Yaskawa MP2600iec User Manual

MP2600iec
Hardware Manual
Table of Contents
1 Introduction
1.1 MP2600iec Features - - - - - - - - - - - - - - - - - - - - - - - - 3
1.3 Model Number Reference - - - - - - - - - - - - - - - - - - - - 5
2 Specifications
2.1 General Specifications- - - - - - - - - - - - - - - - - - - - - - - 7
2.2 MP2600iec Hardware Specifications - - - - - - - - - - - - - 8
3 Mechanical Installation
3.1 Mounting Information- - - - - - - - - - - - - - - - - - - - - - - - 9
3.2 Installation Standards - - - - - - - - - - - - - - - - - - - - - - 10
3.3 Dimensions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11
Table of Contents
4 Inputs/Outputs
4.1 CN13 Connection Diagram - - - - - - - - - - - - - - - - - - 13
4.2 CN13 Connection Description - - - - - - - - - - - - - - - - 14
4.3 External Encoder Interface - - - - - - - - - - - - - - - - - - 15
4.4 Controller Digital I/O - - - - - - - - - - - - - - - - - - - - - - - 16
4.5 Sigma-5 I/O - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 18
4.6 Analog I/O - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 19
5 DIP Switches
5.1 Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - 21
6 LED Outputs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 23 7 Battery
7.1 Battery Installation- - - - - - - - - - - - - - - - - - - - - - - - - 25
1
Table of Contents
8 Ethernet
8.1 Connectivity Information- - - - - - - - - - - - - - - - - - - - - 27
8.2 Ethernet Connector Details- - - - - - - - - - - - - - - - - - - 27
8.3 Ethernet Cable - - - - - - - - - - - - - - - - - - - - - - - - - - - 28
8.4 Ethernet Connection Examples- - - - - - - - - - - - - - - - 28
9 Cable Diagrams
9.1 CBK-U-MP2B-xx (Terminal Block-Controller) - - - - - - 31
9.2 CFC-U-MP2B-xx (Flying Lead-Controller) - - - - - - - - 32
9.3 SBK-U-VBA-xx (Terminal Block-Servo Amp) - - - - - - 33
9.4 JZSP-CSI02-x-E (Flying Lead-Servo Amp) - - - - - - - 34
10 Firmware Upgrade Procedure- - - - - - - - - - - - - - - - - 35 11 EMC Installation Conditions - - - - - - - - - - - - - - - - - - 37
2

1 Introduction

1.1 MP2600iec Features

MP2600iec is a single-axis machine controller option card that is attached to a Sigma-5 servo amplifier. The servo amplifier and controller are factory assembled, providing a compact, all-in-one servo/controller package with the following features:
PLCopen for Motion Control, including indexing, camming, gearing, and
servo parameter maintenance capability.
Sigma-5 self-tuning, anti-vibration, and other high performance,
easy-to-implement servo control features
Ethernet (100Mbps) Auto crossover switching
• EtherNet/IP
• Modbus TCP
• Allows high-speed communications with MotionWorks IEC
• Enables communication with the application program by using a touch panel
• Enables communication with the application program from another controller
1.1
MP2600iec Features
Combined Amplifier/Controller I/O features
• 15 digital inputs
• 11 digital outputs
• 1 analog input
• 1 analog output
• 1 external encoder (quadrature, pulse + direction, up/down)
• 1 external encoder latch
3
1.2
MP2600iec Appearance

1.2 MP2600iec Appearance

The following figure shows the external appearance of the MP2600iec controller (Note: The servo amplifier is not shown).
LED (10 points)
Ethernet Port A
Ethernet Port B
DIP Switch (6 points)
CN13 Port
Analog I/O, Digital I/O
External Encoder (incremental)
3.6V Lithium Battery
(preserves retained variables,
absolute encoder offset, and real-time clock data)
4

1.3 Model Number Reference

1.3.1 Model Number Designation
1.3
Model Number Reference

1.3.1 Model Number Designation

SGDV
Series SGDV SERVOPACK
Current
Volt age
100V
200V
400V
* These amplifiers can be powered with single or three-phase. ♣ SGDV-120A¡¡A008000¡¡¡, a special version of the 1.5kW amplifier can be used for single-phase operation.
Applicable Servomotor
Code
R70 0.05
R90 0.1
2R1 0.2
2R8 0.4
R70* 0.05
R90* 0.1
1R6* 0.2
2R8* 0.4
3R8 0.5
5R5* 0.75
7R6 1.0
120
♣1.5
180 2.0
200 3.0
330 5.0
470 6.0
550 7.5
590 11
780 15
1R9 0.5
3R5 1.0
5R4 1.5
8R4 2.0
120 3.0
170 5.0
210 6.0
260 7.5
280 11
370 15
R70 A E 1 A 000 00 0 300
Max. Capacity kW
Option Module
Code Specifications
MP2600iec 1.5 Axis
300
Machine Controller Module
Options (parameter)
Code Specifications
0 standard
Options (software)
Code Specifications
00 standard
Options (hardware)
Code Specifications
000 Base-mounted
(standard)
Design Revision Order
A, B…
Motor Type
Code Specifications
1 Rotary Servomotors
5** Linear Servomotors
** Under Development
Interface Options
Code Specifications
E
Communication Reference
Voltage
Code Specifications
F 100 VAC
A 200 VAC
D 400 VAC
5
1.3
Model Number Reference

1.3.2 Accessory Model Numbers

1.3.2 Accessory Model Numbers
System Components
Type Model Part Number Note
Battery JZSP-BA01 Replacement Battery Holder Kit SGDV-OZC02A Replacement (does not include battery) CN13 (MP2600iec)
Terminal Block Conversion Kit
CN13 (MP2600iec) (Flying Leads)
CN1 (Servo Amp)
Accessories/Cables
Terminal Block Conversion Kit
CN1 (Servo Amp) Cable (Flying Leads)
CBK-U-MP2Bxx
CFC-U-MP2Bxx
SBK-U-MP2Bxx
JZSP-CSI02-x-E
xx denotes cable length (m) A5 = 0.5 01 = 1 03 = 3
x denotes cable length (m) A = 1 B = 2 C = 3
Ethernet Cable N/A
Communication
MotionWorks IEC Express
MotionWorks IEC Pro PDE-U-IEPx
Software
OPC Server PDE-U-OPCPx
PDE-U-IESx
Use commonly available shielded Ethernet cable
denotes MotionWorks IEC Version C = 1 2 = 2 x denotes number of software licenses A = 1 B = 5 C = 10
x denotes number of software licenses A = 1 B = 5 C = 10 D = 20
6

