MP2000 Quick Reference Guide

Contents
Registers
2 Memory Map
3 Register Addressing
4 Global Allocation Map
5 Axis Allocation Overview
6 Axis Allocation Detail
7 Axis Allocation Bit Detail
8 Axis Allocation Constant Detail
9 Local Register Allocation
Startup and Communication
10 General Startup Procedure
11 Serial/Ethernet Communication
Register Based Programming
12 Basic Set of Registers
13 Motion Command Code Positioning
Function Blocks
14 Function Block Startup Procedure
15 Function Block Troubleshooting
16 RDA Summary
17 RDA page 1
18 RDA page 2 (error codes)
19 RDA page 3
20 RDA Cam&Gear (M-S Pair)
Motion Programming Language
21 Motion Program Startup Procedure
22 Motion Program Work Registers
Configuration
23 Reference Units
24 Tuning
25 Terminology Synonyms
26 Register Offsets

MP2000 Quick Reference Guide Rev1.21

 MP2000 Quick Reference Guide Rev1.2

MP2000 Memory Map

5.5 MB Stores ladder drawings, Local registers and special tables

S (Global) SW0000-1023 C (Global) M (Global) (MW00000-65535)

System information and status (read only) Constant, Read only registers. General Multi-Purpose read/write registers
Example: Flicker relays, Calendar, Data that end user can change in MPE720 User Free: MW00000-29999 D
Scan time setting, error codes, ect. without needing to access the drawings. Convention: E
Register Memory (Battery Backup)

C
Axis#1:MW100-199, Axis#2:MW200-299
I
Fixed Parameters (for each axis) Example: *Function Block RDA: MW30000-65535 M
Written to in Module Configuration Mechanical system specifications Axis#1:MW30100. Offset=200 per axis A
Define axis units, motor specs. (pulley ratios, encoder counts per load rev) Master-Slave: MW56000. Offset=50 per M-S Pair L
Cannot be written by ladder Reference: RDA Spreadsheet
Changes usually require power cycle Reference: * If using motion function blocks.
I (Input) IW0000-FFFF O (Output) OW0000-FFFF H
general purpose & motion data (Read only by application program) general purpose &motion data (Read/Write by application program) E
Physical Inputs: IW0000-7FFF Physical Outputs: OW0000-7FFF X
Convention: IW0410+ for Local I/O modules Convention: OW0410+ for Local I/O Modules A
D
IW0010+ for M-LINK I/O modules OW0010+ for M-LINK I/O modules
E
Axis (Motion) Input: IW8000-807F (Module#1, Axis#1) Axis (Motion) Output: OW8000-807F (Module#1, Axis#1) C
"motion monitoring" Offset 80h per axis "motion setting" Offset 80h per axis I
800h per module 800h per module M
Example: IB8000 0 = controller ready Example: OB8000 0 = turn servo on A
L
Reference: Basic Module User Man 7.2.3 Reference: Basic Module User Man 7.2.2
D (Local Registers)*
Used as general purpose read/write in the defined Drawing only.
Program Memory (Overwritten from FLASH at power up)

Suggested Bits: DW00000-00008 (DB000000~DB00008F)

Convention: One-Shot DW00009 (DB000090~DB00009F)
Word Operations: DW00010-00025 (16-bit integers)
Accumulators: DW00026 (16-bit Integer accumulator)
DW00027 (16-bit Logic [Hexadecimal] Accumulator) D
DL00028 (32-bit Long Accumulator) E
DF00030 (32-bit Floating point Accumulator) C
I
Long & Float DW00032-00098* (32-bit Integers, 32-bit Floating Point)
M
F.B. Work Register: DW00100-00320* (Bits, integers, floats as defined in Function Block) A
*Default is 32 D-registers per drawing. R-click drawing in File Manager - increase to 320 when using Function Blocks. L
Reference:
# ("Sharps") #W00000-16383 Module Configuration
Local Constants. General purpose, read-only by the specifed Drawing Each hardware module on the rack has several configuration files. This data
they are defined in. is stored in program memory.
Set up via a table in the "properties" dialog box for each New project requires setting Module Configuration first. Select
drawing. Rarely Used from File Manager under Definition Folder"
Drawings: H, L, A, I
H (High Scan) Use for all code that runs motion related functions
L (Low Scan) Use for code that runs HMI, or user operated switches, lights, etc
A (Startup) Use for drawings that should automatically run once at controller power up.
I (Interrupt) Use to run a special interrupt routine after receiving a local input defined as a dedicated "Interrupt."
F (Function) Use as a ladder element with custom inputs and outputs

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 MP2000 Quick Reference Guide Rev1.21

MP2000 Register Addressing

All registers except Input and Output : S, C, M, D, #, A

Address F E D C B A 9 8 7 6 5 4 3 2 1 0
MW2008 ML2008
MW2009
MW2010 MF2010
MW2011

M B 2008 C i
Register Type Data Type Register Bit Number Subscript
S: System B: Bit Number (Hex) (i or j)
C: Global Constant W: 16-bit Word If Bit Data Type optional
(Decimal)
M: Multi-Purpose User L: 32-bit Long
D: User Local F: 32-bit Float
#: Local Constant A: Address
A: Startup

Input and Output Registers

Address F E D C B A 9 8 7 6 5 4 3 2 1 0
OW8018
OW8019
OW801A OL801A
OW801B

O B 8019 A
Register Type Data Type Register Bit Number
O: Output (Motion Setting) B: Bit Number (Hex)
I: Input (Motion Monitoring) W: 16-bit Word If Bit Data Type
(Hex)
L: 32-bit Long
F: 32-bit Float

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 MP2000 Quick Reference Guide Rev1.21

