Motion control school

MP3300 basic course

Ⅰ:Chapter of basic programming

< contents >
Chapter 1 Outline of the product
Chapter 2 PLC function
Chapter 3 MPE720 engineering tool
Chapter 4 Necessary setting for programming
Chapter 5 Ladder program
Chapter 6 Parameters for motion control
Chapter 7 Program for motion control (ladder method)
Chapter 8 Servo tuning

1
Chapter 1 Outline of the product

This chapter explains the product type of the machine

controller and the system configuration.

< content >

(1)Product type
(2)System configuration
(3)Modular framework example
(4)Module list

2
(1)Product type

MP3300 : A successor of the MP2000 series, keeping the same size.

The scanning synchronization is the fastest of the industry.

MP2000 series MP3300

･MP2300S → MP3300 (Optional slot: 1)
･MP2310 → MP3300 (Optional slot: 3)
･MP2200 → MP3300 (..rack enhancing type.. developing).
(MP2200(CPU-04) → high-speed specification is a prolonged use as for
MP2200. )
･The MP2100 → board type is a prolonged use as for MP2100.

3
 (2)System configuration
Machine controller MP series is a controller is operated by scanning operation, as same as PLC.
There is an input-output module of "Motion module", "IO module", and "Communication
module" around "CPU module", and the module is selected according to customer's
specifications.
"CPU module" controls both IO control and motion control unlike general PLC.

Example of MP3300 MECHATROLINK-Ⅲ

CPU module (ladder program) Motion
Module
Low-speed scanning High-speed scanning
SVC
Ladder Ladder
Low-speed High-speed Motion parameter
drawing ･Fixed parameter
drawing
･Setting parameter (OW)
(L) (H) ･Monitor parameter (IW)

Motion
Program
IO module Machine
(MPM)
Input-output register
(OW,IW)

Communication Touch Panel

Internal register module
(M､G､D､C､S) Input-output register
(OW,IW)

; MP3300 built-in. The ladder program is called "Drawing" in the MP series.

4
(3)Modular framework example
Select base unit.
<MP3300> ･MBU-301 (AC100/200V, 8 slots)
Select CPU module ･MBU-302 (DC24V, 8 slots)
･CPU-301 ･MBU-303 (DC24V, 3 slots)
・CPU-302 ･MBU-304 (DC24V, one slot)
Optional slot
(Besides CPU, 8/3/1 slots available. )
･Motion module
･Communication module
･IO module
CPU module An optional module is common to all models.
CPU, SVC and
MP2300S
218IFD is built- Rack extension(maximum: four rack)
in. ･EXIOF
MP2200 base unit
･MBU-01
･MBU-02 ･Maximum 21 slaves can connect it once
･MBU-03 in the line.
Servos are maximum 16 axes.
MECHATROLINK-Ⅲ The IO module can be connected.
･The minimum communication cycle is
decided depending on the number of
Servo slaves.
Σ7
MECHATROLINK-Ⅲ Module

5
(4)Module list
< MP3300 exclusive use module > < optional module: MP2000/MP3000 commonness >
Abbreviation Max num Outline of specification Abbreviation Max num Outline of specification
CPU-301 1 CPU SVA-01 Analog servo IF:2 axis
MBU-304 1 Base unit, DC24V, and one slot SVB-01 Ⅰ/MECHATROLINK - Ⅱ: Line once
SVC-01 Total MECHATROLINK - Ⅲ: Line once
MBU-303 Base unit, DC24V, and three slots 16
MPU-01 MECHATROLINK ..sub-CPU.. - Ⅲ: Line once
EXIOIF 4 Enhancing rack IF
PO-01 Train of impulses: Four axes
217IF-01 General-purpose serial communications, RS-232C:1 port,
< MECHATROLINK-Ⅲ module > and RS-422/485:1 port
Abbreviation Max num Outline of specification 218IF-01 Ethernet(10BASE-T I/F): One port and RS-232C:1 port
MTD2310 DI:64 point DO:64 point (sink) 218IF-02 Ethernet(100BASE-T I/F): One port and RS-232C:1 port
MTA2900 Analog input: 8ch(+/-10V,0-20mA) 215AIF-01 MPLINK/CP-215:1 port and RS-232C:1 port
21
MTA2910 Analog output: 4ch(+/-10V) 260IF-01 DeviceNet communication: Line and RS-232C:1 port once
(Including
servo) Pulse input: 2ch 261IF-01 Total RS-232C:1 port communicated Profibus (DP slave)
MTP2900
262IF-01 8 FL-net communication
MTP2910 Pulse output:4ch, DI:5 point,DO:4 point 263IF-01 Ethernet/IP
264IF-01 EtherCat (slave)
< MECHATROLINK-Ⅱ module >
Abbreviation Max num Outline of specification 265IF-01 CompoNet (master)
266IF-01 PROFINET (master)
IO2310 DI:64 point DO:64 point (sink)
266IF-02 PROFINET (slave)
IO2330 DI:64 point DO:64 point (source) LIO-01 DI:16 point DO:16 point (sink) PI:1ch
IO2900 DI:16 point LIO-02 DI:16 point DO:16 point (source) PI:1ch
IO2910 DO:16 point (sink) LIO-04 DI:32 point and DO:32 point (sink)
21
(Including LIO-05 DI:32 point and DO:32 point (source)
PL2900 servo) Pulse input: 2ch, DI:8 point, DO:6 point LIO-06 Total Compound IO, DI:8 point, DO:8 point (sink), and AI, AO,
PL2910 Pulse output: 2ch and pulse input: Each 1ch
30
AN2900 Analog input: 4ch (+/-10V) DO-01 DO:64 point (sink)
AN2910 Analog output: 2ch (+/-10V) AI-01 Analog input: 8ch(+/-10V,0-20mA)
Sales from partner maker AO-01 Analog output: 4ch(+/-10V)
CNTR-01 Pulse input: 2ch (5V differential motion and 12V open
collector) 6
Chapter 2 PLC function

Learn about PLC function of machine controller MP series

< content >
2.1Drawing and scanning
(1)User program and language
(2)Drawing type and scanning
(3)Execution timing diagram of drawing (priority level)
(4)Modulation and the execution order of drawing
(5)Example of modulating drawing

2.2Register
(1)Register: Format
(2)Type of register
(3)Register: Data type (1)
(4)Register: Data type (2)
(5)Register: Usage example
(6)Supplementation: Numeric expression of register

7
2.1Drawing and scanning
(1)User program and language
- User program and program language used
-Ladder program: The ladder language (ladder instruction) is used.
The ladder program is managed by the unit "Drawing".
It is executed by high speed and a low-speed scanning
operation method and process motion control and IO control.

-Motion program: It is a text type language specialized for motion control.

It starts from the ladder program, and the program is executed
Thực thi
one by one.

-Sequence program: It is sequence control program in the text language.

It is executed by high speed and a low-speed scanning.
CPU module

Output data
(execution memory)
Output register
Input data

Input register

Scanning operation method:

User program ①Input data to Input register.
･Ladder program ②Decipherment processing of all
(motion program) user program Giải mã
･Sequence program ③The decipherment result is
output to Output register.

8
(2)Drawing type and scanning
The ladder program (drawing) is executed by high-speed scan and low-speed scan.
-Start drawing(A): Executed only once when the power supply is turned on.
Describe initialization sequence.
-High-speed drawing(H): Executed at high-speed scan. Describe motion control.
-Low-speed drawing(L): Executed at high-speed scan. Describe other than motion
control.
Power supply
･Operation error drawing: It is started automatically
turning on
by the operation error generation.
DWG.A ･Interrupt drawing (I): The priority execution is done
(start drawing) with the interrupt signal.

Every H-speed scan Every L-speed scan Operation error Interruption signal

Batch output Batch output DWG.X00

* DWG.I
(operation error
(interrupt drawing)
Batch input Batch input drawing)
* X=A,I,H,L
DWG.H DWG.L Continue Continue
(H-speed drawing) (L-speed drawing) before error before interruption
"Function" can be used besides the
above-mentioned drawing.
9
(3)Execution timing diagram of program (priority level)
The high-speed scan becomes a basic scanning, and the decipherment
result in each scanning is transmitted to each modules synchronizing with
the high-speed scan.
(Low-speed scan time is set integral multiples of the high-speed scan. )
Power ON
Low-speed scanning Low-speed scanning
< drawing execution
High-speed High-speed High-speed High-speed High-speed High-speed
Timing diagram >
scanning scanning scanning scanning scanning scanning

Start drawing (A)

High-speed drawing (H)

Low-speed drawing (L)

Interruption drawing (I)

(A) starts with the

interrupt signal.
(D0 bit of LIO module)

Continue after (I)

10
 (4)Modulation and the execution order in drawing
The ladder program is layered structure (*1) of parents drawing, child drawing and grandchild drawing.
･The parents drawing calls the child drawing, the child drawing calls the grandchild drawing.
･"SEE instruction" is used for the call of the drawing. (*1)Layered structure
In division into the hierarchy, the program :.
It becomes easy to see.
DWG.X YY . ZZ
DWG. I Interrupt drawing
Grandchild drawing (01-99)
DWG. X 00
Child drawing (01-99) Operation error drawing
FUNC-001 (A, I, H, L)
Parents drawing type (A, I, H, L) Function
The system Parents drawing Child drawing Grandchild drawing
Automatic Function
H H01 H01.01
execution FUNC 01

･･･
SEE H01 SEE H01.01
Interrupt drawing FUNC 01
･･･
･････････

･･･
DWG. I END
･･･

Interrupt END END

Operation error drawing
END
SEE H02 H02 The system H00

･･･
starts
･･･

Operation error
automatically.
Same for low-speed END END
END

drawing

11
(5)Example of modulating drawing

< example: Control of servo press >

H drawing (high-speed drawing) L drawing (low-speed drawing)

H (main program) L (breakdown and the entire setting)

H01 (continuous driving mode) L01 (indicating defect)
H01.01 (starting point setting) L02 (initialization)
H01.02 (slide control) L03 (PLC communication)
H01.03 (cushion control)
Function
H02 (manual driving mode)
H02.01 (moving slightly driving)
H02.02 (fixed positional movement)
Seat Slide Metal
H02.03 (one process driving) mold

H03 (feeder control) Cushion

Feeder

12
2.2Register
(1)Register format

The register is shown by alphabets and figures.

Alphabet Figure
Bit number at bit type

Register number Bit number

(four or five digits)
Data type (A detailed specification is 2.2(2)).
B Bit (BIN) F Real number (32 bits)
W Integer (Word: 16 bits) D Double precision real number
(64 bits)
L Twice length integer A Address (16 bits)
(Length: 32 bits)
Q Four time length integer (64 bits)

Register type (A detailed specification is 2.2(3)).

