Page 1 MECHATROLINK-III Compatible Device Gateway Product Manual Model: JEPMC-GW3100-E Introduction to the GW3100 Part Names and Installation Methods GW3100 Specifications Interface Specifications GW3100 Functions Operating Modes and Setting Methods Configuration Tool MECHATROLINK-III Command Specifications Appendices MANUAL NO. SIEP C880781 08B...
Page 2 Yaskawa. No patent liability is assumed with respect to the use of the informa- tion contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is sub- ject to change without notice.
Page 3 About this Manual This manual describes the GW3100 specifications, functions, and setting methods. Read this manual carefully to ensure the correct usage of the Machine Controller system and to apply the Machine Controller to control your manufacturing system. Keep this manual in a safe place so that it can be referred to whenever necessary. Using This Manual ...
Page 4  Visual Aids The following aids are used to indicate certain types of information for easier reference. Indicates precautions or restrictions that must be observed. Also indicates alarm displays and other precautions that will not result in machine damage. Important Indicates items for which caution is required or precautions to prevent operating mis- takes.
Page 5 Safety Precautions  Safety Information To prevent personal injury and equipment damage in advance, the following signal words are used to indicate safety precautions in this document. The signal words are used to classify the hazards and damage or injury that may occur if a product is used incorrectly. Information marked as shown below is important for safety.
Page 6  Safety Precautions That Must Always Be Observed  General Precautions WARNING  The installation must be suitable and it must be performed only by an experienced technician. There is a risk of electric shock or injury.  Before connecting the machine and starting operation, make sure that an emergency stop pro- cedure has been provided and is working correctly.
Page 7  Installation Precautions CAUTION  Do not install the Gateway Unit in any of the following locations. • Locations that are subject to direct sunlight • Locations that are subject to ambient temperatures that exceed the operating conditions • Locations that are subject to ambient humidity that exceeds the operating conditions •...
Page 8  The illustrations that are presented in this manual are typical examples and may not match the product you received.  If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representa- tive or one of the offices listed on the back of this manual.
Page 9 • Events for which Yaskawa is not responsible, such as natural or human-made disasters  Limitations of Liability • Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product.
Page 10 • It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that apply if the Yaskawa product is used in combination with any other products. • The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by the customer.
Page 11 Contents About this Manual..........iii Using This Manual .
Page 12 Connector Specifications ......3-9 3.5.1 MECHATROLINK-III Connector Specifications ..... . .3-9 3.5.2 MECHATROLINK-II Connector Specifications .
Page 13 Operating the Gateway Unit ......6-9 6.4.1 Switch Settings ..........6-10 6.4.2 Setting the Gateway Parameters .
Page 14: Table Of Contents
ID_CODE List ........8-13 Virtual Memory .
Page 15 Introduction to the GW3100 This chapter provides an introduction to the GW3100 and describes it’s features and system configuration. The GW3100 ......1-2 1.1.1 What Is the GW3100? .
Page 16: The Gw3100
1.1 The GW3100 1.1.1 What Is the GW3100? The GW3100 This section provides an introduction to the GW3100. 1.1.1 What Is the GW3100? The GW3100 Gateway Unit functions as a gateway between a host controller level MECHA- TROLINK-III communications network and a MECHATROLINK-II communications subnetwork. All of the data exchanged between MECHATROLINK-II and MECHATROLINK-III is first saved in internal memory in the GW3100 and then transmitted cyclically.
Page 17: Gw3100 Features
1.1 The GW3100 1.1.2 GW3100 Features 1.1.2 GW3100 Features The GW3100 is a stand-alone MECHATROLINK-III device. It provides the following features. Communications Gateway between MECHATROLINK-II and MECHATROLINK-III The GW3100 allows you to connect up to eight stations of MECHATROLINK-II I/O devices to a MECHATROLINK-III network.
Page 18: Examples Of Gw3100 Applications And System Configuration
1.2 Examples of GW3100 Applications and System Configuration 1.2.1 GW3100 Applications Examples of GW3100 Applications and System Configuration This section provides examples of GW3100 applications and the system configuration. 1.2.1 GW3100 Applications The GW3100 can be used for the following applications. Increasing I/O Capacity You can connect more than one I/O station to one GW3100 station to increase the I/O capacity of the station.
Page 19: System Configuration Example
(Up to 8 stations can be connected.) or Stepping Motor Drive (Only one station of these can be connected.) Refer to the following section when using YASKAWA MP2000/MP3000 Machine Controller as the host controller. on page 9-6 9.3.1 Connectable Devices and Operating Modes...
Page 20: Precautions
• I/O Gateway Mode: The host controller must support the M-III standard I/O profile. • Transparent Mode: The host controller must support the M-II-compatible profile. Note: Refer to the following section when using YASKAWA MP2000/MP3000 Machine Controller. 9.3.1 on page 9-6...
Page 21 Part Names and Installation Methods This chapter gives the appearance of the GW3100, describes the part names and installation methods, and provides the procedure to make a 24-V power cable. Part Names and External Dimensions ..2-2 2.1.1 Part Names .
