Yaskawa MP3300iec User Manual

MP3300iec

Machine Controller

Hardware Manual

Type: MP3300iec

To properly use the product, read this manual thoroughly and retain for easy reference, inspection, and maintenance. Ensure the end user receives this manual.

YAI-SIA-IEC-7

Table of Contents

1. Basic Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5

2. System Configuration Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6

3. Component Part Numbers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7

4. Base Units. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8

5. CPU Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10

6. Installatio n and Usage Co n d itions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1 3

7. Base Unit Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15

8. Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16

9. Display and Indi c at ors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17

10. Self-Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19

11. MECHATROLINK-III Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20

12. MECHATROLINK-III Network Topologies. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21

13. MECHATROLINK-III Synchronization between Modules . . . . . . . . . . . . . . . . . . . . . .24

14. Devices Connectable via MECHATROLINK-III. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25

15. Connecting the RLY OUT Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

16. Ethernet Connector Details. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27

17. Option Module - AI-01 (Analog Input) Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30

18. Option Module - AO-01 (Analog Output) Module . . . . . . . . . . . . . . . . . . . . . . . . . . . .36

19. Option Module - DO-01 (Digital Output) Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . .39

20. Option Module - LIO-01/02 Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .43

21. Option Module - LIO-04/05 Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .51

22. Option Module - LIO-06 Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .63

23. Option Module – 218IF-Y1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .73

24. Terminal Block Kit CBK-U-MP2A-xx. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .75

25. Terminal Block Kit CBK-U-MP2B-xx. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .76

26. Terminal Block Kit CBK-U-MP2C-xx. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .77

27. Cable Shielding, Segregation and Noise Immunity . . . . . . . . . . . . . . . . . . . . . . . . . .78

Copyright © 2014 YASKAWA AMERICA, INC. All rights reserved. No part of this publ ic at ion may be repr oduc ed, st ore d in a retrieval system, or transmitted, in any form, or by any means, mechanical, ele ct ron ic , ph oto copy ing , 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.

YASKAWA America, Inc. MP3300iec Hardware Manual YAI-SIA-IEC-7 3

4 YASKAWA America, Inc. MP3300iec Hardware Manual YAI-SIA-IEC-7

1 Basic Units

CPU Module

Base Unit

“Basic Unit” is a collective term that refers to the modules in the following table.

Unit Name Primary Function

CPU Module Base Unit Contains the power supply and provides the backplane to which Modules are mounted.

The Basic Modules are typically connected as shown in the following examples.

Stores the module definitions and programs, and interprets the programs. The CPU Module also controls the Optional Modules.

1 Basic Units

YASKAWA America, Inc. MP3300iec Hardware Manual YAI-SIA-IEC-7 5

2 System Configuration Example

The following figure shows a typical system configuration.

MotionWorks IEC version

3.0.0 or higher



RLYOUT

connector cable

24-VDC power supply, AC power supply, or status monitoring device



Power supply cable

24-VDC power supply or AC power supply

Another PLC



Ethernet communications cables



MP3300



Battery

MECHATROLINK-III

SERVOPACK with



MECHATROLINK-III

Communications

HUB



Front cover for unused slot

MECHATROLINK-III Cable



I/O Module with

MECHATROLINK-

Communications

Optional Modules I/O Modules

LIO-05

LIO-04

LIO-02

LIO-01

LIO-06

Communications Modules

218IF-Y1

III

AI-01

DO-01

AO-01

External outputs

External inputs

RS-232C

Ethernet

I/O

Servomotor

Up to 62 stations, including I/O

6 YASKAWA America, Inc. MP3300iec Hardware Manual YAI-SIA-IEC-7

3 Component Part Numbers

System Components

Type Part Number Description

PMC-U-MP33004 CPU, MP3300, 4 axis, 400 MHz, 4MB SRAM PMC-U-MP33008 CPU, MP3300, 8 axis, 400 MHz, 4MB SRAM

CPU

Base Unit

Option Card

MECHATROLINK Network

MECHATROLINK Cables

Accessories

PMC-U-MP33020 CPU, MP3300, 20 axis, 40 0 MHz, 4MB SRAM PMC-U-MP33320 CPU, MP3300, 20 axis, 80 0 MHz, 8MB SRAM PMC-U-MP33332 CPU, MP3300, 32 axis, 80 0 MHz, 8MB SRAM JEPMC-BU3304-E Base Unit with DC Power Supply, 1 Slot, MP3300iec JEPMC-BU3303-E Base Unit with DC Power Supply, 3 Slots, MP3300iec JEPMC-BU3302-E Base Unit with DC Power Supply, 8 Slots, MP3300iec JEPMC-BU3301-E Base Unit with AC Power Supply, 8 Slots, MP3300iec JAPMC-AN2300 Analog Inputs (AI-01)