I Input register S System register
O Output register C Constant register
M Data register (Sharing to D Data register (Only in the
all drawings) drawing).
G Data register (Sharing to
all drawings)
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(2)Type of register
< type and specification of register >
Name R/W Range Data type Remarks
S System register R SW00000-SW08191 B､W､L
(five decimal digits) Sharing to all
drawings
M Data register R/W MW0000000-MW1048576 W､B､L､F､A
(seven decimal digits) (global)
(maintenance type)
G Data register R/W GW0000000-GW2097152 W､B､L､F､A
(seven decimal digits)

I Input register R IW00000-IW65535 B､W

(five hexadecimal digits)

(motion parameter) R IW8000～IWFFFF B､W､L

O Output register R/W OW00000-OW65535 B､W､L
(five hexadecimal digits)

(motion parameter) R/W OW8000～OWFFFF B､W､L

C Constant register R CW00000-CW65535 W､L
(five decimal digits)

D D register R/W B､W､L､F､A Each

DW00000-DW16383
(five decimal digits)
drawing
(local)
I,J Affixing character It is 1 piece at each drawing Reserved
register (A,H,L,I). register
14
(3)Register: Data type (1)
< data type and numeric range >

A basic type of the register is composed of the word (16 bits).

A different data type can be used by extending the word type register :
Bit, Double-length integer, Quadruple-length integer, Real number and
double precision real number.
(Details are next page. )

15
(3)Register: Data type (1)
< data type and numeric range >
Data type Range of numerical value The main usage
B Bit (BIN) 1=ON ､0=OFF Coil, Contact and I/O
W Integer -32768 ～ +32767 General data
(word: 16 bits) (8000H) (7FFFH) (decimal number)
( ) is for logical operation
L Twice length -2147483848～ 2147483647 Numerical operation
integer (80000000H)(7FFFFFFFH) ( ) is for logical operation.
(length: 32 bits)
Q Four time length -9223372036854775808 ～ Numerical operation
integer 9223372036854775807 ( ) is for logical operation.
(64 bits) (8000000000000000H ～
7FFFFFFFFFFFFFFFH)
F Real number ±( 1.175E-38～3.402+38 ) Dealing with decimal point
(32 bits)
D Double precision ± (2.225E-308 ～ 1.798E+308) Dealing with decimal point
real number
(64 bits)
A Address (24 bits) 0 ～ 16,777,214 Specifying register data
address
16
(4)Register: Data type (2)
Relation among bit, integer, and twice length integer
･Bit type
F 3 0
MB000103 (the third bit of MW00010)

･Integer type: Word F 0

To convert the binary
number into the
MW00010
20 decimal number
Σ(digit multiplication

･･
This bit is used as the sign
bit. 214 of two)

･Double length integer and real number type consist of 32 bits by using
continuousness two word types.

31 (MW00011) 16 15 (MW00010)
ML00010 0
MF00010
Real number (binary floating point and single precision 32 bits)
One sign bit Eight bits for exponent part 23 mantissa bits
31 23 22 16 15 0
MF00010

17
(5)Register: Usage example

1)Bit (B): On/off display of W type

Input register: IW0C70
Output register: OW0C71

2)Numeric operation: W(integer), L (double length integer) and F (real number)

The third power of ten

3)Logical operation: Hexadecimal display for W type and L type

4607
511

4)Addressing (A): The address is specified by the decimal number.

The data address is expressed by
The first register number.
･DA00010→ DW00010
･MA00010→MW00010
18
(6)Supplementation: Numeric expression of register
The memory (register) is expressed by "0(OFF)" and "1(ON)" on the computer.
The minimum unit expressed by 0 or 1 is called "Bit" and the composition of 16 bits is called "Word".

When you set "-1000(decimal number) in MW10 (word type)"

The 15th digit (place of 215) The 0th digit (place of 20)

B15 B0 (bit number)

Expressed by binary 1 1 1 1 1 1 0 0 0 0 0 1 1 0 0 0
number (Bin)
The fourth digit (place of 212) The first digit (place of 20)

Expressed by hexadecimal
number (HEX) F C 1 8
1) Binary number (Bin): Used by the internal arithmetic of the computer. Expressed by 0 and 1,
and it carries next digit by two.
･Binary number operation: 0+0=0, 0+1=1, 1+0=1, and 1+1=0 (carry)
･When you convert MW10 from the binary number into the decimal number:
･Without Sign: 23+ 24+ 210+ 211+212+ 213+214+ 215 =64536
･With sign : - (216-64536) (reversing above mentioned+1)) =-1000
2) Hexadecimal number (HEX): Expressed by 0-9, A(10), B(11), C(12), D(13), E(14), and F(15).
･It converts into the hexadecimal number
Decimal
every four bits, and it is used by logical operation. BIN
Enable to see the value with the watch in MPE720. Hexadecimal

19
Chapter 3 MPE720 Engineering Tool
Learning how to use MPE720 Engineering tool and how to manage project file.
< contents >
3.1 Basic function of MPE720
(1) Installation of MPE720
(2) MPE720 start up
(3) Screen composition of MPE720
3.2 Programming by MPE720
3.2.1 Design flow of off-line operation
(1)New making of project file (off-line)
(2)Module configuration and creating program (off-line)
(3)Online debugging from off-line
3.2.2 Design flow in online connection
(1)Online connection
3.3Transfer menu
(1) Transfer: Write to Controller
(2) Transfer: Save to Flash
(3) Transfer: Read from Controller

20
3.1 Basic function of MPE720
MPE720 VER7 is engineering tools to design/maintain the application of
MP3000/2000 series running on PC.
The main function of MPE720 learned here is as follows. MPE720 McConfig

On Off Related
Item Operation 1 Operation 2 Operation 3
Line Line chapter
Online connection (history) Communication setting Connection ○

(main menu)File New project/save ○ ○ Chapter

Management of project Write to controller 3
file Batch/individual
Transfer Reads from controller. ○
Flash preservation
→ Detail
Edit MP3300
Chapter
Module configuration ○ ○ 4
(status/version) CPU/218IF/SVB
LIO
Mc-Configurator
Fixed parameter
(configuration)
Setting parameter Chapter
Module configuration ○ ○
Servo Monitor parameter 6
→Workspace
Servo parameter
Chapter
Servo tuning ○
8
New making Program
(launcher)
Edit Ladder program (add/insert/delete) Chapter
Program ○ ○
Editing/compile Compile 5
→Ladder program
Debugging
Group definition
Program
(launcher) New making Chapter
(add/insert/delete)
Edit motion program Program Edit/compile ○ ○ 9
Compile
→Motion program
M-EXECUTOR Debugging
21
(1) Installation of MPE720
Install MPE720 to PC.
1)Set DVD of MPE720 to PC.
2)The installer starts up. < system requirements >

3)Agrees the use contract.

4)Input necessary matters.
User-name, company name, and serial number
5)Select installation place: If there is no specification,
select "Following"
6)Installation executed
･As for MPE720 VER7, a free upgrade is possible on WEB.
･If the old edition of Sigmawin + is installed, it is necessary to uninstall it.

22
(2) Start up MPE720
1)IP address setting (PC)
In case of online, the network connection setting (IP address) on the PC is
necessary.
(Refer to 2.10 for an online connection. )
< Windows7 > Control panel:
"Network and internet" →
"Network and common center"
→"Local area connection"
Right-click and
select property.

2)Start operation of MPE720

Double click "MPE720" icon.
The screen of next page stands up.

23
(3) Screen composition of MPE720
The main menu: The function necessary for the operation of MPE720 Ver7.0 Toolbar
Functions of management
① and the programming of
the project file

Launcher
Submenu bar which is oftenly used Caption bar

Screen tab
Selected tab are displayed The main window
when more than two The following screens are displayed
screens are launched. besides the start screen.
･Ladder program edit screen
Subwindow ･Motion program edit screen Subwindow
The window is displayed ･Data trace edit screen The window is
shown below. ･Register comment edit screen displayed shown below.

Subwindow
The window is displayed shown below.

24
3.2 Programming by MPE720
There are the following two methods of use of MPE720.
･Off-line operation: The connection to MP controller isn’t established.
The project file of PC is displayed/edited.
Used for program creation and various settings
･On-line operation: The connection to MP controller is established.
MP controller's execution memory is displayed/edited.
Used for program edit, debugging and servo tuning
MP3300 (CPU module)

Flash memory Practice by online

PC connection in this
Online Power on Save to flash course.
HD
Off-line MPE720 (connected)
Memory Execution memory Servo packing
Sigmawin+ ･System config
･Program E2ROM
Project file ･Register
(****.YMW7) Power on Save
･Comment
･System configuration
･Program M register
･Register RAM
SVC (Mechatrolink
･Comment communication) ･User constant

25
3.2.1 Design flow of off-line operation
The user program and data are managed by "Project file".
The file of the project on PC is edited in off-line operation.
File name: ABC.YMW7
< off-line operation >
(3.1 (2))
< composition of project file >
MPE720 is started. (Excluding new. )
The project file System configuration
(3.2.1 (1))
It opens (click). ･System definition
New project
･Scan time
File name and model selection ･Module configuration
MPE720 starts.
(Or open existing file ) ･Data trace
Program
(3.2.1 (2))
･Ladder program
Module configuration ･Motion program
Edit program ･Variable
(After editing, do “Save to project". ) ･Comment
Register
Save and close the project

26
(1)New project file(off-line)

A new project file is made or edit an existing file by starting MPE720.

"New project" or "Open. "

Input project file name or

select existing name from
folder.

Select controller type In case of

new project *Create a file name in desktop: “School. YMW7”

27
(2)Module configuration and editing program (off-line)

1)Setting Module configuration

･Module configuration initial value is all undefined.
･In case of not using Self configuration, module can be assigned by
manually. Please refer to the online operation for details.

2)Edit program
The ladder drawing and the motion program can be made.
The making method is the same as the online operation.

3)Saving operation
The project file is saved in the personal computer.

→ * The edit is omitted and preserved in desktop as it is in the practice.

File name: “School. YMW7”

28
(3)Online debugging from off-line

The project file made by an off-line operation is debugged by the online

manipulation.

1)In case of without Self Configuration

The project file is transferred to the controller in "Batch transmission".
Servo information etc. on the Module Configuration need to be modified to
the mounted servo.

2)In case of Self Configuration

Only the program of the project file is transferred to the controller in
"Individual transmission".
I/O head registers need to be modified to those are allocated by Self
Configuration.

