic Module can be used to determine MP2300 operating
status and error status. To obtain more detailed information on errors, the system (S) registers can be
used. A detailed check of the contents of system registers can be used to determine the location of the
error and take the corrective measures.
Details on system registers are provided below.

( 1 ) System Register Allocations

The following table shows the overall structure of the system registers. Refer to the sections given on
the right for details.

SW00000 System Service Register

SW00030 System Status → 12.4.4 ( 1 ) System Status on page 12-14
SW00050 System Error Status → 12.4.4 ( 2 ) System Error Status on page 12-15
12.4.4 ( 3 ) Ladder Program User Operation Error Status on
SW00080 User Operation Error Status →
page 12-16
SW00090 System Service Execution Status → 12.4.4 ( 4 ) System Service Execution Status on page 12-18
12.4.4 ( 3 ) Ladder Program User Operation Error Status on
SW00110 User Operation Error Status Details →
page 12-16
SW00190 Alarm Counter and Alarm Clear → 12.4.4 ( 5 ) System I/O Error Status on page 12-18
SW00200 System I/O Error Status → 12.4.4 ( 5 ) System I/O Error Status on page 12-18
SW00500 Reserved by the system.
SW00698 Interrupt Status
SW00800 Module Information → 12.4.4 ( 7 ) Module Information on page 12-20
SW01312 Reserved by the system.
SW02048 Reserved by the system.
SW03200 Motion Program Information → 12.5 Motion Program Alarms on page 12-21
SW05200
Reserved by the system.
to SW08191

12-9
12 Maintenance and Inspection
12.4.1 Outline of System Errors

( 2 ) Accessing System Registers

To access the contents of system registers, start the MPE720 Programming Tool and use the Register
List or Quick Reference function.

[ a ] Register List Display Procedure

Use the following procedure to display the register list.

1. Select File − Open − Tool − Register List from the MPE720 Engineering Manager
Window to open the Register List Window.

ΠRefer to 2.1.6 ( 4 ) Set and Save Motion Fixed Parameters on page 2-28 for details on how to
display the Engineering Manager Window.

2. Select View Mode − HEX to change the view mode to hexadecimal.

3. Input the register number of the first system register to be accessed for Register, input
the register number of the last system register to be accessed for /D, and click any-
where in the list. The contents of the specified range of register numbers will be dis-
played.

12-10
 12.4 Troubleshooting System Errors

[ b ] Displaying a Register List with the Quick Reference

Register lists can also be accessed with the Quick Reference.

1. Select View − Quick Reference from the MPE720 Engineering Manager Window.

The Quick Reference will be displayed at the bottom of the Engineering Manager Window.
ΠRefer to 2.1.6 ( 4 ) Set and Save Motion Fixed Parameters on page 2-28 for details on how to
display the Engineering Manager Window.

2. Click the Register List Tab to switch to the register list.

3. Input the register number of the first system register to be accessed for Register, input
the register number of the last system register to be accessed for /D, and click any-
where in the list. The contents of the specified range of register numbers will be dis-
played.

12-11
12 Maintenance and Inspection
12.4.2 Troubleshooting Flowchart for System Errors

12.4.2 Troubleshooting Flowchart for System Errors

A troubleshooting flowchart for system errors is provided below.

START

Use the LED indicator

pattern* to classify the
error.

Battery alarm
YES
indicator Replace battery.
BAT lit?

NO

Classifications = Warning YES Alarm

ALM indicator lit or
blinking?
NO

YES Fatal error

Classifications = Fatal error
ERR indicator blinking?

NO

NO
Hardware failure/watchdog timer timeout
Only ERR indicator lit?

YES

Turn OFF the STOP switch on

DIP siwtch SW6 and turn ON the
power.

Online Stop Mode NO Hardware

Only RDY indicator lit? failure

YES
User program
error

Check SW00050.
Watchdog timer timeout? NO

YES

Check CPU Error Status (SW00041).

User program error

(1) Operation error (SB000418)

Refer to 12.4.4 ( 3 ) Ladder Program User Opera-
tion Error Status on page 12-16.
Check the location of the error (2) I/O error (SB000419)
referring to 12.4.3 Correcting Refer to 12.4.4 ( 5 ) System I/O Error Status on
User Program Errors on page page 12-18.
12-13.

* For LED indicator pattern, refer to 12.3.3 ( 2 ) LED Indicator Meanings on page 12-7.

12-12
 12.4 Troubleshooting System Errors

12.4.3 Correcting User Program Errors

A serious error may have occurred if the ALM and ERR indicators on the front of the MP2300 Basic
Module are lit red. Set the MP2300 in stop status (STOP switch on DIP switch 6: ON) and investi-
gate the error.
Use the following procedure to investigate ladder program errors.

(1) Investigate type of serious Check the contents of SW00050 (Error Type) to determine if the type of the
<-------------------------ERR indicator lit------------------------->

error. serious error is a system error or a user program error.

(2) Investigate type of program in Check the contents of SW00055 (Program Type) to determine if the error is in a
which there is an error. drawing or function.

(3) Investigate the drawing with Check the contents of SW00054 (Error Task) and SW00056 (Drawing Number)
the error. to determine the drawing with the error.

If SW00056 (Drawing Number) contains 0100H, the error is in a function.

Check the contents of SW00057 (Error Task) and SW00058 (Drawing Number)
(4) Investigate the function with
to determine the drawing with the error.
the error.
Check the contents of SW00059 (Function Referencing Drawing Step No.) to
determine the step number with the operation error.

(5) Check to see whether an Check the error count for each drawing in SW00080 to SW00088. If errors
<-------------------------ALM indicator lit---------------------------->

operation error has occurred. have been counted, an operation error has occurred. Go to (6).

1. Check Error Details

Check error codes for drawings where the error is counted.
DWG.A: SW00111, DWG.H: SW00143
(6) Investigate the type of DWG.I: SW00127, DWG.L: SW00175
operation error and its location. 2. Check the Drawing Number
Check the error drawing number for the drawing number where an error
If an operation error occurs, the †00 occurred.
(H00, L00, i00, and A00) drawings DWG.A: SW00122, DWG.H: SW00154
will execute. These drawings can DWG.I: SW00138, DWG.L: SW00186
also be used to correct or confirm 3. Errors in Functions
operation. Check the Function Referencing Drawing Number and Function Referencing
STEP Number.
DWG.A: SW00123, 4; DWG.H: SW00155, 6
DWG.I: SW00139, 40; DWG.L: SW00187, 8

(7) Correct the Program. Correct the program at the point where the error occurred.

12-13
12 Maintenance and Inspection
12.4.4 System Register Configuration and Error Status

12.4.4 System Register Configuration and Error Status

( 1 ) System Status
System operating status and error status is stored in registers SW00040 to SW00048. Checking of
system status details are used to determine whether hardware or software is the cause of an error.

Name Register No. Description

SW00030
Reserved by
to
the system.
SW00039
0: Failure
SB000400 READY
1: Normal
SB000401 RUN 0: Stopped, 1: Running
SB000402 ALARM 0: Normal, 1: Alarm
SB000403 ERROR 0: Normal, 1: Error
SB000404 Reserved by the system.
SB000405 Reserved by the system.
CPU Status SW00040 SB000406 FLASH 1: Flash operation
SB000407 WEN 0: Write-disabled, 1: Write-enabled
SB000408
to Reserved by the system.
SB00040D
SB00040E Operation Stop Request 0: RUN selection, 1: STOP selection
0: STOP
SB00040F Run Switch Status at Power ON
1: RUN
1: WDGE, undefined command
SB000410 Serious Failure
See SW00050 for details.
SB000411 Reserved by the system.
SB000412 Reserved by the system.
SB000413 Exception Error
SB000414
CPU Error
SW00041 to Reserved by the system.
Status
SB000417
SB000418 User operation error 1: User operation error
SB000419 I/O Error 1: I/O error
SB00041A
to Reserved by the system.
SB00041F
SB000470
Reserved by
SW00047 to Reserved by the system.
the system.
SB00047F
SB000480 TEST
SB000481 MON
SB000482 CNFG
DIP switch alarms
SB000483 INIT
0: ON, 1: OFF
Hardware SB000484 SUP
Configuration SW00048 SB000485 STOP
Status SB000486 －
SB000487 Battery Alarm
SB000488
to Reserved by the system.
SB00048F
SW000490
Reserved by
SW00049 to Reserved by the system.
the system.
SW00049F

12-14
 12.4 Troubleshooting System Errors

( 2 ) System Error Status

System error status is stored in registers SW00050 to SW00060.
Name Register No. Description
0001H Watchdog timer over error
0041H ROM diagnosis error
0042H RAM diagnosis error
0043H CPU diagnosis error
0044H FPU diagnosis error
00E0H Address read execption error
SW00050 0100H Address write execption error
32-bit Error Code
0120H FPU exception error
0180H Illegal general command error
01A0H Illegal slot command error
01E0H User break after command execution
0800H General FPU inhibited exception error
0820H Slot FPU inhibited exception error
SW00051 For system error analysis
32-bit Addresses SW00052
For system error analysis
Generating Error SW00053
Ladder Program 0000H: System 0002H: DWG.I 0005H: DWG.L
SW00054
Error Task 0001H: DWG.A 0003H: DWG.H
Ladder Program 0000H: System 0002H: DWG.I 0005H: DWG.L
SW00055
Type 0001H: DWG.A 0003H: DWG.H 0008H: Function
Ladder program parent drawing: FFFFH
Ladder Program Ladder program function: 0100H
Error Drawing SW00056
Ladder program child drawing: ††00H（H††: Child drawing number）
Number
Ladder program grandchild drawing: ††yyH（Hyy: Grandchild drawing number）
Type of drawing that calls the ladder program function in which an error occurred.
Ladder Program
Function Calling SW00057 0001H: DWG.A 0005H: DWG.L
0010H: Reserved by system.
0002H: DWG.I 0008H: Ladder program
Drawing Type 0011H: Reserved by system.
0003H: DWG.H function
Number of drawing that calls the ladder program function in which an error occurred.
Ladder Program
Child drawing: ††00H（H††: Child drawing number）
Function Calling SW00058 Parent drawing: FFFFH
Drawing Number Grandchild drawing: ††yyH（Hyy: Grandchild drawing
Function: 0100H
number）
Ladder Program STEP number of the drawing that calls the ladder program function in which an error
Function Calling SW00059 occurred.
Drawing Number 0 when there is an error in the drawing.
SW00060 and
Reserved by the system.
SW00061
SW00062 to
Name of Task Generating Error
SW00065
SW00066 and
Reserved by the system.
SW00067
SW00068 Year Generated
SW00069 Month Generated
Error Data SW00070 Day of Week Generated
SW00071 Day of Month Generated
SW00072 Hour Generated
SW00073 Minutes Generated
SW00074 Seconds Generated
SW00075 Milliseconds Generated (Not used.)
SW00076 to
Reserved by the system.
SW00079

12-15
12 Maintenance and Inspection
12.4.4 System Register Configuration and Error Status

( 3 ) Ladder Program User Operation Error Status

Error information for user operation errors in ladder programs is stored in registers SW00080 to
SW00089 (Error Status 1) and SW00110 to SW00189 (Error Status 2).

