YASKAWA MOTIONPACK-110 Owner's manual

I DESCRIPT,IVE INFORMATION
MOTIONPACK-110
YASKAWA MOTION CONTROLLER FOR FA/FMS
FOR UP TO 3-AXIS DRIVE
V
YASKAWA

CONTENTS
1. INTRODUCTION2
2. SYSTEM 6
2.1 GENERAL 6
2.2 SYSTEM CONFIGURATION AND SPECIFICATIONS 7
2.3 FUNCTIONS AND OPERATION OF MODULES 11
2.3.1 Operation of Motion Modules 11
2.3.2 Operation of Axis Modules 12
2.3.3 Operation of Micro PC Modules 14
2.3.4 Operation of CRT Control Station 15
2.4 GENERAL SPECIFICATIONS OF MODULES 15
3. FUNCTIONS 22
3.1 TYPES OF OPERATION MODES 22
3.1.1 Editing Mode (EDIT) 22
3.1.2 Memory Operation Mode (MEM) 23
3.1.3 Jogging Mode (JOG) 23
3.1.4 Step Operation Mode (STEP) 23
3.1.5 Rapid Traverse Motion Mode (RAPID) 23
3.1.6 Manual Feed Mode (HANDLE) 24
3.1.7 DNC Operation Mode (DNC) 24
3.1.8 MDI Operation Mode (MDI) 24
3.2 MANUAL RETURN TO REFERENCE POINT 24
3.3 FEEDRATE 26
3.3.1 Rapid Traverse Rate 26
3.3.2 Interpolation Feedrate Setting (F-FUNCTION) 27
3.4 FEEDRATE ACCELERATION/DECELERATION 29
3.4.1 Acceleration/Deceleration During Rapid Traverse and Jogging 29
3.4.2 Acceleration/Deceleration During Interpolation Feed 30
3.5 MEMORY OPERATION 30
3.5.1 Program Designation and Starting 30
3.5.2 Temporary Stop 31
3.5.3 Single-Block Operation 31
3.5.4 Machine Lock Operation 3I
3.5.5 Axis Omission 32
3.5.6 Optional Block Skip Function 32
3.5.7 Manual Interruption of Automatic Operation 32
3.5.8 Block Preread 32
3.6 DNC OPERATION 33
3.7 UNRESTRICTED LENGTH POSITIONING 33
3.8 POSITION CANCEL 33
3.9 POSITION MEMORY 34
3.10 MECHANICAL HANDLE 34
]I

3.11 SPINDLE CONTROL FUNCTION
34
3.11.1 Normal Rotation, •Reverse Rotation, and Stop of Spindle 35
3,11.2 Spindle Gear Change 35
3.12 MDI OPERATION 36
3.12.1 Program Input in MDI Mode 36
3.12.2 Operation in MDI Mode 36
3.13 ADDRESS SEARCH FUNCTION 36
3.14 PARAMETER/PROGRAM PROTECT FUNCTION 37
3.15 ALARM CODE ouTPUT FUNCTION 38
4.PROGRAMMING 40
4.i INPUT FORMAT 40
4.1.1 Format List 40
Input
4.1.2 Address Characters 41
4.1.3 Decimal Point Programming 42
4.1.4 Decimal Point Movement 42
4.1.5 Program Number 44
4.1.6 Sequence Number 44
4.1.7 Optional Block Skip 44
4.2 G FUNCTION 45
4.2.1 List of G Codes 45
D 4.2.2 Positioning (G00) 47
4:2.3Error-Detect-Off Positioning (G06) 47
4.2.4 Linear Interpolation (G01) 48
4.2.5 Circular Interpolation (G02, G03) 48
4.2.6 Dwell (G04) 51
4.2.7 Offset Value Input (G10) 51
4.2.8 Plane Designation (G17, G18, G19) 53
4..2.9 Automatic Return-to-Reference Point (G28) 53
D 4.2.10 Skip Function (G31) 54
4.2.11 Position Offset in Z-Axis (G43, G44, G49) 55
4.2.12 Position Offset in X- and Y-Axes (G45 to G48) 57
4.2.13 Return-to-Machine Coordinate System (G53) 61
4.2.14 Notch Signal Commands A (G68, G69) 62
4.2.15 Notch signal Commands B (G66, G67) 63
4.2.16 Combined Operation Commands (G80 to G99) 65
4.2.17 Absolute/Incremental Command Designation (G90, G91) 74
4.2.18 Programming of Absolute Zero Point (G92) 75
4.3 EXTERNAL OFFSET COMMAND (INDIRECT SPECIFICATION) 76
4.4 SIGNAL OUTPUT COMMANDS 77
4.4.1 T-Functi0n 77
4.4.2 M-Function 78
D 4.4.3 M-Codes for Stop (MOO, M02, M30) 79
4.4.4 M-Codes for Internal Processing (M90 to M99) 80
4.4.5 Subprogram (M98, M99) 80
4.5 S FUNCTION 81

