Omron MP2100 DATASHEET

MP2100 - MECHATROLINK-II

PC motion controller

PC based solution for advanced
motion control

• Up to 32 axes controlled with minimum wiring

• Motion APIs are available for customised control
aplications. Motion commands can be input from either
the PC application or the MP2100 program

• Self configuration of nodes for an easy setup

• Supports position, speed and torque control

• Electronic CAM profiles and axes synchronization

• The high-speed bus MECHATROLINK-II is specially
designed for motion control

• Support for I/Os locally and over the network

• Access to the complete system from one point

System configuration

Motion controller MP2100

(The MP2100M can
handle up to 2
Mechatrolink-II network)

Local I/Os

Sigma-II series
Servo Drive

Input

Limit switches
contact sensors

SGDH-

Ver.

CHARGE POWER

CN3

CN1

CN2

SERVOPACK

200V

NS115

S
W
1

A
R

S
W
2

C
N
6
A

C
N
6
B

C
N
4

JUSP-NS115

Mechatrolink-II
unit

Sigma-II series
Servo Motor

MECHATROLINK-II

SERVOPACK

NS115

SGDH-

S

200V

Ver.

W
1

A
R

S
W
2

CHARGE POWER

CN3

C
N
6
A

CN1

C
N
6
B

C
N
4

CN2

Personal computer
Software: MPE720 tool

Motion API

SERVOPACK

NS115

SGDH-

S

200V

Ver.

W
1

A
R

S
W
2

CHARGE POWER

CN3

C
N
6
A

CN1

C
N
6
B

C
N
4

CN2

21 nodes max.
16 servo axes max. + I/O stations
Totel length: 50 m

I/O module

RUNTX 1 2 3 4 5 6 7 8 120DDI 343 30

C
N
1

C
N
2

SERVOPACK

SGDH-

Ver.

CHARGE POWER

CN3

CN1

CN2

NS115

S

200V

W
1

A
R

S
W
2

C
N
6
A

C
N
6
B

C
N
4

Terminator

Sigma-II series
Linear Motor

77PC motion controller

Specifications

General specifications

Hardware specifications

Items Specifications
Environmental

conditions

Mechanical operating
conditions

Electrical operating
conditions

Installation
requirements

Sequential function specifications

Items Specifications
Control method Sequence: High-speed and low-speed scan methods
Programming language Ladder diagram: Relay circuit

Scanning Two scan levels: High-speed scan and low-speed scan

User drawings, functions
and motion programs

Data memory Common data (M) registers:

Trace memory Data trace: 128 Kwords (32 Kwords / 4 groups), 16 points defined
Memory backup Program memory: Flash memory: 8 MBytes (User area: 5.5 MBytes) definition files, ladder programs, motion programs, etc.

Data types Bit (relay): ON/OFF

Register designation
method

Ambient operating temperature 0 to 55 °C
Ambient storage temperature -25 to 85 °C
Ambient operating humidity 30% to 95% (with no condensation)
Ambient storage humidity 5% to 95% (with no condensation)
Pollution level Pollution level 1 (conforming to JIS B 3501)
Corrosive gas There must be no combustible or corrosive gas.
Operating altitude 2,000 m above sea level or lower
Vibration resistance Conforming to JIS B 3502:

Shock resistance Conforming to JIS B 3502:

Noise resistance Conforming to EN 61000-6-2, EN 55011 (Group 1, Class A)

Ground Ground to 100 Ω max.
Cooling method Natural cooling

Text-type language: Numeric operations, logic operations, etc.