*Project file made in this paragraph in online manipulation of following

clause;
("School.YMW7. ") is used.
29
3.2.2 Design flow in online connection
There are two methods to establish online connections.
MPE720 start

< project link connection > < direct connection >

Open file or new project Online connection (3.2.2 (1))
via offline operation (3.3 (1))
Transfer →
Online connection "Write to Controller. “

In the project link connection, it

Display execution memory
saves contents of execution
memory to the project file.
Programming & Debugging A direct connection is
→(Transfer -> Save to Flash) (3.3 (2)) recommended in this course.
(3.3 (3))
Save and close project Transfer:
⇒The contents of the "Read from Controller. "
execution memory is In the practice, the program is made
written in the file. Disconnect by an online connection (direct
connection). 30
(1)Online connection
MPE720 (PC) and MP3300 are online connected.
(Via built-in Ethernet)
Initial ..<.. screen;History > Click “Setting” and select
IP address of PC

Online connection

Connection status can be known

according to the color of the display.
Green = Online
Red = Communication Error
Blue = CPU is stopping.
Gray = Offline

31
 3.3 Transfer menu
Management of project file by online connection
The project file made by off-line is
Practice transfer menu by ①②③.
used.
File name:｢School. YMW7｣

Transfer ①Write to Controller(3.3(1)).

②Save to Flash(3.3(2))

③Read from Controller (3.3(3))

PC(MPE720 VER7) MP3300

Write to Controller Save to Flash

Execution Execution
Flash Data disapper
Memory Memory
Memory when power off
Read from Controller
Data saved even
if power off
Save
Save Location specified Transferred to Execution
folder by project memory when power on

32
 (1)Transfer: Write to Controller.
1)“Transfer" →"Write to Controller. "
2)Select project file. "Open. "
Desktop:｢School. YMW7｣
3)The following screen
･The batch: Clear all memory and batch transfer.
During transfer CPU STOP.
･Individual: Specified item is written in present memory
During transfer CPU STOP or RUN.
“Transfer  Write to Controller"
① ③

Select Item

Refer to 3.19 ①

33
(2) Transfer: Save to Flash
Click “Transfer" →“Save to Flash"
"Program Transfer-Save to Flash" screen is displayed.

If temporary system halt is

possible, CPU STOP makes
faster transfer.

34
 (3)Transfer: Read from Controller

1)“Transfer" →"Read from Controller. "

2)The forwarding site project file is selected. “Save"
Desktop:｢School. YMW7｣
3)The following screen
･The batch: It is batch reading of the specified item.
(Basically specify all items. )
･Individual: Only the specified detailed item is read.

“Program transfer-Read from Controller" ②

①

Select item

35
Chapter 4 The setting necessary for the programming
In this chapter, the application program is made with a practice machine.
The system configuration for programming is created.
The practice uses an online connection (direct connection).
< contents >
4.1 Practice machine setup 4.3 Manual Assignment.
(1) Connector setup for practice machine (1)Servo pack
(2)Optional module
(2) CPU module front panel
(3) With crack of SVC module
(3) Switch setting and LED display 4.4 Other settings
(4) Self configuration using DIP switch (1)Scan time.
4.2 Initialization by MP720: System configuration (2)The axis name is set.
(1)The module composition definition is confirmed.
(2)The module composition definition is confirmed (218IF).
(3)The module composition definition is confirmed (SVC).
(4)The module composition definition is confirmed (LIO).
(5)Status is displayed.
(6)Confirmation of I/O register number of practice machine
(7) With crack of address of SW panel

36
4.1 Practice machine setup
(1) Connector setup for practice machine
Switch setting of servo
packing MECHATROLINK cable

Engineering tools:
Personal computer
equipped with MPE720
Switch box
Connected to LIO card
･7 segment LED (4 digits)
･DS1 (4 digits) and DS2 (1
digit)
Mouse ･PL1～PL16
LAN cable ･SW1～SW12
(cross cable)
MP3300
Pressure transformer
Motor: SGM7J-A5A7A21(ABSO) ×2 AC100V/AC200V ･Input-output module
Servo packing: SGD7S-R70A20A×2 The second is connected
LIO-01(×2)
with the side outlet.

37
(2) CPU module front panel

CPU module

38
(3) Switch setting and LED display
1) Display 2) Status Indicator
Display shows the execution or
error status of the CPU Module

3)Mode switch

Stops user programs

Initialization of Ethernet
Initialization The IP number is
Configuration 192.168.001.001(initial value).
S3: Set the number of
transmission byte:
Default (48 bytes)
1:Off and 2: On
S1 and S2: Setting of
4)Switch setting of servo pack station address
Address start from 03H.
39
(4) Self configuration using DIP switch
A module configuration definition is created to link up the CPU to the
servo pack using MECHATROLINK-Ⅱ/Ⅲ automatically.
It is possible to change or detect new link using MPE720 software.
Automatic setting of ･"INIT": Initialization of hardware
connected equipment Execution memory (RAM) is clear.
(4.1､2) (The flash memory is not cleared. )
The equipment is ･"CNFG": The module composition definition
connected. is generated automatically.
Servo packing SW
setting "INIT" & "CNFG" mode switch is set on when power supply off

Self Configuration
LED no
longer
Power blink
"Module supply
Configuration” ON
definition is generated
automatically.
Module Configuration definition
Definition table where attribute of I/O house number etc. was
Done allocated to module installed in MP3300.

40
4.2 Initialization by MP720: System configuration
"System configuration" is initialized by the self configuration.
"System configuration" is confirmed by using MPE720. It edits it.

Initialization by MPE720
(system configuration)

(3.2.2(1)) Online connection

(4.2(1)～(4)) Confirmation of module
Edit of module composition ･SVC module
definition (MECHATROLINK-Ⅲ)
(4.4(1)) ･2I8IF module
Setting at scanning time ･LIO module
(4.4(2))
The axis name
Group definition
is specified.
(3.3(2))
Flash The above-mentioned
preservation content is preserved once.

To the programming The setting of the system configuration is

possible even by an off-line operation.
41
(2) Confirm module configuration
The module configuration definition is set
automatically by the self configuration.
It is possible to change.
Once definition is done, it will request a write to
① CPU
It is possible from the screen
(Do not initialize it).

Click to open detailed definition of each module

"+" When clicked, details are expanded.

Click here to manually assign modules

42
 (2)The module composition definition is confirmed (218IF).

1) 218IFD module ①
“Double Click” to open detail on 218FD tab

Network number Equipment number

･Message communication
②
(20 connections)
･Setting of communication
parameter can be done here.
･Connection number 01-10
can be set to receive data
automatically.
･IO message communication ③
(R/Wx1)
･Cyclic communication
･It is possible to communicate
without the communication
function.

43
(3)The module composition definition is confirmed (SVC).
Double click to open up SVC No. of axes affect
2) MECHATOROLINK-Ⅲ tab communication
cycle time.
① ･0.5 ms ~ 4 axis &
below
･1ms ~ 9 axis

②
Two servo axes
are allocated.

Data size Set 1 to enable.

SigmaWin+ cannot
be used when set to
0.

44
(4)The module composition definition is confirmed (LIO).

3)LIO module Double click to open LIO tab

The register address is set

automatically or assign manually.
①

When this bit is turned on,

the interrupt drawing is
started.

45
(5)Status is displayed.
The operation condition of each module is monitored.
①

46
(6)Confirmation of I/O register number of practice machine
The register number for the SW box is confirmed (Refer
to the chart with an attached crack).
MP3300
LIOｰ

LIOｰ
Power
CPU
SVC 01 01
218IF

LIO-01; Input register: IW0C70

･Input 16 DS2 (BCD1 digit): B0-B3
points SW1～SW12:1B0C704～IB0C70F
･Output 16 Output register: OW0C71
points PL1～PL16:OB0C710～OB0C71F

LIO-01; Input register: IW0C40

･Input 16 DS1
points
FE DC BA9 8 7654 3210
(BCD4 digit)
･Output 16 The 4th digit The 3rd digit The 2nd digit The 1st digit
points Output register: OW0C41
LED1 FE DC BA9 8 7654 3210
DS1, DS2, and LED1 are binary (BCD4 digit) The 4th digit The 3rd digit The 2nd digit The 1st digit
coded decimal format.

47
(7) With crack of address of SW panel

DS1

LED1

I/O addressing (SW panel) used by

the sample program.

48
4.3 Manual Assignment.
(1)Servo pack
①
Manual assignment can be done here.
Can change or delete assignment after which a write
operation is needed.
1) Allocation of servo pack

1) Double-click or
2) Right-click →
“Device select” or
“Delete”

Click OK, the motion register (fixed address) is allocated.

Afterwards, the allocation is completed by operating "Write".
②

Click SVC to view detail on your newly assign axis.

49
 (2)Option module
Manual assignment can be done here. Manual assignment can be done offline
Can change or delete assignment after which a and it will be saved to project file
write operation is needed.
①
1) Allocation of optional module

1) Double-click or
2) Right-click → “Device select” or “Delete”
2)The input-output register is allocated.
The input-output register is allocated by "Write".
Possible to change addressing if not overlapping
with other modules.
②
LIO-01/02
･The address of the input and the output is
different.
LIO-04/05
･The address of the input and the output is the
same.

50
(3)SVC module setting

Double click to open detail of SVC module

①

The transmission cycle is specified

in MECHATROLINK - Ⅲ.
The communication cycle is
automatically set.
Set number of retry of slave

The high-speed scanning time is

set according to the message.

②
Sets 48 bytes for servo pack.

51
4.4 Other settings
(1) Scan time.
The application software is executed, and the value is confirmed now in time of the scanning.

Set value > maximum value x(1.5-2.0) of high-speed scanning

･Built in SVC:
High-speed scan setting = communication cycle
･For optional SVC
Set the integer multiple of the communication cycle of
MECHATROLINK-Ⅲ.

The settings
other than the
modular
framework and
the scan time
are done in the
environmental
setting.

52
(2)The axis name is set.
The axis name (logical axis name) used by the axis variable is specified.
The axis name defined here become the axis name of the motion program.
"Display" →"Variable" →
"Axis variable" →(double-clicking)→"Group The axis name is
defined.
definition"
①

Double-
clicking

53
Chapter 5 How to create ladder program.
In this chapter, you create a ladder program for sequence control.
Creating a ladder program is available both online / offline operation.
< content >
5.1The ladder program is made. 5.2Instruction used in text
(1)New making in drawing (ladder program) (1)Instruction often used: Relay instruction
(2)Instruction often used: Operation instruction
(2)Ladder edit screen
(3)Instruction often used: Control instruction
(3)Ladder edit: Edit of basic instruction
(4)Basic circuit (AND, OR, and self-maintenance)
(4)Ladder edit: Edit of instruction (5)Timer instruction (1)
(5) Ladder edit: Example of editing (6)Timer instruction (2)
instruction (7)How to unite pulse circuit
(6)Ladder edit: Branch circuit (8)Counter
(7)Ladder edit: COPY/PASTE (9)Branch instruction
(8)Ladder edit: Deletion (10)The expression is described: The EXPRESSION
(9)Ladder edit: Comment and variable instruction.
(10)Ladder edit: Variable display (11)Numeric operation (substitution, addition and
subtraction, multiplication, and division)
(11)Ladder edit: Comment display
(12)Enhancing addition and subtraction instruction
(12)Ladder edit: Compilation
(13)Numerical transformation (BIN,BCD)
(13)Input practice of circuit (14)The index does the register address: The affixing
character.
5.3Function that uses it by debugging
(1)Register list
(2)Watch
The project (The file name; school.YMW7) used in Chapter 4 can be use for (Chapter 5-Chapter 7).