Page 22: Part Names And External Dimensions
Part Names and External Dimensions This section gives the part names, external dimensions, and installation space of the GW3100. 2.1.1 Part Names The part names of the GW3100 are given in the following figure. YASKAWA SAVE SAVE switch Rotary switches Status indicators...
Page 23: External Dimensions
2.1 Part Names and External Dimensions 2.1.2 External Dimensions 2.1.2 External Dimensions The following figure gives the external dimensions of the GW3100. 2 x M4 screw mounting holes Unit: mm YASKAWA SAVE X1 X16 X1 X16 Nameplate SPARE SPARE SPARE...
Page 24: Installation Methods
2.2 Installation Methods 2.2.1 Mounting to a DIN Rail Installation Methods You can install the GW3100 on DIN rail or secure it to a control panel with screws. Installation on DIN rail is considered the standard installation method for the GW3100. 2.2.1 Mounting to a DIN Rail Use the following procedure to mount the GW3100 to a DIN rail.
Page 25 2.2 Installation Methods 2.2.1 Mounting to a DIN Rail This concludes mounting the GW3100 to a DIN rail as shown in the following figure. Always install the GW3100 in an upright position. After you install it, make sure that there is no looseness or wobbling.
Page 26: Mounting With Screws
2.2 Installation Methods 2.2.2 Mounting with Screws 2.2.2 Mounting with Screws There are two screw holes located at the top and bottom at the back of the Unit. Use two M4 screws in these holes to mount the GW3100 to a control panel. Screw mounting holes M4 screws Always install the GW3100 in an upright position.
Page 27: Procedure To Make A 24-Vdc Power Cable
2.3 Procedure to Make a 24-VDC Power Cable Procedure to Make a 24-VDC Power Cable The enclosed power connector is a removable plug. Use twisted-pair wires with a wire size of AWG24 to AWG20 (0.2 mm to 0.51 mm ) to make a 24-V power cable according to the fol- lowing procedure.
Page 28 GW3100 Specifications This chapter provides mainly the hardware specifications of the GW3100. Application Conditions ....3-2 Hardware Specifications ....3-3 Switch Specifications .
Page 29: Application Conditions
3.1 Application Conditions Application Conditions The environmental and application conditions for the GW3100 are given in the following table. Item Specification Ambient Operating 0°C to 60°C Temperature Ambient Storage -25°C to 85°C Temperature Ambient Operating 10% to 95% RH (with no condensation) Humidity Environmental Conditions...
Page 30: Hardware Specifications
3.2 Hardware Specifications Hardware Specifications The hardware specifications of the GW3100 are given in the following table. Item Specification Model JEPMC-GW3100-E Abbreviation GW3100 • 1 circuit with 2 ports MECHATROLINK-III • Slave • 1 circuit with 1 port MECHATROLINK-II • Master USB 2.0, 2-speed (FS/LS) compatible*...
Page 31: Switch Specifications
3.3 Switch Specifications 3.3.1 DIP Switch (Operation Settings) Switch Specifications The GW3100 has the following three switches. • DIP switch (operation settings) • Rotary switches (address setting) • SAVE switch (saving to flash memory) The specification of each GW3100 switch is given below. 3.3.1 DIP Switch (Operation Settings) You can set the operation of the GW3100 when the power supply is turned ON.
Page 32: Rotary Switches (Address Setting)
3.3 Switch Specifications 3.3.2 Rotary Switches (Address Setting) 3.3.2 Rotary Switches (Address Setting) Use these switches to set the GW3100 station address (03 to EF hex) as a MECHATROLINK-III slave. Name Status Operation Default Remarks ×16 Upper digit of station 0 to F “F”...
Page 33: Indicator Specifications
3.4 Indicator Specifications Indicator Specifications The status of the status indicators combine to give the current status of the GW3100. The GW3100 status indicator specifications and the meaning of the indicators when combined are given in the following tables.  Status Indicator Specifications Indicator Color Status When Lit...
Page 34 3.4 Indicator Specifications  Combined Meaning of Status Indicators Indicator Status* Classifi- Meaning Details cation RUN ERR LK1 LK2 MTX MER − −      Hardware reset If this status contin- ues for more than 10 seconds after the power supply is ...
Page 35 3.4 Indicator Specifications Indicator Status* Classifi- Meaning Details cation RUN ERR LK1 LK2 MTX MER M-III port 1 communications in Port 1 connection − − − − −   progress status M-III port 2 communications in Port 2 connection −...
Page 36: Connector Specifications
3.5 Connector Specifications 3.5.1 MECHATROLINK-III Connector Specifications Connector Specifications The GW3100 has the following four types of connectors. • MECHATROLINK-III connectors • MECHATROLINK-II connector • USB connector • Power connector The specifications of the GW3100 connectors are given below. 3.5.1 MECHATROLINK-III Connector Specifications These connectors are used to connect MECHATROLINK-III communications devices.
Page 37: Usb Connector Specifications
3.5 Connector Specifications 3.5.3 USB Connector Specifications 3.5.3 USB Connector Specifications The USB connector is used to connect to a PC running the Configuration Tool. Use a commer- cially available USB cable (mini B type). 3.5.4 Power Connector Specifications The power connector specifications are given below. ...
