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Freestyle Swing Door/DPNL (1/4 Frameless) - 660
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Freestyle Swing Door/DPNL (1/4 Frameless) - 660 Guide
User manual for Freestyle Swing Door/DPNL (1/4 Frameless) - 660
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Table of contents
Document Outline
Using this Manual
MP920 Related Manuals Configuration
Safety Information
Safety Precautions
CONTENTS
1 MP920 Overview and Features
1.1 Overview of the MP920
1.1.1 Appearance of MP920 Modules
1.1.2 List of Modules
1.1.3 Features of the MP920
1.1.4 Comparison between the MP920 and MP930
2 MP920 Specifications and System Configuration
2.1 Specifications
2.1.1 General Specifications
2.1.2 Hardware Specifications
2.1.3 Function Lists
2.2 Basic System Configuration
2.2.1 List of Basic Modules
2.2.2 Overall Configuration
3 Basic System Operation
3.1 Operating Modes
3.1.1 Online Operating Mode
3.1.2 Offline Stop Mode
3.2 Start and Stop Sequences
3.2.1 DIP Switch Settings
3.2.2 Start Sequence
3.3 Power Failures
3.3.1 Power Failure Detection
3.4 User Programs
3.4.1 Drawings (DWGs)
3.4.2 Execution Control of Parent Drawings
3.4.3 Motion Programming
3.5 Functions
3.5.1 Standard System Functions
3.5.2 Creating User Functions
3.5.3 Determining the I/O Specifications
3.5.4 Defining Function I/O
3.5.5 Creating the Body of the Function
3.5.6 Creating the Program that Calls the Function
3.6 Registers
3.6.1 Register Designation Methods
3.6.2 Data Types
3.6.3 Types of Register
3.6.4 Using Subscripts I and J
3.6.5 I/O and Registers in Functions
3.6.6 Register Ranges in Programs
3.7 Managing Symbols
3.7.1 Symbols in Drawings
3.7.2 Symbols in Functions
3.7.3 Upward Linking of Symbols
3.7.4 Automatic Register Number Allocation
4 Motion Control
4.1 Overview of Motion Control
4.1.1 Motion Control for the MP920
4.1.2 Motion Control Methods
4.1.3 Examples of Motion Control Applications
4.2 Control Modes
4.2.1 Overview of Control Modes
4.2.2 Speed Reference Output Mode
4.2.3 Torque Reference Output Mode
4.2.4 Phase Control Mode
4.2.5 Zero Return Mode
4.3 Position Control
4.3.1 Prerequisites for Position Control
4.3.2 Position Control Without Using Motion Commands
4.4 Position Control Using Motion Commands
4.4.1 Overview of Motion Commands
4.4.2 Positioning (POSING)
4.4.3 External Positioning (EX_POSING)
4.4.4 Zero Point Return (ZRET)
4.4.5 Interpolation (INTERPOLATE, END_OF_INTERPOLATE)
4.4.6 Interpolation with Position Detection (LATCH)
4.4.7 Fixed Speed Feed (FEED)
4.4.8 Fixed Length Feed (STEP)
4.4.9 Zero Point Setting (ZSET)
5 Modules
5.1 Power Supply Modules
5.1.1 PS-03 Module
5.1.2 PS-01 Module
5.2 CPU Modules
5.2.1 CPU-01 Module
5.2.2 CPU-02 Module
5.3 I/O Modules
5.3.1 DI-01 Input Module
5.3.2 DO-01 Output Module
5.3.3 LIO-01 I/O Module
5.3.4 CNTR-01 Counter Module
5.4 Analog Modules
5.4.1 AI-01 Analog Input Module
5.4.2 AO-01 Analog Output Module
5.5 Motion Modules
5.5.1 Servo Module (4-axis)
5.5.2 Servo Module (2-axis)
5.5.3 MECHATROLINK Interface Module (SVB-01)
5.5.4 Pulse Output Module (PO-01)
5.6 Communications Modules
5.6.1 218 I/F Communications Module (218IFA)
5.6.2 217 I/F Communications Module (217IF)
5.6.3 215IF Communications Module (215IF)
5.6.4 DeviceNet Interface Module (260IF)
5.7 Expansion Module
5.7.1 Expansion Interface Module (EXIOIF)