54
5.1The ladder program is made.
(1)New making in drawing (ladder program)
Creating a new ladder program

Or

Select the program and

you can right click for
more options
Program D register can
number be increased.

Edit ladder diagram

55
(2)Ladder edit screen

Shortcut Icon

Insert
Instruction
Screen
①
Instruction sub
window

Double-click

Screen
②

56
(3)Ladder edit: Edit of basic instruction
1)Edit display and name
Ladder step number/execution
Rung step number Rung
number comment
Green
highlight
when
Branch Rung selected

2)Rung's insertion;
At the insert position, right click to select "Insert Rung“ / “Insert Rung Comment”

3)Input of basic instruction;

Select position and click above basic instruction to add to rung.

Instruction insertion mark (Enter with

[hidaritsu]).
57
(4)Ladder edit: Edit of instruction
Other instructions can be selected from three
methods below. ①

1) Type instruction name.

Expand the
Type the first letter of the
instruction
instruction name to display all.
list when
click

2)“Right Click” →. "Insert instruction"

3)Ladder instruction [sabuuindou]; Drag &

"Display" →"Ladder instruction" Drop

58
 (5) Ladder edit: Example of editing instruction
1) edit example
LD : A contact
LD IB0C304 : A contact + register
LD3 : A contact x 3.
LD + : A contact with address +1
from previous contact
LD = : same A contact address
LD ++5 : A contact with address +5
from previous contact

Automatic determination of the data type

M1005 and input → MB1005/MW1005
X1005 and input → IB01005/ IW1005
Y1005 and input → OB01005/OW1005
Easy input of MB register Example of inputting shortcut key
1000A and input → MB1000A A contact : ][, LD, A, AND
B contact : ]/, LDI, B, ANDI
Output : @, OUT
- "Easy input of the register" is set to "Do" in the Instruction name : +, /, ADD, :, STORE
environmental setting.

2)Function key (Fn)

3)Function key (Shift+Fn)

59
(6)Ladder edit: Branch circuit
1)Easy making of OR circuit
･OR circuit of the same instruction:
A red circle instruction was selected.
"Program" →"Insertion of branch" and ("Ctrl"+"B")
･Parallel addition of arbitrary instruction
"Program" →"Parallel addition of instruction"

2)Branch circuit
･Branch making mode ･Movement of
branch
End Point

Start Click at the start point and drag to

point the end point.

60
(7)Ladder edit: COPY/PASTE
1)"Copy. " select the rung you want to copy
select edit on top column and select copy or press (Ctrl+C).

2) Select the rung position for insertion.

3)"Edit. " Select edit on the top column and select paste or press (Ctrl+V).

61
(8)Ladder edit: Deletion

1)The deletion of the instruction: The

selected instruction is deleted.
Deletion

2)The deletion of the line: When the cursor is taken to the

intersection, the line of a blue line is deleted.

Deletion
Everything is deleted.

Deletion

The branch track is deleted.

62
(9)Ladder edit: Comment and variable
1)Switch of address display ･Only when set, the variable is
displayed.
The variable can be input.
･The comment and the variable are
Upper row: variable [sabuuindou].
Variable/address
The lower: Comment It is possible to register from the
2)Input of comment variable list (next page).

It double-clicks or it right-clicks in the

comment column and "Parameter setting"
screen.
3)Input of variable identifier

It double-clicks or it right-clicks in the variable

column and "Parameter setting" screen.
63
(10)Ladder edit: Variable display
The variable can be referred by the list: Main menu “View" →. "Variable"
It is possible to input it by dragging the variable when the ladder is input.
①
Display of system register ②

Register comments and display

(Refer to next page. )

It is registered by the group definition ③

automatically.

It right-clicks specifying the type of the

registered variable.
→Add
A left screen is displayed.
..variable identifier.. input →OK

64
(11)Ladder edit: Comment display

Click register  comment

list to display
Register Display of register
type map
①

All registers/use register Green:Use

Red:Repetitiv
e use

65
(12)Ladder edit: Compile
1)Compile
Main menu "Compile" →"Compile" ("F4")
The edited instruction is converted into shape that MP3000 can be
executed and it preserves it in the memory. (The flash preservation is not
done. )

A blue line appear on the side when the rung is edited.

* sign attaches to tag in an incomplete drawing for

the compilation.

66
(13)Input practice of circuit
1)The following ladder is input. (L01)
①Rung's insertion
②A point of contact (IB00C704) making
③"Ctrl" + "B" →A point of contact (OB0C711) is made.
④B point of contact (IB00C705) making
⑤Coil (OB0C710) making
⑥"Ctrl" + "B" → coil (OB0C711) is made.

② ④ ⑤
①

③
⑥

2) Change to the ladder below.

67
5.2Instruction used in text
(1)Instruction often used: Relay instruction
Relay circuit instruction

Type
Name Symbol short cut Content

A contact ][､LD､A､AND
Relay circuit instruction

B contact ]/､LDI､B､ANDI
The sequence logic is made.
Rising edge ･AND (series) circuit
]P
pulse ･OR (parallel) circuit
Falling edge ]N ･MEMORY circuit
pulse

Coil @､OUT

On-delay timer Timer setting unit 10mS/1S

Timer setting unit 10mS/1S

Off-delay timer

68
 (2)Instruction often used: Operation instruction
Type Name Symbol Content
Storage The Src data is stored in Dest.

Addition Dest=SrcA+SrcB
Subtraction Dest=SrcA-SrcB
Multiplication Dest=SrcA×SrcB
instruction
Numeric operation

Division Dest=SrcA÷SrcB
Enhancing Extended add without
addition overflow error
Enhancing Subtract without underflow
subtraction error
The binary number data is
BCD conversion
converted into BCD.
BCD is converted into the
BIN conversion
binary number data.
It is +1 at each scanning as
Increment
for the register.
It is -1 at each scanning as for
Decrement
the register.

69
(3)Instruction often used: Control instruction
Type Name Symbol Content

Parents drawing → child

drawing
Call ladder program.
Child drawing → grandchild
drawing
Program control instruction

Refer to the motion program.

Call motion program. The start is a signal of the
register.

The expression, the IF

EXPRESSION
sentence, and the WHILE
instruction
sentence can be written.

IF condition
A
ELSE
B
IF sentence ENDIF
A is processed by the
condition approval.
Short cut: IEND B is processed because of
the failure.

70
(4)Basic circuit (AND, OR, and self-holding)

Basic circuit (L02)

Reset
Set
When SW1 is turned on once, PL3 is
maintained until the SW2 is turned on.

71
 (5)Timer instruction (1)
There are four kinds of timers that can be used in MP2000.
Timer

Each 10ms is counted.

On-delay timer
Each 1s is counted.
Each 10ms is counted.
Off-delay timer
Each 1s is counted.
Operation begins at time when
Input T the input signal was turned
on, the timer present value
Output (count value) turns on, and
the output signal is turned on
On-delay timer set value (T).

T Operation begins at time when

Input the input signal was turned off,
the timer present value (count
Output value) turns off, and the output
Off-delay timer signal is turned off set value
(T).
72
(6)Timer instruction (2)

The following timer circuits are made.

Timer circuit (L02)

IB0C704
OB0C714

IB0C705
OB0C715

IB0C706
･SW1 turn on + 5 second equal PL5 turn on.
･SW2 turn on + 5 second equal PL6 turn on. OB0C716
･SW3 turn on + 1 second equal PL8 turn on which will OB0C717
turn off PL7.

73
(7)How to unite pulse circuit
Point of contact to be made For the last state storage of
pulse register immediately before

Equivalence

Point of contact to
be made pulse
Rising edge pulse
For one
scanning
< usage example >
Entering PB Cutting PB Driving Like being on entering PB
DB01
IB0C704 IB00C705 OB0C712 ･When there is not standing up:
Driving enters when cutting PB returns.
Driving ･When there is standing up: "Drive" is
It inserts in the self-
OB0C712 holding circuit of
not turned on as long as" is not turned
5.2(4) and hold it. on again.
→Safety

74
(8)Counter
The counter is used to know how many times to have turned on a
certain signal.
Increment of operation instruction. It composes of the decrement
instruction.
Addition count/subtraction count (L02)

Addition count

Subtraction
count
Reset

The frequency that SW4 is changed into turning on is added to DW00020.

The frequency that SW5 is changed into turning on is subtracted from
DW00020.
When SW6 is turned on, DW00020 is set to 0(reset).
75
(9)Branch instruction

It uses it to execute it only when the condition consists.

Conditional Conditional expression

instruction
When IB0C304 is
turning on, it is
executed.

When IB0C304 is
turning off, it is
executed.

The shortcut key of "END_IF"｢IEND｣

Conditional expression Example

Bit == != IB0C304==true (== True can be
omitted).
Num == != > >= <= < MW00300 > 200
erical ML00200 != 500000
value
76
(10)The expression is described: The EXPRESSION
instruction.
C language Reich's programming is
①EXPRESSION instruction supported.
Two or more expressions can be shown by one Operational expression (+-*/ )
instruction. Trigonometric (sin cos tan)
Comparison (><>=<=== =)
The expression is shown by a computer expression. IF sentence and WHILE sentence
*The practice is next page.

It inputs it
clicking.

// The comment
sentence from now on. ①

Conditional (IF) and for statement (WHILE)

are also possible.

77
(11)Numeric operation (substitution, addition and
subtraction, multiplication, and division)
Operation instruction (L03)
Substitution and
arithmetic operation
< ladder expression > < EXPRESSION
expression >

When the EXPRESSION expression

is used, a numeric operation is
plainly expressible.

78
Numeric operation example (supplementation)
Operation with different < supplementation > data type
Operation example 1) From the real number to the twice length integer
When the real type that exceeds the maximum value of the long integer type is converted into the twice length
integer, it is clamped to the maximum value of the twice length integer and it becomes an alarm.
Example) DF0=3.402823E+38;
DL0=DF0=2147483647(H7FFFFFF)
Operation example 2) Operation of integer and real number
A numeric type is basically matched.
Forecasting by the operation might not result when a numeric type is not corresponding.
To operate it by the real type, the decimal point is added right.
Example) ML10=1/3; → 0: It is dropped below the point small number of people because of the integer type
operation.
MF10=1/3; → 3.333333E-001: The real type is operated.
MF10=1.0/3; → 3.333333E-001 :
ML10=1/3*3; → 0: It is dropped below the point small number of people because of the integer type operation.
It divides to improve the operation accuracy at the end and it counts.
MF10=2147483647/3 → 7.158279E+008; :The real type ..digit.. falls in seven significant digit digits.
The twice length integer is used as follows to raise the number of
significant figures.
ML10=2147483647/3 → 715827882; :Precision operation to calculate up to 9 digits

79
(12)Enhancing addition and subtraction instruction
The enhancing addition and subtraction instruction is used to disregard
overflow/underflow, and to continue operating.