Page 38 Interface Specifications This chapter gives the interface specifications of the GW3100. MECHATROLINK-III Interface ... 4-2 4.1.1 Basic Specifications ..... . 4-2 4.1.2 Supported Commands .
Page 39: Mechatrolink-Iii Interface
4.1 MECHATROLINK-III Interface 4.1.1 Basic Specifications MECHATROLINK-III Interface This section provides the MECHATROLINK-III interface specifications. 4.1.1 Basic Specifications This section provides the basic MECHATROLINK-III specifications. Item Description Type Slave only Slave Type Multi-slave (4 stations max.) Supported Profile* MECHATROLINK-III standard profile Station Addresses 03 to EF hex (Set on rotary switches.) Number of Transmission Bytes...
Page 40 4.1 MECHATROLINK-III Interface 4.1.2 Supported Commands Supported M-II-compatible Profile Commands When the M-II-compatible profile is used, the GW3100 sends the MECHATROLINK commands that it receives from the master station to the slaves without any modifications. Whether the M- II slaves that receive the commands operate according to them depends on the M-II slave device specifications.
Page 41 4.1 MECHATROLINK-III Interface 4.1.2 Supported Commands  Subcommands Communications Command Phase* Profile Command Operation Code (Hex) −   No Operation −   PRM_RD Read Parameter Servo/Step- −   PRM_WR Write Parameter ping Motor − Drive/Inverter   ALM_RD Read Alarm/Warning Commands...
Page 42: Mechatrolink-Ii Interface
4.2 MECHATROLINK-II Interface 4.2.1 Basic Specifications MECHATROLINK-II Interface This section provides the MECHATROLINK-II interface specifications. 4.2.1 Basic Specifications This section provides the basic MECHATROLINK-II specifications. Item Description Type Master only Simple I/O, Intelligent I/O, Servo Drives, Stepping Motor Drives, and Inverters Supported Devices Supported MECHATROLINK-II (17-byte or 32-byte)
Page 43: Usb Interface
4.3 USB Interface 4.3.1 Basic Specifications USB Interface This section provides the USB interface specifications. 4.3.1 Basic Specifications This section provides the basic specifications of the USB interface. Item Description Remarks Standard USB 2.0 Full Speed Bus Speed Full Speed (12 Mbps) Format Asynchronous serial Transmission...
Page 44 GW3100 Functions This chapter provides details on the functions of the GW3100 other than the gateway operation. List of GW3100 Functions ....5-2 Self Configuration ....5-3 5.2.1 Execution with a Switch Setting and Turning ON the Power Supply .
Page 45: List Of Gw3100 Functions
5.1 List of GW3100 Functions List of GW3100 Functions The GW3100 provides the following four functions. Function Description The data that is exchanged between M-II and M-III is stored in the flash memory inside the GW3100 and then transmitted cyclically. Gateway Operation You can change the operating mode depending on the M-II slaves that are connected and the application method.
Page 46: Self Configuration
5.2 Self Configuration 5.2.1 Execution with a Switch Setting and Turning ON the Power Supply Self Configuration The slave stations that are connected to the M-II port are detected and communications defini- tions are automatically set. Also, the I/O data for the detected slave devices is mapped and the M-III settings are made automatically.
Page 47: Execution With The Configuration Tool
5.2 Self Configuration 5.2.2 Execution with the Configuration Tool 5.2.2 Execution with the Configuration Tool If you first connect the slave devices and start the GW3100, you can then start the Configura- tion Tool on the PC and click the Self Configuration Button on the Main Window to execute self configuration.
Page 48: M-Ii-M-Iii Port Synchronization
5.3 M-II-M-III Port Synchronization M-II-M-III Port Synchronization The M-II transmission cycle is synchronized to M-III as long as the M-II transmission cycle or M- III transmission cycle is set to an integral multiple of the other. This maintains the transmission delay for I/O data within a specific time.
Page 49: Configuration
5.4 Configuration 5.4.1 Configuration with the Configuration Tool Configuration To use the GW3100, you must set the GW3100 functions and set the configurations and map- pings for the M-II slave devices, and then you must save that information in the flash memory inside the GW3100.
Page 50 Operating Modes and Setting Methods This chapter provides details on the gateway operation of the GW3100 and the setting methods for GW3100 func- tions. Operating Modes ..... 6-2 I/O Gateway Mode Details .
Page 51: Operating Modes
6.1 Operating Modes Operating Modes You can set the operating mode of the GW3100 to either I/O Gateway Mode or Transparent Mode depending on the slave stations that are connected and the application method. In I/O Gateway Mode, you can select either Pack Mode or Stack Mode. The functional difference between these operating modes are given in the following table.
Page 52: I/O Gateway Mode Details
6.2 I/O Gateway Mode Details 6.2.1 Stack Mode I/O Gateway Mode Details In I/O Gateway Mode, you can connect only Simple I/O and Intelligent I/O. You can connect up to eight stations of slave devices in this mode. There are two operating modes within the I/O Gateway Mode: Stack Mode and Pack Mode. The mode is set in the GW3100 parameters.