CONTENTS 'Cont'd)-
5. PARAMETERS 84
5.1 DESCRIPTION OF PARAMETERS 84
5.2 VARIETIES OF PARAMETERS 84
5.3 SYSTEM SPECIFICATION PARAMETERS 86
5.3.1 Setting Axis for Use (#1000) 86
5.3.2 Function Selection (#1001, #1002, #1003, #1005, #1006, #1009) 87
5.3.3 MF, SF, TF Signal Delay Time Setting (#1100) 90
5.4 SPECIAL PARAMETERS 90
5.4.1 Position Command Unit Setting (#1557, #1558, #1757, #1758, #1957, #1958) 90
5.5 MACHINE SPECIFICATION PARAMETERS 94
5.5.1 Max. Feedrate Setting at Manual Feed (#1101) 94
5.5.2 Interpolation Max. Feedrate Setting (#1102) 94
5.5.3 Jogging Feedrate Setting (#1104 to #1118) 94
5.5.4 Rapid Traverse Feedrate Setting (#1500, #1700, #1900) 95
5.5.5 Step Feed Displacement Distance Setting (#1122, #1123, #1124) 96
5.5.6 Software Limit Switch Function
(#1402, #1602, #1802, #1550, #1551, #1750, #1950, #1751, #1951) 96
5.5.7 Backlash Compensation Value Setting (#1405, #1605, #1805) 97
5.5.8 Pitch Error Compensation
(#1552, #1752, #1952, #1553, #1753, #1953, #1410 to #1473, #1610 to #1673, #1810 to #1873 97
5.5.9 Combined Operation Command (G83) Setting Data (#1202) 99
5.6 SERVO-RELATED PARAMETERS 99
5.6.1 Acceleration/Deceleration Constant
(#1407, #1607, #1807, #1501 to #1503, #1701 to #1703, #1901 to #1903) 99
5.6.2 Interpolation Feedrate Bias (#1475, #1675, #1875) 101
5.6.3 Feedrate Command Voltage Setting (#1408, #1608, #1808) 102
5.6.4 Position Loop Gain (#1474, #1674, #1874) 102
5.6.5 Servo Error Range (#1555, #1755, #1955) 103
5.6.6 Position Setting Range (#1406, #1606, #1806) 103
5.6.7 Drift Offset (#1401, #1601, #1801) 103
5.7 RETURN -TO-REFERENCE POINT 104
5.7.1 Direction of Return-to-Reference Point (#1403, #1603, #1803) 104
5.7.2 Return-to-Reference-Point Approach Feedrate Setting (#1504, #1704,#1904) 105
5.7.3 Return-to-Reference-Point Creep Feedrate Setting (#1505, #1705, #1905) 105
5.7.4 Return-to-Reference-Point Approach Distance (#1556, #1756, #1956) 105
5.7.5 Reference Point Area (#1125) 105
5.8 SPINDLE PARAMETER SETTING 106
5.8.1 Spindle Mode Setting (#2004) 106
5.8.2 Maximum Rotation Speed on Each Gear (#2150, #2151, #2152 106
5.9 NO-USING PARAMETER SETTING 106
6. I/0 ALLOCATIONS108
6.1 I/O SIGNAL TYPES AND ALLOCATION AREA 108
6.2 I/O SIGNAL FORMAT 112
6.3 CAUTIONS ON ALLOCATION 112
IV

6.4 I/O SIGNAL DETERMINATION (PREPARATION FOR ALLOCATION 113
6.5 ALLOCATION METHOD 114
6.5.1 Allocation Operation (Use of Personal Computer) 115
6.5.2Explanation of Allocation Commands 115
,6.6 STANDARD ALLOCATION I17 " 7'
6.7 I/OALLOCATION ADDRESS LIST 122
7. OPERATION OF CRTCONTROL STATION128
7.1 CHARACTER DISPLAY AND KEYS 128
7.1.1 CRT Character Display 128
7.1.2 Function Keys 129
7.1.3 Address Keys 129
7.1.4 Data Keys 130
7.1.5 Next Key 130
7.1.6 Page Keys 131
7.1.7 Cursor Keys 131
7.1.8 Edit Keys 131
7.1.9 Memory Data Keys 132
7.1.10 Reset Key 132
7.2 DISPLAY AND WRITING OPERATION "' 133
7.2.1 General Display f33
7.2.2 Command Data Display 135
7.2.3 Display of Current Position Values 135
7.2.4 Display of Alarm Codes 737
7.2.5 Displaying State of I/0 Signals 738
7.2.6 Display of Registered Program Number 139
7.3 DISPLAYING AND WRITING PARAMETERS 739
7.4 DISPLAYING AND WRITING OFFSET DATA I4!
7.5 EDITING PROGRAMS 143
7.5.1 Program Register and Call 743
7.5.2 Insertion of Programs ]44
7.5.3 Altering Programs 144
7.5.4 Program Erase 745
7.5.5 Search Functions 145
8.PERSONAL COMPUTER 148
8.1 INTERFACE W_TI-t Motionpack-ll0 148
8.2 OPERATINGMETHOD WHEN USING PC-8201 IS1
8.3 DATA INPUT/OUTPUT BETWEEN CRT CONTROL STATION
AND PERSONAL COMPUTER 155
8.3.1 Input of Program from Personal Computer 756
8.3.2 Output of Program to Personal Computer I56
8.3.3 Collation of Program with File in Personal Computer 157
8.3.4 Input of Parameters from Personal Computer I57
8.3.5 Output of Parameters to Personal Computer 758
8.3.6 Input of Offset Data from Personal Computer 758
8.3.7 Output of Offset Data to Personal Computer 759
V