[ a ] Ladder Program User Operation Error Status 1

Name Register No. Description

DWG.A Error Count Error SW00080
Code SW00081
DWG.I Error Count Error SW00082
Code SW00083
Operation error code:
DWG.H Error Count Error SW00084 See Ladder Program User Operation Error Codes 1.
Code SW00085
SW00086 Error code when an index error occurs:
Reserved by the system. See Ladder Program User Operation Error Codes 2.
SW00087
DWG.L Error Count Error SW00088
Code SW00089

[ b ] Ladder Program User Operation Error Status 2

Register No.
Name Remarks
DWG.A DWG.I DWG.H DWG.L
Error Count SW00110 SW00126 SW00142 SW00174
Error Code SW00111 SW00127 SW00143 SW00175
SW00112 SW00128 SW00144 SW00176 Error Drawing Number
Error A Register Parent drawing: FFFFH
SW00113 SW00129 SW00145 SW00177
Child drawing: ††00H（H††: Child
Modification A SW00114 SW00130 SW00146 SW00178
drawing number）
Register SW00115 SW00131 SW00147 SW00179 Grandchild drawing: ††yyH （Hyy:
SW00116 SW00132 SW00148 SW00180 Grandchild drawing number）
Error F Register
SW00117 SW00133 SW00149 SW00181 Function: 0100H
Modification F SW00118 SW00134 SW00150 SW00182
Register SW00119 SW00135 SW00151 SW00183 Function Calling Drawing Number
Address Generating SW00120 SW00136 SW00152 SW00184 Number of the drawing that calls the
Error SW00121 SW00137 SW00153 SW00185 function in which an error occurred.
Error Drawing Number SW00122 SW00138 SW00154 SW00186
Function Calling Function Calling DWG Step Number
SW00123 SW00139 SW00155 SW00187
Drawing Number Step number of the drawing that calls the
Function Calling DWG function in which an error occurred.
SW00124 SW00140 SW00156 SW00188
Step Number 0 when there is an error in the drawing.
Reserved by the
SW00125 SW00141 SW00157 SW00189
system.

12-16
 12.4 Troubleshooting System Errors

[ c ] Ladder Program User Operation Error Codes 1

Error
Error Contents User* System Default Value
Code
0001H Integer operation - underflow Yes −32768［−32768］
0002H Integer operation - overflow Yes 32767［32767］
0003H Integer operation - division error Yes The A register remains the same.
Integer 0009H Double-length integer operation - underflow Yes −2147483648［−2147483648］
Operations 000AH Double-length integer operation - overflow Yes 2147483647［2147483647］
000BH Double-length integer operation - division error Yes The A register remains the same.
Operation error drawing - integer operation error († = 1
010†H No Default indicated above.
to B)
0010H Integer storage - non-numeric error Yes Store not executed. [00000]
0011H Integer storage - underflow Yes Store not executed. [−32768]
0012H Integer storage - overflow Yes Store not executed. [+32767]
0021H Real number storage - underflow Yes Store not executed. [−1.0E+38]
0022H Real number storage - overflow Yes Store not executed. [1.0E+38]
Operation not executed.
0023H Real number operation - division-by-zero error Yes
The F register remains the same.
0030H Real number operation - invalid operation (non-numeric) No Operation not executed.
0031H Real number operation - exponent underflow No 0.0
0032H Real number operation - exponent overflow No Maximum value
Real 0033H Real number operation - division error (non-numeric 0/0) No Operation not executed.
Number 0034H Real number storage - exponent underflow No Stores 0.0.
Operation
0035H Real number operation - stack error
Standard System Functions
No Interrupt operation and output = 0.0
Real number operation errors
0040H: SQRT 0041H: SIN 0042H: COS 0043H: TAN
0040H 0044H: ASIN 0045H: ACOS 0046H: ATAN 0047H: EXP
0048H: LN 0049H: LOG 004AH: DZA 004BH: DZB
to
004CH: LIM 004DH: PI 004EH: PD 004FH: PID

0059H 0050H: LAG 0051H: LLAG 0052H: FGN 0053H: IFGN

0054H: LAU 0055H: SLAU 0056H: REM 0057H: RCHK
0058H: BSRCH 0059H: SQRT
1000H or 2000H is added for an index error.

* Yes: Can be set to value other than system default from the user program.
No: The system default cannot be changed from the user program.

[ d ] Ladder Program User Operation Error Codes 2

Error Code Error Contents User System Default

Integer - Real 1000H Index error within drawing × Execute again with i,j = 0.
Number
2000H Index error within function × Execute again with i,j = 0.
Operations
Integer system functions Operation stopped and output = input.
×
†060H Index error The A register remains the same.
Integer to
†06DH: PI †06DH: PD †06FH: PID †070H: LAG
Operation †077H
(† = 1,2) †071H: LLAG †072H: FGN †073H: IFGN †074H: LAU
†075H: SLAU †076H: FGN †077H: IFGN

12-17
12 Maintenance and Inspection
12.4.4 System Register Configuration and Error Status

( 4 ) System Service Execution Status

[ a ] Data Trace Execution Status

Name Register No. Remarks

SW00090 to
Reserved by the system.
SW00097
Bit 0 to 3 = Group 1 to 4
Existence Of Data Trace Definition SW00098
Definition exists = 1, No definition = 0
Bit 0 to 3 = Group 1 to 4
Data Trace Execution Status SW00099
Trace stopped = 1, Trace executing = 0

[ b ] Latest Data Trace Record Numbers

Name Register No. Remarks

Data Trace Group 1 SW00100 Latest record number
Data Trace Group 2 SW00101 Latest record number
Data Trace Group 3 SW00102 Latest record number
Data Trace Group 4 SW00103 Latest record number

( 5 ) System I/O Error Status

Name Register No. Remarks
Current Alarm SW00190 Cleared when power is turned ON.
Number of Alarm History Records SW00191 The number of alarms in the alarm history.
1: Alarm cleared
Clear Alarms SW00192
2: Current alarm and alarm history cleared

I/O Error Count SW00200 Number of I/O errors

Input Error Count SW00201 Number of input errors
Latest input error address (OW†††† register
Input Error Address SW00202
number)
Output Error Count SW00203 Number of output errors
Latest output error address (OW†††† register
Output Error Address SW00204
number)
SW00205
Reserved by the system. SW00206 (Not used.)
SW00207
SW00208 to
Slot 0 error status
SW00215
SW00216 to
Reserved by the system.
SW00223
SW00224 to
Slot 1 error status
SW00231
SW00232 to
Slot 2 error status
I/O Error Status SW00239
SW00240 to
Slot 3 error status
SW00247
SW00248 to Reserved by the system.
SW00255 (Slot 4 error status)
xxx
SW00456 to Reserved by the system.
SW00463 (Slot 30 error status)

12-18
 12.4 Troubleshooting System Errors

( 6 ) Actions to be Taken when a Transmission Error Occurs

When a transmission error occurs during system I/O, the error status is reported in the system regis-

Name Register No. Remarks

SW00208 to
Slot 0 Error Status (Depends on the mounted module and error code.)
SW00215
SW00216 to
Reserved by the system. (Depends on the mounted module and error code.)
SW00223
SW00224 to
Slot 1 Error Status (Depends on the mounted module and error code.)
SW00231
SW00232 to
Slot 2 Error Status (Depends on the mounted module and error code.)
SW00239
SW00240 to
Slot 3 Error Status (Depends on the mounted module and error code.)
SW00247
Reserved by the system SW00248 to
(Depends on the mounted module and error code.)
(Slot 4 Error Status) SW00255
…
Reserved by the system SW00456 to
(Depends on the mounted module and error code.)
(Slot 30 Error Status) SW00463

ters as shown below.

The following [a] to [c] show the allocations of the registers when the Basic Module is allocated to
the slot 0, the LIO-01/LIO-02 Module to the slot 1, and the 260IF-01 Module to the slot 3.

[ a ] Basic Module Error Status

■ Example: Slot 0 (Basic Module)

(Bit No.) F--------------------------------------------- 8 7 --------------------------------------------- 0

SW00208 Error Code (I/O Error = 2) Sub-slot No. (= 2)
(Bit No.) F --------------------------------------------- 8 7--------------------------------------------- 0
SW00209 Error Code (Station Error = 1) Sub-slot No. (= 3)

(Bit No.) F 3 2 1 0
SW00210 ST #16 ------------------- ST #4 ST #3 ST #2 ST #1

SW00211 ST #32 --------------------------------------------- ST #18 ST #17

SW00212 ST #48 --------------------------------------------- ST #34 ST #33

SW00213 ST #64 --------------------------------------------- ST #50 ST #49

(Bit No.) F 1 0
SW00214 Not used. --------------------------------------------- Not used. Not used.

Error Flags

SW00215 Not used. ----------------------------------------------------------------- Not used.

12-19
12 Maintenance and Inspection
12.4.4 System Register Configuration and Error Status

[ b ] LIO-01/LIO-02 Module Error Status

■ Example: Slot 1

(Bit No.) F --------------------------------------------- 8 7 --------------------------------------------- 0

SW00224 Error Code (I/O error = 2) Sub-slot No. (= 1)
SW00225 Error Code (I/O error = 2) Sub-slot No. (= 2)

SW00226 Not used ………………………………………… Not used

SW00227 Not used ………………………………………… Not used

SW00228 Not used ………………………………………… Not used

SW00229 Not used ………………………………………… Not used

SW00230 Not used ………………………………………… Not used

SW00231 Not used ………………………………………… Not used

[ c ] 260IF-01 Module Error Status

■ Example: Slot 3

(Bit No.) F --------------------------------------------- 8 7 --------------------------------------------- 0

Error Code
SW00240 Sub-slot No. (= 2)
(Station error = 1)

SW00241 ST15 ………………………………………… ST0

SW00242 ST31 ………………………………………… For ST16

SW00243 ST47 ………………………………………… ST22

SW00244 ST63 ………………………………………… ST48

( 7 ) Module Information
Name Register No. Remarks
SW00800 Basic Module (C380H)
SW00801 Reserved by the system.
SW00802 CPU Software version (BCD)
SW00803 Number of sub-slots (0004H)
SW00804 CPU Function ID (C310H)
SW00805 CPU Function Module Status
SW00806 I/O Function Module ID (8070H)
SW00807 I/O Function Module Status
Module SW00808 SVB Function Module ID (9113H)
Information SW00809 SVB Function Module Status
SW00810 SVR Function Module ID (9210H)
SW00811 SVR Function Module Status
SW00812 to SW00815 Reserved by the system.
SW00816 to SW00823 Slot 1
SW00824 to SW00831 Slot 2
SW00832 to SW00839 Slot 3
…
SW01008 to SW01015 Reserved by the system (Slot 26)

12-20
 12.5 Motion Program Alarms

12.5 Motion Program Alarms

If the result of investigation using 12.3.2 MP2300 Error Check Flowchart on page 12-6 indicates that
a motion program alarm has occurred, use the alarm code to determine the cause of the error.