Global Memory (M) Register Allocation Map

Local
Register
Description
Range

MB000000 Machine Operation Interlocks

General Usage (Aux control, indicators, valves, etc)
MB000999
MB00099A Undefined -- Input Bit [Use as placeholder]
MB00099B Undefined -- Output Bit [Use as placeholder]
MB00099F Undefined -- General Bit [Use as placeholder]
MW00100 Axis Related
Axis # 1 - 64
MW06499
MW06500 Integer Operations (Single & Double)
MW07996 MW0xxxx; ML0xxxx

MW07997 Undefined -- Input Word [Use as placeholder]

MW07998 Undefined -- Output Word [Use as placeholder]
MW07999 Undefined -- General Word [Use as placeholder]
MW08000 Float (Real) Operations
MF0xxxx
MW08999
MW09000
SPARE (User Free)
MW09999
MW10000 HMI Communications; Memobus Offset= 15000
(Bit, Word, Long, Float)
MW14999
MW15000 Optional (Extended HMI, CAM, Recipe, etc.)
(Bit, Word, Long, Float)
MW29999
MW30000
Yaskawa Motion Function Block

SPARE
General purpose usage, if

MW30099
MW30100 Function Block RDA
set is not used.

Axis # 1-128
MW55699
MW55700
SPARE
MW55999
MW56000 Function Block Master-Slave
(CAM/GEAR) Pair # 1-128
MW62249
MW62250
SPARE
MW65534

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 MP2000 Quick Reference Guide Rev1.21 Page 5

Axis Related Overview

Map
Register
Description
Range

MW00100
Axis #1
MW00199
MW00200
Axis # 2
MW00299
MW00300
Axis # 3
MW00399
MW00400
Axis # 4
MW00499
MW00500
Axis # 5
MW00599
MW00600
Axis # 6
MW00699
MW00700
Axis # 7
MW00799
MW00800
Axis # 8
MW00899
MW00900
Axis # 9
MW00999
MW01000
Axis # 10
MW01099

...

MW06400
Axis # 64
MW06499

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 MP2000 Quick Reference Guide Rev1.21 Page 6

Axis Detail Allocation Map

Axis
Leading
Axis
Address
Enter Axis Number to determine Corresponding
register range (64 Maximum Axes) --> 1 00100

Register
Description
Range

MW00100
Axis Bit Operation
MW00109
MW00110 Axis Operation
MW00199 MW0xxxx; ML0xxxx; MF0xxxx; MB0xxxxx

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 MP2000 Quick Reference Guide Rev1.21 Page 7

Axis Bit Detail Allocation Map

Axis
1 <--Axis # (From Axis Detail Tab)
160 Bits (10 Words) allocated for each Axis [Note: Addresses Update by Changing Axis # on Axis Detail Tab]
Address Description Address Description Address Description Address Description
MB001000 Axis Normal MB001010 Automatic Production Reference MB001020 MB001030
MB001001 Servo On Reference MB001011 Automatic Production MB001021 MB001031
MB001002 MB001012 MB001022 MB001032
MB001003 MB001013 MB001023 MB001033
MB001004 MB001014 MB001024 MB001034
MW00100

MW00101

MW00102

MW00103
MB001005 Jog Forward Interlock MB001015 MB001025 MB001035
MB001006 Jog Reverse Interlock MB001016 MB001026 MB001036
MB001007 Jog Forward Reference MB001017 MB001027 MB001037
MB001008 Jog Reverse Reference MB001018 MB001028 MB001038
MB001009 Jogging MB001019 MB001029 MB001039
MB00100A Homing In Progress MB00101A MB00102A MB00103A
MB00100B Homing Completed Detection MB00101B MB00102B MB00103B
MB00100C Homing Completed Latch MB00101C MB00102C MB00103C
MB00100D MB00101D MB00102D MB00103D
MB00100E MB00101E Axis Running MB00102E MB00103E
MB00100F MB00101F Zero Speed MB00102F MB00103F
MB001040 MB001050 MB001060 MB001070
MB001041 MB001051 MB001061 MB001071
MB001042 MB001052 MB001062 MB001072
MB001043 MB001053 MB001063 MB001073
MB001044 MB001054 MB001064 MB001074
MW00104

MW00105

MW00106

MW00107
MB001045 MB001055 MB001065 MB001075
MB001046 MB001056 MB001066 MB001076
MB001047 MB001057 MB001067 MB001077
MB001048 MB001058 MB001068 MB001078
MB001049 MB001059 MB001069 MB001079
MB00104A MB00105A MB00106A MB00107A
MB00104B MB00105B MB00106B MB00107B
MB00104C MB00105C MB00106C MB00107C
MB00104D MB00105D MB00106D MB00107D
MB00104E MB00105E MB00106E MB00107E
MB00104F MB00105F MB00106F MB00107F
MB001080 MB001090
MB001081 MB001091 Notes:
MB001082 MB001092
MB001083 MB001093
MB001084 MB001094
MW00108

MW00109

MB001085 MB001095
MB001086 MB001096
MB001087 MB001097
MB001088 MB001098
MB001089 MB001099
MB00108A MB00109A
MB00108B MB00109B
MB00108C MB00109C
MB00108D MB00109D
MB00108E MB00109E
MB00108F MB00109F

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 MP2000 Quick Reference Guide Rev1.21

Axis Detail Allocation Map

Axis
1 <--Axis # (From Axis Detail Tab)
Register
Description
Range

ML00110 Gear Ratio (motor revolution) [N]

ML00112 Gear Ratio (load revolution) [N]
ML00114 Motor rated speed [RPM]
ML00116
ML00118
ML00120
ML00122
ML00124
ML00126
ML00128 Jog Speed [Ref Units]
ML00130 Homing Approach Speed [Ref Units]
ML00130 Homing Creep Speed [Ref Units]
ML00134
ML00136
ML00138
ML00140
ML00142
ML00144
ML00146
ML00148
MW00150
User Specific Axis (Word, Long, Float) Operation
MW00199

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 MP2000 Quick Reference Guide Rev1.21

Local Memory (D) Register Allocation Map

Map
Register
Description
Range

DW00000 Bit Operations

DB000000 - DB00008F
DW00008
One Shot Pulses
DW00009
DB000090 - DB00009F
DW00010 Integer Operations
General and/or Timer
DW00019
DW00020 Optional
(Word, Long, Float)
DW00025
Word (Integer) Accumulator
DW00026
DW00026

Logic (Integer) Accumulator

DW00027
DW00027
DW00028 Long (Integer) Accumulator
DL00028
DW00029
DW00030 Long (Float) Accumulator
DF00032
DW00031

Note: Default is 32 D-registers per drawing. Edit drawing properties to

increase when using Function Blocks. (Increasing this allocation
reduces available program [Ladder & Motion] memory.)

