YASKAWA MP3000 User Manual
Machine Controller MP3000 Series
Communications
USER'S MANUAL
MANUAL NO. SIEP C880725 12B
Outline of Communications
Ethernet Communications
1
2
Copyright © 2011 YASKAWA ELECTRIC CORPORATION
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.
About this Manual
This manual describes the specifications, system configuration, and communications connection methods for
the Ethernet communications that are used with an MP3000-series Machine Controller.
Read this manual carefully to ensure the correct usage of the Machine Controller and apply the Machine Controller to control your manufacturing system.
Keep this manual in a safe place so that it can be referred to whenever necessary.
Using this Manual
Basic Terms
Unless otherwise specified, the following definitions are used:
• MP3000: A Machine Controller in the MP3000 Series
• MPE720: The Engineering Tool or a personal computer running the Engineering Tool
• PLC: A Programmable Logic Controller
MPE720 Engineering Tool Version Number
In this manual, the operation of MPE720 is described using screen captures of MPE720 version 7.
For this reason, the screen captures and some descriptions may differ for MPE720 version 6.
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 trademarks or registered trademarks of the
Microsoft Corporation.
• MECHATROLINK is a trademark of the MECHATROLINK Members Association.
• 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.
iii
Important
Note
Example
Information
Terms
Visual Aids
The following aids are used to indicate certain types of information for easier reference.
Indicates precautions or restrictions that must be observed.
Indicates alarm displays and other precautions that will not result in machine damage.
Indicates items for which caution is required or precautions to prevent operating mistakes.
Indicates operating or setting examples.
Indicates supplemental information to deepen understanding or useful information.
Indicates definitions of difficult terms or terms that have not been previously explained in this
manual.
Related Manuals
The following table lists the manuals that are related to the MP2000/MP3000-series Machine Controllers.
Refer to these manuals as required.
Function Manual Name Manual Number Contents
Describes the functions of the MP2000/
MP3000-series Machine Controllers and
the procedures that are required to use the
Machine Controller, from installation and
connections to settings, programming,
trial operation, and debugging.
Describes troubleshooting an MP3000series Machine Controller.
Describes the specifications and system
configuration of the Basic Units in an
MP3000-series Machine Controller and
the functions of the CPU Unit.
Describes the specifications and system
configuration of an MP3000-series
MP3300 Machine Controller and the
functions of the CPU Module.
Provides information on the Communications Modules that can be connected to
an MP2000-series Machine Controller
and describes the communications methods.
Describes the ladder programming specifications and instructions of MP3000series Machine Controller.
Continued on next page.
Basic functionality
Communications functionality
Programming
Machine Controller MP2000/MP3000
Series Machine Controller System
Setup Manual
Machine Controller MP3000 Series
MP3200/MP3300
Troubleshooting Manual
Machine Controller MP3000 Series
MP3200
User’s Manual
Machine Controller MP3000 Series
MP3300
Product Manual
Machine Controller MP2000 Series
Communication Module
User’s Manual
Machine Controller MP3000 Series
Ladder Programming Manual
SIEP C880725 00
SIEP C880725 01
SIEP C880725 10
SIEP C880725 21
SIEP C880700 04
SIEP C880725 13
iv
Continued from previous page.
CAUTION
MANDATORY
Function Manual Name Manual Number Contents
MPE720 Version 7 System Integrated
Engineering
Tool
Engineering Tool for MP2000/MP3000
Series Machine Controller
User’s Manual
SIEP C880761 03
Describes how to operate MPE720 version 7.
Safety Precautions
The following signal words and marks are used to indicate safety precautions in this manual.
Information marked as shown below is important for safety. Always read this information and heed the precautions that are provided.
DANGER
CAUTION
PROHIBITED
The following precautions are for storage, transportation, installation, wiring, operation, maintenance, inspection, and disposal. These precautions are important and must be observed.
Indicates precautions that, if not heeded, could possibly result in loss of life or
serious injury.
Indicates precautions that, if not heeded, could result in relatively serious or
minor injury, or property damage.
If not heeded, even precautions classified as cautions ( ) can lead to
serious results depending on circumstances.
Indicates prohibited actions. For example, indicates prohibition of open
flame.
Indicates mandatory actions. For example, indicates that grounding is
required.
v
WARNING
CAUTION
General Precautions
• The installation must be suitable and it must be performed only by an experienced technician.
There is a risk of electrical shock or injury.
• Before connecting the machine and starting operation, make sure that an emergency stop procedure has been provided and is working correctly.
There is a risk of injury.
• Do not approach the machine after a momentary interruption to the power supply. When power
is restored, the Machine Controller and the device connected to it may start operation suddenly.
Provide safety measures in advance to ensure human safety when operation restarts.
There is a risk of injury.
• Do not touch anything inside the Machine Controller.
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, malfunction, or damage.
• Do not damage, pull on, apply excessive force to, place heavy objects on, or pinch the cables.
There is a risk of electrical shock, operational failure of the Machine Controller, or burning.