12.5.1 Motion Program Alarm Configuration

Motion program alarms stored in the alarm output register (default: SW03268) are displayed as
shown in the following diagram.
Bit 15 Bit 12 Bit 8 Bit 7 Bit 0
Alarm Axis Information Axis Alarm Code
(1 to 14) Alarm

ΠRefer to 5.2.4 ( 5 ) Monitoring Motion Program Execution Information Using S Registers on page
5-15 for information on finding the alarm output register.

12.5.2 Motion Program Alarm Code List

The motion program alarm codes are listed in the following table.
ΠWhen displaying these on the register list, set the view mode to hexadecimal.
Alarm Code Description Correction
0 No alarm
10h Complete circle specified for radius designation
11h Interpolation feed speed exceeded
12h Interpolation feed speed not specified
Range exceeded after acceleration/deceleration speed parameter
13h
conversion
14h LONG_MAX exceeded for circular arc length
15h No vertical specification for circular plane designation
16h No horizontal specification for circular plane designation Check the specifications
17h Specified axes exceeded for the instruction that was
being executed in the
Program 18h Specified number of turns exceeded
motion program when the
alarms 19h LONG_MAX exceeded for radius
alarm occurred according
1Bh Emergency stop in progress to the meaning of the
1Ch LONG_MAX exceeded for linear interpolation block moving amount alarm code.
1Dh FMX not defined
1Eh Address T out of range
1Fh Address P out of range
20h REG data error
Function work duplication (Function work in second PFORK column was
21h
used at a different nesting level.)
22h Indirect register designation range error
23h Overflow when converting reference unit
80h During use of logical axis prohibited
Specifications exceeding POSMAX made for infinite length axis
81h
designation
82h LONG_MAX exceeded for axis moving distance
84h Motion command duplication Check the specifications
85h Motion command response duplication for the instruction that was
being executed in the
Axis 87h VEL setting data out of range
motion program when the
alarms* 88h INP setting data out of range
alarm occurred according
89h ACC/SCC/DCC setting data out of range to the meaning of the
8Ah T reference for MVT instruction is 0 alarm code.
Instruction designated that cannot be executed for the Motion Module
8Bh
model
8Ch Prohibition command executed when pulse distribution was not completed
8Dh Motion command error end status
* The axis number is stored in bits 8 to 11 for axis alarms.

12-21
12 Maintenance and Inspection
12.6.1 Overview of Motion Errors

12.6 Troubleshooting Motion Errors

This section explains the details and remedies for errors that occur in motion control functions.

12.6.1 Overview of Motion Errors

Motion errors in the MP2300 include axis alarms detected for individual SERVOPACKs.
The failure location can be determined and appropriate corrections can be taken simply by checking
the contents of the Warning (IL††02) and Alarm (IL††04) monitoring parameters.
The motion alarms for the MP2300 Basic Module’s MECHATROLINK-I or MECHATROLINK-II
functionality are shown below.

Warning (IL††02) Bit 1: Setting Parameter Error

Bit 2: Fixed Parameter Error

Over Range Parameter Number

(IW††01)

Bit 0: Excessively following error

Bit 3: Servo Driver Error
Bit 4: Motion Command Setting Error

Bit 0: Servo Driver Error

Alarm (IL††04)∗1 Bit 1: Positive Overtravel
Bit 2: Negative Overtravel
Bit 3: Positive Software Limit
Bit 4: Negative Software Limit
Bit 5: Servo OFF

Bit 18: Servo Driver Command Timeout

Error
Bit 19: ABS Encoder Count Exceeded

Servo Driver Status ∗2 Bit 0: Alarm

(IW††2C) Bit 1: Warning
Bit 2: Command READY
Bit 3: Servo ON

Bit D: Negative Software Limit

Servo Alarm Code ∗3 00: Absolute Data Error

(IW††2D) 02: Parameter Corrupted
10: Overcurrent
11: Ground Fault

F3: Momentary Power Loss

* 1. Refer to 12.6.2 Motion Error Details and Corrections on page 12-23.

* 2. Refer to 12.6.3 ( 1 ) Bit 19: ABS Encoder Count Exceeded on page 12-28.
* 3. Refer to 12.6.3 ( 2 ) Servo Alarm Code (IW††2D) on page 12-29.

12-22
 12.6 Troubleshooting Motion Errors

12.6.2 Motion Error Details and Corrections

The following tables show the contents of the axis alarms (IL††04) (subsection 1) and axis alarm
details
(subsection 2).

( 1 ) Alarm IL††04 List

IL††04 Alarm Contents IL††04 Alarm Contents
Servo Driver Synchronization
Bit 0 Servo Driver Error Bit 16
Communication Error
Bit 1 Positive Overtravel Bit 17 Servo Driver Communication Error
Bit 2 Negative Overtravel Bit 18 Servo Driver Command Timeout Error
Bit 3 Positive Soft Limit (Positive Software Limit) Bit 19 ABS Encoder Count Exceeded
Bit 4 Negative Soft Limit (Negative Software Limit) Bit 20 Reserved by the system.
Bit 5 Servo OFF Bit 21 Reserved by the system.
Bit 6 Positioning Time Over Bit 22 Not used
Bit 7 Excessive Positioning Moving Amount Bit 23 Not used
Bit 8 Excessive Speed Bit 24 Not used
Bit 9 Excessively Following Error Bit 25 Not used
Bit 10 Filter Type Change Error Bit 26 Not used
Bit 11 Filter Time Constant Change Error Bit 27 Not used
Bit 12 Not used Bit 28 Not used
Bit 13 Zero Point Not Set Bit 29 Not used
Bit 14 Not used Bit 30 Not used
Bit 15 Not used Bit 31 Not used

( 2 ) Bit 0: Servo Driver Error

Detection Timing • SERVOPACK alarms are continuously monitored by the alarm management section.
• The current command will be aborted.
Processing when If a SERVOPACK error is detected during execution of a POSING command, the positioning will be
Alarm Occurs aborted and the axis will decelerate to a stop.
• The Command Error Occurrence in the Servo Module Command Status (IW††09 bit 3) will turn ON.
• The cause of the error depends on the type of alarm. The contents of an alarm is monitored in IW††2D.
Error and Cause Refer to the list of SERVOPACK alarms in 12.6.3 ( 2 ) Servo Alarm Code (IW††2D) on page 12-29 for
details.
• Confirm the SERVOPACK alarm and remove the cause.
Correction
• Reset the alarm.
ΠThe above status bit will turn ON for any of the SERVOPACK alarm codes for alarms classified as
SERVOPACK alarms.

12-23
12 Maintenance and Inspection
12.6.2 Motion Error Details and Corrections

( 3 ) Bit 1: Positive Overtravel and Bit 2: Negative Overtravel

• Overtravel is continuously monitored by the position management section during execution of a motion
Detection Timing command.
• Overtravel is detected when the overtravel signal in the direction of movement turns OFF.
• The SERVOPACK performs stop processing.
The stop method and processing after stopping depends on the SERVOPACK parameter settings.
Processing when • The Command Error Occurrence in the Servo Module Command Status (IW††09 bit 3) will turn ON.
Alarm Occurs • MP2300 Processing
The command is canceled and the axis decelerates to a stop. Follow-up processing (each scan the current
position of the machine is adjusted to the reference position) is executed.
One of the following is possible.
• A move command that exceeded the travel limit of the machine was executed as follows:
Error and Cause A user program command exceeded the travel limit.
The software limit was exceeded in manual operation.
• Overtravel signal malfunction.
• Check the following.
Check the overtravel signal.
Correction Check the program or manual operation.
• Then, after clearing the motion command code and resetting the alarm, use a return operation to eliminate
the overtravel status. (Commands in the overtravel direction will be disabled and an alarm will occur again
if one is executed.)

ΠFor a vertical axis, the following should be set at the SERVOPACK to avoid dropping and vibration at the
overtravel limit.
・An emergency deceleration stop
・Zero clamp status after the deceleration stop

( 4 ) Bit 3: Positive Software Limit and Bit 4: Negative Software Limit

• Enabled when using a motion command and detected by the position management section.
Detection Timing
• The software limits are valid after a ZRET or ZSET command has been completed.
Processing when • The axis decelerates to a stop at the software limit.
Alarm Occurs • The Command Error Occurrence in the Servo Module Command Status (IW††09 bit 3) will turn ON.
• A move command that exceeded a software limit of the machine was executed as follows:
Error and Cause A user program command exceeded the software limit.
The software limit was exceeded in manual operation.
• Check the program or manual operation.
Correction • Then, after clearing the motion command code and resetting the alarm, use a return operation to eliminate
the software limit status. (Commands in the direction of the software limit will be disabled and an alarm
will occur again if one is executed.)

( 5 ) Bit 5: Servo OFF

Detection Timing • Servo OFF status is detected when a move command is executed.
Processing when • The specified movement command will not be executed.
Alarm Occurs • The Command Error Occurrence in the Servo Module Command Status (IW††09 bit 3) will turn ON.

Error and Cause • A move command (commands for positioning, external positioning, STEP operation, JOG operation, etc.)
was executed when the SERVOPACK was Servo OFF status.
Correction • After clearing the motion command and resetting the alarm, turn the SERVOPACK to the Servo ON status.

12-24
 12.6 Troubleshooting Motion Errors

( 6 ) Bit 6: Positioning Time Over

Detection Timing • Positioning was not completed after completing pulse distribution.
Processing when • The current command was ended forcibly.
Alarm Occurs • The Command Error Occurrence in the Servo Module Command Status (IW††09 bit 3) will turn ON.
One of the following is possible.
• The position loop gain and speed loop gain are not set correctly, creating poor response.
Error and Cause • The Position Complete Timeout (OW††26) is too short.
• The capacity of the motor is insufficient for the machine load.
• Connections are not correct between the SERVOPACK and the motor.
Check the following.
• Check the SERVOPACK gain parameters.
Correction • Check connections between the SERVOPACK and the motor.
• Check the motor capacity.
• Check the Position Complete Timeout (OW††26).
Œ The above check is not performed if the Position Complete Timeout (OW††26) is set to 0.

( 7 ) Bit 7: Excessive Positioning Moving Amount

Detection Timing • Enabled when the electronic gear is used and detected when positioning command is executed.
Processing when • The move command is not executed.
Alarm Occurs • The Command Error Occurrence in the Servo Module Command Status (IW††09 bit 3) will turn ON.

Error and Cause • A move command (commands for positioning, external positioning, or STEP operation) was executed that
exceeded the limit of the positioning moving amount.
Correction • Check the moving amount for the axis being positioned.

( 8 ) Bit 8: Excessive Speed

Detection Timing • Enabled when the electronic gear is used and detected when positioning command is executed.
Processing when • The move command is not executed.
Alarm Occurs • The Command Error Occurrence in the Servo Module Command Status (IW††09 bit 3) will turn ON.
Error and Cause • The limit to the moving amount that can be distributed during one scan has been exceeded.
Correction • Check the moving amount for the axis that is being subjected to position control.