DW00032
SPARE
DW00099
DW00100
Function Block Word Registers
DW16384

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 MP2000 Quick Reference Guide Rev1.21

MP2000 Startup Procedure

All equipment must be properly wired and installed.
Step Instruction Detail
1 Power OFF Prepare for first Power ON
2 Set M-LINK address MP2000 base unit is node 0, so set rotary switch 1-F
Prepare to erase all RAM (not FLASH) and self-configure hardware.
3 Turn On CONFIG and INIT dipswitches Module configuration file is created in controller. Tuning parameters are
copied from Servopack to controller (Ch 11)
Wait for "All Green" lights on Servopacks and Controller. Takes about
4 Power ON
15sec.
The configuration is now termporarily stored in program RAM and
5 Set all dipswitches OFF (left)
should not be self-configured again at next power up.
6 Start MotionWorks Ver 6 Connect Serial Cable JEPMC-W5311-03B
File - New Project. Select Controller Type at bottom. Long filenames
7 Make New Project ok. Future changes are automatically saved to this project. This
project is the default for transfers.
Online - Communications Settings. Choose "Serial(Com1)" and click
8 Go Online "Connection". Green animated bar with project file name appears on
top when connected.
Optional Procedure below: When the servopack is not brand new, use
9 SERVOPACK Default Set Procedure
the procedure below to restore default parameter settings
Select "Variable" tab on lower right. Expand Axis Variable folder and
10 Set Up Axes define number of axes and text name for each axis. Subfolders for axis
variables will appear. Group definition file is created
Online - Read From Controller. Click "Individual" and under System
Configuration check only "System Definition" and "Module
Transfer System Configuration
11 Configuration". Click Start.
to computer
The system configuration applied directly to the controller by the CNFG
dipswitch is now saved to the project file.
Online - Save to Flash. Click "Start", CPU_STOP (wait for flash save),
ok, Yes to run controller. Then cycle power.
12 Save to Flash and Cycle Power The current controller configuration needs to be saved to flash,
otherwise it will be overwritten at power up by whatever was last saved
to flash. Cycle power for servopack parameter changes to take effect.

SERVOPACK Default Set Procedure

(Optional Procedure) When servopack is not brand new, use this procedure to restore default parameter settings*
Step Instruction Detail
Under the blue "Setup" tab, click "Module configuration". Engineering
Manager opens in a new application window.
1 Open Servopack Module Configuration Highlight Controller Slot 00 (MP2300). In the Module Details section,
double-click slot 3 (or R-click - Open Slot). The "SVB Definition" window
appears
In the SVB Definition window, Select SERVOPACK tab
Choose the Axis number from the pull-down list (top left)
2 Save servopack defaults for each axis
Under Edit menu, choose Default Set. Click OK and Save
Repeat for each axis as necessary
In the SVB Definition window, Select Setup Parameters tab
Save Setup Parameters defaults for each
Choose the Axis number from the pull-down list (top left)
3 axis (to keep servo gains from reverting
Under Edit menu, choose Default Set. Click OK and Save
back)
Repeat for each axis as necessary
* The Default Set of Servopack parameters is not exactly the same as the set of parameters produced by self-configuration
(CNFG dipswitch). See CH11 of the User Manual for details.

Reset Absolute Encoder Alarm (A.81)

If the battery is disconnected from the absolute encoder, alarm A.81 is produced. Be sure all cables are securely
connected. Then set the following variables for the affected axis using the watch page (View - Watch - Watch1).
1 Clear Alarm Set Alarm.Clear (OB8000F) = 1, then 0
2 Reset Absolute Encoder Set Command.SetValue (OW8008) = 0, then 22, then 0
3 Clear Alarm Again Set Alarm.Clear (OB8000F) = 1, then 0
* The servo must be off. See Chapter 7.2.21 of the User Manual for more details

Page 10 of 25
 MP2000 Quick Reference Guide Rev1.211

Serial & Ethernet Connection Procedure (To MPE720 Ver.6)

Serial Connection

Instruction Step Detail

Define the PC's Serial 1 Connect serial cable from MP2300 port 1 to PC's COM port.
port as a valid way to 2 Select Menu: Online, Com Setting, choose serial port, Connection
communicate via
3 Open Communication manager from system tray
MPE720
4 Double click a "logical port number", choose "serial" and click "Detail"
Choose desired "physical port" number that the serial cable is connected to on
5 the PC.
6 Save communication manager and minimize or close it

Ethernet Connection
MW/MPE720 communicates to the
MP2300's 218IF-01 Ethernet module
through the Communication Manager
program. All 3 must be configured to
log on online over Ethernet.

