Yaskawa MP940 Hardware Manual

MotionSuite MP940 Machine Controller
Hardware Manual

Table of Contents

Section 1: Introduction.....................................................................................1

Machine Controller ......................................................................................1

Part Numbers ...............................................................................................3

Section 2: Startup..............................................................................................5

Mounting Orientation ..................................................................................5

Mounting the MP940 to an SGDH ..............................................................6

Mounting the Battery Holder.......................................................................8

Power / Connections ..................................................................................11

Wiring - Single Phase ..........................................................................12

Wiring - Three Phase ...........................................................................13

SGDH and MP940 Startup Procedure .......................................................14

Section 3: DIP Switch Definition ...................................................................15

Section 4: LED Indicators...............................................................................19

LED Display ..............................................................................................19

Section 5: Communications ............................................................................21

Serial Communication ...............................................................................21

System Configuration ..........................................................................22

Communication Specifications ............................................................23

Mechatrolink..............................................................................................27

MP940 Master......................................................................................27

Mechatrolink Connection ....................................................................28

DeviceNet ..................................................................................................29

Network Connections ..........................................................................29

Setting the Network Address ...............................................................30

Setting the Baud Rate ..........................................................................30

DeviceNet Status LEDs .......................................................................31

Setup Requirements on the Network Master .......................................31

Troubleshooting ..................................................................................32

i

Section 6: Digital I/O......................................................................................39

Digital I/O Specifications ..........................................................................40

Section 7: Limit Switch Inputs .......................................................................43

Section 8: Analog I/O .....................................................................................45

Analog Input ..............................................................................................45

Analog Output............................................................................................46

Section 9: External Encoder ...........................................................................47

External Encoder Specifications ................................................................48

Section 10: Registration Latch........................................................................49

Main Encoder Registration Input...............................................................50

External Encoder Registration Input..........................................................51

Section 11: Maintenance.................................................................................53

Battery Life ................................................................................................53

Battery Replacement..................................................................................53

Section 12: Specifications...............................................................................55

Physical Specifications ..............................................................................55

Hardware Specifications ............................................................................56

Section 13: Dimensional Drawings and Cable Diagrams...............................59

Dimensions ................................................................................................59

Connections ...............................................................................................63

Connector Specifications ...........................................................................64

I/O Connector ............................................................................................65

Mechatrolink Cables ..................................................................................67

Mechatrolink Cable..............................................................................67

ii

MotionSuite™ MP940 Machine Controller Hardware Manual Section 1: Introduction

Section 1: Introduction

The MP940 is a 1.5 axis machine controller which connects to an SGDH servo
amplifier via dual-port RAM.

This combination makes a fully integrated one-and-a-half-axis machine controller. It
can be used to perform point-to-point positioning, or following of external devices. It
has on-board digital and analog I/O, and network connections to link to other factory
automation equipment.

Note: Refer to the SGDH User’s Manual for SGDH information.

Machine Controller

Figure 1.1: MP940 Machine Controller / SGDH Combination

1

MotionSuite™ MP940 Machine Controller Hardware Manual Section 1: Introduction

evice

M

PG

SGDH

Current Control

Speed Control

Counter

AI

A/D

MP940

Motion

Dual Port RAM

Profiler

MP940

CPU

Local

I/O

DI

DO

AO

External

SERIAL

Network

Encoder

RS-232C

Motion

Works+

RS-422/485

Network

Device 1

Network

Device 2

Programming

D

Figure 1.2: Block Diagram of MP940 Functions

SGDH Amplifier

L1

L2

L1C
L2C
B1
B2

a) MP940

MP940

BAT

RDY

RUN

ALM

BAT

PRT1

PRT2

RUN

654321

INIT
TEST

FLASH

PP
COPY



NO

¨

PORT1

PORT2

POWER

+24V

GND

FG

Personal Computer

T
X

R
X

1

2

I/O

e) Battery Connector

M
E
C
H
A
T

c) Mechatrolink or DeviceNet Interface

R
O
L
I
N
K

d) Port #1 Serial Cable

.

b) I/O Connector

d) Port #2 Serial Cable

LED

e) Power Connector

Operator
Interface

2

MotionSuite™ MP940 Machine Controller Hardware Manual Section 1: Introduction

Part Numbers

Description Item Number

Machine Controller with Mechatrolink Interface JEPMC-MC400

a)

MP940

I/O

Cables

Cables

Mechatrolink

Machine Controller with DeviceNet Interface JEPMC-MC410

1.0m 50 Pin I/O Cable JZSP-CKI01-1

2.0m 50 Pin I/O Cable JZSP-CKI01-2

b)

3.0m 50 Pin I/O Cable JZSP-CKI01-3

1.0m 50 Pin I/O Cable (with terminal block) JUSP-TA50P

Mechatrolink Cable 0.3m USB-USB JEPMC-W6000-A3

Mechatrolink Cable 0.5m USB-USB JEPMC-W6000-A5

Mechatrolink Cable 1.0m USB-USB JEPMC-W6000-01

c)

Mechatrolink Cable 3.0m USB-USB JEPMC-W6000-03

Mechatrolink Cable 5.0m USB-USB JEPMC-W6000-05

Mechatrolink Cable 10.0m USB-USB JPEMC-W6000-10

Serial

Software

Accessories

Mechatrolink Network Terminator Plug JEPMC-W6020

3.0m Port #1 Cable YS-15

d)

Cables

3.0m Port #1 or Port #2 Pigtail Cable YS-14

3.6V Lithium Battery (with cable and connector) BA000518

Battery Holder (replacement) DF9402712

e)

DC Power Supply Connector (replacement) UFS-0118

Mounting Clip A (replacement) DF9402713

Mounting Clip B (replacement) DF9402714

f)

MotionWorks™ MPE720

MotionWorks+™ CP717PLUS

3

MotionSuite™ MP940 Machine Controller Hardware Manual Section 1: Introduction

NOTES:

4

MotionSuite™ MP940 Machine Controller Hardware Manual Section 2: Startup

Section 2: Startup

Mounting Orientation

Mount the SGDH and MP940 in the appropriate direction for proper cooling, as shown
on the left below.

Correct Incorrect

SGDH MP940

SGDH MP940

Figure 2.1: Mounting Orientation

5

MotionSuite™ MP940 Machine Controller Hardware Manual Section 2: Startup

Mounting the MP940 to an SGDH

1. Insert the lower two mounting notches into the mounting holes at the bottom of
the right side of the SGDH.

Servo Amplifier Connector

SERVOPACKYASKAWA

SGDH-

Connector (connected to servo amplifier)

2.

M

P

9

4

0

6

5

4

3

2

1



¨

N

O

1.

Figure 2.2: Mounting the MP940 to an SGDH Servo Amplifier

2. Push the MP940 in the direction indicated by the arrows in the figure above,
and insert the upper mounting notches of the MP940 into the upper mounting
holes on the right side of the SGDH.

6

MotionSuite™ MP940 Machine Controller Hardware Manual Section 2: Startup

Clip A

2 Cli

1

There are two types of mounting clips due to different sizes of servo amplifiers. See the
following table before mounting.

×

SGDH-A3 SGDH-05
SGDH-A5 SGDH-08
SGDH-01 SGDH-10
SGDH-02 SGDH-15
SGDH-04

Y

S

A

W

A

K

S

E

A

O

V

R

P

C

A

K

2

0

0

S

G

H

D

-

V

Clip A

p B ×

SGDH-20 SGDH-60
SGDH-30 SGDH-75
SGDH-50

Y

A

S

K

A

W

E

S

A

R

V

O

P

A

C

K

2

0

0

G

S

V

D

-

H

Clip A

Clip B

Top/Bottom: Clip A

Top: Clip A
Bottom: Clip B

7

MotionSuite™ MP940 Machine Controller Hardware Manual Section 2: Startup

3. Insert the mounting clips into the mounting holes in the MP940, as shown in
the figure below.

Servo Amplifier

Clip

Clip Mounting

Hook

MP940

Figure 2.3: Inserting the Mounting Clips

4. While pulling out on the mounting clip, hook the mounting clip on the top of
the MP940 case.

5. Mount the lower clip in the same manner.

Mounting the Battery Holder

Follow the steps below to mount the battery holder. The mounting method for the
MP940 battery holder is shown in the following figure.