JAPMC-AN2310-E Analog Outputs (AO-01) JAPMC-DO2300 Digital Output Modul e (DO-01) JAPMC-IO2300-E Digital I/O Module (LIO-01) JAPMC-IO2301-E Digital I/O Module (LIO-02) JAPMC-IO2303 Digital I/O Module (LIO-04) JAPMC-IO2304 Digital I/O Module (LIO-05) JAPMC-IO2305-E Digital Multi-Function I/O Module (LIO-06) JAPMC-CM2301-E Ethernet & RS232C Communication (218IF-Y1) JEPMC-MT2000-E HUB, MECHATROLINK-III NETWORK, 8 SLAVE PORTS JEPMC-MT2020-E ADAPTER, ETHERNET TO MECHATROLINK JEPMC-MTD2310-E I/O MODULE, MECHATROLINK NETWORK, 64 IN, 64 OUT JEPMC-MTA2900-E ANALOG MODULE, MECHATROLINK NETWORK, 8 INPUT JEPMC-MTA2910-E ANALOG MODULE, MECHATROLINK NETWORK, 4 OUTPUT JEPMC-W6012-A2-E MECHATROLINK-III CABLE, 0.2 M JEPMC-W6012-A5-E MECHATROLINK-III CABLE, 0.5 M JEPMC-W6012-01-E MECHATROLINK-III CABLE, 1.0 M JEPMC-W6012-02-E MECHATROLINK-III CABLE, 2.0 M JEPMC-W6012-03-E MECHATROLINK-III CABLE, 3.0 M JEPMC-W6012-04-E MECHATROLINK-III CABLE, 4.0 M JEPMC-W6012-05-E MECHATROLINK-III CABLE, 5.0 M JEPMC-W6012-10-E MECHATROLINK-III CABLE, 10 M JEPMC-W6012-20-E MECHATROLINK-III CABLE, 20 M JEPMC-W6012-30-E MECHATROLINK-III CABLE, 30 M JEPMC-W6012-40-E MECHATROLINK-III CABLE, 40 M JEPMC-W6012-50-E MECHATROLINK-III CABLE, 50 M JEPMC-BA3001 Replacement Battery JEPMC-OP2300 Option Slot Cover JEPMC-OP3001 Replacement Power Supply Side Cover JEPMC-OP3002 Replacement Option Base Side Cover

3 Component Part Numbers

YASKAWA America, Inc. MP3300iec Hardware Manual YAI-SIA-IEC-7 7

4 Base Units

The Base Unit provides the backplane to which Modules are mounted and supplies the required power to the Modules. There are three models of Base Units, a one-slot model, a three-slot model, and an eight-slot model. This section shows the appearance and part names of the Base Unit and describes the connector.



Appearance and Part Names

Figure 1 illustrates the appearance of the Base Unit and a part name.

Figure 1

RLYOUT connector

Power connector

Figure 1 Base Unit

8 YASKAWA America, Inc. MP3300iec Hardware Manual YAI-SIA-IEC-7



Connector

The Base Unit has two connectors: an RLYOUT connector and a power connector.



RLYOUT Connector

The RLYOUT connector outputs the status of the CPU Module.

Figure 2

Figure 2 RLYOUT Connector Model: 734-302

Pin Assignme n ts

No. Signal Label Description

1 OUT 2 OUT



Power Connector

Connect the power supply to this connector.

Figure 3

4 Base Units

Normal operation: Circuit closed. Error: Circuit open.

DC power supply 4-2013522-3 White

Pin Assignme n ts

Figure 3 RLYOUT Connector Model: 734-302

Type Model Color

No. Signal Label Description

3 24 VDC Power input wire for 24 VDC 2 0 VDC Power input wire for 0 VDC

1FG

Connects to the frame ground. (Ground to 100 W max.)

YASKAWA America, Inc. MP3300iec Hardware Manual YAI-SIA-IEC-7 9

5 CPU Specifications

The hardware specifications of the CPU Unit are given in the following table.