Be sure the 218-IF TEST and INIT dipswitches are both off (left)
Instruction Step Detail
Give the 218IFmodule an 1 Open project and go online via serial port (CP-217)
IP address 2 Under the Setup tab, choose Module Configuration
3 Highlight the column of 218IF-01 slot
4 In the Module Details section, double-click slot 2 (or R-click - Open Slot)
Enter the Controller's IP address and save. (The table at the bottom of the
5
screen is for other Ethernet devices controlled by the MP2000)
6 Save configuration, close window, save and save to flash
Cycle unit power so that IP address is updated. Be sure all dipswitches are off
7 on both the base unit and the 218IF-01 to avoid overwriting the flash save
upon power up

Define the PC's Ethernet 1 Online - Disconnection. Save to flash if needed.

port as a valid way to 2 Open Communication Manager (from windows system tray, near clock)
communicate via 3 Double click a blank logical port number to open the settings
MP2300 4 Choose CP-218, click detail
5 Select the PC's IP address.
6 Turn "Default" Off
7 Click "OK" twice, save, and close communication manager

Tell MW/MPE720 to 1 Online - Communication Settings

connect via Ethernet Choose the port labeled "Ethernet". Computer's IP address that you just
2 defined in Communication Manager will display. Click "Detail" and type the IP
address of the MP2000.
3 Click "Connection" and go online. Unblock any Windows Security Alerts.

NOTES:
It is assumed that a valid IP address has been acquired from the network administrator.
To connect directly, use a crossover cable and configure your PC to use a static IP address.
As noted on the 218IF module, the network must be 10mbps, or switchable from 100mbps to 10mbps.
If a 218IF error does not go away after power is cycled, turn on the 218IF INIT dipswitch and cycle power.

Page 11 of 25
 MP2000 Quick Reference Guide Rev1.21

Basic Set of Registers for Register-Based Programming

Assume Module(Circuit) #1, Axis #1. Add 800h per circuit, 80h per axis.

Motion Setting Registers (OWxxxx)

Name Word Bit [Unit] / Note Reference
Servo On OB8000 0
Alarm Clear OB8000 F
[10^3 R.U./minute (by default)]
Speed ("Feed" Speed) OL8010
Select Speed Units in OW8003.0-3
Motion Command Code OW8008 1=Position, 3=Home, 7=Jog, 8=Step
Position Reference OL801C [R.U.] Default R.U. is encoder count
Abs/Inc Position Mode OB8009 5 1=Abs, 0=Inc (default)
Step Distance OL8004 [R.U.] Default R.U. is encoder count
Direction (Step,Jog) OB8009 2 0=Fwd, 1=Rev
[ms to rated speed (FP34)]
Acceleration OL8036
Select Acceleration Units in OW8003.4-7
[ms to rated speed (FP34)]
Deceleration OL8038
Select Deceleration Units in OW8003.4-7

Motion Monitoring Registers ( I Wxxxx)

Name Word Bit [Unit] / Note Reference
=0 when no alarm. Each bit represents
Servo Alarm IL8004
different alarm
=0 when no warning Each bit represents
Servo Warning IL8002
different warning
Mtn Cmd Code confirm IW8008
Main Power On IB802C 4
Servo Ready IB8000 3
IB8000 1
Servo On Confirm
IB802C 3
Feedback Position IL8016 [counts or Reference Units]
Feedback Speed IL8040
Positioning Complete IB800C 1

Terminology used on this page

"R.U.": Minimum increment of motion. By default 1 R.U. = 1 Count. Used fixed parameters to change.
"Count": post-quadrature encoder count
"Pulse": pre-quadrature encoder pulse

Page 12 of 25
 MP2000 Quick Reference Guide Rev1.21

Motion Command Code

Indexing Example
Move from position 5000 to position 8000, assuming the following for module (circuit) #1, Axis #1
ILC008=5000 Current position is 5000
ILC022=0 No alarms
IBC0013=1 Servo is ON

Solution using STEP

OL8044=3000 Step Distance 3000
1 OB80092=0 Direction Forward
OL8010>=0 Set Feed Speed
2 OW8008=8 MtnCmdCd starts motion

Solution using POSITION (INCremental)

OL801C=0 Initial position 0
1 OB80095=1 Incremental Positioning Mode
OL8010>=0 Set Feed Speed
2 OW8008=1 MtnCmdCd defines initial position
3 OLC012=3000 Position reference incremented starts motion

Solution using POSITION (ABSolute)

OB80095=0 Absolute Positioning Mode
1 OL8010>=0 Set Feed Speed
OL801C=8000 Position Reference to Absolute position
2 OW8008=1 MtnCmdCd starts Motion

Page 13 of 25
 MP2000 Quick Reference Guide Rev1.21

Function Block Startup Procedure

First complete the MP2000 Startup Procedure
New Function Block Project
Step Instruction Detail
1 Go Offline Online - Disconnection. Flash Save optional.
IN A NEW WINDOW, Open the official Function Block project file,
Open Official Function
2 EC.MCD.06.056 by doubleclicking on it in Windows Explorer. Choose "Not
Block Project File
Connect" if prompted.
R-click the Function folder and Copy. Navigate back to original project file, R-
Copy/Paste Function
3 click Function folder and Paste. Click OK to accept all function blocks. You
Blocks to Project
can also drag the folder from one project file to another.
Under the blue Transfer tab, select "Write Into Controller". Select "Individual"
Write Function blocks to
4 and check only the function programs. Click Start. Takes 1 minute over
Controller
serial connection.
5 Save to Flash Save to flash happens automatically
Online - Communications Settings. Choose "Serial(Com1)" or "Ethernet" and
6 Go Online
click "Connection". Green animated bar appears on top when connected.
7 Cycle Power Cycle power is needed for initialization drawings (A drawings) to run

