YASKAWA JEPMC-MP2300-Y Series User manual

MP2300 Machine Controller
Basic Module User’s Manual
Model Number: JEPMC-MP2300-Y

Copyright ©2002 YASKAWA ELECTRIC CORPORATION
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system,
or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording,
or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed
with respect to the use of the information contained herein. Moreover, because Yaskawa is con-
stantly striving to improve its high-quality products, the information contained in this manual is
subject to change without notice. Every precaution has been taken in the preparation of this
manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is
any liability assumed for damages resulting from the use of the information contained in this
publication.

iii
Using this Manual
The MP2300 is a compact Machine Controller that contains the power supply, the CPU, I/O,
and the communication functions in one single unit.
Please read this manual to ensure correct usage of the MP2300 system. Keep this manual in
a safe place for future reference.
Basic Terms
Unless otherwise specified, the following definitions are used:
Manual Configuration
Read the chapters of this manual as required by the purpose.
• MP2300: MP2300 Machine Controller
• PC: Programmable Logic Controller
• PP: Programming Panel
• MPE720: The Programming Device Software or a Programming Device (i.e., a personal computer) running the Pro-
gramming Device Software
Chapter
Selecting
Models and
Peripheral
Devices
Studying
Specifications
and Ratings
Designing
the System
Installation
and Wiring
Trial
Operation
Maintenance
and
Inspection
Chapter 1
Overview of the MP2300
√−−−−−
Chapter 2
System Startup and Sample
Programs
√−−−−−
Chapter 3
Module Specifications
−−−−√−
Chapter 4
Mounting and Wiring
√√√√−−
Chapter 5
Outline of Motion Control
Systems
−√√√−−
Chapter 6
Motion Parameters
−−√−√−
Chapter 7
Motion Commands
−−√−√−
Chapter 8
Control Block Diagrams
−−√−√√
Chapter 9
Absolute Position Detection
−−√−√√
Chapter 10
Utility Functions
−−−−−√
Chapter 11
Precautions for Using the
MP2300
−−−−√√
Chapter 12
Maintenance and
Inspection
√−√−√√

iv
■Graphic Symbols Used in this Manual
The graphic symbols used in this manual indicate the following type of information.
■Indication of Reverse Signals
In this manual, the names of reverse signals (ones that are valid when low) are written with a
forward slash (/) before the signal name, as shown in the following example:
Notation Examples
Related Manuals
The following table lists the manuals relating to the MP2500(M). Refer to these manuals as
required.
This symbol is used to indicate important information that should be memorized or minor precautions,
such as precautions that will result in alarms if not heeded.
• S-ON =Å@/S-ON
• P-CON =Å@/P-
CON
Manual Name Manual Number Contents
Machine Controller MP2300 Communication
Module
User’s Manual
SIEP C880700 04Describes the functions, specifications, and appli-
cation methods of the MP2300 Communication
Modules (217IF, 218IF, 260IF, 261IF).
Machine Controller MP900/MP2000 Series
User’s Manual, Ladder Programming
SIEZ-C887-1.2Describes the instructions used in MP900/
MP2000 ladder programming.
Machine Controller MP900/MP2000 Series
User’s Manual
Motion Programming
SIEZ-C887-1.3Describes the instructions used in MP900/
MP2000 motion programming.
Machine Controller MP900/MP2000 Series
MPE720 Software for Programming Device
User’s Manual
SIEP C880700 05Describes how to install and operate the MP900/
MP2000 Series programming system (MPE720).
ΣSeries SGM/SGD
User’s Manual
SIEZ-S800-26.3Describes the ΣSeries SERVOPACK models,
specifications, and capacity selection methods.
ΣSeries SGM/SGD
User’s Manual
High-speed Field Network
MECHATROLINK-compatible AC Servo Drivers
SIEZ-S800-26.4Describes the ΣSeries SERVOPACK models,
specifications, and capacity selection methods.
Σ-II Series
SGMH/SGDM User’s Manual
SIEP S8000 05Describes the installation, wiring, trial operation,
function applications methods, maintenance, and
inspection of the Σ-II Series SERVOPACKs.
Σ-II Series
SGMH/SGDM User’s Manual
SIEP S8000 15Describes the installation, wiring, trial operation,
function applications methods, maintenance, and
inspection of the Σ-II Series SERVOPACKs.
Σ-III Series SGMH/SGDS
User’s Manual
SIEP S800000 00Describes the models, specifications, wiring, trial
operation, adjustment, function application meth-
ods, maintenance, and inspection of the Σ-III
Series SERVOPACKs and Servomotors.
Σ-III Series SGMS/SGDS Digital Operator
Operating Instructions
TOBEP S800000
01
Describes the operating methods of the JUSP-
OP05A Digital Operator.