( 9 ) Bit 9: Excessively Following Error

• Detected during execution of positioning commands (commands for positioning, external positioning,
Detection Timing STEP operation, JOG operation, etc.).
• Detected during execution of phase control commands.
Processing when • The move command is not executed.
Alarm Occurs • The Command Error Occurrence in the Servo Module Command Status (IW††09 bit 3) will turn ON.
One of the following is possible.
• The position loop gain and speed loop gain are not set correctly, creating poor response.
Error and Cause • The Deviation Abnormal Detection Value (OL††22) is too small.
• The capacity of the motor is insufficient for the machine load.
• SERVOPACK failure
Check the following and correct the problem. If the problem persists, contact the maintenance department.
• Check the position loop gain and speed loop gain.
Correction
• Check the Deviation Abnormal Detection Value (OL††22).
• Check the motor capacity.
Œ The above check is not performed if the Deviation Abnormal Detection Value (OL††22) is set to
0.

12-25
12 Maintenance and Inspection
12.6.2 Motion Error Details and Corrections

( 10 ) Bit 10: Filter Type Change Error

Detection Timing • Continuously monitored by the motion command processing section.
Processing when • The Change Filter Type command will not be executed.
Alarm Occurs • The Command Error Occurrence in the Servo Module Command Status (IW††09 bit 3) will turn ON.
• Interpolation Commands (Interpolation or Interpolation with Position Latch)
An error occurs if the Change Filter Type command is executed before the specified pulse distribution has
Error and Cause not been completed (i.e., when IB††0C0 was OFF).
• Positioning Commands (Positioning, External Positioning, STEP Operation, or JOG Operation)
The Change Filter Type command will be ignored. (An error will not occur.)

Correction • Correct the program to execute the Change Filter Type command after Distribution Completed status (i.e.,
that IB††0C0 is ON) is checked.
ΠThe command running will not stop even if the above error occurs. The stop processing from the
user program is needed to stop running commands when necessary.

( 11 ) Bit 11: Filter Time Constant Change Error

Detection Timing • Continuously monitored by the motion command processing section.
Processing when • The SCC (Change Filter Time Constant) command will not be executed.
Alarm Occurs • The Command Error Occurrence in the Servo Module Command Status (IW††09 bit 3) will turn ON.
• Interpolation Commands (Interpolation or Interpolation with Position Latch)
An error occurs if the SCC command is executed before the specified pulse distribution has not been
Error and Cause completed (i.e., when IB††0C0 was OFF).
• Positioning Commands (Ppositioning, External Positioning, STEP Operation, or JOG Operation)
The Change Filter Time Constant command will be ignored. (An error will not occur.)

Correction • Correct the program to execute the SCC command after Distribution Completed status (i.e., that
IB††0C0 is ON) is checked.
ΠThe command running will not stop even if the above error occurs. The stop processing from the
user program is needed to stop running commands when necessary.

( 12 ) Bit 13: Zero Point Not Set

• Enabled only when an absolute encoder is used for an infinite length axis and detected when the next
Detection Timing command is set in the Motion Command (OW††08).
Commands: Positioning, External Positioning, Interpolation, or Latch
Processing when • The set command will not be executed.
Alarm Occurs • The Command Error Occurrence in the Servo Module Command Status (IW††09 bit 3) will turn ON.
Error and Cause • A move command was set without executing the ZSET command (IW††0C bit 5 is OFF).
Correction • After clearing the motion command and resetting the alarm, execute a Zero Point Setting operation.

( 13 ) Bit 16: Servo Driver Synchronization Communication Error

Detection Timing • Detected by the communication control section when communication are synchronized between the
MP2300 and SERVOPACK.
Processing when
Alarm Occurs • The current command will be aborted.

Error and Cause • An error occurred in MECHATROLINK communication (e.g., cable disconnect or noise interference on
communication line).
Correction • Check the MECHATROLINK cable and reset the alarm.

12-26
 12.6 Troubleshooting Motion Errors

( 14 ) Bit 17: Servo Driver Communication Error

Detection Timing • Detected by the communication control section when communication is not synchronized between the
MP2300 and SERVOPACK.
Processing when • The current command will be aborted.
Alarm Occurs • The SERVOPACK will be Servo OFF status.

Error and Cause • MECHATROLINK communication stopped because the cable was disconnected or the power supply to
the SERVOPACK was turned OFF.
Correction • Check the MECHATROLINK cable and reset the alarm.

( 15 ) Bit 18: Servo Driver Command Timeout Error

• Detected during execution of each motion commands.

Detection Timing • Detected by the MECHATROLINK communication control section when the Servo command responses
are checked for each process.
Processing when
Alarm Occurs • The current command will be aborted.

Error and Cause • The MECHATROLINK Servo command did not complete within the specified time (5 s).
Correction • Check for alarms in the SERVOPACK for MECHATROLINK communication.
ΠThe above error occurs when Module allocations of SERVOPACK for MECHATROLINK commu-
nication have been completed and the power is not being supplied to the SERVOPACK.

( 16 ) Bit 19: ABS Encoder Count Exceeded

Detection Timing • Enabled only when an absolute encoder is used for a finite length axis, and the electronic gear used.
Detected by the position management section when power is turned ON.
Processing when • The absolute position information read from the absolute encoder when the SEN signal turned ON is
Alarm Occurs ignored.

Error and Cause • An operation error occurred when the absolute position information read from the absolute encoder is
converted from pulses to reference units at power ON.
Correction • Check the gear ratio, number of encoder pulses for other motion fixed parameters.

12-27
12 Maintenance and Inspection
12.6.3 Servo Driver Status and Servo Driver Error Codes

12.6.3 Servo Driver Status and Servo Driver Error Codes

( 1 ) Network Servo Status (IW††2C) List

The status of a SERVOPACK for MECHATROLINK communication can be monitored in Monitor
Parameter IW††2C.
A list is provided in the following table.

Bit No. Status Description

Alarm OFF: No alarm occurred.
Bit 0
(ALARM) ON: Alarm occurred.
Warning OFF: No warning occurred.
Bit 1
(WARNG) ON: Warning occurred.
Command Ready OFF: Command reception not possible (busy).
Bit 2
(CMDRDY) ON: Command reception possible (ready).
Servo ON OFF: Servo OFF (baseblock)
Bit 3
(SVON) ON: Servo ON (baseblock cleared)
Main Power ON OFF: Main power OFF
Bit 4
(PON) ON: Main power ON
Machine Lock OFF: Machine lock released
Bit 5
(MLOCK) ON: Machine locked
Zero Point Position OFF: The APOS (absolute position) is not in the zero point.
Bit 6
(ZPOINT) ON: The APOS (absolute position) is in the zero point range.
OFF: Pulse distribution is not completed or the APOS is not in the positioning completed
Positioning Completed width.
Bit 7
(PSET) ON: Pulse distribution is completed and the APOS is within the positioning completed
width.
Distribution Completed OFF: Pulse distribution is being performed for positioning command.
Bit 8
(DEN) ON: Pulse distribution for positioning commands has been completed
Torque Limit OFF: A torque limit is not being applied.
Bit 9
(T_LIM) ON: A torque limit is being applied.
Latch Completed OFF: Latch not completed.
Bit A
(L_CMP) ON: Latch completed.
Position Proximity OFF:The APOS is outside the position proximity range.
Bit B
(NEAR) ON: The APOS is inside the position proximity range.
Positive Software Limit OFF: The positive software limit has not been exceeded.
Bit C
(P-SOT) ON: The positive software limit has been exceeded.
Negative Software Limit OFF: The negative software limit has not been exceeded.
Bit D
(N-SOT) ON: The negative software limit has been exceeded.
Bit E Reserved −
Bit F Reserved −

12-28
 12.6 Troubleshooting Motion Errors

( 2 ) Servo Alarm Code (IW††2D)

When the Servo Driver Error (IL††04, bit 0) turns ON, a SERVOPACK alarm will exist. The con-
tent of the alarm can be confirmed using the Servo Alarm Code (monitoring parameter IW††2D).
The Servo alarm codes are listed in the following tables.

[ a ] Σ-I Series

Register
Name Code Meaning
Number
99 Normal
94 Parameter Setting Warning
95 MECHATROLINK Command Warning
96 MECHATROLINK Communication Error Warning
00 Absolute Value Data Error
02 Parameter Corrupted
10 Overcurrent
11 Ground Fault
40 Overvoltage
41 Undervoltage
51 Overspeed
71 Overload (Instantaneous)
72 Overload (Continuous)
7A Heat Sink Heating
80 Absolute Encoder Error
81 Absolute Encoder Backup Error
82 Absolute Encoder Checksum Error
Servo Alarm
IW††2D 83 Absolute Encoder Battery Error
Code
84 Absolute Encoder Data Error
85 Absolute Encoder Overspeed
B1 Gate Array 1 Error
B2 Gate Array 2 Error
B3 Current Feedback Phase-U Error
B4 Current Feedback Phase-V Error
B5 Watchdog Detector Error
C1 Servo Run-away
C2 Encoder Phase Error Detected
C3 Encoder Phase-A or -B Broken
C4 Encoder Phase-C Broken
C5 Incremental Encoder Initial Pulses Error
D0 Position Error Exceeded
E5 MECHATROLINK Sync Error
E6 MECHATROLINK Communication Error
F1 Broken Phase in Power Line
F3 Momentary Power Loss

12-29
12 Maintenance and Inspection
12.6.3 Servo Driver Status and Servo Driver Error Codes

[ b ] Σ-II Series

Register
Name Code Meaning
Number
99 Normal
90 Excessive Position Deviation Warning
91 Overload Warning
92 Regeneration Overload Warning
93 Absolute Encoder Battery Error
94 Data Setting Warning
95 Command Warning
96 Communication Warning
02 Parameter Corrupted
03 Main Circuit Detector Error
04 Parameter Setting Error
05 Combination Error
09 Divider Setting Error
0A Encoder Type Mismatch
10 Overcurrent or Heat Sink Overheat
30 Regeneration Error
32 Regeneration Overload
33 Main Circuit Wiring Error
40 Overvoltage
41 Undervoltage
51 Overspeed
71 Overload (Instantaneous Maximum Load)
72 Overload (Continuous Maximum Load)
73 DB Overload
Servo Alarm
IW††2D 74 Inrush Resistance Overload
Code
7A Heat Sink Overheat
81 Encoder Backup Alarm
82 Encoder Checksum Alarm
83 Encoder Battery Alarm
84 Encoder Data Alarm
85 Encoder Overspeed
86 Encoder Overheat
B1 Speed Reference A/D Error
B2 Torque Reference A/D Error
B3 Current Sensor Error
B6 Gate Array Error
BF System Alarm
C1 Servo Run-away
C6 Full-closed Loop Phase-A or -B Broken
C7 Full-closed Loop Phase-C Broken
C8 Encoder Clear Error Multiturn Limit Setting Error
C9 Encoder Communication Error
CA Encoder Parameter Error
CB Encoder Echoback Error
CC Multiturn Limit Mismatch
D0 Excessive Position Error
D1 Excessive Error between Motor Load and Position
E0 No Option
E1 Option Timeout