2 Specifications

2.1 General Specifications
Item Specifications
Environmental Conditions
Mechanical Operating Conditions
Ambient Operating Temperature
Ambient Storage Temperature
Ambient Operating Humidity
Ambient Storage Humidity
Protection Class/ Pollution Degree
Operating Altitude 1,000 m above sea level or lower Vibration
Resistance
Shock Resistance
Others
0 to 55°C
-20°C to +85°C
90% RH or less (with no condensation)
90% RH or less (with no condensation)
Protection class: IP10, Pollution degree: 2 An environment that satisfies the following conditions.
• Free of corrosive or explosive gases
• Free of exposure to water, oil or chemicals
• Free of dust, salts or iron dust
2
4.9 m/s
2
19.6 m/s
Free of static electricity, strong electromagnetic fields, magnetic fields or exposure to radioactivity

2.1 General Specifications

7
2.2
MP2600iec Hardware Specifications

2.2 MP2600iec Hardware Specifications

Item Specification CPU 200 MHz, 32 bit, ARM 9
SDRAM 32 MB
Memory
Operator interface
Controller Side (CN13)
User I/O
Servo­Side (CN1)
Network capability
Programming standards IEC61131-3/PLCopen Diagnostic and configuration interface Web interface
Motion control performance
Servo-Side Safety Functions
SRAM 512 kB with battery backup Flash 4 MB flash. Code and parameter storage.
LED
User Configuration Network 2x 100baseTX Ethernet
Digital input 8 programmable inputs Digital output 8 programmable outputs Analog input 1 ch., +/- 10V, 16 bit Analog output 1 ch., +/- 10V, 16 bit
Pulse Counter
Sequence
Input
Sequence Output
Allocated*
Fixed Servo Alarm (ALM)
Allocated*
Input
Output
10 LEDs (red and green - operating mode, communication and error status)
6x DIP switch (operating mode and communication configuration)
RS-422-compatible pulse counter input (quadrature, pulse and direction, and up/down co unter modes) wi th 5, 12, or 24V position latch input
Number of Inputs: 7
Functions: The signal allocation and positive/negative logic can be modified. Forward run prohibited (P-OT),
reverse run prohibited (N-OT), forward torque limit (/P­CL), reverse torque limit (/N-CL), general-purpose input signal (/SI0 to /SI6)
Number of Outputs: 3
Functions: The signal allocation and positive/negative logic can be modified. Positioning completion (/COIN), speed coincidence detection(/V-CMP), servomotor
rotation detection (/TGON), servo ready (/S-RDY), torque limit detection (/CLT), speed limit detection
(VLT), bra ke (/BK ), warn in g (/WARN), near (/NEAR)
OPC (Client and Server required) EtherNet/IP Modbus/TCP
1 controlled axis and one external position input at a trajectory update rate of 1 kHz
/HWBB1, /HWBB2: Baseblock signal for power module
EDM1: Status monitor (fixed output) of built-in safety circuit

* Allocated I/O can also be used as programmable I/O if the output functions are disabled.

8

3 Mechanical Installation

3.1 Mounting Information
The MP2600iec controller is pre-assemble d to th e Sigm a -5 serv o amplifier by the factory.

3.1 Mounting Information

9

3.2 Installation Standards

3.2 Installation Standards
The servo amplifier must be installed in a fully enclosed metal control panel. Observe the standards for mounting servo amplifiers in control panels, including those for the mounting servo amplifiers side by side in one control panel as shown in the following illustration.
• Servo Amplifier Mounting Orientation Mount the servo amplifier vertically to the wall, with the fr
display)
facing out.
• Cooling Refer to the following diagram and leave sufficient space for cooling by fans and natural convection.
• Mounting Servo Amplifiers Side by Side in a Control Panel
Fan Fan
ont panel (the side with the panel operator
40 mm or more
40 mm or more
30 mm or more
Width varies with servo amplifier model
Leave sufficient space on each side and at the top and the bottom of each servo amplifier. The width on each side varies in accordance with the models of the servo amplifiers used.
Servo Amplifier Model SGDV-
R70F, R90F, 2R1F, R70A, R90A, 1R6A, 2R8A 1 mm or more
2R8F, 3R8A, 5R5A, 7R6A 1 mm or more 10 mm or more
120A, 180A, 200A, 330A, 470A, 550A, 590A, 780A, 1R9D, 3R5D, 5R4D, 8R4D, 120D, 170D, 210D, 260D, 280D, 370D
Side
Left Right
10 mm or more
Top and bottom
40 mm or more
Also install cooling fans above the servo amplifiers to disperse local pockets of warmer air around the servo amplifiers.
• Inside the Control Panel The conditions inside the control panel should be the same as the environmental conditions of
the servo amplifier. Refer to the environmental conditions in 2.1 General Specifications
.
• During Operation Do not touch the connectors or IO cables during operation if the panel door is open.
.
10
3.3 Dimensions
20
160
(22)
97
(20)
Dimensions in mm.
20
3.3.1 MP2600iec Controller

3.3 Dimensions

3.3.1 MP2600iec Controller

11
3.3 Dimensions
3.3.1 MP2600iec Controller
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12

4 Inputs/Outputs

4.1 CN13 Connection Diagram
CN13
+15 V
Analog Output
Analog Input
Z-phase Latch Input
Digital Input
­+
+15 V
­+
Encoder Interface
+5V
Digital Output
Polyswitch Device: A self-resetting fuse if excessive current is drawn from the output
-15V
-15V
FG Connector Shell)
AO
1
AO_GND
26
AI
2
AI_GND
27
PA+
4
PA-
5
PB+
29
PB-
30
GND
6
GND
31
PILC(24V)
10
PILC(12V)
34
PILC(5V)
9
PIL
35
DICOM
13
DICOM
38
DI_00
14
DI_01
39
DI_02
15
DI_03
40
DI_04
16
DI_05
41
DI_06
17
DI_07
42
DO_00+
21
DO_00-
11
DO_01+
46
DO_01-
36
DO_02+
22
DO_02-
12
DO_03+
47
DO_03-
37
DO_04+
23
DO_04-
18
DO_05+
48
DO_05-
43
DO_06+
24
DO_06-
19
* DO_07+
49
* DO_07-
44
7 + Battery
32 - Battery
Connect a positive voltage to pin 10, 34, or 9 based on signal level
NOTE: For a more detailed circuit drawing, see section 4.4.2.
* DO_07 can also be used as a high speed output when configured via parameter 1050