High-speed scan time setting: 1 to 32 ms (Integral multiple of MECHATROLINK communication cycle)
Low-speed scan time setting: 2 to 300 ms (Integral multiple of MECHATROLINK communication cycle)

Startup drawings (DWG.A):
Interrupt processing drawings (DWG.I):
High-speed scan process drawings (DWG.H):
Low-speed scan process drawings (DWG.L):
Number of steps:
User functions:
Motion programs:
Revision history of drawings and motion programs
Security function for drawings and motion programs

System (S) registers:
Drawing local (D) registers:
Drawing constant (#) registers:
Input (I) registers:
Output (O) registers:
Constant (C) registers:

Data memory: Battery backup: 256 Kbytes, M registers, S registers, alarm history, trace data

Integer: -32768 to +32767
Double-length integer: -2147483648 to [phone]
Real number: ± (1.175E-38 to 3.402E+38)

Register number: Direct designation of register number
Symbolic designation: Up to 8 alphanumeric characters (up to 200 symbols per drawing)

With automatic number or symbol assignment

10 to 57 Hz with single-amplitude of 0.075 mm
57 to 150 Hz with fixed acceleration of 1 G
10 sweeps each in X, Y, and Z directions (sweep time: 1 octave/min)

2

Peak acceleration of 147 m/s

(15 G) twice for 11 ms each in the X, Y, and Z directions

64 drawings max. up to three hierarchical drawing levels
64 drawings max. up to three hierarchical drawing levels
200 drawings max. up to three hierarchical drawing levels
500 drawings max. up to three hierarchical drawing levels
Up to 1,000 steps per drawing
Up to 500 functions
Up to 256

64 Kwords
8 Kwords
Up to 16 Kwords per drawing
Up to 16 Kwords per drawing
5 Kwords (including internal input registers)
5 Kwords (including internal output registers)
16 Kwords

78 Motion controllers

Motion control function specifications

Item Specifications
Interface MECHATROLINK-I, MECHATROLINK-II
Number of controlled axes/module Up to 16 axes
Control

specifications

Reference unit mm, inch, deg, or pulse
Reference unit minimum setting 1, 0.1, 0.01, 0.001, 0.0001, 0.00001
Maximum programmable value -2147483648 to [phone] (signed 32-bit value)
Speed reference unit Reference unit/s designation: mm/s, inch/s, deg/s, pulse/s

Acceleration/deceleration type Linear, asymmetric, S-curve, exponent
Acceleration/deceleration reference unit Reference unit/s

Override function Positioning: 0.01% to 327.67% by axis
Coordinate system Rectangular coordinates
Zero point re-

turn

Applicable servo drives SGDH-@@@E-OY + NS115
Applicable frequency inverters Varispeed V7, F7, G7 with MECHATROLINK-II Interface

Encoders Incremental encoder

PTP control Linear, rotary, and infinite-length
Interpolation Up to 16 linear axes, 2 circular axes, and 3 helical axes
Speed reference output Yes
Torque reference output Yes
Phase control Yes
Position

control

DEC1+ phase-C pulse Yes
ZERO signal Yes
DEC1+ ZERO signal Yes
Phase-C pulse Yes
Only phase-C pulse Yes
POT and
POT Yes
Home limit switch and
HOME Yes
NOT and
NOT Yes
INPUT and
INPUT Yes

Positioning Yes
External positioning Yes
Zero point return Yes
Interpolation Yes
Interpolation with position

detection function
JOG operation Yes
STEP operation Yes
Parameter changes during

motion command execution

phase-C pulse

phase-C pulse

phase-C pulse

phase-C pulse

.

Yes

Yes

Reference unit/min. designation: mm/min, inch/ min, deg/min, pulse/min
Percentage designation: Percentage of rated speed

2

Acceleration/deceleration time constant: Time from 0 to rated speed (ms)

(for inverter’s version supported contact your OMRON sales office)

Yaskawa absolute encoder

designation: mm/s2, inch/s2, deg/s2, pulse/s

Yes

Yes

Yes

Yes

2

MP2100, MP2100M boards

Items Specifications Appearance
Model JAPMC-MC2100, JAPMC-MC2140
Power supply Input supply voltage: 5 VDC±5%
Dimensions 106.68x174.63 mm half the size of a standard PCI
Motion network MECHATROLINK-II: One channel with MP2100, two channels with MP2100M