12-30
 12.6 Troubleshooting Motion Errors

Register
Name Code Meaning
Number
E2 Option WDC Error
E5 WDT Error
E6 Communication Error
E7 Application Module Detection Failure
E9 Bus OFF Error
EA SERVOPACK Failure
Servo Alarm IW††2D
EB SERVOPACK Initial Access Error
Code (cont’d) (cont’d)
EC SERVOPACK WDC Error
ED Command Execution Not Completed
EF Application Module Alarm
F1 Broken Phase in Power Line
F5 Motor Wire Disconnection (when control power supply is turned ON)
F6 Motor Wire Disconnection (when Servo is ON)

[ c ] Σ-III Series

Register
Name Code Meaning
Number
000 Normal
900 Excessive Position Error
901 Excessive Position Error at Servo ON
910 Overload
911 Vibration
920 Regeneration Overload
930 Absolute Encoder Battery Error
941 Parameter Change Requiring Power Recycling
94A Data Setting Warning 1 (Parameter Number)
94B Data Setting Warning 2 (Outside Data Range)
94C Data Setting Warning 3 (Calculation Error)
94D Data Setting Warning 4 (Parameter Size)
95A Command Warning 1 (Command Conditions Not Met)
95B Command Warning 2 (Unsupported Command)
95C Command Warning 3
Servo Alarm
IW††2D 95D Command Warning 4
Code
95E Command Warning 5
960 MECHATROLINK Communication Warning
020 Parameter Checksum Error 1
021 Parameter Format Error 1
022 System Constant Checksum Error 1
023 Parameter Password Error 1
02A Parameter Checksum Error 2
02B System Constant Checksum Error 2
030 Main Circuit Detector Error
040 Parameter Setting Error 1
04A Parameter Setting Error 2
041 Divided Pulse Output Setting Error
042 Parameter Combination Error
050 Combination Error
051 Unsupported Product Alarm

12-31
12 Maintenance and Inspection
12.6.3 Servo Driver Status and Servo Driver Error Codes

Register
Name Code Meaning
Number
0B0 Servo ON Reference Invalid Alarm
100 Overcurrent or Heat Sink Overheat
300 Regeneration Error
320 Regeneration Overload
330 Main Circuit Wiring Error
400 Overvoltage
410 Undervoltage
510 Overspeed
511 Divided Pulse Output Overspeed
520 Vibration Alarm
710 Overload (Instantaneous Maximum Load)
720 Overload (Continuous Maximum Load)
730, 731 DB Overload
740 Inrush Resistance Overload
7A0 Heat Sink Overheat
810 Encoder Backup Alarm
820 Encoder Checksum Alarm
830 Encoder Battery Alarm
840 Encoder Data Alarm
850 Encoder Over Speed
860 Encoder Overheat
870 Full-closed Serial Encoder Checksum Alarm
880 Full-closed Serial Encoder Data Alarm
Servo Alarm IW††2D
Code (cont'd) 8A0 Full-closed Serial Encoder Scale Error
(cont'd)
8A1 Full-closed Serial Encoder Module Error
8A2 Full-closed Serial Encoder Sensor Error (Incremental Value)
8A3 Full-closed Serial Encoder Position Error (Absolute Value)
B31 Current Detection Error 1
B32 Current Detection Error 2
B33 Current Detection Error 3
B6A MECHATROLINK Communication ASIC Error 1
B6B MECHATROLINK Communication ASIC Error 2
BF0 System Alarm 0
BF1 System Alarm 1
BF2 System Alarm 2
BF3 System Alarm 3
BF4 System Alarm 4
C10 Servo Run-away
C80 Encoder Clear Error Multiturn Limit Setting Error
C90 Encoder Communication Error
C91 Encoder Communication Position Data Acceleration Error
C92 Encoder Communication Timer Error
CA0 Encoder Parameter Error
CB0 Encoder Echoback Error
CC0 Multiturn Limit Mismatch
Full-closed Serial Conversion Unit Communication Error (Reception
CF1
Failure)

12-32
 12.6 Troubleshooting Motion Errors

Register
Name Code Meaning
Number
Full-closed Serial Conversion Unit Communication Error (Timer
CF2
Stopped)
D00 Excessive Position Error
D01 Excessive Position Error Alarm at Servo ON
D02 Excessive Position Error Alarm for Speed Limit at Servo ON
D10 Excessive Error between Motor Load and Position
E00 COM Alarm 0
E01 COM Alarm 1
E02 COM Alarm 2
Servo Alarm IW††2D E07 COM Alarm 7
Code (cont'd) (cont'd) E08 COM Alarm 8
E09 COM Alarm 9
E40 MECHATROLINK-II Transmission Cycle Setting Error
E50 MECHATROLINK-II Sync Error
E51 MECHATROLINK-II Sync Failure
E60 MECHATROLINK-II Communication Error
E61 MECHATROLINK-II Transmission Cycle Error
EA0 DRV Alarm 0
EA1 DRV Alarm 1
EA2 DRV Alarm 2
ΠAlarm codes are normally two digits, but three-digit codes are stored in the Alarm Monitor for
motion commands.

12-33
12 Maintenance and Inspection

MEMO

12-34
 Appendix A
A Switching Motion Commands and Subcommands ....................A-2
A.1 Motion Command Execution Table...........................................................A-2
A.2 Motion Subcommand Execution Table .....................................................A-4

A-1
A Switching Motion Commands and Subcommands

A Switching Motion Commands and Subcommands

A.1 Motion Command Execution Table
The following table shows which commands can be executed during execution of another motion
command for the MP2300.

Set Command
Command
Code 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Being Executed
NOP POS EX_P ZRET INTE ENDO LATC FEED STEP ZSET ACC DCC SCC CHG KVS KPS
0 NOP − A A A A A A A A A A A A A A A
1 POSING C − A A C C C A C A C C C C A A
2 EX_POSING C B − A C C C A C B C C C C B B
3 ZRET C C C − C C C C C C C C C C C C
4 INTERPOLATE A A A A − A A A A A A A A A A A
ENDOF_INTER
5 A A A A A − A A A A A A A A A A
POLATE
6 LATCH A A A A A A − A A A A A A A A A
7 FEED C B B A C C C − C A C C C C C C
8 STEP C A A A C C C A − A C C C C A A
9 ZSET A A A A A A A A A − A A A A A A
10 ACC D D D D D D D D D D − D D D D D
11 DCC D D D D D D D D D D D − D D D D
12 SCC D D D D D D D D D D D D − D D D
13 CHG_FILTER A A A A A A A A A A A A A − A A
14 KVS D D D D D D D D D D D D D D − D
15 KPS D D D D D D D D D D D D D D D −
16 KFS D D D D D D D D D D D D D D D D
17 PRM_RD D D D D D D D D D D D D D D D D
18 PRM_WR D D D D D D D D D D D D D D D D
19 ALM_MON D D D D D D D D D D D D D D D D
20 ALM_HIST D D D D D D D D D D D D D D D D
ALMHIST_
21 D D D D D D D D D D D D D D D D
CLR
22 ABS_RST D D D D D D D D D D D D D D D D
23 VELO C A A C C C C A A C C C C C C C
24 TRQ C A A C C C C A A C C C C C C C
25 PHASE A A A A A A A A A A A A A A A A
26 KIS D D D D D D D D D D D D D D D D
29 SV_ON D D D D D D D D D D D D D D D D
30 SV_OFF D D D D D D D D D D D D D D D D
31 ALM_CLR D D D D D D D D D D D D D D D D

A-2
 A.1 Motion Command Execution Table

Set Command
Command
Code 16 17 18 19 20 21 22 23 24 25 26 29 30 31
Being Executed
KFS PRM_ PRM_ ALM_ ALM_ ALMH ABS_ VELO TRQ PHAS KIS SV_ON SV_OF ALM
0 NOP A A A A A A A A A A A A A A
1 POSING A A A A A A C A A A A − A C
2 EX_POSING B B B B B B C C C C B − A C
3 ZRET C C C C C C C C C C C − A C
4 INTERPOLATE A A A A A A A A A A A − A C
ENDOF_INTE
5 A A A A A A A A A A A − A C
RPOLATE
6 LATCH A A A A A A A A A A A − A C
7 FEED C C C C C C C A A A × − A C
8 STEP A A A A A A C A A A A − A C
9 ZSET A A A A A A A A A A A C A D
10 ACC D D D D D D D D D D D C A D
11 DCC D D D D D D D D D D D C A D
12 SCC D D D D D D D D D D D C A D
13 CHG_FILTER A A A A A A A A A A A C A D
14 KVS D D D D D D D D D D D C A D
15 KPS D D D D D D D D D D D C A D
16 KFS − D D D D D D D D D D C A D
17 PRM_RD D − D D D D D D D D D C A D
18 PRM_WR D D − D D D D D D D D C A D
19 ALM_MON D D D − D D D D D D D C A D
20 ALM_HIST D D D D − D D D D D D C A D
ALMHIST_
21 D D D D D − D D D D D C A D
CLR
22 ABS_RST D D D D D D − D D D D C D D
23 VELO C C C C C C C − A A C A A C
24 TRQ C C C C C C C A − A C A A C
25 PHASE A A A A A A A A A − A − A C
26 KIS D D D D D D D D D D − × A D
29 SV_ON D D D D D D D D D D D − A D
30 SV_OFF D D D D D D D D D D D C − D
31 ALM_CLR D D D D D D D D D D D C A −

ΠA: Execution possible.
B: Execution possible if position reference type is set for absolute position reference mode. Axis
will stop at switching point if incremental addition mode is being used.
C: Command aborted (deceleration stop)
D: The new command is ignored and the current command is continued.
ΠAlthough the table shows that changing to ACC, DCC, SCC, or CHG_FILTER is possible from
INTERPOLATE, ENDOF_INTERPOLATE, LATCH, or PHASE, a command error will occur if pulse
distribution has not been completed.

A-3
A Switching Motion Commands and Subcommands

A.2 Motion Subcommand Execution Table

The following table shows which subcommands can be executed during execution of a motion
command for the MP2300.

Set Subcommand
Motion Command Being
Code 0 1 2 4 5
Executed
NOP PRM_RD PRM_WR SMON FIXPRM_RD
0 NOP 9 9 9 9 9
1 POSING 9 9 9 9 9
2 EX_POSING 9 − − 9 9
3 ZRET 9 − − 9 9
4 INTERPOLATE 9 9 9 9 9
5 ENDOF_INTERPOLATE 9 9 9 9 9
6 LATCH 9 9 9 9 9
7 FEED 9 9 9 9 9
8 STEP 9 9 9 9 9
9 ZSET 9 9 9 9 9
10 ACC 9 − − 9 9
11 DCC 9 − − 9 9
12 SCC 9 − − 9 9
13 CHG_FILTER 9 9 9 9 9
14 KVS 9 − − 9 9
15 KPS 9 − − 9 9
16 KFS 9 − − 9 9
17 PRM_RD 9 − − 9 9
18 PRM_WR 9 − − 9 9
19 ALM_MON 9 − − 9 9
20 ALM_HIST 9 − − 9 9
21 ALMHIST_CLR 9 − − 9 9
22 ABS_RST 9 − − 9 9
23 VELO 9 9 9 9 9
24 TRQ 9 9 9 9 9
25 PHASE 9 9 9 9 9
26 KIS 9 − − 9 9

Π9: Execution possible.
−: Execution not possible.