Item CPU Specification

Model PMC-U-MP330xx

• PMC-U-MP33004: CPU, MP3300, 4 axis, 400 MHz, 4MB SRAM

• PMC-U-MP33008: CPU, MP3300, 8axis, 400 MHz , 4MB SRAM

Part Number: Description

Flash Memory Capacit y: 40 MB (32 MB of user me mo ry ) SDRAM Capacity: 128 MB SRAM Capacity: 8 MB (battery backup) Calendar Seconds, minutes, hour, day, week, month, year, day of week, and timing (battery backup) Ethernet 10Base-T or 100Base -TX MECHATROLINK MECHATROLINK-III: 1 circuit with 2 ports

USB

Indicators and Displays

Switches

• PMC-U-MP33020: CPU, MP3300, 20 axis, 400 MHz, 4MB SRAM

• PMC-U-MP33320: CPU, MP3300, 20 axis, 800 MHz, 8MB SRAM

• PMC-U-MP33332: CPU, MP3300, 32 axis, 800 MHz, 8MB SRAM

USB 2.0 Type A host, 1 port Compatible devices: USB storage

Seven-segment disp lay Status indicators USB status indicator MECHATROLINK-III status indicators Ethernet status indicators

DIP switch: Mode switch STOP/SAVE switch. Refer to Switches on page 16 for detailed switch information.



CPU Communications Specifications

The specifications of the Communications Protocols built into the CPU Module are given in the following table.

Protocol Mode Detail

Modbus TCP

Ethernet/IP

OPC read/write

Custom Protocol n/ a

Network Variables read/writ e

MP3300iec as Master (Client) Maximum Number of Data Bl ocks = 20 MP3300iec as Slave (Server) 1000 registers in, 1000 registers out, 256 coils in, 256 coils out MP3300iec as Master (Scanner) Maximum Number of Data Blocks = 10 0

MP3300iec as Slave (Adapter)

Total of 16 instances in, 16 instances out, arranged as 3 instances of

256 bytes, 3 instances of 128 bytes, and 10 instances of 496 bytes.

Any Global variable can be configured, requires OPC Server running

on PC

Use the YDeviceComm firmware library to create a cu stom

communication protocol.

Variables configured with MotionWorks IEC software that allow

automatic data transfer from controller to controller.

10 YASKAWA America, Inc. MP3300iec Hardware Manual YAI-SIA-IEC-7



Display

MECHATROLINK-III status indicators

MECHATROLINK-III connectors

Status indicators

Mode switches

Ethernet status indicators

Ethernet connector

USB status indicator

CPU Module Appearance and Component Names

Figure 4 shows the appearance of the CPU Module and the compnent names.

Figure 4

5 CPU Specifications

Figure 4 CPU Module Component Names



CPU Module Connectors

The CPU Module has three types of connectors: MECHATROLINK-III, Ethernet, and USB.



MECHATROLINK-III Connectors

Figure 5 illustrates connectors used to connect MECHATROLINK-III communications devices.

Figure 5

Figure 5 MECHATROLINK-III Connectors



Ethernet Connectors

Figure 6 illustrates the connector used to connect Ethernet communications devices.

Figure 6

YASKAWA America, Inc. MP3300iec Hardware Manual YAI-SIA-IEC-7 11

Figure 6 Ethernet Connector

5 CPU Specifications



USB Connector

Figure 5 illustrates the connector used to connect a USB memory device.

Figure 7

USB connecto

Open the cover.

Figure 7 USB Connector

NOTICE: Equipment Hazard. Before removing the USB memory device, press the STOP/SAVE switch and wait until the USB status

indicator goes out. If the USB memory device is removed while the USB status indicator is lit or flashing, the data may become corrupted.

12 YASKAWA America, Inc. MP3300iec Hardware Manual YAI-SIA-IEC-7

6 Installation and Usage Conditions

This section describes installation and usage conditions for the MP3300iec Series Machine Controllers. Install the MP3300iec Series Controllers in an environment with the following conditions.