4.1 CN13 Connection Diagram

External Device
L
+10V
-10
FG
External Device
V
-10 +10V FG
Pulse Generator
FG
Latch Input
Signal
External Input
+24VDC
L
0V
+24VDC
L
0V
+24VDC
L
0V
+24VDC
L
0V
+24VDC
L
0V
+24VDC
L
0V
+24VDC
L
0V
+24VDC
L
0V
L
Load
External Fuse (installed by customer)
13
4.2
Numerical
Alphabetical
CN 13 Pin Code Description
1 AO Analog Output 2 AI Analog Input 3 n/c no connection 4 PA+ Encoder A phase + 5 PA- Encoder A phase ­6 GND Encoder ground 7 BAT + SRAM Positive Battery input 8 n/c no connection 9PILC
PC+ /
External Encoder Latch
+5V
10 PILC
PC+ /
External Encoder Latch
+24V 11 DO_00- Digital Output 0 ­12 DO_02- Digital Output 2 ­13 DICOM Digital Input Common 14 DI_00 Digital Input 0 15 DI_02 Digital Input 2 16 DI_04 Digital Input 4 17 DI_06 Digital Input 6 18 DO_04- Digital Output 4 ­19 DO_06- Digital Output 6 ­20 n/c no connection 21 DO_00+ Digital Output 0 + 22 DO_02+ Digital Output 2 + 23 DO_04+ Digital Output 4 + 24 DO_06+ Digital Output 6 + 25 n/c no connection 26 AO_GND Analog Output Ground 27 AI_GND Analog Input Ground 28 n/c no connection 29 PB+ Encoder B phase + 30 PB- Encoder B phase ­31 GND Encoder ground 32 BAT - SRAM Negative Battery input 33 n/c no connection 34 PILC
PC+ /
External Encoder Latch
+12V 35 PIL PC- / External Encoder Latch 36 DO_01- Digital Output 1 ­37 DO_03- Digital Output 3 ­38 DICOM Digital Input Common 39 DI_01 Digital Input 1 40 DI_03 Digital Input 3 41 DI_05 Digital Input 5 42 DI_07 Digital Input 7 43 DO_05- Digital Output 5 ­44 DO_07- Digital Output 7 ­45 n/c no connection 46 DO_01+ Digital Output 1 + 47 DO_03+ Digital Output 3 + 48 DO_05+ Digital Output 5 + 49 DO_07+ Digital Output 7 + 50 n/c no connection
Description Code CN 13 Pin
Analog Input AI 2 Analog Input Ground AI_GND 27 Analog Output AO 1 Analog Output Ground AO_GND 26 Digital Input 0 DI_00 14 Digital Input 1 DI_01 39 Digital Input 2 DI_02 15 Digital Input 3 DI_03 40 Digital Input 4 DI_04 16 Digital Input 5 DI_05 41 Digital Input 6 DI_06 17 Digital Input 7 DI_07 42 Digital Input Common DICOM 13 Digital Input Common DICOM 38 Digital Output 0 - DO_00- 11 Digital Output 0 + DO_00+ 21 Digital Output 1 - DO_01- 36 Digital Output 1 + DO_01+ 46 Digital Output 2 - DO_02- 12 Digital Output 2 + DO_02+ 22 Digital Output 3 - DO_03- 37 Digital Output 3 + DO_03+ 47 Digital Output 4 - DO_04- 18 Digital Output 4 + DO_04+ 23 Digital Output 5 - DO_05- 43 Digital Output 5 + DO_05+ 48 Digital Output 6 - DO_06- 19 Digital Output 6 + DO_06+ 24 Digital Output 7 - DO_07- 44 Digital Output 7 + DO_07+ 49 Encoder A phase - PA- 5 Encoder A phase + PA+ 4 Encoder B phase - PB- 30 Encoder B phase + PB+ 29 Encoder ground GND 6 Encoder ground GND 31 no connection n/c 3 no connection n/c 8 no connection n/c 20 no connection n/c 25 no connection n/c 28 no connection n/c 33 no connection n/c 45 no connection n/c 50 PC- / External Encoder Latch PIL 35 PC+ / External Encoder Latch+12V
PILC 34
PC+ /
External Encoder Latch
+24V
PILC 10
PC+ /
External Encoder Latch
+5V
PILC 9 SRAM Negative Battery input BAT - 32 SRAM Positive Battery input BAT + 7
Note: DO_07 can also be used as a high speed output when configured via parameter 1050. See the PLCopen Plus Axis Parameters for more details.
CN13 Connection Description

4.2 CN13 Connection Description

14

4.3 External Encoder Interface

4.3 External Encoder Interface
Item Specification
Number of channels
Input circuit
Counter modes PIL Latch input DI_01 Latch Input
Two RS-422 compatible inputs are provided for encoder phases A and B. One position latch input which supports a 5V, 12V , or 24V digit al input signal is provided.
One channel (Phase A, Phase B, Index pulse) Phase A & B: 5V differential input (RS-422 compatible), non-insulated.
Maximum frequency 4MHz. Index pulse: 5V/12V/24V photo coupler input. Maximum frequency
500kHz (pre-quadrature. This signal is used for external encoder latch. Quadrature, pulse and direction, up/down Hardware latency: 5s or less, sinking input Hardware latency: 600s or less, sinking input
R
CN13 Connector
R
R
R
R
R
4
PA+
5
PA-
29
PB+
30
PB-
6
GND
31
GND
35
PIL
9
PILC(5V)
34
PILC(12V)
10
PILC(24V)
+5V
Phase A
Phase B
Pulse generator
+5V
0V
+5V
0V
Encoder Input Circuit (PILC refers to positive input side of sensor)
15