• Do not attempt to modify the Machine Controller in any way.
There is a risk of injury or device damage.
Storage and Transportation
• Do not store the Machine Controller in any of the following locations.
• Locations that are subject to direct sunlight
• Locations that are subject to ambient temperatures that exceed the storage conditions
• Locations that are subject to ambient humidity that exceeds the storage conditions
• Locations that are subject to rapid temperature changes and condensation
• Locations that are subject to corrosive or inflammable gas
• Locations that are subject to excessive dust, dirt, salt, or metallic powder
• Locations that are subject to water, oil, or chemicals
• Locations that are subject to vibration or shock
There is a risk of fire, electrical shock, or device damage.
• Hold onto the main body of the Machine Controller when transporting it.
Holding the cables or connectors may damage them or result in injury.
• Do not overload the Machine Controller during transportation. (Follow all instructions.)
There is a risk of injury or an accident.
• Never subject the Machine Controller to an atmosphere containing halogen (fluorine, chlorine,
bromine, or iodine) during transportation.
There is a risk of malfunction or damage.
• 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.
vi
Installation
• Do not install the Machine Controller in any of the following locations.
• Locations that are subject to direct sunlight
• Locations that are subject to ambient temperatures that exceed the operating conditions
• Locations that are subject to ambient humidity that exceeds the operating conditions
• Locations that are subject to rapid temperature changes and condensation
• Locations that are subject to corrosive or inflammable gas
• Locations that are subject to excessive dust, dirt, salt, or metallic powder
• Locations that are subject to water, oil, or chemicals
• Locations that are subject to vibration or shock
There is a risk of fire, electrical shock, or device damage.
• Never install the Machine Controller in an atmosphere containing halogen (fluorine, chlorine,
bromine, or iodine).
There is a risk of malfunction or damage.
• Do not step on the Machine Controller or place heavy objects on the Machine Controller.
There is a risk of injury or an accident.
• Do not block the air exhaust ports on the Machine Controller. Do not allow foreign objects to
enter the Machine Controller.
There is a risk of internal element deterioration, malfunction, or fire.
• Always mount the Machine Controller in the specified orientation.
There is a risk of malfunction.
• Leave the specified amount of space between the Machine Controller, and the interior surface
of the control panel and other devices.
There is a risk of fire or malfunction.
• Do not subject the Machine Controller to strong shock.
There is a risk of malfunction.
• Suitable battery installation must be performed and it must be performed only by an experienced technician.
There is a risk of electrical shock, injury, or device damage.
• Do not touch the electrodes when installing the Battery.
Static electricity may damage the electrodes.
CAUTION
vii
CAUTION
Example of Separated Cables
Power cable
I/O signal
cables in
control circuits
Steel separator
Wiring
• Check the wiring to be sure it has been performed correctly.
There is a risk of motor run-away, injury, or accidents.
• Always use a power supply of the specified voltage.
There is a risk of fire or accident.
• In places with poor power supply conditions, ensure that the input power is supplied within the
specified voltage range.
There is a risk of device damage.
• Install breakers and other safety measures to provide protection against shorts in external wiring.
There is a risk of fire.
• Provide sufficient shielding when using the Machine Controller in the following locations.
• Locations that are subject to noise, such as from static electricity
• Locations that are subject to strong electromagnetic or magnetic fields
• Locations that are subject to radiation
• Locations that are near power lines
There is a risk of device damage.
• Configure the circuits to turn ON the power supply to the CPU Unit/CPU Module before the 24V I/O power supply. Refer to the following manuals for details on circuits.
MP3000 Series CPU Unit Instructions (Manual No.: TOBP C880725 16)
MP3000 Series MP3300 CPU Module Instructions (Manual No.: TOBP C880725 23)
If the power supply to the CPU Unit/CPU Module is turned ON after the external power supply, e.g., the
24-V I/O power supply, the outputs from the CPU Unit/CPU Module may momentarily turn ON when
the power supply to the CPU Unit/CPU Module turns ON. This can result in unexpected operation that
may cause injury or device damage.
• Provide emergency stop circuits, interlock circuits, limit circuits, and any other required safety
measures in control circuits outside of the Machine Controller.
There is a risk of injury or device damage.
• If you use MECHATROLINK I/O Modules, use the establishment of MECHATROLINK communications as an interlock output condition.
There is a risk of device damage.
• Connect the Battery with the correct polarity.
There is a risk of battery damage or explosion.
• Select the I/O signal wires for external wiring to connect the Machine Controller to external
devices based on the following criteria:
• Mechanical strength
• Noise interference
• Wiring distance
• Signal voltage
• Separate the I/O signal cables for control circuits from the power cables both inside and outside
the control panel to reduce the influence of noise from the power cables.
If the I/O signal lines and power lines are not separated properly, malfunction may occur.
viii
Operation
CAUTION
• Follow the procedures and instructions in the user’s manuals for the relevant Machine Controllers to perform normal operation and trial operation.