.CONTENTS.(Cont'd)
8.4 DIRECT TRANSMISSION BETWEEN MOTION MODULE
AND PERSONAL COMPUTER 160
8.4.1 Interface between Motion Module and Personal Computer 160
8.4.2 Commands 160
8.5 CREATING PROGRAMS 161
8.5.1 Input of Programs from CRT Control Station 161
8.5.2 Input of Programs from Personal Computer 161
8.5.3 Examples of Programs 161
9. INTERFACE BETWEENEQUIPMENT164
9.1 ITEMS RELATED TO POWER SUPPLY 165
9.1.1 Power-on Sequence 165
9.1.2 Control Power Units 165
9.2 INPUT/OUTPUT AT MACHINE SIDE 168
9.2.1 Rules for Input/Output Signals 168
9.2.2 Detail of Input Signals 171
9.2.3 Detail of Output Signals 181
9.3 CONNECTION BETWEEN MOTION MODULE AND CRT CONTROL STATION
AND PERSONAL COMPUTER 185
9.3.1 Connection between CRT Control Station and Motion Module 185
9.3.2 Connection between Personal Computer and Motion Module 186
9.3.3 Connection between DNC Personal Computer and Motion Module 188
9.4 CONNECTION BETWEEN MOTION MODULE AND AXIS MODULES 189
9.5 CONNECTION BETWEEN AXIS MODULES AND Servopack, TG AND PG 190
9.5.1 Connection between Axis Modules and Servopack 190
9.5.2 Connection between Axis Modules and TG and PG 191
9.6 CONNECTION BETWEEN AXIS MODULES AND SPINDLE DRIVES 193
9.7 CONNECTION BETWEEN MICRO PC MODULE
AND MOTION MODULE/PERSONAL COMPUTER 194
9.7.1 Connection between Micro PC Module and Motion Module .194
9.7.2 Connection between Micro PC Module and Personal Computer 195
9.8 CONNECTION BETWEEN MANUAL PULSE GENERATOR AND MOTION MODULE 196
9.9 CONNECTOR TERMINAL NUMBER AND SIGNAL NAMES 197
9.9.1 Motion Module, Type JEFMC-C02 [] 197
9.9.2 Axis Module, Type JEFMC-B011 199
9.9.3 CRT Control Station, Type JEFMC-H011 199
9.9.4 Micro PC Module, Type JEFMC-Bll0 200
9.10 SIGNAL CABLES 202
9.10.1 List of Cables 202
9.10.2 Cable Specifications 203
9.10.3 ConnectOr204
9.11 WIRING PRECAUTIONS 205
9.11.1 Prevention of Interference between Wires 205
9.11.2 Insertion of Surge Suppressors into Coils 206
9.11.3 Use of Insulating Transformers and Line Filters 206
9.11.4 Grounding Method 206
9.11.5 Power Supply of 5 VDC 207
VI

10. SETTINGS AND INDICATIONS FOR MODULES 210
10.1 MOTION MODULE SYSTEM SETTING 210
10.2 INDICATIONS FOR MOTION MODULES 210
10.2.1 Indications of Input Signal Monitor 210
10.2.2 Status Indications 211
10.3 AXIS MODULE ADDRESSING (AXIS SETTING) 212
10.4 INDICATIONS FOR AXIS MODULES 213
10.5 MICRO PC MODULE ADDRESSING 213
10.6 INDICATIONS FOR MICRO PC MODULES 214
10.6.1 Indications of Input Signal Monitor 214
10.6.2 Status Indications 216
11.TEST RUN218
11.1 TEST RUN METHOD 218
11.1.1 Wiring Check 218
11.1.2 Power-on Check 218
11.1.3 Voltage Check 219
11.1.4 Input Signal Check 219
11.1.5 Input/Output Diagnosis Number List 220
11.1.6 Setting Parameters 225
11.1.7 Manual operation and Confirmation of Moving Direction 227
11.1.8 Confirmation of Stroke Limit 228
11.1.9 Confirmation of Return-to-Reference Point Operation 229
11.1.10 Confirmation of Memory Operation 230
11.2 ADJUSTMENT METHOD 231
11.2.1 Adjustment of Reference Point 231
11.2.2 Adjustment of Position Loop Gain (value of Kp) 232
12. APPLICATIONS234
12.1 SELECTION OF SERVOMOTOR AND Servopack 234
12.1.1 Confirmation of Machine Specifications 234
12.1.2 Selection of Servomotors 234
12.1.3 Examination of Servo Performances 236
12.1.4 Selection of Detector 237
12.1.5 Selection of Servomotor Type and ServopackType 238
12.2 APPLICATION CIRCUITS 239
APPENDIX-1 LIST OF ALARM CODES 250
APPENDIX-2 LIST OF SERVOMOTORS 255
APPENDIX-3 LIST OF Servopack UNITS 258
APPENDIX:-4 LIST OF Motionpack-110 261
VII