Installation and Usage Conditions

Ta ble 1 MP3300iec Installation and Usage Conditions

Item Specification

Environmental Conditions

Mechanical Operating Conditions

Electrical Operating Conditions

Installation Conditions

Ambient Operating Temperature

Ambient Storage Temperature -25 to 85°C Ambient Operating Humidity 10% to 95% RH (with no condensation) Ambient Storage Humidity 10% to 95% RH (with no condensation) Pollution Level Conforms to JIS B 3502 Pollution Degree 2. Corrosive Gas There must be no combustible or corrosive gas. Operating Altitude 2,000 m max.

Vibration Resistance

Shock Resistance

Noise Resistance

Ground Ground to 100 Ω max. Cooling Method Natural cooling or forced-air cooling. Refer to Control Panel Cooling Method on page 14

0 to 60°C (Forced cooling is required if 55°C is exceeded.)

Conforms to JIS B 3502. Continuous vibration: 5 to 9 Hz with single-amplitude of 1.75 mm 9 to 150 Hz with fixed acceleration of 4.9 m/s Intermittent vibration: 5 to 9 Hz with single-amplitude of 3.5 mm 9 to 150 Hz with fixed acceleration of 9.8 m/s 10 sweeps each in X, Y, and Z directions for both intermittent and continuous vibration

Size of shock: Peak accel eration of 147 m/s Duration: 11 ms 3 times each in X, Y, and Z directions

Conforms to EN 61000-6-2, EN 61000-6-4, and EN 55011 (Group 1 Class A). Power supply noise (FT noise): ±2 kV min. for one minute Radiation nois e (F T noise): ±1 kV min. for one minute Ground noise (impulse noise): ±1 kV min. for 10 minutes Electrostatic noise (contact disch a rge method): ±6 kV or more, 10 times

(15 G)

YASKAWA America, Inc. MP3300iec Hardware Manual YAI-SIA-IEC-7 13

6 Installation and Usage Conditions

Fan

40 mm min.

10 mm

min.*

* For a control panel with natural cooling with the MBU-303 Base Unit: 30 mm min.

10 mm

min.*

40 mm min.

Approx. 40 mm

Direction of air ow

Approx. 40 mm



Control Panel Cooling Method

The components that are used in the Machine Controller require the ambient operating temperature to be between 0 and 60 °C. Use one of the methods described below to ensure adequate cooling in the control panel.

NOTICE: Equipment Damage. Use forced-air cooling if the ambient temperature exceeds 55°C.



Control Panels with Natural Cooling

• Do not mount t h e Mac hi ne Controller at the top of the control panel, where the hot a ir t hat i s g ene rat ed inside the panel collects.

• Leave sufficient space above and below the Machine Controller, and maintain adequate distances from other devices, cable ducts, and other objects to ensure suitable air circulation.

• Do not mount the Machine Controller in any direction other than the specified direction.

• Do not mount the Machine Controller on top of any device that generates a significant amount of heat.

• Do not subject the Machine Controller to direct sunlight.



Control Panels with Forced-air Cooling

Install a fan near the center of and at the top or bottom of the Machine Controller for either of the following methods.

• Forced draft method (A fan or a similar device is used to circulate the air in the interior and the exterior of the panel.).

• Forced circulation method (A fan or a similar device is mounted to the airtight panel to circulate the air inside.).

Note: 1. Use the following guideline when selecting the fan:

• 80 x 80 mm min., Maximum air flow: 0.9 m3/min, Maximum static pressure: 26.5 Pa or higher.

Figure 8

2. Adjust the fan installation location and the direction of air flow as shown in Figure 8.

14 YASKAWA America, Inc. MP3300iec Hardware Manual YAI-SIA-IEC-7

Figure 8 Fan installation location and air flow direction

7 Base Unit Specifications

The specifications of the Base Units are listed in Table 2.

Table 2 Base Unit Specifications

7 Base Unit Specifications

Item

Model JEPMC-BU3304-E JEPMC-BU3303-E JEPMC-BU3302-E JEPMC-BU3301-E Abbreviation MBU-304 MBU-303 MBU-302 MBU-301 Number of Slots 138

Mountable Modules MP2000-series Optional Modules

Input Voltage 24 VDC 110/220 VAC Allowable Input

Voltage Range Input Current Inrush Current 40 A, 10 ms max. 30 A, 10 ms max. 40 A, 10 ms max.