v
Copyrights
Safety Information
The following conventions are used to indicate precautions in this manual. These precautions are
provided to ensure the safe operation of the MP2500(M) and connected devices. Information marked
as shown below is important for the safety of the user. Always read this information and heed the pre-
cautions that are provided.
The conventions are as follows:
Σ-III Series SGMS/SGDS
MECHATROLINK-II
SERVOPACKs with Communication User’s
Manual
SIEP S800000 11Describes the models, specifications, wiring, trial
operation, adjustment, function application meth-
ods, maintenance, inspection, and MECHA-
TROLINK communication of the Σ-III Series
SERVOPACKs and Servomotors.
Machine Controller MP900/MP2000 Series
Linear Servomotor Manual
SIEP C880700 06Describes the connection methods, setting meth-
ods, and other information for Linear Servomo-
tors.
Machine Controller MP900/MP2000 Series
New Ladder Editor User’s Manual
Programming Manual
SIEZ-C887-13.1Describes the programming instructions of the
New Ladder Editor, which assists MP900/
MP2000 Series design and maintenance.
Machine Controller MP900/MP2000 Series
New Ladder Editor User’s Manual
Operation
SIEZ-C887-13.2Describes the operating methods of the New Lad-
der Editor, which assists MP900/MP2000 Series
design and maintenance.
Machine Controller MP900/MP2000 Series
User’s Manual, MECHATROLINK System
SIEZ-C887-5.1Describes MECHATROLINK distributed I/O for
MP900/MP2000 Series Machine Controllers.
Manual Name Manual Number Contents
• DeviceNet is a registered trademark of the ODVA (Open DeviceNet Venders Association).
• PROFIBUS is a trademark of the PROFIBUS User Organization.
• Ethernet is a registered trademark of the Xerox Corporation.
• Microsoft, Windows, Windows NT, and Internet Explorer are registered trademarks of the Microsoft Corporation.
• Pentium is a registered trademark of the Intel Corporation.
• Other product names and company names are the trademarks or registered trademarks of the respective company. “TM”
and the mark do not appear with product or company names in this manual.
Indicates precautions that, if not heeded, could possibly result in loss of life, serious
injury, or property damage.
Indicates precautions that, if not heeded, could result in relatively serious or minor
injury, or property damage.
If not heeded, even precautions classified under can lead to serious results
depending on circumstances.
Indicates prohibited actions. Specific prohibitions are indicated inside .
For example, indicates prohibition of open flame.
Indicates mandatory actions. Specific actions are indicated inside .
For example, indicates mandatory grounding.
WARNING
CAUTION
CAUTION
PROHIBITED
MANDATORY ●

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

vii
Storage and Transportation
Installation
• Do not store or install the MP2300 in the following locations.
There is a risk of fire, electrical shock, or device damage.
• Direct sunlight
• Ambient temperature exceeds the storage or operating conditions
• Ambient humidity exceeds the storage or operating conditions
• Rapid changes in temperature or locations subject to condensation
• Corrosive or flammable gas
• Excessive dust, dirt, salt, or metallic powder
• Water, oil, or chemicals
• Vibration or shock
• Do not overload the MP2300 during transportation.
There is a risk of injury or an accident.
• Never use the MP2300 in locations subject to water, corrosive atmospheres, or flammable gas, or
near burnable objects.
There is a risk of electrical shock or fire.
• Do not step on the MP2300 or place heavy objects on the MP2300.
There is a risk of injury.
• Do not block the air exhaust port or allow foreign objects to enter the MP2300.
There is a risk of element deterioration inside, an accident, or fire.
• Always mount the MP2300 in the specified orientation.
There is a risk of an accident.
• Do not subject the MP2300 to strong shock.
There is a risk of an accident.
CAUTION
CAUTION