A-4
 Appendix B
B System Registers Lists ..............................................................A-2
B.1 System Service Registers ........................................................................A-2
B.2 Scan Execution Status and Calendar.......................................................A-4
B.3 Program Software Numbers and Remaining Program Memory Capacity
Name....................................................................................................A-4

B-1
B System Registers Lists

B System Registers Lists

B.1 System Service Registers
( 1 ) Shared by All Drawings
Name Register No. Remarks
Reserved (Reserved for the
SB000000 (Not used)
system)
ON for only the first scan after high-speed scan is
First High-speed Scan SB000001
started.
ON for only the first scan after low-speed scan is
First Low-speed Scan SB000003
started.
Always ON SB000004 Always ON (= 1)
Reserved (Reserved for the
SB000005 to SB00000F (Not used)
system)

( 2 ) DWG.H Only
The following relays are reset at the start of the high-speed scan.
Name Register No. Remarks

1 scan
1-scan Flicker Relay SB000010
1 scan

0.5s 0.5s
0.5-s Flicker Relay SB000011

1.0s 1.0s
1.0-s Flicker Relay SB000012

2.0s 2.0s
2.0-s Flicker Relay SB000013

0.5s 0.5s
0.5-s Sampling Relay SB000014
1 scan

1.0s 1.0s
1.0-s Sampling Relay SB000015
1 scan

2.0s 2.0s
2.0-s Sampling Relay SB000016
1 scan

60.0s 60.0s
60.0-s Sampling Relay SB000017
1 scan

1.0s
1.0 s After Start of Scan Relay SB000018

2.0s
2.0 s After Start of Scan Relay SB000019

5.0s
5.0 s After Start of Scan Relay SB00001A

B-2
 B.1 System Service Registers

( 3 ) DWG.L Only
The following relays are reset at the start of the low-speed scan.

Name Register No. Remarks

1 scan
One-scan Flicker Relay SB000030
1 scan

0.5s 0.5s
0.5-s Flicker Relay SB000031

1.0s 1.0s
1.0-s Flicker Relay SB000032

2.0s 2.0s
2.0-s Flicker Relay SB000033

0.5s 0.5s
0.5-s Sampling Relay SB000034
1 scan

1.0s 1.0s
1.0-s Sampling Relay SB000035
1 scan

2.0s 2.0s
2.0-s Sampling Relay SB000036
1 scan

60.0s 60.0s
60.0-s Sampling Relay SB000037
1 scan

1.0s
1.0 s After Start of Scan Relay SB000038

2.0s
2.0 s After Start of Scan Relay SB000039

5.0s
5.0 s After Start of Scan Relay SB00003A

B-3
B System Registers Lists

B.2 Scan Execution Status and Calendar

Name Register No. Remarks
High-speed Scan Set Value SW00004 High-speed Scan Set Value (0.1 ms)
High-speed Scan Current Value SW00005 High-speed Scan Current Value (0.1 ms)
High-speed Scan Maximum Value SW00006 High-speed Scan Maximum Value (0.1 ms)
SW00007
Reserved by the system. to (Not used)
SW00009
Low-speed Scan Set Value SW00010 Low-speed Scan Set Value (0.1 ms)
Low-speed Scan Current Value SW00011 Low-speed Scan Current Value (0.1 ms)
Low-speed Scan Maximum Value SW00012 Low-speed Scan Maximum Value (0.1 ms)
Reserved by the system. SW00013 (Not used)
Executing Scan Current Value SW00014 Executing Scan Current Value (0.1 ms)
Calendar: Year SW00015 1999: 0099 (BCD) (Last two digits only)
Calendar: Month Day SW00016 December 31: 1231 (BCD)
Calendar: Hours Minutes SW00017 23 hours 59 minutes: 2359 (BCD)
Calendar: Seconds SW00018 59 s: 59 (BCD)
Calendar: Day of Week SW00019 0 to 6: Sun., Mon. to Sat.

B.3 Program Software Numbers and Remaining Program Memory Capacity Name
Name Register No. Remarks
System Program Software Number SW00020 S†††† (†††† is stored as BCD)
SW00021
System Number to (Not used)
SW00025
Remaining Program Memory Capacity SW00026 Bytes
Total Memory Capacity SW00028 Bytes

B-4
 Appendix C
C Initializing the Absolute Encoder................................................A-2
C.1 Initializing Procedures for Σ-III Series SERVOPACKs.............................A-2
C.2 Σ-II SERVOPACK ....................................................................................A-4
C.3 Σ-I SERVOPACK .....................................................................................A-7

C-1
C Initializing the Absolute Encoder

C Initializing the Absolute Encoder

The procedure for initializing an absolute encoder for a Σ-I, Σ-II , or Σ-III SERVOPACK is given
below.
ΠRefer to 9.2.1 System Startup Flowchart on page 9-5 for the procedure for absolute-position
detection.

C.1 Initializing Procedures for Σ-III Series SERVOPACKs

Œ Refer to the following manuals for information on Σ-III series SERVOPACKs:
Σ-III Series SGM S/SGDS User’s Manual (Manual No. SIEP C80000000 ),
Σ-III Series SGM S/SGDS User’s Manual for MECHATROLINK-II Communications (Manual No.
SIEP C80000011 ), and Σ-III Series SGM S/SGDS Digital Operator Instructions Manual (Man-
ual No. TOEP C80000001 )

Follow the setup procedure below using a Digital Operator.

1. Press the Key to display the Utility Function Mode main menu. Use the UP Key
or DOWN Key to select Fn008.

㧮㧮‫ޓޓޓޓޓ‬㧙㧲㨁㧺㧯㨀㧵㧻㧺㧙
㧲㨚㧜㧜㧣
㧲㨚㧜㧜㧤
㧲㨚㧜㧜㧥
㧲㨚㧜㧜㧭

2. Press the Key.

The display is switched to the execution display of Fn008 (Absolute encoder multi-turn
reset and encoder alarm reset).

ΠIf the display is not switched and "NO_OP" is displayed in the status display, the Write Pro-
hibited setting (Fn010 = 0001) is set. Check the status and reset. Then clear the Write Pro-
hibited setting.

3. Keep pressing the Key until "PGCL1" is changed to "PGCL5."

C-2
 C.1 Initializing Procedures for Σ-III Series SERVOPACKs

4. Press the Key.

"BB" in the status display changes to "Done."

5. Press the Key. The display returns to the Utility Function Mode main menu.

This completes setting up the absolute encoder. Turn the power supply OFF and then back ON to
reset the SERVOPACK.

C-3
C Initializing the Absolute Encoder

C.2 Σ-II SERVOPACK

Œ Refer to the following manuals for information on Σ-II SERVOPACKs.
Σ-II Series SGM†H/SGDH User’s Manual (SIEP S8000 000 05 )
Σ-II Series SGM†/SGDB/SGM†H/SGDM User’s Manual (SIEP S800000 15 )

( 1 ) Initialization Using a Hand-held Digital Operator

1. Press the DSPL/SET Key to select the Auxiliary Function Mode.

2. Select parameter Fn008 by pressing the LEFT (<) and RIGHT (>) Keys to select the
digit to be changed and then using the UP (∨) and DOWN (∧) Keys to change the
value of the digit.

3. Press the DATA/ENTER Key.

The following display will appear.

4. The rightmost digit will be incremented each time the UP (∨) Key is pressed. Press the
UP (∨) Key several times until “PGCL5” is displayed.
If a mistake is made in the key operation, “nO_OP” will blink on the display for 1 second and
then the display will return to the Auxiliary Function Mode. If this happens, return to step 3,
above, and repeat the operation.
Mistake in Key Operation
UP Key

Blinks for 1 s.

UP Key

Returns to the Auxiliary

Function Mode.

5. Press the DSPL/SET Key.

The display will change as shown below and the clear operation will be performed for multi-
turn data for the absolute encoder.

Blinks for 1 s.

C-4
 C.2 Σ-II SERVOPACK

This completes initializing the absolute encoder. Reset the SERVOPACK to turn the power supply
OFF and then back ON.

C-5
C Initializing the Absolute Encoder

( 2 ) Initialization Using the Built-in Panel Operator

1. Press the MODE/SET Key to select the Auxiliary Function Mode.

2. Press the UP ( ) and DOWN ( ) Keys to select parameter Fn008.

3. Press the DATA/ENTER Key for more than one second.

The following display will appear.

4. The rightmost digit will be incremented each time the UP ( ) Key is pressed. Press
the UP ( ) Key several time until “PGCL5” is displayed.
If a mistake is made in the key operation, “nO_OP” will blink on the display for 1 second and
then the display will return to the Auxiliary Function Mode. If this happens, return to step 3,
above, and repeat the operation.
Mistake in Key Operation
UP Key

Blinks for 1 s.

UP Key

Returns to the Auxiliary

Function Mode.

5. Press the MODE/SET Key.

The display will change as shown below and the clear operation will be performed for multi-
turn data for the absolute encoder.

Blinks for 1 s.

This completes initializing the absolute encoder. Reset the SERVOPACK to turn the power supply
OFF and then back ON.

C-6
 C.3 Σ-I SERVOPACK

C.3 Σ-I SERVOPACK

Œ Refer to the following manuals for information on Σ-I SERVOPACKS.
Σ Series SGM†/SGD User’s Manual (Manual No. SIE-S800-26.3 )
Σ Series SGM†/SGDB High-speed Field Network MECHATROLINK-compatible AC Servo Driver
User’s Manual (Manual No. SIE-S800-26.4 )

( 1 ) Initializing a 12-bit Absolute Encoder

Use the following procedure to initialize a 12-bit absolute encoder.

1. Properly connect the SERVOPACK, Servomotor, and MP2300.

2. Disconnect the connector on the encoder end and short-circuit pins 13 and 14 on the
encoder end connector for 2 seconds or more.

13 14

3. Remove the short piece and insert the connector securely in its original position.

4. Connect the cables using normal wiring and make sure the encoder battery is con-
nected.

5. Turn ON the system.

Repeat the procedure starting from step 1 if an Absolute Encoder Alarm occurs, so the system
has been successfully initialized.

C-7
C Initializing the Absolute Encoder

( 2 ) Initializing a 15-bit Absolute Encoder

Use the following procedure to initialize a 15-bit absolute encoder.

1. Turn OFF the SERVOPACK and MP2300.

2. Discharge the large-capacity capacitor in the encoder using one of the following meth-
ods.

■ At the SERVOPACK End Connector

1) Disconnect the connector on the SERVOPACK end.
2) Use a short piece to short-circuit together connector pins 10 and 13 on the encoder end and
leave the pins short-circuited for at least 2 minutes.
3) Remove the short piece and insert the connector securely in its original position.

■ At the Encoder End Connector

1) Disconnect the connector on the encoder end.
2) Use a short piece to short-circuit together connector pins R and S on the encoder end and
leave the pins short-circuited for at least 2 minutes.
3) Remove the short piece and insert the connector securely in its original position.