Operating mistakes while the Servomotor and machine are connected may damage the machine or even
cause accidents resulting in injury or death.
• Implement interlock signals and other safety circuits external to the Machine Controller to
ensure safety in the overall system even if the following conditions occur.
• Machine Controller failure or errors caused by external factors
• Shutdown of operation due to Machine Controller detection of an error in self-diagnosis and the subse-
quent turning OFF or holding of output signals
• Holding of the ON or OFF status of outputs from the Machine Controller due to fusing or burning of out-
put relays or damage to output transistors
• Voltage drops from overloads or short-circuits in the 24-V output from the Machine Controller and the
subsequent inability to output signals
• Unexpected outputs due to errors in the power supply, I/O, or memory that cannot be detected by the
Machine Controller through self-diagnosis.
There is a risk of injury, device damage, or burning.
CAUTION
Maintenance and Inspection
• Do not attempt to disassemble or repair the Machine Controller.
There is a risk of electrical shock, injury, or device damage.
• Do not change any wiring while power is being supplied.
There is a risk of electrical shock, injury, or device damage.
• Suitable battery replacement must be performed and it must be performed only by an experienced technician.
There is a risk of electrical shock, injury, or device damage.
• Do not forget to perform the following tasks when you replace the CPU Unit/CPU Module:
• Back up all programs and parameters from the CPU Unit/CPU Module that is being replaced.
• Transfer all saved programs and parameters to the new CPU Unit/CPU Module.
If you operate the CPU Unit/CPU Module without transferring this data, unexpected operation may
occur. There is a risk of injury or device damage.
• Do not touch the heat sink on the CPU Unit/CPU Module while the power supply is turned ON
or for a sufficient period of time after the power supply is turned OFF.
The heat sink may be very hot, and there is a risk of burn injury.
Disposal
CAUTION
• Dispose of the Machine Controller as general industrial waste.
• Observe all local laws and ordinances when you dispose of used Batteries.
ix
Other General Precautions
Observe the following general precautions to ensure safe application.
• The products shown in the 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 illustrations that are 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.
x
Warranty
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.
• 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
• Causes not attributable to the delivered product itself
• Modifications or repairs not performed by Yaskawa
• Abuse of the delivered product in a manner in which it was not originally intended
• Causes that were not foreseeable with the scientific and technological understanding at the time of shipment
from Yaskawa
• Events for which Yaskawa is not responsible, such as natural or human-made disasters
Limitations of Liability
• 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.
• 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.
• 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.
• 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.
xi
Suitability for Use
• 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.
• The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment
used by the customer.
• 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
• 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.
• 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.
• Read and understand all use prohibitions and precautions, and operate the Yaskawa product correctly to prevent accidental harm to third parties.
Specifications Change
The names, specifications, appearance, and accessories of products in product catalogs and manuals may be
changed at any time based on improvements and other reasons. The next editions of the revised catalogs or
manuals will be published with updated code numbers. Consult with your Yaskawa representative to confirm
the actual specifications before purchasing a product.
xii
1
Contents
About this Manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii
Using this Manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii
Related Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .iv
Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v
Warranty. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xi
Outline of Communications
2
1.1
1.2
Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
System Configuration Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
Configuration with the MP3200 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
Configuration with the MP3300 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
Ethernet Communications
2.1
2.2
2.3
2.4
Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
Ethernet Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
Communications Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
Detail Definition Setting Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
Displaying the 218IFD Detail Definition Dialog Box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
218IFD Detail Definition Dialog Box Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
Communications Protocols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-18
Communications with MP-series Controllers . . . . . . . . . . . . . . . . . . . . .2-20
Using Automatic Reception with the MP3000 as a Slave . . . . . . . . . . . . . . . . . . . . . . . 2-20
Using the MSG-RCVE Function with the MP3000 as a Slave . . . . . . . . . . . . . . . . . . . . 2-30
Using I/O Message Communications with the MP3000 as the Master . . . . . . . . . . . . . 2-42
Using the MSG-SNDE Function with the MP3000 as the Master . . . . . . . . . . . . . . . . . 2-51