･Enhancing addition instruction: ADDX

･Enhancing subtraction instruction: SUBX

32 bit register becomes minimum value -231 when it overflows, and it

exceeds maximum value 231-1 if it keeps adding by enhancing addition
instruction (ADDX). The difference is calculated as if the last value is at a
dotted line position if it operates it by enhancing subtraction (SUBX) when
the displacement magnitude at each scanning is requested at this time.
231
Last time

Last time This time

-231
80
(13)Numerical transformation (BIN,BCD)
It converts into the decimal number when the input-output data of the external
instrument is a binary coded decimal code and the numerical value is operated.
The value of DS1 of the SW box is displayed in LED1.
･The value of DS1(IW0C40) is converted in BCD→BIN, and it stores it in MW51.
･The value of MW52 is converted in BIN→BCD, and it displays it in
LED1(OW0C41).
Numeric conversion instruction (L03)
･"1234" and it sets it to
DS1.

･"2234" and it displays it

to LED1.

It is a device of DS1, LED1, and the BCD

It converts into the decimal arithmetic type.
operation.
81
(14)The index does the register address: The affixing
character.
The register area can be used by using subscript register i and j like
the array.
1)Subscript i and j
The register number can be modified by using the subscript.
Only i and one j can be used respectively together each kind of the drawing
(A, I, H, L, motion, and sequence).
Usage example: MW00100i
It is the same as MW00110 when assuming i=10.
2)The use of the subscript by the FOR instruction: The content of a
consecutive register is added.
The sum total of 100 registers from MW100 to MW199 is obtained.

- When the loop frequency of the FOR instruction is increased, the

scanning time becomes long.
82
5.3Function that uses it by debugging
Various functions necessary for the debugging of the ladder program are prepared for "MPE720 VER7".
Program edit and monitor, driving relation, and set of register/trace ● :Axis relation
Ladder Motion Operation
Classification Function name Content
Program Program (main menu)
Retrieval Retrieval of register instruction etc. ○ Edit
Substitution Substitution of register instruction etc. ○ Edit
Project retrieval Retrieval of register instruction etc. ○ Edit
Program edit Project substitution Substitution of register instruction etc. ○ Edit
Cross reference Retrieval of use ladder program of register ○ Debugging
Double coil ○ Debugging
Compulsion coil Compulsion ON/OFF of coil ○ Debugging
Present value display/setting of register
Register list ○ Display
(continuousness)
Present value display/setting of register
Watch ○ Display
Register setting (arbitrary selection)
& monitor Present value display/setting of register (cursor
Automatic watch ○ Display
selection)
Positional present location/target
Position monitor ● ● Display
position/deflection
System monitor The controller's state monitor ○ My tool
Present value display/setting/monitor of state of
Adjustment panel ○ ● My tool
Driving monitor register
Axis driving monitor Driving state monitor of servo axis ● ● My tool
Axis alarm monitor Alarm state monitor of servo axis ● ● My tool
Test driving JOG/step driving of servo axis ● My tool
Debugging driving Driving control panel Driving of motion program ● My tool
Debug mode Driving from motion program edit screen ●
Real-time trace ○ My tool
Trace
X-Y trace The register data is displayed in the X-Y graph. ● My tool
*Details are studied in Chapter 11.1-11.4.
83
(1)Register list

Register list
"Display" →"Register list"
The register that I want to see is
When you match mouse's cursor
specified. Register address and register
･Data is displayed. The usage condition is ballooning
･The edit of data is also possible. displayed.
①

It will display the duplicate register in red.

It will display the register that is used in
the ladder program in green.

84
(2)Watch

Watch
"Display" The register or the variable is specified.
･Data is displayed.
→"Watch"
･The edit of data is also possible.
①

You can select the display format

in the right-click
1: ON
0: OFF

85
Chapter 6 The parameter of the motion control is set.
In this chapter, we will learn to create a motion control of the program as
well as set the parameters required for motion control (motion parameter).

< content >

6.1 Motion control method of MP3000 6.3The configuration parameter is set.
(1)What is the motion parameter? 6.4The monitor parameter is displayed.
(2)The motion parameter is seen: The module 6.5The servo parameter setting/is
displayed.
configuration definition.
6.6Test run
6.2. Setting of fixed parameter
(1)Test run (1)
(1)Set the fixed parameters / display. (2)Test run (2)
(2)A fixed parameter is set: The axis type.
(3)A fixed parameter is set: Reference unit and an
electronic gear.
(4)Automatic servo user constant writing
(5)Encoder selection and positional coordinates
(incremental encoder)
(6)Encoder selection and positional coordinates
(absolute value encoder)
(7)Fixed parameter when linear motor is used
(8) Fixed parameter when PO module is used

86
6.1 Motion control method of MP series

Motion control method (ladder program method)

The motion parameter is set from the ladder program made in a high-speed drawing.
The motion operation is executed.
Four controls (position, speed, tune phase, and torque) and the control switches are
possible.
CPU module Motion module (SVC)

Motion parameter
Ladder
Fixed parameter
High-speed Unit
drawing Configuration conversion
OW8000～ parameter Acceleration
Servo
and M-Ⅱ Pack
Motion command deceleration

･･･
Command
+ Phase
generation
Control data
IW8000～ Servo
Monitor parameter Pack

87
(1)What is the motion parameter?
There are constant necessary for the motion control kinds of three of the following with
the motion parameter.
A fixed parameter: Mechanical conditions such as machines and the motor encoders are set.
It sets it from MPE720. The setting change cannot be done from the
ladder.
Configuration parameter: It is instruction from CPU module to the motion module.
"Motion command" and other "Control parameter" exist.
When the power supply is turned on, "Value when starting" is written in
"Present value".
The setting change of the value can be freely done by the ladder and the
motion program while driving now.
Monitor parameter: In servo monitor information sent from the motion module to CPU
module. It is possible to read it at any time while driving.
Configuration parameter
Fix Monitor
Parameter Start power is Present Parameter
turned value
value
on

Initial setting
MPE720 Ladder program

88
(2)The motion parameter is seen: The module configuration
definition.

All the motion parameters are set and display

from the module configuration definition.

89
6.2. Setting of fixed parameter
(1)Set the fixed parameters / display.
A fixed parameter is set or displays it.
Workspace "Fixed parameter" →"Axis display selection"

Write to controller only. Comparing Axis parameter

Flash not updated.

②
"Axis display selection"
①

90
(2)(1) that sets fixed parameter: Axis type
① The fixed parameter finally set
It is Chapter 6.6.

<Finite length axis> <Infinite length axis> Origin =

-Edge + edge reference point
Origin = reference point
Machine
Effective stroke
Over travel LS
Soft limit

91
 (3)(2) that sets fixed parameter: Reference unit and
electronic gear
It is an example of a typical mechanism of setting up a fixed parameter.

Load Ball screw Circular table Belt

4 Rotation
7 Rotation 3 Rotation 10 Rotation

Motor Motor n Rotation Motor n Rotation

n Rotation
m Rotation m Rotation m Rotation
Ball screw pitch
P=10mm/rotation
Configuration 9 Rotation
example 3 Rotation 1 Rotation 1 Rotation
D=300mm
Reduction n Reduction n 1 Reduction
3 4 4 n 1
Ratio = = × = Ratio = = Ratio = =
m 7 9 21 m 3 m 10
Reference unit =0.001mm Reference unit =0.0001° Reference unit =0.001mm
No.4: Reference Unit
No.5: No. of digit below No.4: 1:mm､No.5: 3:0.123 No.4:2:deg､No.5: 4:0.1234 No.4:1:mm､No.5: 3:0.123
decimal point

No.6: Travel distance 10mm 360° 300mm×3.141592

=3600000 =942478
per machine rotation. 0.001mm =10000 0.0001° 0.001mm
No.8: Servo motor gear 21 3 10
ratio
No.9: Machine gear ration 4 1 1

92
(4)Automatic servo user constant writing
Automatic servo user constant writing function (Refer to appendix 5).
It is a function to make the following a trigger, and to write the value of the servo gain
of the configuration parameter in the user constant of the servo packing
automatically. (note 1)
･Establishment of communication connection of MECHATROLINK
･Change operation of configuration parameter
･Execution beginning of motion command
It is necessary to reflect a correct servo user constant in the configuration parameter.

Effective (default) is selected:

If you select Disable, you do not run the motion commands and
configuration parameters as it does not write to the servo.

93
 (5)Encoder selection and positional coordinates
(incremental encoder)

1) Incremental encoder usage

If you choose an incremental encoder, homing is required when
the power is turned on.

<Finite length axis > <Infinite length axis> Common

･When power supply is turned on
Machine coordinate system current location (*1) =0
･ When "homing" or "origin setting":
Machine coordinate system current position = machine
coordinate system origin position offset (OL8048)

(*1)There are two kinds of coordinates (machine coordinate system current

location) that MP3300 manages.

･Machine coordinate feedback position (APOS): Encoder feedback

position
･Machine coordinate target position (CPOS): Present location of
MP3300

94
(6)Encoder selection and positional coordinates (absolute
value encoder)
2) Absolute value encoder usage
If you select the absolute encoder, the motor eliminate the need for homing
when the power is turned on as the rotational position is stored.

< Finite length axis >

Machine coordinate system current position =
Encoder current position (* 1) + machine coordinate system origin
position offset (OL8048)
< Infinity length axis (*2) >
①:When you use a simple ABS function
It is the same as finite length axis (Refer to the manual for detail).
②:When you cannot use a simple ABS0 function
Please refer to the manual for details.

(*1)Present when the positional data read from absolute value encoder
was converted into machine coordinates value
(*2)When POSMAX is not used by the control for one side, it sets it to
the limited length axis.

95
(7)Fixed parameter when linear motor is used
Fixed parameter of linear motor

<Setting example>
• linear scale pitch: 20 (μm)
• serial converter resolution: 8 (bit)
• Rated speed: 1.5 (m / s)

96
(8) Fixed parameter when PO module is used

PO module

97
6.3The configuration parameter is set.
Workspace “Setting Parameters” → “axis display selection” →
･ "Start-up value": Displays the value of at the start of the specified all axes
Set changes and implement the "write", the current value is updated.
"Reflect", "current value" in button is reflected in the "start value".
･"Present value": The present value of all axes specified the start value of the selected axis is
displayed.
When the power supply is turned on, the start value is forwarded.
Constantly updated from the ladder program.

After it changes, it writes It is possible to switch to the monitor parameter.

it.
The flash preservation is
not done.

Display
classification

The value is
reflected in the
start value now.