4.4 Controller Digital I/O

4.4.1 Inputs

4.4 Controller Digital I/O
4.4.1 Inputs
• 8 general purpose
• Optically isolated
• 24 V @ 5 mA
• Entire bank is configurable as either current sinking or sourcing via connection of common
16
Digital Input Circuit
To configure all controller inputs as sinking, wire +24VDC to pins 13 and 38. To configure all controller inputs as sourcing, wire 0VDC to pins 13 and 38. Refer to diagram in Section 5.1.
4.4.2 Outputs
0V
Relay
5 to 24 VDC
SERVOPACK
• 8 general purpose
• Optically isolated
• 24 V @ 50 mA
• Current source or sink (connection to both emitter and collector are provided)
• High speed digital output feature can set DO_07 within 13s of passing a specified encoder position. See Axis Parameters in the PLCopen Plus Function Block Manual to configure
Digital Output Circuit
Connection Examples of Output Circuits
• Relay Circuit Example
4.4 Controller Digital I/O

4.4.2 Outputs

.
• Line Receiver Circuit Example
SERVOPACK
5 to 12 VDC
17

4.5 Sigma-5 I/O

4.4.2 Outputs
4.5 Sigma-5 I/O
The Sigma-5 includes seven digital inputs and three digital outputs that can be monitored and controlled by the MP2600iec.
Control power supply for sequence signal
Forward run prohibited (Prohibited when OFF)
Reverse run prohibited (Prohibited when OFF)
Command option
module input 3
Command option
module input 4
Command option
module input 5
Command option
module input 6
General-purpose input 0
*
3
*
4
*
4
*
4
*
4
Backup battery (2.8 to 4.5 V)
*
2
Photocoupler output
Max. operating voltage: 30 VDC
Sigma-5 SGDV Servo Amp
CN1
3.3kΩ
6
+24V
/SI1
7
/SI2
8
/SI3
9
/SI4
10
/SI5
11
12
/SI6
/SI0
13
BAT+
14
BAT-
15
*
1
Max. operating current: 50 mA DC
ALM+
3
Servo alarm output (OFF for an alarm)
ALM-
4
SO1+ / BK+
1
2
23
24
25
26
17
18 19
20 21 22
16
SO1- / BK-
/SO2+
/SO2-
/SO3+
/SO3-
/PAO
/PBO
PAO
PBO
PCO
/PCO
SG
Brake output (Brake released when ON)
General-purpose outputs
Encoder output pulses phase A
Encoder output pulses phase B
Encoder output pulses phase C
Signal ground
Applicable line receiver SN75ALS175 manufactured by Texas Instruments or an MC3486 equivalent
18
4.6 Analog I/O
4.6.1 Analog Input
Item Specification
Analog input range -10V ~ +10V Number of input channels 1 Electrical isolation None Absolute maximum input ± 15V Input Impedance 20k Resolution 16 bit
Accuracy
Input filter
Conversion time 50s
25°C ±0.1% (± 10mV) 0 ~ 55°C ±0.3% (± 30mV) Time constant =130s (63.2% rise time)
Delay time
1ms maximum (for full-range -10V to +10V slew)
CN13 Connector

4.6 Analog I/O

4.6.1 Analog Input

To A/D
Conversion
20K
10K
10K
GND
Analog Input Circuit
2
27
AI
AI_GND
19
4.6 Analog I/O
CN13 Connector
1
26
AO
AO_GND
+
-
+15 V
-15V

4.6.2 Analog Output

4.6.2 Analog Output
Item Specification
Analog output range -10V ~ +10V Number of output channels 1 Electrical isolation None Maximum load current ± 5mA Resolution 16 bit
Accuracy
Output delay time less than 1ms
25°C ±0.45% (± 45mV) 0 ~ 55°C ±0.60% (± 60mV)
20
Analog Output Circuit

5 DIP Switches

5.1 Switch Settings
STOP SUP INT CNFG EINIT DHCP
S11
NO

5.1 Switch Settings

Switch Name Setting Operating Mode
User program execution
ON
STOP
1
SUP
2
3
INIT
CNFG
4
E-INIT
5
DHCP
6
inhibited
OFF Normal operation
Firmware programming
ON
mode
OFF Normal operation
SRAM/clock initialization
ON
and configuration bypass mode
OFF Normal operation
ON Normal operation
Do not set (reserved for
OFF
future use) Force Ethernet address
setting for Port A to
ON
192.168.1.1 and Port B to 192.168.2.1
OFF Normal Operation
DHCP-configured IP
ON
settings Manually-configured IP
OFF
settings
Setting for
Normal
Operation
OFF
OFF
OFF
ON
OFF
OFF
Details
Inhibits user program execution
Enables controller firmware programming. (See Section 11)
Set to ON to bypass the stored configuration (e.g. in case of a configuration problem that prevents controller startup) or t o initialize the SRAM contents and clock settings after backup power has been lost (See Section
7.1).
Always set to ON
Enables use of the default Ethernet addresses
Enables use of DHCP for IP setti n g configuration
21
5.1 Switch Settings
22
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6 LED Outputs
A
The following table shows the indicators that show the operating status of the controller and error information.
Indicator Color Status
RDY RUN
RDY
LM
BAT
LINK
A
LINK
B
RUN
ERR
CTRL
TRX
A
TRX
B
ALM ERR
CTRL
BAT TRX A LINK A TRX B LINK B
Green Green
Red Red
Green
Red Green Green Green Green

6 LED Outputs

Lit during normal operation. Lit during execution of user program. Lit when alarm occurs. Lit when malfunction occurs. Lit when option card is communicating to the
servo amplifier. Lit during battery alarm. Lit during Ethernet CN11A activity. Lit during Ethernet CN11A link up. Lit during Ethernet CN11B activity. Lit during Ethernet CN11B link up.
23
6 LED Outputs
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24

7 Battery

Option Case (snaps off unit)
Screw
Battery
Metal plate for connection
Battery Holder
1
2
3
+
-
7.1 Battery Installation
A 3.6V lithium battery must be used to retain SRAM data in the controller when the power is off. SRAM will last for one hour without the battery connected. The battery power can be applied through the battery connector (CN14), or through the I/O connector (CN13 pins 7[+] & 32[-]). The battery is necessary for preserving retained variables, absolute encoder offset, and real-time clock data.

7.1 Battery Installation

To initialize the non-vo latile memory and clock settings after a battery is attached for the first time (or any time backup power has been lost), use the following procedure.
1. Power off the MP2600iec.
2. Set the “INIT” switch (S11) to ON.
3. Power on the MP2600iec and wait for the “RDY” LED to illuminate.
4. Power off the MP2600iec.
5. Set the “INIT” switch (S11) to OFF.
25
7.1 Battery Installation
Battery Holder Installation Instructions:
1. Remove the plastic case from the controller by pressing the tabs at the top and bottom.
2. Insert the tab of the metal plate into the last vent slot on the bottom front of the case as shown.
3. Line up the hole in battery holder with the hole in the metal plate and secure the battery holder with the screw provided.
4. Attach the extension cable to the battery and place the battery into the battery holder with the cable facing forward.
5. Attach the plastic case to the controller.
26
6. Plug the battery extension cable into the battery connector (CN14).