Message Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-59
2.5
2.6
2.7 Communications with a Mitsubishi PLC (QnA-compatible 3E Frame Protocol) 2-139
Communications with a Touch Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-90
Using Automatic Reception with the MP3000 as a Slave . . . . . . . . . . . . . . . . . . . . . . . 2-90
Communications with a Mitsubishi PLC (A-compatible 1E Frame protocol) 2-98
Using Automatic Reception with the MP3000 as a Slave . . . . . . . . . . . . . . . . . . . . . . . 2-98
Using I/O Message Communications with the MP3000 as the Master . . . . . . . . . . . . 2-105
Message Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-111
Using I/O Message Communications with the MP3000 as the Master . . . . . . . . . . . . 2-139
Using the MSG-SNDE Function with the MP3000 as the Master . . . . . . . . . . . . . . . . 2-146
Message Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-157
xiii
2.8
2.9
2.10
2.11
2.12
Communications with an OMRON PLC (FINS Communications Service) . 2-186
Using Automatic Reception with the MP3000 as a Slave . . . . . . . . . . . . . . . . . . . . . . . 2-186
Using the MSG-RCVE Function with the MP3000 as a Slave . . . . . . . . . . . . . . . . . . . . 2-195
Using I/O Message Communications with the MP3000 as the Master . . . . . . . . . . . . . 2-204
Using the MSG-SNDE Function with the MP3000 as the Master . . . . . . . . . . . . . . . . . 2-211
Routing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-221
Message Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-223
Communications with a KOYO PLC (MODBUS/TCP Protocol) . . . . . .2-250
Using Automatic Reception with the MP3000 as a Slave . . . . . . . . . . . . . . . . . . . . . . . 2-250
Using I/O Message Communications with the MP3000 as the Master . . . . . . . . . . . . . 2-257
Communications with a JTEKT PLC (TOYOPUC Protocol) . . . . . . . .2-262
Using Automatic Reception with the MP3000 as a Slave . . . . . . . . . . . . . . . . . . . . . . . 2-262
Using the MSG-RCVE Function with the MP3000 as a Slave . . . . . . . . . . . . . . . . . . . . 2-270
Using the MSG-SNDE Function with the MP3000 as the Master . . . . . . . . . . . . . . . . . 2-280
Message Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-291
Communications with a Windows PC (FA-Server) . . . . . . . . . . . . . . . .2-316
Using Automatic Reception with the MP3000 as a Slave . . . . . . . . . . . . . . . . . . . . . . . 2-316
Communications with a Windows PC (Visual Basic Application) . . . . .2-324
Using Automatic Reception with the MP3000 as a Slave . . . . . . . . . . . . . . . . . . . . . . . 2-324
2.13
2.14
2.15
2.16
Communications with a Windows PC (Visual C++ Application) . . . . . .2-340
Using Automatic Reception with the MP3000 as a Slave . . . . . . . . . . . . . . . . . . . . . . . 2-340
Communications Buffer Channels . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-357
Using Message Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-359
Function Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-359
Using Function Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-360
Details on Protocols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-378
Extended MEMOBUS Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-378
MEMOBUS Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-402
No-protocol Communications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-410
Index
Revision History
xiv
Outline of Communications
This chapter describes the communications of the MP3000 Controller.
1
1.1
1.2
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
System Configuration Examples . . . . . . . . . . . . . 1-3
Configuration with the MP3200 . . . . . . . . . . . . . . . . . . . . . . . 1-3
Configuration with the MP3300 . . . . . . . . . . . . . . . . . . . . . . . 1-4
1.1 Overview
1.1
Overview
The MP3000 Controller provides engineering communications (used to connect to the MPE720) and additional support for an Ethernet connection to host devices.
The following table describes the communication features.
Function Features Description
Ethernet
The MP3000 Controller supports multiple
protocols to enable general-purpose Ethernet communications with PLCs and touch
panels from various manufacturers without
writing special applications.
• Protocols:
MODBUS/TCP, FINS, A-compatible 1E/
QnA-compatible 3E, TOYOPUC, Extended
MEMOBUS, and MEMOBUS
1-2
1.2 System Configuration Examples
Outline of Communications
MP
2200
MBU-02
PO
W
ER
DC
EXIOIF
MP2200
MBU-02
PO
W
ER
DC
EXIOIF
PC
Ethernet
Ethernet
Up to 42 stations, including I/O (Up to 32 stations can be Servos.)
Host PLC
I/O
Servomotor
Servomotor
Servomotor
MP3200
Reference-type SERVOPACK
with MECHATROLINK-III
Communications
I/O Module with
MECHATROLINK-III
Communications
MPE720 Integrated
Engineering Tool Version 7
24-VDC power
supply, AC power
supply, or status
monitoring device
24-VDC power
supply or
AC power supply
MECHATROLINK-III
EXIOIF
*
24-VDC power
supply or
AC power supply
24-VDC power
supply or
AC power supply
24-VDC power
supply or
AC power supply
Configuration with the MP3200
1.2
System Configuration Examples
Configuration with the MP3200
The following figure shows a typical system configuration.
* This manual primarily describes this area.
1-3
1.2 System Configuration Examples
PC
Host PLC
MP3300
MPE720 Integrated
Engineering Tool Version 7
24-VDC power
supply, AC power
supply, or status
monitoring device
24-VDC power
supply or
AC power supply
*
Up to 21 stations, including I/O (Up to 16 stations can be Servos.)
I/O
Servomotor
Servomotor
Servomotor
Reference-type SERVOPACK
with MECHATROLINK-III
Communications
MECHATROLINK-III
I/O Module with MECHATROLINK-III
Communications
HUB
Configuration with the MP3300
Configuration with the MP3300
* This manual primarily describes this area.
1-4
Ethernet Communications
This chapter describes the Ethernet communications of the
MP3000-series Controller.