I/O signals Digital input: 5 points (one point can be used for interrupts),

Electrical
operating
conditions

Mechanical operating
conditions

Installation requirements Ground Follows the personal computer’s requirements
Environmental conditions Same as the general specifications

Noise
resistance

Vibration resistance Not specified
Shock resistance Not specified

Twenty-one stations, including servo drives, inverters and I/O equipment, can be
connected. (16 axes for servo drives and inverters)
Transmission speed: 10Mbps (MECHATROLINK-II)
Transmission distance: See “MECHATROLINK-II repeater”

Digital output: 4 points, 24 VDC, 100 mA, open collector, and sink mode output
Radiation noise (FT noise): 1 kV or more for 1 min.

Static noise (contact discharging method): 6 kV or more for 10 times
Other noise: Not specified

24 VDC, 4 mA, and source mode or sink mode input

PC motion controller 79

Host computer specifications

Items Specifications
Hardware Model PC/AT compatible

Software OS Windows NT 4.0 Workstation SP5 or later

1. These specifications are applicable if using one MP2100s board. If using two or more boards in the same host personal computer, expanasion slots, inter­rupts and I/O memory resources needs to be increased per each board.

MECHATROLINK-II, 64 point I/O module (IO2310)

Items Specifications Appearance
Model JEPMC-IO2310
I/O signals Input: 64 points, 24 VDC, 5 mA, sink/source mode input

Module power
supply

Weight 590 g

CPU Pentium 200 MHz or more (Pentium 400 MHz or more recommended)
Memory capacity 64 MB or more
Hard disk drive capacity Free space 500 MB or more
Display resolution 800x600 or more (1024x768 recommended)
Expansion slot
Interrupts
I/O memory

Web browser Microsoft IE 5.5 SP2 or later
Language Microsoft Visual C/C++ 6.0 SP5 or later

Output: 64 points, 24 VDC, 50 mA when all points ON,

Signal connection method: Connector (FCN360 series)
24 VDC (20.4 V to 28.8 V)

Rated current: 0.5 A
Inrush current: 1 A

1

1

1

(The max. rating is 100 mA per point) sink mode output (NPN)

Half the size of a standard PCI slot
First-level use (IRQ sharing is possible)
32 kB shared memory used

Windows 2000 Professional SP1 or later
Windows XP

MECHATROLINK-II, counter module (PL2900)

Items Specifications Appearance
Model JEPMC-PL2900
Number of input

channels
Functions Pulse counter, notch output, registration input
Pulse input method Sign (1/2 multipliers), A/B (1/2/4 multipliers), UP/DOWN (1/2 multipliers)
Max. counter speed 1200 kpps (4 multipliers)
Pulse input voltage 3/5/12/24 VDC
External power supply For input signal: 24 VDC, for dividing load: 24 VDC, for module: 24 VDC (20.4 V to 26.4 V), 120 mA or less
Weight 300 g

2

MECHATROLINK-II, pulse output module (PL2910)

Items Specifications Appearance
Model JEPMC-PL2910
Number of output

channels
Functions Pulse positioning, JOG run, zero-point return
Pulse output method CW, CCW pulse, sign
Max. output speed 500 kpps
Pulse output voltage 5VDC
Pulse interface circuit Open collector output

External control signal Digital input: 8 points/module, 5 VDC x 4 points, 24 VDC x 4 points

Weight 300 g

2

5 VDC, 10 mA/circuit

Digital output: 6 points/module, 5 VDC x 4 points, 24 VDC x 2 points

MECHATROLINK-II, analog input module (AN2900)

Items Specifications Appearance
Model JEPMC-AN2900
Number of input

channels
Input voltage range -10 V to +10 V
Input impedance 1MΩ min.
Data format Binary, -32000 to +32000
Input delay time 4ms max.
Error ± 0.5% F.S. (at 25 °C), ± 1.0% F.S. (at 0 °C to 60 °C)
External power supply 24 VDC (20.4 VDC to 26.4 VDC), 120 mA max.
Weight 300 g