Allowable Power Loss

Power Supply Section

RLY OUT

Indicators POWER Connectors

Time Rated Voltage 5.15 V 5.0 V Rated Current 2.5 A 4.5 A 4.0 A 8.0 A Output Current Range 0 to 2.5 A 0 to 4.5 A 0.0 to 4.0 A 0.0 to 8.0 A Rated Voltage

Accuracy Battery

1 slot 3 slots 8 slots DC 8 slots AC

19.2 to 28.8 VDC

1.0 A max. (at rated input/output)

1 ms 20 ms

5.15 V ±2% max. (5.05 to 5.25 V) You can mount a memory backup Battery for retained variables, absolute encoder offsets, and

alarm history. A normally open relay output that is linked to the CPU Module status

Normal operation: Circuit closed . Error: Circuit open.

Contact Ratings:

• 125 Vac, 0.4 A resistive load, 0.20 A inductive load

• 24 Vdc, 0.5 A resistive load, 0.25 A inductive load

POWER: Power supply connector RLY OUT: Relay contact connector

1.5 A max. (at rated input/output)

Specification

85 to 132 VAC/ 198 to 276 VAC

3.0 A max. (at rated input/output)

YASKAWA America, Inc. MP3300iec Hardware Manual YAI-SIA-IEC-7 15

8 Switches

8Switches

The CPU Module has the following two types of switches.

• DIP switches: Mode switches

• STOP/SAVE switch



DIP Switches: Mode Switches

The SW1 and SW2 switches are checked at start-up, and their behavior is described in the following tables:

Table 3 SW1 Switches

SW Description

STOP When ON, prevents PLC from running.

E-INIT When ON, overrides Ethernet configuration according to Table 5.

INIT When ON, the controller uses the fixed, default configuration

CNFG When ON, the controller creates Axes and I/O for all connected devices. (Auto-configuration)

Table 4 SW2 Switches

SW Description

LOAD When ON, load either the user project or firmware from the USB thumb dri ve. See Table 6 for details.

TEST When ON, the IP ad dress is scrolled across the seven segment display.

MNT

-- / DHCP DHCP Selection when E-INIT is ON.

When ON, controller starts up in supervisor mode. In this mode MECHA TROLINK III, PLC, Modbus/TCP and Ethernet/IP do not start. The controller firmware can be updated, and clearing DOS FS alarms will repair the DOS FS.

E-INIT and - switches can override the Ethernet configuration according to Table 5.

Table 5 Operation of E-INIT, E-PM0 and E-PM1 for Configuring Ethernet

E-INIT -- / DHCP

Static Configuration OFF N/A

192.168.1.1 ON OFF DHCP ON ON

On start-up, the controller will aut omat ic ally l oad f ir mware or use r pr oje cts bas ed on t he LOAD and MNT swi tc hes . The USB thumb drive is available in any other circumstances.

Table 6 Operation of LOAD and MNT for USB Thumb Drive

E-INIT -- / DHCP

Load user project from USB thumb drive ON OFF

Install firmware and user project from USB

thumb drive

16 YASKAWA America, Inc. MP3300iec Hardware Manual YAI-SIA-IEC-7

ON ON

9 Display and Indicators

The CPU Module has the following display and four types of indicators.

•Display

• Status indicators

•USB status indicator

• MECHATROLINK-III status indicators

• Ethernet status indicators



Display

The following situations use the seven segment display:

• Manufacturing: During programming the seven segment display outputs “FLASH...”. When finished, the seven segment display outputs “donE”.

• Startup: If the controller cannot boot because of a bad firmware image check sum, the seven segment display outputs “bOOt ERROR”

• IP Address: If the TEST switch is ON, then the seven segment display outputs the IP address.

• Firmware update: During programming the seven segment display outputs “FLASH...”. When finished, the seven segment display outputs “donE”.



Status Indicators

These indicators show the status of the CPU Module.

Table 7 Status LED

LED Description

RDY ON when the controller has detected valid firmware and has started. RUN ON when PLC is running. ALM ON when an alarm is active.

ERR BAT ON when the battery needs replacing.

M-ALM ON when JL100 (Mechatrolink Master) chip initialization fails.

ON at initial power up while firmware is loading. Turns off if firmware is valid. ON when a critical error occurs requiring a power cycle to recover.

YASKAWA America, Inc. MP3300iec Hardware Manual YAI-SIA-IEC-7 17

9 Display and Indicators



USB Status Indicator

This indicator shows the status of the USB memory.