SERVOPACK
Key location
Encoder
CN2-1
A

S R (White_orange) CN2-13
S
T CN2-12
R CN2-10
(White_orange)
PG cable

Short-circuit here.

3. Connect the cables using normal wiring and make sure the encoder battery is con-
nected.

4. Turn ON the system.

Repeat the procedure starting from step 1 if an Absolute Encoder Alarm occurs, so the system
has been successfully initialized.

C-8
 Index

INDEX change feed forward (KFS) - - - - - - - - - - - - - - - - - - - - - - - - - - 7-66

change filter time constant (SCC) - - - - - - - - - - - - - - - - - - - - - 7-58
change filter type (CHG_FILTER) - - - - - - - - - - - - - - - - - - - - - 7-60
change linear acceleration time constant (ACC) - - - - - - - - - - - - 7-54
change linear deceleration time constant (DCC) - - - - - - - - - - - - 7-56
Numerics change position loop gain (KPS) - - - - - - - - - - - - - - - - - - - - - - 7-64
change position loop integration time constant (KIS) - - - - - - - - 7-93
217IF-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-54
connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-64 change speed loop gain (KVS) - - - - - - - - - - - - - - - - - - - - - - - 7-62
child drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
218IF-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-51
clear alarm - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-25
260IF-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-57
connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-68 clear SERVOPACK alarm history (ALMHIST_CLR) - - - - - - - - 7-75
coincidence output and coincidence interrupt functions - - - - - - - 3-38
261IF-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-60
combination of modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-71
32-bit coordinate system position (DPOS) - - - - - - - - - - - - - - - - 6-54 command abort - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-30
command buffer for transparent command mode - - - - - - - - - - - 6-46
A command execution- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-5
absolute data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-3 command pause - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-30
absolute encoder - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2 communication error mask - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20
initialization - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-6 Communication Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-51
initialization (ABS_RST) - - - - - - - - - - - - - - - - - - - - - - - - 7-77 communication settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-9
usage - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-8 connection procedure- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10
absolute position at power OFF (lower 2 words) - - - - - - - - 6-46, 6-58 counter function
absolute position at power OFF (upper 2 words) - - - - - - - - 6-46, 6-58 axis type selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-40
absolute position detection command settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-34
parameter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-6 electronic gear function - - - - - - - - - - - - - - - - - - - - - - - - - 3-40
Absolute Position Detection for Finite Length Axes - - - - - - - - - - 9-6 Counter Function Details - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-35
absolute position detection system - - - - - - - - - - - - - - - - - - - - - - 9-2 counter function of LIO-01 and LIO-02 modules - - - - - - - - - - - 3-28
setting procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-5 counter parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-30
acceleration/deceleration filter settings - - - - - - - - - - - - - - - - - - 6-67 counter fixed parameters - - - - - - - - - - - - - - - - - - - - - - - - 3-30
acceleration/deceleration settings - - - - - - - - - - - - - - - - - - - - - - 6-65 counter monitor parameters - - - - - - - - - - - - - - - - - - - - - - 3-33
acceleration/deceleration units - - - - - - - - - - - - - - - - - - - - - - - - 6-27 counter setting parameters - - - - - - - - - - - - - - - - - - - - - - - 3-34
accessories - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9 creep speed - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-42
AI-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-48, 4-53, 4-58
D
alarm - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-49
daily inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-2
all program file dump - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-33
all-in-one - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6 data types- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-24
DEC1 + phase-C method - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-20
approach speed - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-42
auxiliary servo constant number size- - - - - - - - - - - - - - - - - - - - 6-45 DEC1 + ZERO signal method - - - - - - - - - - - - - - - - - - - - - - - - 7-23
definition data
auxiliary servo user constant - - - - - - - - - - - - - - - - - - - - - 6-45, 6-57
self-configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-34
auxiliary servo user constant number - - - - - - - - - - - - - - - 6-45, 6-57
axis selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-8 deviation abnormal detection error level - - - - - - - - - - - - - - - - - 6-26
deviation abnormal detection value - - - - - - - - - - - - - - - - - - - - 6-36
axis type- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-18, 6-61
DeviceNet communication specifications - - - - - - - - - - - - - - - - 3-60
B DeviceNet interface - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-57
backlash compensation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-22 digital operator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
basic module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6 DIN Rail - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9
appearance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3, 3-64 DIN rail mounting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2
DIN rail mounting clips - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-8
DIP Switch Settings- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
CPU I/O connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-15
power supply connector - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9 disable phase reference generation - - - - - - - - - - - - - - - - - - - - - 6-28
DO-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - 3-47, 4-46, 4-51
Battery - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9
drawing execution control - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7
battery
life - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-4 drawing types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
drive status- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-47
bias speed for exponential acceleration/deceleration filter - - - - - 6-41
DWG registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-21
Built-in SVB- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10

C E
electronic cam - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-52
C pulse only method - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-25
electronic gear - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-59
Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8, 4-27, 4-35, 4-53
Calculating the Zero Point of the Machine Coordinate System - - 9-19 electronic shaft - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-48
encoder resolution in pulses/revolution - - - - - - - - - - - - - - - - - - 6-23

Index-1
Index

encoder selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-8 home return type - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-42

encoder type - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-22 home window - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-42
error confirmation flow - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-6
error status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-14
I
Ethernet communication specifications - - - - - - - - - - - - - - - - - - 3-53 I/O Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-32
Ethernet interface - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-51 I/O Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-24
Examples of Register Allocation by Self-configuration - - - - - - - 5-43 infinite length axis - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4, 9-13
EX_POSING- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-11 infinite length axis position control- - - - - - - - - - - - - - - - - 6-21, 9-20
external positioning (EX_POSING) - - - - - - - - - - - - - - - - - - - - 7-11 ladder program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-22
external positioning move distance - - - - - - - - - - - - - - - - - - - - - 6-43 infinite length axis position information LOAD - - - - - - - - - - - - 6-25
external positioning signal - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-28 INPUT & phase-C pulse method - - - - - - - - - - - - - - - - - - - - - - 7-33
Input Characteristics (A1-01)- - - - - - - - - - - - - - - - - - - - - - - - - 3-49
F input circuits
feedback speed - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-58 CPU I/O connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-16
feedback speed moving average time constant - - - - - - - - - - - - - 6-23 LIO-01 module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-29
filter type - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-27 Input Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-58
finite length axis - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-4, 9-10 INPUT signal for zero point return - - - - - - - - - - - - - - - - - - - - - 6-28
fixed parameter details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-18 INPUT signal method- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-35
fixed parameter list- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6 integration reset- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-25
fixed parameter monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-58 interpolation (INTERPOLATE) - - - - - - - - - - - - - - - - - - - - - - - 7-36
fixed parameter number- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-45 interpolation override - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-15
fixed parameters- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-28
fixed parameters for absolute position detection - - - - - - - - - - - - - 9-6
J
forward external torque limit input - - - - - - - - - - - - - - - - - - - - - 6-25 JEPMC-W2061-†† - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-27
forward software limit- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-21 JEPMC-W6060-†† - - - - - - - - - - - - - - - - - - - - - - - - - - 4-35, 4-47
forward software limit enabled - - - - - - - - - - - - - - - - - - - - - - - - 6-18 JEPMC-W6080-†† - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-53
function 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-27 JOG operation (FEED) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-44
function 2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-28 jog/step direction - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-30
function 3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-28
L
function registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-22
L drawing- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-58
function selection 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-18
function selection 2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20 L06 drawing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-58
ladder drawings (DWG) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
functions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-6, 5-20
latch (LATCH) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-40
G latch input signal type- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-28
gain switch - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-26 latch request - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-24
gear ratio (motor) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20 latch zone enable - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-30
grandchild drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6 latch zone lower limit setting - - - - - - - - - - - - - - - - - - - - - - - - - 6-37
group folders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-15 latch zone upper limit setting - - - - - - - - - - - - - - - - - - - - - - - - - 6-37
creating - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-15 leading register numbers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
groups - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-11 LED
217IF-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-55
H 218IF-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-51
H drawing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-39 260IF-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-58
H01 drawing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-39 261IF-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-61
H02 drawing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-40 Basic Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-7
H02.01 drawing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-41 LIO-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-26
H02.02 drawing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-42 LED indicator details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5
H06.01 drawing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-50 LED Indicators
H06.02 drawing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-55 AI-01- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-48
hardware specifications DO-01 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-48
217IF-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-56 SVA-01 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-20
218IF-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-52 SVB-01 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-15
260IF-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-59 LED indicators - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-7
261IF-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-62 linear acceleration time- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-40
Basic Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-9 linear deceleration time- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-40
MP2300 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2 LIO-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-24
home direction- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-30 LIO-02 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-33
HOME LS & phase-C pulse method - - - - - - - - - - - - - - - - - - - - 7-28 LIO-04 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-42
HOME LS signal method - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-30 LIO-04/LIO-05 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-34
home offset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-42 LIO-04/LIO-05 Modules- - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-44

Index-2
 Index

LIO-05 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-44 motion subcommand status - - - - - - - - - - - - - - - - - - - - - - - - - - 6-52

