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MP2300 Quick Reference Guide
Contents
2 MP2300 Memory Map
3 MP2300 Register Addressing
4 LIO Autoconfiguration Register Allocation
5 Basic Set of Registers
6 Motion Command Code Positioning
7 MPE720 Serial/Ethernet Communication
8 General Startup Procedure
9 Function Block Startup Procedure
10 Motion Program Startup Procedure
11 Motion Program Work Registers
12 Data Trace
13 Reference Units
14 Terminology Synonyms
14 Register Offsets
MP2300 Quick Reference Guide Rev1.5
MP2300 Quick Reference Guide Rev1.5
MP2300 Memory Map
5.5 MB Stores ladder drawings, Local registers and special tables
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S (Global) |
SW0000-1023 |
C (Global) |
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M (Global) |
(MW00000-65535) |
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System information and status (read only) |
Constant, Read only registers. |
General Multi-Purpose read/write registers |
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Example: Flicker relays, Calendar, |
Data that end user can change in MPE720 |
User Free: MW00000-29999 |
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Backup) |
Scan time setting, error codes, ect. |
without needing to access the drawings. |
Convention: |
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E |
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Axis#1:MW1000-1999, Axis#2:MW2000-2999 |
C |
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I |
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Fixed Parameters (for each axis) |
Example: |
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*Function Block RDA: MW30000-65535 |
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M |
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(Battery |
Written to in Module Configuration |
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Mechanical system specifications |
Axis#1:MW30100. Offset=200 per axis |
A |
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Define axis units, motor specs. |
(pulley ratios, encoder counts per load rev) |
Master-Slave: MW56000. Offset=50 per M-S Pair |
L |
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Cannot be written by ladder |
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Reference: RDA Spreadsheet |
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Memory |
Changes usually require power cycle |
Reference: |
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* If using motion |
function blocks. |
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I (Input) |
IW0000-FFFF |
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O (Output) |
OW0000-FFFF |
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general purpose & motion data (Read only by application program) |
general purpose &motion data (Read/Write by application program) |
E |
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Register |
Physical Inputs: IW0000-7FFF |
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Physical Outputs: OW0000-7FFF |
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X |
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Convention: |
IW0410+ for Local I/O modules |
Convention: |
OW0410+ for Local I/O Modules |
A |
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IW0010+ for M-LINK I/O modules |
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OW0010+ for M-LINK I/O modules |
D |
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E |
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Axis (Motion) Input: IW8000-807F (Module#1, Axis#1) |
Axis (Motion) Output: OW8000-807F (Module#1, Axis#1) |
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C |
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"motion monitoring" |
Offset |
80h per axis |
"motion setting" |
Offset |
80h per axis |
I |
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800h per module |
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800h per module |
M |
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Example: |
IB8000 0 = controller ready |
Example: |
OB8000 0 = turn servo on |
A |
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Reference: |
Basic Module User Man 7.2.3 |
Reference: |
Basic Module User Man 7.2.2 |
L |
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D (Local Registers)* |
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up) |
Used as general purpose read/write in the defined Drawing only. |
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Suggested |
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DW00000-00008 |
(DB000000~DB00008F) |
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at power |
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Convention: |
One-Shot |
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DW00009 |
(DB000090~DB00009F) |
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Word Operations: |
DW00010-00025 |
(16-bit integers) |
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Accumulators: |
DW00026 |
(16-bit Integer accumulator) |
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FLASH |
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DW00027 |
(16-bit Logic [Hexadecimal] Accumulator) |
D |
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DL00028 |
(32-bit Long Accumulator) |
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E |
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from |
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DF00030 |
(32-bit Floating point Accumulator) |
I |
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Long & Float |
DW00032-00098* |
(32-bit Integers, 32-bit Floating Point) |
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M |
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F.B. Work Register: |
DW00100-00320* |
(Bits, integers, floats as defined in Function Block) |
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(Overwritten |
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A |
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Local Constants. General purpose, read-only by the specifed Drawing |
Each hardware module on the rack has several configuration files. This data |
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*Default is 32 D-registers per drawing. R-click drawing in File Manager - increase to 320 when using Function Blocks. |
L |
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Reference: |
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# ("Sharps") |
#W00000-16383 |
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Module Configuration |
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Memory |
they are defined in. |
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is stored in program memory. |
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Set up via a table in the "properties" dialog box for each |
New project requires setting Module Configuration first. Select |
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drawing. Rarely Used |
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from File Manager under Definition Folder" |
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Program |
Drawings: |
H, L, A, I |
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H (High Scan) |
Use for all code that runs motion related functions |
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L (Low Scan) |
Use for code that runs HMI, or user operated switches, lights, etc |
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A (Startup) |
Use for drawings that should automatically run once at controller power up. |
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I (Interrupt) |
Use to run a special interrupt routine after receiving a local input defined as a dedicated "Interrupt." |
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Page 2 of 14
MP2300 Quick Reference Guide Rev1.5
MP2300 Register Addressing
All registers except Input and Output : S, C, M, D, #, A |
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Address |
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F |
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D |
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C |
B |
A |
9 |
8 |
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7 |
6 |
5 |
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4 |
3 |
2 |
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0 |
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MW2008 |
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ML2008 |
MW2009 |
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MW2010 |