Mounting Hole

3.

4.

1. Insert the battery holder into the MP940 upper battery holder mounting hole.

2. With the upper lock in contact with the battery holder mounting hole (top),
push the bottom of the battery holder into the bottom mounting hole.

8

MotionSuite™ MP940 Machine Controller Hardware Manual Section 2: Startup

MP940

BAT

RDY

RUN

ALM

BAT

PRT1

PRT2

RUN

654321

INIT
TEST

FLASH

PP
COPY

NO

→

PORT1

PORT2

POWER

+24V

GND

FG

TX

RX

1

M
E
C
H
A
T
R

2

O
L

I
N
K

I/O

LED

Upper lock

①

②

Push in this

lock

Battery Holder

Mounting Holes

Figure 2.4: Mounting the Battery Holder

3. Push the holder up to ensure it is securely mounted.

MP940

BAT

RDY

RUN

ALM

BAT

PRT1

PRT2

RUN

654321

INIT
TEST

FLASH

PP
COPY



NO

¨

PORT1

PORT2

POWER

+24V

GND

FG

TX

RX

1

M
E
C
H
A
T
R

2

O
L

I
N
K

I/O

LED

Figure 2.5: The Battery Holder is Securely Mounted

9

MotionSuite™ MP940 Machine Controller Hardware Manual Section 2: Startup

Battery

A battery is needed during absolute encoder use for both MP940 and SGDH position
data memory.

Battery for absolute
encoder position data
memory

Battery for RAM data
backup and position
data memory

SGDH Servo

Amplifier

MP940

MP940 Module

Figure 2.6: MP940 and SGDH Batteries

The batteries are required under the conditions listed below:

SGDH MP940 Usage Method

No No • FLASH Operation

• Incremental encoder, or absolute encoder used as an
incremental encoder.

No Yes • No FLASH Operation (RAM used)

• Incremental encoder, or absolute encoder used as an
incremental encoder.

Yes No • FLASH Operation

• Absolute encoder used.

Yes Yes • No FLASH Operation (RAM used)

• Absolute encoder used.

10

MotionSuite™ MP940 Machine Controller Hardware Manual Section 2: Startup

Power / Connections

The MP940 must be supplied with 24VDC. Detailed information on power
requirements for the SGDH are found in the SGDH User’s Manual.

Power Consumption 20W

Recommended Fuse Size 1A

Type of Power Supply Regulated 24VDC ±10%

MP940

BAT

RDY

RUN

ALM

BAT

PRT1

PRT2

RUN

654321

INIT
TEST

FLASH

PP
COPY



NO

¨

PORT1

TX

RX

1

M
E
C
H
A
T
R

2

O
L

I
N
K

I/O

PORT2

POWER

+24V

+24V

GND

GND

FG

FG

POWER

+24V

GND

FG

LED

Figure 2.7: MP940 Power Connection

Signal Name

+24V +24VDC Input

GND 0VDC Input

FG Frame Ground

11

MotionSuite™ MP940 Machine Controller Hardware Manual Section 2: Startup

Wiring - Single Phase

Apply power to the SGDH and MP940 at the same time. If the SGDH is not powered
within 10 seconds after turning power ON to the MP940 (or vice versa), the units will
not communicate with each other. Note: For maximum noise immunity, connect the
FG to a ground terminal on the sub-panel, or to the ground terminal on the SGDH.

R T

1MCCB

Noise Filter

2MC

1MC

Control

Power

ON

1MC

Servo

Power

ON

2MC

L1

L2

L1C
L2C
B1
B2

Control

Power

OFF

Servo

Power

OFF

Emergency

Stop

654321



NO

ｨ

MP940

BAT

RDY

RUN

ALM

BAT
PRT1

PRT2

RUN

INIT

TEST

FLASH
PP

COPY

PORT1

PORT2

POWER

+24V

GND

FG

1MC

1MC

SUP

2MC

SUP

TX
R
X

1

M
E
C
H
A
T
R

2

O
L
I
N
K

I/O

LED

24VDC

Supply

+24V

Figure 2.8: Single-phase Wiring

12

+24V

0V

MotionSuite™ MP940 Machine Controller Hardware Manual Section 2: Startup

V

Wiring - Three Phase

Apply power to the SGDH and MP940 simultaneously. If the SGDH is not powered
within 10 seconds after turning power ON to the MP940 (or vice versa), the units will
not communicate with each other. Note: For maximum noise immunity, connect the
FG to a ground terminal on the sub-panel, or to the ground terminal on the SGDH.

R

1MCCB

TS

Noise Filter

2MC

1MC

Control
Power

ON

1MC

Servo

Power

ON

2MC

Control
Power

OFF

Servo

Power

OFF

L1
L2
L3

L1C
L2C
B1
B2

Emergency

Stop


ｨ

1MC

MP940

BAT

RDY

RUN

ALM

BAT
PRT1

PRT2

RUN

654321

INIT
TEST

FLASH
PP
COPY

NO

PORT1

PORT2

POWER

+24V

1MC

SUP

2MC

SUP

TX
R
X

1

M

E

C

H
A
T

R

2

O

L
I
N
K

I/O

LED

GND
FG

24VDC

Supply

+24V

+24

0V

Figure 2.9: Three-phase Wiring

13

MotionSuite™ MP940 Machine Controller Hardware Manual Section 2: Startup

SGDH and MP940 Startup Procedure

Follow the steps below to set up the system.

1. Set the DIP switch of the MP940 as “MEMORY CLEAR”. (Only ‘INIT’ and
TEST are ON.)

2. Apply power to both the SGDH and the MP940.

3. Verify that the MP940 is initialized. (RDY and RUN LED lights blink.)

4. Set the DIP switch to normal operation. (Only RUN is ON).

5. Cycle the power of the MP940 and the SGDH.

6. Start the MotionSuite™ software tool and connect ON LINE.

14

MotionSuite™ MP940 Machine Controller Hardware Manual Section 3: DIP Switch Definition

Section 3: DIP Switch Definition

The function of the six switches is explained in the table below.

RUN

56

INITIAL

TEST

FLASH

P.P

1234

COPY

←

NO

Figure 3.1: MP940 DIP Switches

DIP Switch Settings

Number Name Setting Function

Default

Setting

6 RUN ON Application program runs at power ON ON

OFF Application program does not run at power ON

5 INIT ON When DIP switch 4 is OFF:

OFF

Data is copied from flash memory to RAM at power ON.

When DIP switch 4 is ON:

Memory is cleared.

OFF When DIP switch 4 is OFF:

Data is not copied from flash memory to RAM at power ON.

When DIP switch 4 is ON:

Nothing

4 TEST ON Terminal Mode/Initialization Mode OFF

OFF Online

3 FLASH ON Program is copied from flash memory to RAM at power ON. OFF

OFF Program is not copied from flash memory to RAM at power ON

2 Programming

Port Default

ON Defaults to Port 1 only OFF

OFF The programming port is set up through software selection

1 COPY ON Global variables are copied from flash at power ON OFF

OFF Global variables are not copied from flash at power ON.

15

MotionSuite™ MP940 Machine Controller Hardware Manual Section 3: DIP Switch Definition

Memory Initialization

To erase the application program, variables, and configuration data, set the DIP
switches in the following order.

Step 1 Step 2 Step 3 Step 4 Step 5

Turn the MP940
power OFF

Turn the INIT and
TEST DIP
switches to ON

RUN

56

INITIAL

TEST

FLASH

P.P

1234

COPY

←

NO

Turn on the power,
and check that the
RDY and RUN
LEDs are flashing
(approximately 3s).

Turn the power
OFF. Turn the Run
DIP switch ON.

RUN

56

INITIAL

TEST

FLASH

P.P

1234

COPY

←

NO

Turn power ON.

Note:Perform memory initialization if controller power is turned OFF while the

battery is removed. This is not necessary if using the “Copy from Flash at
Power Up” mode.

Standard Operation

The DIP switch pattern shown is the factory default setting.