INDEX
Subject ..... Section No. .Page
. . . • . ..
A Absolute/Incremental Command Designation (G90, G91) ..................... 4.2.17 ............... 74
Acceleration/Deceleration Constant
(#1407, #1607, #1807, #1501to#1503, #1701to#1703, #1901 to #1903) ...... 5.6.1 •.............. 99
Acceleration/Deceleration During Interpolation Feed ........................... 3.4.2 ............... 30
Acceleration/Deceleration During Rapid Traverse and Jogging ............ 3.4.1 ............... 29
Address Characters .......................................... :................................ 4.1.2 ......... :..... 42
AddressKeys 7.1.3 129
ADDRESS SEARCH FUNCTION ...................................................... 3.13 ............... 36
ADJUSTMENT METHOD .................................................................. 11.2 ............... 231
Adjustment of Position Loop Gain (value of Kp) 11.2.2 ............... 232
Adjustment of Reference Point 11.2.1 ............... 231
ALARM CODE OUTPUT FUNCTION ................................................ 3.15 ............... 38
ALLOCATION METHOD .... _............................................................. 6.5 ............... 114
Allocation Operation (Use of Personal Computer) .............................. 6.5.1 ............... 115
Altering Programs ........................................................................... 7.5.3 ............... 144
APPLICATION CIRCUITS ...................................... ......................... 12.2 ............... 239
APPLICATIONS .............................................................................. 12 .................. 234
Automatic Return-to-Reference Point (G28) ....................................... 4.2.9 ............... 53
AXIS MODULE ADDRESSING (AXIS SETTING) .............................. 10.3 ............... 212
Axis Module, Type JEFMC-B011 ......................................................... 9.9.2 ............... 199 /
Axis Omission .................................................................................... 3.5.5 ............... 32
B Backlash Compensation Value Setting (#1405, #1605, #1805) .................. 5.5.7 ............... 97
Block Preread .......................................... 3.5.8 ............... 32
C Cable Specifications ........................................................................... 9.10.2 ............... 203
CAUTIONS ON ALLOCATION .......... _.............................................. 6.3 ............... 112
CHARACTER DISPLAY AND KEYS ................................................ 7.1 ............... 128
Circular Interpolation (G02, G03) 4.2.5 ............... 48
Collation of Program with File in Personal Computer ........................ 8.3.3 ............... 157
Combined Operation Command (G83) Setting Data (#1202) .............. .... 5.5.9 ............... 99
Combined Operation Commands (G80 to G99) .................................... 4.2.16 ............... 65
Command Data Display ..................................................................... 7.2.2 ............... 135
Commands ....................................................................................... 8.4.2 ............... 160
Confirmation of Machine Specifications ............................................. 12.1.1 ............... 234
Confirmation of Memory Operation ................................................... 11.1.10 ............... 230
Confirmation of Return-to-Reference Point Operation ........................ 11.1.9 ............... 229
Confirmation of Stroke Limit ............................................................ 11.1.8 ............... 228
Connection between Axis Modules and Servopack ................................. 9.5.1 ............... 190
CONNECTION BETWEEN AXIS MODULES AND
Servopack, TG AND PG ....................................................................... 9.5 .................. 190
CONNECTION BETWEEN AXIS MODULES AND
SPINDLE DRIVES ........................................................................... 9.6 .................. 193
Connection between Axis Modules and TG and PG .............................. 9.5.2 ............... 191
Connection between CRT Control Station and Motion Module ............... 9.3.1 ............... 185
VIK

7: = " "
,Subject ' Section No.' " Page
Connection between DNCPersonal Computer and Motion Module _....... " 9.3.3': .......... '":_188
CONNECTION BETWEEN MANUAL PULSE GENERATOR AND .....
MOTION MODULE ........................................................................ ".... 9.8 " 196
Connection between Micro PCModule and Motion Module ......... :-.. .... 9.7.1"194
CONNECTION BETWEEN MICRO PC MODULE AND .....
MOTION MODULE/PERSONAL COMPUTER ................................. _"" 9. 7 -'"': ...... "'194
Connection between Micro PC Module and Personal Computer ............ 9.7.2 ............... 195
CONNECTION BETWEEN MOTION MODULE AND "
AXIS MODULES .............................................................................. 9.4 ................ 189
CONNECTION BETWEEN MOTION MODULE AND
CRT CONTROL STATION AND PERSONAL COMPUTER ................ 9. 3 , ":.......... :'" 185
Connection between Personal Computer and Motion Module ............... 9. 3. 2 ............... 186
Connector .......................................................................................... 9. 1O.3 ............... 204
CONNECTOR TERMINAL NUMBER AND SIGNAL NAMES ............ 9.9 ........... :"" 197
Control Power Units ........................................................................... 9. 1.2 .......... •..... 165
CRT Character Display ..................................................................... 7. 1.1 --': ....... --'- 128
CREATING PROGRAMS 8.5 "'".............161
CRT Control Station, Type JEFMC-H011 ............................................. 9. 9.3 ............... 199
Cursor Keys ........... ......................................................................... 7. I, 7 ..... ":"'."."" 131
D DATA INPUT/OUTPUT BETWEEN CRT CONTROL STATION
AND PERSONAL COMPUTER ....................... .............. :.................. 8.3 ............... 155
Data Keys ....................................................................................... 7. 1.4 ...... ""_":" 130
Decimal Point Movement .................................................................. 4.1.4 ............... 42
Decimal Point Programming ............................................................ 4. 1.3 ............... 42
DESCRIPTION OF PARAMETERS ................................................... 5. 1 ............... 84
Detail of Input Signals .................................................................. ...... 9.2.2 ............... 171
Detail of Output Signals ..................................................................... 9.2.3 .... "- ......... 181
DIRECT TRANSMISSION BETWEEN MOTION MODULE•
AND PERSONAL COMPUTER ......................................................... 8. 4 ............... 160
Direction of Return-to-Reference Point ' (#1403, #1603, #1803) ............... 5.7. 1 ............... 104
DISPLAY AND WRITING OPERATION ..................................... _.... 7.2 ............... 133
DisPlay of Alarm Codes ........................... _......................................... 7. 2.4 ............... 137
Display of Current Position Values .................................................... 7.2.3 ............... 135
Display of Registered Program Number ............................................. 7.2.6 ............... 139
DISPLAYING AND WRITINGOFFSET DATA ................................. 7. 4 ............... 141
DISPLAYING AND WRITING PARAMETERS .................. ............... 7.3 ...... ......... .139
Displaying State of I/O Signals ......................................................... 7.2.5 ............... 138
DNC OPERATION ........................................................................... 3.6 ............... 33
DNC Operation Mode (DNC) ............................................................ 3. 1.7 ............... 24
Drift Offset (#1401, #1601, #1801) ...................................................... 5. 6. 7 ............... 103
Dwell (G04) ...................................... •................................................ 4.2. 6 ............... 51
E Edit Keys .......................................................................................... 7.1.8 ............... 131
EditingMode(EDIT) 3.1.1 ............... 22
EDITING PROGRAMS ..................................................................... 7.5 ...... ......... 143
IX

