Yaskawa MP2300S User Manual

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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

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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.

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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

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 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.

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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.

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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.

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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.

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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.

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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.

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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.

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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.

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( 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.

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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

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Page 14

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

Page 15

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

Page 16

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

Page 17

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

Page 18

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

Page 19

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

Page 20

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.

Page 21

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

Page 22

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

Page 23

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

Page 24

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

Page 25

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

Page 26

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

Page 27

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

Page 28

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

Page 29

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

Page 30

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.

Page 31

Specifications and Functions

( 2 ) Motion Control Function Specifications

The following table lists the motion control function specifications for the MP2300S.

Item Specifications

Interface

Number of Controlled Axes/Module

PTP Control

Interpolation

Speed Reference Output

Torque Reference Output

Phase Control

Control Specifications

Position Control

Reference Unit

Reference Unit Minimum Setting

Maximum Programmable Value

Speed Reference Unit

Acceleration/Deceleration Type

Acceleration/Deceleration Reference Unit

Override Function

Coordinate System

DEC1+ Phase-C pulse Ye s

ZERO signal Ye s

DEC1+ ZERO signal Ye s

Phase-C pulse Ye s

Only Phase-C pulse Ye s

Zero Point Return

POT and Phase-C pulse Yes

POT Ye s

Home limit switch and Phase-C pulse

HOME Ye s

NOT and Phase-C pulse Ye s

NOT Yes

INPUT and Phase-C pulse Ye s

INPUT Ye s

Positioning Ye s

External positioning Ye s

Zero point return Ye s

Interpolation Ye s

Interpolation with position detection function

JOG operation Ye s

STEP operation Ye s

Parameter changes during motion command execution

MECHATROLINK-I, MECHATROLINK-II

Up to 16 axes (up to 32 axes when an SVB Modules are mounted)

Linear, rotary, and infinite-length

Up to 16 linear axes, 2 circular axes, and 3 helical axes

(Only with MECHATROLINK-II)

(Only with MECHATROLINK-II in 32-byte mode)

mm, inch, deg, or pulse

1, 0.1, 0.01, 0.001, 0.0001, 0.00001

−2147483648 to +2147483647 (signed 32-bit value)

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

Linear, asymmetric, S-curve, exponent

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

Positioning: 0.01% to 327.67% by axis

Rectangular coordinates

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

2.1 Specifications

2.1.3 Function Lists

Ye s

2-5

Page 32

2.1 Specifications

2.1.3 Function Lists

Applicable SERVOPACKs

Encoders

Item Specifications

 MECHATROLINK-I

•SERVOPACKs

SGD-N SGDB-AN SGDH-E + NS100 SGDS-1 SGDV-1 SGDV-11 SGDV-15

• Incremental Encoder

• Yaskawa Absolute Encoder

 MECHATROLINK-II

• SERVOPACKs

SGDH-E + NS115 SGDS-1 SGDV-1 SGDV-11 SGDV-15

(cont’d)

2-6

Page 33

Specifications and Functions

2.2 Basic Module

This section describes the functions, the external appearance, the LED indicators, the setting switches, and the hardware specifications of the MP2300S Basic Module and also describes the virtual motion module (SVR).

2.2.1 Outline of Functions

The Basic Module is an all-in-one, compact module that combines a power supply, a CPU, a SVB (built-in SVB) module and a 218IFA (Ethernet) module in one module. The Basic Module has both motion control and sequence control functions. With a slot option slot configuration, Optional Modules can be selected freely and the optimum system can be built for your machine. An outline of the Basic Module functions is shown in the following diagram.

2.2 Basic Module

2.2.1 Outline of Functions

System bus

Communication

process

Motion control

process

Application

execution process

Output

process

࡮

Ladder (DWG.H)

࡮

Sequence program

(H scan)

࡮

Ladder (DWG.L)

࡮

Sequence program

(L scan)

:Standard at fixed itervals

Ethernet

M-I/II

RLY OUT

2-7

Page 34

2.2 Basic Module

/

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

LED 1 indicators

DTP switch (SW1)

DTP switch (SW2)

MECHATROLINK

connector

LED 2 indicator

Ethernet connector

LED 2 indicator

Power supply connector

RLY OUT connector

RDY

ALM

MTX

RUN

ERR

BAT

TRX IP

2.2.2 External Appearance, LED Indicators, and Switch Settings

( 1 ) External Appearance

( 2 ) Indicators

The following table shows the indicators that show the operating status of the Basic Module and error information.

Indicator Color Status

RDY

<LED1>

RUN

ALM

ERR

MTX

BAT

TRX

<LED2>

LINK

•LINK

• 100M

(Part of Ethernet connector)

 For details on indicator meanings, refer to 9.2 LED Indicator Meanings .

100M

Green

Red

Green

Red

Green

Ye ll o w

Lit during normal operation.

Lit during execution of user program.

Lit or blinks when warning occurs.

Lit or blinks when malfunction occurs.

Lit when submitting MECHATROLINK-I/ MECHATROLINK-II data.

Lit during battery alarm.

Lit when transmitting and receiving Ethernet data.

Lit after IP address setting is set Blinks when Ethernet port fails

Lit when connected to Ethernet.

Lit when transmitting data at 100 Mbps or during automatic

Green

negotiation at 100 Mbps. Not lit when transmitting data at 10 Mbps or during automatic negotiation at 10 Mbps.

2-8

Page 35

2.2.2 External Appearance, LED Indicators, and Switch Settings

Specifications and Functions

TEST

MON

CNFG

INT

SUP

STOP

( 3 ) Switch Settings

The DIP switch sets the operating conditions for the Basic Module when the power is turned ON.

[ a ] SW1

No. Name Setting Operating Mode Default Details

S1-6 STOP

S1-5 SUP

S1-4 INIT

S1-3 CNFG

S1-2 MON

S1-1 TEST

ON User program stopped

OFF User program running

ON System load

OFF Normal operation

ON Memory clear

OFF Normal operation

ON Self-configuration mode

OFF Normal operation

ON System use

OFF Normal operation

ON System use

OFF Normal operation

OFF

Stops the user program execution. Enabled only when the power is turned ON.

If set to ON, starts in a mode that can change the version.

Set to ON to clear the memory. If this switch is set to OFF, the program stored in flash memory will be executed.

Set to ON to execute self-configuration for connected devices.

Always leave set to OFF.

2.2 Basic Module

2-9

Page 36

2.2 Basic Module

E-INIT

E-TEST

2.2.2 External Appearance, LED Indicators, and Switch Settings

[ b ] SW2

Sets the Ethernet port condition and other operating conditions. The change of switch setting is invalid after the power is turned ON (read only when the module is initialized by software).

Switch

No.

S2-4 −

S2-3 −

S2-2 E-INIT

S2-1 E-TEST

Name

State Operation Mode Default Description

OFF

OFF Normal operation

ON System use

OFF Normal operation

Reserved

Transmission parameter for Ethernet, default

OFF

Reserved for future use

When ON, transmission parameters such as an IP address are set to default at startup.

Always leave set to OFF.

2-10

Page 37

Specifications and Functions

2.2.3 Specifications

( 1 ) Hardware Specifications

The following table shows hardware specifications for the basic module:

Item Specifications

Classification

Name

Model Number

Input Voltage

Input Current*

Inrush Current*

Allowable Power Loss

Power Unit

Flash Memory

SDRAM

SRAM

Motion Network

Communication Function

Calendar

Connectors

Indicators

Switches

Current Consumption

Dimensions (mm)

Mass

Time

Rated Voltage

Rated Current

Output Current Range

Constant Voltage Precision

Battery

2.2 Basic Module

2.2.3 Specifications

Basic Module

MP2300S

JEPMC-MP2300S-E

24 VDC (

1 A max. (during input/output rating)

40 A max. (full discharge state, during output rating, or the secondary output of the external 24 V power supply is turned ON)

2 ms

5.0 V

2.0 A

0.0 to 2.0 A

± 20%)

±2% max. (including input voltage and output load fluctuations)

Battery for memory retention attachable

8 MB (User area 5.5 MB)

32 MB

512 kB: M registers, S registers, trace memory, alarm history (battery backup)

MECHATROLINK: 1 channel SERVOPACK and I/O for up to 21 stations connectable (SERVOPACK for up to 16 axes) Baud rate: 4 Mbps (MECHATROLINK-I) or 10 Mbps (MECHATROLINK-II)

Ethernet: 100BASE-TX/10BASE-T

Seconds to year timer (Battery backup)

POWER: Power supply connector M-I/II: MECHATROLINK connector Ethernet: Ethernet connector RLY OUT: RLY OUT connector

LED1: RDY(green), RUN(green), ALM(red), ERR(red), MTX(green), BAT(red), TRX(green), IP(green), LED2: LINK(yellow), 100M(green)

SW1: STOP, SUP, INIT, CNFG, MON, and TEST SW2: E-INIT and E-TEST

1 A max.

64 × 130 × 108 (W × H × D)

390 g

* For the external 24 V power supply, select a power supply which satisfies the specifications below as well as the

rated current (not more than 1 A):

 Allowable output load capacity: 1200 μ or more  Overcurrent detection is automatically restored by removing causes

However, except that the primary side (AC side) of the external 24 V power supply is turned ON/OFF.

2-11

Page 38

2.2 Basic Module

2.2.4 218IFA Module (Ethernet)

( 1 ) Overview of 218IFA Module Functions

MP2300S built-in 218IFA module is a 10Base-T/100Base-TX Ethernet interface and a communication interface equipped as standard in MP2300S.

• 100 Mbps transmission speed is supported (100Base-TX).

• Supports the following various communication protocols:

• Support for MEMOBUS protocol, Extended MEMOBUS protocol

• Support for MELSEC protocol (A-compatible 1E frame)

• Support for MODBUS/TCP protocol

• Support for non-procedure communication

• An I/O message communication function enables you the data exchange in the form of I/O image when communicating with upper PLC, eliminating you from creating a ladder program.

• An automatic receive function eliminates you from creating a ladder program when connected to the indicator and the like.

• Enables you to use as a standard interface with the engineering tool MPE720. In addition, provides a simple function for connecting with the engineering tool, allowing you to connect to MPE720 without the MP2300S IP address.

2-12

Page 39

Specifications and Functions

( 2 ) Specification of 218IFA Module

The following table shows the specification of the 218IFA Module.

Items Specifications

Communication Interface

Communication Protocol

Maximum Number of Communication Connections 4+2 (I/O Message communication)

Maximum Number of Communication Channels 4+2 (I/O Message communication)

Message Communication (maximum)

I/O Message Communication (maximum)

Automatic Receive

Non-procedure Receive Buffer Mode Selection Simple Function for Connecting with Engineering Tool √

MEMOBUS

Extended MEMOBUS

MELSEC

MODBUS/TCP

Non-procedure Write: 2046W

MEMOBUS

Extended MEMOBUS

MELSEC

MODBUS/TCP

MEMOBUS √ Extended MEMOBUS √ MELSEC √ MODBUS/TCP √

2.2 Basic Module

2.2.4 218IFA Module (Ethernet)

10Base-T/100Base-TX

TCP/UDP/IP/ARP/ICMP

Write: 100W Read: 125W

Write: 2043W

Read: 2044W

Write: 1017W Read: 1017W

Write: 100W Read: 125W

Write: 1024W

Read: 1024W

Write: 256W Read: 256W

Write: 100W Read: 125W

√

* 1. Communication Interface

The discrimination between 10Base-T/100Base-TX and full-duplex/half-duplex is done by the 218IFA module based on the remote equipment. When connecting to an equipment without automatic negotiation function, set the remote equipment to half-duplex mode.