Open Existing Function Block Project

Step Instruction Detail
Open the official Function Block project file, EC.MCD.05.056 IN A NEW
Open Function Block
1 WINDOW by doubleclicking on it in Windows Explorer. Choose "Not
Project File
Connect" if prompted.
Transfer Module Under the blue Transfer tab, select Read From Controller and connect. Click
2 Configuration from the "Individual" button, Check and select "System Configuration", and check
Controller only "Module Configuration". Then click Start.
Online - Communications Settings. Choose a logical port and click
3 Go Online
"Connection". Green animated bar appears on top when connected.
Under the blue Transfer tab, select "Write Into Controller". Click the
Transfer Everything to
4 "Individual" button. Select "System Configuration" and "Program". Then click
Controller
Start. Click "Yes" to start and stop controllerwhen prompted.
Expand Axis Variable folder and define number of axes and text name for
5 Set Up Axes
each axis.
6 Save to Flash Online - Save To Flash
8 Cycle Power Cycle power is needed for initialization drawings (A drawings) to run

Page 14 of 25
 MP2000 Quick Reference Guide Rev1.21

Function Block Troubleshooting

Step 1: Look at the blocks as they are running
Is the ladder program running, or does it show " --- " below the registers?
Does the execute bit turn on?
Does the error bit or done bit turn on?
If there are any status output bits, what is the state while running and what does the state mean?

Step 2: Check Common Problems

Overlapped work registers
Input data out of range or of wrong data type
Same input executing more than one block
Same output bit used in more than one block
Another drawing is running at the same time with the same block

Step 3: Work Register Troubleshooting

If you know which block has an error, monitor the work registers as described in “Block Fault
Condition” using the Watch window
The Function Block field "[A]DataxxW defines the starting address for the work registers. For
example if the field contains DA150, and the work register fault bit is listed as AB00003, then look
at DB1503

Step 4: RDA Troubleshooting

Monitor register MW30181 for general troubleshooting information.
Based on the result of MW30181, monitor registers MW30170 through MW30180
Use the RDA register map for information on each each bit.
Offset is 200 words per axis. RDA assumes Axis 1.

CAM Function Block Troubleshooting Checklist

1 Is the servo ON?
2 Is the RAWDATA value counting up/down in MOD_ENG?
3 Is MODDATA modulating?
4 Is MS-PAIR set to the same value on both MOD_ENG and CAM
5 Is TBLTYPE and TBLADDRS set to the correct location?
6 Is the cam table data visible at this address?
7 Is CAM enabled and engaged?
8 Is CAM running without errors?
9 What is the cam state?
10 Has MODDATA passed through the ENGAGPOS?
11 Has the scaling been set in ML56xx8 either directly or by using the CAMSCALE function block?
12 Did the Startup drawings (A) run? Save to flash and cycle power
13 Be sure no other drawings are running

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 MP2000 Quick Reference Guide Rev1.21

Ｒeserved Ｄata Ａrea

MP2x00 Register Map

MW00000

MW30000
Spare
MW30100
Logical Axis #1

MW30300
Logical Axis #2

MW30500 ＲＤＡ
Individual Axis Information
Logical Axis #3

MW30700

MW55500
Logical Axis #128
/25700w
MW55700

/300w
MW56000
Mster-Slave #1
MW56050
Mster-Slave #2
MW56100
Mster-Slave #3
ＲＤＡ
MW56150 CAM/GEAR Information

MW62200
Master-Slave #128
/6400w
MW62250

MW65534 /3285w

Page 16 of 25
 MP2000 Quick Reference Guide Rev1.21

Function Block Specification / Reserved Data Area Access １／４

RDA# Datas Name M-Register Detail
- Switch or Command ML30100 RDA#003,#026,#027,#029,#035
001 Ratio Tech Unit Denom MW30102 Conversion from technical units to increments: denominator
002 Ratio Tech Unit Nom MW30103 Conversion from technical units to increments: nominator
003 Feedback Polarity MB301000 Feedback from position sensor. direction 1 = positive
004 Scale Factor MW30104 -
005 Movement Type MW30105 0: Rotary; 1: Linear
006 Position Period ML30106 Length of Period for rotational systems. [count]
007 Set Position ML30108 Commanded position. [count]
008 Act Position ML30110 Actual position. [count]
009 Max Velocity ML30112 Maximum velocity. [count/sec]
010 Set Velocity ML30114 Commanded velocity. [count/sec]
011 Act Velocity ML30116 Actual acceleration. [count/sec2
012 Set Acceleration ML30118 Commanded acceleration. [count/sec2]
013 Act Acceleration ML30120 Actual acceleration. [count/sec2]
014 Max Acceleration ML30122 Maximum acceleration. [count/sec2]
015 Set Deceleration ML30124 Commanded deceleration. [count/sec2]
016 Act Deceleration ML30126 Actual deceleration. [count/sec2]
017 Max Deceleration ML30128 Maximum deceleration. [count/sec2]
018 Set S-Curve Filter ML30130 Commanded S-Curve Filter [ms] (S curve time)
019 Act S-Curve Filter ML30132 Actual S-Curve Filter [ms] (S curve time)
020 Max S-Curve Filter ML30134 Maximum S-Curve filter [ms] (S curve time)
021 Act Torque ML30136 Actual Torque [0.01% of rated torque]
022 Max Torque ML30138 Maximum Torque [0.01% of rated torque]
023 Limit Torque ML30140 Maximum user defined Torque [0.01% of rated torque]
024 SW Limit Positive ML30142 Position software limit switch in positive direction.
025 SW Limit Negative ML30144 Position software limit switch in negative direction
026 SW Limit Enable MB301001 Enable Software end switches
027 HW Limit Enable MB301002 Enable / disable hardware end switch (to be used after overtravel)
028 Capt Position ML30146 Capture position [count]
029 Capture Occured MB301003 Capture signal occurred (reset with writing)
Shape of Acc/Dec profile.
030 Ramp Shape MW30148 0 = Trapezoid;
1 = S-Shape; rest supplier dependent
State of the Axis
0 = reserved for power off situation
1 = ErrorStopped Motion
031 Axis State MW30149 2 = Stopped Motion
3 = Standstill
4 = Discrete motion
5 = Continuous motion
032 Factor P - P-factor of position loop [0.1/s]
033 Factor I - I-factor of position loop [ms]
034 Factor D - D-factor of position loop
035 Regulator Off MB301004 TRUE= regulator off