Page 53 6.2 I/O Gateway Mode Details 6.2.1 Stack Mode  Response Data Flow in Stack Mode DATA_RWA RWDT CMD_STAT Response #1 I/O #1 (16 bytes) Response #1 (16 bytes) Response #2 Response #2 Gateway Master I/O #2 (16 bytes) (16 bytes) Response #3 (16 bytes) Response #3...
Page 54: Pack Mode
6.2 I/O Gateway Mode Details 6.2.2 Pack Mode 6.2.2 Pack Mode Only the output data for the I/O stations is extracted and packed into the M-III command. The host controller stores only the output values for the stations in the M-III command. The GW3100 reads the output values for the stations and stores them in the commands for the stations.
Page 55 6.2 I/O Gateway Mode Details 6.2.2 Pack Mode  Response Data Flow in Pack Mode II - DATA_RWA RWDT #1: Simple I/O Inputs (4 bytes) CMD_STAT #1: Simple I/O I/O #1 Response #1 Inputs (4 bytes) #2: Simple I/O Inputs (4 bytes) #2: Simple I/O Inputs (4 bytes)
Page 56: Transparent Mode Details
6.3 Transparent Mode Details Transparent Mode Details You can connect any type of slave in this mode. However, you can connect only one M-II slave station to the GW3100. Also, the GW3100 can receive data for only the M-II-compatible profile. The GW3100 sends the received command to the M-II station without modification and then it returns the response from the slave station to the host controller without any modification.
Page 57 6.3 Transparent Mode Details  Response Data Flow in Transparent Mode II - POSING POSING ALARM ALARM STATUS STATUS MONITOR1 MONITOR1 MONITOR2 MONITOR2 SEL_MON1/2 SEL_MON1/2 Master Gateway Servo Drive IO_MON IO_MON RWDT RWDT SMON SMON SUBSTATUS SUBSTATUS SEL_MON3/4 SEL_MON3/4 MONITOR3 MONITOR3 MONITOR4 MONITOR4...
Page 58: Operating The Gateway Unit
6.4 Operating the Gateway Unit Operating the Gateway Unit The basic flow of operations for the GW3100 is shown below. Switch Settings Set the operating modes and M-III slave address. 6.4.1 Switch Settings on page 6-10 Power ON The Gateway Unit will operate according to the switch set- tings.
Page 59: Switch Settings
6.4 Operating the Gateway Unit 6.4.1 Switch Settings 6.4.1 Switch Settings This section describes how to set the DIP switch and rotary switches. DIP Switch (Operation Settings) Use the DIP switch to set the operation of the GW3100 when the power supply is turned ON. Note:Any changes to the settings of the DIP switch are ignored after the power supply is turned ON.
Page 60: Setting The Gateway Parameters
6.4 Operating the Gateway Unit 6.4.2 Setting the Gateway Parameters 6.4.2 Setting the Gateway Parameters Detailed settings for GW3100 communications and operation are made with the gateway parameters. There are the following three ways to set the gateway parameters. • Automatic parameter setting with self configuration •...
Page 61 6.4 Operating the Gateway Unit 6.4.2 Setting the Gateway Parameters  M-II Port Communications Settings Data Size Name Description Default (hex) [Bytes] 0: 17 bytes 0201 Number of M-II Transmission Bytes 1: 32 bytes 0: 0.5 ms 1: 1 ms 2: 1.5 ms 0202 M-II Transmission Cycle...
Page 62 6.4 Operating the Gateway Unit 6.4.2 Setting the Gateway Parameters Continued from previous page. Data Size Name Description Default (hex) [Bytes] 0506 #3 Output Data Size 0 to 31 0600 #4 Station Address 0 or 20 hex or higher 0: No data assigned. 1: Intelligent I/O 2: Simple I/O 0601...
Page 63 6.4 Operating the Gateway Unit 6.4.2 Setting the Gateway Parameters Continued from previous page. Data Size Name Description Default (hex) [Bytes] 0A00 #8 Station Address 0 or 20 hex or higher 0: No data assigned. 1: Intelligent I/O 2: Simple I/O 0A01 #8 Type 3: Servo Drive...
Page 64: Saving To Flash Memory
6.4 Operating the Gateway Unit 6.4.3 Saving to Flash Memory 6.4.3 Saving to Flash Memory The gateway parameter settings are saved in flash memory in the GW3100. There are the fol- lowing three ways to save the settings in flash memory. •...
Page 65: Setting Parameters With The Configuration Tool
6.5 Setting Parameters with the Configuration Tool 6.5.1 Setting the Parameters for Stack Mode Setting Parameters with the Configuration Tool This section describes how to set the gateway parameters from the Configuration Tool in Stack Mode, Pack Mode, and Transparent Mode. 6.5.1 Setting the Parameters for Stack Mode This section describes how to set the parameters for Stack Mode.
Page 66 6.5 Setting Parameters with the Configuration Tool 6.5.1 Setting the Parameters for Stack Mode Input and Output: These values are displayed based on the number of transmission bytes. These value cannot be changed directly. • Relationship between Offset, Input, and Output Settings ...