INDEX (Cont'd)
Subject Section No.Page
Error-Detect-Off Positioning(G06)................................................... 4.2.3 ............... 47
Examination of Servo Performances ................................................... 12.1.3 ................ 236
Examples of Programs ........................................................................ 8.5.3 ............... 161
Explanation of Allocation Commands ................................................ 6.5.2 ............. --115
ExternalDimensionsinmm ............................................................... 9.10.3.1 ............ 204
EXTERNAL OFFSET COMMAND (INDIRECT SPECIFICATION) ...... 4.3 ............... 76
FFEEDRATE ....................................................................................... 3.3 ............... 26
FEEDRATE ACCELERATION/DECELERATION .............................. 3.4 ............... 29
Feedrate Command Voltage Setting (#1408, #1608, #1808) ..................... 5.6.3 ............... 102
For DC Servomotor 12V Transistor Output PG 9.5.2.2 ............... 192
For DC Servomotor 5V Line Driver Output PG .................................... 9.5.2.1 ............... 191
For Setting Parameters on the CRT Control Station .............................. 11.1.6.1 ............ 225
For Setting Parameters on the Personal Computer .............................. 11.1.6.2 ............ 226
Function Keys .................................................................................... 7.1.2 ............... 129
Function Selection (#1001, #1002, #1003, #1005, #1006, #1009) ............... 5.3.2 ............... 87
FUNCTIONS ......................................................... -........................ ..... 3 .................. 22
FUNCTIONS AND OPERATION OF MODULES ................................. 2.3 ............... 11
GG FUNCTION .................................................................................... 4.2 ............... 45
GENERAL .......................................................................................... 2.1 ............... 6
General Display ......................................... ,....................................... 7.2.1 ............... 133
GENERAL SPECIFICATIONS OF MODULES .................................... 2.4 ............... 15
Grounding Method ........................................................................... 9.11.4 ............... 206
II/O ALLOCATION ADDRESS LIST ................................................... 6.7 ............... 122
I/O ALLOCATIONS ........................................................................ 6 .................. 106
I/O SIGNAL DETERMINATION
(PREPARATION FOR ALLOCATION) ............................................. 6.4 ............... 113
I/O SIGNAL FORMAT ..................................................................... 6.2 ............... 112
I/O SIGNAL TYPES AND ALLOCATION AREA ................................. 6.1 ............... 108
INDICATIONS FOR AXIS MODULES ................................................ 10.4 ............... 213
INDICATIONS FOR MICRO PC MODULES ....................................... 10.6 ............... 214
INDICATIONS FOR MOTION MODULES .......................................... 10.2 ............... 210
Indications of Input Signal Monitor 10.2.1 ............... 210
Indications of Input Signal Monitor ...................................................... 10.6.1 ............... 214
INPUT FORMAT .............................................................................. 4.1 ............... 40
Input Format List .............................................................................. 4.1.1 ............... 40
Input of Offset Data from Personal Computer ....................................... 8.3.6 ............... 158
Input of Parameters from Personal Computer ....................................... 8.3.4 ............... 157
Input of Program from Personal Computer .......................................... 8.3.1 ............... 156
Input of Programs from CRT Control Station ............ ........................... 8.5.1 ............... 161
Input of Programs from Personal Computer ....................................... 8.5.2 ............... 161
Input Signal Check .............................................................................. 11.1.4 ............... 219
X