4

80 Motion controllers

MECHATROLINK-II, analog output module (AN2910)

Items Specifications Appearance
Model JEPMC-AN2910
Number of output

channels
Output voltage range -10V to +10V
Max. allowable

load current
Data format Binary, -32000 to +32000
Output delay time 1ms
Error ± 0.2% F.S. (at 25 °C), ± 0.5% F.S. (at 0 °C to 60 °C)
External power supply 24 VDC (20.4 VDC to 26.4 VDC), 120 mA max.
Weight 300 g

2

± 5 mA (2 kΩ)

MECHATROLINK-II repeater

Items Specifications Appearance
Model JEPMC-REP2000
Communication type MECHATROLINK-II
Cable length Between controller and repeater: 50 m, after repeater: 50 m
Max. connected

stations
Restrictions Between controller and repeater

Power supply 24 VDC, 100 mA
Weight 340 g
Dimensions (mm) 30x160x77 (HxWxD)

Total stations on both sides of repeater: 30
(limited to the max. number of connectable stations of the controller (e.g., 21 stations for the MP2300 series)

- Total cable length

- 30 m < total cable length
After repeater:

- Total cable length

- 30 m < total cable length

≤ 30 m: 15 stations max. including I/O and servo, etc.

≤ 50 m: 14 stations max. including I/O and servo, etc.

≤ 30 m: 16 stations max. including I/O and servo, etc.

≤ 50 m: 15 stations max. including I/O and servo, etc.

MECHATROLINK-II servo drive interface unit

Item Details
Type JUSP-NS115
Applicable servo drive SGDH-@@@E models (version 38 or later)
Installation method Mounted on the SGDH servo drive side: CN10.
Basic

specifications
MECHATROLINK -II

communications
Command format Operation specification Positioning using MECHATROLINK-I/II communications.

Position control
functions

Fully closed
system
specifications

Input signals in the
servo drive

Internal functions Position data latch function Position data latching is possible using phase C, and external signals 1, 2, 3

Power supply method Supplied from the servo drive control power supply.
Power consumption 2 W
Baud rate/transmission cycle 10 Mbps / 1 ms or more. MECHATROLINK-II communications

Reference input MECHATROLINK-I/II communications

Acceleration/deceleration method Linear first/second-step, asymmetric, exponential, S-curve
Fully closed control Position control with fully closed feedback is possible.
Encoder pulse output in the

servo drive
Fully closed encoder pulse signal A quad B line-driver
Maximum receivable frequency

for servo drive
Power supply for fully closed

encoder
Signal allocation

changes possible

Protection Parameters damage, parameter setting errors, communications errors,

LED indicators A: Alarm, R: MECHATROLINK-I/II communicating

Commands: position, speed, torque, parameter read/write, monitor output

5 V differential line-driver output (complies with EIA Standard RS-422A)

1 Mpps

To be prepared by customer.

Forward/reverse run prohibited, zero point return deceleration LS
External latch signals 1, 2, 3
Forward/reverse torque control

WDT errors, fully closed encoder detecting disconnection

NS115

MECHATROLINK-II, frequency inverter interface units

Item Details
Type SI-T/V7 SI-T
Applicable inverter CIMR-V7 / 3G3-MV

Installation method Mounted on the inverter
Power supply Supplied from the inverter
MECHATROLINK-II communications 10 MHz, 0.5 ms to 8 ms for MECHATROLINK-II
Operation Read and write registers, read monitors, inverter operation, speed reference, torque reference

Inputs and outputs The inputs and outputs in the inverter can be read and set by the MLII master
Connectors ML-II bus connector. DPRAM connector for the inverter
Switches Rotary switch for ML-II address (low byte)

(firmware 5740 or newer)
Contact your OMRON sales office for information about firmware compatibility

(G7/F7 only).

Dip switch for: ML-II address (high bit). ML-II/ML-I selection. 17 byte/32 byte data length selection.