Figure 3.2: Factory Default Setting

RUN

56

INITIAL

TEST

FLASH

P.P

1234

COPY

←

NO

16

MotionSuite™ MP940 Machine Controller Hardware Manual Section 3: DIP Switch Definition

Flash Memory Operation

Outline Of Flash Operation

Programs created by the user are normally stored in RAM. The CPU executes
programs stored in RAM. The programs stored in RAM can also be saved to the
flash memory. Running programs after copying them from flash to RAM at
power ON is called flash operation.

Flash memory saves programs even if there is no memory backup battery.

Flash Start Mode

Transfer from flash memory to RAM occurs when DIP switch 3 is ON (flipped
to the right) and the power is turned ON.

Note: MotionSuite™ software tools have a setting which copies the application
program to flash when downloading. Refer to the software manual for details.
The flash start mode does not work unless an application program has been
saved to flash.

Figure 3.3: Transfer from Flash Memory to RAM

Retaining Variable Data

The lithium battery makes it possible to save variable data in RAM even when the
power is OFF. This is useful when saving data that changes during operation, such as
a parts counter, or specific information about a job run. Programming must be written
so that specific variables that must be retained are not initialized every time the power
is turned ON.

RUN

56

INITIAL

TEST

FLASH

P.P

1234

COPY

←

NO

17

MotionSuite™ MP940 Machine Controller Hardware Manual Section 3: DIP Switch Definition

Copying Servo Amplifier Pn Data from MP940 to SGDH

It is possible to load parameter data that was downloaded to the controller via
MotionWorks or MotionWorks+ by turning off all DIP switches except the copy
switch. The parameter transfer will occur at power up. The display panel on the SGDH
will go off during the parameter transfer. Return the DIP switches to standard
operation and cycle power after the operation is complete.

18

MotionSuite™ MP940 Machine Controller Hardware Manual Section 4: LED Indicators

Section 4: LED Indicators

LED Display

The MP940 runs a series of tests during start-up. If an error is detected, the ERR LED
flashes, and the content of the error corresponds to the number of flashes.
MotionSuite™ software tools cannot communicate with the controller while an error
LED is flashing or memory initialization is occurring. The MP940 LEDs are shown in
the following table.

LED Display Patterns

LED

Type

Normal ON OFF OFF OFF Application program stopped

Error OFF OFF ON OFF Memory error (initialization may be required)

Warning — — — ON Battery alarm

Other Flashing Flashing OFF OFF Memory initialization by DIP switch setting complete.

RDY

(Green)

ON ON OFF OFF Normal application program execution

OFF OFF OFF OFF Initial operation (when display continues)

OFF OFF Flashing OFF

ON ON ON OFF 1. Operand error or I/O error

System (S) register message
(no LED display)

OFF OFF ON OFF Offline testing mode.

RUN

(Green)

ERR

(Red)

BAT

(Red)

1. 2 flashes: RAM error

2. 3 flashes: ROM error

3. 4 flashes: Peripheral LSI letter

Hardware status (Momentary Stop, RUN/STOP, Test­ing Mode, etc.)

Meaning

In addition, there are the following four LEDs.

Description Type Color

PRT1 RS232 Green Flashes to indicate communication

PRT2 RS422 Green Flashes to indicate communication

TX Mechatrolink Green Flashes to indicate communication

RX Mechatrolink Green Flashes to indicate communication

19

Meaning

MotionSuite™ MP940 Machine Controller Hardware Manual Section 4: LED Indicators

I/O Status LED

The status of the digital inputs and outputs can be displayed by using an LED block
accessory.

No.

Signal Name Note No. Signal Name Note

1 VCC Power (+5V) 2 —

3—

5 LED1*

7 LED2*

9 LEDPW3

11 LED3*

13 LED5*

15 LED7

654321



NO

¨

MP940

BAT

RDY

RUN

ALM

BAT

PRT1

PRT2

RUN

INIT
TEST

FLASH

PP
COPY

PORT1

—

—

—

—

—

—

—

4 LED0*

6—

8 LEDPW0

10 LEDPW2

12 LED4

14 LEDPW1

16 LED6*

TX

RX

1

M
E
C
H
A
T
R

2

O

L

I
N
K

—

—

—

—

—

—

—

—

I/O

PORT2

POWER

+24V

GND

FG

LED

Figure 4.1: MP940 LED Block

20

LED

MotionSuite™ MP940 Machine Controller Hardware Manual Section 5: Communications

Section 5: Communications

Serial Communication

The MP940 is equipped with one (1) RS-232C port and one (1) RS-422/485 port.
PORT1 (RS-232) is the programming port.

The MP940 operates as either a master or slave according to setting in the
MotionSuite™ software tools.

MP940

TX

RX

1

M
E
C
H
A
T
R

2

O
L

I
N
K

Transmission

I/O

Comm.

CPU

Processor-1

Transmission

Processor-2

RS-232C

RS-422/

485

PORT1

PORT2

Port 1

BAT

RDY

RUN

ALM

BAT

PRT1

PRT2

RUN

654321

INIT
TEST

FLASH

PP
COPY



NO

¨

PORT1

PORT2

Port 2

POWER

+24V

GND

FG

LED

Figure 5.1: Serial Transmission Interface

21

MotionSuite™ MP940 Machine Controller Hardware Manual Section 5: Communications

System Configuration

The figure below illustrates connection of a PC and an operator interface to the
MP940.

MP940

TX

BAT

R
X

RDY

RUN

ALM

1

BAT

PRT1

M

PRT2

E
C

RUN

654321

H

INIT

A

TEST

T

FLASH

R

2

O

PP

L

COPY



NO

I

¨

N
K

PORT1

I/O

RS-232C

RS-422

Display

PORT2

POWER

+24V

LED

GND

FG

Panel

Figure 5.2: Serial System Configuration

The figure below illustrates connection of a MotionSuite™ programming tool to the
RS-232C port and branched connection of peripheral devices from the RS-485 port.

MP940

TX

BAT

R
X

RDY

RUN

ALM

1

BAT

PRT1

M

PRT2

E
C

RUN

654321

H

INIT

A

TEST

T

FLASH

R

2

O

PP

L

COPY

NO

→

I
N
K

PORT1

I/O

PORT2

RS-232C

Notebook PC

POWER

+24V

LED

GND

FG

RS-485

External

Device

External

Device

External

Device

External

Device

Figure 5.3: Branched Connection of Peripheral Devices

22

MotionSuite™ MP940 Machine Controller Hardware Manual Section 5: Communications

Communication Specifications

Item Specification

Interface RS-232, 1 Port

RS-422/485 1 Port

Connector RS-232 PORT1 MDR-14pin/female

RS-422/485 PORT2 MDR-14pin/female

Transmission
Range

Baud Rate RS-232 PORT1 9600, 14400, 19200bps

Synchronization
Type

Transmission
Protocol

Transmission
Format

RS-232: 15m Maximum
RS-422/485: 300m Maximum

RS-422/485 PORT2: 9600, 14400, 19200bps

Asynchronous (start-stop synchronization)

MEMOBUS (Master/Slave)

Data Bit Length 7 or 8 Bit
Stop Bit 1 or 2 Bit (port 1only) port 2 is fixed at 1 stop bit
Parity Bit Even/Odd/None

Connector pins and signal names of port 1

Signal

Name

Description Pin

PORT1

Pin

1 TxD Transmit data 8 — —

2— — 9— —

3 RxD Receive data 10 — —

4— — 11— —

5— — 12RTSRequest to Send

6 CTS Clear to Send 13 — —

7 — — 14 GND Ground

Signal
Name

Description

23

MotionSuite™ MP940 Machine Controller Hardware Manual Section 5: Communications

Connector pins and signal names of port 2

PORT2

Pin

Signal

Name

Description Pin

1 TX+ + side of transmission

8 TX+ + side of transmission data

Signal

Name

Description

data

2 TX- - side of transmission data 9 TX- - side of transmission data

3 RX+ + side of received data 10 RX+ + side of received data

4 RX- - side of received data 11 TXR Transmission data

termination resistor

5— — 12— —

6 RX- - side of received data 13 VCC Power +5V

7 RXR Received data termination

14 GND Ground

resistor

Termination Resistor

Terminal Resistor

（

RXR

RXR

）

RX（+

RX+

RX（-

RX-

TXR（+

TXR

TX+

TX（+

TX-

TX（-

+

）

）

）

）

）

Figure 5.4: Internal Termination Resistors

The MP940 has two internal terminating resistors that are connected to the positive
side of the signal. To terminate the signals, connect RXR and RX- together, as well as
TXR and TX- signals.