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 MP2000 Quick Reference Guide Rev1.21

Function Block Specification / Reserved Data Area Access ２／４

RDA# Datas Name M-Register Detail Remarks
- - MW30150
- - MW30151
- - ML30152
- - ML30154
- - ML30156
- - MW30158
- - MW30159
- - ML30160
- - MW30162
- - MW30163
- - ML30164
- - ML30166
- - ML30168
1000 bit0
1001 Abort bit1 Stop Axis Motion
1002 Command Bit bit2 One Scan Pulse of Motion Block Execution
1003 Accele rating bit3 Accele rating
1004 Decele rating bit4 Decele rating
1005 Steady bit5 Steady
1006 bit6
1007 Stopping bit7 Stopping
MW30170
1008 CCW command bit8 CCW command
RDA
1009 Status
CW command bit9 CW command
1010 bitA
1011 bitB
1012 bitC
1013 bitD
1014 bitE
1015 bitF
1016 bit0
～ MW30171 ～
1031 bitF
1032 - MW30172
1033 Motor Rated Speed MW30173 [rpm]
1034 Encoder Resolution ML30174 Postquaditure value [pulse/rev]
1035 Factor FF ML30176 Feed Forward Gain for Positioning, CAM, Gear [1000=100%]
bit0 Servo ON
bit1 Positive Enabled
1036 Servo Enable Type MW30177
bit2 Negative Enabled
bit3 -
Move Type
0 = Stop
1 = Jog
2 = Move Relative
3 = Move Absolute
1037 Move State MW30178
4 = Move Addtive
5 = Home
6 = Latch Target
7 = Gear
8 = CAM
1038 Block Running MW30179 Indicates number of block last ran.
bit0 Running
bit1 Faulted
1039 Run Status MW30180
bit2 Aborted
bit3 -
bit0 No Home Switch
bit1 Over Travel
bit2 Time Out
bit3 Value to Great
bit4 Direction Not Allowed
bit5 Pos Error
bit6 No Motor Power
bit7 Servo Alarm
1040 Error ID 1 MW30181
bit8 Clear Pending Error
bit9 Track Fail
bitA RDA Error
bitB Error Stop
bitC Table Error
bitD Servo Off
bitE -
bitF -
1041 Error ID 2 MW30182 Spare
1042 - MW30183
1043 - ML30184
1044 Module Number MW30186 Module Nummber
1045 Axis Number MW30187 Axis Nummber
- - MW30188
- - MW30189
- - ML30190
- - MW30192
- - MW30193
- - ML30194
- - MW30196
- - MW30197
- - MW30198
- - MW30199

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 MP2000 Quick Reference Guide Rev1.21

Function Block Specification / Reserved Data Area Access ３／４

RDA# Datas Name M-Register Detail Remarks
- Run Status-1 MW30200 IW8000 - Run Status (IWC000)
- Run Status-2 MW30201 IW800C - Position Status (IWC000)
- Servo Status MW30202 IW802C - Servo Status (IWC001)
- MW30203 - (ILC002)
- Target Position ML30204 IL8010 - Target Position (ILC002)
- Latched Position ML30206 IL8018 - Latched Position (ILC006)
- Actual Position ML30208 IL8016 - Acutal Position (ILC008)
- Command Status MW30210 IW8009 - Motion Command Status (IWC015)
- Command Response MW30211 IW8008 - Motion Command Response (IWC014)
- Alarms ML30212 IL8004 - Alarm (ILC022)
- Warning ML30214 IL8002 - Warning
- Servo Alarm Code MW30216 IW802D - Servo Alarm Code (IWC024)
- Servo DI Monitor MW30217 IW802E - Servo DI Monitor (IWC025)
- Speed Ref. Monitor ML30218 IL8020 - Speed Reference Monitor (ILC026)
- Feedback Speed ML30220 IL8040 - Feedback Speed Monitor

- Run Mode MW30240 OW8000 - Run Mode (OWC000)

- Run Command-1 MW30241 OW8003 - Filter, User Unit
- Run Command-2 MW30242 OW8004 - Latch Signal Selection
- Run Command-3 MW30243 OW8005 - Zero point return INPUT Siganal
- ML30244 -
- Accel Time ML30246 OL8036 - Acceleration time (OWC00C)
- Decel Time ML30248 OL8038 - Deceleration time (OWC00D)
- Speed Reference ML30250 OL8010 - Speed Reference (OLC022)
- Position Reference ML30252 OL801C - Position Reference (OLC012)
- Position Offset ML30254 OL8048 - Position Offset (OLC006)
- Ext. Travel Distance ML30256 OL8046 - External travel distance for latch target (OLC024)
- Filter Time MW30258 OW803A - Filter Time (OWC014)
- Motion Command Code MW30259 OW8008 - Motion Command Code (OWC020)
- Motion Command Bits MW30260 OW8009 - Motion Command Control Bits (OWC021)
- ZRN Mode MW30261 OW803C - Zero point return method
- Approch Speed ML30262 OL803E - Approch Speed
- Creap Speed ML30264 OL8040 - Creap Speed
- Zrn. Travel Distance ML30266 OL8042 - Zrn travel distance

1200 Buf0 Abs Pos -L ML30280 Buf0 -Absolute Position at Power OFF (Lower 2word)
1201 Buf0 Abs Pos -U ML30282 Buf0 -Absolute Position at Power OFF (Upper 2word)
1202 Buf0 Mod Pos -L ML30284 Buf0 -Modularized Position at Power OFF (Lower 2word)
1203 Buf0 Mod Pos -U ML30286 Buf0 -Modularized Position at Power OFF (Upper 2word)
1204 Buf1 Abs Pos -L ML30288 Buf1 -Absolute Position at Power OFF (Lower 2word)
1205 Buf1 Abs Pos -U ML30290 Buf1 -Absolute Position at Power OFF (Upper 2word)
1206 Buf1 Mod Pos -L ML30292 Buf1 -Modularized Position at Power OFF (Lower 2word)
1207 Buf1 Mod Pos -U ML30294 Buf1 -Modularized Position at Power OFF (Upper 2word)

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 MP2000 Quick Reference Guide Rev1.21

Function Block Specification / Reserved Data Area Access ４／４

RDA# Datas Name M-Register Detail
1057 - -
1058 - -
1059 - -
1060 CAM Type bit0 OFF:Return ON:One way
1061 Positive Cyc End bit1 On when CAM Master position, includes CAM-Shift, rolled over in positive direction.