2
2.1
2.2
2.3
2.4
2.5
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
Ethernet Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
Communications Specifications . . . . . . . . . . . . . . . . . . . . . . . 2-5
Detail Definition Setting Procedures . . . . . . . . . . 2-6
Displaying the 218IFD Detail Definition Dialog Box . . . . . . . . 2-6
218IFD Detail Definition Dialog Box Details . . . . . . . . . . . . . . 2-7
Communications Protocols . . . . . . . . . . . . . . . . 2-18
Communications with MP-series Controllers . . . 2-20
Using Automatic Reception with the MP3000 as a Slave . . . 2-20
Using the MSG-RCVE Function with
the MP3000 as a Slave . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-30
Using I/O Message Communications with
the MP3000 as the Master . . . . . . . . . . . . . . . . . . . . . . . . . . 2-42
Using the MSG-SNDE Function with
the MP3000 as the Master . . . . . . . . . . . . . . . . . . . . . . . . . . 2-51
Message Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-59
Communications with a Touch Panel . . . . . . . . . 2-90
Using Automatic Reception with the MP3000 as a Slave . . . 2-90
2.6
Communications with a Mitsubishi PLC (A-compatible 1E Frame protocol) . . .2-98
Using Automatic Reception with the MP3000 as a Slave . . . 2-98
Using I/O Message Communications with
the MP3000 as the Master . . . . . . . . . . . . . . . . . . . . . . . . . 2-105
Message Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-111
2.7
Communications with a Mitsubishi PLC (QnA-compatible 3E Frame Protocol) 2-139
Using I/O Message Communications with
the MP3000 as the Master . . . . . . . . . . . . . . . . . . . . . . . . . 2-139
Using the MSG-SNDE Function with
the MP3000 as the Master . . . . . . . . . . . . . . . . . . . . . . . . . 2-146
Message Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-157
2.8
2.9
2.10
Communications with an OMRON PLC (FINS Communications Service) . . 2-186
Using Automatic Reception with the MP3000 as a Slave . 2-186
Using the MSG-RCVE Function with
the MP3000 as a Slave . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-195
Using I/O Message Communications with
the MP3000 as the Master . . . . . . . . . . . . . . . . . . . . . . . . . 2-204
Using the MSG-SNDE Function with
the MP3000 as the Master . . . . . . . . . . . . . . . . . . . . . . . . . 2-211
Routing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-221
Message Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-223
Communications with a KOYO PLC (MODBUS/TCP Protocol) . . 2-250
Using Automatic Reception with the MP3000 as a Slave . 2-250
Using I/O Message Communications with
the MP3000 as the Master . . . . . . . . . . . . . . . . . . . . . . . . . 2-257
Communications with a JTEKT PLC (TOYOPUC Protocol) . 2-262
Using Automatic Reception with the MP3000 as a Slave . 2-262
Using the MSG-RCVE Function with
the MP3000 as a Slave . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-270
Using the MSG-SNDE Function with
the MP3000 as the Master . . . . . . . . . . . . . . . . . . . . . . . . . 2-280
Message Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-291
2.11 Communications with a Windows PC (FA-Server) . . 2-316
Using Automatic Reception with the MP3000 as a Slave . 2-316
2.12
2.13
2.14
Communications with a Windows PC (Visual Basic Application) . 2-324
Using Automatic Reception with the MP3000 as a Slave . 2-324
Communications with a Windows PC (Visual C++ Application) . .2-340
Using Automatic Reception with the MP3000 as a Slave . 2-340
Communications Buffer Channels . . . . . . . . . . 2-357
2.15
Using Message Functions . . . . . . . . . . . . . . . . 2-359
Function Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-359
Using Function Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-360
2.16
Details on Protocols . . . . . . . . . . . . . . . . . . . . . 2-378
Extended MEMOBUS Protocol . . . . . . . . . . . . . . . . . . . . . . 2-378
MEMOBUS Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-402
No-protocol Communications . . . . . . . . . . . . . . . . . . . . . . . 2-410
2.1 Overview
Important
Ethernet Communications
2.1
Overview
Ethernet Communications
Ethernet communications connects the MP3000-series Controller to Ethernet devices. The MP3000-series
Controller is equipped with one 100Base-TX Ethernet port that conforms to IEEE802.3u. It can be easily
connected to controllers manufactured by other companies, personal computers, or other types of computers. By connecting a computer running the MPE720 Integrated Engineering Tool, you can perform engineering tasks on the MP3000-series Controller from the computer.
Ethernet communications can be used for message communications and engineering communications.
The MP3000-series Controller supports the following communications protocols.
Protocol Description Master/Slave
MEMOBUS Yaskawa’s standard MEMOBUS protocol. Master/Slave
Extended MEMOBUS Yaskawa’s extended MEMOBUS protocol. Master/Slave
A-compatible 1E frame A protocol for Mitsubishi PLCs. Master/Slave
QnA-compatible 3E
frame
FINS A protocol for OMRON PLCs. Master/Slave
MODBUS/TCP
TOYOPUC A protocol for JTEKT PLCs. Master/Slave
No-protocol
A protocol for Mitsubishi PLCs. Master/Slave
An Ethernet protocol proposed by Modicon and used in
industrial applications.