5.7.2 Mounting Base
6 System Startup
6.1 Overview
6.1.1 Overview of the Startup Procedure
6.1.2 Test System Configuration
6.1.3 Equipment Preparations
6.2 System Startup Procedure
6.2.1 Installing the Modules
6.2.2 Connecting Devices
6.2.3 Starting the MPE720
6.2.4 Creating and Saving Motion Programs
6.2.5 Ladder Logic Programs
6.2.6 Transferring Definitions, Parameters, and Programs
6.2.7 Checking Operations
7 Parameters
7.1 Description of Parameters
7.1.1 Parameter Classifications
7.1.2 Module Numbers and Motion Parameter Register Numbers
7.2 Parameters for Each Motion Module
7.2.1 Motion Fixed Parameters
7.2.2 Motion Setting Parameters
7.2.3 Motion Monitoring Parameter
8 Controlled Axis Support Functions
8.1 Reference Unit
8.2 Electronic Gear
8.3 Override Function
8.4 Infinite Length Positioning
8.5 Software Limit Function
9 Multi-CPU System
9.1 Overview
9.1.1 Features
9.1.2 Operation
9.2 Setting Up a Multi-CPU System
9.2.1 Hardware Settings
9.2.2 Setup Procedure Using the MPE720
10 Absolute Position Detection
10.1 Structure of the Absolute Position Detection Function
10.1.1 Description of the Function
10.1.2 Structure of Absolute Position Detection
10.2 Starting the Absolute Position Detection Function
10.2.1 System Startup Procedure
10.2.2 Setting Related Parameters
10.2.3 Initializing the Absolute Encoder
10.3 Using an Absolute Encoder
10.3.1 Finite Length Mode Axis
10.3.2 Infinite Length Mode Axis
11 Maintenance and Inspection
11.1 Inspection Items
11.1.1 Daily Inspections
11.1.2 Regular Inspections
11.2 CPU Module Battery
11.2.1 Battery Life
11.2.2 Battery Replacement
11.3 Absolute Encoder Battery
11.3.1 Appearance of the Battery Module
11.3.2 General Specifications
11.3.3 Specifications of Battery Module
11.3.4 Functions of Battery Module
11.3.5 Connecting to SVA-01A Module
11.3.6 Replacing the Battery
12 Troubleshooting
12.1 Overview of Troubleshooting
12.1.1 Troubleshooting Methods
12.1.2 Basic Troubleshooting Flow
12.1.3 Indicator Errors
12.2 System Errors
12.2.1 Overview of System Errors
12.2.2 Processing Flow When a System Error Occurs
12.2.3 Processing Flow When a User Program Error Occurs
12.2.4 System Register Configuration
12.3 Motion Errors
12.3.1 Description of Motion Errors
12.3.2 Processing Flow When a Motion Error Occurs
12.3.3 Processing Performed When an SVA Module Error Occurs
Appendix A
A.1 Module Dimensional Drawings
A.1.1 Two-slot Modules
A.1.2 One-slot Modules
A.1.3 Mounting Bases
A.2 Motion Commands, Ladder Instructions, and Standard System Functions
A.2.1 Ladder Instruction List
A.2.2 Motion Command List
A.3 Parameter List
A.3.1 Motion Fixed Parameters
A.3.2 Motion Setting Parameters
A.3.3 Motion Monitor Parameters
A.4 Monitoring Parameter Alarms
A.4.1 Setting Errors in Fixed and Setting Parameters
A.4.2 Monitoring Parameter Number 23 Alarms
A.5 List of System Registers
A.5.1 System (S) Register Allocation
A.5.2 System Service Registers
A.5.3 Scan Execution Status and Calendar
A.5.4 System Program Software Numbers and Remaining Program Memory Capacity
A.6 Connection between Sigma-II Series SERVOPACKs and MP920 Modules
INDEX
Numerics
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P
R
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W
Z
Revision History
Back Cover
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