8 Ethernet

Ethernet
8.1 Connectivity Information
The MP2600iec supports 100MB speeds exclusively. Two separate networks are possible using both CN11A and CN11B. A default gateway can be specified only for the network attached to CN11A.

8.2 Ethernet Connector Details

Ethernet Connector Specification and Pin Array
The following table provides the Ethernet connector specifications.

8.1 Connectivity Information

Connector
Name
Ethernet
Number
of Pins
8 RJ-45 CAT5 Socket RJ-45 CAT5 Plug Pulse Engineering
Module Side Cable Side Manufacturer
Connector Model
The following table provides Ethernet connector pin array / indicator light details.
Pin Number Signal Nam e Description
1TXD+ 2TXD­3RXD+ 4– 5– 6RXD­7– 8–
Transmitted data + side Transmitted data – side Received data + side – – Received data – side – –
27

8.3 Ethernet Cable

8.3 Ethernet Cable
For the Ethernet cable, use a twisted pair cable with RJ-45 connector. Yaskawa strongly recommends the use of shielded ethernet cables. Ethernet ports are capable of auto-crossover, so crossover cables are not necessary.

8.4 Ethernet Connection Examples

Connection Example 1 (When using a repeater HUB)
Sigma-5 with
MP2600iec
Station*
Station*
28
100Base-TX
Up to 100m
100Base-TX
Ethernet Switch
Up to 100m
Specification
Cable Length between Node-HUB 100 m or less Cable Length between HUBs 100 m or less Number of HUBs between Nodes Unlimited
Item
Up to 100m
Up to 100m
Up to 100m
Station*Station*
Up to 100m
100Base-TX
Ethernet Switch
* Note: The MP2600iec can only be plugged into a 100Base-TX Ethernet port.
When Connecting to a
Ethernet Switch
8.4 Ethernet Connection Examples
Model Manufacturer
E04SR301334
Seiwa Electric Mfg. Co., Ltd
Connection Example 2
Sigma-5 with MP2600iec
100 Base-TX (up to 100m)
Note: The MP2600iec can only be plugged into a 100Base-TX Ethernet port.
Caution
High frequency wave noise from other devices in the installat ion environment may cause errors in communications. When designing a system, use protective measures to avoid the influence of high frequency wave noise as follows:
1. Wiring Wire Ethernet cables so that they are well-separated from other cable systems such as the main circuit or power lines.
2. Communication system (Ethernet)
• Communicate data to a remote device.
• Yaskawa strongly recommends shielded Ethernet cables.
3. Attach a ferrite core. This will help reduce the occurrence of electrical interference. Recommended ferrite core:
29
8.4 Ethernet Connection Examples
100Base-TX
Ethernet Switch
MotionWorks IEC
Sigma-5 with MP2600iec
Core
Core
100Base-TX
Servomotor
Station*
* Note: The MP2600iec can only be plugged into a 100Base-TX Ethernet port
Connection Example 3
30

9 Cable Diagrams

CBK-U-MP2B-XX Function Chart for MP2600iec
I = Input, O = Output, P = Power
Pin No.
Signal
Name
I/O Function
Pin No.
Signal
Name
I/O Function
1 AO O Analog output 26 AO_GND O Analog output ground
2 AI I Analog input 27 AI_GND I Analog input ground
3 - - - 28 reserved -
4 PA+ I Phase A pulse (+) 29 PB+ I Phase B pulse (+)
5 PA- I Phase A pulse (-) 30 PB- I Phase B pulse (-)
6 GND P Encoder input ground 31 GND P Encoder input ground
7 BAT+ P Controller SRAM Battery (+) 32 BAT- P Controller SRAM Battery (-)
8 - - - 33 - - -
9PILC5V I
Phase-C latch pulse (-) for 5VDC input
34 PILC12V I
Phase-C latch pulse (-) for 12VDC input
10 PILC24V I
Phase-C latch pulse (-) for 24VDC input
35 PIL I Phase-C latch pulse (+)
11 DO_00- O Digital output 0 (-) 36 DO_01- O Digital output 1 (-)
12 DO_02- O Digital output 2 (-) 37 DO_03- O Digital output 3 (-)
13 DICOM I Digital input common 38 DICOM I Digital input common
14 DI_00 I Digital input 0 39 DI_01 I
Digital input 1 (shared with pulse latch input)
15 DI_02 I Digital input 2 40 DI_03 I Digital input 3
16 DI_04 I Digital input 4 41 DI_05 I Digital input 5
17 DI_06 I Digital input 6 42 DI_07 I Digital input 7
18 DO_04- O Digital output 4 (-) 43 DO_05- O Digital output 5 (-)
19 DO_06- O Digital output 6 (-) 44 DO_07- O Digital output 7 (-)
20 - - - 45 - - -
21 DO_00+ O Digital output 0 (+) 46 DO_01+ O Digital output 1 (+)
22 DO_02+ O Digital output 2 (+) 47 DO_03+ O Digital output 3 (+)
23 DO_04+ O Digital output 4 (+) 48 DO_05+ O Digital output 5 (+)
24 DO_06+ O Digital output 6 (+) 49 DO_07+ O
Digital output 7 (+) (shared with position agreement 'COIN' signal)
25 - - - 50 - - -
9.1 CBK-U-MP2B-xx
Terminal Block - Controller