loading motion subcommands - - - - - - - - - - - - - - - - - - - - - - - - - 6-31, 7-95
individual - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-25 execution table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-4
log off - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-35 motor type - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-57
mounting MP2300- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2
M MP2300 Fixed Parameters for Absolute Position Detection - - - - 9-15
machine coordinate feedback position (APOS) - - - - - - - - - - - - - 6-54 MP2500
machine coordinate latch position (LPOS) - - - - - - - - - - - - - - - - 6-54 mode switch 1 (S1) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
machine coordinate system - - - - - - - - - - - - - - - - - - - - - - - - - - 6-54 mode switch 2 (S2) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
machine coordinate system position (MPOS) - - - - - - - - - - - - - - 6-54 MPE720 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7
machine coordinate target position (TPOS) - - - - - - - - - - - - - - - 6-53 MPE720 (Embedded) startup - - - - - - - - - - - - - - - - - - - - - - - - - 2-7
machine lock- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-24 multiturn limit setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-9
manual operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-36
maximum number of absolute encoder turns - - - - - - - - - - - - - - 6-23 N
maximum value of rotary counter - - - - - - - - - - - - - - - - - - - - - - 6-21 negative overtravel - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-19
MECHATROLINK network servo I/O monitor - - - - - - - - - - - - - - - - - - - - - - - - - - 6-56
cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11 network servo status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-55
connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10 network servo user monitor information - - - - - - - - - - - - - - - - - 6-57
SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7 no command (NOP)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-96
terminator connections - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13 NOT & phase-C pulse method- - - - - - - - - - - - - - - - - - - - - - - - 7-31
mode 1- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-26 NOT signal method - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-32
mode 2- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-26 number of decimal places - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20
modularized position at power OFF (lower 2 words) - - - - - 6-46, 6-58 number of encoder resolution - - - - - - - - - - - - - - - - - - - - - - - - - 9-8
modularized position at power OFF (upper 2 words) - - - - - 6-46, 6-58
Module - - - - - - - - - - - - - - - - - - - - - - 3-14, 3-16, 3-21, 3-45, 5-33
O
module information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-20 Offset and Gain Setting (AI-01)- - - - - - - - - - - - - - - - - - - - - - - 4-59
Module Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-45 online logon - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-19
SVA-01 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-21 operation
SVB-01 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-16 starting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4
monitor 2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-44 stopping- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4
monitor 2 enabled - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-26 operation errors
monitor 4 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-44 processing drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
monitor SERVOPACK alarm history (ALM_HIST) - - - - - - - - - 7-73 option slot configuration- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6
monitor SERVOPACK alarms (ALM_MON) - - - - - - - - - - - - - - 7-72 Option Slot Cover - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9
monitor status (SMON) - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-100 optional modules- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
monitoring parameter details - - - - - - - - - - - - - - - - - - - - - - - - - 6-46 appearance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
monitoring parameter list - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13 installing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7
motion command options - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-30 removing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
motion command response codes - - - - - - - - - - - - - - - - - - - - - - 6-51 replacing and adding - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
motion command table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3 order folders- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-16
motion commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-29 output circuit
execution table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2 CPU I/O connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-17
motion commands supported by SERVOPACK models - - - - - - - - 7-4 LIO-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-30
motion control function specifications- - - - - - - - - - - - - - - - - - - - 3-4 over range parameter number - - - - - - - - - - - - - - - - - - - - - - - - 6-47
motion errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-22 overtravel function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-8
motion fixed parameter
P
setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-28
Parameter Settings for Simple Absolute Infinite Length Position Control
motion parameter
9-15
setting window - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4
parameters
motion parameters
automatic updating - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2
register numbers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
updating during self-configuration - - - - - - - - - - - - - - - - - - 11-5
setting example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-59
parent drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
motion program alarms- - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-21
password - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-22
motion programs - - - - - - - - - - - - - - - - - - - - -2-43, 2-47, 5-10, 5-12
phase compensation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-37
control signals- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-14
phase compensation type with an electronic cam - - - - - - - - - - - 6-31
execution information - - - - - - - - - - - - - - - - - - - - - - - - - - 5-16
phase control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-6
ladder programs for control - - - - - - - - - - - - - - - - - - - - - - - 5-18
control block diagram - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-8
MSEE registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12
phase references (PHASE) - - - - - - - - - - - - - - - - - - - - - - - - - - 7-89
S registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12
phase-C method - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-24
status bits - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-13
PI latch function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-39
motion subcommand response code - - - - - - - - - - - - - - - - - - - - 6-51

Index-3
Index

Pin Arrangement reverse software limit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-21

AI-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-54 reverse software limit enabled - - - - - - - - - - - - - - - - - - - - - - - - 6-19
DO-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-48 RS-232C communication specifications - - - - - - - - - - - - - - - - - 3-53
LIO-04 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-36 RS422/485 communication specifications - - - - - - - - - - - - - - - - 3-57
LIO-05 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-38 RUN commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-24
pin arrangement run mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-18
CPU I/O connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-15
DeviceNet connector - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-69
S
Ethernet connector (10Base-T) - - - - - - - - - - - - - - - - - - - - - 4-61 S registers
LIO-01 Module connector - - - - - - - - - - - - - - - - - - - - - - - - 4-28 monitoring execution information - - - - - - - - - - - - - - - - - - 5-15
PORT connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-61 sample programs
PROFIBUS connector- - - - - - - - - - - - - - - - - - - - - - - - - - - 4-72 checking operation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-36
RS422/485 connector - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-65 saving to flash memory- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-31
PLC folders- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-17 scan execution status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - B-4
creating - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-17 scan processing drawing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7
PLC function specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3 scan time
position complete timeout - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-37 setting and changing - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-8
position completed width- - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-35 S-curve acceleration time - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-41
position control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-43, 8-2 secondary speed compensation - - - - - - - - - - - - - - - - - - - - - - - 6-33
control block diagram - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-4 segment distribution processing - - - - - - - - - - - - - - - - - - - - - - - 6-19
position error (PERR) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-54 self-configuration - - - - - - - - - - - - - - - - - - - - 2-19, 5-4, 5-28, 5-43
position integration time constant - - - - - - - - - - - - - - - - - - - - - - 6-38 217IF-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-39
position loop gain- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-38 218IF-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38
position management status - - - - - - - - - - - - - - - - - - - - - - - - - - 6-52 260IF-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-41
position reference- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-62 261IF-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-42
position reference setting- - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-34 LIO-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-36
position reference type - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-30 method- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5
positioning (POSING)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-5 self-diagnosis
positioning completed width 2 - - - - - - - - - - - - - - - - - - - - - - - - 6-36 online - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4
positive overtravel - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-19 self-diagnosis at startup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4
positive side limiting torque setting at the speed reference - - - - - 6-33 serial interfaces - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-54
POSMAX number of turns - - - - - - - - - - - - - - - - - - - - - - - - - - 6-54 servo alarm code - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-56
POSMAX preset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-25 servo alarm monitor number - - - - - - - - - - - - - - - - - - - - - - - - - 6-45
POT & C pulse method - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-26 servo constant number - - - - - - - - - - - - - - - - - - - - - - - - - 6-45, 6-57
POT signal method- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-27 servo constant number size - - - - - - - - - - - - - - - - - - - - - - - - - - 6-45
preset data of POSMAX turn - - - - - - - - - - - - - - - - - - - - - - - - - 6-43 servo driver error codes - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-28
PRM_RD - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-97 servo module command status - - - - - - - - - - - - - - - - - - - - - - - - 6-51
PROFIBUS communication specifications - - - - - - - - - - - - - - - - 3-63 servo ON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-24
PROFIBUS ID- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-63 servo user constant- - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-45, 6-57
PROFIBUS interface - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-60 servo user monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-44
program memory servo user monitor 2- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-57
remaining capacity - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -B-4 servo user monitor 3- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-57
programming device-related equipment - - - - - - - - - - - - - - - - - - - 2-4 servo user monitor 4- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-57
pulse count function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-37 SERVOPACK initialization - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
pulse counting modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-35 SERVOPACK parameters
pulse distribution - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-16 absolute position detection - - - - - - - - - - - - - - - - - - - - - - - - 9-7
pulse input circuit setting parameter details - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-24
LIO-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-31 setting parameter list - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
simple ABS infinite axis - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-19
R Simple Absolute Infinite Length Position Control - - - - - - - - - - - 9-13
rated speed - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-23 software limit function - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-12
read fixed parameters (FIXPRM_RD) - - - - - - - - - - - - - - - - - - 7-102 speed amends - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-38
read SERVOPACK parameter (PRM_RD) - - - - - - - - - - - - 7-68, 7-97 speed control- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-14
reference unit- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-59 control block diagram- - - - - - - - - - - - - - - - - - - - - - - - - - - 8-16
reference unit setting- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20 speed feed forward compensation- - - - - - - - - - - - - - - - - - - - - - 6-38
reference units per revolution - - - - - - - - - - - - - - - - - - - - - - - - - 6-20 speed integration time constant - - - - - - - - - - - - - - - - - - - - - - - 6-39
register types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-21 speed limit at torque/thrust reference - - - - - - - - - - - - - - - - - - - 6-32
regular inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-3 speed loop gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-38
reset absolute encoder (ABS_RST) - - - - - - - - - - - - - - - - - - - - - 7-77 speed loop P/PI switch - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-26
response buffer for transparent command mode - - - - - - - - - - - - 6-58 speed override - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-34
reverse external torque limit input- - - - - - - - - - - - - - - - - - - - - - 6-25 speed reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-63

Index-4
 Index

setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-33 U
speed reference (VELO) - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-80
user constants self-writing function - - - - - - - - - - - - - - - - - - - - 6-19
speed reference output monitor - - - - - - - - - - - - - - - - - - - - - - - 6-54
user definition files - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-7
speed unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-27
user name - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-22
Standard Cable Wiring Table - - - - - - - - - - - - - - - - - 4-27, 4-35, 4-53
user operation
standard cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-24
error status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -12-16
startup sequence - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
user program errors
step distance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-43
correcting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -12-13
STEP operation (STEP) - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-48
user programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
store - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-46
SVA-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-19, 4-22 V
SERVOPACK connection cables - - - - - - - - - - - - - - - - - - - 4-24 variable tables- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xi
standard cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-24 vertical axes
SVB-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14, 4-19 control- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2
switch settings- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-15 virtual motion module
switch SVR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-11
217IF-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-55
218IF-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-51 W
260IF-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-58 warning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-48
261IF-01 Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-61 WDT error mask - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20
Basic Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-7 work coordinate system offset - - - - - - - - - - - - - - - - - - - - - - - - 6-43
LIO-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-26 write SERVOPACK parameter (PRM_WR)- - - - - - - - - - - 7-70, 7-98
System Configuration- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3
system error status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-15 Z
system I/O error status - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-18 zero point of the machine coordinate system
system program software number - - - - - - - - - - - - - - - - - - - - - - - B-4 calculating - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-10
system registers zero point offset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-43
accessing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-10 zero point return (ZRET) - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-16
configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-14 zero point return method
system service registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - B-2 selecting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-16
system services zero point setting- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-52
execution status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-18 ZERO signal method - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-22
system startup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
adding electric devices - - - - - - - - - - - - - - - - - - - - - - - - - - 2-61
first - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-59
procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
replacing electric devices - - - - - - - - - - - - - - - - - - - - - - - - 2-63
self-configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-59
system status- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-14
system variable table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xi
system work number - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-15

T
target position (CPOS) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-53
target position difference monitor - - - - - - - - - - - - - - - - - - - - - - 6-54
Temperature Characteristics (LIO-04/LIO-05) - - - - - - - - - - - - - 3-46
torque (thrust) reference monitor - - - - - - - - - - - - - - - - - - - - - - 6-58
torque control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-10
control block diagram- - - - - - - - - - - - - - - - - - - - - - - - - - - 8-12
torque feed forward compensation - - - - - - - - - - - - - - - - - - - - - 6-32
torque reference (TRQ)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-84
torque unit selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-27
torque/thrust reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-32
transfer
all - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-23
transmission errors
actions to be taken - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-19
troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-5
system errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-9
tuning panels- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-37

Index-5
Index

Index-6
Revision History

The revision dates and numbers of the revised manuals are given on the bottom of the back cover.

MANUAL NO. SIEP C880700 03B

C Printed in Japan February 2005 03-4 2 -1
WEB revision number
Date of Revision number
printing Date of original
publication

Date of Printing Rev. WEB Section Revised Contents

No. Rev. No.
April 2003 − − First edition
July 2003 1 − Back cover Revision: Address

September 2003 2 0 2.3.2 Addition: I/O Modules JEPMC-AN2900, JEPMC-AN2910

2.4.2, 10.2 Revision: Battery model
7.2.2, 7.2.3 Revision: Table (Deletion of size column, addition of parameter No. column)
11.1.4 Addition: Motion program alarms
February 2005 1 3.3.3 Revision: H04 Drawing
April 2005 3 0 Printed version of the user’s manual, SIEPC88070003B<2>-1, available on the Web.

February 2006 4 0 All chapters Revision: All chapters