Definition Data Updated By Self-Configuration - YASKAWA MP210 Series User Manual

5 Outline of Motion Control Systems

5.4.4 Definition Data Updated by Self-configuration

5.4.4 Definition Data Updated by Self-configuration
This section shows the definition data of the MP2100/MP2100M Basic Module that is updated on executing self-
configuration.
(1) I/O Allocation
Digital inputs (18 points)
Digital output (4 points)
MECHATROLINK
(2) MECHATROLINK Transmission Definition Data
The MECHATROLINK transmission definition is automatically set as shown in the following table in accor-
dance with the detected communication type and number of slaves.
Transmission
speed
Number of
transmission bytes
Communication
cycle
Max. number of
slave stations
Number of retry
stations
SigmaWin
Note: The number of retry stations (communication cycle with MECHATROLINK-II (32-byte)) is selected
 Slave devices that cannot be recognized in self-configuration
Since the following slave devices (I/O modules) have no type codes, they are recognized as wild card I/Os and "*****I/
O" (wild card I/O) is shown. Re-allocate the correct device type to devices for which "*****I/O" is shown in the Mod-
ule Configuration Definition window of MPE720.
• JEPMC-IO350
• JAMSC-120DAI53330
• JAMSC-120DAI73330
• JAMSC-120DAO83330
• JAMSC-120DRA83030
In the case of SERVOPACKs with special specifications, and where automatic recognition is not possible in self-con-
figuration, they are recognized as wild card SERVOPACKs and "*****SERVO" is shown. In this case too, re-allocate
the correct device type in the Module Configuration Definition window of MPE720.
5-38
Item
I/O leading registers: IW/OW0010
(Input registers: IW0010 to IW040F
Output registers: OW0010 to OW040F)
Communication MECHATROLINK-II
Type
1 ms*
*
*
Not available
as shown in the following table according to the highest station number among the detected slave sta-
tions.
Highest Slave Communication
Station Number Cycle (ms)
1 to 8
9
10 to 16
17 to 21
Allocation
IW0000
OW0001
I/O end registers: IW/OW040F
MECHATROLINK-II
(32 Bytes) (17 Bytes)
10 Mbps
32
2 ms*
* 14
* 1
Not available
Number of Retry Stations
1 1
1 0
2 5
According to the following
2 expression:
21 - (highest station number)
MECHATROLINK-I
10 Mbps 4 Mbps
17
1 ms
15
0
17
2 ms
14
−
−