Yaskawa MP2300S User Manual

Machine Controller MP2300S

Basic Module

USER'S MANUAL

Model: JEPMC-MP2300S-E

MP2300S

YAS KAWA

BATTERY

M-

I/II

RDY

RUN

ALM

ERR

MTX

BAT

TRX

STOP SUP

INT

CNFG

MON TEST

E-INT E-TEST

Specifications and Functions

Overview

Mounting and Wiring

RLY OUT

Ethernet

LINK

DC 24V

100M

Outline of Motion Control Systems

System Start Up and

Easy Programming

Built-in Ethernet Communications

Slave CPU Synchronous Function

Maintenance and Inspection

Troubleshooting

MANUAL NO. SIEP C880732 00C

Appendices

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 constantly 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.

Using this Manual

The MP2300S 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 MP2300S system and apply to your manufacturing system for control. Keep this manual in a safe place for future reference.

 Basic Terms

Unless otherwise specified, the following definitions are used:

• MP2300S: MP2300S Machine Controller

• MPE720: The Programming Device Software or a Programming Device (i.e., a personal computer) running the Programming Device Software

• PLC: Programmable Logic Controller

 Manual Configuration

Read the chapters of this manual as required by the purpose.

Selecting

Chapter

Chapter 1 Overview

Chapter 2 Specifications and Functions

Chapter 3 Mounting and Wiring

Chapter 4 System Start Up and Easy Programming

Chapter 5 Outline of Motion Control Systems

Chapter 6 Built-in Ethernet Communications

Chapter 7 Slave CPU Synchronous Function

Chapter 8 Maintenance and Inspection

Chapter 9 Troubleshooting

Appendices A to G −−√−√√

Models and

Peripheral

Devices

√−−−−−

√√√√−−

−√√√−−

√−−−√−

−−√−√−

−−−−√−

−−−−√√

−−−−

Studying

Specifications

and Ratings

Designing

the System

Installation and Wiring

Trial Oper-

ation

√

Maintenance

and Inspec-

tion

√

For information on motion parameters and motion commands, refer to Machine Controller MP2000-series SVB/SVB01 Motion Module User’s Manual (manual number: SIEP C880700 33).

 Engineering Tool Used in this Manual

The displays for MPE720 version 6 are used for descriptions in this manual. If you are using MP720 version 5, interpret the displays according to MPE720 version 5.

 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

• S-ON

• P-CON

= /S-ON

= /P-CON

iii

 Related Manuals

The following table lists the manuals relating to the MP2300S. Refer to these manuals as required.

Manual Name Manual Number Contents

Machine Controller MP2000 Series SVA-01 Motion Module User’s Manual

Machine Controller MP2000 Series Built-in SVB/SVB-01 Motion Module User's Manual

Machine Controller MP2000 Series SVC-01 Motion Module User's Manual

Machine Controller MP2000 Series Pulse Output Motion Module PO-01 User's Manual

Machine Controller MP2000 Communication Module User’s Manual

Machine Controller MP2300S/MP2310/MP2400 Basic Module Supplement for Ethernet Communications

Machine Controller MP2000 Series 262IF-01 FL-net Communication Module User's Manual

Machine Controller MP2000 Series 263IF-01 EtherNet/IP Communication Module User's Manual

Machine Controller MP2000 Series I/O Module User's Manual

Machine Controller MP2000 Series Analog Input/Analog Output Module AI-01/AO-01 User’s Manual

Machine Controller MP2000 Series Counter Module CNTR-01 User's Manual

Machine Controller MP900/MP2000 Series User’s Manual, Ladder Programming

Machine Controller MP2000 Series User's Manual, Motion Programming

Engineering Tool for MP2000 Series Machine Controller MPE720 Version 6 User's Manual

Machine Controller MP900/MP2000 Series MPE720 User’s Manual

Machine Controller MP900/MP2000 Series New Ladder Editor User’s Manual Programming Instructions

Machine Controller MP900/MP2000 Series New Ladder Editor User’s Manual Operation

Software fo

r Programming Device

SIEP C880700 32

SIEP C880700 33

SIEP C880700 41

SIEP C880700 28

SIEP C880700 04

SIEP C880700 37

SIEP C880700 36

SIEP C800700 39

SIEP C800700 34

SIEP C800700 26

SIEP C800700 27

SIEZ-C887-1.2

SIEP C880700 38

SIEP C880700 30

SIEP C880700 05

SIEZ-C887-13.1

SIEZ-C887-13.2

Describes the functions, specifications, and application methods of the MP2000-series SVA-01 Motion Module.

Describes the functions, specifications, and application methods of the MP2000-series Motion Module that is built into the SVA, SVB-01, and SVR Module.

Describes the functions, specifications, and application methods of the MP2000-series SVC-01 Motion Module.

Describes the functions, specifications, and application methods of the MP2000-series PO-01 Motion Module.

Describes the functions, specifications, and application methods of the MP200 Communication Modules (217IF, 218IF, 260IF, 261IF).

Describes how to communicate with devices (PLCs, Windows computers, etc.) connected to the MP2300S/MP2310/MP2400 by Ethernet.

Describes the specifications and communication methods of an FL-net Communication Module that can connect to an MP2000-series Machine Controller.

Describes the specifications and communication methods of an EtherNet/IP Communication Module that can connect to an MP2000-series Machine Controller.

Describes functions, specifications, and application methods of the MP2000-series I/O Modules (LIO-01, LIO-02, LIO-04, LIO-05, LIO-06, and DO-01).

Describes the functions, specifications, and communication methods of the MP2000-series I/O Modules (Al-01 and AO-01).

Describes the functions, specifications, and application methods of the MP2000-series CNTR-01 Counter Module.

Describes the instructions used in MP900/MP2000 ladder programming.

Describes the motion language used with an MP2000-series Machine Controller.

Describes the installation and operation of the engineering tool for MP2000-series Machine Controller MPE720 Version 6.