Page 67: Setting The Parameters For Pack Mode
6.5 Setting Parameters with the Configuration Tool 6.5.2 Setting the Parameters for Pack Mode 6.5.2 Setting the Parameters for Pack Mode This section describes how to set the parameters for Pack Mode. Set the MODE pin on the DIP switch to OFF before starting the GW3100. Start the Configuration Tool and make the settings on the Main Window as described below.
Page 68 6.5 Setting Parameters with the Configuration Tool 6.5.2 Setting the Parameters for Pack Mode • Relationship between Offset, Input, and Output Settings     The output data is located as shown in the following diagrams for the above offset, input, and output settings.
Page 69: Setting The Parameters For Transparent Mode
6.5 Setting Parameters with the Configuration Tool 6.5.3 Setting the Parameters for Transparent Mode 6.5.3 Setting the Parameters for Transparent Mode This section describes how to set the parameters for Transparent Mode. Set the MODE pin on the DIP switch to ON before starting the GW3100. Start the Configuration Tool and make the settings on the Main Window as described below.
Page 70: Troubleshooting Communications Errors
6.6 Troubleshooting Communications Errors 6.6.1 Troubleshooting M-III Communications Errors Troubleshooting Communications Errors The section describes how to troubleshoot communications errors that may occur during GW3100 operation. 6.6.1 Troubleshooting M-III Communications Errors You can use the following methods to troubleshoot M-III communications errors. Indicators If an error occurs in communications between the M-III master station and the GW3100, the ERR indicator will light.
Page 71 Configuration Tool This chapter provides detailed information on the Configu- ration Tool for the GW3100 and describes the installation of the USB driver. Configuration Tool ....7-2 7.1.1 System Requirements .
Page 72: Configuration Tool
M-II slave devices, and then you must save that information in the flash memory inside the GW3100. You use the Configuration Tool to perform these operations. Search for the Configuration Tool from the Download Menu on the Yaskawa e-Mechatronics website (http://www.emechatron- ics.com) and download the software to use it on your computer. 7.1.1 System Requirements The following system requirements must be met to install the Configuration Tool on a computer.
Page 73: Installing And Uninstalling The Software
7.2 Installing and Uninstalling the Software 7.2.1 Installation Installing and Uninstalling the Software This section provides the procedures to install and uninstall the Configuration Tool. 7.2.1 Installation Use the following procedure to install the Configuration Tool on a computer. Double-click the following icon, which is created when you downloaded the Configura- tion Tool to your computer.
Page 74 7.2 Installing and Uninstalling the Software 7.2.1 Installation Read the agreement, and then select the I accept the terms of the license agreement Option. Then click the Next Button. The Customer Information Dialog Box will be displayed. Enter the following items, and then click the Next Button. •...
Page 75 7.2 Installing and Uninstalling the Software 7.2.1 Installation Specify the destination folder. To change the destination folder: Click the Browse Button and select the desired destination by fol- lowing the guidance displayed in the dialog box. Click the Next Button. Click the Install Button.
Page 76 7.2 Installing and Uninstalling the Software 7.2.1 Installation Click the Finish Button. This concludes the procedure to install the Configuration Tool on your computer.
Page 77: Uninstallation
7.2 Installing and Uninstalling the Software 7.2.2 Uninstallation 7.2.2 Uninstallation You can use the following procedure to uninstall the software. Select Control Panel from the Windows Start Menu and then select Programs. The Uninstall or Change a Program Dialog Box will be displayed. Select M3M2-Gateway and then click the Uninstall Button.
Page 78: Installing The Usb Communications Driver
7.3 Installing the USB Communications Driver 7.3.1 USB Communications Driver Installation Procedure Installing the USB Communications Driver To connect a computer to the GW3100 with USB, you must install the USB communications driver on the computer in advance. Install the USB communications driver for the GW3100. The GW3100 USB communications driver will be copied to the Driver Folder inside the M3M2- gateway Folder when you install the Configuration Tool.
Page 79 7.3 Installing the USB Communications Driver 7.3.1 USB Communications Driver Installation Procedure Click Browse my computer for driver software. Click the Browse Button. The Browse For Folder Dialog Box will be displayed.
Page 80 7.3 Installing the USB Communications Driver 7.3.1 USB Communications Driver Installation Procedure Select the USB communications driver folder for your OS from the Driver Folder in the M3M2-Gateway Folder, and then click the OK Button. There are different USB communications driver folders for different operating systems, as shown below.
Page 81 7.3 Installing the USB Communications Driver 7.3.1 USB Communications Driver Installation Procedure Make sure that MP Series USB Device is displayed under Universal Serial Bus control- lers. This concludes the installation procedure for the USB communications driver. 7-11...
Page 82: Disconnecting The Cable From A Usb Connector
7.3 Installing the USB Communications Driver 7.3.2 Disconnecting the Cable from a USB Connector 7.3.2 Disconnecting the Cable from a USB Connector For a safe disconnection, always perform the following procedure before you disconnect the cable from the USB connector on your computer, a USB hub, or the GW3100, or when you turn OFF the power supply to the GW3100 while USB is connected.