Indicator Name Indicator Status Status Description

Not lit No USB memory device

USB ACTIVE



MECHATROLINK-III Status Indicators

Lit USB memory device inserted A USB memory device is inserted.

Flashing Accessing USB memory The USB memory is being accessed.

No USB memory device has been inserted ye t, or the USB memory device is ready to be removed.

These indicators show the status of the MECHATROLINK-III communications.

Indicator Name Color Status When Lit



Ethernet Status Indicators

CN Green LK1 Green MECHATROLINK-III communications are active on PORT1.

LK2 Green MECHATROLINK-III communications are active on PORT2.

MECHATROLINK-III communications is established with the CPU Module as a slave (i.e., the Connect command is ON).

These indicators show the status of Ethernet communications.

Indicator Name Color Status When Not Lit, Lit, or Flashing

LINK/ACT Yellow

100M Green

Lit: Ethernet link established. Flashing: Ethernet communications activity.

Not lit: 10 M connection Lit: 100 M connection. We do not support GB connections.

18 YASKAWA America, Inc. MP3300iec Hardware Manual YAI-SIA-IEC-7

10 Self-Configuration



DIP Switch



Self-Configuration after Adding Devices such as Servopacks

The controller ca n aut omatica lly config ure a ll t he M echatr olink devi ces. Fi rst, co nnect and p ower up all the Mecha troli nk nodes (making sure they all have unique station numbers). Then, set the CNFG switch to the ON position and power up the controller. Wait for the RDY LED to come on and the controller will now have the new auto configuration.

Note: Controllers with an existing saved configuration cannot be auto configured until the currect conf iguration is deleted.



MotionWorks IEC

The MotionWorks IEC (Express or Pro) configuration can detect the configuration and provide the user with configuration choice s. If a S tar tUp Config urati on was alre ady save d on the controll er, the self-configure funct ion will not allow new devices to be discovered. In this case, add them offline manually first.

YASKAWA America, Inc. MP3300iec Hardware Manual YAI-SIA-IEC-7 19

11 MECHATROLINK-III Specifications

The specifications of the MECHATROLINK-III Network Master that is built into th e CPU Unit are given in the following table.

Item Specification Remarks

Communications ASIC JL-100 Number of Communications Lines 1 -

MECHATROLINK communications settings

Number of Communicat ions Ports (Connectors)

Communications Method M-III Baud Rate 100 Mbps -

Communications Cycle

Number of Connected

Master

Stations Message Relaying Not Supported. C2 Messages Not Supported. Retries Supported. 0 to 4 retries Asynchronous Setting of

High-speed Scan Cycle and Communications Cycle

250 μs/0.5 ms/ 1 ms/1.5 ms/2 ms/2.5 ms/3 ms/

3.5 ms/4 ms 62 stations -

Not supported. An alarm will occur if setting is attempted.



CPU Unit Specifications

Item Specification

Calendar Battery backup accurate to 1 minute of error per month. Ethernet M-III 1981386-1 ×2 (TycoAMP) USB

Protection Hardware watchdog timer (PLD): 0 to 510 ms (register setting) Relay Output Backup Circuit Battery: BR-1/2AA (Panasonic), 3.0 V

Connector DUSB-ARA42-T11A-FA (DDK), type A connector Function USB 2.0 ho st, 3 speeds (HS/FS/LS), 1 port

10BASE-T, 100BASE-TX Auto-Negotiation / Baseline Wander Correction / Auto-MDIX

Contacts normally open for RUN status (RDY indicator lit), and OFF for WDT error status. The relay is built into the Power Supply Unit.

20 YASKAWA America, Inc. MP3300iec Hardware Manual YAI-SIA-IEC-7

12 MECHATROLINK-III Network Topologies

You can connect the MP3300iec Series Controller and drives or I/O with cascaded connections, star connections, or mixed cascaded/star network topologies. The following figures show examples of these types of network topologies.



Cascaded Connection

Cascaded connections allow you to connect one or more series of slave stations from the CPU Unit MECHATROLINKIII ports. Regardless of whether a single MECHATROLINK-III port is used, as shown in Figure 9, or two CPU Unit MECHATROLINK-III ports are used, as shown in Figure 10, these are called cascaded connections.

Figure 9

CPU Unit

Figure 10

Up to 32 stations, including Servos and I/O

Figure 9 Cascaded Connections Using Only One Port

CPU Unit

No terminating resistor is required.