CIMR-G7 / CIMR-F7
(firmware 656x/for G7 / 4011 or newer for F7)

PC motion controller 81

Dimensions

MP2100, MP2100M boards

IO2310 I/O module

4.5 4.5

4.5

121

130

120
111

174.63

108

106.68

Mounting hole diagram

111 0.2

121 0.2

4-tapped holes M4

4.5

I/O modules PL2900, PL2910, AN2900, AN2910

89.8

4.5

79

4.5

44

C
N
1

C
N
2

152

RUNTX 1 2 3 4 5 6 7 8 120 DDI 343 30

161
152

RUN TX 1 2 3 4 5 6 7 8 120 DDI 343 30

MECHATROLINK-II servo drive interface unit

Units: mm Approx. weight: 0.2 kg

FG terminal

M4

Connector

to SERVOPACK

CN6A

CN6B

CN4

24

100

2

NS115

S
W
1

A
R
S
W
2

C
N
6
A

C
N
6
B

C
N
4

20

142

Name

plate

128

82 Motion controllers

Ordering information

MP2100 - motion controller main units

Name Model name Model

MP2100 board, 1 channel for MECHATROLINK-II communication,
5-point input and 4-point output

MP2100M board, 2 channels for MECHATROLINK-II communication,
5-point input and 4-point output

MECHATROLINK-II - related devices

Name Remarks Model

Distributed I/O modules 64-point input and 64-point output JEPMC-IO2310

MECHATROLINK-II cables 0.5 meter JEPMC-W6003-A5

MECHATROLINK-II terminator Terminating resistor JEPMC-W6022
MECHATROLINK-II

interface unit

MECHATROLINK-II repeater MECHATROLINK-II repeater JEPMC-REP2000

Reversible counter: 2 channels JEPMC-PL2900
Pulse output: 2 channels JEPMC-PL2910
Analog input: -10 V to +10 V, 4 channels JEPMC-AN2900
Analog output: -10 V to +10 V, 2 channels JEPMC-AN2910

1 meter JEPMC-W6003-01
3 meters JEPMC-W6003-03
5 meters JEPMC-W6003-05
10 meters JEPMC-W6003-10
20 meters JEPMC-W6003-20
30 meters JEPMC-W6003-30

For Sigma-II series servo drives. (Firmware version 38 or later) JUSP-NS115
For Varispeed V7 inverter

(for inverter version support contact your OMRON sales office)
For Varispeed F7, G7 inverter

(for inverter version support contact your OMRON sales office)

MP2100 JAPMC-MC2100

MP2100M JAPMC-MC2140

SI-T/V7

SI-T

I/O cables

Name Remarks Lenght m Model

I/O cable for MP2100 With connector on the MP2100 side 0.5 JEPMC-W2062-A5

I/O cable for IO2310 With connector on the IO2310 side 0.5 JEPMC-W5410-05

1.0 JEPMC-W2062-01

3.0 JEPMC-W2062-03

1.0 JEPMC-W5410-10

3.0 JEPMC-W5410-30

Accessories

Name Model

Battery ER3V 3.6V JZSP-BA01
Extended cable for battery with connectors on both sides JEPMC-W2090-01
Brackets for DIN rail JEPMC-OP300

Computer software

Specifications Model

Programming software to support from system design to maintenance.
Intuitive ladder programming and editing functions. CAM data generation
Windows-based (Windows 95/98/NT4.0/2000/XP)

Motion API. Header file, library, DLL, driver, and manual CPMC-MPA70

CPMC-MPE720

Servo system

Note: Refer to servo systems section for detailed information

Frequency inverters

Note: Refer to frequency inverters section for detailed information

PC motion controller 83

ALL DIMENSIONS SHOWN ARE IN MILLIMETERS.
To convert millimeters into inches, multiply by 0.03937. To convert grams into ounces, multiply by 0.03527.

Cat. No. I35E-EN-01

In the interest of product improvement, specifications are subject to change without notice.

84 Motion controllers