viii
Wiring
Selecting, Separating, and Laying External Cables
• Check the wiring to be sure it has been performed correctly.
There is a risk of motor run-away, injury, or an accident.
• Always use a power supply of the specified voltage.
There is a risk of burning.
• In places with poor power supply conditions, take all steps necessary to ensure that the input power
supply is within the specified voltage range.
There is a risk of device damage.
• Install breakers and other safety measure to provide protection against shorts in external wiring.
There is a risk of fire.
• Provide sufficient shielding when using the MP2300 in the following locations.
There is a risk of device damage.
• Noise, such as from static electricity
• Strong electromagnetic or magnetic fields
• Radiation
• Near to power lines
• When connecting the battery, connect the polarity correctly.
There is a risk of battery damage or explosion.
• Consider the following items when selecting the I/O signal lines (external cables) to connect the
MP2300 to external devices.
• Mechanical strength
• Noise interference
• Wiring distance
• Signal voltage, etc.
• Separate the I/O signal lines from the power lines both inside and outside the control box to reduce
the influence of noise from the power lines.
If the I/O signal lines and power lines are not separated properly, malfunctioning may result.
CAUTION
CAUTION
鉄板製のセパレータ
ディジタル
入出力信号
ケーブル
一般制御回路
のケーブル
動力回路の
ケーブル
外部配線の分離例
Example of Separated External Cables
Steel separator
Power
circuit
General
control
Digital I/O
signal

ix
Maintenance and Inspection Precautions
Disposal Precautions
• Do not attempt to disassemble the MP2300.
There is a risk of electrical shock or injury.
• Do not change wiring while power is being supplied.
There is a risk of electrical shock or injury.
• When replacing the MP2300, restart operation only after transferring the programs and parameters
from the old Module to the new Module.
There is a risk of device damage.
• Dispose of the MP2300 as general industrial waste.
CAUTION
CAUTION

x

xi
Variable Tables
System Variable Table (Tree View)
The following table lists details on the system variables provided by MPE720 version 6.
Variable Name Register Comments
OnCoil SB000004 Always ON
Clock - Calendar
DayOfWeek SW00019 Calendar:Day of week
HoursMinutes SW00017 Calendar:Hours Minutes
MonthDate SW00016 Calendar:Month Day
Second SW00018 Calendar:Seconds
Year SW00015 Calendar:Year
CPU - Controller
Error - CPU Error Status
Exception SB000413 Exception Error
Failure SB000410 Important Failure
IOError SB000419 I/O Error
ProgramError SB000418 User Calculation Error
Info - CPU Information
MemorySizeAvailable SL00026 Available PRG Memory (BYTE)
MemorySizeTotal SL00028 All Module Memory (BYTE)
SoftwareVersion SW00020 System Program Software Number
Status - CPU Status
Alarm SB000402 ALARM (1=Warning,0=Normal)
BatteryAlarm SB000487 Battery Alarm (1=Alarm)
Error SB000403 ERROR (1=Unusual,0=Normal)
Ready SB000400 READY (1=Normal,0=Converse/Own
Diagnose Unusual)
Running SB000401 RUN (1=Driving,0=Driving Stop)
RunSwitch SB00040F RUN switch status at power is on
(1=RUN,0=STOP)
Stopped SB00040E Running Stop Require
(From EWS:1=STOP,0=RUN)
WriteEnable SB000407 WEN (Write:1=Possible,0=Impossible)
WritingToFlash SB000406 FLASH (1=FLASH Driving)
Switches - CPU Switch
Configure SB000482 CNFG (0=ON,1=OFF)
Initialize SB000483 INIT (0=ON,1=OFF)
Stop SB000485 STOP (0=ON,1=OFF)
ErrorHigh - High-Speed Program Error
Code SW00085 High-Speed Program Error Code
Count SW00084 High-Speed Program Error Count
ProgramNumber SW00154 Error Program Number
ReferProgramNumber SW00155 Function Program Number
ReferStep SW00156 Function Program Step Number