Up to 32 Servo stations

Up to 62 stations, including I/O

No terminating resistor is required.

No terminating

resistor is required.

Figure 10 Cascaded Connections Using Two Ports

Note: 1. Do not connect more than 32 stations up to the final slave station to any one CPU Unit port.

2. The maximum number of stations that you can connect with cascaded co nnections depends on the c ommunications cycle.

YASKAWA America, Inc. MP3300iec Hardware Manual YAI-SIA-IEC-7 21

12 MECHATROLINK-III Network Topologies



Star Connections

Star connections al low you to connect slave stations through Hub Modul es. Each port on a Hub Module connects to only one slave station. You can also connect one additional Hub Module to the first Hub Module.

CPU Unit

Hub Module

Note: 1. Terminating resistors are not required.

2. The maximum number of stations that you can connect with star connections depends on the communications cycle.

Hub Module

22 YASKAWA America, Inc. MP3300iec Hardware Manual YAI-SIA-IEC-7



Mixed Cascaded/Star Connections

You can combine both cascaded and star network topologies.

CPU Unit

Hub Module

12 MECHATROLINK-III Network Topologies

No terminating

resistor is required.

No terminating

resistor is required.

Note: 1. Do not connect more than 32 stations to a single CPU Unit port, including the Hub Modules.

2. The maximum number of stations that you can connect with a mixed cascaded/star connections depends on the communications cycle.

YASKAWA America, Inc. MP3300iec Hardware Manual YAI-SIA-IEC-7 23

13 MECHATROLINK-III Synchronization between Modules

NOTICE

13 MECHATROLINK-III Synchronization between Modules



Timing at Which Modules Are Synchronized

Modules are automatically synchronized when the power supply is cycled. If you perform any of the following operations after turning ON the power supply, save the settings to flash memory and

then cycle the power supply again.

• When operation changes from asynchronized to synchronized as a result of changing the communications cycle

• When operation changes from synchronized to asynchronized or from asynchronized to synchronized as a result of changing the high-speed scan setting

• When the minimum response time in the MPiec controller is changed.



Changing Synchronization Cycles

When the scan cycle is changed, MECHATROLINK communications with all slave stati ons conne ct ed to the SVC32 ar e reset. Operation automatically changes to synchronized when communications are restored.

MECHATROLINK communications continue for all other Modules.

1. When you change the MECHATROLINK cycle, do so either with the CPU Function Module stopped or when motion commands are not being executed. Otherwise, application operations may be affected.

2. When changing the MECHATROLINK setting, the following operation will occur because MECHATROLINK communications are reset.

• Position inform ation and zero point return completion information for Servo axes will be lost.



Changing the MECHATROLINK Communications Cycle

Operation is automatically synchronized as long as the high-speed scan setting is an integral multiple of the communic ations cycle.

It is not necessary to cycle the power supply.

If asynchronous operation is set as a result of changing the communications cycle, an alarm will occur for the Servo axis and an I/O error will occur for the I/O station. If this happens, change the setting back to synchronized, save the settings to flash memory, and then cycle the power supply.

24 YASKAWA America, Inc. MP3300iec Hardware Manual YAI-SIA-IEC-7

14 Devices Connectable via MECHATROLINK-III



Servopacks

The following table shows Servopacks that are compatible with MECHATROLINK-III and can be connected to the controller.

Model Details

SGDV-

SGD7S-

SGD7W-



I/O Modules

ƑƑƑƑ

ƑƑƑ

ƑƑƑƑ

ƑƑƑ

E21

H21A

J21A

A20A

Σ-V Series AC Servo amplifiers for rotary motors Σ-V Series Mini AC Servo amplifiers for rotary motors Σ-V Series 200 VAC Large Capacity AC Servo amplifiers for rotary motors Σ-V Series 400 VAC Large Capacity AC Servo amplifiers for rotary motors Σ-V Series AC Servo amplifiers for linear motors Σ-7 Series 200 VAC Large Capacity AC Servo amplifiers Σ-7 Series 200 VAC Large Capacity dual motor AC Servo amplifiers

The following table shows the module that is compatible with MECHATROLINK-III and can be connected to the controller.

Model Details

JEPMC-MTD2310-E

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

YASKAWA America, Inc. MP3300iec Hardware Manual YAI-SIA-IEC-7 25

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