Describes how to install and operate the MP900/ MP2000-series programming system (MPE720).

Describes the programming instructions of the New Ladder Editor, which assists MP900/MP2000-series design and maintenance.

Describes the operating methods of the New Ladder Editor, which assists MP900/MP2000-series design and maintenance.

Manual Name Manual Number Contents

Machine Controller MP900/MP2000 Series User’s Manual, MECHATROLINK System

Machine Controller MP900/MP2000 Series Linear Servomotor Manual

 Terms Used to Describe “Torque”

Although the term “torque” is commonly used when describing rotary servomotors and “force” or “thrust” are used when describing linear servomotors, this manual uses “torque” when describing both (excluding parameters).

 Copyrights

• 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.

SIEZ-C887-5.1

SIEP C880700 06

(cont’d)

Describes MECHATROLINK distributed I/O for MP900/MP2000-series Machine Controllers.

Describes the connection methods, setting methods, and other information for Linear Servomotors.

WARNING

CAUTION

PROHIBITED

MANDATORY

Safety Information

The following conventions are used to indicate precautions in this manual. These precautions are provided to ensure the safe operation of the MP2300S and connected devices. Information marked as shown below is important for the safety of the user. Always read this information and heed the precautions that are provided. The conventions are as follows:

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

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 MP2300S.

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 MP2300S.

 Do not attempt to modify the MP2300S 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 MP2300S 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 person-

nel.

There is a risk of electrical shock or injury.

vii

CAUTION

 Storage and Transportation

 Do not store or install the MP2300S 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 MP2300S during transportation.

There is a risk of injury or an accident.

 Do not under any means subject the MP2300S to an atmosphere that contains halogen gas (fluorine, chlo-

ride, bromine, iodine, etc.) during storage, transportation, or installation.

There is a risk of damage or malfunction.

 If disinfectants or insecticides must be used to treat packing materials such as wooden frames, pallets, or

plywood, the packing materials must be treated before the product is packaged, and methods other than fumigation must be used. Example: Heat treatment, where materials are kiln-dried to a core temperature of 56°C for 30

minutes or more.

If the electronic products, which include stand-alone products and products installed in machines, are packed with fumigated wooden materials, the electrical components may be greatly damaged by the gases or fumes resulting from the fumigation process. In particular, disinfectants containing halogen, which includes chlorine, fluorine, bromine, or iodine can contribute to the erosion of the capacitors.

 Installation

 Never use the MP2300S 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 MP2300S or place heavy objects on the MP2300S.

There is a risk of injury.

 Do not block the air exhaust port or allow foreign objects to enter the MP2300S.

There is a risk of element deterioration inside, an accident, or fire.

 Always mount the MP2300S in the specified orientation.

There is a risk of an accident.

 Do not subject the MP2300S to strong shock.

There is a risk of an accident.

viii

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 cables

General control circuit cables

Digital I/O signal cables

 Wiring

 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 MP2300S 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.

 Only qualified safety-trained personnel should replace the battery.

If the battery is replaced incorrectly, machine malfunction or damage, electric shock, or injury may result.

 When replacing the battery, do not touch the electrodes.

Static electricity may damage the electrodes.

 Selecting, Separating, and Laying External Cables

 Consider the following items when selecting the I/O signal lines (external cables) to connect the MP2300S

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

 Maintenance and Inspection Precautions

 Do not attempt to disassemble the MP2300S.

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 MP2300S, restart operation only after transferring the programs and parameters from

the old Module to the new Module.

There is a risk of device damage.

 Disposal Precautions

 Dispose of the MP2300S as general industrial waste.  A lithium battery is built into the MP2300S. After replacing the battery, dispose of the old battery separate

from regular waste and in accordance with local regulations.

 General Precautions

 The products shown in illustrations in this manual are sometimes shown without covers or protective

guards. Always replace the cover or protective guard as specified first, and then operate the products in accordance with the manual.

 The drawings presented in this manual are typical examples and may not match the product you

received.

 If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or

one of the offices listed on the back of this manual.

Observe the following general precautions

to ensure safe application.

Warranty

( 1 ) Details of Warranty

 Warranty Period

The warranty period for a product that was purchased (hereinafter called “delivered product”) is one year from the time of delivery to the location specified by the customer or 18 months from the time of shipment from the Yaskawa factory, whichever is sooner.

 Warranty Scope

Yaskawa shall replace or repair a defective product free of charge if a defect attributable to Yaskawa occurs during the warranty period above. This warranty does not cover defects caused by the delivered product reaching the end of its service life and replacement of parts that require replacement or that have a limited service life. This warranty does not cover failures that result from any of the following causes.

1. Improper handling, abuse, or use in unsuitable conditions or in environments not described in product catalogs or manuals, or in any separately agreed-upon specifications

2. Causes not attributable to the delivered product itself

3. Modifications or repairs not performed by Yaskawa

4. Abuse of the delivered product in a manner in which it was not originally intended

5. Causes that were not foreseeable with the scientific and technological understanding at the time of shipment from Ya sk a wa

6. Events for which Yaskawa is not responsible, such as natural or human-made disasters

( 2 ) Limitations of Liability

1. Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product.

2. Yaskawa shall not be responsible for any programs (including parameter settings) or the results of program execution of the programs provided by the user or by a third party for use with programmable Yaskawa products.

3. The information described in product catalogs or manuals is provided for the purpose of the customer purchasing the appropriate product for the intended application. The use thereof does not guarantee that there are no infringements of intellectual property rights or other proprietary rights of Yaskawa or third parties, nor does it construe a license.

4. Yaskawa shall not be responsible for any damage arising from infringements of intellectual property rights or other proprietary rights of third parties as a result of using the information described in catalogs or manuals.

( 3 ) Suitability for Use

1. It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that apply if the Yaskawa product is used in combination with any other products.