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MF2010 |
MW2011 |
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M B 2008 C i |
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Register Type |
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Data Type |
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Register |
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Bit Number |
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Subscript |
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S: System |
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B: Bit |
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Number |
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(Hex) |
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(i or j) |
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C: Global Constant |
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W: 16-bit Word |
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(Decimal) |
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If Bit Data Type |
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optional |
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M: Multi-Purpose User |
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L: 32-bit Long |
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D: User Local |
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F: 32-bit Float |
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#: Local Constant |
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A: Address |
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A: Startup |
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Input and Output Registers |
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Address |
F |
E |
D |
C |
B |
A |
9 |
8 |
7 |
6 |
5 |
4 |
3 |
2 |
1 |
0 |
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OW8018 |
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OW8019 |
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OW801A |
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OL801A |
OW801B |
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O B 8019 A
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Register Type |
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Data Type |
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Register |
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Bit Number |
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O: Output (Motion Setting) |
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B: Bit |
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Number |
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(Hex) |
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I: Input (Motion Monitoring) |
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W: 16-bit Word |
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(Hex) |
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If Bit Data Type |
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L: 32-bit Long |
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F: 32-bit Float |
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Page 3 of 14
MP2300 Quick Reference Guide Rev1.5
LIO-01 / LIO-02
Register Allocation after Automatic Self-Configuration
Ref. Basic Module User's Manual (SIEPC88070003B) Section 6.5.3
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LIO-0x #1 |
LIO-0x#2 |
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LIO-0x #1 |
LIO-0x#2 |
Digital Inputs |
IW0410 |
IW0440 |
Digital Outputs |
OW0411 |
OW0441 |
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(As 16-bit word) |
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(As 16-bit Word) |
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Input |
0 |
IB04100 |
IB04400 |
Output |
0 |
OB04110 |
OB04410 |
Input |
1 |
IB04101 |
IB04401 |
Output |
1 |
OB04111 |
OB04411 |
Input |
2 |
IB04102 |
IB04402 |
Output |
2 |
OB04112 |
OB04412 |
Input |
3 |
IB04103 |
IB04403 |
Output |
3 |
OB04113 |
OB04413 |
Input |
4 |
IB04104 |
IB04404 |
Output |
4 |
OB04114 |
OB04414 |
Input |
5 |
IB04105 |
IB04405 |
Output |
5 |
OB04115 |
OB04415 |
Input |
6 |
IB04106 |
IB04406 |
Output |
6 |
OB04116 |
OB04416 |
Input |
7 |
IB04107 |
IB04407 |
Output |
7 |
OB04117 |
OB04417 |
Input |
8 |
IB04108 |
IB04408 |
Output |
8 |
OB04118 |
OB04418 |
Input |
9 |
IB04109 |
IB04409 |
Output |
9 |
OB04119 |
OB04419 |
Input |
10 |
IB0410A |
IB0440A |
Output |
10 |
OB0411A |
OB0441A |
Input |
11 |
IB0410B |
IB0440B |
Output |
11 |
OB0411B |
OB0441B |
Input |
12 |
IB0410C |
IB0440C |
Output |
12 |
OB0411C |
OB0441C |
Input |
13 |
IB0410D |
IB0440D |
Output |
13 |
OB0411D |
OB0441D |
Input |
14 |
IB0410E |
IB0440E |
Output |
14 |
OB0411E |
OB0441E |
Input |
15 |
IB0410F |
IB0440F |
Output |
15 |
OB0411F |
OB0441F |
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Counter |
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IW0420 / OW0420 |
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NOTE: There can be up to 2 LIO-0x modules in an MP2300 system. The first module to be auto-configured is the left-most module.
Page 4 of 14
MP2300 Quick Reference Guide Rev1.5
Basic Set of Registers for Register-Based Programming
Assume Module(Circuit) #1, Axis #1. Add 800h per circuit, 80h per axis.
Motion Setting Registers (OWxxxx)
Name |
Word |
Bit |
[Unit] / Note |
Reference |
Servo On |
OB8000 0 |
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Alarm Clear |
OB8000 F |
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Speed ("Feed" Speed) |
OL8010 |
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[10^3 R.U./minute (by default)] |
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Select Speed Units in OW8003.0-3 |
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Motion Command Code |
OW8008 |
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1=Position, 3=Home, 7=Jog, 8=Step |
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Position Reference |
OL801C |
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[R.U.] Default R.U. is encoder count |
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Abs/Inc Position Mode |
OB8009 5 |
1=Abs, 0=Inc (default) |
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Step Distance |
OL8004 |
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[R.U.] Default R.U. is encoder count |
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Direction (Step,Jog) |
OB8009 2 |
0=Fwd, 1=Rev |
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Acceleration |
OL8036 |
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[ms to rated speed (FP34)] |
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Select Acceleration Units in OW8003.4-7 |
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Deceleration |
OL8038 |
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[ms to rated speed (FP34)] |
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Select Deceleration Units in OW8003.4-7 |
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Motion Monitoring Registers ( I Wxxxx) |
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Name |
Word |
Bit |
[Unit] / Note |
Reference |
Servo Alarm |
IL8004 |
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=0 when no alarm. Each bit represents |
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different alarm |
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Servo Warning |
IL8002 |
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=0 when no warning Each bit represents |
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different warning |
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Mtn Cmd Code confirm |
IW8008 |
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Main Power On |
IB802C 4 |
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Servo Ready |
IB8000 3 |
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Servo On Confirm |
IB8000 |
1 |
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IB802C |
3 |
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Feedback Position |
IL8016 |
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[counts or Reference Units] |
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Feedback Speed |
IL8040 |
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Positioning Complete |
IB800C 1 |
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Terminology used on this page
"R.U.": Minimum increment of motion. By default 1 R.U. = 1 Count. Used fixed parameters to change. "Count": post-quadrature encoder count
"Pulse": pre-quadrature encoder pulse
Page 5 of 14
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