Correspondence of Communication Mode

Device to be connected

218IFA Module

Automatic Negotiation

* 2. Communication protocols

• TCP (Transmission Control Protocol): Connection-oriented transport layer protocol

• UDP (User Datagram Protocol): Connectionless transport layer protocol

• IP (Internet Protocol): Protocol for establishing a communication link between computers

• ICMP (Internet Control Message Protocol): Error control protocol for IP protocol

• ARP (Address Resolution Protocol): Address resolving protocol. Protocol for converting IP address into MAC

* 3. Non-procedure Receive Buffer Mode Selection

When the non-procedure application protocol of the 218IFA is used, either a single buffer or multiple buffers can be selected for the receive buffers in the 218IFA. If multiple buffers are selected, 20 data items per connection can be processed at the same time with data contin-

Automatic

Negotiation

Depends on the

remote equip-

ment

10Base-T

Half-duplex

Communicates in

10Base-T

half-duplex mode

address

10Base-T

Full-duplex

Unable to

communicate

100Base-TX

Half-duplex

Communicates in

100Base-TX

half-duplex mode

100Base-TX

Full-duplex

Unable to

communicate

2-13

Page 40

2.2 Basic Module

2.2.4 218IFA Module (Ethernet)

uously received at an interval shorter than the startup interval of the MSG-RCV function.

2-14

Page 41

2.2.4 218IFA Module (Ethernet)

Specifications and Functions

( 3 ) Module Configuration Definition

(a) Module Configuration Definition Screen Details

Click MP2300S in the Controller area to display the details of the Basic Modules’ functions in the Module Details area. The cell No.2 provides a detailed definition of the 218IFA module.

2.2 Basic Module

Items displayed in the Module Details area show the following meanings:

Items Descriptions Change

Slot Number

Module Type

Controller Number

Circuit Number

I/O Start Register

I/O End Register

Disable Input

Disable Output

Motion Start Register

Motion End Register

Details

Status

Sub-slot number. Double-click it to open the detailed definition window of the 218 IF module.

A module name is shown. Changing the name to UNDEFINED enables you to disable functions of the 218 IF module.

Not used. Fixed at “–”.

Module's line number (valid range: 01-08)

Start register of the I/O register used in the I/O message communication of the 218IFA module (valid range: 0000-7FFFh, size: 800h words)

End register of the I/O register used in the I/O message communication of the 218IFA module (valid range: 0000-7FFFh, size: 800h words)

Input Enable/Disable.

Output Enable/Disable.

Not used. Fixed at “– – – –”.

Not used.

The status of the 218IFA module in online mode.

√: Available, –: Not available

–

√

–

√

√ √

–

2-15

Page 42

2.2 Basic Module

2.2.4 218IFA Module (Ethernet)

( 4 ) 218IFA Module Detailed Screen

(a) Displaying the 218IFA Module Detailed Window

The 218IFA Module Detailed Window is displayed by selecting MP2300S in the Controller area of the Module Configuration Window and double-clicking the cell No.2 in the Module Details field.

2-16

Page 43

2.2 Basic Module

Specifications and Functions

2.2.4 218IFA Module (Ethernet)

(b) 218IFA Module Detailed Window

The 218IFA Module Detailed Window is composed of Transmission Parameter and Status Tabs, and each tab is changed with a click.

1. Parameter Setting Tab

The Transmission Parameters Tab sets 218IFA transmission parameters of the 218IF module. The setting details are as follows:

2-17

Page 44

2.2 Basic Module

2.2.4 218IFA Module (Ethernet)

 Transmission Parameter Setting Items

Sets local transmission parameters for the 218IFA module.

The following table shows each setting item.

Item Setting Range Details Default

IP Address

Subnet Mask

Gateway IP Address

0.0.0.1 to

255.255.255.254

0.0.0.0 to

255.255.255.254

0.0.0.0 to

255.255.255.254

Sets the IP address for the 218IFA module. However, the following addresses are excluded:

127.xxx.xxx.xxx xxx.xxx.xxx.000 xxx.xxx.xxx.255

Sets the 218IFA subnet mask. 255.255.255.000

Sets the gateway IP address for the 218IFA module. However, the following addresses are excluded:

127.xxx.xxx.xxx xxx.xxx.xxx.000 (except 000.000.000.000) xxx.xxx.xxx.255

When you do not use it, set it to 000.000.000.000.

The 218IFA module can be any name. The name specified here is displayed as a search result in the module name field of controller search list when running the Search in the communications setting dialog box of MPE720 Ver.6.

192.168.001.001

000.000.000.000

Equipment Name

Detailed Definition

Up to 16 singlebyte characters

–

Opens the screen for setting the engineering communication with MPE720 and the MEMOBUS communication.

CONTROLLER NAME

–

2-18

Page 45

Specifications and Functions

 Detailed Setting Screen of Transmission Parameter Setting

Sets the engineering communication with MPE720 and the message communication.

The following table shows each setting item.

Item Setting Range Details Default

Specify the port number for the 218IFA module used in the engineering communication with MPE720.

Engineering Port 256 to 65535

Response Time (Response monitor period)

Count of Retry

0 to 255

(sec)

0 to 255

(time)

Note: When changing this setting, you must also change the engineering port value in the logical port setting detailed screen of the MPE720 communication process. The port number cannot be 9998 or 10000.

Specify the wait time until a remote response is returned after sending a command, when carrying out a message communication using MSGSND function. (value zero waits infinitely.) If the retransmit number of times is zero, set response monitor period to zero. Note: If no response is returned after the setting period expires, a time-

out occurs, retry the transmission the number of times specified by resend number of times.

Specify the command retransmit number of times when a timeout is detected after response monitor period expires. Note: If no response is returned after as many retries as the retransmit

number of times, an error is returned to the MSG-SND function.

2.2 Basic Module

2.2.4 218IFA Module (Ethernet)

9999

2-19

Page 46

2.2 Basic Module

Protocol Type Overview

Extended MEMOBUS

Yaskawa’s Extended MEMOBUS protocol.

MEMOBUS Yaskawa’s MEMOBUS protocol.

MELSEC

Ethernet I/F protocol for the sequencer (A series) manufactured by Mitsubishi Electric Corporation.

Non-procedure

General-purpose message communication. Transmits and receives continuous data intact in the specified register.

MODBUS/TCP

Industrial Ethernet protocol proposed by Modicon, Inc.

2.2.4 218IFA Module (Ethernet)

 Message Communication Item of Connection Parameter Setting

Sets the connection parameters for the message communication using MSG-SND/MSG-RCV function and the message communication using automatic receive function.

The following table shows each setting item.

Item Setting Range Details Default

Easy Setting

Connection Number (CNO)

Local Port 256 to 65535

Node IP Address

Node Port

Connect Type

–

1 to 4

0.0.0.0 to

255.255.255.254

0 and

256 to 65535

TCP, UDP

Opens the easy setting screen for the connection parameters. The content of the selected connection is shown.

In 218IFA Ethernet communication, remote stations are distinguished by their connection numbers. This connection number is used in remote connection number (PARAM02) of the parameter list (PARAM) of the MSG-SND/ MSG-RCV function.

Specify the 218IFA port number for each connection. The 218IFA module establishes a message communication with the connection with this port number only. Set an unique channel number for the port number of this connections. Also, to delete the port number, enter zero. Note: When the connection type = UDP, the port number cannot be

9998 or 10000.

Set the remote IP address for each connection. However, the following addresses are excluded:

127.xxx.xxx.xxx xxx.xxx.xxx.000 (except 000.000.000.000) xxx.xxx.xxx.255

Note: When 0.0.0.0 is set, it will enter into “Unpassive open

mode.” When the 218IFA module is within the network specified by the subnet mask, it responds to the connection request from the remote station regardless of the remote IP address setting.

Specify the remote port number for each connection. A pair of remote IP address and remote port number must not be duplicated. Note: In case of “Unpassive open mode,” set it to zero.

Select a transport layer protocol.

TCP: Transmission control protocol UDP: User datagram protocol

Select an application layer protocol.

–

000.000.000.0 00

TCP

2-20

Protocol Type

MODBUS/TCP

Extended

MEMOBUS, MEMOBUS,

MELSEC,

None,

Extended

MEMOBUS

Page 47

2.2.4 218IFA Module (Ethernet)

Specifications and Functions

Protocol Type

Code

ASCII BIN RTU

Extended MEMOBUS

√√–

MEMOBUS

√ – √

MELSEC

√√–

Non-procedure

√√–

MODBUS/TCP

– √ –

Item Setting Range Details Default

Select a code type for the message communication data. Depending on protocol type, available codes are restricted as follows:

ASCII

Code

Automatically –

Remote Station Name

BIN

RTU

Up to 32 single-

byte characters

(16 double-byte

characters)

√ : Available, – : Not available

Opens the automatic receive setting screen. To open the screen, double-click this button. Note: The automatic receive function is valid only for a connection

when the connection number = 1.

Any text can be entered as a connection comment.

2.2 Basic Module

ASCII

–

Blank

2-21

Page 48

2.2 Basic Module

2.2.4 218IFA Module (Ethernet)

 Simple Setting Screen for Message Communication

Graphically sets connection parameters for each connection. Basically, the same content as with message communication items in connection parameter setting can be set.

When connection parameters are not yet set and this screen is opened, the default value for each connection will be automatically stored.

The following table provides the default values for each connection stored when the connection parameters are not yet set and this screen is opened.

Default

Item

Local Port No. 10001 10002 10003 10004

Node IP Address 192.168.1.2 192.168.1.3 192.168.1.4 192.168.1.5

Node Port Number 10001 10002 10003 10004

Communication Protocol Type

Connect Type TCP

Code BIN

Connection Number 01

Connection

Number 02

Extended MEMOBUS

Connection Number 03

Connection Number 04

By clicking the Default Button, default values are set for each data code type according to the selected communication protocol type. The following table shows the default values for each data code type.

Communication Protocol Type Default for Data Code Type

Extended MEMOBUS BIN

MEMOBUS RTU

MELSEC BIN

Non-procedure BIN

MODBUS/TCP BIN

2-22

Page 49

2.2 Basic Module

Specifications and Functions

2.2.4 218IFA Module (Ethernet)

 Automatic Receive Setting Screen for Message Communication

The automatic receive function can be enabled only for connections where the connection number = 1. The automatic receive function enables you to automatically run a function equivalent to the MSG-RCV function.

The following table explains each setting item.

Item Setting Range Details Default

Automatic Reception Enable/Disable

The setting items below can only be set when the Automatic Reception is set to “Enable.”

Transmission Buffer Channel

Readout of Input Relay

Readout of Input Register

Readout/Write-in of Coil

Readout/Write-in of Hold Register

Write-in Width of Coil/Hold Register (LO)

Write-in Width of Coil/Hold Register (HI)

Enable/Disable

Cannot be set

(fixed at one)

IW0000 to

IWFFFF

IW0000 to

IWFFFF

MW00000 to

MW65534

MW00000 to

MW65534

MW00000 to

MW65534

MW00000 to

MW65534

Select whether to enable automatic reception.