24

MotionSuite™ MP940 Machine Controller Hardware Manual Section 5: Communications

RS422/485 Interface Cable

1. Make sure that the drive system, control system, power system, and other
transmission systems are separate from each other (i.e., do not run the
power wire with the control wire).

2. The RS422/485 cable length is 300m maximum. Use the minimum length
necessary.

3. The MP940 module RS422/485 interface is a non-isolated system. Errors
may occur from noise in the connected terminal. If noise occurs, use a
shield-type cable and modem to reduce the noise.

4. In the case of RS422, insert a terminating resistor as needed. Make the
termination on the receiving side.

5. In the case of RS-485, attach a terminating resistor to both ends of the
transmission line.

25

MotionSuite™ MP940 Machine Controller Hardware Manual Section 5: Communications

C

t

MP940 PORT2

MP940 PORT2

TX+

TX-

TXR

RX+

RX-

RXR

SHIELD

GND

MP940 PORT2

MP940 PORT2

TX+

TX-

TXR

RX+

RX-

RXR

SHIELD

GND

11

14

11

14

ounterpar

Node

1

2

3

4

7

FG

1

2

3

4

7

11

14

If connecting multiple

The following will result

MP940s together, wire

if the MP940

them as shown here.

counterpart is the
same.

MP940 PORT2

MP940 PORT2

3

RX+

4

RX-

7

RXR

1

TX+

2

TX-

TXR

SHIELD

GND

FG

Figure 5.5: Wiring Diagram

26

MotionSuite™ MP940 Machine Controller Hardware Manual Section 5: Communications

Mechatrolink

The Mechatrolink network option is included with MP940 part number
JEPMC-MC400. Mechatrolink is a high-speed Yaskawa field network. This network
allows for a master / slave configuration. The MP940 can be used as a master or a
slave.

MP940 Master

There can be 14 slave nodes when the MP940 is used as a master. The following is an
example of a network-compatible I/O module connected as node 1 to an MP940.

MP940

MP940

BAT

RD

Y

RU

N
ALM

BAT
PRT

1
PRT

2

RU

654321

N
INIT

TEST

FLASH

PP

COPY

･

NO

ｨ

PORT1

PORT2

POWER

+24V

GN

D

FG

D

TX

RX

1

M
E
C
H
A
T
R

2

O
L
I
N
K

I/O

LE
D

SW1

SW2 IN1

DC24V

DC 0V

Node 1

YASKAWA

JEPMC-IO350

CN1

IN1

A1 A1 A1 A1B1B1 B1 B1

IN2

OUT

2

OUT

1

IO
(

IO35

OUT

1

OUT

IN2

2

14 Nodes
Maximum

Node 2

Node 3

Figure 5.6: Mechatrolink Connection Example

Unit

)

27

MotionSuite™ MP940 Machine Controller Hardware Manual Section 5: Communications

Mechatrolink Connection

The following figure shows the connection of the MP940 module to an I/O350 unit.

Use the standard cable (JEPMC-W6000-A3) when connecting an MP940 module to
an I/O350, or when connecting one I/O350 to another I/O350.

MP940

TX

BAT

R
X

RDY

RUN

ALM

1

BAT

PRT1

M

PRT2

E

C

RUN

654321

H

INIT

A

TEST

T

R

FLASH

2

O

PP

L

COPY


¨

I

NO

N

K

PORT1

I/O

PORT2

POWER

+24V

LED

GND

FG

USB Terminator JEPMC-W6020

JEPMC-W6000-A3

I/O350

I/O350

Figure 5.7: MP940 Connection to Multiple I/O 350 Modules

Insert the USB terminator (JEPMC-W6020) into the terminal connector ((1) or (2) in
the figure below). The mechatrolink connectors 1 and 2 are the same; the terminator
may be inserted into either one.

Insert a USB terminator (JEPMC-W6020) into unused ports.

（NC）

1

MECHATROLINK

2

NC

SRD-

SRD-

SRD+

SRD+

SH

SH

（NC）

NC

SRD-

SRD-

SRD+

SRD+

SH

SH

Figure 5.8: Terminal Connectors

There is only one channel per Mechatrolink port in the MP940 module. As shown in
the figure above, the top and bottom of the connector are the same although there are
two receptacles.

28

MotionSuite™ MP940 Machine Controller Hardware Manual Section 5: Communications

The MP940 is used as a slave node:

Upper-Level

Controller

MP940

SGDH

Slave

Nodes

The MP940 cannot communicate directly to the I/O350 or distributed I/O if
configured as a slave.

DeviceNet

The DeviceNet option is included with MP940D part number JEPMC-MC410.

Network Connections

SGDH

Master

Node

MP940

SGDH

MP940

Node 4

ST#1

14 nodes
maximum

Pin Description Color

1V+ Red

2 CAN+ White

3 Shield Bare

4CAN- Blue

5 V- Black

29

MotionSuite™ MP940 Machine Controller Hardware Manual Section 5: Communications

Setting the Network Address

There are two rotary switches on the side of the MP940D. Rotate the switches to the
appropriate node address. Every device on the network must have a unique address.
For example, to set the unit to address 46, set the left dial to “4” and the right dial to
“6” as shown below. Note: The maximum number of device nodes is 63.

0

9

8

7

1

8

2

7

3

0

9

46

5

5

×10 ×1

Figure 5.9: Rotary Switches

Setting the Baud Rate

There are four DIP switches on the side of the unit.

ON

12 34

X2 X1 DR1 DR0

X2 not used
X1 OFF SLAVE

DR1 baud
DR0 baud

1

2

3

46

ON MASTER

12 34

X2 X1 DR1 DR0

ON

Figure 5.10: DIP Switches

Follow the chart to set each of the baud rates.

DR1 DR0

125k OFF OFF

250k OFF ON

500k ON OFF

30

MotionSuite™ MP940 Machine Controller Hardware Manual Section 5: Communications

DeviceNet Status LEDs

There are two status LEDs above the network connector. Their display is either green or
red, depending on the current status. The left LED is MS (Module Status), and the right
LED is NS (Network Status).

Module Status Network Status Explanation Troubleshooting

solid green solid green Normal running condition No action required.

flashing green flashing green No network power (24V) Check the connection state of

the rack and system bus cable
connectors.

solid green flashing red No response received from

DeviceNet master

solid red OFF Hardware defect Replace module.

solid red solid red Hardware defect Replace module.

Check the connection state of
the rack and system bus cable
connectors.
Check the baud rate setting of
each device.
Check the resistance and
mounting of the termination
resistor (121 ohms).
Check the operation of the
DeviceNet master.

Setup Requirements on the Network Master

Strobed No

Polled I/O Yes

Explicit No

Input Size 256 bytes (maximum)

Output Size 256 bytes (maximum)

Input/output size can be less, but the settings must agree on both master and slave
setup configuration.

31

MotionSuite™ MP940 Machine Controller Hardware Manual Section 5: Communications

Troubleshooting

When the LED detects an error during DeviceNet communications, it reports the error
via the indicators. The following table gives probable causes and possible solutions.

Master

Troubleshooting the Master

Indicators Problem Probable Cause Possible Solution

MS not lit
NS not lit

MS red lit
NS not lit

MS red lit
NS red lit

MS green lit
NS red lit

MS green lit
NS not lit

No DeviceNet
communications

No power to the
MP940D

Hardware
malfunction

Hardware
malfunction

Duplicate MAC ID(1) Change the MAC ID address for the MP940D and

Bus-OFF (1) Check the wiring and connections for DeviceNet

Network power
supply error

Check the network power supply to the MP940D.

Replace MP940D.

Replace MP940D.

cycle the power.
(2) Change the MAC ID addresses for other DeviceNet
devices and cycle the power to the MP940D.

cables and connectors.
(2) Check the power supply voltage and connection for
communications power.
(3) Check the network power supply voltage on the
connector of each slave (11 to 24 V).
(4) Check the baud rate for each DeviceNet device in the
network.
(5) Check the terminator (121Ω) and connection status.
Check the length of the network.