Subject SectionNo. Page
INPUT/OUTPUT AT MACHINE SIDE ................................................ 9.2 .................. 168
Input/Output Diagnosis Number List ................................................ 11.1.5 ............... 220
Insertion of Programs ........................................................................ 7. 5. 2 .................. 144
Insertion of Surge Suppressors into Coils 9.11.2 ............... 206
INTERFACE BETWEEN EQUIPMENT ............................................. 9 ..................... 164
Interface between Motion Module and Personal Computer ..................... 8. 4. 1.................. 160
INTERFACE WITH Motionpack-ll0 ................................................... 8. 1 .................. 148
Interpolation Feedrate Bias(#1475, #1675, #1875) ................................. 5.6.2 .................. 101
Interpolation Feedrate Setting (F-FUNCTION) ...... .............................. 3. 3. 2 .................. 27
Interpolation Max. Feedrate Setting (#1102) .......................................... 5. 5. 2 .................. 94
INTRODUCTION .............................................................................. 1 ..................... 2
ITEMS RELATED TO POWER SUPPLY ............................................. 9. 1 .................. 165
J Jogging Feedrate Setting (#1104 to #1118) ............................................. 5. 5. 3 .................. 94
Jogging Mode (JOG) ........................................................................... 3. 1.3 .................. 23
k Linear Interpolation (G01) .................................................................. 4.2.4 ......... ......... 48
LIST OF ALARM CODES ........................................................... :...... APPENDIX-1 -.- 250
List of Cables .................................................................................... 9. 10. 1 ............... 202
ListofGCodes 4.2.1.................. 45
LIST OF Motionpack -110 .................................................................. APPENDIX-4-.- 261
LIST OF SERVOMOTORS ............................................................... APPENDIX-2 "'" 255
LIST OF Servopack UNITS .............................................. •................ APPENDIX-3 "'" 258
M Machine Lock Operation ............................. ........................................ 3. 5. 4 .................. 31
M -Codes for Internal Processing (M90 to M99) .................................... 4.4.4 .................. 80
M-Codes for Stop (MOO, M02, M30) ................................................... 4.4.3 .................. 79
M-Function ....................................................................................... 4.4.2 .................. 78
MACHINE SPECIFICATION PARAMETERS .................................... 5.5 .................. 94
Manual Feed Mode (HANDLE) ............................................. ............... 3. 1.6 .................. 24
Manual Interruption of Automatic Operation ....................................... 3. 5. 7 .................. 32
Manual Operation and Confirmation of Moving Direction ..................... 11.1.7 ............... 227
MANUAL RETURN TO REFERENCE POINT .................................... 3.2 .................. 24
Max. Feedrate Setting at Manual Feed (#1101) ....................... ............. 5. 5. 1.................. 94
Maximum Rotation Speed on Each Gear (#2150, #2151, #2152) ............ 5.8.2 .................. 106
MDI OPERATION .............................................................................. 3. 12 36
MDI Operation Mode (MDI) "........... _....................................... 3. 1.8 .................. 24
MECHANICAL HANDLE ...................................... _........................... 3. 10 .................. 34
Memory Data Keys ............................................................................ 7. 1.9 .................. 132
MEMORY OPERATION .................................................................. 3.5 .................. 30
Memory Operation Mode (MEM) ...................................................... 3. 1.2 .................. 23
MF, SF, TF Signal Delay Time Setting (#1100) ................................. 5. 3. 3.................. 90
MICRO PC MODULE ADDRESSING ................................................ 10.5 .................. 213
Micro PC Module, Type JEFMC-Bll0 ................................................ 9.9.4 .................. 200
XI

INDEX (Cont'd)
Subject Section No. Page
MOTION MODULE SYSTEM SETTING ............................................. 10. 1 .................. 210
Motion Module, Type JEFMC-C02[_ ................................................... 9.9. 1.................. 197
N Next Key ........................................................... . ......................... "" 7.1.5 .................. 130
NO -USING PARAMETER SETTING ................... -............................ 5.9 .................. 106
Normal Rotation, Reverse Rotation, and Stop of Spindle ..................... 3. 11.1 ............... 35
Notch Signal Commands A (G68, G69) ............................... ................. 4.2. 14 ............... 62
Notch.Signal Commands B (G66, G67) .............................. '.................. 4.2. 15 ............... 63
0 Offset Value Input (G10) ..................................................................... 4.2.7 .................. 51
OPERATING METHOD WHEN USING PC-8201 ............ ..................... 8. 2 .................. 151
Operation in MDI Mode .................................................................. 3. 12.2 ............... 36
Operation of Axis Modules ................................................................ 2.3.2 .................. 12
Operation of CRT Control Station .............................................. •........ 2.3. 4.................. 15
OPERATION OF CRT CONTROL STATION .................................... 7 ..................... 128
Operation of Micro PC Modutes ................................... :.............. :...... 2. 3.3 .................. 14
Operation of Motion Modules ............................................................ 2.3. 1.................. 11
Optional Block Skip ........................................................................... 4. 1.7 .................. 44
Optional Block Skip Function ............................................................ 3.5. 6.................. 32
Output of Offset Data to Personal Computer ....................................... 8.3.7 .................. 159
Output of Parameters to Personal Computer ....................................... 8. 3. 5.................. 158
Output of Program to Personal Computer .......................................... 8.3.2 .................. 156
P Page Keys ....................................................................................... 7. 1.6 .................. 131
PARAMETERS .............................................................................. 5 ..................... 84
PARAMETER/PROGRAM PROTECT FUNCTION ........................... 3. 14 .................. 37
PERSONAL COMPUTER .................................................................. 8 ..................... 148
Personal Computer _ * CRT Control Station_ Motion Module ......... 9. 3.2. 2 ............... 187
Personal Computer , ,Motion Module ............................................. 9. 3.2. 1............... 186
PG for AC Servomotor ..................................................................... 9. 5. 2.3 ............... 193
Pitch Error Compensation (#1552, #1752, #1952, #1553, #1753,
#1953, #1410to#1473, #1610to#1673, #1810 to#1873) ........................ 5.5.8 .................. 97
Plane Designation (G17, G18, G19) ................................................... 4.2.8 .................. 53
POSITION CANCEL ........................................................................ 3.8 .................. 33
POSITION MEMORY ........................................................................ 3. 9 ................... 34
Position Command Unit Setting
(#1557, #1558, #1757, #1758, #1957, #1958) ....................................... 5.4.1 ............... 90
Position Loop Gain (#1474, #1674, #1874) .......................................... 5.6.4 ............... 102
Position Offset in X - and Y-Axes (G45 to G48) .................................... 4.2. 12 ............... 57
Position Offset in Z-Axis (G43, G44, G49) ....................................... 4.2. 11 ............... 55
Position Setting Range (#1406, #1606, #1806) .................................... 5.6.6 ............... 103
Positioning (GO0) .............................................................................. 4.2.2 ............... 49
Power Supply for Input/Output Signals'. .............................. : ............. 9. 1.2.3 ............... 168
Power Supply for PG ........................................................................ 9.1.2. 2............... 167
Power Supply of 5 VDC ............................................................... •..... 9. 11.5 ............... 207
I
XII
J