Page 83: Operating The Configuration Tool
7.4 Operating the Configuration Tool 7.4.1 Starting the Configuration Tool Operating the Configuration Tool This section provides the procedure to start the Configuration Tool and describes the Main Window in detail. 7.4.1 Starting the Configuration Tool Use the following procedure to start the Configuration Tool. Perform any of the following operations.
Page 84: Main Window Details
7.4 Operating the Configuration Tool 7.4.2 Main Window Details 7.4.2 Main Window Details You can use the Main Window of the Configuration Tool to make settings to use the gateway operations and to perform self configuration.     The following tables give the items in the Main Window and describes the settings.
Page 85 7.4 Operating the Configuration Tool 7.4.2 Main Window Details  M-III port setting (M-III port communications settings) Item Description Setting Range/Contents Multi slave Select the number of multi-slave stations. 1 to 4 (number of multi slave stations) Transmission byte Select the number of transmission bytes. 16, 32, 48, or 64 (number of transmission bytes) Stack mode...
Page 86 MECHATROLINK-III Command Specifications This chapter provides details on the MECHATROLINK com- mands that you can use in I/O Gateway Mode. Details on Common Commands ..8-3 8.1.1 Read Parameter Command (PRM_RD: 01 Hex) . . 8-3 8.1.2 Write Parameter Command (PRM_WR: 02 Hex) .
Page 87 Virtual Memory ..... 8-18 Parameter List ..... . 8-21 Parameter Details .
Page 88: Details On Common Commands
8.1 Details on Common Commands 8.1.1 Read Parameter Command (PRM_RD: 01 Hex) Details on Common Commands This section provides details on the commands that you can use for cyclic communications. This manual provides command specifications only for the GW3100. Refer to the following document for details on commands and responses. MECHATROLINK-I/II I/O Communication Command Specifications (Manual No.: MMA TDEP 009A) 8.1.1 Read Parameter Command (PRM_RD: 01 Hex)
Page 89: Read Non-Volatile Parameter Command (Pprm_Rd: 1B Hex)
8.1 Details on Common Commands 8.1.7 Read Non-volatile Parameter Command (PPRM_RD: 1B Hex) 8.1.7 Read Non-volatile Parameter Command (PPRM_RD: 1B Hex) This command reads the definition information from the GW3100. 8.1.8 Write Non-volatile Parameter Command (PPRM_WR: 1C Hex) (Not Currently Supported) The GW3100 does not currently support this command.
Page 90: Details On Standard I/O Profile Commands
8.2 Details on Standard I/O Profile Commands 8.2.1 Asynchronous Data Read/Write Command (DATA_RWA: 20 Hex) Details on Standard I/O Profile Commands This section provides details on standard I/O profile commands. 8.2.1 Asynchronous Data Read/Write Command (DATA_RWA: 20 Hex) The command and response formats are given in the following tables. Byte Command Byte...
Page 91 8.2 Details on Standard I/O Profile Commands 8.2.1 Asynchronous Data Read/Write Command (DATA_RWA: 20 Hex) Response Data Details  RCMD Command Code Setting Range Setting Unit − (Byte 0) 20 (hex) Command code for standard I/O profile commands. Description DATA_RWA (20 hex): Asynchronous Data Read/Write ...
Page 92 8.2 Details on Standard I/O Profile Commands 8.2.1 Asynchronous Data Read/Write Command (DATA_RWA: 20 Hex) List of Alarms The following table lists the alarms and warnings that may occur in MECHATROLINK-III com- munications. Classifi- COMM Clearing Alarm Code Alarm Description Correction cation _ALM...
Page 93 8.2 Details on Standard I/O Profile Commands 8.2.1 Asynchronous Data Read/Write Command (DATA_RWA: 20 Hex) Continued from previous page. Classifi- COMM Clearing Alarm Code Alarm Description Correction cation _ALM _ALM Alarm An FCS error occurred after execution of the Check the communi- 962 (hex) CONNECT command cations wiring and...
Page 94 8.2 Details on Standard I/O Profile Commands 8.2.1 Asynchronous Data Read/Write Command (DATA_RWA: 20 Hex) Command Data and Response Data in Stack Mode  Command data The command data area (in bold lines below) in the M-III command is used as a buffer memory for the host computer to set the M-II command data.
Page 95 8.2 Details on Standard I/O Profile Commands 8.2.1 Asynchronous Data Read/Write Command (DATA_RWA: 20 Hex)  Response data The response data area (in bold lines below) in the M-III response is used as a buffer memory for the GW3100 to set the M-II response data. The location of the M-II response data depends on a parameter setting.
Page 96 8.2 Details on Standard I/O Profile Commands 8.2.1 Asynchronous Data Read/Write Command (DATA_RWA: 20 Hex) Command Data and Response Data in Pack Mode  Command data The command data area (in bold lines below) in the M-III command is used as the command data area for the I/O devices where the host computer sets the command data.