Replace the MP940D. Then, either cycle the power for the
MP940D or disconnect and reinsert the DeviceNet
connectors.

(1) Check the wiring and connections for DeviceNet
cables and connectors.
(2) Check the power supply voltage and connection for
communications power.
(3) Check the network power supply voltage on the
connector of each slave (11 to 24V).

32

MotionSuite™ MP940 Machine Controller Hardware Manual Section 5: Communications

Troubleshooting the Master

Indicators Problem Probable Cause Possible Solution

MS green lit
NS not lit
(cont.)

MS green lit
NS green
flashing

MS green lit
NS red
flashing

MS green lit
NS green lit

No DeviceNet
communications
(cont.)

Communications
are occurring but
the maximum
communications
cycle time
exceeds the
setting

Communications
are occurring but
the receive data
refresh is
delayed

DeviceNet
network error

Connection not
established with
DeviceNet
device

DeviceNet I/O
sizes different to
setting

No response
from DeviceNet
slave

DeviceNet
device is idle

Excessive traffic
on DeviceNet.
The
communications
cycle time
setting is too
low for the I/O
command send
time.

Excessive traffic
on DeviceNet.
The
communications
cycle time
setting is too
low for the I/O
response receive
time. The
processing load
for data
exchange with
the slaves is too
large.

(1) Check the wiring and connections for DeviceNet
cables and connectors.
(2) Check the baud rate for each DeviceNet device in the
network.
(3) Check the terminator (121Ω) and connection status.
(4) Check the operation status of DeviceNet devices on the
network.
(5) Replace the MP940D.

Set the I/O allocations.

(1) Change the I/O sizes for the I/O allocation.
(2) Change the I/O sizes for the DeviceNet device.

(1) Check the wiring and connections for DeviceNet
cables and connectors.
(2) Check the baud rate for each DeviceNet device in the
network.
(3) Check the operation status of DeviceNet devices on the
network.

Remove the cause of the idle status of the DeviceNet
device.

Increase communications cycle time.

(1) Increases communications cycle time for the
DeviceNet slaves.
(2) Increase the baud rate.
(3) Increase the setting of the CPU scan time for the I/O
allocation SYNC setting.

33

MotionSuite™ MP940 Machine Controller Hardware Manual Section 5: Communications

Troubleshooting the Master

Indicators Problem Probable Cause Possible Solution

MS green lit
NS green lit
(cont.)

MS green lit
NS green
flashing

MS green lit
NS red lit

MS green lit
NS green lit

MSG - SND
function
terminated due to
error (during
DeviceNet
communications)

MSG - SND
function remains
BUSY and does
not end

Parameter
setting error

EM allocations
not made

I/O
communications
error

MSG - SND
function
parameter
setting error

Excessive traffic
on DeviceNet
(Cannot send
Explicit request
message)

(1) Verify the MSG - SND function parameter settings are
correct.

•Data address

•Data size

(1) Set the EM allocation under “I/O Allocations.”

Remove the cause of the I/O error.

(1) Verify the MSG - SND function parameter settings are
correct.

•Remote station #

(1) Set longer communications cycle time.
(2) For multi-master configuration, increase the
communications cycle time for the other master.

34

MotionSuite™ MP940 Machine Controller Hardware Manual Section 5: Communications

Slave

Troubleshooting Slaves

Indicators Problem Probable Cause Possible Solution

MS not lit
NS lit

MS red lit
NS not lit

MS red lit
NS red lit

MS green lit
NS red lit

MS green lit
NS not lit

MS red lit
NS not lit

MS green lit
NS green flash­ing

No DeviceNet
communica­tions

No power
supply to
MP940D

Hardware
malfunction

Hardware
malfunction

Duplicate
MAC ID

Bus-OFF (1) Check the wiring and connections for DeviceNet

Communica­tions power
supply error

DeviceNet
network error

Connection not
established
with
DeviceNet
device

Check the network power supply to the MP940D.

Replace the MP940D.

Replace the MP940D.

(1) Change the MAC ID address for the MP940D and
cycle the power
(2) Change the MAC ID addresses for other DeviceNet
devices and cycle the power to the MP940D.

cables and connectors.
(2) Check the power supply voltage and connections for
communications power.
(3) Check for network power supply voltage on the
DeviceNet connector of the MP940D (11 to 24V).
(4) Check the baud rate for each DeviceNet device on the
network.
(5) Check the terminator (121Ω) and connection status.
(6) Check the length of the network.
(7) Replace the MP940D. Then, either cycle the power
for the MP940D or disconnect and reinsert the DeviceNet
connectors.

(1) Check the wiring and connections for DeviceNet
cables and connectors.
(2) Check the power supply voltage and connections for
network power.
(3) Check the communications power supply voltage on
the DeviceNet connector of the MP940D (11 to 24V).
(4) Check the terminator (121Ω) and connection status.

(1) Check the wiring and connections for DeviceNet
cables and connectors.
(2) Check the baud rate for each device.
(3) Check the terminator (121Ω) and connection status.
(4) Check the operation status of the DeviceNet master.
(5) Replace the MP940D.

(1) Check the DeviceNet master scan list settings.
(2) Check the wiring and connections for DeviceNet
cables and connectors.
(3) Check the baud rate for each device.
(4) Check the operation status of the DeviceNet master.

35

MotionSuite™ MP940 Machine Controller Hardware Manual Section 5: Communications

Slave

Troubleshooting Slaves

Indicators Problem Probable Cause Possible Solution

MS green lit
NS green flash­ing (cont.)

MS green lit
NS red flashing

MS green lit
NS red flashing

MS green lit
NS green lit

No DeviceNet
communica­tions (cont.)

No response
from
DeviceNet
master

DeviceNet I/O
size different to
setting

No response
from
DeviceNet
master

DeviceNet I/O
size different to
setting

The MAC ID
rotary switch
setting is
different than
the MAC ID
software
setting

The MAC ID
rotary switch
setting is
different than
the MAC ID
software
setting

(1) Check the wiring and connections for DeviceNet
cables and connectors.
(2) Check the baud rate for each device.
(3) Check the terminator (121Ω) and connection status.
(4) Check the operation status of the DeviceNet master.
(5) Check the voltage and connection for network power
supply.
(6) Check the communications power supply voltage on
the DeviceNet connector of the MP940D (11 to 24V).

(1) Change the I/O sizes for the I/O allocations.
(2) Change the I/O sizes for the DeviceNet device.

(1) Check the wiring and connections for DeviceNet
cables and connectors.
(2) Check the baud rate for each device.
(3) Check the terminator (121Ω) and connection status.
(4) Check the operation status of the DeviceNet master.
(5) Check the power supply voltage and connection for
network power supply.
(6) Check the communications power supply voltage on
the DeviceNet connector of the MP940D (11 to 24V).

(1) Change the I/O sizes for the I/O allocations.
(2) Change the I/O sizes for the DeviceNet device.

(1) Change the MAC ID software setting.
(2) Change the MAC ID rotary switch setting and cycle
the power.

(1) Change the MAC ID software setting.
(2) Change the MAC ID rotary switch setting and cycle
the power.

36

MotionSuite™ MP940 Machine Controller Hardware Manual Section 5: Communications

Slave

Troubleshooting Slaves

Indicators Problem Probable Cause Possible Solution

MS green lit
NS green lit

MS green lit
NS green lit

Communica­tions are
occurring but
the receive
data is not
being
refreshed

Communica­tions are
occurring but
the receive
data refresh is
delayed

DeviceNet
master is in
idle status

Excessive traf­fic on
DeviceNet.
The communi­cations cycle
time setting is
too low for the
I/O response
receive time.
The process­ing load for
data exchange
with the mas­ter is too large.

Remove the cause of the idle status of the DeviceNet
master.

(1) Increase communications cycle time for the
DeviceNet master.
(2) Increase the baud rate.
(3) Increase the CPU scan time for the I/O allocation
SYNC setting.

37

MotionSuite™ MP940 Machine Controller Hardware Manual Section 5: Communications

NOTES:

38

MotionSuite™ MP940 Machine Controller Hardware Manual Section 6: Digital I/O

Section 6: Digital I/O

The MP940 is equipped with eight digital inputs and eight digital outputs. There are
two additional general purpose inputs available from the SGDH via dual port RAM.