9.1 CBK-U-MP2B-xx

31

9.2 CFC-U-MP2B-xx

Model X =Cable Length
CFC-U-MP2B-A5 500 mm
CFC-U-MP2B-01 1000 mm
CFC-U-MP2B-03 3000 mm
Dimensions in mm
Pin No.
Color
(Solid/Band)
Signal Name
I/O Function
Pin No.
Color
(Solid/Band)
Signal Name
I/O Function
1 BLK/RED AO O Analog output 26 RED/BLK AO_GND O
Analog output ground
2 BLK/WHT AI I Analog input 27 WHT/BLK AI_GND I Analog input ground
3 RED/GRN - - - 28 GRN/RED - - -
4 BLK/BLU PA+ I Phase A pulse (+) 29 BLK/BRN PB+ I Phase B pulse (+)
5 BLU/BLK PA- I Phase A pulse (-) 30 BRN/BLK PB- I Phase B pulse (-)
6RED/BLUGND P
Encoder input ground
31 BLU/RED GND P
Encoder input ground
7 RED/WHT BAT+ P
Controller SRAM Battery (+)
32 W HT/RED BAT- P
Controller SRAM Battery (-)
8 BLK/GRN - - - 33 GRN/BLK - - -
9 BLK/YEL PILC5V I
Phase-C latch pulse (-) for 5VDC input
34 ORG/BLK PILC12V I
Phase-C latch pulse (-) for 12VDC input
10 BLK/ORG PILC24V I
Phase-C latch pulse (-) for 24VDC input
35 YEL/BLK PIL I
Phase-C latch pulse (+)
11 RED/YEL DO_00- O Digital output 0 (-) 36 W HT/ORG DO_01- O Digital output 1 (-)
12 RED/BRN D O_02- O Digital output 2 (-) 37 BLU/YEL DO_03- O Digital output 3 (-)
13 RED/ORG DICOM I Digital input common 38 ORG/RED DICOM I
Digital input common
14 GRN/WHT DI_00 I Digital input 0 39 WHT /GRN DI_01 I
Digital input 1 (shared with pulse latch input)
15 GRN/BLU DI_02 I Digital input 2 40 BLU/GRN DI_03 I Digital input 3
16 GRN/YEL DI_04 I Digital input 4 41 YEL/GRN DI_05 I Digital input 5
17 GRN/BRN DI_06 I Digital input 6 42 BRN/GRN DI_07 I Digital input 7
18 GRN/ORG DO_04- O Digital output 4 (-) 43 BLU/BRN DO_05- O Digital output 5 (-)
19 WHT/BLU D O_06- O Digital output 6 (-) 44 BLU/ORG DO_07- O Digital output 7 (-)
20 WHT/YEL - - - 45 YEL/WHT - - -
21 YEL/RED DO_00+ O Digital output 0 (+) 46 ORG/WHT DO_01+ O Digital output 1 (+)
22 BRN/RED DO_02+ O Digital output 2 (+) 47 YEL/BLU DO_03+ O Digital output 3 (+)
23 ORG/GRN DO _04+ O Digital output 4 (+) 48 BRN/BLU DO_05+ O Digital output 5 (+)
24 BLU/WHT DO_06+ O Digital output 6 (+) 49 ORG/BLU DO_07+ O
Digital output 7 (+) (shared with position agreement 'COIN' signal)
25 W HT/BRN - - - 50 BRN/WHT - - -
9.2 CFC-U-MP2B-xx
Flying Lead - Controller
32
9.3 SBK-U-VBA-xx
Signal Function
1
/BK+ (/SO1+) Brake interlock output (+) (General purpose output 1 (+))
2
/BK- (/SO1-) Brake interlock output (-) (General purpose output 1 (-))
3 ALM+ Servo alarm output (+) 4 ALM- Servo alarm output (-) 5­6+24VIN
Control power supply for sequence signal input
7
P-OT (/SI1) Forward run prohibited input (General purpose input 1)
8
N-OT (/SI2) Reverse run prohibited input (General purpose input 2)
9
/DEC (/SI3) Zero-point return deceleration switch input (General purpose input 3)
10
/EXT1 (/SI4) External latch signal 1 input (General purpose input 4)
11
/EXT2 (/SI5) External latch signal 2 input (General purpose input 5)
12
/EXT3 (/SI6) External latch signal 3 input (General purpose input 6)
13 /SI0 General purpose input 0 14 BAT (+) Battery (+) input 15 BAT (-) Battery (-) input 16 SG Signal ground 17 PAO Phase-A pulse output (+) 18 /PAO Phase-A pulse output (-) 19 PBO Phase-B pulse output (+) 20 /PBO Phase-B pulse output (-) 21 PCO Phase-C pulse output (+) 22 /PCO Phase-C pulse output (-) 23 /SO2+ General purpose output 2 (+) 24 /SO2- General purpose output 2 (-) 25 /SO3+ General purpose output 3 (+) 26 /SO3- General purpose output 3 (-)
SGDV Mechatrolink-II type / SGDV Option type
Pin No.
Terminal Block - Servo Amplifier.
SBK-U-VBA-xx Function Chart for SGDV Servo Amplifier

9.3 SBK-U-VBA-xx

Note: General purpose input and output signals are shown with their default signals assigned - signal assignment may have been changed by parameter
33

9.4 JZSP-CSI02-x-E

/BK
+
/BK
ALM
+
ALM
+
24VIN
P-OT
N-OT
/DEC
/EXT1
/EXT2
/EXT3
/SI0
BAT
+
BAT
SG
PAO
/PAO
PBO
/PBO
PCO
/PCO
/SO2
+
/SO2
/SO3
+
/SO3
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
Blue
Blue
Pink
Pink
Green
Green
Orange
Orange
Gray
Gray
Blue
Blue
Pink
Pink
Green
Green
Orange
Orange
Gray
Gray
Blue
Blue
Pink
Pink
Green
Green
Red
Black
Red
Black
Red
Black
Red
Black
Red
Black
Red
Black
Red
Black
Red
Black
Red
Black
Red
Black
Red
Black
Red
Black
Red
Black
1
1
1
1
1
1
1
1
1
1
2
2
2
2
2
2
2
2
2
2
3
3
3
3
3
3
Pin No.
Wire Color
Signal
Marking
Color
SERVOPACK End
Dots
Lead
Marker
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
Represents
twisted-pair
wires.
Host
Controller End
Model Cable Length
JZSP-CSI02-1-E 1000 mm
JZSP-CSI02-2-E 2000 mm
JZSP-CSI02-3-E 3000 mm
SERVOPACK End Connector
10126-6000
EL (by Sumitomo 3M Ltd.
)
Shell
10326-52A0-008
Cable (Ivory
)
SSRFPVV-SB AWG#
28
× 13P
UL
20276
VW-1SC
L
37
.
2
14 100
+
10
-
0
3
Dia. Wire Markers
(
6
.
3
Dia.
)
Dimensions in mm
9.4 JZSP-CSI02-x-E
Flying Lead - Servo Amplifier
34