A protocol provided to implement general-purpose message
communications.
Master/Slave
Master/Slave
The Extended MEMOBUS protocol is used for all message communications between the CPU Function
Module and the 218IFD Function Module in the CPU Unit or the CPU Module of the MP3000-series
Machine Controllers.
MP3000-series Controller
CPU Function Module
MSG-SNDE and MSG-RCVE functions
Extended MEMOBUS Protocol
(MEMOBUS/No-protocol)
Extended MEMOBUS
(MEMOBUS/No-protocol)
218IFD
stack
This manual describes message communications using the MSG-SNDE and MSG-RCVE functions. If
you use the MSG-SND and MSG-RCV functions, substitute the corresponding information for the
MSG-SND and MSG-RCV functions. These functions are slightly different when used in ladder programs. Refer to the following manual for information on using the MSG-SND and MSG-RCV functions in ladder programs.
MP2000-series Communication Module User’s Manual (Manual No.: SIEP C880700 04)
TCP UDP
Other supported protocols
SOCKET
IP, ARP, ICMP
CSMA/CD
Application protocol
2-4
Communications Specifications
Ethernet Communications
Communications Specifications
The following table lists the communications specifications of the MP3000-series Controller.
Item Specification Remarks
Abbreviation 218IFD −
Common
Items
Ethernet
Communications
Communications Interface 10Base-T or 100Base-TX −
Number of Communications Ports
(Connectors)
Communications Protocols TCP, UDP, IP, ARP, or ICMP −
Maximum Number of Communications
Connections
Maximum Number of Communications
Channels
Automatic Reception Supported.
Number of Automatic Reception
Connections
MEMOBUS
Extended MEMOBUS
MELSEC
Maximum
Size of Message Communications
Maximum
Size of I/O
Message
Communications
Receive Buffer Mode Selection for
No-protocol Communic
Communications Platform Ethernet −
Controller Searches with Engineering Tool Supported. −
(A-compatible 1E)
MELSEC
(QnA-compatible 3E)
MODBUS/TCP
OMRON
TOYOPUC Write: 1,022 words −
No-protocol Write: 2,046 words −
MEMOBUS
Extended MEMOBUS
MELSEC
(A-compatible 1E)
MELSEC
(QnA-compatible 3E)
MODBUS/TCP
OMRON
Execution Conditions
Execution Status
Monitoring
ations
2 2-port hub
20 + 2 (I/O message communications)
10 + 2 (I/O message communications)
10 −
Write: 100 words
Read: 125 words
Write: 2,043 words
Read: 2,044 words
Write: 256 words
Read: 256 words
Write: 960 words
Read: 960 words
Write: 100 words
Read: 125 words
Write: 996 words
Read: 999 words
Write: 100 words
Read: 125 words
Write: 1,024 words
Read: 1,024 words
Write: 256 words
Read: 256 words
Write: 256 words
Read: 256 words
Write: 100 words
Read: 125 words
Write: 996 words
Read: 999 words
After the power is turned ON,
cyclic communications, or start/
stop control from ladder programs.
Supported.
Supported. −
−
−
Not supported for
no-protocol communications.
−
−
−
−
−
−
−
−
−
−
−
−
Currently under
development.
Currently under
develop
2.1 Overview
ment.
2-5
2.2 Detail Definition Setting Procedures
Displaying the 218IFD Detail Definition Dialog Box
2.2
Detail Definition Setting Procedures
The 218IFD Detail Definition Dialog Box is used to make detailed definitions for Ethernet communications.
Displaying the 218IFD Detail Definition Dialog Box
Follow these steps to display the 218IFD Detail Definition Dialog Box.
1.
Open the Module Configuration Definition Tab Page.
2. Double-click the cell for the 218IFD.
The 218IFD Detail Definition Dialog Box will be displayed.
2-6
2.2 Detail Definition Setting Procedures
Ethernet Communications
Note
13
12
11
14
218IFD Detail Definition Dialog Box Details
Items 1 and 2 display the configuration information for the 218IFD Function Module. This is the same
configuration information that appears in the Module Configuration Definition Tab Page.
Circuit No.
The circuit number of the Ethernet port on the 218IFD is displayed here.
Start - End Register Range for the I/O Registers
The I/O register range of the 218IFD Function Module is displayed here.
1. The module configuration information can also be changed in the Module Configuration Definition Tab
Page. If you do so, specify a circuit number that is not in use by other Ethernet Modules (218IF/218IFB).
2. If you use the MSG-SNDE or MSG-RCVE function, set the circuit number input parameter (CIR#)
to the circuit number that is displayed here.
218IFD Detail Definition Dialog Box Details
The 218IFD Detail Definition Dialog Box has two tab pages, Transmission Parameters and Status. Each
tab page is displayed by clicking the corresponding tab.