2. The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by the customer.

3. Consult with Yaskawa to determine whether use in the following applications is acceptable. If use in the application is acceptable, use the product with extra allowance in ratings and specifications, and provide safety measures to minimize hazards in the event of failure.

• Outdoor use, use involving potential chemical contamination or electrical interference, or use in conditions or environments not described in product catalogs or manuals

• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, vehicle systems, medical equipment, amusement machines, and installations subject to separate industry or government regulations

• Systems, machines, and equipment that may present a risk to life or property

• Systems that require a high degree of reliability, such as systems that supply gas, water, or electricity, or systems that operate continuously 24 hours a day

• Other systems that require a similar high degree of safety

4. Never use the product for an application involving serious risk to life or property without first ensuring that the system is designed to secure the required level of safety with risk warnings and redundancy, and that the Yaskawa product is properly rated and installed.

5. The circuit examples and other application examples described in product catalogs and manuals are for reference. Check the functionality and safety of the actual devices and equipment to be used before using the product.

6. Read and understand all use prohibitions and precautions, and operate the Yaskawa product correctly to prevent accidental harm to third parties.

( 4 ) Specifications Change

The names, specifications, appearance, and accessories of products in product catalogs and manuals may be changed at any time based on improvements and other reasons. The next editions of the revised catalogs or manuals will be published with updated code numbers. Consult with your Yaskawa representative to confirm the actual specifications before purchasing a product.

xii

Using this Manual - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii Safety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vi Safety Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vii Warranty - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xi

1 Overview- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-1

1.1 MP2300S Features- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.2 MP2300S Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3

1.2.1 Basic Module Appearance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3

1.2.2 MP2300S Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4

1.3 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5

1.3.1 Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5

1.3.2 Example of Distributed Synchronizing System- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6

1.4 MECHATROLINK Compatible Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7

1.4.1 MECHATROLINK-I/II Compatible Devices- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7

1.4.2 MECHATROLINK-III Compatible Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8

1.5 Cables and Accessories - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9

1.5.1 Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9

1.5.2 Accessories and Options - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-10

1.5.3 Software (Programming Tool) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-10

2 Specifications and Functions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-1

2.1 Specifications- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2

2.1.1 General Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2

2.1.2 Product Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3

2.1.3 Function Lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4

2.2 Basic Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7

2.2.1 Outline of Functions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7

2.2.2 External Appearance, LED Indicators, and Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - - 2-8

2.2.3 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-11

2.2.4 218IFA Module (Ethernet) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-12

2.2.5 Built-in SVB Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-31

2.2.6 SVR Virtual Motion Module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-48

2.2.7 M-EXECUTOR Module (Motion Program Executor) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-51

2.3 Option Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-62

2.3.1 Option Module Overview List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-62

2.4 External Appearance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-64

2.4.1 Basic Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-64

2.4.2 Basic Module with Metal Fittings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-65

3 Mounting and Wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-1

3.1 Mounting MP2300S - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2

3.1.1 Method- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2

3.1.2 MP2300S Mount Direction - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-7

3.1.3 Space Required for Mounting MP2300S - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-8

3.1.4 Replacing and Adding Optional Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-9

xiii

3.2 Basic Module Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12

3.2.1 Connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12

3.2.2 Power Supply Connector- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-13

3.2.3 MECHATROLINK Connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14

3.2.4 Ethernet Connector Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-19

3.2.5 RLY OUT Connector Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-23

3.2.6 System Connection Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-25

4 System Start Up and Easy Programming - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-1

4.1 System Startup Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2

4.2 Preparation (step 1) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3

4.2.1 Wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3

4.2.2 Self Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5

4.2.3 Test Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6

4.3 Programming (step 2) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9

4.3.1 Programming Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9

4.4 Executing Motion (step 3) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11

4.4.1 Registering Program Execution - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11

4.4.2 Starting a Motion Program Using the Operation Control Panel - - - - - - - - - - - - - - - - - - - - - 4-12

4.5 Starting Motion Program from an External Signal- - - - - - - - - - - - - - - - - - - - - - 4-13

4.5.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13

4.5.2 Required Equipment - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13

4.5.3 Creation Procedure- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-15

5 Outline of Motion Control Systems - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-1

5.1 Startup Sequence and Basic Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2

5.1.1 DIP Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2

5.1.2 Startup Sequence- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3

5.1.3 Startup Sequence Operation Details- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4

5.2 User Programs- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5

5.2.1 Types and Execution Timing of User Program- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5

5.2.2 Motion Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6

5.2.3 Sequence Program- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-27

5.2.4 Ladder Drawings (DWG) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30

5.3 Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-35

5.3.1 Types of Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-35

5.3.2 Data Types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38

5.3.3 How to Use Subscripts i, j - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-39

5.3.4 Register Designation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-40

5.4 Self-configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-41

5.4.1 How to Execute Self-Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-42

5.4.2 Definition Information Updated with Self-Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-50

5.5 Precaution on Using MP2300S - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-53

5.5.1 Precautions when User Definition File is Configured/Changed - - - - - - - - - - - - - - - - - - - - - 5-53

5.5.2 Setting or Changing Module Configuration Definition Files - - - - - - - - - - - - - - - - - - - - - - - - 5-54

5.5.3 Setting and Changing the Scan Time - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-55

xiv

6 Built-in Ethernet Communications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-1

6.1 Communication Methods- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2

6.2 Communication with Other MP Series - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3

6.2.1 When the MP2300S Acts as Slave (automatic receive function is used) - - - - - - - - - - - - - - - - 6-3

6.2.2 When the MP2300S Acts as Slave (ladder program which uses a MSG-RCV function) - - - - 6-17

6.2.3 When the MP2300S Acts as Master (I/O message communication function is used) - - - - - - 6-36

6.2.4 When the MP2300S Acts as Master (ladder program which uses a MSG-SND function) - - - 6-49

6.3 Communication with Touch Panel- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-65

6.3.1 When the MP2300S Acts as Slave (automatic receive function is used) - - - - - - - - - - - - - - - 6-65

6.4 Communication with PLC Manufactured by Mitsubishi Electric Corporation (MELSEC protocol) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-75