1062 Negative Cyc End bit2 On when CAM Master position, includes CAM-Shift, rolled over in Negative direction.

1063 bit3
1064 bit4
1065 bit5
1066 bit6
1067 bit7
MW56000
1068 bit8
CAM
1069 Status
bit9
1070 bitA
1071 bitB
1072 bitC
1073 bitD
1074 bitE
1075 bitF
1076 bit0
～ MW56001 ～
1091 bitF
bit0 Disengaged
bit1 Waiting to Engage
1092 CAM Status MW56002 bit2 CAMing is Locked
bit3 Waiting to Disengage
bit4 -
1093 TABLE Size MW56003 Cam Table Size
1094 CAMshift ML56004 Absolute CAM Shift amount [count]
1095 SLAVE offset ML56006 Absolute Offset amount [count]
1096 CAM Scale ML56008 Absolute Acale amount [0.01%]
1097 Machine Cycle ML56010 Machine Cycle [count]
1098 Data Counter ML56012 Raw master data for master-slave pair [count]
1099 ModData ML56014 Modulated master data for master/slave pair. [count]
1100 M-S Block ML56016 ???
1101 - -
1102 - -
1103 - -
1104 - -
bit0 Disengaged
bit1 Accelerating
1105 GEAR state MW56020 bit2 Gearing is locked and synched
bit3 Decelerating
bit4 -

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 MP2000 Quick Reference Guide Rev1.21

Motion Program Startup Procedure

First complete the MP2000 Startup Procedure

Motion Program
Step Instruction Detail
In the Program window on the left, click the Motion tab.
1 Start a new Motion Program Expand the folders, and R-click Main Program. Select New.
Give it a name and click OK.
There are no commands for SERVO ON or JOG in the
Things to know before a Motion
2 Motion Programming Language. These steps are to be
Program is started
accomplished in Ladder.
First line must be 'MPM001' and last line must be 'END;'.
Instructions terminate with semicolon. Comments enclosed
3 Write Motion Program in quotes ("comment"). Refer to Motion Programming User
Manual (SIEZ-C887-1.3) for extensive details on each
command.
4 Save Motion Program Use save icon.

Call From Ladder

Step Instruction Detail
MSEE is located under the "Motion" group under the Ladder
Instruction tab It can only be used in an H-drawing. Define
a starting address for the four 16-bit work registers in the
1 Use the MSEE instruction
Data field. Often DA00000 is used defining DW00000
through DW00003, but be sure to use M or D registers that
are not used elsewhere.

All axes in the group must have: 1) Servo On, 2) Motion

Command Code =0 and not continually updated to 0, 3) No
2 Rules before starting other motion program in same group runnin, in alarm, or
paused, 4) SERVOPACK self-writing function disabled -
FixedParameter 1 bit A=1.

Bit 0 of the second word defined in the Data field

(DB000010 in the above example) must go high for the
3 Start the motion program
motion program to start. See Motion Program Work
Registers in this QRG for more information.

Ladder code must not manipulate Motion Command Code,

unless motion language is not using the Motion Command
4 Rules while running
Code register the time, and proper interlocks are used to
flag the ladder code

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 MP2000 Quick Reference Guide Rev1.21

Motion Program Work Registers for MSEE instruction

OUTPUT (Motion Program Status)

DW00000
Bit Name Description
DB000000 Program Running ON while running The "Data" field of the
DB000001 Program Paused ON while paused MSEE instruction defines
the address for the output
1st Work Register

program stopped with

DB000002 ON when stopped and input registers of the
program stop request
Program in Debug (Single motion program.
DB000004 ON during debug via ladder (registers)
Block) Mode
DB000008 Program Alarm ON when Motion Program Alarm has occurred Ex: DA00000 means that
DB000009 Stopped at Break Point DW00000 through
DB00000B Program Debugging Mode ON during Windows (EWS) debug mode DW00003 will be used.
DB00000D Start request signal history ON during request
ON when another Motion Program in the same group has started while this
DB00000E Program Duplication Error
program is running
DB00000F Program Number Limit Error ON when the number of steps in program exceeded maximum

INPUT (Motion Program Control Signals)

DW00001
Bit Name Description
DB000010 Program Start Request ON with rising edge. (if it CAN start it will, otherwise alarm)
DB000011 Program Pause Request ON will pause motion blocks
DB000012 Program Stop Request ON will stop all group motion and exit the Motion Program
2nd Work Register

DB000013 Program Debug Mode Select "Single block mode". ON will force debugging mode
DB000014 Program Debug Start "Single Block Mode" start. ON (transition) debug block by block
DB000015 Program alarm Reset ON will clear the program alarm (stop program before issuing alarm reset)
Program Continuous
DB000016 ON will cause program to ….
Operation Start Request
ON will cause the program to skip an interpolated motion block if the SKP ss1
DB000018 Block Skip 1 Operation
instruction was used instead of MVS
ON will cause the program to skip an interpolated motion block if the SKP ss2
DB000019 Block Skip 2 Operation
instruction was used instead of MVS
System Work Number
DB00001D ON Sets system work register number with 4th word of MSEE work register
Setting
Interpolation Override
DB00001E ON activates the interpolation override speed with the 3rd MSEE work register
Setting
3rd Work

INTERPOLATION OVERRIDE (Speed)

Register

The speed set in this register [0.01% of FMX] will override the interpolation speed set in the motion program
DW00002 (F & IFP commands) when bit E of the 2nd word of the MSEE work register is ON

SYSTEM WORK REGISTER

4th Work
Register

The system work register number in this register will be used when bit D of the 2nd word of the MSEE work
DW00003 register is ON. Otherwise the system work register number will be automatically defined by the system and
may be different each time.