Page 97: (Data_Rws: 21 Hex)
8.2 Details on Standard I/O Profile Commands 8.2.2 Synchronous Data Read/Write Command (DATA_RWS: 21 Hex)  Response data The response data area (in bold lines below) in the M-III response is used as the response data area from the I/O devices where the GW3100 sets the response data. The location of the response data depends on a parameter setting.
Page 98: Id_Code List
Data Size Data Type Supported (Hex) 00000000 hex Vendor ID Code 4 bytes Binary data (Yaskawa Electric Corporation) Description: ID code to identify vendor Device Code 02400006 hex 4 bytes Binary data Description: Code for GW3100 Device Version 00000100 hex...
Page 99 8.3 ID_CODE List Continued from previous page. ID_CODE Contents Value Data Size Data Type Supported (Hex) 3,200,000 [unit: 0.01 μs] Maximum Value of Com- 4 bytes Binary data munications Cycle (32 ms) Description: The maximum communications cycle supported by the GW3100. Number of Transmission 0000001E hex 4 bytes...
Page 100 8.3 ID_CODE List Continued from previous page. ID_CODE Contents Value Data Size Data Type Supported (Hex) M-II-compatible Profile Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Reserved (0). ALM_CLR ALM_RD CONFIG ID_RD PRM_WR PRM_RD Bit 15 Bit 14...
Page 101 I/O profile or M-II-compatible profile. All values are therefore 0s. ASCII Product model: Main Device Name 32 bytes (delimiter: JEPMC-GW3100-E Description: The main device name in ASCII. ASCII Not sup- Sub Device 1 Name All 32 bytes are 00 hex. 32 bytes (delimiter: ported.
Page 102 8.3 ID_CODE List Continued from previous page. ID_CODE Contents Value Data Size Data Type Supported (Hex) Not sup- Sub Device 1 Version 00000000 hex 4 bytes Binary data ported. Description: Not used by the GW3100. (All zeros will be read.) ASCII Not sup- Sub Device 2 Name...
Page 103: Virtual Memory
8.4 Virtual Memory Virtual Memory This section shows the vendor parameter area in virtual memory. Address Contents Address Contents 8000 0000 8000 0020 Number of Multi Slave #1 Station Address Stations 8000 0001 8000 0021 8000 0002 8000 0022 Number of M-III Trans- #1 Type mission Bytes 8000 0003...
Page 104 8.4 Virtual Memory Continued from previous page. Address Contents Address Contents 8000 0040 8000 0070 #3 Station Address #6 Station Address 8000 0041 8000 0071 8000 0042 8000 0072 #3 Type #6 Type 8000 0043 8000 0073 8000 0044 8000 0074 #3 Assigned Station #6 Assigned Station 8000 0045...
Page 105 8.4 Virtual Memory Continued from previous page. Address Contents Address Contents − 8000 00A0 8000 00D0 Reserved for system (0). − 8000 00A1 8000 00D1 − 8000 00A2 8000 00D2 Reserved for system (0). − 8000 00A3 8000 00D3 − 8000 00A4 8000 00D4 Reserved for system (0).
Page 106: Parameter List
8.5 Parameter List Parameter List The parameters of the GW3100 are listed in the following table. Use the PRM_WR command to change the parameters. Use the CONFIG command to write the parameters to non-volatile memory. Virtual Memory Address Data Size Name Contents Default...
Page 107 8.5 Parameter List Continued from previous page. Virtual Memory Address Data Size Name Contents Default (Hex) (Hex, Upper 4 [Bytes] Digits: 8000) 0: No data assigned. 1: Intelligent I/O 2: Simple I/O 0501 0042,0043 #3 Type 3: Servo Drive 4: Stepping Motor Drive 5: Inverter 0502 0044,0045...
Page 108 8.5 Parameter List Continued from previous page. Virtual Memory Address Data Size Name Contents Default (Hex) (Hex, Upper 4 [Bytes] Digits: 8000) 0902 0084,0085 #7 Assigned Station 0 to 4 0903 0086,0087 #7 Input Offset 0 to 63 0904 0088,0089 #7 Input Data Size 0 to 31 0905...
Page 109 8.5 Parameter List Continued from previous page. Virtual Memory Address Data Size Name Contents Default (Hex) (Hex, Upper 4 [Bytes] Digits: 8000) #1 Communications 0F00 00F0,00F1 Status #2 Communications 0F01 00F2,00F3 Status #3 Communications 0F02 00F4,00F5 Status Refer to the following section #4 Communications 0F03 00F6,00F7...
Page 110: Parameter Details
8.6 Parameter Details 8.6.1 Details in the Version Information Parameter Details This section provides details on the parameters starting from 0D01. 8.6.1 Details in the Version Information The bit details in the version information are as follows: Bit 31 … Bit 24 Bit 23 …...
Page 111: Alarm Details
8.6 Parameter Details 8.6.4 Alarm Details 8.6.4 Alarm Details The alarm bit details are as follows: Name Meaning 0: Normal Param 1: Parameter setting error 0: Normal M-III Cycle 1: M-III transmission cycle setting error 0: Normal M-III Address 1: M-III station address setting error 0: Normal 1: Watchdog timeout error 0: Normal...