6.4.1 When the MP2300S Acts as Slave (automatic receive function is used) - - - - - - - - - - - - - - - 6-75

6.4.2 When the MP2300S Acts as Master (I/O message communication function is used) - - - - - - 6-83

7 Slave CPU Synchronous Function- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-1

7.1 Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2

7.2 Requirements and Setting of Execution - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3

7.2.1 Supported Version- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3

7.2.2 Requirements to Execute Slave CPU Synchronous Function- - - - - - - - - - - - - - - - - - - - - - - - 7-3

7.2.3 How to Set up Slave CPU Synchronous Function- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4

7.2.4 How to Execute Slave CPU Synchronous Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-7

7.3 Operation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-9

7.3.1 Input/Output Register- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-9

7.3.2 How to Determine Slave CPU Synchronous State - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-15

7.3.3 Calculation of Slave CPU Synchronous Delay Time - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-16

7.3.4 How to Use Scan Counter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-17

7.3.5 How to Determine Input Error - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-18

7.3.6 Management to Resume Slave CPU Synchronization - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-24

7.4 Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-28

7.4.1 Precautions on Usage - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-28

7.4.2 Effect of Error on Slave CPU Synchronous Operation- - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-29

8 Maintenance and Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-1

8.1 Daily Inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2

8.2 Regular Inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3

8.3 Replacing the Basic Module Battery - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-4

9 Troubleshooting- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-1

9.1 Basic Flow of Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2

9.2 LED Indicator Meanings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-3

9.3 Problem Classification- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4

9.3.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4

9.3.2 MP2300S Error Check Flowchart - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-5

9.4 Troubleshooting Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-6

9.4.1 Operation Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-6

9.4.2 I/O Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-9

9.4.3 Watchdog Timer Timeout Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-10

9.4.4 Module Synchronization Errors (Ver. 2.75 or Later)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-10

9.4.5 System Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-11

Appendices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-1

Appendix A System Registers Lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-3

A.1 System Service Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-3 A.2 System Status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-6 A.3 System Error Status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-7 A.4 User Operation Error Status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-9 A.5 System Service Execution Status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-10 A.6 User Operation Error Status Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-11 A.7 System I/O Error Status- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-12 A.8 Compact Flash Card-Related System Registers

(CPU-02 and CPU-03 Modules for the MP2200 Only) - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-13 A.9 Interrupt Status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-14 A.10 Module Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-15 A.11 MPU-01 System Status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-16 A.12 Motion Program Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-17

Appendix B SERVOPACK Parameter Data Flow- - - - - - - - - - - - - - - - - - - - - - - - A-20

B.1 Operations and Parameter Data Flow - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-20

Appendix C Initializing SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-29

Appendix D Initializing the Absolute Encoder - - - - - - - - - - - - - - - - - - - - - - - - - - A-30

D.1 Σ-V SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-30 D.2 Σ-III SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-31 D.3 Σ-II SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-32 D.4 Σ-I SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-34

Appendix E Motion Parameter Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-36

E.1 Fixed Parameter List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-36 E.2 Setting Parameter List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-38 E.3 Monitoring Parameter List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-43

Appendix F Simple Connection Function of the Engineering Tool - - - - - - - - - - - - A-47

F.1 Preparation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-47 F.2 Procedure- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-47

Appendix G MSG-SND/MSG-RCV Functions (Ethernet) - - - - - - - - - - - - - - - - - - A-51

G.1 Message Transmit Function (MSG-SND)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-51 G.2 Message Receive Function (MSG-RCV) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-86 G.3 Communication Buffer Channel - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-118

Appendix H Optional Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-120

H.1 Clearing D Registers at Startup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-120 H.2 Security - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-121 H.3 Battery Backup for Table Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-129

Appendix I Installing MPE720 Version 6 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-133

INDEX

Revision History

xvi

Overview

This chapter explains an overview and features of the MP2300S Machine Controller.

1.1 MP2300S Features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-2

1.2 MP2300S Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-3

1.2.1 Basic Module Appearance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3

1.2.2 MP2300S Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4

1.3 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-5

1.3.1 Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5

1.3.2 Example of Distributed Synchronizing System - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6

1.4 MECHATROLINK Compatible Devices - - - - - - - - - - - - - - - - - - - - - - - - - -1-7

1.4.1 MECHATROLINK-I/II Compatible Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7

1.4.2 MECHATROLINK-III Compatible Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8

1.5 Cables and Accessories - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-9

1.5.1 Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9

1.5.2 Accessories and Options - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-10

1.5.3 Software (Programming Tool) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-10

1-1

1.1 MP2300S Features

The MP2300S is a small all-in-one machine controller, and successor to the MP2000 series in function and performance. It is characterized by the following standard features:

 Standard Feature Motion Network MECHATROLINK-II

• Controls up to 16 axes of servos supporting MECHATROLINK-II.

• Connects up to 21 stations including I/Os.

 Standard Feature Ethernet (100 Mbps)

• Allows high-speed communications with the engineering tool MPE720.

• Enables communication without a ladder program by using a touch panel (automatic receive function).

• Enables communication without a ladder program by using an upper PLC (I/O message communication function).

 Scalability Ensured in Preparation for Single Optional Slot

• Single optional slot ensures scalability. The existing optional modules of MP2000 series are available.

• An optional module allows the use of various open networks, such as CC-Link, DeviceNet, and PROFIBUS.

• Connecting an SVB-01 module to the optional slot allows the synchronized control of up to 32 axes of servos.

 Capable of a Synchronous Distributed System with MECHATROLINK

• The MP2300S has a CPU synchronous function using MECHATROLINK communications. This is a new function in the MP2000 series Machine Controllers.

• A sync operation between slave controllers is made possible by connecting the MP2300S as a slave with an MP2000 series model as a master via MECHATROLINK-II.