Note: When the local port number is not yet set, it becomes invalid

regardless of the enable/disable selection.

The communication buffer channel is usually used for transmitting data to and from the 2181FA module with the MSG-SND/MSGRCV function. The communication buffer channel is associated with the connection according to the input item “CH-NO” for the MSG-SND/ MSG-RCV function and node connection number (PARAM02) setting for the parameter list (PARAM). When automatic reception is running, the function equivalent to the MSG-RCV function is realized by using the communication buffer channel number “1.”

Set a start register of the input relay used for the automatic reception.

Set a start register of the input register used for the automatic reception.

Set a start read/write register of the coil used for the automatic reception.

Set a start read/write register of the holding register used for automatic reception.

Set a write range (LO) of the coil/holding registers used for automatic reception.

Set a write range (HI) of the coil/holding registers used for the automatic reception.

Enable

IW0000

MW00000

MW65534

2-23

Page 50

2.2 Basic Module

2.2.4 218IFA Module (Ethernet)

The following table provides the valid setting items for each communication protocol type.

Setting Item

Readout of Input Relay √√––√ Readout of Input Register √√––√ Readout/Write-in of Coil √√––√ Readout/Write-in of Hold Register √√√– √ Write-in Width of Coil/Hold Register (LO) √√√– √ Write-in Width of Coil/Hold Register (HI) √√√– √

Note: √ : Enable

– : Disable

Extended

MEMOBUS

Communication Protocol Type

MEMOBUS MELSEC

Non-proce-

dure

MODBUS/

TCP

2-24

Page 51

2.2.4 218IFA Module (Ethernet)

Specifications and Functions

 I/O Message Communication Item Connection Parameter Setting

Sets connection parameters for I/O message communication. I/O message communication exchanges the data using I/O images with the remote equipment.

The following table explains each setting item.

2.2 Basic Module

Item Setting Range Details Default

I/O Message Communication Enable/Disable

The setting items below can only be set when the I/O Message Communication is set to “Enable.”

Easy Setting

Data Update Timing

Read/Write

Local Port

Node IP Address

Node Port

Connect Type

Enable/Disable Select whether to enable I/O message communications. Disable

–

H Scan/ L Scan

–

256 to 65535

0.0.0.1 to

255.255.255.254

256 to 65535

TCP UDP

Opens the Simple Setting screen for the read/write connection parameters.

Set when to update the I/O data for the controller side when the I/O message communication is established.

In 218IFA Ethernet communications, remote stations are distinguished by their connection numbers. I/O message communications have a connection for each read/write.

Specify the 218IFA port number for each read/write connection. To delete the port number setting, enter zero. To use only a read or a write connection, set the other port number to zero to delete the connection.

Note: When the connection type = UDP, the port number cannot be

9998 or 10000.

Set a remote IP address for both read and write connections. Set a common value for both read and write. However, the following addresses cannot be used:

127.xxx.xxx.xxx xxx.xxx.xxx.000 xxx.xxx.xxx.255

Specify the remote port number for each read/write connection. A pair of a remote IP address and remote port number must not be duplicated.

Select a transport layer protocol.

TCP: Transmission control protocol UP: User datagram protocol

–

L Scan

–

000.000.000.0 00

TCP

2-25

Page 52

2.2 Basic Module

Protocol Type Overview

Extended MEMOBUS

Yaskawa’s Extended MEMOBUS protocol.

MEMOBUS Yaskawa’s MEMOBUS protocol.

MELSEC

Ethernet I/F protocol for the sequencer (A series) manufactured by Mitsubishi Electric Corporation.

MODBUS/TCP

Industrial Ethernet protocol proposed by Modieon, Inc.

Protocol Type

Code

ASCII BIN RTU

Extended MEMOBUS

√√–

MEMOBUS

√ – √

MELSEC

√√–

MODBUS/TCP

– √ –

2.2.4 218IFA Module (Ethernet)

Item Setting Range Details Default

(cont’d)

Select an application layer protocol.

Protocol Type

Code

Remote Station Name

Input Disable

Output Disable

MP2300S Head Register Number Data Size

Data Size

Head Register Number for the Node Equipment

Data Size of the Node Equipment

Extended MEMOBUS MEMOBUS

ASCII BIN RTU

Up to 32 singlebyte characters (16 double-byte characters)

Enable/disable

IW0000 to IW7FFF

OW0000 to OW7FFF

Varies according to protocol type

Display only

Select a code type for the message communication data. Depending on protocol type, available codes are restricted as follows:

√ : Available –: Not available

Any text can be entered as a connection comment.

Select whether to update the input data in the I/O message communication.

Select whether to update the output data in the I/O message communication.

Set a start address of the input register of the MP2300S side for storing the data read from the remote equipment.

Set a start address of the MP2300S side output register for referencing the data written in the remote equipment.

Specify the data size (word) read from the remote equipment. 4

Specify the data size (word) written in the remote equipment. 4

Specify the register type and the start register address for the remote equipment to read.

Specify the register type and the start register address for the remote equipment to write.

Generally, the same value specified in MP2300S data size is shown. By way of exception, when MELSEC is selected for communication protocol type and a bit device such as input relay (X)/ output relay (Y)/ internal relay (M)/ link relay (B) is selected for read register, the display is shown in bit size.

Extended MEMOBUS

ASCII

Blank

enable

IW xxxx

OWxxxx + 4

Varies according to protocol type.

2-26

* 1. “xxxx” represents a start I/O register number specified by the 218IFA cell in the detailed field of the module config-

uration definition screen.

* 2. “xxxx” represents a start I/O register number specified by the 218IFA cell in the detailed field of the module config-

uration definition screen.

Page 53

2.2 Basic Module

Specifications and Functions

2.2.4 218IFA Module (Ethernet)

 Easy Setting Window for I/O Message Communication

Graphically adjusts the setting for the read/write connection parameters. Generally, the contents are similar to I/O message communication items in connection parameter setting. When the connection parameters are not yet set and this dialog box is opened, the default values for read/write connection will be automatically stored.

The following table provides the default values for each connection stored when the connection parameters are not yet set and this screen is opened.

Item Default

Local IP Address

Local Port No.

MP Series

Other Device

Communication Protocol Type

Read Size

Write Size

Connect Type

Code

Input Register (IW xxxx)

Input Disable

Output Register (OW xxxx)

Data Update Timing

Node IP Address

Node Port Number

Read Register

Write Register

Read

Write

Read

Write

Values set in transmission parameter setting items are shown.

10005

10006

Start I/O register number specified by the 218IFA cell in the detailed field of the module configuration definition screen.

Not checked (enable)

Start I/O register number specified by the 218IFA cell in the detailed field of the module configuration definition screen + 4.

Low

192.168.1.7

10005

10006

MW00000

MW00004

Extended MEMOBUS

TCP

BIN

2-27

Page 54

2.2 Basic Module

2.2.4 218IFA Module (Ethernet)

In addition, click the Default Button to set the default values for data code type, local I/O register setting, read/write size, and node read/write register setting according to the selected communication protocol type. The following table provides these default values.

Communication

Protocol Type

Extended MEMOBUS

MEMOBUS RTU

MELSEC BIN

MODBUS/TCP BIN

Data Code

Type

BIN

Default

Local Input/Output Register Setting Read/Write Size

 to IW+ 3 (input)

+ 4 to OW+7

(output)

Same as above Same as above Same as above

Same as above Same as above

4 (read) 4 (write)

Node Read/Write Register

MW0000 to MW0003 (read) MW0004 to MW0007 (write)

D0000 to D0003 (read) D0004 to D0007 (write)

4X00001 to 4X0004 (read) 4X00005 to 4X0008 (write)

Setting

2-28

Page 55

2.2 Basic Module

Specifications and Functions

2.2.4 218IFA Module (Ethernet)

2. Status tab

In the Status Tab, each setting for the transmission definition and transmission status of the 218IFA module is shown. The displayed contents are as follows:

 Transmission Parameter Item

Item Displayed Content Default

Station IP Address

Equipment Name

Transmission Speed

Subnet Mask

Gateway IP Address

Engineering Port

Displays local IP address specified in the Transmission Parameter Tab.

Displays equipment name specified in the Transmission Parameter Tab. When the equipment name is not yet set, nothing is shown.

Displays transmission rate retrieved from the status information. (Fixed at Automatic)

Displays a subnet mask set in the Transmission Parameter Tab.

Displays a gateway IP address set in the Transmission Parameter Tab.

Displays a port number set in the detailed definition of the Transmission Parame- ter Tab .

 Message Communication and I/O Message Communication Items

Item Displayed Content Default

Trans Status

Error Status

Send Count

Receive Count

Error Count

Response Time (ms)

Connection

Protocol Type

Code

Node Station Name

Displays the transmission status for each connection.

If an error is indicated in the transmission status, the error details are shown.

Displays the number of packets transmitted to the remote station.

Displays the number of packets received from the remote station.

Displays the number of errors that occurred in each connection.

Displays the time taken to receive a response after issuing a command in the MSGSND function of the message communication and the I/O message communication.

Displays the connection type set in the Transmission Parameter Tab.

Displays the protocol of the connection parameter set in the Transmission Param- eter Tab.

Displays the code type of the data set in the Transmission Parameter Tab.

Displays the remote station name set in the Transmission Parameter Tab .

000.000.000.000

NULL

Automatic

000.000.000.000

9999

–

2-29

Page 56

2.2 Basic Module

2.2.4 218IFA Module (Ethernet)

Note: 1. Transmission status

In online mode, displays the transmission status for each connection.

Transmission Status State

IDLE

WAIT

CONNECT

–

2. Error status If an error is indicated in the transmission status, the error details are shown.

Error Status State Remarks

No Error

Socket Generation Error

Local Port Number Error

Socket Attribute Change Error

Connection Error (M-SND)

Connection Error (M-RCV)

System Error

Data Transmit Error (TCP)

Data Transmit Error (UDP)

Data Receive Error (TCP)

Data Receive Error (UDP)

Socket Option Change Error

Data Change Error

IDLE

WAIT (waiting for connection)

CONNECT (capable of transmitting and receiving data)

Unused connection

Normal –

System error Socket generation failed

Error in setting the local port number (the same address is bound while disconnecting the TCP connection)

System error (in TCP)

Connection error (when actively open in TCP, a connection is rejected by the node station)

Connection error (when passively open in TCP)

System error

Data transmit error (in TCP, either there is no node station or a node station did not startup.)

Data transmit error (in UDP)

Data receive error (in TCP, a request to disconnect the connection is received from the node station)

Data receive error (in UDP)

System error Error when changing a socket option

Data change error Protocol change error

Bind error (duplicated port number)

A bind error occurred while aborting using the MSG function and ending the connection. The error occurs if Execute is turned ON within one minute after an Abort is completed.

Before the connection was completed, another function issued a command to the same remote station.

An error occurred while setting a socket attribute.

Tried to connect using the MSG-SND function, but the connection was rejected by the remote station, and the command was reset.

When disconnecting the cable, retried connecting for one minute (default value) without a response.

An error occurred while receiving the connection from the MSG-RCV function.

A socket polling (select specification) error occurred while receiving data.

A response transmit error occurred in the MSG-RCV function. An error also occurred in the MSG-SND function. An error occurred only in TCP when there was no node station to transmit or a node station was rebooted.