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

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

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

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

xvi
Axis Motion Parameters (Tree View)
The following table lists the axismotion parameters registered for each logical axis.
Register address IW (IB/IL/IF/IA) xx00 indicates the leading input register address +00.
Register address OW (OB/OL/OF/OA) xx00 indicates the leading output register address +00.
Variable Name Register Comments
Acceleration OLxx36 Acceleration Value, units selected by UnitsWord
(OWxx03)
Alarm -Alarm
ABSEncoderOverrange IBxx053 Absolute encoder number of rotations exceeded alarm
Active IBxx2C0 Servo status ALM
Code IWxx2D Servo Alarm Code
AllMask ILxx04 Alarm mask
Clear OBxx00F Clears servo alarms.
FilterTimeChanged IBxx04B Filter time constant changed while in motion alarm
FilterTypeChanged IBxx04A Filter type changed while in motion alarm
FollowingError IBxx049 Following error exceeded alarm
HomingWhileMoving IBxx04E Zero point set while in motion alarm
MonitorNumber OWxx4F This value determines which of the last 10 alarm
codes are returned.
NegativeOvertravel IBxx041 Positive overtravel alarm
NegativeSoftLimit IBxx044 Negative software limit alarm
NegativeSoftLimitN IBxx2CD Servo status N SOT
NetworkServo IBxx040 Servo alarm
NotHomed IBxx04D Zero point not set alarm
OutOfRangeParameter IWxx01 Parameter number that is over range
PositionCompletionTimeOut IBxx046 Positioning timeout alarm
PositionValueOutOfRange IBxx047 Positioning out of range alarm
PositiveOvertravel IBxx042 Negative overtravel alarm
PositiveSoftLimit IBxx043 Positive software limit alarm
PositiveSoftLimitN IBxx2CC Servo status P SOT
ServoCommandTimeout IBxx052 Servo command timeout alarm
ServoCommunication IBxx051 Servo communication alarm
ServoCommunicationTimeout IBxx050 Servo communication synchronization alarm
ServoNotEnabled IBxx045 Servo OFF alarm
ServoParameterOutOfRange IBxx04F Servo parameter alarm
SpeedOutOfRange IBxx048 Speed out of range alarm

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

xviii
Gain -Gain
IntegralClear
OB xx0 0B Resets position loop integral value.
PhaseFeedForward OWxx31 Add to the speed in 0.01%
PositionFeedForward OWxx30 Feed Forward adds to the position to increase
response
PositionIntegration OWxx32 Time in ms used to integrate the position error
PositionLoop OWxx2E Increase value for more rigid control.
Select OBxx014 Enables second set of servo gain parameters.
SpeedIntegration OWxx34 Time in ms used to integrate the speed error
SpeedLoop OWxx2F Increases value for more rigid dampening.
SpeedLoopType OBxx013 Closes speed loop using Proportional and Integral
control(0) or P control(1).
Home -Home
ApproachSpeed OLxx3E Speed used in the first or second stage of homing
depending on type
AtHome IBxx0C4 At home position (ZERO)
AtHomeN IBxx2C6 Servo status ZPOINT
Complete IBxx0C5 Home complete
CompleteWindow OWxx3D The window used to set the home complete bit
CreepSpeed OLxx40 Speed used to locate the "c" channel or marker pulse
DecelerationLS OBxx058 Selects homing deceleration LS signal.
Define OLxx48 Redefine the coordinate system. In position mode, the
servo will move when this variable is changed.
Direction OBxx093 Selects home direction.
ForwardLimit OBxx05A Selects homing forward limit signal.
InputSelect OBxx05B Selects homing input signal.
Method OWxx3C The type of homing to perform
Offset OLxx42 Offset distance used at the end of homing
ReverseLimit OBxx059 Selects homing reverse limit signal.
IO -IO
All IWxx2E Servo I_O mask
Brake IBxx2E9 Servo I_O BRK
EXT1 IBxx2E6 Servo I_O EXT1
EXT2 IBxx2E7 Servo I_O EXT2
EXT3 IBxx2E8 Servo I_O EXT3
Home IBxx2E2 Servo I_O DEC
IO12 IBxx2EC Servo I_O IO12
IO13 IBxx2ED Servo I_O IO13
IO14 IBxx2EE Servo I_O IO14
IO15 IBxx2EF Servo I_O IO15
NegativeOvertravel IBxx2E1 Servo I_O N OT
PhaseA IBxx2E3 Servo I_O PA
PhaseB IBxx2E4 Servo I_O PB
PhaseC IBxx2E5 Servo I_O PC
PositiveOvertravel IBxx2E0 Servo I_O P OT
(continued)
Variable Name Register Comments

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

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