• The controller's load balancing affords a high-speed synchronization of multi-axis motions.

 Simple Programming

• The operation procedures needed before performing a motion operation are significantly reduced.

• You can start up a motion program from an upper PLC without the need for programming, simply by creating the motion program and registering execution orders.

1-2

Overview

1.2 MP2300S Configuration

The MP2300S is configured with one Basic Module and an optional slot.

1.2.1 Basic Module Appearance

The following figure shows the external appearance of the Basic Module with metal fittings for attachment. Also, the values in the figure do not include the length of metal fittings.

Metal fittings

for attachment

1.2 MP2300S Configuration

1.2.1 Basic Module Appearance

64 mm

LED

(8 points)

DIP switch

(6 points+4 points)

Battery cover

MECHATROLINK-Τ

connector

(1 line, 2 ports)

2-pole connector

(RLY OUT)

3-pole connector

(24-V power supply)

$#66'4;

;#5-#9#

M-I/II

4&;

#./

/6:

64:

5612

572 +06

%0()

/10

6'56

470

'44

$#6



LIO

.& .&

.&

.&

.&

/1&'

I/O

.&

.&

.&

130 mm

+06 6'56

LINK

/

thernet



&% 8

4.; 176

108 mm

Ethernet connector

with LED

Optional slot

1-3

1.2 MP2300S Configuration

1.2.2 MP2300S Modules

The following table shows the names and specifications of the Basic Module and Optional Modules.

Group Name Description Model Specifications

Basic Module

Motion Modules

I/O Modules

Optional Modules

Communication Modules

Basic Module MP2300S JAPMC-MP2300S-E

MECHATROLINK Motion Module

Analog Output Motion Module

Pulse Output Motion Module

I/O Module

Output Module DO-01 JAPMC-DO2300(-E) 64 outputs (sink mode output)

Analog Input Module AI-01 JAPMC-AN2300(-E) Analog input, 8 channels

Analog Output Module AO-01 JAPMC-AN2310-E Analog input, 4 channels

Counter Module CNTR-01 JAPMC-PL2300-E Reversible counter, 2 channels

Ethernet Communication Module

General-purpose Serial Communication Module

DeviceNet Communication Module

PROFIBUS Communication Module

FL-net Communication Module

EtherNet/IP Communication Module

MPLINK/CP-215 Communication Module

MECHATROLINK-I and -II Interface Ethernet communications

SVB-01 JAPMC-MC2310(-E)

SVC-01 JAPMC-MC2320-E

SVA-01 JAPMC-MC2300(-E) Analog output, 2 axes maximum

PO-01 JAPMC-PL2310-E Pulse output, 4 axes maximum

LIO-01 JAPMC-IO2300(-E)

LIO-02 JAPMC-IO2301(-E)

LIO-04 JAPMC-IO2303(-E) 32 inputs, 32 outputs (sink mode output)

LIO-05 JAPMC-IO2304(-E) 32 inputs, 32 outputs (source mode output)

LIO-06 JAPMC-IO2305-E

218IF-01 JAPMC-CM2300(-E) RS-232C and Ethernet communications

218IF-02 JAPMC-CM2302(-E)

217IF-01 JAPMC-CM2310(-E)

260IF-01 JAPMC-CM2320(-E) RS-232C and DeviceNet communications

261IF-01 JAPMC-CM2330(-E) RS-232C and PROFIBUS communications

262IF-01 JAPMC-CM2303-E FL-net communications

263IF-01 JAPMC-CM2304-E EtherNet/IP communications

215AIF-01

JAPMC-CM2360(-E) JAPMC-CM2361(-E)

MECHATROLINK-I and -II Interface 16 axes maximum

MECHATROLINK-III Interface 16 axes maximum

16 inputs, 16 outputs (sink mode output) 1 pulse input

16 inputs, 16 outputs (source mode output) 1 pulse input

8 inputs, 8 outputs, (sink mode output) Analog input, 1 channel Analog output, 1 channel Pulse counter, 1 channel

RS-232C and Ethernet communications (100 Mbps)

RS-232C and RS-422/RS-485 communications

RS-232C, MPLINK, and CP-215 communications

1-4

Note: 1. If the model number has "-E", the product is compliant with RoHS directives.

2. If the model number has "(-E)", both RoHS-compliant and non RoHS-compliant products are available.

Overview

1.3 System Configuration

Terminating resistor 130 Ω

RLY

OUT

24 VDC

MPE720

MECHATROLINK-II

Ethernet

LIO-01

LIO-02

LIO-04

LIO-05

LIO-06

DO-01

AI-01

AO-01

215AIF-01

216AIF-01

260IF-01

261IF-01

262IF-01

217IF-01

218IF-01

218IF-02

Communication module

SVA-01

SVB-01

PO-01

SVC-01

Motion module

AFMP-01

Other module such as other company's module

Output

Input

RS-232C

215 communications

216 communications

Ethernet

DeviceNet

PROFIBUS

RS-422/485

FL-net

Ether Net/IP

Servo

amplifier

AnyWire

A-net/A-link

Optional module I/O module

AFMP-02

MPANL00-0

MPALL00-0

MPAL000-0

MPAN000-0

CC-Link

Max. 21 stations including I/O. (Max. 16 stations servo can be included.)

Ethernet Hub

Upper PLC

CNTR-01

5)&*#'



05

Inverter

I/O

Servo Servo Servo

Repeater

YASKAWA SERVOPACK

200V

SGDS-01A12A

SW1

CHARGE

C N 3

A/B

C N 1

C N 2

C N 4

L2C

L1C

B1/

C N 6

YASKAWA SERVOPACK

200V

SGDS-01A12A

SW1

CHARGE

C N 3

A/B

C N 1

C N 2

C N 4

L2C

L1C

B1/

C N 6

JEPMC-IO2310

VS mini V7

/

thernet

LINK

8

4.; 176

;#5-#9#

6'56

4&;

#./

/6:

64:

470

'44

$#6





%0()

+06

572

/10

5612

$#66'4;

M-I/II

' '

6'56

+06

263IF-01

1.3.1 Example

The following diagram shows an example of system configuration.