98
6.4The monitor parameter is displayed.
Workspace "Monitor parameter" →"Axis display
selection" →

It is possible to switch to
the configuration parameter.
①

99
6.5The servo parameter setting/is displayed.
Workspace "Servo parameter" →"Axis display selection" →
The servo parameter is read.
After the parameter is changed, "Write" is executed.
①

●
The axis
can be
compare
d
②
Right click to display below
･"Change to the factory shipment value" → factory shipment value is
displayed.
･"Change to the controller preservation value" → preservation value is
displayed.
･Again, to return it to the value display of present, "Read" is executed.

･“Refresh auto reflection parameter (Servo  Controller)"

→ The servo parameter is reflected in the configuration
parameter.
"Writing" and "Selection writing";
The value being displayed now is written in servo packing (RAM/E2ROM) and "Controller preservation value".

100
6.6Test Run
The following motion parameter is set, and it confirms it by
"Test run".
In "Test run", it is possible to drive without the program.
The deficit changes from
<Fixed parameters and configuration parameters to be used in the practice> the default value.
1) axis type : finite length (fixed parameter 1)
Only the confirmation : a
2) Reference unit : 0.001mm (fixed parameter 4, 5)
blue character.
3) machine 1 per rotational movement amount : 10mm (fixed parameter 6)
4) Rated speed : 30000mm / min (fixed parameter 8,9,34)
5) Encoder selection : absolute encoder (incremental use) (fixed parameter 30)
6) feed rate : mm / min (setting parameter 3)
7) acceleration and deceleration time : ms (setting parameter 3)
8) the position command type :( configuration parameter 9)
Ladder program method: absolute value specified
9) axis name (group definition):
1 Axis: X, 2 Axis: Y
Reference Unit: 1=0.001mm
<Mechanical
mechanism>
1
Number of encoder pulses:
1048576 Ball screw pitch: 10mm
1

101
(1)Test run (1)

2) Servo enable

1)The axis is selected. ｢OK｣ ③

102
(2)Test run (2)

3) Select the "jog operation" or "step operation", set the

necessary items

■ Jog ■ Step
Set the speed reference, click Set the speed reference / step
down the "forward" / "reverse" distance / direction setting &
icon to do the jog operation. number of cycle, click “run” to do a
simple step operation.
① ②

103
Chapter 7 The program for motion control (ladder method)
In this chapter, study the motion control by the ladder method.
< contents > 7.2 Confirm motion control from screen.
7.1What is the motion control? 7.2.1 Position control
(1)Control necessary for application (1)Configuration parameter of positioning
(2)Setting position reference type
(2)Positioning and interpolation
(3)Position control and other settings
(3)Motion control method (ladder program)
(4)Setting of position rererence of infinity
(4)Motion control method (motion program) length axis
(5)What is the motion command? (5)Execute position control
Switch of control mode 7.2.2 Position control: Interpolation
(6)Motion control of ladder method 7.2.3 Position control: Zero point return
(positioning example) (1) Position control: Zero point return method
(7)Control mode and related setting parameter 7.2.4 Zero point setting
(8)Control mode and related monitor parameter (1)Incremental encoder
(9)What is virtual axis? (2)(reference)Absolute encoder (finite length)
7.2.5 Speed control
(1)Speed control
(2)Speed control(JOG)
7.2.6 Torque control
(1)Torque control loop
(2)How to control torque
7.3Debugging Function
(1)Axis monitor/Alarm monitor
7.4 Create sample program
Operating switch
104
7.1What is the motion control?
There are position control, speed control and torque control in motion
control.
Position control can be classified into three of the following.
●Point-to-Point control - Enables precise positioning of linear motion
or rotary motion, following position
reference and speed reference.
"Position" control is used.
Ladder method or motion program

●Continuous path control - Follow trajectory (linear, circular).

"Interpolation" control is used.
Motion program is used.
Application: cutter, painting and welding, etc.

●Synchronized control - Two or more mechanisms are operated while keeping a

certain relation.
“Phase control (electronic electronic cam/shaft)" is used.
Ladder program is used.
Application: printer, wrapping machine, auto-assembly
machine, etc.
In this chapter, study about position and speed control.
105
(1) Control necessary for application

Motion control（control methods）

MP series working principle mimic a gear transmission that maneuver around each control
functions to meet the necessary specify applications.
Position control Speed／Torque control

4 basic types of Position Control Synchronization Speed／Torque

control on MP3300
Control Positioning Cyclic Command Tension control
necessary control synchronization
for Speed Pressure
Motion Program
applications Electric Electric Control Control
Position Control Cam Shaft

Controls function of Synchronize Speed Torque

MP3300 motion Positioning Interpolate
interpolate
（１） （４）
control control
command
（２５） （２３） （２４）
（x）

Servopack control
Position control Speed Torque
functions
control control

106
(2)Positioning and interpolation
In the MP series, positioning and interpolation is different control method.
Positioning is practiced in this chapter.
Positioning Interpolation
The following data is set. Create movement data in each
CPU ･Target position high-speed scanning
(ladder program) ･Speed Making
･Acc/Dec time ･Table/operation
Transmits data at the Transmits data divided by the
SVC
mechatronics link cycle. mechatronics link cycle.
Position control Position control
･Acc/Dec processing ･Filter
Servo packing
･Filter ･Data divided in each servo cycle.
･Pos data at each servo cycle
In interpolation, the method of making the position data is different depending on application.
･The computing method: The interpolation curve is made a function and described in high-speed drawing.
Create position data every high-scan.
･Table method: Interpolation curve is described by parameter table
Refer position data in each high-scan by FGN function
Phase control is a kind of the interpolation control using the speed feedforward function.
Interpolation and phase control are treated by advanced course.

107
(3)Motion control method (ladder program)

MP series motion control : Ladder program and motion program

1)Ladder program method
Execute motion control by setting motion parameter from the ladder
program in high-speed drawing.
Four controls / switching control modes are possible.

CPU module Motion module (SVC)

Ladder
Fixed parameter Unit
High-speed conversion
drawing Setting parameter M-Ⅲ
OW8000～ Servo
Motion command Acc/Dec Command
+ pack
Control data Phase
generation
IW8000～

Monitor parameter

108
(4)Motion control method (motion program)

2)Motion program method

It is a method to use the motion instruction using the text language.
The motion program is analyzed by CPU module, converted into the motion
parameter and executed.
Position control is possible by the motion program.
(Details are treated in Chapter 9 of the motion program. )

CPU module SVC module

High-speed
drawing Motion
Parameter
Call
System
Motion Process
Program

109
(5)What is the motion command?
The motion command is a function to execute various functions (movement
instruction, etc.) by specifying the number of each control method.
The corresponding control method can be done by giving the number to motion
command register OW8008 (for the first axis).
< Command number and function >
Command number Function

"01: Positioning" Positioning at a specified position at the specified speed.

"03: Starting point return" Homing by the selected method.

"04: Interpolation" Executing position data in each high-speed scan.

"07: Fixed velocity sending" Moving at specified speed and direction.

"08: Fixed [sun;oku]" Positioning by specified direction, speed and distance.

"09: Set Zero Point" Setting zero point in the machine coordinate system.

"23: Speed instruction" Operating speed control mode.

"24: Torque instruction" Operating torque control mode.
"25: Phase instruction" Operating phase control mode.
･Electronic shaft Rotating by the specified speed.

･Electronic cam Execute positional data in each high-speed scan. 110

(6)Switch control mode

MP series have four control modes (position control, phase

control, speed control and torque control).

Generally control mode is switched once the motion command is turned off,
and specify a new motion command.
It is also possible to move to a new control method without turning off the
motion command. The cycle time can be shortened because it moves to the
next control mode without stopping once.
However, note that some motion command requires to turn it off before
changing control mode.

111
(6)Motion control of ladder method (positioning example)
The motion control of the ladder method sets and executes setting parameter.
Motion command + control data
･Motion command; Define and execute motion control
･Control parameter; Data related to motion control. Ex. speed and position

Example of motion command "1: Positioning" (First axis)

Servo on OB80000=1

Speed reference setting【OL8010】

Control parameter
Acceleration time【OL8036】
Setting
Deceleration time【OL8038】
Position reference setting 【OL801C】
Override【OW8018】
Set Motion command "1"

OW8008=1
Positioning completed
OB80090: Hold Command
signal detection IB8000C1 OB80091: Cancel Command

Set Motion command "0" OW8008=0 *Practice motion command

in Chapter 7.3.
112
(7)Control mode and related setting parameter
Setting parameter that relates to control mode
● :Fundamental parameter in the control
Position Interpol Speed Torque
Name The first axis
Control ation Control Control
Motion command OW8008 01 04 23 24
Servo on OB80000 ○
Alarm reset OB8000F ○
Speed unit selection OW8003;B0～B3 ○ ○
Acc/Dec Unit selection OW8003;B4～B7 ○ ○
Torque unit selection OW8003;BC～BF △ ○
Hold command OB80090 ○ ○
Cancel command OB80091 ○ ○ ○
Position reference type OB80095 ○ ○
Torque reference setting OW800C ●
Speed limit for torque control OW800E ○
Speed instruction setting OL8010 ● ●
Torque/Force limit OL8014 ○
Override OW8018 ○ ○
Position reference setting OL801C ● ●
Positioning completion width OL801E ○
NEAR signal output width OL8020 △
Linear Acc rate/Time constant OL8036 ● ●
Linear Dec rate/Time constant OL8038 ● ●
Filter time constant OL803A ● ●
Zero point position offset OL8048 △ Used in Zero point setting
Work coordinate system offset OL804A △ Used inMotion program

113
(8)Control mode and related setting parameter

Monitor parameter that relates to control mode

Information from the servopack is monitored by MP3300.

Position Interpola Speed Torque

Name The first axis
Control tion Control Control

Motion operation ready IB80000 ○

Running with servo on IB80001 ○
Servo READY IB80003 ○
Warnings IL8002 ○
Alarms IL8004 ○
Motion command response code IW8008 ○
Distribution completed(DEN) IB800C0 ○
Positioning completed(POSCOMP) IB800C1 ○
Machine coordinate system feedback
IL8016 ○
position(APOS)
Machine coordinate system calculated
IL8010
position (CPOS)
Position deviation(PERR) IL801A ○
Feedback speed IL8040 ○
Torque reference monitor IL8042 ○

114
(9)What is a virtual axis?
A virtual axis is a virtual control axis that doesn‘t connect the real servopack.
Control can be done as well as SVC.
Virtual axis reflects machine coordinate position to monitor parameter.

CPU module Virtual axis (SVR)

Ladder Fixed parameter

High-speed Setting parameter

drawing Positioning
Motion command Interpolation Usage of virtual axis
OW8800～ +
Feeding ･Debugging
Control data
･Virtual master axis of
Value update synchronize multi axis
Monitor ･Virtual master axis of
IW8800～ parameter
electronic cam

115
7.2 Confirm motion from display
Specify motion command and control parameter from setting
parameter screen and confirm motion. < positioning example >
(workspace)“Setting parameter" →"Axis selection" → "Positioning"
Data is set to setting parameter.
Release lock →Servo on → "Positioning"

The motion command is issued and positioning is executed.