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 MP2000 Quick Reference Guide Rev1.21

Reference Units (User Units)

KEY NOTES:
* RU = "reference unit" = "user unit" - fraction of the measurement system * Register Addresses assume Circuit#1, Axis#1
* FP = Fixed Parameter * Default Positioning units are [encoder pulses (post quad)]
* MCC = Motion Command Code (OWxx08) * Default Speed Reference units are [1000 pulses/min]
* Register Values given for Circuit#1, Axis#1 * Default Accel/Decel units are [ms to rated motor rpm]
* Bold type represents default setting * Default FP1.A=1 autmatically transfers accel/decel to servopack
* MPE720 5.31B "Units" in module configuration do not update
* Basic Module User Manual (SIEPC88070003B) lists incorrect unit defaults

FP34: Rated Speed [RPM] (Default 3000)

RU = FP4 *10^-n
OL8010: Speed Reference [select unit OW8003.0-3] (Default 3000)
FP4 = RU Measurement
0: [RU/sec] . System
1: [10^n RU/min] 0: Pulse (post quad)
2: [% of Rated Speed (FP34)] 1: mm
OL801C: Position Reference [RU] n = 3 when FP4=0 (pulse) 2: deg
or n = FP5 when FP4<>0 3: inch
OL8044: Step Distance [RU] 4: micron
OB80092 = Step Direction
If PULSE is not chosen for the measurement
system use the following parameters to define the
relationship between PULSE and RU.
FP36: Encoder Pulses (post quad) per motor rev
FP8: Motor Revs into gearbox
Servopack Pn80B: Acceleration Rate Servopack Pn80E: Deceleration Rate FP9: Machine Shaft Revs out of gearbox
[10,000 RU/sec^2] (Default 65535) [10,000 RU/sec^2] (Default 65535) FP6: RU per Machine Shaft Revolution
Use MCC=10 Use MCC=11
to change to change
FP1.A=1 Acceleration Deceleration FP1.A=1 36 8 9
Update at power up or when FP1.A=0 when FP1.A=0 Update at power up or
Motor G.B. 6
when changed when changed
OL8036: Acceleration [select unit OW8003.4-7] (Default 0) OL8038: Deceleration [select unit OW8003.4-7] (Default 0) For an "Infinite Length" Axis
0: [RU/sec^2] 0: [RU/sec^2] * Rotary Table
1: [ms to Rated Speed (FP34)] 1: [ms to Rated Speed (FP34)] * Conveyor
FP1 bit0: Set axis type to "Infinite
OL8036/OL8038 =0 sets servopack acceleration/deceleration rate to Length"
65535[10,000 RU/sec^2], independent of unit selected in OW8003.4-7 FP10: Set R.U. per rotation.
This will be 360 degrees
(converted to R.U.) for a rotary
table.

Page 23 of 25
 MP2000 Quick Reference Guide Rev1.21

Recommended Tuning Practice

Tune Servopack using any preferred tools and methods available
Digital Operator – Rigidity Fn001, etc

SigmaWin (Serial Communication not officially supported with SGDH+NS115)

Tuning Function Block

Register / Parameter Manipulation in Module Configuration
MotionWorks SCOPE tool

Save the Servopack parameters to the Project, Servopack Flash, and MP2000 Flash

SVB module configuration SERVOPACK tab, use"Edit" menu, and choose “Copy Current
Value” to update servopack parameters to project. Repeat for each axis.

SVB module configuration SERVOPACK tab, use the SAVE button to save these current
Save project and save to flash.

Adjust the tuning register defaults that are written from the controller to Servopack at power-
up
In SVB module configuration "Setting Parameters" tab, Manually set all five OWxxxx tuning
registers to match the ServoPack parameters

Tuning Parameter (Variable) MP2000 ServoPack

Gain.PositionLoop OWxx2E Pn102
Gain.SpeedLoop OWxx2F Pn100
Gain.PositionFeedForward OWxx30 Pn109
Gain.PositionIntegration OWxx32 Pn11F
Gain.SpeedIntegration OWxx34 Pn101
Torque Reference Filter - Pn401
Notch Filter - Pn409
The tuning parameter values (OWxxxx) in the MP2000 write to the ServoPack at
POWER-UP and whenever they are CHANGED
(1) Are written to by Servopack Pn value at Automatic Self-Configuration
(2) Write to the Servopack Pn at power-up*
(3) Write to the Servopack Pn whenever they are changed*
* When Fixed Parameter #1 bit A =0 (Default=0: automatic updating enabled)
See Ch 11.3.1

Write the tuning parameters (and all parameters) in the program

Use the L20.xx drawings according to Best Practice

Page 24 of 25
 MP2000 Quick Reference Guide Rev1.21

Terminology Synonyms and Definitions

Parameter Register
Reference Unit (R.U.) Command Unit
User Unit Base unit such as mm, inch, degree.
Module # Circuit #
MotionWorks MPE720
Motion Command Motion Command Code
Motion Programming Motion Language (Structured Text)

Register Offsets
Offset Start Note
Per Axis 80h IW8000 / OW8000
Per Module / Circuit 800h IW8000 / OW8000
Function Block per axis 200 MW30100
Function Block Master-Slave 50 MW56000

Page 25 of 25