10 Firmware Upgrade

10 Firmware Upgrade
It is possible to upgrade the Controller firmware in the field.
For detailed instructions, please refer to Product Note PN.MCD.08.083: Upgrading the MP2 be downloaded from our website, www.yaskawa.com.
iec Controller Firmware. This document may
35
10 Firmware Upgrade
This page left intentionally blank
36

11 EMC Installation Conditions

1 1 EMC Installation Conditions
This section describes the recommended installation conditions that satisfy EMC guidelines for each model of the SGDV SERVOP ACK. The conditions required for the standard type (base-mounted) of the SERVOPA CK are de scr ibe d . Refer to this section for other SERVOPACK models such as the rack-mounted types as well.
This section describes the EMC installation conditions satisfied in test conditions prepared by Yaskawa. The actual EMC level may differ depending on the actual system’s configuration, wiring, and other conditions. However, because this product is built-in, check that the following conditions are still met after being installed in the user’s product.
The applicable standards are EN55011/A2 group 1 class A, EN61800-3, and EN61000-6-2.
Ethernet Communication Cables: Use a category 5 or higher cable with double, aluminum tape and braided shielding according to the standard EN50288-2-2.
37
11 EMC Installation Conditions
Single-phase 100 V
SGDV-FE1A ( = R70, R90, 2R1, 2R8) + SGDV-OCC02A
Shield box
Brake Power
Supply
One turn
SERVOPACK
Power supply:
Single-phase 100 VAC
General I/O
PC
Controller
Noise
Clamp
Surge
absorber
One turn
Clamp
One turn
filter
Two t urn
Core Core
Core
CN13
Core
CN11 A/B
Two t urn Two t urn
General
5
PE
1
6
L1, L2
L1C, L2C
MP2600iec
MP2600iec
CN1
Core Core
I/O
1
Safety unit
U, V, W
CN2
CN8
Clamp
Core
One turn
Core
2
ClampClamp
Brake
Clamp
3
Servomotor
Encoder
4
PE
38
Symbol Cable Name Specification
I/O signal cable Shield cable
Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Main circuit cable Shield cable Ethernet communication cable Shield cable
11 EMC Installation Conditions
U, V, W
L1, L2, L3
L1C, L2C
CN2
CN1
PE
PE
2
1
3
4
5
CN8
Power supply:
Three-phase 200 VAC
Shield box
SERVOPACK
Encoder
Servomotor
Brake
Clamp
ClampClamp
Clamp
Noise
filter
Brake Power
Supply
Surge
absorber
Two turn Two turn
Core
CoreCore
Core
Core Core
Clamp
General
I/O
Safety unit
One turn
One turn
PC
Controller
6
CN11 A/B
MP2600iec
Core
One turn
General I/O
1
CN13
MP2600iec
Core
Clamp
One turn
Three-phase 200 V
SGDV-AE1A ( = R70, R90, 1R6, 2R8, 3R8, 5R5, 7R6) + SGDV-OCC02A
Symbol Cable Name Specification
I/O signal cable Shield cable
Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable
39
Main circuit cable Shield cable Ethernet communication cable Shield cable
11 EMC Installation Conditions
U, V, W
L1, L2, L3
L1C, L2C
CN2
CN1
PE
PE
2
1
3
4
5
CN8
Power supply:
Three-phase 200 VAC
Clamp
Noise
filter
Surge
absorber
Brake Power
Supply
SERVOPACK
Shield box
One turn
Two turn
CoreCore
Clamp
Clamp
Clamp
Two turn
Safety unit
General
I/O
Core Core
Clamp
Encoder
Servomotor
Brake
PC
Controller
6
CN11 A/B
MP2600iec
Core
One turn
General I/O
1
CN13
MP2600iec
Core
Clamp
One turn
Three-phase 200 V
SGDV-AE1A ( = 120) + SGDV-OCC02A
40
Symbol Cable Name Specification
I/O signal cable Shield cable
Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Main circuit cable Shield cable Ethernet communication cable Shield cable
11 EMC Installation Conditions
Three-phase 200 V
SGDV-AE1A ( = 180, 200, 330) + SGDV-OCC02A
Brake Power
Supply
SERVOPACK
Power supply:
Three-phase 200 VAC
General I/O
PC
Controller
5
PE
1
6
Clamp
Surge
absorber
One turn
Clamp
One turn
Noise
filter
Core
Core
Two turn
CN13
MP2600iec
CN11 A/B
MP2600iec
General
I/O
L1, L2, L3
L1C, L2C
CN1
Core Core
1
U, V, W
CN2
CN8
Clamp
2
Safety unit
Shield box
One turn
Core
Two turn
Clamp
Clamp
Clamp
3
4
Brake
Servomotor
Encoder
PE
Symbol Cable Name Specification
I/O signal cable Shield cable
Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Main circuit cable Shield cable Ethernet communication cable Shield cable
41
11 EMC Installation Conditions
Three-phase 200 V
SGDV-AE1A ( = 470, 550, 590, 780) + SGDV-OCC02A
Brake Power
SERVOPACK
Power supply:
Three-phase 200 VAC
5
PE
Clamp
Surge
absorber
One turn
Noise
filter
Regenerative
resistor unit
L1, L2, L3
L1C, L2C
6
B1, B2
Supply
U, V, W
CN2
Shield box
Clamp Clamp
Clamp
7
Cooling fan
Brake
Clamp
3
Servomotor
Encoder
4
General I/O
PC
Controller
1
8
One turn
Clamp
Core
Core
CN13
MP2600iec
CN11 A/B
MP2600iec
CN1
Clamp Clamp
General
I/O
1
Safety unit
CN8
2
Symbol Cable Name Specification
I/O signal cable Shield cable
Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Main circuit cable Shield cable Regenerative resistor unit cable Non-shield cable Cooling fan cable Shield cable Ethernet communication cable Shield cable
PE
42
11 EMC Installation Conditions
Three-phase 400 V
SGDV-DE1A ( = 1R9, 3R5, 5R4, 8R4, 120, 170) + SGDV-OCC02A
Shield box
Power supply:
Single-phase
200 VAC
Power supply:
Three-phase
400 VAC
PE
General I/O
PC
Controller
5
Clamp
6
Clamp
absorber
1
7
Surge
Surge
absorber
One turn
Noise filter*
One turn
Clamp
2
Noise filter*