"Command release" →"Servo off"

Release lock, then
① button is shown

Release lock

The list of the setting parameter related "Position" is displayed.

116
7.2.1 The position is controlled.
(1)Configuration parameter of positioning
Setting parameter of positioning

Speed unit selection: mm

Acc/Dec unit selection: ms

117
 (2) Position Reference Setting

There are two kinds of Position Reference Setting (OL801C).

Increment value addition method:｢OB80095=0｣

Distance= (Current value of OL801C) - (Previous value of OL801C)
･Move distance above from current position.
･Doesn't move with the same value after interrupting motion command.
･The manual movement shifts the position.

Absolute value specification method:｢OB80095=1｣

Position = Current value of OL801C
･The position of the machine coordinate system is specified.
It moves to the position of the instructed machine coordinate
system.
The ladder program method: Possible to select.
The motion program: Always set increment value
addition method.

118
(3)Position control and other settings

1)Speed unit selection (OW8003,bit0-3): mm/min

2)Acceleration/Deceleration rate unit selection (OW8003,bit4-7): ms

There is no change from default.

119
(4)Infinite-length Axis Reset Position

It moves in a positive direction and

Current Position Target Position goes to the position of 270.
OL801C=270

CPOS(N-1) CPOS(N)

It moves in a negative direction

DPOS(N) and goes to the position of 270.
The bold line is an
increment value (distance). OL801C=-90
For N=2
DPOS(N-1)

120
(5)Positioning control
Open Setting parameter and select "Position" tab
Speed
Servo on Rated speed
OB80000=1 Sending speed
OL8010
Control parameter setting
Time
Target position: OL801C=100000 Acceleration time Deceleration time
Speed reference: OL8010=3000 OL8036 OL8038
Acceleration time: OL8036=100 Position
Deceleration time: OL8038=100 Target position
OL801C Reference
Position: IL8010
Motion command Position Deviation:
OW8008=1 Hold command :○ IL801A
Cancel command:○
Feedback Position: IL8016
Positioning completed Time
IB800C1=1 Distribution Completed: IB800C0
Positioning completed: IB800C1
OW8008=0
Target position and speed can be changed during operation.

121
7.2.2 Position control: Interpolation
Open Setting parameter and select "Interpolation".

Servo on
OB80000=1

Motion command Hold command :○

OW8008=4 Cancel command:○

Control parameter The position data is updated

setting by every high-speed scan.
Target Position: OL801C

Update

End
OW8008=0
Not practicing it in a basic course.

122
7.2.3 Positioning control: Zero Point Return
Open Setting parameter and select "Zero".
Control parameter
Servo on ･Zero point return method: OW803C;
OB80000=1 "18: INPUT&C aspect"
･Direction selection: OB80093;Invalid (*)
Setting of control parameter ･Speed reference setting: OL8010=500
･Approach speed: OL803E=5000
Motion command Hold command :○ ･Creep speed: OL8040=1000
OW8008=3 Cancel command:○ ･Zero point return travel distance: OL8042=20000

Zero point return (note)In case of < INPUT&C aspect >, the
completed direction follows sign of approach speed.
(IB800C5) is on. Approach speed
(OL803E) Creep speed
Machine
coordinate (OL8040) Speed rererence
Il8010=0 setting (OL8010)

Motion command Input signal Zero point return travel

OW8008=0 (OB8005B) distance(OL8042)
C phase pulse
In case of absolute encoder, Zero command
goes to its origin. Zero point return position
123
 (1)Position control: Zero Point Return Method
Zero point return has various method.
Following code (0-19) is set to setting parameter “Zero point return method (OW803C)".

OWxx3C Method Method Content of signal

0 DEC1+C pulse Mehod by DEC1 and C pulse DEC1: Servopack DEC signal
1 ZERO signal Method by ZERO signal ZERO signal: ServopackEXT1 signal
DDEC1: Servopack DEC signal
2 DEC1+ZERO signal Method by DEC1 and ZERO signal
ZERO signal: Servopack EXT1 signal
3 C Pulse Method by C pulse
4～10 Unused
11 C Pulse Only Method by only C pulse
12 P-OT + C Pulse Method by P-OT signal and C pulse P-OT signal: Servopack P-OT signal
13 P-OT Only Method only by P-OT signal P-OT signal: Servopack P-OT signal
14 HOME LS + C Pulse Method by HOME signal and C pulse HOME signal: Servopack EXT1 signal
15 HOME Only Method by only HOME signal HOME signal: Servopack EXT1 signal
16 N-OT + C Pulse Method by N-OT signal and C pulse N-OT signal: Servopack N-OT signal
17 N-OT Only Method by only N-OT signal N-OT signal: Servopack N-OT signal
18 INPUT + C Pulse Method by INPUT signal and C pulse INPUT signal: OWxx06 Bit B

19 INPUT signal Method by only INPUT signal INPUT signal: OWxx06 Bit B

124
7.2.4 Set Zero Point
(1)Incremental encoder
When motion command “Set Zero Point” is executed, “Zero point of
the machine coordinate system" is fixed.
Zero point can be set without the zero point return.
Power on

Machine coordinate system current position (*1) =0

Motion command
OW8008=9 < reference >
･ABS encoder
Machine coordinate system current position = (Infinite length simple ABS0)
The same processing as incremental
Machine coordinate system starting point position
encoder
offset (OL8048)
･ABS encoder (finite length)
The position information doesn't
Zero point setting change.
completed (IB800C5) Refer to next page.

OW8008=0

125
 (2) (reference)Absolute encoder (finite length)
Zero point setting of absolute encoder (finite length) operates zero point
offset at position to be zero point, and issues “Set Zero Point (9)".

Power On

Move to the position to be zero point

New "Machine coordinate system zero point position offset" =

“Machine coordinate system zero point position offset“ －
machine coordinates present position

Update machine coordinate system present position

(Present position is 0. )

Motion command Position is always described regardless of Set Zero

Point command
OW8008=9
Machine coordinate system present position =
Encoder position (*) + OL8048
Zero setting completion (OL8048 is machine coordinate system zero position offset )
(IB800C5)
(*) Present machine coordinate position
OW8008=0 converted from absolute encoder data

126
7.2.5 Speed control

There are two speed control methods.

Torque limit(OL8014) is available.

･Speed control
Servopack control becomes speed control.
Also available for inverter.

･FEED (JOG)
In case of MECHATROLINK method, servopack control becomes
position control.
Not available for inverter.

127
(1)Speed control (Speed control)
Open Setting parameter and select "Speed".

Servo on Speed
OB80000=1
Rated speed

Setting parameter Speed reference:

Speed: OL8010=3000 OL8010
(Forward/reverse decided
by the sign. )
Time
Accel time: OL8036=100
Accel time Decel time
Decel time: OL8038=100 OL8038
OL8036

Motion command Hold command :○

OW8008=23 Cancel command:○

OW8008=0 During operation, speed and

direction(forward/reverse) can be changed.

128
(2)Speed control (FEED).
Open Setting parameter and select "Speed".

Servo on
OB80000=1
Speed

Setting parameter Rated speed

Speed: OL8010=3000
Accel time: OL8036=100 Speed reference:
OL8010
Decel time: OL8038=100

OB80092 OFF: Forward Time

OB80092 ON: Reverse Accel time Decel time
OL8036 OL8038

Motion command Hold command :×

OW8008=7
Cancel command:○

In this mode, servopack control is position control.

OW8008=0
Current value is updated in virtual axis.

129
7.2.6 Torque control
(1)Torque control

Unit of torque: % to rated torque

Torque control
The torque control controls the magnitude of the torque in the motor axis.
It attribute the servopack position control and speed control in open loop.
Generation torque = torque constant * motor current

The pressure sensor feedback is used to control pressure on the machine edge.

Servopack for pressure feedback

Servopack example (ΣⅤ FT003)
CPU (ladder)
Torque Internal
Pressure Command torque
Reference PI Machine
Setting reference
Pressure
sensor

In case of output torque > load torque, motor speed increases since additional
torque more than load torque makes motor accelerate.
Therefore speed restrictions are settled if necessary.

Note 1) In case of not using pressure feedback compatible servopack,

users need to construct pressure control in ladder program in CPU.

130
(2) Torque control
Open Setting parameter and select “Torque/Thrust reference".

Servo on
OB80000=1 Motor accelerates
Speed because there is no load.
Speed Limit
Setting parameter
Torque reference: OL800C=3000
Speed limit: OL800E=1000
(The unit: 1=0.01%. ) Torque
Torque reference

Motion command Hold command :× Load

OW8008=24 Cancel command:○

OW8008=0

131
7.3Function that uses when debugging
Various functions are prepared for ladder program debugging. ● :Axis related

Ladder Motion Operation

Classification Function name Content
Program Program (main menu)
Search Retrieval of register instruction etc. ○ Edit
Replace Replace of register instruction etc. ○ Edit
Project search Search of register instruction etc. ○ Edit
Program edit Project replace Replace of register instruction etc. ○ Edit
Cross reference Retrieval of use ladder program of register ○ Debugging
Double coil ○ Debugging
Force coil Compulsion ON/OFF of coil ○ Debugging
Register list Present value display/setting (continuous) ○ Display
Register setting Watch Present value display/setting (arbitrary selection) ○ Display
& monitor Automatic watch Present value display/setting (cursor selection) ○ Display
Position monitor Current position/target position/deviation ● ● Display
System monitor The controller's state monitor ○ My tool
Adjustment panel Register value display/setting/state monitor ○ ● My tool
Driving monitor
Axis driving monitor Driving state monitor of servo axis ● ● My tool
Axis alarm monitor Alarm state monitor of servo axis ● ● My tool
Test driving JOG/step operation of servo axis ● My tool
Debugging driving Driving control panel Driving of motion program ● My tool
Debug mode Driving from motion program edit screen ●
Real-time trace ○ My tool
Trace
X-Y trace The register data is displayed in the X-Y graph. ● My tool

*Details are studied in Chapter 11.1-11.4.

132
(1)Axis monitor/ alarm monitor
Axis monitor
Basic information on the axis can monitored.
Switch “Group” and “Circuit” Click
①

Alarm monitor
The alarm of the axis can be
monitored.
133
7.4 Create Sample program

Practice ladder method motion control.

After the motion operation is confirmed from the set parameter screen in
Chapter 7.2, the motion operation is confirmed by using the sample ladder
program.

Select operation mode from H02 drawing.

*Please make L drawing "Invalid".

*Please save the sample drawing after confirming operation.
Desktop: File name｢School. YMW7｣

134
(1)Operating switch

< operating switch >

< Operation condition of sample ladder >

135
Chapter 8 Servo tuning

This chapter you can learn servo tuning from MPE720.