Page 112: Details In #N Communications Status (N = 0 To 8)
8.6 Parameter Details 8.6.6 Details in #n Communications Status (n = 0 to 8) 8.6.6 Details in #n Communications Status (n = 0 to 8) The bit details in the #n communications status are as follows: Name Meaning 0: Normal D_ALM 1: Alarm 0: Normal...
Page 113: Appendices
Appendices Combinations of M-II and M-III Port Communications Settings . . 9-2 9.1.1 I/O Gateway Mode ..... . . 9-2 9.1.2 Transparent Mode .
Page 114: Combinations Of M-Ii And M-Iii Port Communications Settings
9.1 Combinations of M-II and M-III Port Communications Settings 9.1.1 I/O Gateway Mode Combinations of M-II and M-III Port Communications Settings This section provides information on combining communications settings for the M-II and M-III ports in I/O Gateway Mode and Transparent Mode. 9.1.1 I/O Gateway Mode In I/O Gateway Mode, the M-II port communications cycle must be the same as the transmis-...
Page 115: Transparent Mode
9.1 Combinations of M-II and M-III Port Communications Settings 9.1.2 Transparent Mode 9.1.2 Transparent Mode In Transparent Mode, the M-II port communications cycle must be the same as the transmis- sion cycle (1 x transmission cycle). The M-III port communications cycle in Transparent Mode must be set to the same value as the M-II port communications cycle.
Page 116: Throughput
9.2 Throughput 9.2.1 Throughput for I/O Gateway Mode Throughput This section describes the throughput for I/O Gateway Mode and Transparent Mode. 9.2.1 Throughput for I/O Gateway Mode The command and corresponding response are illustrated below.  Command Time Command time = M-III transmission cycle × 2 + M-II transmission cycle × 2 Command M-III transmission cycle M-III master transmissions...
Page 117: Throughput For Transparent Mode
9.2 Throughput 9.2.2 Throughput for Transparent Mode 9.2.2 Throughput for Transparent Mode  Command Time Command time = M-III transmission cycle × 3 Command M-III transmission cycle M-III master transmissions M-III slave transmissions M-II master transmissions M-II slave transmissions M-II transmission cycle Command ...
Page 118: Using The Gateway Unit With Mp2000 And Mp3000 Series Machine Controllers
9.3 Using the Gateway Unit with MP2000 and MP3000 Series Machine Controllers 9.3.1 Connectable Devices and Operating Modes Using the Gateway Unit with MP2000 and MP3000 Series Machine Controllers This section provides information about YASKAWA Machine Controllers that can use the GW3100. 9.3.1...
Page 119: Setup Procedures
9.3 Using the Gateway Unit with MP2000 and MP3000 Series Machine Controllers 9.3.2 Setup Procedures 9.3.2 Setup Procedures This section provides the setup procedures for using the Gateway Unit with a YASKAWA Machine Controller. Gateway Unit Setup  If Performing Automatic Setup for an M-II Device (Self Configuration) Switch Settings Set the operating mode and M-III slave address.
Page 120 9.3 Using the Gateway Unit with MP2000 and MP3000 Series Machine Controllers 9.3.2 Setup Procedures Machine Controller Setup M-II Device/Gateway Unit Start communications between the M-II device and the Gateway Unit. ↓ Machine Controller Switch Setting Turn ON the CNFG pin on the DIP switch. ↓...
Page 121 Index Index , 3-4 - - - - - - - - - - - - - - - - - - - - - - - -2-2 DIP switch - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10 settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6 - - - - - - - - - - - - - - - - - - - - - - - - -8-26...
Page 122 - - - - - - - - - - - - - - - - - - - 8-3 Setup Device command Setup procedures when using a YASKAWA - - - - - - - - - - - - - - - - - - - - - - 9-7...
Page 123: Revision History
Revision History The date of publication, revision number, and web revision number are given at the bottom right of the back cover. Refer to the following example. MANUAL NO. SIEP C880781 08B <1>-0 Web revision number Revision number Published in Japan December 2019 Date of publication Date of Rev.
Page 124 Phone: +81-4-2962-5151 Fax: +81-4-2962-6138 www.yaskawa.co.jp YASKAWA AMERICA, INC. 2121, Norman Drive South, Waukegan, IL 60085, U.S.A. Phone: +1-800-YASKAWA (927-5292) or +1-847-887-7000 Fax: +1-847-887-7310 www.yaskawa.com YASKAWA ELÉTRICO DO BRASIL LTDA. 777, Avenida Piraporinha, Diadema, São Paulo, 09950-000, Brasil Phone: +55-11-3585-1100 Fax: +55-11-3585-1187 www.yaskawa.com.br...

YASKAWA JEPMC-GW3100-E Product Manual

Table of Contents

Part Names and Installation Methods

Gw3100 Specifications

Interface Specifications

Gw3100 Functions

Operating Modes and Setting Methods

Configuration Tool

Mechatrolink-III Command Specifications

Quick Links

Chapters

Related Manuals for YASKAWA JEPMC-GW3100-E

Summary of Contents for YASKAWA JEPMC-GW3100-E

Table of Contents