MP940

BAT

RDY

RUN

ALM

BAT

PRT1

PRT2

RUN

654321

INIT
TEST

FLASH

PP
COPY



NO

¨

PORT1

TX

RX

1

M
E
C
H
A
T
R

2

O
L

I
N
K

I/O

PORT2

POWER

+24V

GND

FG

LED

Figure 6.1: Digital I/O Connection

39

MotionSuite™ MP940 Machine Controller Hardware Manual Section 6: Digital I/O

Digital I/O Specifications

Digital Input Specifications

Item Specification

Number of Input Points 8

Input Format Sinking or Sourcing

Isolation Optical

Vol ta g e 2 4 V DC ± 2 0 %

Current Rating (ON) 5.3mA to activate

Input Impedance 4.4kΩ

Operation Voltage Logic 0 < 5V

Logic 1> 15V

OFF Current 0.9mA or less

Response Time OFF to ON: < 0.5ms

ON to OFF: <1.5ms

13

38

14

39

15

40

16

41

17

42

MP940 I/O

Connector

Input 1

Input 2

Input 3

Input 4

Input 5

Input 6

Input 7

Input 8

24VDC

External Input Signal

40

MotionSuite™ MP940 Machine Controller Hardware Manual Section 6: Digital I/O

Digital Output Specifications

Item Specification

Number of Output Points 8

Output Format Sinking

Output Classification Transistor Output

Isolation Optical

Load Voltage 24VDC ±20%

Load Current 100mA / Output

ON Voltage 1.0V or less

Response Time OFF to ON < 0.25ms

ON to OFF <0.5ms

External Common Power 24VDC ±20% 15mA

Output Protection 1 internal fuse common to all outputs

Fuse Rating 1.5A (Fusing Time: 5s or less at 3A)

Fuse

20

45

21

46

22

47

23

48

24

49

25

MP940 I/O
Connector

Output 1

Output 2

Output 3

Output 4

Output 5

Output 6

Output 7

Output 8

24VDC

Fuse

L

L

L

L

L

L

L

L

External Output Signal

Fuse Breakage

Detection

Circuit

50

A fuse is included on the common output line of the MP940 module as a protection
circuit. However, there is a risk of the fuse not breaking due to an external short.
Provide an external 100mA fuse on each output for added protection.

41

MotionSuite™ MP940 Machine Controller Hardware Manual Section 6: Digital I/O

NOTES:

42

MotionSuite™ MP940 Machine Controller Hardware Manual Section 7: Limit Switch Inputs

Section 7: Limit Switch Inputs

The limit and home inputs are wired to the SGDH amplifier as shown in the figure
below.

+24V

Servo Enable Input

Home Input

Positive Overtravel

Negative Overtravel

P

P

V-REF

SG

BAT+

BAT-

S-ON

DEC

P-OT

N-OT

21

22

47

40

41

42

43

L1

L2

LC1

LC2

+

+12

5

6

33k

SGDH

A/D

Ω

U

V

W

CN2

25

`

26

27

`

28

29

`

30

31

`

32

37

38

39

Motor

SO1

SO2

Output signal mapping is
possible using
Pn50E~Pn510 settings.

SO3

ALM+

Servo Alarm Output

ALM-

ALO1

ALO2

Alarm Code Output

30VDC Maximum Voltage

ALO3

20mA Maximum Output Current

M

PG

General Input

General Input

Main Encoder Registration Latch

EXT1

44

EXT2

45

EXT3

46

Dual Port RAM

MP940

Figure 7.1: SGDH I/O Specifications

43

MotionSuite™ MP940 Machine Controller Hardware Manual Section 7: Limit Switch Inputs

If your application does not require limit switches, they can be disabled. To disable
the positive overtravel limit (P-OT), set the SGDH parameter Pn50A.digit3 to “8”.

To disable the negative overtravel limit (N-OT), set the SGDH parameter Pn50B.digit
0 to “8”.

Please read section 5.3.3 of the SGDH User’s Manual for further information.

44

MotionSuite™ MP940 Machine Controller Hardware Manual Section 8: Analog I/O

Section 8: Analog I/O

Analog Input

The MP940 analog input comes from the SGDH analog input via dual port RAM. The
analog input enters the SGDH on pin 5 of the CN1 connector. Normally, this is the
VREF input, but when the MP940 and SGDH are combined, the VREF becomes
available for general purpose.

CN1 Connector

SGDH

MP940

5

A/D

Dual Port RAM

V

6

-12V ~ +12V

Figure 8.1: Analog Input Data

Item Specifications

Input Voltage ± 12V

Input Impedance Approximately 14k

Resolution 16 bits over a ±15V range or 457µV/bit

Accuracy The linearity of the analog input is guaranteed only within the range of ±12.0V

32767

-15V

26213

-26214

-32768

45

12V-12V

15V

MotionSuite™ MP940 Machine Controller Hardware Manual Section 8: Analog I/O

Analog Output

Item Content

D/A Output Resolution 16Bit over a +/-10V range, or 328µV/bit

+15V

1k

Ω

-15V

47

-

Ω

1

+

26

MP940 I/O Connector

P

External Device

-10~+10V

L

-32768

-30481

+10.75V

+10V

+32767

+30480

-10V

-10.75V

46

MotionSuite™ MP940 Machine Controller Hardware Manual Section 9: External Encoder

Section 9: External Encoder

MP940

BAT

RDY

RUN

ALM

BAT

PRT1

PRT2

RUN

654321

INIT
TEST

FLASH

PP
COPY



NO

¨

PORT1

PORT2

TX

RX

1

M
E
C
H
A
T
R

2

O
L
I
N
K

I/O

POWER

+24V

GND

FG

LED

Figure 9.1: The MP940 External Encoder

47

MotionSuite™ MP940 Machine Controller Hardware Manual Section 9: External Encoder

External Encoder Specifications

Item Content

Input Format • Quadrature

• Pulse and Direction

• 1 channel positive, 1 channel negative

Maximum Frequency 1MHz

MP940 I/O Connector

MP940

Digital Ground

390

390

4

Ω

Ω

5

6

29

30

A-phase

P

B-phase

P

Pulse Generator

+5V

0V

Digital Ground

31

Connector Shell

Shield

48

MotionSuite™ MP940 Machine Controller Hardware Manual Section 10: Registration Latch

Section 10: Registration Latch

The registration latch is used to record (i.e., latch onto) the encoder position at the
moment an external signal is input (rising edge).

Number of Latch Circuits 2

Input Type Current Source Photocoupler Isolation

Main encoder latch input voltage 24VDC

Latch Input

External encoder latch input voltage Can be switched between 24VDC :12VDC :5VDC

(+)

Encoder Position

Enable Latch

External

Signal

Latch Completion

Signal

Registration Input

0

Hardware Latch

(-)

Latch window

1µs (minimum)

Figure 10.1: Registration Latch

49

MotionSuite™ MP940 Machine Controller Hardware Manual Section 10: Registration Latch

Main Encoder Registration Input

The registration latch for the SGDH is wired into the 1CN connector on the amplifier.
Latch registration with this input is performed from the MP940 through dual port
RAM.

Either the “C” channel or EXT3 can be used for the main encoder latch. If no latch is
required by the application, EXT3 can be used for general purpose.

+24V

P

P

V-REF

SG

BAT+

BAT-

S-ON

DEC

P-OT

N-OT

L1

L2

LC1

LC2

+

+12

21

22

47

40

41

42

43

SGDH

5

6

33k

A/D

Ω

U

V

W

CN2

25

`

26

27

`

28

29

`

30

31

`

32

37

38

39

Motor

M

PG

SO1

SO2

Output signal mapping is
possible using
Pn50E~Pn510 settings.