A transmit request was issued to a nonexistent socket.

An error occurred when disconnecting the connection from the node station. It also may occur even when close is processed properly.

A data receive command was issued to a nonexistent socket.

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Page 57

Specifications and Functions

2.2.5 Built-in SVB Module

Machine Controller CPU

SVB

MECHATROLINK

Ladder/motion program

Speed control

Position control

Phase control

SERVOPACK

Torque control

Position reference

Speed reference

Phase reference

Torque reference

SERVOPACK

User application

( 1 ) Overview

[ a ] About SVB Module

The SVB Module is a motion module used to control SERVOPACKs, stepping motor drivers, inverters, distributed I/O devices, etc. via MECHATROLINK interface MECHATROLINK-I or -II. The MECHATROLINK-II enables position, speed, torque, and phase control for highly accurate synchronized control. In addition, sophisticated machine operations can be performed by switching the control mode while the axis is moving.

2.2 Basic Module

2.2.5 Built-in SVB Module

[ b ] Built-in SVB and Slot-mounting Optional SVB

The SVB Modules are of two types: The built-in SVB (hereinafter referred to as Built-in SVB) and the Slot-mounting Optional SVB (hereinafter referred to as Optional SVB)

A built-in SVB Module is incorporated in the MP2300S. The Optional SVB is one of the optional modules for the Machine Controller. The SVB-01 Module is an Optional

SVB that can be mounted on the optional slot of the MP2300S.

[ c ] Features

• Up to 21 slave stations can be connected to a single Module (the SERVOPACKs can be connected up to 16 axes). MP2300S: Only an SVB-01 Module can be mounted in optional slot. Including the MP2300S’s built-in SVB, a total of 32 axes can be controlled.

• Synchronization between Modules is also supported, making it suitable for both synchronous control and interpolation across Modules.

• An SVB-01 Module used as a slave can be connected to a host controller equipped with MECHATROLINK communication functions.

• Self-configuration enables automatic allocation of setting data for the slave device that is connected to MECHATROLINK.

• SERVOPACK parameters can be managed over networks.

• When using MECHATROLINK-II, MP2300S built-in SVB is available as a slave.

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Page 58

2.2 Basic Module

2.2.5 Built-in SVB Module

[ d ] System Configuration Example

The following diagram shows a system configuration example.

MP2300S

SVB-01

24-VDC

power supply

MPE720

Ethernet

MECHATROLINK-II

PL2910

PL2900

IO2310

MECHATROLINK support

input/output modules

NS115

SGDHMSGDS

Servo drive

SGDV

MECHATROLINK support

MECHATROLINK-II

PL2910

PL2900

input/output modules

IO2310

NS115

SGDH

Servo drive

SGDS

SGDV

 Use the specified cables and connectors. Refer to 1.1.5 (3) Cables in the Machine Controller MP2000-series SVB/

SVB-01 Motion Module User’s Manual (manual number: SIEP C880700 33) to select appropriate cables and con-

nectors to connect each device.

 The SERVOPACK models that can be connected through MECHATROLINK-I differ from those connected through

MECHATROLINK-II. Refer to 1.4.1 MECHATROLINK-I/II Compatible Devices to select appropriate SERVOPACK models for the MECHATROLINK interface to be used.

 If both MECHATROLINK-I (4 Mbps) compatible devices and MECHATROLINK-II (10 Mbps) compatible devices are

connected in a system, make the settings in accordance with MECHATROLINK-I specifications.

 When connecting a SERVOPACK to an SVB Module via MECHATROLINK, connect signal lines such as those for

overtravel, zero-point return deceleration limit switch, and external latch to the SERVOPACK. Refer to the relevant SERVOPACK manual for details on the connections.

 When connecting Σ-II series SERVOPACKs (SGDH+NS100 or SGDH+NS115), do not connect a hand-held type

digital operator and SigmaWin+. If connected, alarms A.95 (command warning) and A.ED (execution not completed) will occur for the commands sent from the SVB Module, and normal operation will be interrupted. If a digital operator or SigmaWin+ must be connected to a Σ-II series SERVOPACK, disconnect the SERVOPACK from the SVB Mod- ule.

2-32

Page 59

Specifications and Functions

[ e ] Synchronization between Modules

1. Overview

MP2300S Machine Controller has a function that can synchronize hardware between the CPU and an optional module. This function enables MECHATROLINK communications in synchronization with high-speed scans. As a result, synchronization between a built-in SVB Module and an SVB-01 Module, or among multiple SVB-01 Modules, can be enabled.

High-speed scan

4 ms

Communication cycle for SVB built into the CPU

2 ms

Communication cycle for SVB-01 #1

1 ms

2.2 Basic Module

2.2.5 Built-in SVB Module

Communication cycle for SVB-01 #2

2 ms

When synchronized mode is used, the start of the high-speed scan and the various communication cycles are synchronized. This means that commands from the high-speed scan will be sent at consistent points in communication cycle processing and simplifies distribution processing for interpolation commands.

2. Conditions Under Which Synchronization Is Possible

The following table shows the combinations of high-speed scan times and MECHATROLINK communication cycles that allow synchronization between modules in the synchronization mode.

High-speed Scan

(RTC: 0.5 ms)

1.0 ms

1.5 ms

2.0 ms

2.5 ms

3.0 ms

3.5 ms

4.0 ms

4.5 ms

5.0 ms

5.5 ms

6.0 ms

MECHATROLINK Communication Cycle

0.5 ms 1 ms 1.5 ms 2 ms

Ye s Ye s − Ye s Ye s − Ye s − Ye s Ye s − Ye s Ye s −−− Ye s Ye s Ye s − Ye s −−− Ye s Ye s − Ye s Ye s − Ye s − Ye s Ye s −− Ye s −−−

Ye s Ye s Ye s Yes

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Page 60

2.2 Basic Module

2.2.5 Built-in SVB Module

3. Timing At Which Modules Are Synchronized

Modules are automatically synchronized when the power supply is turned OFF and ON again.

4. Operation when High-speed Scan Cycle Is Changed

MECHATROLINK communication with SVB Modules will continue even if the high-speed scan cycle is changed. However, the speed waveform at execution of interpolation command will be disordered. When changing the high-speed scan cycle, do so either with the CPU stopped or when motion commands are not being executed. Change the high-speed scan setting and then save the settings to flash memory and turn the power supply OFF and ON when operation changes from synchronized to asynchronized or from asynchronized to synchronized.

5. Operation When the MECHATROLINK Communication Cycle Is Changed

• Changing the MECHATROLINK communication cycle of the SVB module in the CPU Synchronization may be lost when a change is made even if synchronization is possible for the high-speed scan and communication cycle combination. When a change is made, save the settings to flash memory and then turn the power supply OFF and ON.

• Changing the MECHATROLINK communication cycle of the SVB-01 Module Operation will be automatically synchronized when a change is made if synchronization is possible for the high-speed scan and communication cycle combination. It is not necessary to turn the power supply OFF and ON.

6. Conditions when the Power Supply Must Be Turned OFF and ON

When any of the following operations is performed, save the settings to flash memory and then turn the power supply OFF and ON.

• After executing a self-configuration command from the MPE720 after turning ON the power supply

• After loading a Module definition after turning ON the power supply

• After changing the communication cycle of the SVB module in the CPU after turning ON the power supply

• After operation changes from synchronized to asynchronized or from asynchronized to synchronized when the high-speed scan setting is changed

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Page 61

Specifications and Functions

( 2 ) Specifications

The specifications of built-in and optional SVB Modules are as follows.

[ a ] Motion Control Function

Item Details

Number of Communication Lines

Number of Communication Ports (Connectors)

Terminating Resistor

Transmission Distance

Communication Interface

Baud Rate

Transmission Cycle

Number of Link Communication Bytes

Number of Connectable Stations

C1 Messaging (Master Function)

Master Functions

C2 Messaging (Allocations)

MECHATROLINK Communication

Retry Function

Supported Slave Devices

Communication Interface

Baud Rate

Transmission Cycle

Number of Link Communication Bytes

Slave Functions*

Messaging (Slave Function)

One line

2 ports

JEPMC-W6022 terminator must be purchased separately.

MECHATROLINK-II Min. distance between stations: 0.5 m Total network length: 50 m (can be extended to 100 m by connecting repeaters) MECHATROLINK-I Min. distance between stations: 0.3 m Total network length: 50 m (can be extended to 100 m by connecting repeaters)

MECHATROLINK-II (2:N synchronous) MECHATROLINK-I (1:N synchronous)

10 Mbps 4 Mbps

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

17 bytes or 32 bytes 17 bytes

Up to 21 stations (SERVOPACK for up to 16 axes)

Provided (selectable). Not provided.

For details, refer to ( 2 ) Modules in 1.4.1 MECHATROLINK-I/II Compatible Devices.

MECHATROLINK-II

10 Mbps

The transmission cycle of the master station (0.5 ms min.)

17 bytes or 32 bytes

Supported.

2.2 Basic Module

2.2.5 Built-in SVB Module

Up to 14 stations

* Only with MECHATROLINK-II

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Page 62

2.2 Basic Module

2.2.5 Built-in SVB Module

Communication Method

I/O Registers

Command Mode

Supported Servomotors

Control Type

Motion Commands

Acceleration/Deceleration Method

Position Unit

Servo Control

Speed Unit

Acceleration Unit

Torque Unit

Electronic Gear

Position Control Method

Software Limit

Zero Point Return Method

SERVOPACK Parameter Management

Communication Method

I/O Registers

Command Mode

Control Type

Inverter Control

Motion Commands

Speed Unit

Communication Method

I/O Control

I/O Registers

Self-configuration Function

Synchronization between Modules

* Only with MECHATROLINK-II

Item Details

Single-send (communication cycle = transmission cycle) synchronous communication Transmission/communication error detection (hardware) provided. Synchronous communication error detection (software) provided. Automatic recovery function not provided (recovery when alarm is cleared).

Input/output using motion registers (synchronized on high-speed scan)

Motion Command Mode/MECHATROLINK Transparent Command Mode

Standard motors, linear motors, and direct-drive motors

Position control, speed control, torque control, and phase control

Positioning, External Positioning, Zero Point Return, Interpolation, Interpolation with Posi-

tion Detection, JOG operation, STEP operation, Speed Reference

Phase Control

, etc.

One-step asymmetric trapezoidal acceleration/deceleration, exponential acceleration/deceleration filter, moving average filter

pulse, mm, inch, degree, μm

Reference units/s, 10

Reference units/s

reference units/min, percentage of rated speed

, ms (acceleration from 0 until rated speed reached)

Percentage of rated torque

Provided.

Finite length position control, infinite length position control, absolute system infinite length position control, and simple absolute system infinite length position control

Positive/negative direction for each point

13 types

Parameters can be managed in the MPE720’s SERVOPACK Parameter Window.

Single-send (communication cycle = transmission cycle) asynchronous communication Transmission/communication error detection (hardware) provided. Synchronous communication error detection (software) not provided. Automatic recovery function not provided (recovery when alarm cleared).

Input/output using motion registers (synchronized on high-speed scan)

Motion Command Mode/MECHATROLINK Transparent Command Mode

Speed control only (V/F, vector control and other control methods use inverter settings.)

Inverter I/O control, etc.

