Yaskawa MP2600iec User Manual
MP2600iec
Hardware Manual
™
Table of Contents
1 Introduction
1.1 MP2600iec Features - - - - - - - - - - - - - - - - - - - - - - - - 3
1.2 MP2600iec Appearance- - - - - - - - - - - - - - - - - - - - - - 4
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-IEPx
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
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