SO3

ALM+

Servo Alarm Output

ALM-

ALO1

ALO2

Alarm Code Output

30VDC Maximum Voltage

ALO3

20mA Maximum Output Current

Main Encoder Registration Latch

EXT1

EXT2

EXT3

44

45

46

Dual Port RAM

MP940

50

MotionSuite™ MP940 Machine Controller Hardware Manual Section 10: Registration Latch

External Encoder Registration Input

MP940 I/O Connector

2.2k

2.2k

Ω

Ω

10

LC24V

+5V

680

34

390

Ω

Ω

35

LC12V

LC5V

9

LATCH

5VDC or 12VDC or 24VDC

P

51

MotionSuite™ MP940 Machine Controller Hardware Manual Section 10: Registration Latch

NOTES:

52

MotionSuite™ MP940 Machine Controller Hardware Manual Section 11: Maintenance

Section 11: Maintenance

Battery Life

The battery can preserve the program and data for a period of one year with power off.
The battery has a life expectancy of five years under normal operating conditions.
However, these values change depending on external conditions such as temperature.

Replace the battery within two weeks, when the “BAT” display LED is on. If the
battery is replaced beyond two weeks, programs and data stored in the MP940
memory will be lost.

Battery Replacement

Battery replacement is as follows.

Preparation

1. Save memory contents
Before replacing the battery, save programs and data to a floppy disk or hard
disk. The disk can be used if programs and data are accidentally erased due to
a mistake when replacing the battery.

2. Replacement battery
Use replacement battery type BA000518. This battery is not standard, and
must therefore be purchased from Yaskawa. The replacement battery appears
as in the diagram below.

Figure 11.1: BA000518 Battery with Cable

53

MotionSuite™ MP940 Machine Controller Hardware Manual Section 11: Maintenance

Prepare Replacement Battery

Prepare the replacement battery as in the drawing below.

MP940

TX

BAT

RX

RDY

RUN

ALM

1

BAT

PRT1

PRT2

RUN

654321

INIT

TEST

FLASH

PP

COPY

L1

L2

N

→

O

PORT1

M
E
C
H
A
T
R

2

O

L
IN
K

I/O

Figure 11.2: BA000518 (Battery with Cable)

Battery Replacement

Replace the battery as follows:

1. Verify the controller power LED is ON. (The controller MUST have power
when the battery is removed.)

2. Remove the connectors at the end of the battery leads from the MP940 module
connector, and remove the battery from the internal battery holder.

3. Firmly insert the connector attached to the leads of the replacement battery into
the MP940 module connector. Then insert the battery into the battery holder.

L1C
L2C
B1
B2

PORT2

POWER

+24V

LED

GND

FG

4. Verify the “BAT” LED is OFF.

Battery replacement is complete.

Always replace the battery with power ON. The programs and data stored in the
MP940 module will be deleted if the battery is replaced with the power supply shut off
from the MP940 module.

54

MotionSuite™ MP940 Machine Controller Hardware Manual Section 12: Specifications

Section 12: Specifications

Physical Specifications

Physical Specifications of the MP940

Item Specification

Ambient Usage Temperature 0 ~ +40°C (32° ~ 130°F)

Storage Temperature -25 ~ +85°C (-10° ~ 185°F)

Ambient Usage Humidity 30 ~ 95%RH (no condensation)

Storage Humidity 5 ~ 95%RH (no condensation)

Physical

Corrosion Resistance No flammable or corrosive gas

Environment

Altitude 2000m or less above sea level

Noise Resistance Normal Mode: 1500Vp-p

Common Mode: 1500Vp-p
Pulse Width: 100ns/1µs
Pulse Rise Time: 1ns
(in noise simulator)

Electrical

Operating Conditions

Vibration Resistance Vibration Amplitude/Acceleration:

10 ≤ f < 57Hz, Zero to Peak Amplitude: 0.075mm

57 ≤ f < 150Hz, Fixed Acceleration: 9.8m/s
X, Y, Z, directions: Sweeps (1 octave/min)
× Number of Sweeps: 10

Mechanical

Shock Resistance

Operating Conditions

Grounding
Cooling Type

External Dimensions W 45mm H 142mm D 129mm

Ground

Conditions

Peak Acceleration: 147m/s
2 times in each direction (X, Y, and Z).

Type 3 Grounding
Natural Air Cooled

2

, Usage Time: 11ms

2

55

MotionSuite™ MP940 Machine Controller Hardware Manual Section 12: Specifications

Hardware Specifications

Hardware Specifications of MP940

Item Specifications

Memory Flash: 2MB

RAM: 2MB (battery backed)

Communication Ports 1 RS-232C port

Baud Rate Setting: 9.6k/19.2 kbps
Protocol • MEMOBUS

• No Protocol

1 RS-422/485 port
Baud Rate Setting: 9.6k/19.2 kbps
Protocol • MEMOBUS

• No Protocol

Display LEDs Module Status Display LEDs

READY (green)
RUN (green)
ALM (red)
BATALM (red)
PRT1 (green)
PRT2 (green)

Mechatrolink Operation Display LEDs
RX (green)
TX (green)

DIP Switches RUN

INIT
TEST
FLASH
PP
COPY

Input Signals Input Points: 8

Input Format: Sinking or Sourcing
Isolation: Optical
Voltage: 24VDC ±20%
Rated Current: 5.3mA
Input Impedance: 4.4kΩ
Operating Voltage: ON Voltage 15VDC or more, OFF Voltage 5VDC or less
OFF Current: 0.9mA or less
Response Time: OFFÆON 0.25ms or less, ONÆOFF 1ms or less

Output Signals Output Points: 8

Output Format: Sinking output
Output Type: Transistor output
Isolation: Optical
Load Voltage: 24VDC±20%
Load Current: 100mA/output
ON Voltage: 1.0V or less
External Common Power Source: 24VDC ±20%, 15mA
Output Protection: 1 common fuse
Fuse Rating: 1.5A (fusing time: 5s or less at 3A)
Response Time: OFFÆON 0.25ms or less, ONÆOFF 1ms or less

56

MotionSuite™ MP940 Machine Controller Hardware Manual Section 12: Specifications

Hardware Specifications of MP940 (Continued)

Item Specifications

Latch Input Latch Input Circuit: 1MHz input maximum. Latches within 30µs.

Latch Input Format: quadrature; pulse and direction / channel up and channel

down

Latch Counter: (external signal can be switched between 5V/12V/24V)

Analog Input SGDH velocity command used as analog input to controller

Analog Output Resolution: 16-bit

Output Range: ±10V

Controller Power Source Input Signal: 24VDC ±20% (DC19.2V ~ 28.8V)

Input Current: 0.4A
Fuse Rating: 1.5A
Safety Certification: UL, CSA certified

57

MotionSuite™ MP940 Machine Controller Hardware Manual Section 12: Specifications

NOTES:

58

MotionSuite™ MP940 Machine Controller Hardware Manual Section 13: Dimensional Drawings and Cable Diagrams

Section 13: Dimensional Drawings and Cable Diagrams

Dimensions

5.16 (129)

5.68 (142)

1.8 (45)

Figure 13.1: MP940 Dimensions

59

MotionSuite™ MP940 Machine Controller Hardware Manual Section 13: Dimensional Drawings and Cable Diagrams

Figure 13.2: MP940 YS15 Cable Drawing

60

MotionSuite™ MP940 Machine Controller Hardware Manual Section 13: Dimensional Drawings and Cable Diagrams

Figure 13.3: MP940 Cable

61

MotionSuite™ MP940 Machine Controller Hardware Manual Section 13: Dimensional Drawings and Cable Diagrams

Figure 13.4: I/O Cable Drawing

62

MotionSuite™ MP940 Machine Controller Hardware Manual Section 13: Dimensional Drawings and Cable Diagrams

Connections

MP940

Battery

Connector

LED1

Battery

Switch

BAT

RDY

RUN

ALM

BAT

PRT1

PRT2

RUN

654321

INIT
TEST
FLASH

PP
COPY



NO

¨

PORT1

TX

RX

1

2

LED2

M
E
C
H
A
T
R
O
L

I
N
K

Mechatrolink

Connector

Serial
Port 1

PORT2

Serial

Port 2

POWER

Power

Connector

+24V

GND

FG

Figure 13.5: Connectors

I/O

I/O

Connector

LED

LED

Connector

63

MotionSuite™ MP940 Machine Controller Hardware Manual Section 13: Dimensional Drawings and Cable Diagrams