The speed unit depends on the inverter settings.

Single-send (communication cycle = transmission cycle) asynchronous communication Transmission/communication error detection (hardware) provided. Synchronous communication error detection not provided. Automatic recovery function provided.

Input/output using I/O registers and synchronized on the high-speed scan or low-speed scan (selectable).

Module and slave devices can be automatically allocated.

Synchronization supported (enabled when power is cycled) when high-speed scan cycle = communication cycle times n

, Torque Reference*,

(cont’d)

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Page 63

Specifications and Functions

[ b ] MECHATROLINK Communication Specifications

Item MECHATROLINK-I MECHATROLINK-II

Topology

Transmission Media

Transmission Distance

Minimum Distance between Stations

Baud Rate

Communication Cycle

Number of Connectable Stations

Communication Control Method

Media Access Control Method

Communication Mode

Error Control

Bus Bus

Twisted-pair cable Twisted-pair cable

50 m max. (can be extended to 100 m by connecting repeaters)

0.3 m 0.5 m

4 Mbps 10 Mbps

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

Up to 14 stations

Cyclic Cyclic

1:N 2:N

Control communication Control communication

CRC check CRC check

2.2 Basic Module

2.2.5 Built-in SVB Module

50 m max. (can be extended to 100 m by connecting repeaters)

Up to 21 stations axes)

(SERVOPACK for up to 16

* Up to 16 stations can be connected if a JEPMC-REP2000 MECHATROLINK-II Repeater is not used. Refer to

Chapter 8 MECHATROLINK-II Repeater of the Machine Controller MP900/MP2000 Series User’s Manual MECHATROLINK System (manual number: SIEZ-887-5.1) for details.

[ c ] Maximum Number of Slave Stations

The maximum numbers of slave stations that can be connected to the SVB-01 Module are listed below.

 MECHATROLINK Communication Setting and Maximum No. of Slave Stations

MECHATROLINK Communication Setting

Communication Method Baud Rate

MECHATROLINK-I

MECHATROLINK-II (17-byte Mode)

MECHATROLINK-II (32-byte Mode)

 Refer to 3.4.2 MECHATROLINK Transmission Definition of Machine Controller MP2000 Series Built-in SVB/SVB-01

Motion Module User’s Manual (manual number: SIEP C880700 33) for information on the settings for MECHA-

TROLINK transmission.

4 Mbps 2 ms

10 Mbps

Communication

Cycle

0.5 ms

1 ms

0.5 ms

1 ms

1.5 ms

2 ms

Maximum Number of

Slave Stations

21 (SERVOPACK for up to

16 axes)

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Page 64

2.2 Basic Module

2.2.5 Built-in SVB Module

 Transmission Distance and Maximum No. of Slave Stations

Communication Method Transmission Distance (Total Network Length)

MECHATROLINK-I

MECHATROLINK-II

* The values in parentheses apply when a JEPMC-REP2000 Repeater is used.

JEPMC-REP2000 Repeater must be used if 17 or more slave stations are connected when using MECHATROLINK-II communication.

50 m (can be extended to 100 m by connecting repeaters)

30 m (can be extended to 100 m by connecting repeaters)

50 m (can be extended to 100 m by connecting repeaters)

Maximum Number of Slave

Stations

16 (21)

15 (21)

( 3 ) Module Configuration

[ a ] Module Configuration Window

Click MP2300S in the Controller area to display the details of the basic module functions in the Module Details area. The cell No.3 provides a detailed definition of the built-in SVB module.

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Page 65

Specifications and Functions

The following table lists the items shown in the Module Configuration Window.

Item Description Modification

Slot Number

Module Type

Controller Number

Circuit Number

I/O Start Register

I/O End Register

Disable Input

Disable Output

Motion Start Register

Motion End Register

Details

Status

Slot number Not possible

Module detected in the slot Possible

Fixed to 01 Not possible

Module circuit number Possible

I/O start register number of the I/O Module to be connected to MECHATROLINK (Setting range: 0000 to 7FFFh, max. 400h words per SVB Module)

I/O last register number of the I/O Module to be connected to MECHATROLINK (Setting range: 0000 to 7FFFh, max. 400h words per SVB Module)

Input enabled (Enable)/disabled (Disable)

Output enabled (Enable)/disabled (Disable)

Start register number of the motion parameters (Automatically sets according to the circuit number)

Last register number of the motion parameters (Automatically sets according to the circuit number)

Opens the MECHATROLINK Transmission Definition Window. (Double-click the MECHATROLINK cell to open the window.)

Status of each module in online mode Not possible

2.2 Basic Module

2.2.5 Built-in SVB Module

Possible

Possible (Not possible if the cell is blank)

Not possible

−

 “Possible” in the Modification line in the above table means that it is possible to change the setting of the item.

Always save the setting to the flash memory after having changed the setting.

 When changing the setting, be careful not to set the register numbers overlapped with another module.  I/O Start Register and I/O End Register must be set even though the I/O Module is connected or not connected

to MECHATROLINK.

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Page 66

2.2 Basic Module

2.2.5 Built-in SVB Module

( 4 ) MECHATROLINK Transmission Definition

[ a ] How to Open the MECHATROLINK Transmission Definition Window

In the Module Configuration Window, select the SVB Module in the Controller field and double-click the MECHATROLINK cell in the Module Details field. The MECHATROLINK Transmission Definition Window will open.

 If several SVB Modules are mounted, select the SVB Module to be checked or set in the Controller field.  To check or set the built-in SVB Module, select slot number 00 in the Controller field.

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Page 67

2.2.5 Built-in SVB Module

Specifications and Functions

[ b ] MECHATROLINK Transmission Definition Window Details

The MECHATROLINK Transmission Definition Window has four tabs: Transmission Parameters, Link Assignment, I/O Map, and Status. Click the tab to view each.

1. Transmission Parameters Tab

The parameters required to use the MECHATROLINK transmission system are displayed.

2.2 Basic Module

The items shown on the Transmission Parameters Tab are described in the following table. For items whose input fields are available, the settings can be changed. Always save the settings to the flash memory after changing them.

Item Display during Self-configuration Options and Precautions on Settings

Communication Typ e

Master/Slave

My station address (Local station address)

Transmission Speed

Transmission

Byte

Communication Cycle

Message Confi-

dence Level

SigmaWin

Displays the detected communication method.

Displays whether the selected SVB Module is used as a Master station or Slave station.

Displays the local station address set by using the rotary switches.

Displays the transmission speed: MECHATROLINK-II (32-byte mode): 10 Mbps MECHATROLINK-II (17-byte mode): 10 Mbps MECHATROLINK-I: 4 Mbps

Displays the number of transmission bytes. The number of transmission bytes depends on the communication type and the station type, Master or Slave. Refer to Number of Retries to Slaves, Number of Slaves for details.

Displays the communication cycle. The number of transmission bytes depends on the communication type and the station type, Master or Slave. Refer to

Number of Retries to Slaves, Number of Slaves for details.

Not used for MECHATROLINK transmission. Set to 0 (default).

For MECHATROLINK-II communications, displays whether or not to use SigmaWin+ for communication via MECHATROLINK-II adapter such as JUSP-NP115.



Transmission Bytes, Communication Cycle,



Transmission Bytes, Communication Cycle,

Select MECHATROLINK-II (32 Byte Mode), MECHATROLINK-II (17 Byte Mode), or MECHATROLINK-I.

Select either Master or Slave.

For Master station, fixed to 0. For slave stations, set a number between 1 and the number of slave stations.

Cannot be set.

Can be set only for the Master station and when MECHATROLINK-II is selected as the communication type. The value that can be set differs depending on whether the SVB Module is a built-in SVB Module or optional SVB Module. Refer to

be Set for details.

Select either use or not use.



Communication Cycle That Can

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Page 68

2.2 Basic Module

2.2.5 Built-in SVB Module

Item Display during Self-configuration Options and Precautions on Settings

Number of

Retry to Slaves

Number of Slaves

Slave Synchronous Function

* 1. Hidden for MECHATROLINK-I * 2. Hidden for MECHATROLINK-II

 Transmission Bytes, Communication Cycle, Number of Retries to Slaves, Number of Slaves

Displays the maximum number of slave stations to which the Master can retry transmission in one transmission

cycle when the Master has not received a normal response from a slave.

Displays the number of slave stations that can be connected. The number of slave stations that can be connected is determined by communication type, communication cycle, SigmaWin+ use/not use, and number of retry to slaves.

When using a built-in SVB module as a slave station, select whether to synchronize with a master station.

(cont’d)

Only for Master station. Set a number between 0 and 7. Cannot set for Slaves.

Cannot be set.

Select either Enable or Disable. For more information about the process, refer to Chapter 7 Slave CPU Synchronous Func- tion.

Transmission bytes, communication cycle, number of retries to slaves, and number of slaves at execution of self-configuration will be automatically set according to conditions including communication type, station type (Master or Slave), and the largest slave station number (the largest number among the detected slave station numbers).

Item

Largest Slave Station Number

Transmission Byte

Communication Cycle

Number of Retry to Slaves

Number of Slaves

MECHATROLINK-II

(32-byte mode)

1 to 8 9 10 to 16 17 to 21 1 to 14 15

31 bytes 16 bytes

1 ms 1 ms 2 ms 2 ms 1 ms 1 ms 2 ms

10521(The largest slave

station number)

8916

The largest slave station number

MECHATROLINK-II

(17-byte mode)

1014

14 15 14

MECHATRO-

LINK-I

−

Item

Transmission Byte

Communication Cycle

Number of Retry to Slaves

Number of Slaves

MECHATROLINK-II

(32-byte mode)

−−−

1 ms 1 ms 2 ms

30 30 15

MECHATROLINK-II

(17-byte mode)

MECHATROLINK-I

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Page 69

2.2.5 Built-in SVB Module

Specifications and Functions

 Communication Cycle That Can be Set

The communication cycle that can be set will differ depending on the communication type as follows.

MECHATROLINK-II Communication Mode

Communication Cycle That Can be Set

 Communication Cycle can only be set for Master.  The communication cycle for MECHATROLINK-I is fixed to 2 ms.

32-byte mode 17-byte mode

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

0.5 ms or 1 ms

2.2 Basic Module

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Page 70

2.2 Basic Module

2.2.5 Built-in SVB Module

2. Link Assignment Tab Page

The data of the slave devices (MECHATROLINK connected devices such as SERVOPACK, inverter, and distributed I/O) are displayed on the Link Assignment Tab .

The items shown on the Link Assignment Tab are as follows. You can change the settings or delete the data station by station on this tab. Always save the settings to the flash memory after changing them.

Item Description Options and Precautions on Settings

ST #

TYPE

INPUT, SIZE

OUTPUT, SIZE

SCAN

Comment (Station name)

Station number

Slave device connected at the station Select the device type from the pull-down list.

I/O register’s enable/disable status

: Enabled

The station number set here must be the same as the number set using rotary switches.

Click the button to switch the status.

: Disabled

The leading input register number (INPUT) and the number of input registers in words (SIZE). The maximum number of input registers will be automatically set in SIZE.

The leading output register number (OUTPUT) and the number of input registers in words (SIZE). The maximum number of output registers will be automatically set in SIZE.

Scan type used for synchronization with CPU.

High: High-speed scan Low: Low-speed scan

− Enter a comment of up to 32 characters for each station.