1.3 System Configuration

1.3.1 Example

1-5

1.3 System Configuration

MP2300S

SVB-01 Module

MECHATROLINK-

Master

Slave

Synchronization

/

VJGTPGV

.+0-

8

4.; 176

;#5-#9#

6'56

4&;

#./

/6:

64:

470

'44

$#6





%0()

+06

572

/10

5612

$#66'4;

M-I/II

' '

6'56

+06

MP2300S

SVB-01 Module

Slave

/

VJGTPGV

.+0-

8

4.; 176

;#5-#9#

6'56

4&;

#./

/6:

64:

470

'44

$#6





%0()

+06

572

/10

5612

$#66'4;

M-I/II

' '

6'56

+06

MP2200

MBU-01

POWER

CPU-01

SVB-01

218IF-01

LIO-02

LIO-01

217IF-01

EXIOIF

260IF-01

YASKAWA

MP2100, MP2200, MP2300, MP2300S, MP2310, MP2400, MP2500

SVB-01

ERRRUN

SPD

SIZE

M/S

OFF

10

1

M-I/II

CN1

CN2

SVB-01

ERRRUN

SPD

SIZE

M/S

OFF

10

1

M-I/II

CN1

CN2

1.3.2 Example of Distributed Synchronizing System

 For the details on the system configuration example, refer to 4.2.1 ( 1 ) System Layout Model.  Use the connecting cables and connectors recommended by Yaskawa. Always check the device to be used

and select the correct cable for the device.

 Different SERVOPACKs are connected to MECHATROLINK-I (4 Mbps) and MECHATROLINK-II (10 Mbps).

Refer to 1.4.1 MECHATROLINK-I/II Compatible Devices and select the appropriate SERVOPACKs.

 If devices compatible with MECHATROLINK-I and with MECHATROLINK-II are used together, make the set-

tings for MECHATROLINK-I.

 The user must supply the 24-VDC power supply.  When connecting SERVOPACKs via MECHATROLINK, connect the overtravel, zero point return deceleration

limit switch, and external latch signal lines to the SERVOPACKs. For connection, refer to the SERVOPACK’s manual.

1.3.2 Example of Distributed Synchronizing System

If some MP2300S are connected as slaves and other MP2000-series Machine Controllers are connected via MECHATROLINK-II, slaves can operate synchronously. Distribution of the load realizes the high-speed synchronization of multiple axes.

1-6

Overview

1.4 MECHATROLINK Compatible Devices

SERVOPACKs

Inverters

1.4.1 MECHATROLINK-I/II Compatible Devices

The following devices support MECHATROLINK communications and can be connected to the MECHATROLINK connectors of the MP2300S and SVB-01 Module.

( 1 ) SERVOPACKs and Inverters

1.4 MECHATROLINK Compatible Devices

1.4.1 MECHATROLINK-I/II Compatible Devices

Drive Typ e

SGD-N SGDB-AN

SGDH-E JUSP-NS100

SGDH-E JUSP-NS115

SGDS-1

SGDX-1

SJDE-AN

SGDV-1

JUSP-IM

CIMR-G7A SI-T

CIMR-F7A SI-T

CIMR-V7AA SI-T/V7

( 2 ) Modules

JEPMC-IO350

JAMSC-120DDI34330

JAMSC-120DDO34340

JAMSC-120DAI53330

JAMSC-120DAI73330

JAMSC-120DAO83330

JAMSC-120DRA83030

JAMSC-120AVI02030

JAMSC-120AVO01030

JAMSC-120EHC21140

JAMSC-120MMB20230

JAMSC-IO2900-E

JAMSC-IO2910-E

Model Description MECHATROLINK-I MECHATROLINK-II

MECHATROLINK compatible AC SERVOPA CK s

SGDH SERVOPACK NS100 MECHATROLINK-I Interface Units

SGDH SERVOPACK NS115 MECHATROLINK-II Interface Units

SGDS SERVOPACKs

SGDX SERVOPACKs

SJDE SERVOPACKs

SGDV SERVOPACKs

MECHATROLINK-II compatible IDMs

Varispeed G7 Inverters MECHATROLINK interface

Varispeed F7 Inverters MECHATROLINK interface

Varispeed V7 Inverters MECHATROLINK interface

Model Description MECHATROLINK-I MECHATROLINK-II

64-point I/O Module 24 VDC, 64 inputs, 64 outputs

DC Input Module 12/24 VDC, 16 inputs

DC Output Module 12/24 VDC, 16 outputs

AC Input Module 100 VAC, 8 inputs

AC Input Module 200 VAC, 8 inputs

AC Output Module

100/200

Relay Module Wide voltage range relay contacts, 8 contact outputs

A/D Module Analog inputs, −10 to 10 V, 4 channels

D/A Module Analog outputs, −10 to 10 V, 2 channels

Counter Module Reversible counter, 2 channels

Pulse Output Module Pulse output, 2 channels

DC Input Module 12/24 VDC, 16 inputs

DC Output Module 12/24 VDC, 16 outputs

AC, 8 outputs

Ye s N o

Ye s Ye s

No Yes

Ye s Ye s

No Yes

Ye s Ye s

Ye s N o

Ye s Ye s

1-7

1.4 MECHATROLINK Compatible Devices

1.4.2 MECHATROLINK-III Compatible Devices

Model Description MECHATROLINK-I MECHATROLINK-II

64-point I/O Module

JEPMC-IO2310

JEPMC-IO2330

JEPMC-PL2900

JEPMC-PL2910

JEPMC-AN2900

JEPMC-AN2910

JAPMC-MC2310 SVB-01 Motion Module

JEPMC-REP2000 MECHATROLINK-II Repeater

JEVSA-YV250 MYVIS (image processing device)

JEPMC-MC400 MP940 Motion Controller

24 VDC, 64 inputs, 64 outputs (sink mode output)

64-point I/O Module 24 VDC, 64 inputs, 64 outputs (source mode output)

Counter Module Reversible counter, 2 channels

Pulse Output Module Pulse output, 2 channels

A/D Module Analog inputs, −10 to 10 V, 4 channels

D/A Module Analog outputs, −10 to 10 V, 2 channels

(cont’d)

Ye s Ye s

No Yes

Ye s Ye s

Ye s N o

1.4.2 MECHATROLINK-III Compatible Devices

The following devices support MECHATROLINK communications and can be connected to the MECHATROLINK connector of the SVC-01 Module.