Subject '
Section No. Page
Power Units for Motion Modules,Axis M0duies
and Micro PC Modules ...................................................... •................. 9. 1.2. 1............. 2'165
Power-on Check " 11.1.2 •.............. 218
Power-onSequenc " 9.1.1"................. 165
Prevention of Interference between Wires ............................................. 9. 11. i ............. "'205
Program input in MDI Mode ............................................................... 3. 12. i 36
Program Register and Call ................................................ ............ 7.5. !............... 7"143
Program Designation and Starting 3.5. 1.................. 30
Program Erase 7.5.4..................145
Program Number .............................................................................. 4. i. 5............... :.. 44
PROGRAMMING .............................................................................. 4 40
Programming of Absolute Zero Point (G92) 4.2. 18 ............... 75
FI Rapid Traverse Feedrate Setting (#1500, #1700, #1900) ........................ 5. 5. 4.................. 95
Rapid Traverse Motion Mode (RAPID) ............................................. 3. 1.5 ................... 23
Rapid Traverse Rate ........................................................................ 3.3. 1.................. 26
Reference Point Area (#1125) ................................... -.................... 5. 7. 5.................. 105.
Reset Key .......................................................................................... 7. 1.10 :.............. 132
Return -to-Machine Coordinate System (G53) .................................... 4.2. 13 ............... 61
RETURN-TO-REFERENCE POINT................................................... 5.7 .................. 104
Return-to-Reference-Point Approach Distance (#1556, #1756, #1956) ...... 5. 7. 4.................. 105
Return-to-Reference-Point Approach Feedrate Setting
(#1504,#1704, #1904) ............................................................ ............ 5.7.2 .................. 105
Return-to-Reference-Point Creep Feedrate Setting
(#1505, #1705,#1905) ........................................................................ 5.7.3 .................. 105
Rules for Input Signals ........................................................................ 9.2. 1.1 ............... 168
Rules for Input/Output Signals ......................................... ................... 9. 2. 1 ............... 168
Rules for Output Signa!s ..................................................................... 9. 2. 1.2 ............... 169
S S FUNCTION ............................................................ ........................ 4.5 .................. 81
Search Functions ................................................................................. 7.5.5 .................. 145
Selection of Detector ........................................................................ 12. 1.4 ............... 237
SELECTION OF SERVOMOTORAND Servopack .............................. 12. 1 .................. 234
Selection of Servomotor Type and Servopack Type .............................. 12. 1.5 ............... 238
Selection of Servomotors ........................................ .......................... 12. 1.2 ............... 234
Sequence Number .............................................................................. 4. 1.6 ................ " 44
Servo Error:Range (#1555,#1755, #1955) .......................................... 5.6. 5.................. 103
SERVO-RELATED PARAMETERS ................................................... 5.6 .................. 99
Setting Axis for Use (#i000) ............................................................... 5. 3. 1.................. 86
Setting Parameters ........................................................................... 1"1.1.6 ............... 225
SETTINGS AND INDICATIONS FOR MODULES .............................. 10 ..................... 210
SIGNALCABLES 9.10 ................"'202
SIGNAL OUTPUT COMMANDS ..................... .................................... 4.4 .................. 77
Single-Block Operation ....................................................................... • 3.5.3 ............... 31
NII