When setting, be careful not to overlap the register range among stations. The register numbers that can be set are in the range between the leading register number and the ending register number in the Module Configuration Definition Window.

Select either High or Low. When TYPE is set to a SERVOPACK, fixed to High.

 Deleting a Station Assignment

Click any cell in the row of the station to be deleted, and select Edit - Assignment Delete from the main menu.

 Care must be taken when deleting a station assignment. The deletion is irreversible.

 *****I/O and *****SERVO in Type

The following slave devices (I/O Modules) do not have model codes. Therefore, “*****I/O”(wild card I/O) will be displayed in TYPE for these devices after execution of self-configuration.

• JEPMC-IO350

• JAMSC-120DAI53330

• JAMSC-120DAI73330

• JAMSC-120DAO83330

• JAMSC-120DRA83030

For a servo with customized specifications that could not be recognized by self-configuration, “*****SERVO” (wild card servo) will be displayed in TYPE. Select a correct device type in the Link Assignment Tab Page for the devices with *****I/O or *****SERVO displayed in TYPE.

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Page 71

Specifications and Functions

3. I/O Map Tab

Type code (01H: Inverter, 02H: Servo, 03H: I/O)

Reserved

F E D C B A 987 6 5 4 3 2 1 0F

Transmission error (High-speed scan)

Transmission error (Low-speed scan)

Reserved

Normal transmission

The status allocated to I/O registers is displayed.

 The I/O Map Tab is used for monitoring (read-only). Do not change the displayed settings.

2.2 Basic Module

2.2.5 Built-in SVB Module

[ c ] Status Tab Page

The MECHATROLINK transmission status is displayed. The displayed settings cannot be changed.

The items shown on the Status Tab are the same as those on the Link Assignment Tab except for STS.

 STS

In online mode MECHATROLINK transmission status information is displayed in hexadecimal.

 In offline mode, nothing will be displayed.

The meaning of each bit is shown below.

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Page 72

2.2 Basic Module

2.2.5 Built-in SVB Module

( 5 ) SVB Definition

The SVB Definition file defines the motion parameters (motion fixed parameters, motion setting parameters, and motion monitoring parameters) to control motion axes such as the SERVOPACK, inverter, and stepper.

 Refer to Appendix E Motion Parameter Details for details on motion parameters.

[ a ] Opening the SVB Definition Window

Open the SVB Definition Window by the following procedure.

1. Select MP2300S in the Controller area, then double-click the slot number cell of the SVB Module in the

Module Details field in the Module Configuration Window.

The Create New Confirmation Dialog Box will open. Click OK to display the Fixed Parameters Tab of the SVB Definition Window.

2. Select the axis to be set or monitored from the Axis pull-down list.

 Axis corresponds to ST# (station number) in the Link Assignment Tab of the MECHATROLINK Transmission

Definition Window.

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Page 73

2.2 Basic Module

Specifications and Functions

2.2.5 Built-in SVB Module

3. Click the Fixed Parameters, Setup Parameters, or Monitor Tab to display the desired page.

 If the setting in Servo Type is switched from Rotary to Linear, or vice-versa, some of the displayed parameters

will change. Refer to 4.2.2 Motor Type and Related Alarms in the Machine Controller MP2000-series SVB/ SVB-01 Motion Module User’s manual (manual number: SIEP C880700 33) for details.

Fig. 2.1 Fixed Parameters Tab

Fig. 2.2 Setup Parameters Tab

Fig. 2.3 SERVOPACK Parameters Tab

 Refer to the relevant SERVOPACK user’s manual for information on SERVOPACK parameters.  Refer to Appendix B SERVOPACK Parameter Data Flow.

( 6 ) Precautions when Saving the Servo User Constant

To save it in the SERVOPACK parameter screen except when SERVOPACK is changed, make sure in advance to select Edit (E) - SERVOPACK Current Value - To Setting Value (V) menus in order.

Fig. 2.4 Monitor Parameters Tab (read-only)

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Page 74

2.2 Basic Module

2.2.6 SVR Virtual Motion Module

( 1 ) Outline

The Virtual Motion Module is a software module provided as a standard feature with the MP2300S. It is not connected to a motor, but provides a virtual axis interface. The SVR module is configured in the same way as the MP2300S built-in SVB module with fixed parameters, setting parameters, and monitoring parameters, and can be accessed from application programs using I/O registers. The SVR module can be used to control up to 16 virtual axes in the high-speed scan control cycle.

Note: For information on how to use SVR motion parameters and motion commands, refer to Machine Control-

ler MP2000-series SVB/SVB-01 Motion Module User’s Manual (manual number: SIEP C880700 33).

In the MP2300S Basic Module, slot 4 in the default Module Configuration Window is for SVR.

2-48

 If the SVR is not used, MP2300S processing time can be reduced by setting the Module Type for SVR to UNDE-

FINED in the Module Configuration Window.

Page 75

Specifications and Functions

( 2 ) Example SVR Usage

Motion

Parameter

Virtual Servo axes

MP2300S

Motion

Parameter

Motion

Parameter

Optional modules

Ladder program

Motion program

High-speed scan

MECHATROLINK

SERVOPACK

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

Servomotor

SERVOPACK

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

Servomotor

Real Servo axes

Virtual motion module (SVR)

High-speed scan

Motion module (Built-in SVB)

High-speed scan

Motion module (SVB-01)

CPU

The SVR is used in the following two applications.

• Program testing: Results are easily obtained without mounting a motor.

• Generating commands: If the SVR is used in applications where motion modules are required only for generating commands, such as master axis for phase control or multi-axis synchronous control, then Motion Modules on real axes are no longer required.

The following table lists application examples of the SVR.

Slot

Number

1 Master axis for phase control

3 Sine curve commands

 The software limit function and machine lock function cannot be used with the SVR. The position error will always be

Application Example Application Method

Electronic cam or shaft operation can be achieved by using the SVR for the virtual master axis.

Multi-axis synchronous control

Multi-axis synchronous control can be achieved by controlling the SVR from a motion program and then using the ladder program to copy position commands of the SVR to other axes.

If the motion program is used to perform circular interpolation with the SVR, the axis will operate with a sine curve command.

2.2 Basic Module

2.2.6 SVR Virtual Motion Module

( 3 ) System Configuration Example

The following figure shows an example system configuration using SVR.

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2.2 Basic Module

SVR SVR SVR

High-speed scan

H Drawing

Results of commands in the H drawing are used in SVR processing the next scan.

H DrawingH Drawing

SVR processing results can be monitored in the H drawing of the same scan.

Reflected in monitoring parameters

Reference set

SVR processing

2.2.6 SVR Virtual Motion Module

( 4 ) SVR Operation

[ a ] SVR Execution Timing

The SVR is processed at the beginning of the high-speed scan. SVR processing is performed in the next scan after specifying and the processing results are reflected in the monitoring parameters.

[ b ] Processing Time

When fixed parameter 0 (Selection of Operation Modes) is set to 0 (Normal Operation Mode), services are started for each of the 16 SVR Module virtual axes.

 The default for the Selection of Operation Modes parameter is 1 (Axis Unused).

The following table gives guidelines for the processing time required for each SVR axis.

Command MP2300S

NOP 35 +14 × Number of axes (μs)

POSING 35 +36 × Number of axes (μs)

 Number of axes: The number of axes (1 to 16) when Selection of Operation Modes (fixed parameter 0) is set to Nor-

mal Operation Mode (0). The formula listed above do not apply when the number of axes is 0.

 Differences from SVB Simulation Mode

Simulation mode does not have a positioning function, so the position data is refreshed in one scan to the final target position. The SVR has its own positioning function that performs distribution, so like a real module, position data is refreshed each scan for the final target position.

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2.2.7 M-EXECUTOR Module (Motion Program Executor)

Specifications and Functions

2.2.7 M-EXECUTOR Module (Motion Program Executor)

This section explains the M-EXECUTOR Module (motion program executor) function and its detail screen.

( 1 ) M-EXECUTOR Module Function Overview

The M-EXECUTOR Module is a software module that executes a motion or sequence program. The M-EXECUTOR Module enables the following features:

• Executing a motion program without using a ladder program Conventionally, in order to execute a motion program, you need to incorporate an MSEE command into a ladder program. The M-EXECUTOR Module allows you to execute the motion program without incorporating the MSEE command into the ladder program.

Note: You can incorporate a MSEE command into the ladder program as ever.

• Controlling a motion program without using a ladder program You can map any register to the control signal of the motion program registered in the M-EXECUTOR Module. So, without a ladder program, this allows you to directly control a motion program from a host PLC or other device.

2.2 Basic Module

• Describing sequence control in motion language As a new programming method, a sequence program has been added to the MP2300S. A sequence program is a scan execution type program where a process is completed with one scan. It employs a text language similar to a motion program. You can use the sequence program as an alternative to the ladder program. For information about commands available in the sequence program, see Machine Controller MP900/MP2000 Series Users Manual Motion Programming (manual number: SIEZ-C887-1.3).

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2.2 Basic Module

Definition No. System Work Number

No. 1 1

No. 2 2

xxx xxx

No. 16 16

2.2.7 M-EXECUTOR Module (Motion Program Executor)

( 2 ) M-EXECUTOR Module Specification

[ a ] Programs Capable of Registration in M-EXECUTOR

The following table shows programs capable of registration in M-EXECUTOR.

Program Type Number of Registrations

Motion Program

Startup 1

Sequence Program

* Up to 16 programs in total

[ b ] Program Control Method

The following table shows the program control methods registered in M-EXECUTOR.

Interrupt Disable

H Scan

L Scan

Item Motion Program Sequence Program

Execution Method

System Work

Program Designation Method

Program Startup Method

Override Setting for Interpolation Ye s N o

I/O Link Definition Ye s N o

S Register Report Function of Motion Program Status

Number of Parallels

Execute an Error Drawing when Operation Error Occurred

Sequential Execution

1:1 correspondence between the definition number and system work (The number of program definitions is set in the MPE720 screen.)

Direct or indirect designation Direct designation

Registered in the definition, turns start signal ON

1 to 8 (4 main parallels

× 2 sub parallels)

Startup: Event driven H Scan: Scan execution L Scan: Scan execution

Starts up when registered in the definition

Ye s

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Page 79

2.2.7 M-EXECUTOR Module (Motion Program Executor)

Specifications and Functions

( 3 ) Module Configuration Definition

(a) Details of Module Configuration Definition Window

Click MP2300S in the Controller area to display the details of the basic module functions in the Module Details area. The cell No.5 provides a detailed definition of M-EXECUTOR.

2.2 Basic Module

Items displayed in the Module Details area show the following:

Item Description Change

Slot Number

Module Type

Controller Number

Circuit Number

I/O Start Register

I/O End Register

Disable Input

Disable Output

Motion Start Register

Motion End Register

Details

Status

√ : Available, – : Not available

Sub-slot number. Double-click to open the M-EXECUTOR detailed definition screen.

A module name appears. Changing the name to UNDEFINED enables you to disable M-EXECUTOR functions.

Not used. Fixed to “–”.

Start register of the M-EXECUTOR I/O register (valid range: 0000-7FFFh, size: 40h words)

End register of the M-EXECUTOR I/O register (valid range: 0000-7FFFh, size: 40h words)

Not used. Fixed at “blank”.

Not used. Fixed at “– – – –”.