( 1 ) SERVOPACKs

Model Description

SGDV-21

SGDV-25

( 2 ) Modules

Model Description

JAPMC-MC2320-E

SGDV SERVOPACK MECHATROLINK-III Communications reference/rotational

SGDV SERVOPACK MECHATROLINK-III Communications reference/linear

SVC-01 Motion Module

1-8

Overview

1.5 Cables and Accessories

1.5.1 Cables

The following table shows the cables that can be connected to the MP2300S Basic Module and Optional Modules.

1.5 Cables and Accessories

1.5.1 Cables

Module

MP2300S Basic Module

MP2300S Basic Module and SVB-01

SVA-01 CN1, CN2

LIO-01/ LIO-02

LIO-04/ LIO-05

LIO-06 CN1

DO-01 CN1, CN2

AI-01 CN1, CN2

AO-01 CN1

CNTR-01 CN1

Connector

Name

Ethernet

M-I/II

I/O

CN1, CN2

Application Model Specifications

Ethernet communication cable

MECHATROLINK-I cable

MECHATROLINK-I terminator

MECHATROLINK-II cable

MECHATROLINK-II terminator

Cable for analog reference input SERVOPACK

External I/O cable

External output cable

Analog input cable

Analog output cable

Cable for CNTR-01 Module

Provided by customers.

JEPMC-W6010-

*with a MECHATROLINK

connector and loose wires

JEPMC-W6020 –

JEPMC-W6002-

*with MECHATROLINK

connectors on both ends

JEPMC-W6003-

*with MECHATROLINK

connectors on both ends

*with ferrite core

JEPMC-W6022 –

JEPMC-W2040-

JEPMC-W2061-

*Loose wires on one end

JEPMC-W6060-

*Loose wires on one end

JEPMC-W2064-

*Loose wires on one end

JEPMC-W6060-

*Loose wires on one end

JEPMC-W6080-

*Loose wires on one end

JEPMC-W6090-

*Loose wires on one end

JEPMC-W2063E-

*Loose wires on one end

–

Used between the devices listed below SVB-01 and SGD-N SVB-01 and SGDB-AN

Used between the devices listed below SVB-01 and I/O Unit, SVB-01 and SGDH-E+NS100 SVB-01 and SGDH-E+NS115 SVB-01 and SGDS-1 SVB-01 and SGDV-11 SVB-01 and SGDV-15

Used between the devices listed below SVA-01 and SGDM/SGDH SVA-01 and SGDS-01 SVA-01 and SGDS-02

Used between LIO-01/LIO-02 and external I/O device

Used between LIO-04/LIO-05 and external I/O device

Used between LIO

06 and external I/O device

Used between DO-01 and external I/O device

Used between AI-01 and analog external input device

Used between AO-01 and analog external output device

Used between CNTR-01 and external I/O device

1-9

1.5 Cables and Accessories

1.5.2 Accessories and Options

Module

Communication Module

218IF-01 10Base-T

218IF-02 Ethernet

217IF-01 RS-422/485

260IF-01 DeviceNet

261IF-01 PROFIBUS

262IF-01 FL-net

263F-01 EtherNet/IP

Connector

Name

PORT (Common to all communication modules)

Application Model Specifications

Used between RS-232C port and 25-pin male D-sub connector

Used between RS-232C port and DOS/V

Cross cable (Category 3 min.)

Cross or straight cable (Category 5)

Module-side connector: 1010214-52A2JL (manufactured by 3M Japan Limited)

Cable-side connector: 10114-3000PE (manufactured by 3M Japan Limited)

Shell: 10314-52A0-008 (manufactured by 3M Japan Limited)

Module-side connector: MSTB2-5/5-GF-5.08AM (manufactured by Phoenix Contact K.K.)

Module-side connector: 17LE-13090-27(D33C) (manufactured by DDK Ltd.)

Cross or straight cable (Category 5)

RS-232C communication cable

Ethernet communication cable

RS-422/RS-485 communication cable

DeviceNet communication cable

PROFIBUS communication cable

Ethernet communication cable

JEPMC-W5310-

JEPMC-W5311-

Use a commercially available cable.

(cont’d)

1.5.2 Accessories and Options

Name Accessory/Optional Model Remarks

Battery Accessory JZSP-BA01

Power Supply Connector Accessory 721-203/026 Cable side

RLY OUT Connector Accessory 734-YE102-2 Cable side

DIN Rail Mounting Parts Accessory

Terminator (Terminating Resistor)

Metal Fittings for Attachment Optional JEPMC-OP2300S-E –

Optional Cover Optional JEPMC-OP2300 Front cover for the empty slot

Accessory JEPMC-W6022

1.5.3 Software (Programming Tool)

The MPE720, programming tool for MP2300S, is available.

Name Model Remarks

MPE720

MPE720 Version 6

CPMC-MPE720 (Ver. 5.38 or later) CD-ROM (1 disk)

CPMC-MPE720 (Ver. 6.04 or later) CD-ROM (1 disk)

ER3VC + exclusive use connector (BA000517)

DIN rail spring Q’ty: 2

DIN rail lock Q’ty: 2

Q’ty: 1

1-10

Specifications and Functions

This chapter explains detailed specifications for the Basic Module and Optional Modules of the MP2300S.