INDEX(Cont'd)
Subject Section No.Page
Skip Function (G31) ........................................................................... 4.2. 10 ............... 54
Software Limit Switch Function
(#1402, #1602, #1802, #1550, #1551, #1750, #1950, #1751, #1951) ............ 5.5.6 ............... 96
SPECIAL PARAMETERS .................................................................. 5. 4 .................. 90
SPINDLE CONTROL FUNCTION ...................................................... 3. 11 .................. 34
Spindle Gear Change ........................................................... ............. 3. 11.2 ............... 35
Spindle Mode Setting (#2004) ....... :....................................................... 5.8. 1 ............... 106
SPINDLE PARAMETER SETTING ................................................... 5.8 .................. 106
STANDARD ALLOCATION ...... ;.................................... .................... 6.6 .................. 117
Status Indications .............................................................................. 10. 2.2 ............... 211
Status Indications .............................................................................. 10.6. 2 ............... 216
Step Feed Displacement Distance Setting (#1122, #1123, #1124) ............ 5.5.5"- ................ 96
Step Operation Mode (STEP) ............................................................... 3. 1.4 .................. 23
Subprogram (M98, M99) ..................................................................... 4.4.5 .................. 80
SYSTEM .......................................................................................... 2 ..................... 6
SYSTEM CONFIGURATION AND SPECIFICATIONS ........................ 2.2 .................. 7
SYSTEM SPECIFICATION PARAMETERS ....................................... 5.3 .................. 86
Spindle Mode Setting (#2004) ............................................................... 5.8. 1.................. 106
T T-Function .......................................................................................... 4.4. 1.......... •....... 77
Temporary Stop ........................................................................ -......... 3. 5.2 .................. 31
Terminal Number and Dimensions in mm .......................................... 9.10. 3. 2 ............ 205
TEST RUN .................................................................................. ..... 11 ..................... 218
TEST RUN METHOD ........................................................................ 11.1 .................. 218
TYPES OF OPERATION MODES ...................................................... 3. 1 .................. 22
U UNRESTRICTED LENGTH POSITIONING .. .............. :...................... 3.7 .................. 33
Use of Insulating Transformers and Line Filters ................................. 9. 11.3 ............... 206
V VARIETIES OF PARAMETERS ......................................................... 5.2 .................. 84
Voltage Check .................................................................................... 11.1.3 ............... 219
W Wiring Check ............................................................. :...................... 11.1.1 ............... 218
WIRING PRECAUTIONS .................................................................. 9. 11 .................. 205
XIV

CONTENTS
1. INTRODUCTION 2
_L

1. INTORODUCTION
With the increasing integration of FA and FMS concepts in manufacturing industries,the
demand for flexible motion control systems for material handling, processing and
fabricating is mounting.
As an automatic motion control method, numerical control (NC) has been in wide
use, but NC has been rather exclusively developed for machine tools, and is not always
convenient for use for diverse production activities.
The general purpose motion controller Motionpack-ll0 has been developed to offer a
versatile and convenient means of controlling motions in FA and FMS applications.
The main features of Motionpack-110 can be described as follows:
• Linear motions of up to 3 components and spindle speed are automatically controlled in
combination.
• Diverse motion types such as involved in FA and FMS can be programmed easily.
• The motions can be controlled by personal computers.(DNC function)
• Logic control can be combined with motion control, by micro PC module.
• Building block design in the electro-mechanical composite configuration.
Motionpack-110 with these features is a very convenient and useful means for
automatically and flexibly controlling the motions of material handling systems, processing
machines and assembly lines.
This manual describes the configuration, programming, operation, and
maintenance of motion control systems based on Motionpack-ll0.
Understanding the contents of this manual will enable you to take full advantage of
the performance capabilities of Motionpack-ll0 in the composition of automatic systems
and.programs in your plan.
2

f
® ® @
OMICRO PC MODULE
®MOTION MODULE
_) AXIS MODULE
@ Servopack UNITS
CRT CONTROL 585-183
STATION
586-147
583-34 583-34
SERVOMOTOR SERVOMOTOR
Simple Motion Control System
(Simple 2-Axis Positioning System)
"_ ,
3

NOTE
1. In this manual, we have endeavored to outline to the greatest extent
possible accurate information on individual functions and associated
functions. However, while functions that "can" be performed are finite,
what "cannot" be performed or "must not" be attempted are virtually
limitless. Therefore, things which are not explicitly described as possible
should be considered to be impossible.
2. In this manual, one pulse is assumed to be 1 _ m. For systems in which 1
pulse is not lzm, but 0.01 ram, 0.1 °, etc., necessary conversions must be
made.
3. The specifications in this manual are subject to change without prior
notice.
585-186
585-204
4 I

CONTENS
2. SYSTEM 6
2.1 GENERAL 6
2.2 SYSTEM CONFIGURATION AND SPECIFICATIONS 7
2.3 FUNCTIONS AND oPERATION OF MODULES 11
2.3.1 Operation Of Motion Modules 11
2.3.2 Operation of Axis Modules 12
2.3.3 Operation of Micro PC Modules 14
2.3.4 Operation of CRT Control Station 15
2.4 GENERAL SPECIFICATIONS OF MODULES 15
5

2. SYSTEM
2.1 GENERAL
Motionpack-ll0 is a general purpose controller that realized motion control in 1 to 3 axial
directions spindle control and logic control with the use of functionally divided standard
modules, and has the following features.
• The modules are individually available in the same way as with YASKAWA Servomotors.
Users can easily configure their own systems by freely combining them.
• Motionpack-110 has ample motion control basic functions. Their combinations are easily
implemented by programming, by parameters, by inputting from the CRT control station
or by a personal computer.
• It uses the established machine tool NC language, supplemented by general industrial
application functions.
• It can be connected to a host computer with RS422 transmission (RS232C is also possible)
to configure hierarchical systems.
• Motionpack-110 offers enhanced motion control systems for material handling, processing,
and fabricating. Because Motionpack-ll0 can be combined with a simple CAD system
by DNC function, it allows part data from a master computer, such as a personal
computer, to be received and perform motion control.
• Motion control including logic is available.
• Many types of YASKAWA general-purpose units for system composition are available
for connection such as servo controllers, motors, and variable speed drives.
6