< content >
8.1Tuning method 8.6Operation necessary after tuning
8.1.1 Sigmawin + servo tuning from MPE720 (1)Procedure (6): Reflect servo parameter to setting
8.1.2 Servo tuning using setup wizard parameter
8.2 Servo tuning using Configurator (2)Procedure (7): Save servo parameter to controller
(1)Confirmation before tuning (3)Procedure (8): Write servo parameter to servo
(2)Adjustment procedure and related menu (4)Display/set servo parameter
(3)Data transfer between controller and servo 8.7Other operations
8.3Setting of servo parameter (1)Display servo monitor
(1)Procedure (1): Initialize servo parameter(1). (2)Open other servo menu
(2)Procedure (1): Initialize servo parameter(2).
(3)Procedure (2): Self configuration
(4)Procedure (3): Setting of servo parameter
8.4Procedure (4): Setting fixed parameter
8.5Auto tuning
(1)Procedure (5): Auto tuning (1)
(2)Procedure (5): Auto tuning (2)
(3)Procedure (5): Auto tuning (3)
(4)Procedure (5): Auto tuning (4)

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8.1Tuning method

There are three servo tuning methods via MP3300.

In this text, MC Configurator method is explained.

A. SigmaWin+ via controller

･Tune servo from SigmaWin+ via controller
･Setup wizard is used when reflecting servo gain to MP3300 setting
parameter.

B.Setup wizard
･Parameters related to axis is set by the wizard form.
･There is a limitation in servo parameter that can be set.

C.MC Configurator
･ Enable to execute all basic function
･Two or more axes can be set/displayed.

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8.1.1 Servo tuning from SigmaWin+ via controller

1)Servo adjustment from SigmaWin+ via

< operation by SigmaWin+>

Parameter edit
Auto tuning

Software reset
Reset of MECATROLINK
SigmaWin + starts up.
The user constant is reflected to
setting parameter (present value).

< operation by MP3300 >

Save servo parameter to setting value.
Condition that SigmaWin+ via controller can
be used Reflect servo parameter to setting
･MECHATROLINK: One or more Number of parameter (value when starting).
retry to slaves
Save to Flash

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8.1.2 Servo adjustment using Axis setup wizard

2)Axis setup wizard is used.

Axis parameter (MP3300/Σ7) is

sequentially set by the wizard form.

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8.2 Servo adjustment using Configurator

Confirm that axis can move by Test Run before servo tuning.

To do Test Run
･Switch (S1,S2,S3) of servopack is set
･Self configuration of servopack is done by the factory setting value.
･The following servopack parameter is set.
･Direction of rotation and over travel(invalid)
･Fixed parameter is set.

Other point to be checked

･The number of retry to slaves is set one or more
･Fixed parameter “User constants self-writing function “ is enabled

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(1)Confirmation before tuning
Confirm axis can move by Test Run
Servopack front panel
Axis move confirmation
“Station adress" is set.
Wiring
SWsetting

Self configuration
& Save to Flash

Procedure (1) Initialize servopack

Procedure (2) Self configuration Initialize servopack parameter to the

factory shipment value.
Procedure (3) Setting servo parameter (Unnecessary if not changed from
the factory shipment value. )
Procedure (4) Setting fixed parameter

Confirm by Test Run

Procedure
(5) - (7) To servo tuning

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(2)Menu related to adjustment procedure and adjustment
Adjustment procedure and menu of Workspace
MC Configurator ①

Procedure (1): Initialize servo parameter

Procedure (2): Self configuration

Procedure (3): Set servo parameter

Procedure (4):Set Fixed parameter

Procedure (5): Tuning execution

Procedure (6): Reflect servo parameter

to Setting parameter.
Procedure (7): Back up servo current value to
“Controller save value”

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(3)Data transfer between controller and servopack
Following data is transferred by MP3300 and servopack.
MP3300 Servopack
(2) Self configuration
Fixed parameter Proced
ure (4) <SigmaWin+>
Setting parameter Communication User (3): Parameter edit
(auto-reflect parameter) establishment (Note 1) constant (5): Advanced
Initial value Current RAM Auto Tuning
value (reflection)
PON E2ROM
(6): Reflection
(3)-1: Reading
Servo Save
Parameter Current value
(3)-2: Writing
(7): Writing
(8): Writing
Controller save value
(1) (Writing)
(servo)Shipment value

(Note 1) Setting parameter of servo gain is written in servopack(RAM) (Refer to appendix 3).
After the tuning, it is necessary to reflect the servo parameter in Setting parameter.

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 8.3Setting of servo parameter
(1)Procedure (1): Initialize servo parameter (1).
1)Display user constant of servopack
Double click (workspace) "Servo parameter" → (attention screen)
→“Display in Axis selected" →｢OK｣
(reading)→ The present value is displayed (next page screen).
①

“Display in Axis selected"

Automatically allocated
by Self Configuration

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(2)Procedure (1): The servo parameter is initialized (2).
2)Display "Factory shipment value" and write them to servopack.
(1) -①: Right-click in the name ②
column of the servo.

(1) -②:"Change to the factory shipment value. "

→The factory shipment value is displayed.

(1) -③"Writing"; Overwrite "Factory

shipment value" displayed now to
servopack (present value/E2ROM)
and the controller save value. "Factory shipment value“ is displayed

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(3)Procedure (2): Self configuration

Initialize Fixed parameter and the servopack parameterby self

configuration.

1)Fixed parameter
Information of servopack is read and set to Fixed parameter automatically.
Refer to < appendix 1> for the set parameter.

2)Servo parameter
An initial value of MP3300 is written in the servo parameter.
Refer to < appendix 1> for the set constant.

(Example) Electronic gear (Pn20E,Pn210) of the servo packing is used by 1/16.

The electronic gear function will be set by a fixed parameter of MP3300.

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 (4)Procedure (3): Set operation of servo packing parameter
Display current value of servopack parameter
"Read" → (The present value is displayed) → Modify parameter →"Writing"
User constant of servopack is overwitten(Both of RAM/ E2ROM).
(The controller save value is written at the same time and changed. )

Click "+" to
expand details

Select item to display

related parameter

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 8.4Procedure (4): Set Fixed parameter
Set Fixed parameter.
Workspace "Fixed parameter"
→“Display in Axis selected"
Writing.
Does not save to Flash

“Display in
① Axis selected"

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8.5Auto tuning
Servo Auto Tuning

"Servo adjustment" →"Tuning" →"Axis

① Workspace selection" →｢OK｣
→To the tuning screen

Tuning mode has three modes.

1:Standard
2:Positioning
3:Positioning (overshoot supress)
Selects the mode according to the application.
"Model following control" is ON except “Standard”.
When Phase control is used, select “Standard".
In this practice choose “Standard”.

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(1)Procedure (5): Auto tuning (1)
Initial screen of tuning ①

Procedure
(5) -①

Procedure
(5) -②
Servo parameter screen must be closed when
you execute setting of moment of inertia ratio.

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(2)Procedure (5): Auto tuning (2)
①

Procedure (5) -③ Servo On and start tuning by

"Adjustment start".

Procedure (5) -④

After “Finish”, the adjustment

result is written to servopack.

Parameter name
Pn100 Speed Loop Gain
Pn101 Speed Loop Integral Time Constant
Pn102 Position Loop Gain
Pn401 First Stage Torque Filter Time Constant
Pn408.0 Notch Filter Selection1
Pn409 First Stage Notch Filter Frequency
② Pn40D First Stage Notch Filter Q Value
Procedure
(5) -⑤

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(3)Procedure (5): Auto tuning (3)
Procedure (5) -⑥: Reset MECHATROLINK communication
･Without “Reset MECHATROLINK Communication”, communication error happens.
･When the check mark is applied to "Parameter reflected automatically", the servo
parameter related to the gain is reflected in “Current value" of the motion setting
parameter.
①

③
It returns to former
screen. procedure (5) Reflects it in -⑦"Controller save value".

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(4)Procedure (5): Auto tuning (4)

-Some servo parameter change requires to recycle power of servopack

- "Software reset” can be used
"Setup" →"Software reset"
→"MECHATROLINK communication reset"
②
①

Resetting without checking, servopack

parameter is overwritten to Setting
parameter saved to controller.

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8.6 Necessary operation necessary after tuning
(1)Procedure (6): Reflect servopack parameter to setting parameter

The value of the servo packing parameter is displayed now.

"Read. "  Current value is displayed.
Right click name column of the servo “Reflesh auto reflection parameter (servo → controller)"

Procedure (6) -①: Right click name

Display “Current value" column of the servo.
②

Procedure (6) -②“Reflesh auto reflection parameter (servo

→ controller)"
→ The value of the servo parameter is reflected toSetting
parameter (both current value and initial value).

MP3000 register contains servo gain parameter in

“Setting parameter” so that servo gain can be
modified by ladder program.

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 (2)Procedure (7): Save servopack parameter

1) Save “Current value" of servopack parameter to "Controller save

value (*1)“
"Reading" →(Servopack current value is displayed)→. "Writing"
The procedure also writes to servopack (Both RAM and E2ROM).

Procedure (7) -②: "Write";The value is

written to servopack and controller save value.
①

(*1)"Controller save value" is the same

Procedure (7) -①: “Current value" is displayed.
meaning as "Backup data" of servopack.

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(3)Procedure (8): Write all servo parameter
Procedure (1) - (7) is servo tuning.
Procedure (8) is servo parameter writing process to servopack which is newly
replaced because of breakdown or replacement.
1)Servo parameter from controller save value is written to new servopack (E2ROM).
Workspace "Servo parameter" →(Display current servo parameter)
→It is change → in "Controller preservation value" as for the display. "Writing"

Procedure (8) -①: Right click name

column of the servo.
procedure (8)-③： Write
②
current display value to new
servopack.

Procedure (8) -②: “controller save value" is displayed.

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 (4)Servo parameter setting/display (summary).
Change display contents and execute writing processes

Comparing axis
② parameter.

Right click servo name

･"Change to factory shipment value" → Factory
shipment value is displayed.
･“Read from controller memory" → Controller save
value is displayed.
･ “Read“ to display current value again

･“Refresh auto reflection parameter(Servo->Controller)"

→ The servo parameter is reflected to setting parameter.

"Write" and “Write selected"; ③ Menu Transfer  Write to Controller

Displayed value is written to both servopack
(RAM/E2ROM) and "Controller save value".

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 8.7Other operations
(1)Display servo monitor

Workspace "Servo monitor" “Display in Axis selected"

② Check item then monitor parameter is shown.

①
Display in Axis selected

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 (2)Open other servo menu
There are two methods to open and execute servo menu
①
①Open from workspace.
Workspace[Servo][Servo Tuning] shows SigmaWin+ menu.
→Select menu and axis.

②Selection from "Function list"

Double click the axis then "Function list" is displayed.

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