Transmission Parameters Tab Page
This tab page is used to set the parameters that are required to use Ethernet communications.
2-7
2.2 Detail Definition Setting Procedures
11
12
13
14
Note
11000000 10101000 00000001 00000001
Field 1: 0 to 255 excluding 127
Field 2: 0 to 255
Field 3: 0 to 255
Field 4: 1 to 254
Least significant bitMost significant bit
218IFD Detail Definition Dialog Box Details
Display Items
The following table lists the items that are displayed on the Transmission Parameters Tab Page.
For the valid setting ranges and setting precautions, refer to the descriptions of the items on the following
pages.
Number Item Description
IP Address Sets the IP address of the local station.
Subnet Mask Sets the subnet mask for the IP address of the local station.
Gateway IP Address Sets the IP address of the gateway.
Module Name Definition Sets the name for the 218IFD.
Detail Definition Button Click to set details for the local station.
Connection Number (CNO) Displays the connection number.
Local Port Sets the local port number.
Node IP Address Sets the remote IP address.
Node Port Sets the port number for the remote station.
Connect Type Sets the transport layer protocol.
Protocol Type Sets the application layer protocol.
Code Sets the code type.
Detail
Node Name
(Remote Station Name)
Used to set automatic reception and the local station for the
FINS protocol.
Used to enter a comment for the connection.
Display Item Details
This section provides details on the items that are displayed on the Transmission Parameters Tab Page.
Always save all settings to the flash memory after changing them.
IP Address
Enter the IP address of the local station.
There are four 8-bit fields delimited by periods. Input a decimal number in each field.
Note: 1. Enter an IP address that is not in use by another node on the Ethernet.
2. IP addresses 192.168.1.1 to 192.168.1.254 are recommended as private addresses. Check with your network administrator for unused IP addresses.
Subnet Mask
Enter the subnet mask for the IP address of the local station.
Fields 1 to 3 can be set to 0 to 255. Field 4 can be set to 1 to 254. When a subnet mask is not being used, enter
0 in fields 1 to 4.
2-8
2.2 Detail Definition Setting Procedures
Ethernet Communications
192. 168. 100. 200
Field 4: 1 to 254
Field 1: 0 to 255 excluding 127
Field 2: 0 to 255
Field 3: 0 to 255
Setting Example
Terms
218IFD Detail Definition Dialog Box Details
Gateway IP Address
Enter the IP address of the gateway.
If a gateway is not being used, enter 0 in fields 1 to 4 for the gateway IP address.
The data input range for the gateway IP address depends on the field as shown below.
Note: Enter different addresses for the IP address and gateway IP address.
Module Name Definition
Set the name for the 218IFD.
Enter a comment of up to 16 characters.
Subnet Mask
A subnet mask is a mask used to derive the network address of the subnet from the IP address. The
result of an AND operation of the IP address and the subnet mask produces the subnet address.
Check with your network administrator for unused subnet mask values.
Gateway IP Address
The gateway IP address identifies the gateway device (i.e., router) through which communications are
performed between multiple network segments. Check with your network administrator when setting a
gateway device.
Detail Definition Button
The button displays the Detail Setting (Local Port TCP/IP Setting) Dialog Box to set the engineering port,
response time, number of retries (Count of Retry), and receive buffer.
Engineering Port
Enter the Ethernet port number (between 256 and 65535) for the 218IFD to use for engineering communications with the MPE720. The default is 9999.
Note: 1. If this value is changed, also change the port set in the Engineering Port Box in the Detail Setting
Dialog Box of the Communications Port Setting Tab Page on the MPE720 communications platform.
2. Do not use the port number assigned to the local port number.
3. Do not set 9998 or 10000. These are used by the system.
2-9
2.2 Detail Definition Setting Procedures
218IFD Detail Definition Dialog Box Details
Response Time
Enter the time (between 0 and 255) to wait for a response after sending a command using the MSG-SNDE
function. If a response is not returned, causing a timeout, the transmission will be retried as many times as set
in the Count of Retry Box.
The Count of Retry Box is disabled if 0 is set for the response time.
Note: Enter 0 for the response time if 0 is set for the Count of Retry Box and MEMOBUS is selected in the Pro-
tocol Type Column in the Connection Parameter Area.
Count of Retry
Enter the number of retries (0 to 255) to be attempted if a timeout is detected after sending a command with
the MSG-SNDE function. An error is returned for the MSG-SNDE function if a response is not returned
after the set number of retries.
Note: If the TCP is the only protocol set for the connect type, it is not necessary to set the number of retries. Enter 0.
Receive Buffer Selection
This parameter selects the buffer type when no-protocol communications is selected in the Protocol Type
Column.
Connection Number (CNO)
This column displays the connection numbers between 1 and 20.
With Ethernet communications, the connection number is used to identify remote stations.
The connection number corresponds to parameter 10 (Remote Connection Number) in the MSG-SNDE and
MSG-RCVE functions.
Local Port
Enter the local port number (between 256 and 65535) for each connection.