Connector Specifications

Name Connector Name

Battery
Connector

Serial Port
RS-232C

Serial Port
RS-422/485

Power Connector POWER 3 SL3.5/3/90F BL3.5/3F-AU Weidmuller

Mechatrolink
Connector

I/O Connector I/O 50 10250-52A2JL Connector Unit

LED Connector LED 16 IMSA-9220B-16A — —

BAT 2 DF3-2P-2DS Battery

PORT1 14 10214-52A2JL Connector Unit

PORT2 14 10214-52A2JL Connector Unit

MECHATROLINK 4 DUSB-APA41-T11 DUSB- —

# of
Pins

Controller Side Cable Side Manufacturer

Connector Model

BA000518
Connector

10114-3000VE
Shell
10314-52A0-008

10114-3000VE

Shell

10314-52A0-008

10150-3000VE
Shell
10350-52A0-008

HIROSE

3M

3M

3M

64

MotionSuite™ MP940 Machine Controller Hardware Manual Section 13: Dimensional Drawings and Cable Diagrams

I/O Connector

Number Signal Name Reference Number Signal Name Reference

1 AO Analog Input 26 AO_GND Analog Output Ground

2— — 27— —

3— — 28— —

4 PA+ A_ Pulse + 29 PB+ B_Pulse +

5 PA- A_ Pulse - 30 PB- B_Pulse -

6 GND Pulse Input

Ground

7— — 32— —

8— — 33— —

9 PILC 5V PI Latch Input

Common (5V)

10 PILC 24V PI Latch Input

Common (24V)

12 — — 36 — —

12 — — 37 — —

13 DC 24V DI Power (input) 38 DC 24V DI Power (input)

14 DI_00 DI_00

Input
(DI interrupt)

15 DI_02 DI_02 Input 40 DI_03 DI_03 Input

16 DI_04 DI_04 Input 41 DI_05 DI_05 Input

17 DI_06 DI_06 Input 42 DI_07 DI_07 Input

18 — — 43 — —

19 — — 44 — —

20 DC 24V DO Power (input) 45 DC 24V DO Power (input)

21 DO_00 DO_00 Output 46 DO_01 DO_01 Output

22 DO_02 DO_02 Output 47 DO_03 DO_03 Output

23 DO_04 DO_04 Output 48 DO_05 DO_05 Output

24 DO_06 DO_06 Output 49 DO_07 DO_07

25 DO_GND DO Ground(0V) 50 DO_GND DO Ground(0V)

31 GND Pulse Input Ground

34 PILC 12V PI Latch Input

Common (12V)

35 PIL PI Latch Input Common

39 DI_01 DI_01 Input

Output (Counter
coincidence output)

Figure 13.6: I/O Connector

65

MotionSuite™ MP940 Machine Controller Hardware Manual Section 13: Dimensional Drawings and Cable Diagrams

I/O Circuit of I/O Connector

+15V

1kΩ

External Encoder

Latch Input

Analog
Output

Digital Ground

Digital Ground

+5V

AG

-15V

1

26

4

5

6

29

30

31

10

34

9

35

P

A-phase

P

B-phase

P

P

47Ω

-

+

390Ω

390Ω

680Ω

External Device

-10～+10V

L

External Encoder

+5V

0V

0V

0V

Latch Input

Digital Input

Digital Output

13

38

Input 1

Input 2

Input 3

Input 4

Input 5

Input 6

Input 7

Input 8

L

L

L

L

L

L

L

L

Fuse

Fuse Detection

Circuit

Fuse

14

39

15

40

16

41

17

42

20

45

21

46

22

47

23

48

24

49

25

50

Shell*

Output 1

Output 2

Output 3

Output 4

Output 5

Output 6

Output 7

Output 8

Shield

Note: S ee F ig u re 3 fo r s h ield to connector shell te rm ination details

External Input Signal

External Output Signal

66

MotionSuite™ MP940 Machine Controller Hardware Manual Section 13: Dimensional Drawings and Cable Diagrams

Mechatrolink Cables

21

8

46

46

Figure 13.7: Mechatrolink Cable

Mechatrolink Cable

The internal cable connections between the MP940 and the I/O unit are shown below:

Name

(NC)

*DATA

DATA

SH

Shield

Cable Model: JEPMC-W6000-

Pin No.

1

2

3

4

Shell



1

2

3

4

Shell

Name

(NC)

*DATA

DATA

SH

Shield

67

MotionSuite™ MP940 Machine Controller Hardware Manual Section 13: Dimensional Drawings and Cable Diagrams

External Views of Mechatrolink Cables

Model JEPMC-W6000-

Model: JEPMC-W6010-

USB Terminator

Model: JEPMC-W6020

68

YASKAWA ELECTRIC AMERICA, INC.

2121 Norman Drive South, Waukegan, IL 60085, U.S.A.
Phone: [phone] Fax: [phone] Internet: http://www.yaskawa.com

MOTOMAN INC.

805 Liberty Lane, West Carrollton, OH 45449, U.S.A.
Phone: [phone] Fax: [phone] Internet: http://www.motoman.com

YASKAWA ELETRICO DO BRASIL COMERCIO LTDA.

Avenida Fagundes Filho, 620 Bairro Saude Sao Paolo-SP, Brasil CEP: 04304-000
Phone: [phone] Fax: [phone] Internet: http://www.yaskawa.com.br

YASKAWA ELECTRIC CORPORATION

New Pier Takeshiba South Tower, 1-16-1, Kaigan, Minatoku, Tokyo, 105-6891, Japan
Phone: [phone] Fax: [phone] Internet: http://www.yaskawa.co.jp

YASKAWA ELECTRIC (SHANGHAI) CO., LTD.

4F No. 18 Aona Road, Waigaoqiao Free Trade Zone, Pudong New Area, Shanghai 200131, China
Phone: [phone] Fax: [phone]

BEIJING OFFICE
Room No. 301 Office Building of Beijing International Club,
21 Jianguomanwai Avenue, Beijing 100020, China
Phone: [phone] Fax: [phone]

SHANGHAI OFFICE
27 Hui He Road Shanghai 200437 China
Phone: [phone] Fax: [phone]

SHANGHAI YASKAWA-TONJI M & E CO., LTD.

27 Hui He Road Shanghai 200437 China
Phone: [phone] Fax: [phone]

BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO., LTD.

30 Xue Yuan Road, Haidian, Beijing 100083 P.R. China
Phone: [phone] Fax: [phone]

SHOUGANG MOTOMAN ROBOT CO., LTD.

7, Yongchang-North Street, Beijing Economic Technological Investment & Development Area,
Beijing 100076 P.R. China
Phone: [phone] Fax: [phone]

YASKAWA ELECTRIC (HK) COMPANY LIMITED

Rm. 2909-10, Hong Kong Plaza, 186-191 Connaught Road West, Hong Kong
Phone: [phone] Fax: [phone]

YASKAWA ELECTRIC KOREA CORPORATION

Kfpa Bldg #1201, 35-4 Youido-dong, Yeongdungpo-Ku, Seoul 150-010, Korea
Phone: [phone] Fax: [phone]

YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.

151 Lorong Chuan, #04-01, New Tech Park Singapore 556741, Singapore
Phone: [phone] Fax: [phone]

TAIPEI OFFICE (AND YATEC ENGINEERING CORPORATION)

Shen Hsiang Tang Sung Chiang Building
10F 146 Sung Chiang Road, Taipei, Taiwan
Phone: [phone] Fax: [phone]

YASKAWA ELECTRIC TAIWAN CORPORATION

Shen Hsiang Tang Sung Chiang Building
10F 146 Sung Chiang Road, Taipei, Taiwan
Phone: [phone] Fax: [phone]

YASKAWA ELECTRIC EUROPE GmbH

Am Kronberger Hang 2, 65824 Schwalbach, Germany
Phone: [phone] Fax: [phone] Internet: http://www.yaskawa.de

MOTOMAN ROBOTEC GmbH

Kammerfeldstrabe 1, 85391 Allershausen, Germany
Phone: [phone] Fax: [phone]

YASKAWA ELECTRIC UK LTD.

1 Hunt Hill Orchardton Woods Cumbernauld, G68 9LF, United Kingdom
Phone: [phone] Fax: [phone]

MOTOMAN ROBOTICS EUROPE AB

Box 504 S38525, Torsas, Sweden
Phone: [phone] Fax: [phone]

Yaskawa Electric America, Inc., September 2002 YEA-SIA-C887-4.1E Printed in U.S.A.