2.1 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-2

2.1.1 General Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2

2.1.2 Product Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3

2.1.3 Function Lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4

2.2 Basic Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7

2.2.1 Outline of Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7

2.2.2 External Appearance, LED Indicators, and Switch Settings - - - - - - - - - - - - - - - - - - - - 2-8

2.2.3 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-11

2.2.4 218IFA Module (Ethernet) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-12

2.2.5 Built-in SVB Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-31

2.2.6 SVR Virtual Motion Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-48

2.2.7 M-EXECUTOR Module (Motion Program Executor) - - - - - - - - - - - - - - - - - - - - - - - - 2-51

2.3 Option Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-62

2.3.1 Option Module Overview List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-62

2.4 External Appearance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-64

2.4.1 Basic Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-64

2.4.2 Basic Module with Metal Fittings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-65

2-1

2.1 Specifications

2.1.1 General Specifications

2.1 Specifications

2.1.1 General Specifications

Item Specifications

Ambient Operating Temperature

Ambient Storage Temperature

Environmental Conditions

Mechanical Operating Conditions

Ambient Operating Humidity

Ambient Storage Humidity

Pollution Level Pollution level 1 (conforming to JIS B 3501)

Corrosive Gas There must be no combustible or corrosive gas.

Operating Altitude

Vibration Resistance

Shock Resistance

0°C to 55°C

-25°C to 85°C

30% to 95% (with no condensation)

5% to 95% (with no condensation)

2,000 m above sea level or lower

Conforming to JIS B 3502:

• 10 to 57 Hz with single-amplitude of 0.075 mm

• 57 to 150 Hz with fixed acceleration of 9.8 m/s

• 10 sweeps each in X, Y, and Z directions (sweep time: 1 octave/min.)

Conforming to JIS B 3502:

Peak acceleration of 147 m/s directions

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

Electrical Operating Conditions

Installation Requirements

Noise Resistance

Ground Ground to 100 Ω max.

Cooling Method Natural cooling

Conforming to EN 61000-6-2, EN 55011 (Group 1, Class A) Power supply noise (FT noise): 2 Kv min., for one minute Radiation noise (FT noise): 1 Kv min., for one minute

2-2

Specifications and Functions

2.1.2 Product Specifications

The following table shows the product specifications of the MP2300S.

Items MP2300S

External Dimensions

Number of Optional Slots 1 slot

Number of Basic Control Axes

Number of Control Axes

MECHATROLINK

Scan Interval Setting

Communication I/F

I/O

Memory Capacity

Maximum Number of Control Axes

Number of Virtual Axis Controlling Axes

Communication System

Communication Cycle (MECHATROLINK-II)

Maximum Number of Connectable Stations (MECHATROLINK-II)

Slave Function √

Slave Synchronous Function

High-speed Scan

Low-speed Scan

Ethernet

On-board I/O

Output Signal during RUN

SDRAM 32 MB

SRAM 512 KB (Battery backup)

FLASH 8 MB

Program Capacity 5.5 MB

64 mm

× 130 mm × 108 mm

16 axes

32 axes (when one SVB-01 module is added.)

16 axes

MECHATROLINK-I,

MECHATROLINK-II (32 byte), or

MECHATROLINK-II (17 byte)

0.5 ms, 1 ms, 1.5 ms, or 2 ms

21 stations (up to 16 servo stations)

√

0.5 ms to 32 ms (per 0.5 ms)

2.0 ms to 300 ms (per 0.5 ms)

100Base-TX

1 port

–

(Optional)

√

2.1 Specifications

2.1.2 Product Specifications

Programming Language

 Symbols in the table mean as follows.

Ladder Language √

Motion Language √ Sequence Program √ C Language √

√: Available, –: Not available

2-3

2.1 Specifications

2.1.3 Function Lists

( 1 ) PLC Function Specifications

The following table shows the PLC function specifications.

Item Specifications

Control Method

Programming Language

Scan

User Drawings, Functions and Motion Programs

Data Memory

Trace Memory

Memory Backup

Data Types

Instructions

Optional Functions*

Sequence: High-speed and low-speed scan methods

Ladder diagram: Relay circuit Text-type language: Numeric operations, logic operations, etc.

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

High-speed scan time setting: 0.5 to 32 ms (Integral multiple of MECHATROLINK communi-

cation cycle)

Low-speed scan time setting: 2 to 300 ms (Integral multiple of MECHATROLINK communi-

cation 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 and sequence programs:

Revision history of drawings and motion programs Security function for drawings and motion programs

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

Data trace: 128 kwords (32 kwords × 4 groups), 16 points defined

Program memory: Flash memory: 8 MB (User area: 5.5 MB) definition files,

ladder programs, motion programs, etc. Data other than battery backup data

Data memory: Battery backup: 512 KB, M registers, S registers, alarm history, trace data

Bit (relay): 0: OFF/1: ON Integer: −32768 to +32767 Double-length integer: −2147483648 to +2147483647 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

Program control instructions: 14 instructions Direct I/O instructions: 2 instructions Relay circuit instructions: 14 instructions (including set and reset coils) Logic operation instructions: 3 instructions Numeric operation instructions: 16 instructions Numeric conversion instructions: 9 instructions Numeric comparison instructions: 7 instructions Data manipulation instructions: 14 instructions Basic function instructions: 10 instructions Table data manipulation instructions: 11 instructions DDC instructions: 13 instructions System functions: 9 instructions

Clearing D registers at startup Security

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 A total of up to 256

64 kwords 8 kwords Up to 16 kwords per drawing Up to 16 kwords per drawing 32 kwords (including internal input registers) 32 kwords (including internal output registers) 16 kwords

2-4

* For details on optional functions, refer to Appendix H Optional Functions.

+ 430 hidden pages