Not used.

M-EXECUTOR Module status in online mode.

–

√

–

√

–

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Page 80

2.2 Basic Module

2.2.7 M-EXECUTOR Module (Motion Program Executor)

 I/O Register Details

An I/O register assigned to M-EXECUTOR is used to run a motion program and sequence program, and to monitor a sequence program. M-EXECUTOR I/O register details are as follows:

M-EXECUTOR Input Register M-EXECUTOR Output Register

M-EXECUTOR

Input Register

Iwxxxx + 0

Iwxxxx + 1

Iwxxxx + 2

Iwxxxx + 3

Iwxxxx + 4

Iwxxxx + 5

Iwxxxx + 6

Iwxxxx + 7

Iwxxxx + 3C

Iwxxxx + 3D

Iwxxxx + 3E

Iwxxxx + 3F

Definition

No.1

Definition

No.2

Definition

No.16

Item

Status

Spare

Status

Spare

  

Status

Spare

M-EXECUTOR

Output Register

Owxxxx + 0

Owxxxx + 1

Owxxxx + 2

Owxxxx + 3

Owxxxx + 4

Owxxxx + 5

Owxxxx + 6

Owxxxx + 7

Owxxxx + 3C

Owxxxx + 3D

Owxxxx + 3E

Owxxxx + 3F

Definition

No.1

Definition

No.2

  

Definition

No.16

Item

Program number

Control signal

Override

Spare

Program number

Control signal

Override

Spare

Program number

Control signal

Override

Spare

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Page 81

2.2.7 M-EXECUTOR Module (Motion Program Executor)

Specifications and Functions

edfg h i j

( 4 ) Detailed Screen

This section describes the M-EXECUTOR detail screen.

 Program Definition Screen (M-EXECUTOR (list display) screen)

The program definition screen allows you to register a motion or sequence program to run. Programs are executed according to the scan, in ascending numeric order. A white cell can be set by the user, and a grey cell cannot be set by the user.

2.2 Basic Module

c Individual display

Shows M-EXECUTOR (individual display) screen.

d Program definition number

Sets the number of program definitions registered in the M-EXECUTOR Module. The valid range is 0-16 (8 by default).

e No.

Shows the program execution order. Processed according to the scan in ascending numeric order.

f D

Enables/disables the definition. Uncheck to enable the definition.

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2.2 Basic Module

2.2.7 M-EXECUTOR Module (Motion Program Executor)

g Execution type

Sets the program execution type.

Execution Type Program to Execute Execution Condition

----------

Sequence Program (startup)

Sequence Program (L scan)

Sequence Program (H scan)

Motion Program

h Setting

Sets the a program designation. The way to designate a program may differ according to the program.

None None (select this to delete the definition)

Power-up (during power-up, run only once)

Sequence program

Motion program

Periodical startup (run each time a low-sped scan is performed)

Periodical startup (run each time a high-speed scan is performed)

Turns ON the program operation start request of the control signal (runs when the program operation start request is ON).

Designa-

tion Method

Direct

Designation

Indirect

Designation

i Program

Sets a program number.

Execution Type Remarks

Sequence Program (startup, L scan, H scan)

Motion Program

Motion

Program

Enable Enable

Enable Disable

Sequence

Program

Remarks

The way to designate the program number Example: MPM001, SPM002, and so on

The way to designate the register for storing the program number Example: OW0C0C, and so on (refers to MPM001 by storing

one in OW0C0C)

Enter “1” and press ENT to automatically input “SPM001.” You can save an unregistered program or exit this screen without setting (blank), but in these cases, the program will not be executed.

Direct designation:

Enter “1” and press ENT to automatically input “MPM001.” You can save an unregistered program or exit this screen without setting

(blank), but in these cases, the program will not be executed.

Indirect designation:

O register of M-EXECUTOR Module is automatically set. It cannot be set by the user.

2-56

j Execution monitor register (S Register)

When the execution type is set to motion program, the range of the execution monitor registers (S registers) is shown. For more information on the execution monitor register, refer to ( 6 ) Monitor the motion program execution information using S register of 5.2.2 Motion Programs.

Page 83

2.2.7 M-EXECUTOR Module (Motion Program Executor)

Specifications and Functions

cdefgh

 Control Register Mapping Window

The control register mapping screen sets a mapping register. A white cell can be set by the user, and a shaded cell cannot be set by the user.

2.2 Basic Module

c M-EXECUTOR Control register

Displays an I/O register mapped to the M-EXECUTOR Module. Controls the motion program and monitors the state, using the M-EXECUTOR control register.

M-EXECUTOR

Control Register

Program Number

Status

Control Signal

Override

Note: For more information on the M-EXECUTOR control register, refer to 2.2.7 ( 1 ) M-EXECUTOR Module

Function Overview.

d Allocation Disable

Sets a program number. This register is used only when set to an indirect designation.

Monitors the program execution status.

Controls the program.

Sets an override value when running a move command for the interpolation system.

Usage

Enables/disables the mapping register. Uncheck to enable the definition.

e Direction

Displays the data I/O direction.

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Page 84

2.2 Basic Module

2.2.7 M-EXECUTOR Module (Motion Program Executor)

f Allocation register

Data is exchanged between mapping and M-EXECUTOR control registers in real-time. Any register can be mapped to the mapping register.

Registers that can be set as a Mapping Register

Word type I, O, M (except the motion register)

g Allocation Contact interlock

An allocation contact interlock is used to control the data exchange between the allocation register and M-EXECUTOR control registers. When the allocation contact interlock is ON, data can be exchanged between the allocation register and M-EXECUTOR control registers. Any register bit can be mapped to the allocation contact interlock.

Registers that can be set as an Allocation Contact Interlock

Bit type I, O, S, M, C (except the motion register)

 Caution

An allocation contact interlock is used to interlock the operation of a motion program. When setting an allocation register, be sure to set the allocation contact interlock.

h Status, Control Signal Details

Double-click the status and control register to display the bit detail. You can check the signal sequence and status here.

• Status

• Control Signal

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Page 85

2.2 Basic Module

Specifications and Functions

jkhi

2.2.7 M-EXECUTOR Module (Motion Program Executor)

 Program Execution Registration Screen (M-EXECUTOR (individual display) screen)

Click the Individual Display Button in the M-EXECUTOR (list display) dialog box to display this dialog box. The items that can be set are similar to those in the program definition window and the control register mapping window.

c Program execution registry number

Selects a program execution registration No.

d Program number

Sets a program number.

e Execution type

Sets the program execution type.

f Specification

Sets the method of designating a program.

g Allocation register

Sets a mapping register.

h Status, Control signal

Displays the status and the signal sequence of the control register.

i Allocation DISABLE

Enables/disables the allocation register. Uncheck to enable the definition.

j List

Displays the M-EXECUTOR (list display) screen.

k Delete

Deletes a definition.

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Page 86

2.2 Basic Module

Drawing A

(startup process drawing)

Per high-speed scan interval

Batch output

Batch input

Batch output

Batch input

Drawing H

(high-speed scan process drawing)

Per low-speed scan interval

Drawing L

(low-speed scan process drawing)

Sequence program (L scan)

Sequence program (H scan) Motion program

The execution order is determined by the M-EXECUTOR definition.

Sequence program (startup)

Power ON

2.2.7 M-EXECUTOR Module (Motion Program Executor)

( 5 ) Execution Scheduling

Programs registered in M-EXECUTOR are executed on the basis of their priorities (execution type). Programs registered in M-EXECUTOR are executed just before the ladder process.

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Page 87

Specifications and Functions

An execution example is as follows:

SPM003 MPM004 SPM005 DWG.H

SPM001 DWG.A

DWG.L

SPM003 MPM004

SPM002 SPM002

High-speed scan cycle

Low-speed scan

High-speed scan

Startup

: Ladder process

Low-speed scan cycle

SPM005 DWG.H

DWG.X

High-speed scan cycle

The hatched area indicates that the program is being interrupted by a higher priority process.

• M-EXECUTOR program definition

2.2 Basic Module

2.2.7 M-EXECUTOR Module (Motion Program Executor)

• Execution scheduling

The following diagram shows the execution scheduling when set in the screen above.

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2.3 Option Module

2.3.1 Option Module Overview List

2.3 Option Module

This section provides an option module overview. For more information on its specifications, functions, connections, settings, etc., refer to the following documents separately.

2.3.1 Option Module Overview List

Classification

Motion Module

Option

Module Name

SVB-01 Module

SVC-01 Module

SVA-01 Module

PO-01 Module

Module Overview Reference Manual

The SVB-01 Module is a motion module equipped with a MECHATROLINK supporting interface. The adoption of MECHATROLINK enables reduced wiring and multiaxis control. In addition, the support for MECHATROLINK-II standard allows you to control position, speed, torque, and phase, realizing precise synchronous control. Also, complex mechanical operation can be achieved by changing the control mode during axis operation.

 Features

• Up to 21 slave stations per module are connectable (up to 16 servo axes are controllable)

• Because synchronization between modules is enabled, adaptable to interpolation and synchronous control between modules

• With the SVB-01 Module as a slave, connectable to an upper controller with the MECHATROLINK communication function

• Self-configuration function allows you to automatically map slave devices connected to MECHATROLINK.

• SERVOPACK parameters are manageable over the network

The SVC-01 Module is a motion module equipped with a MECHATROLINK-III supporting interface. The adoption of MECHATROLINK enables reduced wiring and multiaxis control. In addition, the support for MECHATROLINK-III standard allows you to control position, speed, torque, and phase, realizing precise synchronous control. Also, complex mechanical operation can be achieved by changing the control mode during axis operation.

 Features

Controls the same number of axes in a shorter cycle than the cycle when using MECHATROLINK-II.

• Up to 21 slave stations per module are connectable (up to 16 servo axes are controllable)

• Because synchronization between modules is enabled, adaptable to interpolation and synchronous control between modules

• With the SVC-01 Module as a slave, connectable to an upper controller with the MECHATROLINK-III communication function

• Self-configuration function allows you to automatically map slave devices connected to MECHATROLINK-III.

• SERVOPACK parameters are manageable over the network

The SVA-01 Module is a motion control module with analog output. Capable of controlling a two-axes servo per module or an inverter. The module has two connectors (CN1, CN2) for connection to a SERVOPACK and an external I/O. Each connector is equipped with an analogue output to command speed and torque, an analogue input to monitor feedback speed and torque, a pulse input phase-A, B, and C (5V differential), and a general-purpose digital input/output. The control cycle is fixed at 500 μs, so precise control is enabled regardless of high-speed scan cycles.

 Features

• Two axes servo module with analogue output

• Each axis can independently perform position control, speed command output, torque command output, and phase control functions.

• Self-configuration function allows you to automatically map modules.