Do not enter a port number that is used for another connection, an engineering port number, or a diagnostics
port number. If 0 is entered for the local port number, the data for that connection number will be cleared and
“-----” will be displayed in the Local Port Column.
Note: The port number that is set for the engineering port, as well as 9998 and 10000, cannot be used if the connect
type is UDP.
Node IP Address
Enter the IP address of the remote station for each connection.
The data input range depends on the field of the remote IP address.
Field 1: 0 to 255 excluding 127
Field 2: 0 to 255
Field 3: 0 to 255
Field 4: 1 to 254
Enter 0 in all four fields to connect in Unpassive Open Mode.
2-10
Node Port
Enter the port number (0 or 256 to 65535) of the remote station for the connection.
Note: The combination of the node IP address and node port must not be in use for any other connection.
Connect Type
Select the transport layer protocol.
TCP: Communications is performed using TCP (Transmission Control Protocol).
UDP: Communications is performed using UDP (User Datagram Protocol).
2.2 Detail Definition Setting Procedures
Ethernet Communications
Note
11
218IFD Detail Definition Dialog Box Details
If an error occurs during message communications with UDP (connectionless protocol), the following
may occur.
• The LINK/ACT indicator on the Ethernet connector may light or flash, communications data may be
lost, and communications may stop.
If this occurs, implement the following countermeasures.
1. Use Ethernet cables that meet the following requirements.
100Base-TX category 5 or better straight or cross twisted-pair cable with RJ-45 connectors
2. Separate the Ethernet cables from power cables.
If the problem persists even after implementing the above countermeasures, implement the following
countermeasures.
1. Change to TCP (connection protocol).
2. If you continue to use UDP, add the following retry programming.
Retry programming: If processing does not end within a specific time after sending a command,
implement a timeout and execute the send execution command again.
Refer to the ladder program in the following section for a programming example.
2.4 Communications with MP-series Controllers - Using the MSG-SNDE Function with the MP3000 as the
Master
Protocol Type
Select the application layer protocol for each connection according to the protocol supported by the remote
station.
The following table lists the protocols.
Refer to the following section for details on the protocols.
2.1 Overview (page 2-4)
Protocol Description
MEMOBUS Yaskawa’s standard MEMOBUS protocol.
Extended MEMOBUS Yaskawa’s extended MEMOBUS protocol.
A-compatible 1E frame A protocol for Mitsubishi PLCs.
QnA-compatible 3E frame A protocol for Mitsubishi PLCs.
FINS A protocol for OMRON PLCs.
MODBUS/TCP
An Ethernet protocol proposed by Modicon and used in
industrial applications.
TOYOPUC A protocol for JTEKT PLCs.
No-protocol
A protocol provided to implement general-purpose message
communications.
2-11
2.2 Detail Definition Setting Procedures
Terms
12
218IFD Detail Definition Dialog Box Details
Connections
A connection is a series of operations to confirm communications and transfer data in one-to-one communications between a local station program and a remote station program.
Port Numbers
A port number is used to identify the target program in the remote station. There is a one-to-one correspondence between port numbers and communications programs. A port number is entered in the
header section of the data, together with the IP address and other information. The remote station transfers the data to the target program identified by the destination port number.
The port number, including the one for the local station, is used to identify the communications service
program at both the local and remote stations.
Unpassive Open Mode
If the remote station’s address is set to 000.000.000.000 and the remote station’s port number is set to
0, the connection is set in the Unpassive Open Mode.
In Unpassive Open Mode, the MP3000 connects to any station that accesses its connection number. If
multiple stations access this connection number, the connection will be established with the station to
which the connection request was sent first. If a connection request is sent from a station while a connection is established with another station in Unpassive Open Mode, the connection that was established first is disconnected and a connection will be established with the station for which the
connection request was sent later.
TCP and UDP
TCP is a connection protocol and UDP is a connectionless protocol.
A connection protocol ensures reliable communications because it performs various steps of communications control, such as arrival checks, error detection and correction, sequence number checks, and
send data size control.
In contrast, a connectionless protocol does not provide the procedures that ensure the quality of com-
munications, and data transmissions are performed in only one direction. Connectionless protocols
thus provide high-speed communications, but less communications reliability.
The selection of TCP or UDP depends on the requirements for communications. Select TCP if reliability is important and select UDP if speed is important.
Code
Select the code of the data to be transmitted for each connection according to the code to set at the remote
station.
RTU: Specifies RTU Mode when the MEMOBUS protocol is being used.
ASCII: Specifies ASCII Mode.
BIN: Specifies Binary Mode.
The code that can be selected is restricted by the selection of the protocol type in the Protocol Type Box as
shown in the following table.
Protocol Type
RTU ASCII BIN
Code
MEMOBUS ×
Extended MEMOBUS ×
A-compatible 1E frame ×
QnA-compatible 3E frame ×
FINS ××
MODBUS/TCP ××
TOYOPUC ××
No-protocol ×
: Can be selected.
× : Cannot be selected.
2-12
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