Control
power supply
24 VDC*
3
Core
Core
1
One turn
General I/O
Brake Power
SERVOPACK
24 V, 0 V
Core
L1, L2, L3
Core
CN13
MP2600iec
CN11 A/B
MP2600iec
CN1
Core Core
Clamp Clamp
1
Supply
U, V, W
CN2
CN8
Safety unit
3
Clamp
Core
One turn
4
Core
Clamp
Two t urnTwo turn
2
Clamp
One turn
Core
Brake
Servomotor
Encoder
PE
Symbol Cable Name Specification
I/O signal cable Shield cable
Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Control power cable Shield cable Main circuit cable Shield cable Ethernet communication cable Shield cable
* 1. Products that have received CE marking are recommended for the 24 VDC power supply. * 2. Install the following noise filter on the power line between the single-phase 200 V power
supply and the 24 VDC power supply. Model number: FN2070-6/07 (SCHAFFNER).
* 3. For more information on this filter , refer to Sigma-5 Product Catalog
(YEA-KAEPS80000042).
43
11 EMC Installation Conditions
U, V, W
L1, L2, L3
24 V, 0 V
CN2
CN1
PE
PE
1
2
3
6
5
CN8
B1, B2
7
4
Power supply:
Single-phase
200 VAC
Power supply:
Three-phase
400 VAC
Clamp
Surge
absorber
Surge
absorber
Clamp
Noise filter*
2
Noise filter*
3
Brake Power
Supply
Shield box
Control
power supply
24 VDC*
1
SERVOPACK
Encoder
Servomotor
Brake
Clamp
Clamp
Clamp
General I/O Safety unit
Clamp Clamp
Regenerative
resistor unit
PC
Controller
8
CN11 A/B
MP2600iec
Core
One turn
General I/O
1
CN13
MP2600iec
Core
Clamp
One turn
Three-phase 400 V
SGDV-DE1A ( = 210, 260, 280, 370) + SGDV-OCC02A
44
Symbol Cable Name Specification
I/O signal cable Shield cable
Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Control power cable Shield cable Main circuit cable Shield cable Regenerative resistor unit cable Non-shield cable Ethernet communication cable Shield cable
* 1. Products that have received CE marking are recommended for the 24 VDC power supply. * 2. Install the following noise filter on the power line between the single-phase 200 V power
supply and the 24 VDC power supply. Model number: FN2070-6/07 (SCHAFFNER).
* 3. For more information on this filter, refer to Sigma-5 Product Catalog
(YEA-KAEPS80000042).
11 EMC Installation Conditions
Host controller side
Ground plate
Cable
Cable clamp
Shield (cable sheath stripped)
Fix and ground the cable shield using a piece of conductive metal.
Remove paint on mounting surface.
Attachment Methods of Ferrite Cores
One turn Two turn
Cable
Ferrite core
Cable
Ferrite core
Recommended Ferrite Core
Cable Name Ferrite Core Model Manufacturer
Motor main circuit cable ESD-SR-250 NEC TOKIN Corp.
Recommended Noise Filter and Surge Absorber
For more information on recommended noise filters and surge absorbers, refer to Sigma-5 Product Catalog. (YEA-KAEPS800000 42)
Fixing the Cable
Fix and ground the cable shield using a piece of conductive metal.
Example of Cable Clamp
Shield Box
A shield box, which is a closed metallic enclosure, is effective as reinforced shielding against electromagnetic interference (EMI) from SERVOPACKs. The structure of the box should allow the main body, door, and cooling unit to be attached to the ground. The box opening should be as small as possible.
Note: Do not connect the digital operator and the analog monitor cable to the SERVOPACK during operations. Connect them only when the machinery is stopped during maintenance.
45
11 EMC Installation Conditions
46
IRUMA BUSINESS CENTER (SOLUTION CENTER)
480, Kamifujisawa, Iruma, Saitama, 358-8555, Japan Phone: 81-4-2962-5696 Fax: 81-4-2962-6138
YASKAWA ELECTRIC CORPORATION
New Pier Takeshiba South Tower, 1-16-1, Kaigan, Minatoku, Tokyo, 105-6891, Japan Phone: 81-3-5402-4511 Fax: 81-3-5402-4580 http://www.yaskawa.co.jp
YASKAWA AMERICA, INC.
2121 Norman Drive South, Waukegan, IL 60085, U.S.A. Phone: (800) YASKAWA (800-927-5292) or 1-847-887-7000 Fax: 1-847-887-7370 http://www.yaskawa.com
YASKAWA ELÉTRICO DO BRASIL COMÉRCIO LTDA.
Avenda Fagundes Filho, 620 Bairro Saude, São Paulo, SP04304-000, Brasil Phone: 55-11-3585-1100 http://www.yaskawa.com.br
YASKAWA ELECTRIC EUROPE GmbH
Hauptstraβe 185, 65760 Eschborn, Germany Phone: 49-6196-569-300 Fax: 49-6196-569-398
YASKAWA ELECTRIC UK LTD.
1 Hunt Hill Orchardton Woods, Cumbernauld, G68 9LF, United Kingdom Phone: 44-1236-735000
YASKAWA ELECTRIC KOREA CORPORATION
7F, Doore Bldg. 24, Yeoido-dong, Youngdungpo-Ku, Seoul, 150-877, Korea Phone: 82-2-784-7844
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park, 556741, Singapore Phone: 65-6282-3003
YASKAWA ELECTRIC (SHANGHAI) CO., LTD.
No. 18 Xizang Zhong Road, Room 1702-1707, Harbour Ring Plaza, Shanghai, 200001, China Phone: 86-21-5385-2200
YASKAWA ELECTRIC (SHANGHAI) CO., LTD. BEIJING OFFICE
Room 1011A, Tower W3 Oriental Plaza, No. 1 East Chang An Ave., Dong Cheng District, Beijing, 100738, China Phone: 86-10-8518-4086
YASKAWA ELECTRIC TAIWAN CORPORATION
9F, 16, Nanking E. Rd., Sec. 3, Taipei, Taiwan Phone: 886-2-2502-5003
Fax: 55-11-5581-8795
Fax: 44-1236-458182
Fax: 82-2-784-8495
Fax: 65-6289-3003
Fax: 86-21-5385-3299
Fax: 86-10-8518-4082
Fax: 886-2-2505-1280
MANUAL NO. YEA-SIA-IEC-6D
Published in U.S.A November, 2012
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