The PO-01 Module is a motion module with pulse output and a four-axes interface. Applicable to connection to PA CK .

a stepping motor or SE

RVO-

Machine Controller MP2000 Series SVB/SVB-01 Motion Module User’s Manual (manual num-

ber: SIEP C880700 33)

Machine Controller MP2000 Series SVC-01 Motion Module User’s Manual (manual number:

SIEP C880700 41)

Machine Controller MP2000 Series Motion Module SVA-01 User’s Manual (manual number:

SIEP C880700 32)

Machine Controller MP2000 Series Pulse Output Motion Module PO-01 User’s Manual (manual

number: SIEP C880700 28)

2-62

Page 89

Specifications and Functions

Classification

Input/Output Module

Communication Module

Option

Module Name

LIO-01/ LIO-02 Module

LIO-04/ LIO-05 Module

LIO-06 Module

DO-01 Module

AI-01 Module

AO-01 Module

CNTR-01 Module

218IF-01 Module

218IF-02 Module

217IF-01 Module

260IF-01 Module

261IF-01 Module

215AIF-01 Module

262IF-01 Module

263IF-01 Module

Module Overview Reference Manual

Digital I/O and pulse counter functions. As a digital I/O function, equipped with 16 digital inputs (DI), 16 digital outputs (DO) (LIO-01: sink output, LIO-02: source output). As a pulse counter function, one pulse input (PI). As for when to input/output for digital I/O and pulse counter functions, input/output for each MP2200 high-speed (High)/ low-speed (Low) scan is carried out at a constant cycle.

As a digital I/O function, equipped with 32 digital inputs (DI), and 32 digital outputs (DO) (LIO-04: sink output, LIO-05: source output).

As a digital I/O function, equipped with 8 digital inputs (DI), 8 digital outputs (DO), one analog input channel, one analog output channel, and one pulse counter input channel.

As a digital output function, equipped with 64 digital outputs (DO) (sink output).

8 channel analogue input module. For the input, capable of selecting from three options: -10V to +10V, 0V to +10V, or 0 to 20 mA.

4 channel analogue output module. For the output, select one from two options: -10V to +10V, or 0V to +10V.

2 channel reversible counter module. 5 V differential/ 12 V input is optional, and phase-A or -B/ sign/ add-subtract method is optional.

Equipped with serial interface (RS-232C) and Ethernet interface. Allows you to connect to a personal computer, HMI equipment, or controller by other makers via PORT or 10Base-T connector.

Equipped with serial interfaces (RS-232C and RS422/485). Allows you to connect to a personal computer, HMI equipment, or controller by other makers via PORT or RS422/485 connector.

Equipped with serial interface (RS-232C) and DeviceNet interface. Allows you to connect to a controller by other makers via DeviceNet connector. Also, allows you to connect to a personal computer or HMI equipment by other makers via the PORT connector.

Equipped with serial interface (RS-232C) and PROFIBUS interface. Allows you to connect to a controller by other makers via the PROFIBUS connector. Also, allows you to connect to a personal computer or HMI equipment by other makers via the PORT connector.

MPLINK and CP-215 specifications. MPLINK specification is equipped with one line of our original real-time core network interface MPLINK transmissio 232C). CP-215 specification is equipped with one line of our original real-time core network interface CP-215 transmission and a serial interface (RS232C).

Equipped with an FL-net interface. Allows you to connect to a FA controller, a personal computer, or HMI equipment via 100Base-TX/10BaseT connector.

Equipped with an EtherNet/IP interface. Allows you to connect a personal computer or equipment that supports EtherNet/IP communication protocol.

n and a serial interface

(RS-

2.3 Option Module

2.3.1 Option Module Overview List

(cont’d)

Machine Controller MP2300S Basic Module User’s Manual

(manual number: SIEP C880700 03)

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

(manual number: SIEP C880700 34)

Machine Controller MP2000 Series Counter Module CNTR-01 User’s Manual (manual number:

SIEP C880700 27)

Machine Controller MP2000 Series Communication Module User’s Manual (manual number:

SIEP C880700 04)

Machine Controller MP2000 Series 262IF-01 FL-net Communication Module User's Manual (manual number: SIEP C880700 36)

Machine Controller MP2000 Series 263IF-01 EtherNet/IP Communication Module User's Manual (manual number: SIEP C880700 39)

2-63

Page 90

2.4 External Appearance

/25

(*)

Relay connector (2P)

Power connector (3P)

Terminating resistor for MECHATROLINK (attachment)

Model nameplate

DIN rail (35mm width)

(10: when DIN rail is attached)

Units: mm

(42)

108

734-YE102

721-203/026-000

130

(9)

(14: when released)

2.4.1 Basic Module

2.4 External Appearance

The external appearance of the basic module is as follows:

2.4.1 Basic Module

2-64

* The following cable-side connectors are attached to the power and relay connectors.

 Power connector: 721-203 / 026-000  Relay connector: 734-YE102

Note: Attachment

 Handle for power connector (model: 231-131)  Handle for relay connector (model: 734-230)

* These handles are used when connecting a cable to the cable-side connector.

 Terminating resistor for MECHATROLINK (JEPMC-W6022-E)

Page 91

Specifications and Functions

2.4.2 Basic Module with Metal Fittings

/25

2 x φ5 holes

Approx. 8 when attached

88 76

(42) 111.5

108 3.5

4.54.5 121

130

Units: mm

2.4 External Appearance

2.4.2 Basic Module with Metal Fittings

2-65

Page 92

Mounting and Wiring

This chapter explains how to handle MP2300S and the connection methods for each module.

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

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

3-1

Page 93

3.1 Mounting MP2300S

3.1.1 Method

3.1 Mounting MP2300S

3.1.1 Method

There are two methods for mounting MP2300S.

• Using DIN rail (standard)

• Using screws

( 1 ) DIN Rail Mounting

[ a ] DIN Rails and Spacer

Several types of DIN rails are available: with 7-mm to 15-mm gap from the mounting base as shown in the following diagram. If mounting a MP2300S using DIN rail with 10 mm gap, install a spacer on the rear of the MP2300S near the bottom to protect the MP2300S from vibration and shock.

Gap from mounting base: 7.0 mm to 15.0 mm

For a 10-mm gap

Mounting base

DIN rail

Space

3-2

Page 94

3.1 Mounting MP2300S

Mounting and Wiring

MP2300S Rear Side

DIN rail mounting bracket (inserted position)

DIN rail mounting bracket

Insert the parts in these positions

Front Back

Clip

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MP2300S

[ b ] Procedure for Mounting to DIN Rail

Use the following procedure to attach the DIN rail mounting parts to the MP2300S and then mount the MP2300S to the DIN rail.

1. Insert the DIN rails to the dotted line in the two slots on the rear of the MP2300S as shown in the fol-

lowing figure.

3.1.1 Method

 The following figure shows the front and back of a mounting clip. Insert each clip so that its front faces outward.

2. Pull the DIN rail mounting clips down to release them.

3-3

Page 95

3.1 Mounting MP2300S

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Clip

Option

DIN rail

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Option

End plate

3.1.1 Method

 Fixing a DIN Rail

Make sure to fix a DIN rail at 300 mm or less pitch as shown in the figure below.

3. Hook the MP2300S to the top of the DIN rail (a), and then push the MP2300S towards the mounting

base to secure it in place (b).

300 mm or less 300 mm or less

3-4

4. Push the DIN rail mounting clips to lock them in place.

5. Place end plates on both sides of the MP2300S to secure it to the DIN rail.

This completes the installation procedure.

Page 96

Mounting and Wiring

( 2 ) Screwed Method

Use a panel mounting clamp (optional) by the following procedure to mount MP2300S on the panel.

1. Release DIN fixing locks (two) at the center of the panel mounting clamp.

Two convex clamps

Two DIN fixing lock positions

When locked When released

ttachment for mounting panel

3.1 Mounting MP2300S

3.1.1 Method

2. Insert two convex portions at the top of the panel mounting clamp into holes of the MP2300S case.

3. Push the clamp as indicated by an arrow above onto the MP2300S case and use DIN fixing locks to fix

MP2300S.

3-5

Page 97

3.1 Mounting MP2300S

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MP2300S

Mounting screw (M4 plus)

Use the screwdriver with this portion of a driver not less than 10 cm.

Note: Vertically mount it on the wall as shown in the figure above.

3.1.1 Method

4. Push the MP2300S mounted clamp onto the mounting plate as shown in the figure below, and use four

mounting screws to firmly secure the clamp.

3-6

Page 98

Mounting and Wiring

3.1.2 MP2300S Mount Direction

View from front, when attached

Be sure to mount the MP2300S using DIN rail or metal fittings.

3.1 Mounting MP2300S

3.1.2 MP2300S Mount Direction

MP2300S

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Option

3-7

Page 99

3.1 Mounting MP2300S

3.1.3 Space Required for Mounting MP2300S

Install MP2300S so that enough space is left around it as shown in the following figure:

 Mount condition

• Vertical direction: 40 mm or more

• Horizontal direction: 10 mm or more

Note: However, ambient temperature should be 55°C or less.

Electronic product, Wall, Cable, Duct, etc.

10 mm or more

40 mm or more

/25

Electronic product, Wall, Cable, Duct, etc.

10 mm or more

40 mm or more

3-8

Electronic product, Wall, Cable, Duct, etc.

Page 100

Mounting and Wiring

3.1.4 Replacing and Adding Optional Modules

Use the following procedures to replace and add Optional Modules.

( 1 ) Preparations

1. Create a backup data file.

Use the MPE720 to save the MP2300S program on a computer (right-click the PLC, and select Transfer - All Files - From Controller to MPE720.)

2. Remove the MP2300S.

Turn OFF the power supply and disconnect all cables from the MP2300S. Then remove the MP2300S from the panel or rack and place on a workbench or other area with sufficient space.

( 2 ) Removing Optional Modules

1. Remove the battery cover.

Pull the notch on the side of the MP2300S towards you to remove the battery cover.

3.1 Mounting MP2300S

3.1.4 Replacing and Adding Optional Modules

2. Remove the panel of Optional Module.

Insert the protruding part of the battery cover into the slot on top of the panel of Optional Module to unhook, as shown in the diagram. Face the front of the battery cover towards you for this operation.

 Remove the front cover (optional) from the empty slot before mounting an Optional Module in an empty slot.

Unhook the bottom in the same way.

3-9

Yaskawa MP2300S User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Using this Manual

Safety Information

Safety Precautions

Warranty

Contents

Overview

1.1 MP2300S Features

1.2 MP2300S Configuration

1.2.1 Basic Module Appearance

1.2.2 MP2300S Modules

1.3 System Configuration

1.3.1 Example

1.3.2 Example of Distributed Synchronizing System

1.4 MECHATROLINK Compatible Devices

1.4.1 MECHATROLINK-I/II Compatible Devices

1.4.2 MECHATROLINK-III Compatible Devices

1.5 Cables and Accessories

1.5.1 Cables

1.5.2 Accessories and Options

1.5.3 Software (Programming Tool)

Specifications and Functions

2.1 Specifications

2.1.1 General Specifications

2.1.2 Product Specifications

2.1.3 Function Lists

2.2 Basic Module

2.2.1 Outline of Functions

2.2.2 External Appearance, LED Indicators, and Switch Settings

2.2.3 Specifications

2.2.4 218IFA Module (Ethernet)

2.2.5 Built-in SVB Module

2.2.6 SVR Virtual Motion Module

2.2.7 M-EXECUTOR Module (Motion Program Executor)

2.3 Option Module

2.3.1 Option Module Overview List

2.4 External Appearance

2.4.1 Basic Module

2.4.2 Basic Module with Metal Fittings

Mounting and Wiring

3.1 Mounting MP2300S

3.1.1 Method

3.1.2 MP2300S Mount Direction

3.1.3 Space Required for Mounting MP2300S

3.1.4 Replacing and Adding Optional Modules